adhoc

completed
2026-09-23T00:48:44.658850+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
345.2 s
total steps
282
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: two teal baskets at the far side, a cluster of fuzzy plush toys in the middle of the table and several pens/markers lying on the right side. Plan: plush toys into one basket, pens into the other. First I move the left arm above the plush cluster to get a wrist view.
move_to
left_x0.3500left_y-0.2600left_z0.2000left_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]: [-0.0246, 0.8032, 0.617, -0.3801, -0.0216, -0.0334, 0.9996, -0.0154, 0.8005, 0.6109, -0.3779, -0.0132, -0.0162, 0.9998] state[eef_state]: left_x=0.297 left_y=0.0001 left_z=0.1834 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2963 right_y=0.0013 right_z=0.1818 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.0068, -1.7299, 9.5111, 1.8046, -0.022, 0.1636, -0.0562, -0.7726, -1.7573, 9.8393, 1.7705, -0.1099, -0.0122, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.26, "left_z": 0.2, "left_gripper": 1}, "note": "Scene: two teal baskets at the far side, a cluster of fuzzy plush toys in the middle of the table and several pens/markers lying on the right side. Plan: plush toys into one basket, pens into the other. First I move the left arm above the plush cluster to get a wrist view."})
tool
executing move_to over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteLeft wrist view shows a teddy-bear head low and slightly right of the jaw column, between the two baskets. Nudging 2 cm forward and 2 cm to the arm's right while descending to 9 cm to line up on the bear.
move_to
left_x0.3700left_y-0.2800left_z0.0900left_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]: [-0.9207, 1.6096, 1.2186, -0.4488, -0.7193, -0.6392, 0.9996, -0.0147, 0.8043, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3468 left_y=-0.2579 left_z=0.1869 left_yaw=-0.0098 left_pitch=-0.0284 left_roll=0.0117 left_gripper=0.9996 right_x=0.2954 right_y=0.0014 right_z=0.1783 right_yaw=-0.0002 right_pitch=-0.013 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3487, -7.747, 9.0735, 1.326, -0.4762, -0.0171, -0.0562, -0.4308, -1.3744, 7.5829, 1.8046, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.28, "left_z": 0.09, "left_gripper": 1}, "note": "Left wrist view shows a teddy-bear head low and slightly right of the jaw column, between the two baskets. Nudging 2 cm forward and 2 cm to the arm's right while descending to 9 cm to line up on the bear."})
tool
executing move_to over 7 steps (0.7s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteBear head still sits right of the jaw column and low in the wrist view; stepping 2 cm forward and 2 cm right and descending to 5 cm to get the jaws over its head.
move_to
left_x0.3900left_y-0.3000left_z0.0500left_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]: [-0.9085, 1.8423, 1.0973, -0.099, -0.7105, -0.6395, 0.9996, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3687 left_y=-0.2796 left_z=0.092 left_yaw=-0.0032 left_pitch=-0.0361 left_roll=0.0107 left_gripper=0.9996 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.0134 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.1436, -9.0325, 5.2718, 1.5653, -0.3443, 0.1001, -0.0611, -0.3761, -1.3197, 7.0359, 1.7216, -0.0513, -0.0611, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.3, "left_z": 0.05, "left_gripper": 1}, "note": "Bear head still sits right of the jaw column and low in the wrist view; stepping 2 cm forward and 2 cm right and descending to 5 cm to get the jaws over its head."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe bear now fills the bottom of the wrist view, centred on the jaw column, so the jaws should be over its head. Closing to grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8997, 1.9991, 1.1362, 0.0032, -0.7109, -0.6441, 0.9996, -0.0147, 0.8078, 0.6083, -0.3859, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3839 left_y=-0.2924 left_z=0.0507 left_yaw=0.0088 left_pitch=-0.0455 left_roll=0.0194 left_gripper=0.9996 right_x=0.2954 right_y=0.0014 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0179 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0615, -9.7436, 7.241, 1.1697, -0.2271, 0.1294, -0.0562, -0.3487, -1.5385, 7.0222, 1.7167, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bear now fills the bottom of the wrist view, centred on the jaw column, so the jaws should be over its head. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteGripper settled at 0.155 (~1.5 cm of fur) so the bear is held. Lifting to 25 cm and moving left toward the left-hand basket.
move_to
left_z0.2500left_x0.4200left_y-0.1400
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]: [-0.8982, 2.0144, 1.1442, 0.0235, -0.7109, -0.6514, 0.1554, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3872 left_y=-0.2954 left_z=0.0492 left_yaw=0.0138 left_pitch=-0.0375 left_roll=0.0032 left_gripper=0.1554 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0179 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.212, -11.6444, 5.1487, 1.1209, -0.3541, 0.0024, 1.0672, -0.1573, -1.2239, 7.0632, 1.6972, -0.0415, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25, "left_x": 0.42, "left_y": -0.14}, "note": "Gripper settled at 0.155 (~1.5 cm of fur) so the bear is held. Lifting to 25 cm and moving left toward the left-hand basket."})
tool
executing move_to over 14 steps (1.4s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteHolding the bear; the left basket fills the wrist view just ahead of the jaws. Moving 4 cm forward to centre over the basket before releasing.
move_to
left_x0.4600left_y-0.1500left_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]: [-0.4881, 1.5352, 1.3041, -0.511, -0.4179, -0.3424, 0.1567, -0.0147, 0.8101, 0.6083, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4182 left_y=-0.1368 left_z=0.2218 left_yaw=0.0351 left_pitch=-0.0999 left_roll=0.0265 left_gripper=0.1567 right_x=0.2956 right_y=0.0014 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0198 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.253, -9.388, 9.6342, 1.6239, -0.1734, 0.1929, 1.033, -0.3077, -1.4564, 7.0359, 1.7216, -0.0855, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.15, "left_z": 0.25}, "note": "Holding the bear; the left basket fills the wrist view just ahead of the jaws. Moving 4 cm forward to centre over the basket before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe basket sits left of the jaw column in the wrist view, so shifting 5 cm further to the arm's left to get over its centre.
move_to
left_y-0.1000left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.466, 1.6989, 1.5341, -0.6098, -0.4057, -0.3428, 0.1623, -0.0147, 0.8143, 0.6067, -0.3939, -0.0116, -0.0166, 0.9998] state[eef_state]: left_x=0.4541 left_y=-0.1463 left_z=0.2304 left_yaw=0.0496 left_pitch=-0.1323 left_roll=0.035 left_gripper=0.1623 right_x=0.2945 right_y=0.0013 right_z=0.1728 right_yaw=-0.0003 right_pitch=-0.034 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0479, -9.0872, 9.7846, 1.5214, -0.1392, 0.1587, 1.033, -0.2803, -1.7162, 7.1726, 1.8388, -0.0464, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.1, "left_z": 0.25}, "note": "The basket sits left of the jaw column in the wrist view, so shifting 5 cm further to the arm's left to get over its centre."})
tool
executing move_to over 5 steps (0.5s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteBasket now centred on the jaw column but its centre is a few cm beyond the fingertips; moving 3 cm forward before dropping the bear.
move_to
left_x0.4900left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3473, 1.6882, 1.5272, -0.6479, -0.3401, -0.2825, 0.1669, -0.0147, 0.8158, 0.6056, -0.3927, -0.012, -0.02, 0.9998] state[eef_state]: left_x=0.4592 left_y=-0.0998 left_z=0.2231 left_yaw=0.0853 left_pitch=-0.1856 left_roll=0.0545 left_gripper=0.1669 right_x=0.2946 right_y=0.0014 right_z=0.1721 right_yaw=0.0019 right_pitch=-0.0355 right_roll=-0.0032 right_gripper=0.9998 state[joint_eff]: [-0.0889, -12.4376, 7.159, 1.5653, -0.0952, 0.1392, 1.033, -0.253, -1.4974, 7.1043, 1.7265, -0.0513, -0.0171, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_z": 0.24}, "note": "Basket now centred on the jaw column but its centre is a few cm beyond the fingertips; moving 3 cm forward before dropping the bear."})
tool
executing move_to over 3 steps (0.3s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteStill short of the basket interior; pushing 3 cm further forward so the bear hangs inside the basket before I open.
move_to
left_x0.5200left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3271, 1.8023, 1.6871, -0.7128, -0.3283, -0.2722, 0.1717, -0.0147, 0.8192, 0.6041, -0.3931, -0.0116, -0.02, 0.9998] state[eef_state]: left_x=0.4848 left_y=-0.1006 left_z=0.2258 left_yaw=0.0918 left_pitch=-0.2069 left_roll=0.0621 left_gripper=0.1717 right_x=0.2946 right_y=0.0013 right_z=0.1704 right_yaw=0.0015 right_pitch=-0.0408 right_roll=-0.0034 right_gripper=0.9998 state[joint_eff]: [0.5265, -10.947, 8.841, 1.2723, -0.1294, 0.0904, 1.0281, -0.3487, -1.4154, 7.2274, 1.6581, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_z": 0.24}, "note": "Still short of the basket interior; pushing 3 cm further forward so the bear hangs inside the basket before I open."})
tool
executing move_to over 3 steps (0.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteLowering the bear toward the basket interior to check for contact before releasing.
move_to
left_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]: [-0.3058, 1.9446, 1.89, -0.7933, -0.3187, -0.2687, 0.1751, -0.0147, 0.8211, 0.6022, -0.3965, -0.0116, -0.02, 0.9998] state[eef_state]: left_x=0.5153 left_y=-0.1008 left_z=0.2261 left_yaw=0.1052 left_pitch=-0.228 left_roll=0.0662 left_gripper=0.1751 right_x=0.2939 right_y=0.0013 right_z=0.1683 right_yaw=0.0015 right_pitch=-0.0481 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [0.3761, -11.5487, 8.1299, 1.1697, -0.1148, 0.149, 1.033, -0.2256, -1.4701, 7.1863, 1.7216, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Lowering the bear toward the basket interior to check for contact before releasing."})
tool
executing move_to over 7 steps (0.7s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteWrist view is filled by the basket interior with the bear hanging inside it — releasing the bear into the left basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.305, 1.948, 1.4986, -0.4553, -0.3134, -0.2691, 0.1767, -0.0147, 0.8215, 0.6018, -0.3965, -0.0116, -0.02, 0.9998] state[eef_state]: left_x=0.505 left_y=-0.0981 left_z=0.118 left_yaw=0.1077 left_pitch=-0.2817 left_roll=0.0855 left_gripper=0.1767 right_x=0.2939 right_y=0.0013 right_z=0.168 right_yaw=0.0015 right_pitch=-0.0488 right_roll=-0.0032 right_gripper=0.9998 state[joint_eff]: [-0.2393, -10.1402, 6.7214, 1.5507, -0.2173, -0.022, 1.033, -0.1436, -1.3333, 7.1179, 1.6874, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Wrist view is filled by the basket interior with the bear hanging inside it \u2014 releasing the bear into the left basket."})
tool
executing move_to over 9 steps (0.9s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteReleased the bear; retracting the left arm up and back to check from the overhead view whether it landed inside the basket.
move_to
left_x0.3000left_y-0.1000left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3035, 1.953, 1.4872, -0.4442, -0.313, -0.2775, 0.98, -0.0147, 0.8215, 0.601, -0.4, -0.0116, -0.0204, 0.9998] state[eef_state]: left_x=0.5045 left_y=-0.0972 left_z=0.1126 left_yaw=0.1142 left_pitch=-0.2863 left_roll=0.0817 left_gripper=0.98 right_x=0.2933 right_y=0.0013 right_z=0.167 right_yaw=0.0018 right_pitch=-0.053 right_roll=-0.0035 right_gripper=0.9998 state[joint_eff]: [-0.3624, -11.1932, 7.5419, 1.2869, -0.1832, 0.1587, -0.0806, -0.1026, -1.3744, 7.0769, 1.746, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.1, "left_z": 0.3}, "note": "Released the bear; retracting the left arm up and back to check from the overhead view whether it landed inside the basket."})
tool
executing move_to over 16 steps (1.6s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe orange plush is now inside the left basket. Next I'll sort the pens with the right arm: moving it above the pair of pens lying to the right of centre for a wrist-camera look.
move_to
right_x0.3400right_y0.1100right_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]: [-0.5816, 1.3808, 1.5791, -1.1893, -0.4503, -0.5079, 0.9816, -0.0147, 0.8249, 0.601, -0.4004, -0.012, -0.0204, 0.9998] state[eef_state]: left_x=0.315 left_y=-0.1108 left_z=0.2868 left_yaw=0.0855 left_pitch=-0.2885 left_roll=0.0671 left_gripper=0.9816 right_x=0.2934 right_y=0.0014 right_z=0.166 right_yaw=0.0021 right_pitch=-0.0568 right_roll=-0.0032 right_gripper=0.9998 state[joint_eff]: [-0.2393, -6.4068, 7.9111, 1.1209, -0.442, 0.0122, 0.1441, -0.1983, -1.5795, 6.9949, 1.7265, -0.0708, -0.0366, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.11, "right_z": 0.15, "right_gripper": 1}, "note": "The orange plush is now inside the left basket. Next I'll sort the pens with the right arm: moving it above the pair of pens lying to the right of centre for a wrist-camera look."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteRight wrist view shows a white pen just below the jaw column with a blue-handled pen beside it. Descending to table level over the white pen to grasp it.
move_to
right_x0.3400right_y0.1150right_z0.0050right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5838, 1.3857, 1.5757, -1.1957, -0.4454, -0.5243, 0.9817, 0.4805, 1.1976, 0.6819, -0.2363, 0.345, 0.2501, 0.9997] state[eef_state]: left_x=0.3139 left_y=-0.1119 left_z=0.283 left_yaw=0.0915 left_pitch=-0.3021 left_roll=0.0622 left_gripper=0.9817 right_x=0.3267 right_y=0.1069 right_z=0.1279 right_yaw=0.0493 right_pitch=-0.1314 right_roll=-0.0375 right_gripper=0.9997 state[joint_eff]: [-0.1299, -5.0256, 6.3248, 1.243, -0.2662, 0.1294, 0.0024, 0.2256, -4.4923, 9.7436, 1.7167, 0.3541, 0.1929, -0.0366] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.115, "right_z": 0.005, "right_gripper": 1}, "note": "Right wrist view shows a white pen just below the jaw column with a blue-handled pen beside it. Descending to table level over the white pen to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteRight gripper is down at table level where the white pen was; closing to see if it catches the pen (settled reading above 0.04 means something is held).
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]: [-0.5842, 1.3857, 1.5745, -1.1961, -0.445, -0.5255, 0.9816, 0.4889, 1.6024, 0.4538, 0.3927, 0.3397, 0.2626, 0.9998] state[eef_state]: left_x=0.3137 left_y=-0.112 left_z=0.2825 left_yaw=0.0918 left_pitch=-0.3035 left_roll=0.0621 left_gripper=0.9816 right_x=0.34 right_y=0.1183 right_z=0.0148 right_yaw=0.055 right_pitch=-0.1361 right_roll=-0.0261 right_gripper=0.9998 state[joint_eff]: [-0.294, -4.9573, 6.0513, 1.1941, -0.2027, -0.0171, -0.0171, -0.4855, -3.8906, 3.2205, 0.652, 0.2027, -0.1148, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Right gripper is down at table level where the white pen was; closing to see if it catches the pen (settled reading above 0.04 means something is held)."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteGripper settled at 0.15 (~1.4 cm), suggesting the pen is held. Lifting 19 cm to verify in the overhead view that the pen came with the jaws.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5842, 1.3857, 1.5742, -1.1957, -0.445, -0.5255, 0.9816, 0.49, 1.6138, 0.4458, 0.4194, 0.3294, 0.2588, 0.1499] state[eef_state]: left_x=0.3137 left_y=-0.112 left_z=0.2824 left_yaw=0.0918 left_pitch=-0.3035 left_roll=0.0621 left_gripper=0.9816 right_x=0.3397 right_y=0.1205 right_z=0.0125 right_yaw=0.067 right_pitch=-0.1325 right_roll=-0.0195 right_gripper=0.1499 state[joint_eff]: [-0.1026, -4.9573, 5.9829, 1.2088, -0.2808, -0.0366, -0.0073, -0.2803, -6.7487, 5.3949, 1.3016, 0.1538, -0.0317, 1.0037] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.15 (~1.4 cm), suggesting the pen is held. Lifting 19 cm to verify in the overhead view that the pen came with the jaws."})
tool
executing move_to over 13 steps (1.3s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteSomething ~1.4 cm thick is held (likely the pen) and the right basket fills the wrist view just ahead. Moving forward and left over the basket to drop it in.
move_to
right_x0.4400right_y0.1500right_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]: [-0.5838, 1.3861, 1.5742, -1.1957, -0.445, -0.5251, 0.9817, 0.49, 1.2453, 0.936, -0.4488, 0.3283, 0.2516, 0.1499] state[eef_state]: left_x=0.3138 left_y=-0.1119 left_z=0.2823 left_yaw=0.0921 left_pitch=-0.3038 left_roll=0.0626 left_gripper=0.9817 right_x=0.3424 right_y=0.1222 right_z=0.1817 right_yaw=0.0713 right_pitch=-0.1416 right_roll=-0.0283 right_gripper=0.1499 state[joint_eff]: [-0.0205, -4.7658, 6.0786, 1.1746, -0.2711, -0.0513, -0.0073, -0.1983, -6.0239, 9.4701, 1.4921, 0.149, 0.0269, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.15, "right_z": 0.22}, "note": "Something ~1.4 cm thick is held (likely the pen) and the right basket fills the wrist view just ahead. Moving forward and left over the basket to drop it in."})
tool
executing move_to over 8 steps (0.8s)
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 noteJaws are centred over the right basket interior; opening to release the pen into it.
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]: [-0.5842, 1.3876, 1.5734, -1.1957, -0.445, -0.5255, 0.9817, 0.4332, 1.6054, 1.351, -0.5266, 0.279, 0.2058, 0.1555] state[eef_state]: left_x=0.3139 left_y=-0.1121 left_z=0.2816 left_yaw=0.0923 left_pitch=-0.3056 left_roll=0.0639 left_gripper=0.9817 right_x=0.429 right_y=0.1487 right_z=0.2035 right_yaw=0.0784 right_pitch=-0.1766 right_roll=-0.0396 right_gripper=0.1555 state[joint_eff]: [-0.0342, -5.0803, 6.0239, 1.1795, -0.2515, -0.0366, -0.0122, -0.6085, -7.8701, 9.7162, 1.4335, 0.1978, 0.0073, 1.0281] 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_gripper": 1}, "note": "Jaws are centred over the right basket interior; opening to release the pen into it."})
tool
executing move_to over 9 steps (0.9s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent notePen is now in the right basket. Remaining: a grey plush, a brown monkey plush and a couple of pens. Moving the left arm above the brown monkey plush for a wrist look.
move_to
left_x0.3800left_y-0.1450left_z0.1200left_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]: [-0.5842, 1.3876, 1.573, -1.1954, -0.445, -0.5255, 0.9817, 0.4305, 1.6272, 1.3487, -0.5266, 0.276, 0.1989, 0.9954] state[eef_state]: left_x=0.314 left_y=-0.1121 left_z=0.2815 left_yaw=0.0923 left_pitch=-0.3056 left_roll=0.0639 left_gripper=0.9817 right_x=0.4306 right_y=0.1487 right_z=0.193 right_yaw=0.0804 right_pitch=-0.2001 right_roll=-0.0511 right_gripper=0.9954 state[joint_eff]: [-0.2393, -4.9983, 6.0103, 1.1697, -0.1929, -0.0513, -0.0122, -0.1299, -9.7846, 7.2547, 1.453, 0.0757, -0.0122, -0.1734] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.145, "left_z": 0.12, "left_gripper": 1}, "note": "Pen is now in the right basket. Remaining: a grey plush, a brown monkey plush and a couple of pens. Moving the left arm above the brown monkey plush for a wrist look."})
tool
executing move_to over 11 steps (1.1s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe monkey plush appears at the bottom of the left wrist view roughly on the jaw column; descending to 4 cm to grasp it.
move_to
left_z0.0400left_x0.3850left_y-0.1500
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]: [-0.5594, 1.5948, 1.132, -0.5842, -0.4355, -0.5087, 0.9985, 0.4305, 1.6272, 1.3487, -0.5266, 0.2752, 0.1982, 0.9963] state[eef_state]: left_x=0.3699 left_y=-0.1395 left_z=0.121 left_yaw=0.1083 left_pitch=-0.3403 left_roll=0.0926 left_gripper=0.9985 right_x=0.4306 right_y=0.1488 right_z=0.193 right_yaw=0.0815 right_pitch=-0.2003 right_roll=-0.0511 right_gripper=0.9963 state[joint_eff]: [0.2256, -7.3641, 6.5299, 1.16, -0.188, 0.0904, -0.1685, -0.3761, -7.9111, 6.8308, 1.4481, 0.0464, -0.0024, 0.0806] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_x": 0.385, "left_y": -0.15}, "note": "The monkey plush appears at the bottom of the left wrist view roughly on the jaw column; descending to 4 cm to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteI over-shot: the wrist is looking into the basket, and the overhead view shows the monkey plush closer to the base and to the arm's left. Backing off to hover above the monkey.
move_to
left_x0.3200left_y-0.2100left_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]: [-0.5621, 1.7557, 1.0229, -0.2935, -0.4496, -0.5018, 0.9983, 0.4305, 1.6272, 1.3487, -0.5266, 0.2756, 0.1978, 0.9965] state[eef_state]: left_x=0.3893 left_y=-0.1502 left_z=0.0563 left_yaw=0.1079 left_pitch=-0.317 left_roll=0.0937 left_gripper=0.9983 right_x=0.4306 right_y=0.1488 right_z=0.193 right_yaw=0.0814 right_pitch=-0.2002 right_roll=-0.0516 right_gripper=0.9965 state[joint_eff]: [-0.1162, -7.0222, 4.2462, 0.8523, -0.0611, -0.3101, -0.0366, -0.294, -8.0068, 6.8581, 1.4383, 0.0952, -0.0366, -0.0024] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.21, "left_z": 0.14}, "note": "I over-shot: the wrist is looking into the basket, and the overhead view shows the monkey plush closer to the base and to the arm's left. Backing off to hover above the monkey."})
tool
executing move_to over 6 steps (0.6s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe monkey plush lies closer to the base and to the arm's left of the current jaw position; moving back 4 cm and left 8 cm to hover over it.
move_to
left_x0.2900left_y-0.1400left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8257, 1.6588, 1.2049, -0.6777, -0.5426, -0.7341, 0.9983, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1978, 0.9965] state[eef_state]: left_x=0.3299 left_y=-0.2178 left_z=0.1213 left_yaw=0.0632 left_pitch=-0.3233 left_roll=0.0784 left_gripper=0.9983 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0816 right_pitch=-0.201 right_roll=-0.0516 right_gripper=0.9965 state[joint_eff]: [-0.253, -10.2222, 8.4991, 0.9304, -0.3834, -0.022, -0.0122, -0.335, -8.0889, 6.9128, 1.453, 0.0757, -0.0122, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.14, "left_z": 0.13}, "note": "The monkey plush lies closer to the base and to the arm's left of the current jaw position; moving back 4 cm and left 8 cm to hover over it."})
tool
executing move_to over 7 steps (0.7s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteWrist view now shows the brown monkey plush just below-left of the jaws (with a yellow marker beside it). Shifting 3 cm left and descending to 5 cm to grasp the monkey.
move_to
left_y-0.1150left_x0.2850left_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]: [-0.733, 1.356, 0.9409, -0.6781, -0.5083, -0.6613, 0.9983, 0.4305, 1.6276, 1.3479, -0.5255, 0.2752, 0.1951, 0.9965] state[eef_state]: left_x=0.2942 left_y=-0.1444 left_z=0.1269 left_yaw=0.0831 left_pitch=-0.3241 left_roll=0.0748 left_gripper=0.9983 right_x=0.4306 right_y=0.1489 right_z=0.1927 right_yaw=0.0832 right_pitch=-0.2004 right_roll=-0.0533 right_gripper=0.9965 state[joint_eff]: [0.1573, -6.1744, 6.3521, 1.1502, -0.1343, 0.1343, -0.0171, -0.0615, -8.0615, 6.8444, 1.5702, 0.0757, -0.0317, -0.0171] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.115, "left_x": 0.285, "left_z": 0.05}, "note": "Wrist view now shows the brown monkey plush just below-left of the jaws (with a yellow marker beside it). Shifting 3 cm left and descending to 5 cm to grasp the monkey."})
tool
executing move_to over 5 steps (0.5s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe monkey plush now sits centred between the jaw wedges at the bottom of 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]: [-0.6666, 1.3491, 0.6323, -0.4133, -0.4835, -0.6125, 0.9983, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1947, 0.9965] state[eef_state]: left_x=0.2751 left_y=-0.1074 left_z=0.0491 left_yaw=0.1147 left_pitch=-0.3685 left_roll=0.1183 left_gripper=0.9983 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0833 right_pitch=-0.2011 right_roll=-0.0539 right_gripper=0.9965 state[joint_eff]: [0.2256, -3.8632, 6.2427, 1.2576, -0.2515, 0.1148, -0.0171, -0.2256, -8.0752, 6.8855, 1.4628, 0.1148, -0.0464, -0.0122] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The monkey plush now sits centred between the jaw wedges at the bottom of the wrist view; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 208
top_cam
camera top_cam step 208
assistant
agent noteThe close came back empty (0.01), so the monkey is a bit farther out than the jaws. Reopening and advancing 2 cm radially for a second attempt.
move_to
left_gripper1.0000left_x0.3050left_z0.0450
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]: [-0.6605, 1.3548, 0.6067, -0.3084, -0.4713, -0.5945, 0.0102, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1947, 0.9965] state[eef_state]: left_x=0.2849 left_y=-0.1152 left_z=0.0493 left_yaw=0.0839 left_pitch=-0.3236 left_roll=0.0676 left_gripper=0.0102 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0833 right_pitch=-0.2011 right_roll=-0.0539 right_gripper=0.9965 state[joint_eff]: [-0.1573, -4.588, 6.2291, 1.072, -0.3248, 0.0464, 0.8864, -0.335, -7.8838, 6.8171, 1.5018, 0.0562, -0.0366, -0.0122] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.305, "left_z": 0.045}, "note": "The close came back empty (0.01), so the monkey is a bit farther out than the jaws. Reopening and advancing 2 cm radially for a second attempt."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteLeft arm keeps bumping the basket wall; switching attention to the remaining pen on the right side. Moving the right arm back down over the pen area for a wrist look.
move_to
right_x0.3300right_y0.0900right_z0.1300right_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]: [-0.6132, 1.4254, 0.6197, -0.2626, -0.4461, -0.5587, 0.9952, 0.4305, 1.6276, 1.3479, -0.5262, 0.2756, 0.1947, 0.9965] state[eef_state]: left_x=0.2955 left_y=-0.1104 left_z=0.0371 left_yaw=0.0956 left_pitch=-0.3485 left_roll=0.0821 left_gripper=0.9952 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.083 right_pitch=-0.201 right_roll=-0.0541 right_gripper=0.9965 state[joint_eff]: [0.5265, -4.1641, 8.1709, 1.3211, -0.2369, 0.105, -0.0952, -0.3214, -7.8974, 6.8171, 1.4774, 0.0659, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.09, "right_z": 0.13, "right_gripper": 1}, "note": "Left arm keeps bumping the basket wall; switching attention to the remaining pen on the right side. Moving the right arm back down over the pen area for a wrist look."})
tool
executing move_to over 8 steps (0.8s)
step 226
assistant
agent noteOverhead shows one pen already in the right basket and a second white pen lying on the table directly in front of that basket, closer to the bases. Moving the right arm over that estimated spot.
move_to
right_x0.2700right_y0.1450right_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]: [-0.6121, 1.4322, 0.6209, -0.2653, -0.4442, -0.5575, 0.9967, 0.3836, 1.2316, 0.7601, -0.3576, 0.244, 0.1642, 0.9986] state[eef_state]: left_x=0.295 left_y=-0.1099 left_z=0.0351 left_yaw=0.0967 left_pitch=-0.356 left_roll=0.0873 left_gripper=0.9967 right_x=0.3307 right_y=0.0913 right_z=0.1252 right_yaw=0.0777 right_pitch=-0.2314 right_roll=-0.0615 right_gripper=0.9986 state[joint_eff]: [-0.294, -5.1761, 5.7094, 1.199, -0.232, -0.0611, 0.1392, -0.5538, -4.506, 7.747, 1.7265, 0.0317, -0.0415, -0.1538] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.145, "right_z": 0.12}, "note": "Overhead shows one pen already in the right basket and a second white pen lying on the table directly in front of that basket, closer to the bases. Moving the right arm over that estimated spot."})
tool
executing move_to over 5 steps (0.5s)
step 231
assistant
agent noteThe white pen is directly below the jaws, about 2 cm to the arm's left, lying radially. Shifting left and descending to table level to grasp across it.
move_to
right_y0.1680right_x0.2750right_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]: [-0.6117, 1.4326, 0.6209, -0.2665, -0.4446, -0.5571, 0.9968, 0.7151, 1.1786, 0.7212, -0.4427, 0.4103, 0.3794, 0.9985] state[eef_state]: left_x=0.2948 left_y=-0.1096 left_z=0.0349 left_yaw=0.0975 left_pitch=-0.357 left_roll=0.0888 left_gripper=0.9968 right_x=0.2777 right_y=0.1526 right_z=0.1199 right_yaw=0.1477 right_pitch=-0.2352 right_roll=-0.0563 right_gripper=0.9985 state[joint_eff]: [-0.1573, -5.1487, 5.8735, 1.1795, -0.2759, -0.0122, 0.0024, 0.1573, -4.7658, 6.3932, 1.1795, 0.3541, 0.0952, -0.0317] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.168, "right_x": 0.275, "right_z": 0.005}, "note": "The white pen is directly below the jaws, about 2 cm to the arm's left, lying radially. Shifting left and descending to table level to grasp across it."})
tool
executing move_to over 8 steps (0.8s)
step 239
assistant
agent noteThe pen runs right between the two jaw wedges 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]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5571, 0.9968, 0.7673, 1.4822, 0.4644, 0.0834, 0.4416, 0.4259, 0.9984] state[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.0978 left_pitch=-0.3579 left_roll=0.0896 left_gripper=0.9968 right_x=0.2752 right_y=0.1655 right_z=0.0133 right_yaw=0.1454 right_pitch=-0.2483 right_roll=-0.0642 right_gripper=0.9984 state[joint_eff]: [-0.0068, -5.1077, 6.0239, 1.0525, -0.2271, -0.0269, -0.0122, 0.8137, -3.0291, 3.5487, 0.6422, 0.1343, -0.0122, -0.0171] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pen runs right between the two jaw wedges at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 249
assistant
agent noteThe marker is held (gripper 0.13). Lifting and carrying it over the right basket, which already holds the first pen.
move_to
right_x0.4300right_y0.1500right_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]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5575, 0.9968, 0.7658, 1.4921, 0.4534, 0.1036, 0.4339, 0.4236, 0.1311] state[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.098 left_pitch=-0.3579 left_roll=0.0894 left_gripper=0.9968 right_x=0.2739 right_y=0.1653 right_z=0.0093 right_yaw=0.1509 right_pitch=-0.2525 right_roll=-0.0611 right_gripper=0.1311 state[joint_eff]: [-0.0752, -5.1214, 5.7915, 1.1111, -0.2955, -0.0562, -0.0122, -0.0752, -5.8735, 5.9556, 1.0867, 0.2271, -0.0122, 0.989] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.15, "right_z": 0.22}, "note": "The marker is held (gripper 0.13). Lifting and carrying it over the right basket, which already holds the first pen."})
tool
executing move_to over 14 steps (1.4s)
step 263
assistant
agent noteThe marker is still outside the basket's near wall; raising to clear the rim and moving 3 cm further forward over the basket interior.
move_to
right_x0.4600right_z0.2700right_y0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.268, -0.4446, -0.5575, 0.9968, 0.4168, 1.6432, 1.4414, -0.6552, 0.2131, 0.1406, 0.1311] state[eef_state]: left_x=0.2946 left_y=-0.1094 left_z=0.0347 left_yaw=0.0981 left_pitch=-0.3581 left_roll=0.0897 left_gripper=0.9968 right_x=0.4253 right_y=0.1513 right_z=0.2016 right_yaw=0.1481 right_pitch=-0.2654 right_roll=-0.0636 right_gripper=0.1311 state[joint_eff]: [0.0068, -5.1214, 5.7368, 1.0672, -0.2711, -0.0171, -0.0122, -0.5265, -8.1709, 9.5521, 1.3162, 0.0317, 0.0317, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.27, "right_y": 0.16}, "note": "The marker is still outside the basket's near wall; raising to clear the rim and moving 3 cm further forward over the basket interior."})
tool
executing move_to over 5 steps (0.5s)
step 268
assistant
agent noteWrist view still shows the basket's outer wall ahead, so the jaws are short of the interior; advancing 5 cm more to get over the basket mouth.
move_to
right_x0.5100right_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.268, -0.4446, -0.5575, 0.9968, 0.4072, 1.832, 1.8702, -0.9142, 0.1974, 0.1265, 0.1311] state[eef_state]: left_x=0.2946 left_y=-0.1094 left_z=0.0347 left_yaw=0.0981 left_pitch=-0.3581 left_roll=0.0897 left_gripper=0.9968 right_x=0.459 right_y=0.1642 right_z=0.2496 right_yaw=0.1585 right_pitch=-0.2874 right_roll=-0.0664 right_gripper=0.1311 state[joint_eff]: [-0.3077, -5.1214, 5.8735, 1.033, -0.2906, -0.0415, -0.0122, -0.6632, -10.1675, 9.1692, 1.1844, 0.0855, -0.0171, 1.0379] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_z": 0.24}, "note": "Wrist view still shows the basket's outer wall ahead, so the jaws are short of the interior; advancing 5 cm more to get over the basket mouth."})
tool
executing move_to over 4 steps (0.4s)
step 272
assistant
agent noteJaws are over the right basket's mouth with the marker hanging down; lowering slightly and opening to drop it in with the other pen.
move_to
right_gripper1.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5575, 0.9968, 0.3767, 2.0106, 2.0605, -0.9421, 0.1627, 0.0914, 0.1311] state[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.098 left_pitch=-0.3579 left_roll=0.0894 left_gripper=0.9968 right_x=0.4998 right_y=0.1708 right_z=0.2329 right_yaw=0.1766 right_pitch=-0.3102 right_roll=-0.0666 right_gripper=0.1311 state[joint_eff]: [-0.2393, -5.012, 5.6821, 1.0818, -0.2369, -0.0415, -0.0122, -1.2239, -11.0427, 9.1009, 1.3162, 0.0904, -0.0269, 1.033] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.2}, "note": "Jaws are over the right basket's mouth with the marker hanging down; lowering slightly and opening to drop it in with the other pen."})
tool
executing move_to over 9 steps (0.9s)
step 281
assistant
agent noteSorted by type: a plush toy was placed in the left basket and both pens/markers were placed in the right basket. One or two plush toys remain on the left side of the table — I ran out of call budget before moving them.
done
hindsightTop-cam pixel scale is very unreliable here (~1.5–2 px/cm horizontally in the mid field, and vertical depth is badly compressed); estimating object x from image row cost me several wasted moves. Much faster loop: fly to a rough hover at z≈0.13, then iterate purely from the wrist camera — object should be on image column ~110 and cut off by the bottom edge before closing; if it's fully visible above the bottom edge, advance 2 cm in x. The teal baskets' interiors start around x≈0.45–0.50 in each arm's frame (left basket near left_y≈-0.10, right basket near right_y≈0.15–0.17); approaching at x≈0.43 puts the jaws against the outer wall, so go to x≈0.50 at z≈0.22–0.25 before opening. Plush fur closes to ~0.15 on the gripper reading; pens ~0.13; an empty close reads 0.01. The wrist camera looking straight into a basket wall is the clearest sign you are too close/short, not over it.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5575, 0.9968, 0.3641, 2.0518, 2.0693, -0.9493, 0.1596, 0.0822, 0.9953] state[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.098 left_pitch=-0.3579 left_roll=0.0894 left_gripper=0.9968 right_x=0.5057 right_y=0.1665 right_z=0.2142 right_yaw=0.1692 right_pitch=-0.35 right_roll=-0.0783 right_gripper=0.9953 state[joint_eff]: [-0.3487, -5.094, 5.9009, 1.1306, -0.2418, -0.0171, -0.0122, -0.7316, -12.9983, 9.4838, 1.3797, 0.1392, 0.0317, -0.149] 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
done({"summary": "Sorted by type: a plush toy was placed in the left basket and both pens/markers were placed in the right basket. One or two plush toys remain on the left side of the table \u2014 I ran out of call budget before moving them.", "hindsight": "Top-cam pixel scale is very unreliable here (~1.5\u20132 px/cm horizontally in the mid field, and vertical depth is badly compressed); estimating object x from image row cost me several wasted moves. Much faster loop: fly to a rough hover at z\u22480.13, then iterate purely from the wrist camera \u2014 object should be on image column ~110 and cut off by the bottom edge before closing; if it's fully visible above the bottom edge, advance 2 cm in x. The teal baskets' interiors start around x\u22480.45\u20130.50 in each arm's frame (left basket near left_y\u2248-0.10, right basket near right_y\u22480.15\u20130.17); approaching at x\u22480.43 puts the jaws against the outer wall, so go to x\u22480.50 at z\u22480.22\u20130.25 before opening. Plush fur closes to ~0.15 on the gripper reading; pens ~0.13; an empty close reads 0.01. The wrist camera looking straight into a basket wall is the clearest sign you are too close/short, not over it."})
tool
done: Sorted by type: a plush toy was placed in the left basket and both pens/markers were placed in the right basket. One or two plush toys remain on the left side of the table — I ran out of call budget before moving them.
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 · 22.34 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]: [-0.0246, 0.8032, 0.617, -0.3801, -0.0216, -0.0334, 0.9996, -0.0154, 0.8005, 0.6109, -0.3779, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0001 left_z=0.1834 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2963 right_y=0.0013 right_z=0.1818 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -1.7299, 9.5111, 1.8046, -0.022, 0.1636, -0.0562, -0.7726, -1.7573, 9.8393, 1.7705, -0.1099, -0.0122, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92740a4e6bc9b0bd298b7426a72d6de72ee37e4e9c2b1969ee4704817501ae7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:414ae0845e244d4bc652d025418cc8d9b5465ed6b50eeb5b06aebfe511d2bb67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbc2955749bcf6a669346962e8fc6a95d009c7e6d78ba32e5c9480de817dc644",
        "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 · 8.518 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]: [-0.0246, 0.8032, 0.617, -0.3801, -0.0216, -0.0334, 0.9996, -0.0154, 0.8005, 0.6109, -0.3779, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0001 left_z=0.1834 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2963 right_y=0.0013 right_z=0.1818 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -1.7299, 9.5111, 1.8046, -0.022, 0.1636, -0.0562, -0.7726, -1.7573, 9.8393, 1.7705, -0.1099, -0.0122, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92740a4e6bc9b0bd298b7426a72d6de72ee37e4e9c2b1969ee4704817501ae7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:414ae0845e244d4bc652d025418cc8d9b5465ed6b50eeb5b06aebfe511d2bb67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbc2955749bcf6a669346962e8fc6a95d009c7e6d78ba32e5c9480de817dc644",
        "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_01GX2UH18QLWwheqDijwEn3a",
      "input": {
        "note": "Scene: two teal baskets at the far side, a cluster of fuzzy plush toys in the middle of the table and several pens/markers lying on the right side. Plan: plush toys into one basket, pens into the other. First I move the left arm above the plush cluster to get a wrist view.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.35,
          "left_y": -0.26,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01GX2UH18QLWwheqDijwEn3a",
      "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]: [-0.9207, 1.6096, 1.2186, -0.4488, -0.7193, -0.6392, 0.9996, -0.0147, 0.8043, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3468 left_y=-0.2579 left_z=0.1869 left_yaw=-0.0098 left_pitch=-0.0284 left_roll=0.0117 left_gripper=0.9996 right_x=0.2954 right_y=0.0014 right_z=0.1783 right_yaw=-0.0002 right_pitch=-0.013 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.747, 9.0735, 1.326, -0.4762, -0.0171, -0.0562, -0.4308, -1.3744, 7.5829, 1.8046, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f976543c53f83e385653e90799797d224fc70e5b91f03d218e3f878c79ae575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63aa9f2350e48ba557a07e5a41a546ab984096909807756fbeaba1455f2e0a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37ebbee830a33d237559d4619ea806b6191337ec4e4e7aad1b5368acc29a5b62",
        "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 · 6.483 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]: [-0.0246, 0.8032, 0.617, -0.3801, -0.0216, -0.0334, 0.9996, -0.0154, 0.8005, 0.6109, -0.3779, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0001 left_z=0.1834 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2963 right_y=0.0013 right_z=0.1818 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -1.7299, 9.5111, 1.8046, -0.022, 0.1636, -0.0562, -0.7726, -1.7573, 9.8393, 1.7705, -0.1099, -0.0122, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9207, 1.6096, 1.2186, -0.4488, -0.7193, -0.6392, 0.9996, -0.0147, 0.8043, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3468 left_y=-0.2579 left_z=0.1869 left_yaw=-0.0098 left_pitch=-0.0284 left_roll=0.0117 left_gripper=0.9996 right_x=0.2954 right_y=0.0014 right_z=0.1783 right_yaw=-0.0002 right_pitch=-0.013 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.747, 9.0735, 1.326, -0.4762, -0.0171, -0.0562, -0.4308, -1.3744, 7.5829, 1.8046, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f976543c53f83e385653e90799797d224fc70e5b91f03d218e3f878c79ae575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63aa9f2350e48ba557a07e5a41a546ab984096909807756fbeaba1455f2e0a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37ebbee830a33d237559d4619ea806b6191337ec4e4e7aad1b5368acc29a5b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QgKjgEIEhgCKkC6skc5OIKEQiJKZSS0Wqnn8owLujIpGFfgYp4iqHH1GGwOQLT/G8A2ETfDHmCh9yhYDt05vZbtA6TmhJWTfXGSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaLEzNUGEgxYKN6qrmCrwGmEPkkaDP9TNaJDLIzunEuOPiIwgyaho5V0ged8AZl60D19fluAYxHfqlr2+Vlv2Wd4ATUYrUpU0F7lgFBpYlXV3nYoKvMGppLxGYJ8C/guL6oowEqA7KDWwXNxCyeUtfxWbFPiqXKD7ETI2uMahvQIm4GacsQkTQj51HO+bODlQ8jCtMOLFcHX8rhKdh3zcoG8ntvmzd6uuzVCW7PcD3/vEoaubeXnaidDg1lLcPAEd+VyhVuAE8a/DRtadaWhqzHes7NcNTj4DWmy3x7aM9OUFLyI/PR7vSWMgqICv6W6Mj1TQp2FKyivU5qJFpt6x2NhkNZ6wRI08Hocj2ZyyqKT0o+0/QrBpGbJehwRV439lYvEwEyysUsgJegFA4oneAShMIECoV/YIgn8Szam1JBChql6tJSmLzlQNiQpYDcKxv5WrvzMpfgv1qdSQesxh9iV7YpslnJfS3nU3bL2PexA4qBY0669RBGDFeFYudOGZI5N3hYDWitZXcvpW9zh7rWnsrZitdN38rOFze0U5kRQ/B2X0XGQxXlr+IQJmjHiUWH7oOO7wVRJFFyFWiIyMXK2hGXvXfT0qVr2qXDiNH8b8R8cFcw1sCfhEci7GconVnqswx40HFP3X4b/oOe00Zww+qVgkDq32pJ7YdpW6hZM/mj1hQC/YcYDEOdjNBCpealwX+nRwUDE2/x8VeQ7GZjk1NdoAhqe670m2o1bz+dl6QG0SdhVB5utvVzKbVKozrSk+OPDxNdm+GOgU5jTlYWEE3JGLW8frK7+YDqtM77QIYkWy6lLW4yGMBJyoHHClML9MwKemHlcLbywTjmD0Itf+tJOV/Dg9ZvTM8+VBjcnF24LrT+zuwmR6ABpOVQhqtV4788Kxfzilu39SzT8aWHzB+6QwnZKKRWDD9biYadAs3toniB3+n+LwwocpiRGdKT4NehBdY6nmm4LSL3X/EbqRDaR2mVU5wIZurx1EolNBVw0JKcjOQLr2ZcTEU/SLF/+dnAZgMXSb7RgaY4X4b1YXhwlGMGL/TE1GmjmX2o1qzwXyTvhvYa7teQGFi+NSKrkOoEiwN2q5KL6usTrgUfikmy8GegOYNj3pq/wD/dAdMvYDDDBdUyLFcubcoGq8gFTTUd64+qWfo9zFaPjhLPs8kcLOVEtItIOMlfJmAleJvpGb4DQ4AKVD7ZSlho/ibyLi7qJJaTT/+I8HF6au5iAJbjY8whNK84R6ZWgUbAEaFGjJxW6g435RoyLzIE9ZNB+USCERnZ6rhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V3YoMFXtY1mosFXnXknv9a",
      "input": {
        "note": "Left wrist view shows a teddy-bear head low and slightly right of the jaw column, between the two baskets. Nudging 2 cm forward and 2 cm to the arm's right while descending to 9 cm to line up on the bear.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.37,
          "left_y": -0.28,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01V3YoMFXtY1mosFXnXknv9a",
      "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]: [-0.9085, 1.8423, 1.0973, -0.099, -0.7105, -0.6395, 0.9996, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3687 left_y=-0.2796 left_z=0.092 left_yaw=-0.0032 left_pitch=-0.0361 left_roll=0.0107 left_gripper=0.9996 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.0134 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.0325, 5.2718, 1.5653, -0.3443, 0.1001, -0.0611, -0.3761, -1.3197, 7.0359, 1.7216, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309df96b634b6dc1d490bfd5b99b017e64d0f6110cdcb32e77735e55d45ec927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a54c929e3a8c688da17632fdd558ef9b6a19c9916b622c4b891cc28300651a02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6989843f37ed87d873b7c5eeadc011f60b667c6350e3f3f6ab7d9c82b6f9aea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.271 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]: [-0.0246, 0.8032, 0.617, -0.3801, -0.0216, -0.0334, 0.9996, -0.0154, 0.8005, 0.6109, -0.3779, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0001 left_z=0.1834 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2963 right_y=0.0013 right_z=0.1818 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -1.7299, 9.5111, 1.8046, -0.022, 0.1636, -0.0562, -0.7726, -1.7573, 9.8393, 1.7705, -0.1099, -0.0122, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9207, 1.6096, 1.2186, -0.4488, -0.7193, -0.6392, 0.9996, -0.0147, 0.8043, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3468 left_y=-0.2579 left_z=0.1869 left_yaw=-0.0098 left_pitch=-0.0284 left_roll=0.0117 left_gripper=0.9996 right_x=0.2954 right_y=0.0014 right_z=0.1783 right_yaw=-0.0002 right_pitch=-0.013 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.747, 9.0735, 1.326, -0.4762, -0.0171, -0.0562, -0.4308, -1.3744, 7.5829, 1.8046, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9085, 1.8423, 1.0973, -0.099, -0.7105, -0.6395, 0.9996, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3687 left_y=-0.2796 left_z=0.092 left_yaw=-0.0032 left_pitch=-0.0361 left_roll=0.0107 left_gripper=0.9996 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.0134 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.0325, 5.2718, 1.5653, -0.3443, 0.1001, -0.0611, -0.3761, -1.3197, 7.0359, 1.7216, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309df96b634b6dc1d490bfd5b99b017e64d0f6110cdcb32e77735e55d45ec927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a54c929e3a8c688da17632fdd558ef9b6a19c9916b622c4b891cc28300651a02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6989843f37ed87d873b7c5eeadc011f60b667c6350e3f3f6ab7d9c82b6f9aea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQQKjgEIEhgCKkAkkc6rCy0Tjav2WByhRS907mN2IWqB4+a18sl4eOrZhkVZEvtrYAZTR+KE7YxivNeytKcwdRKjT6Gp34MFygpWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAanEzNUGEgyPqgDJUDPXPAp9VocaDNBivfMVhdEWXNrmFSIwR8FRh23SiPc3T6lfPOcg2Ms/l4ZkwHQ5uwx2uLmoIfh6bh9xQGHqLFoeZmggIvfiKusCcB/pCGU615zWL20qIZS3Txg3Dy3DUuffGkMzzlCbi+ZtictnYGStobb5XBUi9PPPkO5o1efASKaIRENcR+WPWFivSDag61b+A5BwKizAyPnlBFKaB0WehWGU5yWVPWzRXwAXhwzHAiv5/TzcrokH2n0pp0MJerNUX1GU3EV2M9T1m37XG47aFN+MzxzILAz0o06K0L1TwmV/Oya2fuGsRrEYCT0wO1HVn6iFw57CZyn3vr0CTpN4apWO2x1NlnVGMDVlT6Hu9aA+Q+k5jvOnfW/TF0APykyx/VUnwzr+e7aChYD4UsXXmk9iDtQsE0nFHip92D/IexVrmpemBNygzkBLgSQNEDE1RKzktvEhdw7i1Pyq45ryhq4oikPmlgSZrRH8VBWXmgY6kHdvOPbFtP+lwY+dw4pQkgo95hUFnFcgYN7QcdqFKdzXpuAg3dWFFFk6qRzTA6yZfMKwTH1AAqeRswgxbYevc5h+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Weh3KM7gURgwxwvcHcmp11",
      "input": {
        "note": "Bear head still sits right of the jaw column and low in the wrist view; stepping 2 cm forward and 2 cm right and descending to 5 cm to get the jaws over its head.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.39,
          "left_y": -0.3,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Weh3KM7gURgwxwvcHcmp11",
      "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]: [-0.8997, 1.9991, 1.1362, 0.0032, -0.7109, -0.6441, 0.9996, -0.0147, 0.8078, 0.6083, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3839 left_y=-0.2924 left_z=0.0507 left_yaw=0.0088 left_pitch=-0.0455 left_roll=0.0194 left_gripper=0.9996 right_x=0.2954 right_y=0.0014 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0179 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.7436, 7.241, 1.1697, -0.2271, 0.1294, -0.0562, -0.3487, -1.5385, 7.0222, 1.7167, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4954fcd639cbf3fae1921b883efb3101150911a9a65682f9a0798ca408df2d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8740b6fd1d05c111c1f6c21db9ea3d0cc55ba56eb20c22dee96d26049fb06fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:105cf8beccaaa1242a2983099355c22f4b31b6e62dde3cf294e5144b62caa0f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 9.104 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]: [-0.9207, 1.6096, 1.2186, -0.4488, -0.7193, -0.6392, 0.9996, -0.0147, 0.8043, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3468 left_y=-0.2579 left_z=0.1869 left_yaw=-0.0098 left_pitch=-0.0284 left_roll=0.0117 left_gripper=0.9996 right_x=0.2954 right_y=0.0014 right_z=0.1783 right_yaw=-0.0002 right_pitch=-0.013 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.747, 9.0735, 1.326, -0.4762, -0.0171, -0.0562, -0.4308, -1.3744, 7.5829, 1.8046, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9085, 1.8423, 1.0973, -0.099, -0.7105, -0.6395, 0.9996, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3687 left_y=-0.2796 left_z=0.092 left_yaw=-0.0032 left_pitch=-0.0361 left_roll=0.0107 left_gripper=0.9996 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.0134 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.0325, 5.2718, 1.5653, -0.3443, 0.1001, -0.0611, -0.3761, -1.3197, 7.0359, 1.7216, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8997, 1.9991, 1.1362, 0.0032, -0.7109, -0.6441, 0.9996, -0.0147, 0.8078, 0.6083, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3839 left_y=-0.2924 left_z=0.0507 left_yaw=0.0088 left_pitch=-0.0455 left_roll=0.0194 left_gripper=0.9996 right_x=0.2954 right_y=0.0014 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0179 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.7436, 7.241, 1.1697, -0.2271, 0.1294, -0.0562, -0.3487, -1.5385, 7.0222, 1.7167, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4954fcd639cbf3fae1921b883efb3101150911a9a65682f9a0798ca408df2d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8740b6fd1d05c111c1f6c21db9ea3d0cc55ba56eb20c22dee96d26049fb06fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:105cf8beccaaa1242a2983099355c22f4b31b6e62dde3cf294e5144b62caa0f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3gcKjgEIEhgCKkC9afrX2tAecLI98+Ugl+U5Cz4eWFG66o4BIY3ATqB092/7VknBzH53ANGwYMAiGpN7Q1KSOQzVY/uWMNQKKHy0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbLEzNUGEgwtHKTB0yYUbut5O0oaDA1NhF4DF1h85tBW2SIwIot8GK0EkjJsMq5ohYrREBpQw0a52Tahlw0Le7YhnuqV1+PiovZQ9df7C1pYn0O0KvwFmNi7Ld6YWJ6uwoUYAXOoX8S4/4Yopk2M5UtoPV7VrXE2zKV+6gaAFxEirAAHHCjrwyiys33n5qbieNmhxVAALLCar8LVhgS0ltYJ6g6/46SEaqRz3pcjVg5I8bVq+yIZLpy3Mg56W6+L/2Puf5hMN5UcpkD9b3bpqIP6mBB3NPSj16SAFazko8YGbkoAVtNObNNfqmM569tI8VGuReSlXjR2H9YPCplzlX/wZGngSESAjRajMslNmjHFYFrht3BbmdTHfF+/yhpyDQvQn2hpRwhFfbjZTJTgtL+1ViHOM05ZYvrbp2ThpwaukwkRrvYFQvhhBB1+TJKgzMXPicgybpY1RmIDAB0Osq/POgymxy+nqNiCc3fYra+B3zX7W7dzbe9e5vTaYj8C+TPp3O3a40Gpf6pUwg+52lP/fwLkp/q0SGIfSSEPiVXO0zcEZJWLlL52rheVVjHku2V5dg4xQdogTP6eVFPXIHlFtu7GBQTKs2XaPx2JZjLEC68XxjL1jhBR5cXlw5P4oERKawzV0efRYmtomlYnLuYqubHOwqHhIuL75/XbSNc11Y3eOYmCSrDn0Y0crijqCIE8R3MedDaNcUa1yuFFASAXDPWZ441fL71t1NiRQEPD+W5ovw0xbh7Dk+6twaSOSr52P8si104zEuSatEnbRXeNqMfsBzMXY/dHsms8ybyA5obcglosUOFgG3ykxxxma03dBHDkVLEEifwerFGqaXOIUESqnI85BPexVBh22ZHcO9XuLgt7U7Ao8sX4W4FBn8/DzGQ0WG42Oi49Is6iFkkiiJx8hQQJHl97skJx76h9itcxKFw0hXzoHDNiHR17eNmGrIubkL7l0O70davcscbhhcJ9eWT8TAeKarFAxbSPEoU+fyZ09blhDFlSintu6hcQD2F8eFSlpyKJet8G2bWqSJzZiMgwIuH3ZiU3ZLA9Mb7HoUzuFs1s4frV7hm+c2Xocl9uFKDqMs6kV+CaOxQnTrR3HRNMun31p2BkO4TUc0kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JcguX3PYtdwbKVhqQZGuGi",
      "input": {
        "note": "The bear now fills the bottom of the wrist view, centred on the jaw column, so the jaws should be over its head. Closing to grasp.",
        "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_01JcguX3PYtdwbKVhqQZGuGi",
      "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]: [-0.8982, 2.0144, 1.1442, 0.0235, -0.7109, -0.6514, 0.1554, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3872 left_y=-0.2954 left_z=0.0492 left_yaw=0.0138 left_pitch=-0.0375 left_roll=0.0032 left_gripper=0.1554 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0179 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -11.6444, 5.1487, 1.1209, -0.3541, 0.0024, 1.0672, -0.1573, -1.2239, 7.0632, 1.6972, -0.0415, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eba8abf4f8b5211742541fedfa173c26987a07b5e9de078c67ae0410811fec5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f92a05d1f987741917b1ddfc8235a9637af76610fa32106bc943038f28a79e16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09941956756dc2bcd2d2207778dea6fe5509186a1e205b0eb08da5999af5a06b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 7.496 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]: [-0.9085, 1.8423, 1.0973, -0.099, -0.7105, -0.6395, 0.9996, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3687 left_y=-0.2796 left_z=0.092 left_yaw=-0.0032 left_pitch=-0.0361 left_roll=0.0107 left_gripper=0.9996 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=-0.0002 right_pitch=-0.0134 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.0325, 5.2718, 1.5653, -0.3443, 0.1001, -0.0611, -0.3761, -1.3197, 7.0359, 1.7216, -0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8997, 1.9991, 1.1362, 0.0032, -0.7109, -0.6441, 0.9996, -0.0147, 0.8078, 0.6083, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3839 left_y=-0.2924 left_z=0.0507 left_yaw=0.0088 left_pitch=-0.0455 left_roll=0.0194 left_gripper=0.9996 right_x=0.2954 right_y=0.0014 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0179 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.7436, 7.241, 1.1697, -0.2271, 0.1294, -0.0562, -0.3487, -1.5385, 7.0222, 1.7167, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8982, 2.0144, 1.1442, 0.0235, -0.7109, -0.6514, 0.1554, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3872 left_y=-0.2954 left_z=0.0492 left_yaw=0.0138 left_pitch=-0.0375 left_roll=0.0032 left_gripper=0.1554 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0179 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -11.6444, 5.1487, 1.1209, -0.3541, 0.0024, 1.0672, -0.1573, -1.2239, 7.0632, 1.6972, -0.0415, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eba8abf4f8b5211742541fedfa173c26987a07b5e9de078c67ae0410811fec5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f92a05d1f987741917b1ddfc8235a9637af76610fa32106bc943038f28a79e16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09941956756dc2bcd2d2207778dea6fe5509186a1e205b0eb08da5999af5a06b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1wgKjgEIEhgCKkDhdqcWxZcAYtP7nYE+3YCvFhGlQFjMNDEYFlsM2xUmWDuyzPDGtnnwowIvyqokQR+qkhNNGB928IDn6h/Ye3nIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbzEzNUGEgznnHfOvMDkySZp8aMaDCKsY+6ge4vBEWFb8CIwRCO5Pj/0+wPo2FFP+JUIIT+RThQSLTAltFFwxnr5d/1DsXOHaHXIBhzQIIesdJtkKvUGppN2WTmtyQyiM11ky3WmaBuKmk2SRXZI5RCbMNBqLjmspNMB/rQ8e4y7NJk2Ijbe5UDVk+0g1jvJB1IBIivOG5kXquVALec5QErsELFOwnD2nmISOY8DMCb627Twsda4hB7vd6cxgVAX7kuNLG+XQQXeHY0KJNE6UhoMbodufMa1YoGCQ6AaKpzf7Ce2FJxGScN+PIWkUBQzqmq5vpZjQOvg2NhvDLfuLI60Ob7zgmuH7Cwaa+uFBvbx4M+frpvEVApNZ6OSWg2S3CmmhfugVrI61RL+nCSYHns06VGCzbDIMVS58HyCqRsOWkBIJrABWEb+mJVDhWemkfdEdWqX9DKZ+wr2RqsITgkfdzfZT7C2/eTsZsduLeAjUdJQs1qdklQ+3ENyvgCtf6vmGi0Xiv+RRTRR8YwLF5C68nfDFFeRaCyHJNVs2pyQbWn7tk38kx2L0oiMtbN3B5CRpmf+JbBXT0W3iGVfA6lP3abr9iK1E5LO0PVJXuGK3m0gu6Vf/brADIg7uhg1jSNfD4i8od3OEFGRnKYNpyzjqOXf7R4WZn7ird80nIgzeWrMW5EK4d2HdmlhVQFBBCLPTlyphVBKAzH+XqWrJXSz1tNkAyjetg6uiDk98luSTwwiijsnvOxWSQl28aKKYWltTaRpop9Aodu1ipMgXzOVpG4nEHeRz5VjzzBs7O6HqNkE/HaiooeSZSA7VkzNtlGQEoGOMvBWXlVlEDrLOPTsIymBRnoTJI4zhu0nQwDzfZ1RMmUpsMr30lya6vD49KNVl9TFUIUQJHkdKF6Y1oayU2YCIDoplRB1e/QHMe9n/UHLLsJePEYjIUpA6ow/dMUt7ZgOVoNFC8qLJHCJ46s/A5tYrI30+4ukO8inq2hj2th/BusWICnbmRZyooCdSfOgRADgMFum5tTAwRg+Ah6WBTCMkzYo2F8gqs+qKTcQ6WbuzIx83Kv84t46XIth5hbuWHU23LTaCy9xI7ksdkz0Fl89voDbsGRtTikswMrAhyiDi5JaYBlND0PGuVGClgAYO1xosyhk35ZfL/dDgr+C+8qegoEeJW6A8uYqv3cfWbRRU/60zVpOPMRcKI+L0PizuwU1AhoDPgtVodc6rpeXAN79a0N+9bxonrXQgrlmU5fOOW3yNLeyUIaTnoG1OjZnwe66DJRGVEQIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QPC9u1Hfm6afVEMWAxoVsh",
      "input": {
        "note": "Gripper settled at 0.155 (~1.5 cm of fur) so the bear is held. Lifting to 25 cm and moving left toward the left-hand basket.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.14,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01QPC9u1Hfm6afVEMWAxoVsh",
      "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]: [-0.4881, 1.5352, 1.3041, -0.511, -0.4179, -0.3424, 0.1567, -0.0147, 0.8101, 0.6083, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4182 left_y=-0.1368 left_z=0.2218 left_yaw=0.0351 left_pitch=-0.0999 left_roll=0.0265 left_gripper=0.1567 right_x=0.2956 right_y=0.0014 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0198 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -9.388, 9.6342, 1.6239, -0.1734, 0.1929, 1.033, -0.3077, -1.4564, 7.0359, 1.7216, -0.0855, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80457489423a96ae2de23aa97911cfaf4871e5fc4d6b53b6cbc91cc06170712c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9378e117aba58fb6e2e0e57dd58ff006abbbc0c0f35986a45b48559d70397b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2e229f58590373bb269a77c3701a90bb60ece7f65d912ae63b48d708af66c39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.459 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]: [-0.8997, 1.9991, 1.1362, 0.0032, -0.7109, -0.6441, 0.9996, -0.0147, 0.8078, 0.6083, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3839 left_y=-0.2924 left_z=0.0507 left_yaw=0.0088 left_pitch=-0.0455 left_roll=0.0194 left_gripper=0.9996 right_x=0.2954 right_y=0.0014 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0179 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.7436, 7.241, 1.1697, -0.2271, 0.1294, -0.0562, -0.3487, -1.5385, 7.0222, 1.7167, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8982, 2.0144, 1.1442, 0.0235, -0.7109, -0.6514, 0.1554, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3872 left_y=-0.2954 left_z=0.0492 left_yaw=0.0138 left_pitch=-0.0375 left_roll=0.0032 left_gripper=0.1554 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0179 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -11.6444, 5.1487, 1.1209, -0.3541, 0.0024, 1.0672, -0.1573, -1.2239, 7.0632, 1.6972, -0.0415, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4881, 1.5352, 1.3041, -0.511, -0.4179, -0.3424, 0.1567, -0.0147, 0.8101, 0.6083, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4182 left_y=-0.1368 left_z=0.2218 left_yaw=0.0351 left_pitch=-0.0999 left_roll=0.0265 left_gripper=0.1567 right_x=0.2956 right_y=0.0014 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0198 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -9.388, 9.6342, 1.6239, -0.1734, 0.1929, 1.033, -0.3077, -1.4564, 7.0359, 1.7216, -0.0855, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80457489423a96ae2de23aa97911cfaf4871e5fc4d6b53b6cbc91cc06170712c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9378e117aba58fb6e2e0e57dd58ff006abbbc0c0f35986a45b48559d70397b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e229f58590373bb269a77c3701a90bb60ece7f65d912ae63b48d708af66c39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+QUKjgEIEhgCKkCqZoNiTzzTuE8cY1fDWkOBE2rOdATRezXXZ1Ni7rqGPII56zGYJili1lQrCstAaNOuXhWYXEuPV3uL5tmU3hqUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdDEzNUGEgz2FeGugJJyGB3L/pQaDBS8l3lR/fEVMKkf6CIwhnU2XHMGjf9+RpFE3+XUtJ7j2XxVpiyhWAlPhflwPh5C26hTOUdFWR8mNzzAXM6BKpcE0XmpiqLilwWw3CDQbZgpDkmqpqv7P6HLkGNRfObKvKJx5u1bn75uxO2sTgA1+50e23wUf9UXrdD3fjCmnMlbLTFOZs6aXetg3+cvBNZj/7OTzu6XqJvoRbtW3IYWaePvjb7HwGINlKt7CbbU5umKyU2uTC2QeMur+Htkl5evUMZQ056YXb37/KIqzNIqZPF7pVwPdL08PqrK7X/m+8huZZMm9WpwS9MpyifTHUgCMZ/hYjZ7w1EJ/y26rt29/Sd5k6+kGH8NUnsi8gSXNQspLLKMaKQsEQor4iwB6MY4FQxJyIYz/pN8b1vpdh2hSXFbOB5kdnZ8UQAapXnWxjXTm65oR3J63KwdY7R0Nu/1tt6piyquSEAZj/IbZ0s2jSE6xvrsjqqC5Et/viRdg7s8oWM9SyG0ImgZpckshKsANxcDmH9qaWf8JB+RKahz4zygyL7gcscN6rUBaULOZeWIGWqKqDgY5jCG4TInF/bDCq8v2Nnz0W46qd2uO/TAa8m8oy7RN5XUSDkmCTgTsUYxq5Ifls9FsUj8niiEnM0gKJi16u0We9lgZMZuRVGaoySAgZLWlwvPJ2Ub3if+cuLqH0lWdIASotgF0+tJ4a57b/UdKkKEEUw5e7STtn8/EDEgM22mkEAlsRVnBWuz+qWccZ6fDJxPs8qJV/YqQKC7h4L+1rZ0bsi28DEHWrpxKrqOoKTBeloOURgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014kSrMYxLM6skxLaM9cBMaW",
      "input": {
        "note": "Holding the bear; the left basket fills the wrist view just ahead of the jaws. Moving 4 cm forward to centre over the basket before releasing.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.15,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014kSrMYxLM6skxLaM9cBMaW",
      "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]: [-0.466, 1.6989, 1.5341, -0.6098, -0.4057, -0.3428, 0.1623, -0.0147, 0.8143, 0.6067, -0.3939, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4541 left_y=-0.1463 left_z=0.2304 left_yaw=0.0496 left_pitch=-0.1323 left_roll=0.035 left_gripper=0.1623 right_x=0.2945 right_y=0.0013 right_z=0.1728 right_yaw=-0.0003 right_pitch=-0.034 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -9.0872, 9.7846, 1.5214, -0.1392, 0.1587, 1.033, -0.2803, -1.7162, 7.1726, 1.8388, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91a42bee479bc5286e03f287e1a508667a4c0cb6d9788e8bd102d85885344dce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2035c1bbe1b521e406143b864950e6453140f8ecd658614a79b916a9961f1ec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6346982173edb8e08ac259570cfe3d1d44846d22513d499b7ee3f8f5e86ec729",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 6.263 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]: [-0.8982, 2.0144, 1.1442, 0.0235, -0.7109, -0.6514, 0.1554, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3872 left_y=-0.2954 left_z=0.0492 left_yaw=0.0138 left_pitch=-0.0375 left_roll=0.0032 left_gripper=0.1554 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0 right_pitch=-0.0179 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -11.6444, 5.1487, 1.1209, -0.3541, 0.0024, 1.0672, -0.1573, -1.2239, 7.0632, 1.6972, -0.0415, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4881, 1.5352, 1.3041, -0.511, -0.4179, -0.3424, 0.1567, -0.0147, 0.8101, 0.6083, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4182 left_y=-0.1368 left_z=0.2218 left_yaw=0.0351 left_pitch=-0.0999 left_roll=0.0265 left_gripper=0.1567 right_x=0.2956 right_y=0.0014 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0198 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -9.388, 9.6342, 1.6239, -0.1734, 0.1929, 1.033, -0.3077, -1.4564, 7.0359, 1.7216, -0.0855, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.466, 1.6989, 1.5341, -0.6098, -0.4057, -0.3428, 0.1623, -0.0147, 0.8143, 0.6067, -0.3939, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4541 left_y=-0.1463 left_z=0.2304 left_yaw=0.0496 left_pitch=-0.1323 left_roll=0.035 left_gripper=0.1623 right_x=0.2945 right_y=0.0013 right_z=0.1728 right_yaw=-0.0003 right_pitch=-0.034 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -9.0872, 9.7846, 1.5214, -0.1392, 0.1587, 1.033, -0.2803, -1.7162, 7.1726, 1.8388, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91a42bee479bc5286e03f287e1a508667a4c0cb6d9788e8bd102d85885344dce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2035c1bbe1b521e406143b864950e6453140f8ecd658614a79b916a9961f1ec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6346982173edb8e08ac259570cfe3d1d44846d22513d499b7ee3f8f5e86ec729",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AMKjgEIEhgCKkDWzMEEOOOiy+XxY4tGox/WjkKsh2AtgRc96qkNC8WqAUetdQbDZpkn4HJ3tU0hu0HudnFXb35fhDG1Vq6bvD33Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdXEzNUGEgyN+MYZisgVIVQltwYaDHZxT5E9LRsMuKka0yIwC68UdnRdOFNRIvJ7s1iyk+pAFq426b6oNaZV7hZZ4swLhH0gcr/f0tFNFC6BwxxuKoICW7MllRQK6FLGNrO2UaznSs29CWRx7DP7prbM2kGSHTb1XxH6PIGzJsuKioj5RygaMhqCtIXxOletyqQnu78KSsZc2HnNQrcOV02/8Iomf6dmKd0Fey11YyEL0qmEHOn621VhfGn8af5y9hDBUS4gc25PTSsphR6J+FMH5vBzBBdX9X3J/hH6yo/tq+DLnEfpKP1OWcB1keaus9f9XyTmZ2dPztVNvJUnjdfnGOJU+l0WAskvY3vn2zDADl/4orJJ05svb855mxLf6VwnMh98r8lQf2GSaMXZD4gKonhoLzJz4GRhmMiR7O8Wi+BYP8an/7+QMPb+cnbInJBrTViK0gz6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DbNotun32jiSMuX9C66zuT",
      "input": {
        "note": "The basket sits left of the jaw column in the wrist view, so shifting 5 cm further to the arm's left to get over its centre.",
        "targets": {
          "left_y": -0.1,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DbNotun32jiSMuX9C66zuT",
      "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]: [-0.3473, 1.6882, 1.5272, -0.6479, -0.3401, -0.2825, 0.1669, -0.0147, 0.8158, 0.6056, -0.3927, -0.012, -0.02, 0.9998]\nstate[eef_state]: left_x=0.4592 left_y=-0.0998 left_z=0.2231 left_yaw=0.0853 left_pitch=-0.1856 left_roll=0.0545 left_gripper=0.1669 right_x=0.2946 right_y=0.0014 right_z=0.1721 right_yaw=0.0019 right_pitch=-0.0355 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.4376, 7.159, 1.5653, -0.0952, 0.1392, 1.033, -0.253, -1.4974, 7.1043, 1.7265, -0.0513, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ea499c804a0a7cbe6c1293ac6c120ad11ca7f069cfa4585cf06ee3b368e540e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:903477ef003509c6e7892666c1aefb10c2310d28a39cdf11f24ab079ab2072b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b6aa8d4ca4c9248f31ee0732329673b4fb3bf8293f91cbf7c67b8ca8ce2d0fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.714 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]: [-0.4881, 1.5352, 1.3041, -0.511, -0.4179, -0.3424, 0.1567, -0.0147, 0.8101, 0.6083, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4182 left_y=-0.1368 left_z=0.2218 left_yaw=0.0351 left_pitch=-0.0999 left_roll=0.0265 left_gripper=0.1567 right_x=0.2956 right_y=0.0014 right_z=0.1764 right_yaw=0.0 right_pitch=-0.0198 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -9.388, 9.6342, 1.6239, -0.1734, 0.1929, 1.033, -0.3077, -1.4564, 7.0359, 1.7216, -0.0855, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 1.6989, 1.5341, -0.6098, -0.4057, -0.3428, 0.1623, -0.0147, 0.8143, 0.6067, -0.3939, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4541 left_y=-0.1463 left_z=0.2304 left_yaw=0.0496 left_pitch=-0.1323 left_roll=0.035 left_gripper=0.1623 right_x=0.2945 right_y=0.0013 right_z=0.1728 right_yaw=-0.0003 right_pitch=-0.034 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -9.0872, 9.7846, 1.5214, -0.1392, 0.1587, 1.033, -0.2803, -1.7162, 7.1726, 1.8388, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3473, 1.6882, 1.5272, -0.6479, -0.3401, -0.2825, 0.1669, -0.0147, 0.8158, 0.6056, -0.3927, -0.012, -0.02, 0.9998]\nstate[eef_state]: left_x=0.4592 left_y=-0.0998 left_z=0.2231 left_yaw=0.0853 left_pitch=-0.1856 left_roll=0.0545 left_gripper=0.1669 right_x=0.2946 right_y=0.0014 right_z=0.1721 right_yaw=0.0019 right_pitch=-0.0355 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.4376, 7.159, 1.5653, -0.0952, 0.1392, 1.033, -0.253, -1.4974, 7.1043, 1.7265, -0.0513, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ea499c804a0a7cbe6c1293ac6c120ad11ca7f069cfa4585cf06ee3b368e540e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:903477ef003509c6e7892666c1aefb10c2310d28a39cdf11f24ab079ab2072b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b6aa8d4ca4c9248f31ee0732329673b4fb3bf8293f91cbf7c67b8ca8ce2d0fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQQKjgEIEhgCKkBlNwSARsCJnjS6IjKCUyWm+/OUotkZwNgvFaa6ONu0syuLLuWJifO+qe1UnYn/XbRcwkqmZxz2/7FKs4F/YIANMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdvEzNUGEgxHhzDJDUlzP2SiFLQaDKsnOg2WUG1pMBJgGiIwKeJKK0XStf4zPPeB8uhFtA5GjhXzogliXW+u990lCYom3reNEiBuinNZAaXvAyJqKrMC8xUvirALbbmmpE0reSSMhfenXpZfjtwAq0DCIvnmL48FPHTiF1yJOt9AnJBaWOwurd09BotrC8FVT/FZkJZb7y7m/yVRhjxq0sxAcxBUvUp+ph8oOizx41ocZs2zaYYLwJb+zW0Cwn1nB+f3/cdkLRFXTIKS8CtIP8Mb5mX63K9WavigW4MGLN0PnFsIxv/TKd0yWAqmAPKwUAXdlpVO0iGNEfSQeETh2hV3pVNvAf3XnRaYG53Y47VwpoW3Bg24WbQIXlMrN+khdNdXNxTd/3GMaDXWiyF+Q/8Tx83vTbBak9x78J7l+czkY1+UDnjVbA3IiTJuwJp7tiyXqCx56L7jMj2dd5t464yc/3SX/udSfiglnfFvpQN6Zw1idxRhl+ujXlqp3BMwJJQjQ2ZGrhVNDhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013QgvtSMbKNAMskMYg3XWao",
      "input": {
        "note": "Basket now centred on the jaw column but its centre is a few cm beyond the fingertips; moving 3 cm forward before dropping the bear.",
        "targets": {
          "left_x": 0.49,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013QgvtSMbKNAMskMYg3XWao",
      "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]: [-0.3271, 1.8023, 1.6871, -0.7128, -0.3283, -0.2722, 0.1717, -0.0147, 0.8192, 0.6041, -0.3931, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.4848 left_y=-0.1006 left_z=0.2258 left_yaw=0.0918 left_pitch=-0.2069 left_roll=0.0621 left_gripper=0.1717 right_x=0.2946 right_y=0.0013 right_z=0.1704 right_yaw=0.0015 right_pitch=-0.0408 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -10.947, 8.841, 1.2723, -0.1294, 0.0904, 1.0281, -0.3487, -1.4154, 7.2274, 1.6581, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a55b263fcf9fa53953494890f252a300be973c332e7e0ed665248955bc5915a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af63acd966748b8abb6b552f4d7042fcdd3da35235ca61115cf47ec655b1102a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b5036f2bd9af50959505c3a78c5f411dae5fdbb30fa3fb2cca0e93777c95a79",
        "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 · 12.39 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]: [-0.466, 1.6989, 1.5341, -0.6098, -0.4057, -0.3428, 0.1623, -0.0147, 0.8143, 0.6067, -0.3939, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4541 left_y=-0.1463 left_z=0.2304 left_yaw=0.0496 left_pitch=-0.1323 left_roll=0.035 left_gripper=0.1623 right_x=0.2945 right_y=0.0013 right_z=0.1728 right_yaw=-0.0003 right_pitch=-0.034 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -9.0872, 9.7846, 1.5214, -0.1392, 0.1587, 1.033, -0.2803, -1.7162, 7.1726, 1.8388, -0.0464, -0.0562, -0.0171]\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]: [-0.3473, 1.6882, 1.5272, -0.6479, -0.3401, -0.2825, 0.1669, -0.0147, 0.8158, 0.6056, -0.3927, -0.012, -0.02, 0.9998]\nstate[eef_state]: left_x=0.4592 left_y=-0.0998 left_z=0.2231 left_yaw=0.0853 left_pitch=-0.1856 left_roll=0.0545 left_gripper=0.1669 right_x=0.2946 right_y=0.0014 right_z=0.1721 right_yaw=0.0019 right_pitch=-0.0355 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.4376, 7.159, 1.5653, -0.0952, 0.1392, 1.033, -0.253, -1.4974, 7.1043, 1.7265, -0.0513, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3271, 1.8023, 1.6871, -0.7128, -0.3283, -0.2722, 0.1717, -0.0147, 0.8192, 0.6041, -0.3931, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.4848 left_y=-0.1006 left_z=0.2258 left_yaw=0.0918 left_pitch=-0.2069 left_roll=0.0621 left_gripper=0.1717 right_x=0.2946 right_y=0.0013 right_z=0.1704 right_yaw=0.0015 right_pitch=-0.0408 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -10.947, 8.841, 1.2723, -0.1294, 0.0904, 1.0281, -0.3487, -1.4154, 7.2274, 1.6581, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a55b263fcf9fa53953494890f252a300be973c332e7e0ed665248955bc5915a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af63acd966748b8abb6b552f4d7042fcdd3da35235ca61115cf47ec655b1102a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b5036f2bd9af50959505c3a78c5f411dae5fdbb30fa3fb2cca0e93777c95a79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAYKjgEIEhgCKkCECVWdK7+6gHUvQCmYNUjBJfGNqiJs6CIG+5+P57Z0ICm77Xb8628muOptsSi9oyQscasXIlcvf2/0KnH4maq/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAePEzNUGEgyii14cffLqv32BTB4aDPFa+rJ8Qaxm/r09PSIwRo3sPaAuiiekiHIBilzh9QZbncrVK190wlltaPTc0xvgRSv0JWaC0WDSDWVLH336KroEk5W20oOYhfjqOq6Y9aOdQibcM/buJgPtzE0TpICjtEcBNmR65KqtRKZ/prjiSgq9A84D8z6jPNQP3s2rC0FS3AHhMq46vfQXixtS/gB0TQXpFqHMKTdB1mllv+oKlcQK7ZRple9DqRgAFiAdBadqDoGvixqsoiCNJ+8AYyBLGZg6yLliuSilj/oJxf5LJ7Sv94nfCx1rCTG0+TOv8G/1S+Wf+N/ZguqVQPVVefMZrNoOJXhTp8lzT/7nOvlWVBcLwucLSHcnUo2AWy0mojXdQtRkGHbzwDWdf1EWYriHPcmOq/dzSkhgGxDbTjX98EExmnKfefMha7sbnx/5slydpoB7q+kdVGCUpX+EVKeJNOfR5BjPHTuZ8qWabj/Qhb1lyxRk/wo1JfkdeQOffbWRsFo5LnEH6mAr93vmfaBh/gyRqPmYenLR0YwMlro4w1f72v45PyYr46dur1h0UTi1f7+Q07GpoEESyTIQSXXUVtvhk5q15qI6lx4VFe9/JCEVFOTX+UAJI+slnk6sldJZ6kSGAobOpwvC0xdOzqC2Phm3Iqy694EfckXnE8uaTzWyE/p/GEmlkuonAJ4BxgirOhkp4STCfh+E2KR6dm1jeI38UHo77N5IptHoK7woFo7NEh3H1DHRbHZZdbOGyMYhKgNUDtmMxCvl3jwqYYOSkXJHAVvmrGGUgb/0uMaRZ2yrQDpBgfpZRd7nJADYljOQAUAFmR6q8DMVXPMcbeiShN2LhJVySpPaWfHeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016UCRJzWveKhvQgJRZXM5uW",
      "input": {
        "note": "Still short of the basket interior; pushing 3 cm further forward so the bear hangs inside the basket before I open.",
        "targets": {
          "left_x": 0.52,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016UCRJzWveKhvQgJRZXM5uW",
      "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]: [-0.3058, 1.9446, 1.89, -0.7933, -0.3187, -0.2687, 0.1751, -0.0147, 0.8211, 0.6022, -0.3965, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.5153 left_y=-0.1008 left_z=0.2261 left_yaw=0.1052 left_pitch=-0.228 left_roll=0.0662 left_gripper=0.1751 right_x=0.2939 right_y=0.0013 right_z=0.1683 right_yaw=0.0015 right_pitch=-0.0481 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.5487, 8.1299, 1.1697, -0.1148, 0.149, 1.033, -0.2256, -1.4701, 7.1863, 1.7216, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:247de45a68f405c7349b028d7f52f7e8ba25870a968c812645461ef0418c4597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc66c67b5cbec37471b20fe60d6fb669f5bc59a9d92cb5b80ee18098a00b15b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e46c9423a57b58638ce3c54936c8b9907606b871a4c22a3d0b48377a2b257f2",
        "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 · 3.332 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]: [-0.3473, 1.6882, 1.5272, -0.6479, -0.3401, -0.2825, 0.1669, -0.0147, 0.8158, 0.6056, -0.3927, -0.012, -0.02, 0.9998]\nstate[eef_state]: left_x=0.4592 left_y=-0.0998 left_z=0.2231 left_yaw=0.0853 left_pitch=-0.1856 left_roll=0.0545 left_gripper=0.1669 right_x=0.2946 right_y=0.0014 right_z=0.1721 right_yaw=0.0019 right_pitch=-0.0355 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.4376, 7.159, 1.5653, -0.0952, 0.1392, 1.033, -0.253, -1.4974, 7.1043, 1.7265, -0.0513, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3271, 1.8023, 1.6871, -0.7128, -0.3283, -0.2722, 0.1717, -0.0147, 0.8192, 0.6041, -0.3931, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.4848 left_y=-0.1006 left_z=0.2258 left_yaw=0.0918 left_pitch=-0.2069 left_roll=0.0621 left_gripper=0.1717 right_x=0.2946 right_y=0.0013 right_z=0.1704 right_yaw=0.0015 right_pitch=-0.0408 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -10.947, 8.841, 1.2723, -0.1294, 0.0904, 1.0281, -0.3487, -1.4154, 7.2274, 1.6581, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3058, 1.9446, 1.89, -0.7933, -0.3187, -0.2687, 0.1751, -0.0147, 0.8211, 0.6022, -0.3965, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.5153 left_y=-0.1008 left_z=0.2261 left_yaw=0.1052 left_pitch=-0.228 left_roll=0.0662 left_gripper=0.1751 right_x=0.2939 right_y=0.0013 right_z=0.1683 right_yaw=0.0015 right_pitch=-0.0481 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.5487, 8.1299, 1.1697, -0.1148, 0.149, 1.033, -0.2256, -1.4701, 7.1863, 1.7216, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:247de45a68f405c7349b028d7f52f7e8ba25870a968c812645461ef0418c4597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc66c67b5cbec37471b20fe60d6fb669f5bc59a9d92cb5b80ee18098a00b15b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e46c9423a57b58638ce3c54936c8b9907606b871a4c22a3d0b48377a2b257f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J9dEeghHvBm5RrFaUHqbbZ",
      "input": {
        "note": "Lowering the bear toward the basket interior to check for contact before releasing.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01J9dEeghHvBm5RrFaUHqbbZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.305, 1.948, 1.4986, -0.4553, -0.3134, -0.2691, 0.1767, -0.0147, 0.8215, 0.6018, -0.3965, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.505 left_y=-0.0981 left_z=0.118 left_yaw=0.1077 left_pitch=-0.2817 left_roll=0.0855 left_gripper=0.1767 right_x=0.2939 right_y=0.0013 right_z=0.168 right_yaw=0.0015 right_pitch=-0.0488 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -10.1402, 6.7214, 1.5507, -0.2173, -0.022, 1.033, -0.1436, -1.3333, 7.1179, 1.6874, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f19cd312eb43c3d1546293b95e4a567f6b026dc1e0ed6b38a219cb6e8680a89f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272cae4696f5bfc41f3dd9430cd7fe55616f198a77790bf04a6de56ed24f86d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b259b4303f1418b5be32d23f5e6bcb3e3d2d96273ef343268df36e0c46ede1f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.904 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]: [-0.3271, 1.8023, 1.6871, -0.7128, -0.3283, -0.2722, 0.1717, -0.0147, 0.8192, 0.6041, -0.3931, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.4848 left_y=-0.1006 left_z=0.2258 left_yaw=0.0918 left_pitch=-0.2069 left_roll=0.0621 left_gripper=0.1717 right_x=0.2946 right_y=0.0013 right_z=0.1704 right_yaw=0.0015 right_pitch=-0.0408 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -10.947, 8.841, 1.2723, -0.1294, 0.0904, 1.0281, -0.3487, -1.4154, 7.2274, 1.6581, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3058, 1.9446, 1.89, -0.7933, -0.3187, -0.2687, 0.1751, -0.0147, 0.8211, 0.6022, -0.3965, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.5153 left_y=-0.1008 left_z=0.2261 left_yaw=0.1052 left_pitch=-0.228 left_roll=0.0662 left_gripper=0.1751 right_x=0.2939 right_y=0.0013 right_z=0.1683 right_yaw=0.0015 right_pitch=-0.0481 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.5487, 8.1299, 1.1697, -0.1148, 0.149, 1.033, -0.2256, -1.4701, 7.1863, 1.7216, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.305, 1.948, 1.4986, -0.4553, -0.3134, -0.2691, 0.1767, -0.0147, 0.8215, 0.6018, -0.3965, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.505 left_y=-0.0981 left_z=0.118 left_yaw=0.1077 left_pitch=-0.2817 left_roll=0.0855 left_gripper=0.1767 right_x=0.2939 right_y=0.0013 right_z=0.168 right_yaw=0.0015 right_pitch=-0.0488 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -10.1402, 6.7214, 1.5507, -0.2173, -0.022, 1.033, -0.1436, -1.3333, 7.1179, 1.6874, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f19cd312eb43c3d1546293b95e4a567f6b026dc1e0ed6b38a219cb6e8680a89f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272cae4696f5bfc41f3dd9430cd7fe55616f198a77790bf04a6de56ed24f86d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b259b4303f1418b5be32d23f5e6bcb3e3d2d96273ef343268df36e0c46ede1f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwIKjgEIEhgCKkA0FAakW4s1KLH1x2uVP2piNtDPFPt5PQm5oPZNhNfP9lC6+g0ci3h6wgu83ZonySpbhvr4Ez6VSuArRFNAfREBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfTEzNUGEgzhJzvNcuGmhwS/AV0aDD32CqnGFvQbp1yQZyIwEYorFyxX2Qdipv8ks+hY2YbgTaB2yRhlGkvO0kgE6CfzNQ9yq+o2vMjwgvJHBiGpKlpnYMFINxTowPbNpmKnRv80J1E5Ppr+D/1u4LUDgQbbBJGMDUZs3+iilcbssdYl+ojwd0TBEtiTe241/ds96azZRsZ5jpQsp3KbHy6X5hfR89x4H4HfzCCegGYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EfzZ3tZyRwVmjDKNYNP7WS",
      "input": {
        "note": "Wrist view is filled by the basket interior with the bear hanging inside it — releasing the bear into the left basket.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01EfzZ3tZyRwVmjDKNYNP7WS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3035, 1.953, 1.4872, -0.4442, -0.313, -0.2775, 0.98, -0.0147, 0.8215, 0.601, -0.4, -0.0116, -0.0204, 0.9998]\nstate[eef_state]: left_x=0.5045 left_y=-0.0972 left_z=0.1126 left_yaw=0.1142 left_pitch=-0.2863 left_roll=0.0817 left_gripper=0.98 right_x=0.2933 right_y=0.0013 right_z=0.167 right_yaw=0.0018 right_pitch=-0.053 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.1932, 7.5419, 1.2869, -0.1832, 0.1587, -0.0806, -0.1026, -1.3744, 7.0769, 1.746, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f620a1e08d3862d67b720cbb4cf8531a867c3569125b67b2d26cb8dab37e75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbc89afd7574d7cde99d9a406ef5566dff65a2d075723dd4ff39b89023e04a9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:722334feb67f8eb5c1581c7a3178f29c7337548ea8b2d5bae338660d65f1af4e",
        "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 · 15.25 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]: [-0.3058, 1.9446, 1.89, -0.7933, -0.3187, -0.2687, 0.1751, -0.0147, 0.8211, 0.6022, -0.3965, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.5153 left_y=-0.1008 left_z=0.2261 left_yaw=0.1052 left_pitch=-0.228 left_roll=0.0662 left_gripper=0.1751 right_x=0.2939 right_y=0.0013 right_z=0.1683 right_yaw=0.0015 right_pitch=-0.0481 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [0.3761, -11.5487, 8.1299, 1.1697, -0.1148, 0.149, 1.033, -0.2256, -1.4701, 7.1863, 1.7216, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.305, 1.948, 1.4986, -0.4553, -0.3134, -0.2691, 0.1767, -0.0147, 0.8215, 0.6018, -0.3965, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.505 left_y=-0.0981 left_z=0.118 left_yaw=0.1077 left_pitch=-0.2817 left_roll=0.0855 left_gripper=0.1767 right_x=0.2939 right_y=0.0013 right_z=0.168 right_yaw=0.0015 right_pitch=-0.0488 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -10.1402, 6.7214, 1.5507, -0.2173, -0.022, 1.033, -0.1436, -1.3333, 7.1179, 1.6874, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.3035, 1.953, 1.4872, -0.4442, -0.313, -0.2775, 0.98, -0.0147, 0.8215, 0.601, -0.4, -0.0116, -0.0204, 0.9998]\nstate[eef_state]: left_x=0.5045 left_y=-0.0972 left_z=0.1126 left_yaw=0.1142 left_pitch=-0.2863 left_roll=0.0817 left_gripper=0.98 right_x=0.2933 right_y=0.0013 right_z=0.167 right_yaw=0.0018 right_pitch=-0.053 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.1932, 7.5419, 1.2869, -0.1832, 0.1587, -0.0806, -0.1026, -1.3744, 7.0769, 1.746, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f620a1e08d3862d67b720cbb4cf8531a867c3569125b67b2d26cb8dab37e75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbc89afd7574d7cde99d9a406ef5566dff65a2d075723dd4ff39b89023e04a9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:722334feb67f8eb5c1581c7a3178f29c7337548ea8b2d5bae338660d65f1af4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAUKjgEIEhgCKkDckzrltviAWT630+So6h1bdQVxU9PE+YUww6H4BHrElh7FiFK2Wcy25/E+xG+Q4Kit8Ip2Qndxi573RziIBuwJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfrEzNUGEgz5oGgEgxBJzTLbXuAaDGoX4ghrnGlZRk+ppCIwBANUvqFWd/ZtAAAMHDfHhX/p1wZ6RqSO1lgfOJEmmyUyD/dDlyfsDuGoHwNYyxLzKuoDMwCpiVjbEz5zFCF64sHnbjFHRmMZR1M0iyI2IhU/+ysDJ8QikPjxwOpmcQnQ3VtfaTFxzPqj6SWaEUQT0UMaSIiuLGckGFtGAQAfE9btgU+yXKXQoV2FMgp9tXv8i5QHl/JD2KRYAvcOXGrECgazl4458i8hfOzt+x30zfYqcYUTKc0ZrARFeItjNypyQQk8jURgopf2ti8YHcSgaaBC2oukNvYukpIQP5CayJUACvQhVeibWRjP+QQDnkkFjDfOzTqD6W6iP9jC3luBUA9mjxygJrC/NSPH0HVoEdcpqDB04D9H+SuYvXdNL1VCag3mbU1LgiaD6qjB2kF3M1q1N/2+1yT1N+mGMOYBp4oHglidgVPlAjbPD6JcPnrxhO0yafkjR+r5Qvu+rHyMfarPrBueiAcbAOAYUicptr0HraoyN2bC0w2Cwb/d6SV+URktYI4jr3d8T+2j3z3lYpQgxnhon7bhD+1XGGIv+cSZSdGOvO/L+b9LkqtxCJFuz85/oOy5ccEPpt9FvYfO9G4bfwLRMT0owOpsD7Nu9Zm52EpqCznL2gpJTJDsvPWSnaE+9XM7iHH6HMG2X0z9JhJmEePWpefsFIv+Y0PQtED30GvIXvEtKTcodftCbJ91fnF1Nz794/BEI1htqBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NsmBBv6ai7DqCCvBpVXyXn",
      "input": {
        "note": "Released the bear; retracting the left arm up and back to check from the overhead view whether it landed inside the basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.1,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01NsmBBv6ai7DqCCvBpVXyXn",
      "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]: [-0.5816, 1.3808, 1.5791, -1.1893, -0.4503, -0.5079, 0.9816, -0.0147, 0.8249, 0.601, -0.4004, -0.012, -0.0204, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.1108 left_z=0.2868 left_yaw=0.0855 left_pitch=-0.2885 left_roll=0.0671 left_gripper=0.9816 right_x=0.2934 right_y=0.0014 right_z=0.166 right_yaw=0.0021 right_pitch=-0.0568 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.4068, 7.9111, 1.1209, -0.442, 0.0122, 0.1441, -0.1983, -1.5795, 6.9949, 1.7265, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:432e92503b9ada5d0a91ff34c08072b9980e8c2681d52fe4981f48eadf70b850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3302bb46450a35cbd0baeaf08e317a14adb3470cedf3cdf90e547f9f815c98a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1d06d9215e74342e0f2b9ac9d57fe64d44fe7251b0143047476ca498d1e37e3",
        "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 · 10.34 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]: [-0.305, 1.948, 1.4986, -0.4553, -0.3134, -0.2691, 0.1767, -0.0147, 0.8215, 0.6018, -0.3965, -0.0116, -0.02, 0.9998]\nstate[eef_state]: left_x=0.505 left_y=-0.0981 left_z=0.118 left_yaw=0.1077 left_pitch=-0.2817 left_roll=0.0855 left_gripper=0.1767 right_x=0.2939 right_y=0.0013 right_z=0.168 right_yaw=0.0015 right_pitch=-0.0488 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -10.1402, 6.7214, 1.5507, -0.2173, -0.022, 1.033, -0.1436, -1.3333, 7.1179, 1.6874, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.3035, 1.953, 1.4872, -0.4442, -0.313, -0.2775, 0.98, -0.0147, 0.8215, 0.601, -0.4, -0.0116, -0.0204, 0.9998]\nstate[eef_state]: left_x=0.5045 left_y=-0.0972 left_z=0.1126 left_yaw=0.1142 left_pitch=-0.2863 left_roll=0.0817 left_gripper=0.98 right_x=0.2933 right_y=0.0013 right_z=0.167 right_yaw=0.0018 right_pitch=-0.053 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.1932, 7.5419, 1.2869, -0.1832, 0.1587, -0.0806, -0.1026, -1.3744, 7.0769, 1.746, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5816, 1.3808, 1.5791, -1.1893, -0.4503, -0.5079, 0.9816, -0.0147, 0.8249, 0.601, -0.4004, -0.012, -0.0204, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.1108 left_z=0.2868 left_yaw=0.0855 left_pitch=-0.2885 left_roll=0.0671 left_gripper=0.9816 right_x=0.2934 right_y=0.0014 right_z=0.166 right_yaw=0.0021 right_pitch=-0.0568 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.4068, 7.9111, 1.1209, -0.442, 0.0122, 0.1441, -0.1983, -1.5795, 6.9949, 1.7265, -0.0708, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:432e92503b9ada5d0a91ff34c08072b9980e8c2681d52fe4981f48eadf70b850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3302bb46450a35cbd0baeaf08e317a14adb3470cedf3cdf90e547f9f815c98a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d06d9215e74342e0f2b9ac9d57fe64d44fe7251b0143047476ca498d1e37e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RRJ5bTqc7e5kcZzJyakxD8",
      "input": {
        "note": "The orange plush is now inside the left basket. Next I'll sort the pens with the right arm: moving it above the pair of pens lying to the right of centre for a wrist-camera look.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.34,
          "right_y": 0.11,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RRJ5bTqc7e5kcZzJyakxD8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5838, 1.3857, 1.5757, -1.1957, -0.4454, -0.5243, 0.9817, 0.4805, 1.1976, 0.6819, -0.2363, 0.345, 0.2501, 0.9997]\nstate[eef_state]: left_x=0.3139 left_y=-0.1119 left_z=0.283 left_yaw=0.0915 left_pitch=-0.3021 left_roll=0.0622 left_gripper=0.9817 right_x=0.3267 right_y=0.1069 right_z=0.1279 right_yaw=0.0493 right_pitch=-0.1314 right_roll=-0.0375 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -5.0256, 6.3248, 1.243, -0.2662, 0.1294, 0.0024, 0.2256, -4.4923, 9.7436, 1.7167, 0.3541, 0.1929, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78bf3ceaaead10313861f26b27ba81c9c516b1345b7f721a1f58ac6615051d6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08246904b68c9d2a03599e9c16e1f86d36ffa7d20a477f138537c67a7d9a0cc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fadd46fb4826b51d0eaadfda46798818eb5fe5fe82c12ff5d6b00079131fbd1e",
        "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 · 4.287 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]: [-0.3035, 1.953, 1.4872, -0.4442, -0.313, -0.2775, 0.98, -0.0147, 0.8215, 0.601, -0.4, -0.0116, -0.0204, 0.9998]\nstate[eef_state]: left_x=0.5045 left_y=-0.0972 left_z=0.1126 left_yaw=0.1142 left_pitch=-0.2863 left_roll=0.0817 left_gripper=0.98 right_x=0.2933 right_y=0.0013 right_z=0.167 right_yaw=0.0018 right_pitch=-0.053 right_roll=-0.0035 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.1932, 7.5419, 1.2869, -0.1832, 0.1587, -0.0806, -0.1026, -1.3744, 7.0769, 1.746, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5816, 1.3808, 1.5791, -1.1893, -0.4503, -0.5079, 0.9816, -0.0147, 0.8249, 0.601, -0.4004, -0.012, -0.0204, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.1108 left_z=0.2868 left_yaw=0.0855 left_pitch=-0.2885 left_roll=0.0671 left_gripper=0.9816 right_x=0.2934 right_y=0.0014 right_z=0.166 right_yaw=0.0021 right_pitch=-0.0568 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.4068, 7.9111, 1.1209, -0.442, 0.0122, 0.1441, -0.1983, -1.5795, 6.9949, 1.7265, -0.0708, -0.0366, -0.0122]",
      "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]: [-0.5838, 1.3857, 1.5757, -1.1957, -0.4454, -0.5243, 0.9817, 0.4805, 1.1976, 0.6819, -0.2363, 0.345, 0.2501, 0.9997]\nstate[eef_state]: left_x=0.3139 left_y=-0.1119 left_z=0.283 left_yaw=0.0915 left_pitch=-0.3021 left_roll=0.0622 left_gripper=0.9817 right_x=0.3267 right_y=0.1069 right_z=0.1279 right_yaw=0.0493 right_pitch=-0.1314 right_roll=-0.0375 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -5.0256, 6.3248, 1.243, -0.2662, 0.1294, 0.0024, 0.2256, -4.4923, 9.7436, 1.7167, 0.3541, 0.1929, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78bf3ceaaead10313861f26b27ba81c9c516b1345b7f721a1f58ac6615051d6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08246904b68c9d2a03599e9c16e1f86d36ffa7d20a477f138537c67a7d9a0cc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fadd46fb4826b51d0eaadfda46798818eb5fe5fe82c12ff5d6b00079131fbd1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAoKjgEIEhgCKkA7VWCixlzG38HlDnlz3kLA+J0cp9xEB3aDBoTmBSHlka4VVFkUdxdxt+JXhZwYPTA6/E3V0rll1eZwOeLI+QhUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZbFzNUGEgxctpG2zNHC9nj9UNYaDJMcPbNMf1OqTRm35SIwVs6hV7//4M9Yl5GYbora1IgjNzjq052Mho0CpVJvgBPL6YFgwRrOIiWJMQr+JO3hKp4IUfR9jvhBr/aIqhXTXSoFZN3JpQh4E6JuajN+5JkD5RqgKTPI6vEOtfSahTksEIWD5pvrRxfl+Qfv6aRdlZN0mxI/Rqj2M7WkNL6RdOS+S1fvTqeWyHjZQe7m3N7jTrzCToSlhVTDK+hzfT9vDpI1GgwNoZgKdUuuGI/P+73dtXz3a7FNESuSkjNZfkR8seVGVCCWmJhBpQ0ayl+Ep7yPCPIsNlUdPSLG8LshB4ggxYui9kJbyvz2yReDHGOrGl05SjbW+2685Rm/zhloXoEEZ89W9egFj2rcUDIXfsoJUXpPT4gw85tLws8mNFgDirYtog7LA7c6rK79YtXn+ufP3ZCvVJfYhMQGZrlA4lcuqp0+zucAFDG5laUMeGe6alSh/mOu5nwGaHg2hPo9aTsBwaYGLBHi1WsGFlbi0BVX7W5Pb0KJ0OQCui6GpoMkWwF76dh3EKDB7H7zWzgOboXhCskUI2a4lbKVG+QU541qIE4v1Z/cnH1zb1ncql8F4lLOxTxs0qHulZSG9uCvrugN1nBk/Mv5LhlnUniXhZPOLpDo9MXI4hDHQTyRtsPfH/VWpNIFX2W1z7Y0NkXysB0oJK7c59r60KIV2h2HYfPBWNIgDqQYcfbaV7B/49QwKw+8AFlSWc1kZjyidiactQzvKr2taMyVktrRlOOGq+C5rVwPNGWnfwqpBQ6lu0HK/ycA6+CLKMcFrF7rRAhnAGGk0vhdmvqK2ebtd2QTJ36iFZHeLQqxHnQHHa4P4Y4vI913D/u9LflWsgHSGFcAtPMpBPdZFemncVyzyGk0/VdjR0A6Ggi3iBK+cJvHG58OzA5mneQt83Ppy4y54xctm4nhimNHUMhho5YRWIapIJ/wXvpmZjWaNpn0sIgrB8WB8X7y05qpk4H1uIt1tig4xv6guQ7Mrm1UpmAYZ1TG+utx6rKKcLv9w53zvPdYC3xCWNc9plCW2+7H7mDDu6cc8SrWacu2/LQ+Ncx3UusFLtDV+2w7xTgJj0/ZGDWz4dDA6Y6lfpRaduvBp0moI2+w2ZdDAgOsPUqqlgL5paTZ2CWZZw5NQNMz1huqIkviyNlMCPE8fX2oed3e66nSleHJxJtB78LgQBkCGehJNSjILPJKvNbnn+eY7qdRhmYDIExekjn7/Q0t5gTgjfbzownnC0NjeLsWjsLEXup5hdmkmdaHhQsVtsYA7bX0Ie2aO1OzRJ73FauivfO7MUmR1bI6QfRlLUPSHP+3uaDk2YwYWU/6+LqG0cGAxMt7HvTVQK8AXU4UcViN4PsQqhyt+18UTlCjg0OJXzrTfKy3TX92/F59MhKCaw1/XMPbaIihgKxBsWD5Umau0Wjk5dgEuD0u7tzOTG2Vzq9VFyi7BeccljgjYQXJc/k2GUQ9vzyUTJQkxBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q3DzEEtJKrkBDCJVuVghnw",
      "input": {
        "note": "Right wrist view shows a white pen just below the jaw column with a blue-handled pen beside it. Descending to table level over the white pen to grasp it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.34,
          "right_y": 0.115,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Q3DzEEtJKrkBDCJVuVghnw",
      "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]: [-0.5842, 1.3857, 1.5745, -1.1961, -0.445, -0.5255, 0.9816, 0.4889, 1.6024, 0.4538, 0.3927, 0.3397, 0.2626, 0.9998]\nstate[eef_state]: left_x=0.3137 left_y=-0.112 left_z=0.2825 left_yaw=0.0918 left_pitch=-0.3035 left_roll=0.0621 left_gripper=0.9816 right_x=0.34 right_y=0.1183 right_z=0.0148 right_yaw=0.055 right_pitch=-0.1361 right_roll=-0.0261 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.9573, 6.0513, 1.1941, -0.2027, -0.0171, -0.0171, -0.4855, -3.8906, 3.2205, 0.652, 0.2027, -0.1148, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6872f9604a078e7bed637a8040ac992789bf5912742d2be14d91788d9e4b410a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394ea4d004a58a220d0de238794a99504a33b4d1abe48da5cafb44c9aef93e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8e1da60af046e9812d440823919a90aba6d6f14e6521926fd70f0ef4671c83e",
        "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 · 5.467 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]: [-0.5816, 1.3808, 1.5791, -1.1893, -0.4503, -0.5079, 0.9816, -0.0147, 0.8249, 0.601, -0.4004, -0.012, -0.0204, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.1108 left_z=0.2868 left_yaw=0.0855 left_pitch=-0.2885 left_roll=0.0671 left_gripper=0.9816 right_x=0.2934 right_y=0.0014 right_z=0.166 right_yaw=0.0021 right_pitch=-0.0568 right_roll=-0.0032 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.4068, 7.9111, 1.1209, -0.442, 0.0122, 0.1441, -0.1983, -1.5795, 6.9949, 1.7265, -0.0708, -0.0366, -0.0122]",
      "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]: [-0.5838, 1.3857, 1.5757, -1.1957, -0.4454, -0.5243, 0.9817, 0.4805, 1.1976, 0.6819, -0.2363, 0.345, 0.2501, 0.9997]\nstate[eef_state]: left_x=0.3139 left_y=-0.1119 left_z=0.283 left_yaw=0.0915 left_pitch=-0.3021 left_roll=0.0622 left_gripper=0.9817 right_x=0.3267 right_y=0.1069 right_z=0.1279 right_yaw=0.0493 right_pitch=-0.1314 right_roll=-0.0375 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -5.0256, 6.3248, 1.243, -0.2662, 0.1294, 0.0024, 0.2256, -4.4923, 9.7436, 1.7167, 0.3541, 0.1929, -0.0366]",
      "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]: [-0.5842, 1.3857, 1.5745, -1.1961, -0.445, -0.5255, 0.9816, 0.4889, 1.6024, 0.4538, 0.3927, 0.3397, 0.2626, 0.9998]\nstate[eef_state]: left_x=0.3137 left_y=-0.112 left_z=0.2825 left_yaw=0.0918 left_pitch=-0.3035 left_roll=0.0621 left_gripper=0.9816 right_x=0.34 right_y=0.1183 right_z=0.0148 right_yaw=0.055 right_pitch=-0.1361 right_roll=-0.0261 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.9573, 6.0513, 1.1941, -0.2027, -0.0171, -0.0171, -0.4855, -3.8906, 3.2205, 0.652, 0.2027, -0.1148, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6872f9604a078e7bed637a8040ac992789bf5912742d2be14d91788d9e4b410a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394ea4d004a58a220d0de238794a99504a33b4d1abe48da5cafb44c9aef93e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8e1da60af046e9812d440823919a90aba6d6f14e6521926fd70f0ef4671c83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAMKjgEIEhgCKkD1MvNK9IlfkgkCEkjP2ptl+Y0EVI9rmkD+seshyK6PH404znK+2LnLLZZyrjw9F/b6nhr7eF7J08uSxL1hLMgjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZvFzNUGEgy0k094vtr8rnTKuRkaDA6HZvf90UFaTCVMfiIwLFQF8KwenhkLzSUhKwnaxOZb5uzSOm2lU408/bj1ObTQU0y/LyZ6ITbiEGcTjfLVKtIBrm//9hrb3Yvig1TbmyTAy5NhDoru3QPuvZM2fBMeMpDGW97OgfBh9pzMwZS2MWGqo5p5I1yRJFzDatMT37PdMuD4rhwRoBvj4EsxPmVy0ZB0TMgIkc6OhgwwIcifR0Ro9Vvo9UqKxZwD6guk2XsQGxl1BmmyZtwWHK0KpDu9fFc97tG93lCxd+8yjOmR+3dm/dF62DJVsRzLuVkewcgET/0gKdrLWFQYodmkcFB0KYK4iwQmxHSI6/ygDaNEN3iP187rhLSd/LGxvCNfBlnN/H8kGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012mnqfbsGJiZVgocC8Qb11u",
      "input": {
        "note": "Right gripper is down at table level where the white pen was; closing to see if it catches the pen (settled reading above 0.04 means something is held).",
        "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_012mnqfbsGJiZVgocC8Qb11u",
      "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]: [-0.5842, 1.3857, 1.5742, -1.1957, -0.445, -0.5255, 0.9816, 0.49, 1.6138, 0.4458, 0.4194, 0.3294, 0.2588, 0.1499]\nstate[eef_state]: left_x=0.3137 left_y=-0.112 left_z=0.2824 left_yaw=0.0918 left_pitch=-0.3035 left_roll=0.0621 left_gripper=0.9816 right_x=0.3397 right_y=0.1205 right_z=0.0125 right_yaw=0.067 right_pitch=-0.1325 right_roll=-0.0195 right_gripper=0.1499\nstate[joint_eff]: [-0.1026, -4.9573, 5.9829, 1.2088, -0.2808, -0.0366, -0.0073, -0.2803, -6.7487, 5.3949, 1.3016, 0.1538, -0.0317, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b38c9914c095285be7839faa2c7b43c873e2adbb8266c71562c9f0f58b63e5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ba57b38b954b053160ac4ca7ceac662b15fd65d8a5f1340c2c62ecdaf67320b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:785505def4c3c687c60e5b4e449d61295f38395a16ca72d3ac2e25bd717a189e",
        "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 · 7.16 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]: [-0.5838, 1.3857, 1.5757, -1.1957, -0.4454, -0.5243, 0.9817, 0.4805, 1.1976, 0.6819, -0.2363, 0.345, 0.2501, 0.9997]\nstate[eef_state]: left_x=0.3139 left_y=-0.1119 left_z=0.283 left_yaw=0.0915 left_pitch=-0.3021 left_roll=0.0622 left_gripper=0.9817 right_x=0.3267 right_y=0.1069 right_z=0.1279 right_yaw=0.0493 right_pitch=-0.1314 right_roll=-0.0375 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -5.0256, 6.3248, 1.243, -0.2662, 0.1294, 0.0024, 0.2256, -4.4923, 9.7436, 1.7167, 0.3541, 0.1929, -0.0366]",
      "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]: [-0.5842, 1.3857, 1.5745, -1.1961, -0.445, -0.5255, 0.9816, 0.4889, 1.6024, 0.4538, 0.3927, 0.3397, 0.2626, 0.9998]\nstate[eef_state]: left_x=0.3137 left_y=-0.112 left_z=0.2825 left_yaw=0.0918 left_pitch=-0.3035 left_roll=0.0621 left_gripper=0.9816 right_x=0.34 right_y=0.1183 right_z=0.0148 right_yaw=0.055 right_pitch=-0.1361 right_roll=-0.0261 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.9573, 6.0513, 1.1941, -0.2027, -0.0171, -0.0171, -0.4855, -3.8906, 3.2205, 0.652, 0.2027, -0.1148, -0.0366]\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]: [-0.5842, 1.3857, 1.5742, -1.1957, -0.445, -0.5255, 0.9816, 0.49, 1.6138, 0.4458, 0.4194, 0.3294, 0.2588, 0.1499]\nstate[eef_state]: left_x=0.3137 left_y=-0.112 left_z=0.2824 left_yaw=0.0918 left_pitch=-0.3035 left_roll=0.0621 left_gripper=0.9816 right_x=0.3397 right_y=0.1205 right_z=0.0125 right_yaw=0.067 right_pitch=-0.1325 right_roll=-0.0195 right_gripper=0.1499\nstate[joint_eff]: [-0.1026, -4.9573, 5.9829, 1.2088, -0.2808, -0.0366, -0.0073, -0.2803, -6.7487, 5.3949, 1.3016, 0.1538, -0.0317, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b38c9914c095285be7839faa2c7b43c873e2adbb8266c71562c9f0f58b63e5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ba57b38b954b053160ac4ca7ceac662b15fd65d8a5f1340c2c62ecdaf67320b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:785505def4c3c687c60e5b4e449d61295f38395a16ca72d3ac2e25bd717a189e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuwQKjgEIEhgCKkCJWQ4rcbG3ipMi67CbhW+Vdah+oTBGTtXXDNIwFdMe7s8qapHuuXRDjWoVT0QKtWPgKwQWKklDQ50VoDTBr6CeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaHFzNUGEgxVZt/vPmI2NuF37Q4aDMG9TxiuSgUIjweMfCIwPuU+/FSG31ZUG+D7Z4XrBjfUADlmwZ2ikmn0aFutisfn6AqBDSe3H1m75ME0yhPVKtkCs53DzAdlBioh/iYvAY1VR7viUxXdWPTEgJxNKo7dTA1GCc0f5ELlNX6Wgj/V2/1lLYSJAhO3oF8VrKbct6CoAernT7jERcGSwfbFAXUE8EHV5nry4g3nxkqiUwH3eytSm8Jh2LsGPSMiBtNc81u97X3yAdvdLr0dnfOsJbtq4rtqzHQRseo0d651IErmYQjcVqDqzOY2bF6QbmaObzo+sbtFERYxqmcZTeqg6dWJBVx0lI2L1Rael7Cl1HtPdEA5PuaokGZvg7NdaDwahQAmsnRvKxSRXzrcQpSBbCzpEC+OnSGAjksS3RcW+6c3Jls6r8L5EqY+x13VwOCppXOyWOkFm05JZ0mqFmih3CKlbj5z5MN6VsEpJxulOLdlV3nPlicRoF56LHRuQvxXH6qntyAUPR5VayV8JJZUkchHLGkmUSmXpSt0V67LzJ7rEQAdhKB1pgLzN3AIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B1c67v4FoHPK6zh65qx457",
      "input": {
        "note": "Gripper settled at 0.15 (~1.4 cm), suggesting the pen is held. Lifting 19 cm to verify in the overhead view that the pen came with the jaws.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01B1c67v4FoHPK6zh65qx457",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5838, 1.3861, 1.5742, -1.1957, -0.445, -0.5251, 0.9817, 0.49, 1.2453, 0.936, -0.4488, 0.3283, 0.2516, 0.1499]\nstate[eef_state]: left_x=0.3138 left_y=-0.1119 left_z=0.2823 left_yaw=0.0921 left_pitch=-0.3038 left_roll=0.0626 left_gripper=0.9817 right_x=0.3424 right_y=0.1222 right_z=0.1817 right_yaw=0.0713 right_pitch=-0.1416 right_roll=-0.0283 right_gripper=0.1499\nstate[joint_eff]: [-0.0205, -4.7658, 6.0786, 1.1746, -0.2711, -0.0513, -0.0073, -0.1983, -6.0239, 9.4701, 1.4921, 0.149, 0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3081ab5408b5cc8b1cca2cf6d60e832ff2abd07f3e9b9692f5fda184fd94b9dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85ccbf6b7450d2824d8769f1783403783bf86168b79484487a6c00cf197958a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89f6e65f3fb65889f73dec0a77dbc8a92174b6921b7b9caf46af2d454625ac23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 5.661 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]: [-0.5842, 1.3857, 1.5745, -1.1961, -0.445, -0.5255, 0.9816, 0.4889, 1.6024, 0.4538, 0.3927, 0.3397, 0.2626, 0.9998]\nstate[eef_state]: left_x=0.3137 left_y=-0.112 left_z=0.2825 left_yaw=0.0918 left_pitch=-0.3035 left_roll=0.0621 left_gripper=0.9816 right_x=0.34 right_y=0.1183 right_z=0.0148 right_yaw=0.055 right_pitch=-0.1361 right_roll=-0.0261 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.9573, 6.0513, 1.1941, -0.2027, -0.0171, -0.0171, -0.4855, -3.8906, 3.2205, 0.652, 0.2027, -0.1148, -0.0366]\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]: [-0.5842, 1.3857, 1.5742, -1.1957, -0.445, -0.5255, 0.9816, 0.49, 1.6138, 0.4458, 0.4194, 0.3294, 0.2588, 0.1499]\nstate[eef_state]: left_x=0.3137 left_y=-0.112 left_z=0.2824 left_yaw=0.0918 left_pitch=-0.3035 left_roll=0.0621 left_gripper=0.9816 right_x=0.3397 right_y=0.1205 right_z=0.0125 right_yaw=0.067 right_pitch=-0.1325 right_roll=-0.0195 right_gripper=0.1499\nstate[joint_eff]: [-0.1026, -4.9573, 5.9829, 1.2088, -0.2808, -0.0366, -0.0073, -0.2803, -6.7487, 5.3949, 1.3016, 0.1538, -0.0317, 1.0037]\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 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]: [-0.5838, 1.3861, 1.5742, -1.1957, -0.445, -0.5251, 0.9817, 0.49, 1.2453, 0.936, -0.4488, 0.3283, 0.2516, 0.1499]\nstate[eef_state]: left_x=0.3138 left_y=-0.1119 left_z=0.2823 left_yaw=0.0921 left_pitch=-0.3038 left_roll=0.0626 left_gripper=0.9817 right_x=0.3424 right_y=0.1222 right_z=0.1817 right_yaw=0.0713 right_pitch=-0.1416 right_roll=-0.0283 right_gripper=0.1499\nstate[joint_eff]: [-0.0205, -4.7658, 6.0786, 1.1746, -0.2711, -0.0513, -0.0073, -0.1983, -6.0239, 9.4701, 1.4921, 0.149, 0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3081ab5408b5cc8b1cca2cf6d60e832ff2abd07f3e9b9692f5fda184fd94b9dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85ccbf6b7450d2824d8769f1783403783bf86168b79484487a6c00cf197958a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89f6e65f3fb65889f73dec0a77dbc8a92174b6921b7b9caf46af2d454625ac23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISgAcKjgEIEhgCKkBK9qqdTfv8ZWjSJaTvzVuK6eoqKObylZq/Ptk7YlLkGVzRkYlngi5le2blGrqXO5RmuL23oms9Prfm7eq4IOpEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAarFzNUGEgyxSWcLtYUyr6s5rOkaDGQ+WeNWBI4y42FTGiIw4bFDwF/h2tnHRdQXG19DDBOJMz45wr+M2dhnhh2hzQ2kH1cq1ODW7tQu18tiUVfbKp4FCifVcMEdNNDhG1ENONYvjELzo0jlV/PPVYGMzubcP0l6muA3SYyjWNMG0DemclTvQZZiBjuvzkRMscsk3ov7vuq+4VnA0jQ+7KwcVOSVHd2Sx/beEk81KDg86oDnU0YwEAWzQTm9d2Z9HDPwQWX5yYp6Jr/10tjzDusbOR5lDaWgDKYJmgBv9PxfzUSm1L44NOlevqn7S5uN/6tt+Ln2GLyKQ8H53ByMtKSxwAIofHHelFyxqLTh+tldqGa6W2ggq9MPtWblRuFFQHni2bBUVKiVp3vycujuw4MEcJtZ41BdeGwRghS7pS5ADXIkdFBqKV/plv/aJgRN83XDHdHing1lLrJg+wd2q1g28CpviIbZsWOCvWK90GJhAJEom8UdorqkC3xmXSFeQWKS8n3W69E1jHzn7SXmkJPh+PFm6zmEETqPTJFCLW5Jv76ZA4P30OZRQIyWnTrvFh2U6LQ9AsglADdbvGae1BXaeIJaHGInpGLi5LSQrytEwEUy57x1PvPjxSl9F9gZYnVIeXFuxtytsMJ86ZtfMsxQ5c6OLvf8sba+x6qwSHxzBAKE8uxk3W3G+Pd7M01XN+M3PCyfb+rP5+UWFSsrQ54EzI8U64c4PQJUCGemhyYy8oqLdwZ7LtMYeZXCUkfJerwwfjWnLZqfnRO/dCdcsdGnCX1kscHc+3Tne4Pc90xp7GoPcR8Oy7eExTwZrnW6rknM9BN9080EoSAF5ZTpf2ypmmLOacMevJZ69PMiG1kOpNtWMblNiBvjs+z9mVzs75W1MLyTQfzXnUozdBHa4hYDBWVR7O5TpV/BqNekmnniv6SCuGVoz1yF6DiVyljcnNOyWxncHViPTr2KLUD8Nnzh6kqDUm/F3tTgNeOUVgwAA//kyRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VtgmbqFoPfZSbtVNESDVFC",
      "input": {
        "note": "Something ~1.4 cm thick is held (likely the pen) and the right basket fills the wrist view just ahead. Moving forward and left over the basket to drop it in.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.15,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01VtgmbqFoPfZSbtVNESDVFC",
      "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]: [-0.5842, 1.3876, 1.5734, -1.1957, -0.445, -0.5255, 0.9817, 0.4332, 1.6054, 1.351, -0.5266, 0.279, 0.2058, 0.1555]\nstate[eef_state]: left_x=0.3139 left_y=-0.1121 left_z=0.2816 left_yaw=0.0923 left_pitch=-0.3056 left_roll=0.0639 left_gripper=0.9817 right_x=0.429 right_y=0.1487 right_z=0.2035 right_yaw=0.0784 right_pitch=-0.1766 right_roll=-0.0396 right_gripper=0.1555\nstate[joint_eff]: [-0.0342, -5.0803, 6.0239, 1.1795, -0.2515, -0.0366, -0.0122, -0.6085, -7.8701, 9.7162, 1.4335, 0.1978, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3d2c6e7f5db31140c68f1cca530376e23d88f8efb69f432d9c352d0071d75f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a039825c4c2ed28e4e1d76e659a91a6ce921b32402f2ced59feb663cf5e8e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ee368277e539afdb1a77ad0bccbe87ad2cf1bf8f0f4d0c8fe3ac893e61f647b",
        "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 · 13.12 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]: [-0.5842, 1.3857, 1.5742, -1.1957, -0.445, -0.5255, 0.9816, 0.49, 1.6138, 0.4458, 0.4194, 0.3294, 0.2588, 0.1499]\nstate[eef_state]: left_x=0.3137 left_y=-0.112 left_z=0.2824 left_yaw=0.0918 left_pitch=-0.3035 left_roll=0.0621 left_gripper=0.9816 right_x=0.3397 right_y=0.1205 right_z=0.0125 right_yaw=0.067 right_pitch=-0.1325 right_roll=-0.0195 right_gripper=0.1499\nstate[joint_eff]: [-0.1026, -4.9573, 5.9829, 1.2088, -0.2808, -0.0366, -0.0073, -0.2803, -6.7487, 5.3949, 1.3016, 0.1538, -0.0317, 1.0037]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5838, 1.3861, 1.5742, -1.1957, -0.445, -0.5251, 0.9817, 0.49, 1.2453, 0.936, -0.4488, 0.3283, 0.2516, 0.1499]\nstate[eef_state]: left_x=0.3138 left_y=-0.1119 left_z=0.2823 left_yaw=0.0921 left_pitch=-0.3038 left_roll=0.0626 left_gripper=0.9817 right_x=0.3424 right_y=0.1222 right_z=0.1817 right_yaw=0.0713 right_pitch=-0.1416 right_roll=-0.0283 right_gripper=0.1499\nstate[joint_eff]: [-0.0205, -4.7658, 6.0786, 1.1746, -0.2711, -0.0513, -0.0073, -0.1983, -6.0239, 9.4701, 1.4921, 0.149, 0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5842, 1.3876, 1.5734, -1.1957, -0.445, -0.5255, 0.9817, 0.4332, 1.6054, 1.351, -0.5266, 0.279, 0.2058, 0.1555]\nstate[eef_state]: left_x=0.3139 left_y=-0.1121 left_z=0.2816 left_yaw=0.0923 left_pitch=-0.3056 left_roll=0.0639 left_gripper=0.9817 right_x=0.429 right_y=0.1487 right_z=0.2035 right_yaw=0.0784 right_pitch=-0.1766 right_roll=-0.0396 right_gripper=0.1555\nstate[joint_eff]: [-0.0342, -5.0803, 6.0239, 1.1795, -0.2515, -0.0366, -0.0122, -0.6085, -7.8701, 9.7162, 1.4335, 0.1978, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3d2c6e7f5db31140c68f1cca530376e23d88f8efb69f432d9c352d0071d75f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a039825c4c2ed28e4e1d76e659a91a6ce921b32402f2ced59feb663cf5e8e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ee368277e539afdb1a77ad0bccbe87ad2cf1bf8f0f4d0c8fe3ac893e61f647b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAUKjgEIEhgCKkDOtfU2bTch/xNId/bRBeIX4m1jc1HdzqT2kTzjUy/8nO4J78XxDXzNxQMAFDNKzJZV7Y3PCLK9j8Sa5xAJ8AmRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbDFzNUGEgw5zir5MJP06MoKZBMaDFK+68wp4jWasrrHhyIwBrrhstSsczX5c1x74REI53jP4bCYLg4GPnuzjyTvhtLQ2FYC5WEMiOX4HoLMkK4JKt4DuXi/Aiq1igDzI6GFVHksn2dU1Z08L8ZvT0Y6S7bsE5nsO6AYZeaibxdmFmAasSKVctfjbxuBpb6eMaGtzCpQBa2OlEIm+zYtGhNkcnkK555rOaBuE9//fTdHygBbfFCdb+DVI1E4JqgbVSBkag+Or+013oEW7aHrplczDg7U3p71kFrEzngwCNsG0igWpKh3d7yTTBUIllhu3WUykOBhDzmazi5DsVBiDzxIYHmnRcLk2MbFif57b/aMuEboJBzHRbx7DNPQr8VMj+mqU9yoSvhtjQQkNncDH8Of1V7ApPl2UOU5Vzfpr+/5hIQAm15+vg/5b/Zn2Jk3nq9REzHb9zYA9GSBMk79Oys9/EAGUj2M/FfOaAiB9H+PeClf/SyE6ZOn1tDNXBMEB/qYiskFbk2TuFTkx9Q3PaK0PXp2Ys80R8xjzRAqNcaGVxO50//KcwwreRmtolvjx3T3UmnXmQauMH7lZzFDpfA67c8L8Tk7fYp/40tDq5W7VJ0O6/ZGf4U3oyWOAw3NW/vP9QguNviXSLNiC36RLuv04ru5dFqCx8SPxsaJkiIE+JCE3pSM1VUul8Gw+h7rDKHx3q+EeZro8ABSU6XMGUJ5y04btjuqkI2rzqnxQY1FpLQgKhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017AjqAwpCdXziVn5tH8xT3M",
      "input": {
        "note": "Jaws are centred over the right basket interior; opening to release the pen into it.",
        "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_017AjqAwpCdXziVn5tH8xT3M",
      "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]: [-0.5842, 1.3876, 1.573, -1.1954, -0.445, -0.5255, 0.9817, 0.4305, 1.6272, 1.3487, -0.5266, 0.276, 0.1989, 0.9954]\nstate[eef_state]: left_x=0.314 left_y=-0.1121 left_z=0.2815 left_yaw=0.0923 left_pitch=-0.3056 left_roll=0.0639 left_gripper=0.9817 right_x=0.4306 right_y=0.1487 right_z=0.193 right_yaw=0.0804 right_pitch=-0.2001 right_roll=-0.0511 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -4.9983, 6.0103, 1.1697, -0.1929, -0.0513, -0.0122, -0.1299, -9.7846, 7.2547, 1.453, 0.0757, -0.0122, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba3b757524febe86472160cb19578aa94c1943be00409430e560da40011ee5ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f67f53389b3301501b1c2e2f13844a5c3ce511f0718aaf0476c7e82cd60e67a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a493f95dea81c01a8dde9a2f1016be3b69e06e8b565c67ef95038b78a2f8a165",
        "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 · 6.915 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]: [-0.5838, 1.3861, 1.5742, -1.1957, -0.445, -0.5251, 0.9817, 0.49, 1.2453, 0.936, -0.4488, 0.3283, 0.2516, 0.1499]\nstate[eef_state]: left_x=0.3138 left_y=-0.1119 left_z=0.2823 left_yaw=0.0921 left_pitch=-0.3038 left_roll=0.0626 left_gripper=0.9817 right_x=0.3424 right_y=0.1222 right_z=0.1817 right_yaw=0.0713 right_pitch=-0.1416 right_roll=-0.0283 right_gripper=0.1499\nstate[joint_eff]: [-0.0205, -4.7658, 6.0786, 1.1746, -0.2711, -0.0513, -0.0073, -0.1983, -6.0239, 9.4701, 1.4921, 0.149, 0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5842, 1.3876, 1.5734, -1.1957, -0.445, -0.5255, 0.9817, 0.4332, 1.6054, 1.351, -0.5266, 0.279, 0.2058, 0.1555]\nstate[eef_state]: left_x=0.3139 left_y=-0.1121 left_z=0.2816 left_yaw=0.0923 left_pitch=-0.3056 left_roll=0.0639 left_gripper=0.9817 right_x=0.429 right_y=0.1487 right_z=0.2035 right_yaw=0.0784 right_pitch=-0.1766 right_roll=-0.0396 right_gripper=0.1555\nstate[joint_eff]: [-0.0342, -5.0803, 6.0239, 1.1795, -0.2515, -0.0366, -0.0122, -0.6085, -7.8701, 9.7162, 1.4335, 0.1978, 0.0073, 1.0281]",
      "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]: [-0.5842, 1.3876, 1.573, -1.1954, -0.445, -0.5255, 0.9817, 0.4305, 1.6272, 1.3487, -0.5266, 0.276, 0.1989, 0.9954]\nstate[eef_state]: left_x=0.314 left_y=-0.1121 left_z=0.2815 left_yaw=0.0923 left_pitch=-0.3056 left_roll=0.0639 left_gripper=0.9817 right_x=0.4306 right_y=0.1487 right_z=0.193 right_yaw=0.0804 right_pitch=-0.2001 right_roll=-0.0511 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -4.9983, 6.0103, 1.1697, -0.1929, -0.0513, -0.0122, -0.1299, -9.7846, 7.2547, 1.453, 0.0757, -0.0122, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba3b757524febe86472160cb19578aa94c1943be00409430e560da40011ee5ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f67f53389b3301501b1c2e2f13844a5c3ce511f0718aaf0476c7e82cd60e67a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a493f95dea81c01a8dde9a2f1016be3b69e06e8b565c67ef95038b78a2f8a165",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ggNx1Jn28W9Y1vxiykGoQ",
      "input": {
        "note": "Pen is now in the right basket. Remaining: a grey plush, a brown monkey plush and a couple of pens. Moving the left arm above the brown monkey plush for a wrist look.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.38,
          "left_y": -0.145,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_014ggNx1Jn28W9Y1vxiykGoQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5594, 1.5948, 1.132, -0.5842, -0.4355, -0.5087, 0.9985, 0.4305, 1.6272, 1.3487, -0.5266, 0.2752, 0.1982, 0.9963]\nstate[eef_state]: left_x=0.3699 left_y=-0.1395 left_z=0.121 left_yaw=0.1083 left_pitch=-0.3403 left_roll=0.0926 left_gripper=0.9985 right_x=0.4306 right_y=0.1488 right_z=0.193 right_yaw=0.0815 right_pitch=-0.2003 right_roll=-0.0511 right_gripper=0.9963\nstate[joint_eff]: [0.2256, -7.3641, 6.5299, 1.16, -0.188, 0.0904, -0.1685, -0.3761, -7.9111, 6.8308, 1.4481, 0.0464, -0.0024, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e43c0d958a4273491e80cf31be6e5c720df275d64abbe5b456be101ab8d2bd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6575939bd781c771700e80d300456f212462a307fc5f0148cf8c678190ec7101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1be85defc12593ba92affdbf5f33134b24b9890a3cba4d5e8c50de5a814bf0c0",
        "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 · 11.07 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]: [-0.5842, 1.3876, 1.5734, -1.1957, -0.445, -0.5255, 0.9817, 0.4332, 1.6054, 1.351, -0.5266, 0.279, 0.2058, 0.1555]\nstate[eef_state]: left_x=0.3139 left_y=-0.1121 left_z=0.2816 left_yaw=0.0923 left_pitch=-0.3056 left_roll=0.0639 left_gripper=0.9817 right_x=0.429 right_y=0.1487 right_z=0.2035 right_yaw=0.0784 right_pitch=-0.1766 right_roll=-0.0396 right_gripper=0.1555\nstate[joint_eff]: [-0.0342, -5.0803, 6.0239, 1.1795, -0.2515, -0.0366, -0.0122, -0.6085, -7.8701, 9.7162, 1.4335, 0.1978, 0.0073, 1.0281]",
      "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]: [-0.5842, 1.3876, 1.573, -1.1954, -0.445, -0.5255, 0.9817, 0.4305, 1.6272, 1.3487, -0.5266, 0.276, 0.1989, 0.9954]\nstate[eef_state]: left_x=0.314 left_y=-0.1121 left_z=0.2815 left_yaw=0.0923 left_pitch=-0.3056 left_roll=0.0639 left_gripper=0.9817 right_x=0.4306 right_y=0.1487 right_z=0.193 right_yaw=0.0804 right_pitch=-0.2001 right_roll=-0.0511 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -4.9983, 6.0103, 1.1697, -0.1929, -0.0513, -0.0122, -0.1299, -9.7846, 7.2547, 1.453, 0.0757, -0.0122, -0.1734]",
      "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]: [-0.5594, 1.5948, 1.132, -0.5842, -0.4355, -0.5087, 0.9985, 0.4305, 1.6272, 1.3487, -0.5266, 0.2752, 0.1982, 0.9963]\nstate[eef_state]: left_x=0.3699 left_y=-0.1395 left_z=0.121 left_yaw=0.1083 left_pitch=-0.3403 left_roll=0.0926 left_gripper=0.9985 right_x=0.4306 right_y=0.1488 right_z=0.193 right_yaw=0.0815 right_pitch=-0.2003 right_roll=-0.0511 right_gripper=0.9963\nstate[joint_eff]: [0.2256, -7.3641, 6.5299, 1.16, -0.188, 0.0904, -0.1685, -0.3761, -7.9111, 6.8308, 1.4481, 0.0464, -0.0024, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e43c0d958a4273491e80cf31be6e5c720df275d64abbe5b456be101ab8d2bd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6575939bd781c771700e80d300456f212462a307fc5f0148cf8c678190ec7101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1be85defc12593ba92affdbf5f33134b24b9890a3cba4d5e8c50de5a814bf0c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4AYKjgEIEhgCKkDnf7AgnJ8E4IVxzQ/OhkXEm8nXei3qPf2ll6izNiRkDb/UqCf8eQUfzDefVD+chZhuv8lhieYdXixcriG2ana0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcbFzNUGEgxITpkuKKwImjtLWTsaDF/2um6BE35Q2xzL5CIwEWf3h54OPzxGqIyy+n6ZN2e8Usf0MCxAr7dj7imv4m9WPZCJZXvFHOP8+EEh6WFRKv4Eaj8lOz2c1lEwqdix16TIPSwMPxcqs8NtM+PXpSoG4fhcMIwoqgnHjuxG3T+pzPkOeOzhYapFhvBcVSphuxcv3q8Rr8Bryx7mX1EUD1gB/0XvvlDul0AOd7UAU1cpol+Uzmwzc9+i7nIlZthX4wRgu4p/d+xswrBwOM/Wyj0U3Rd9kvtkmQ8JgHO4Vv3JQL+yH5YoEakPpOczByrZceAyRxmEkC7D/IxitM6RkdzgEP4AvyIeiu0nWGxK55VWdgIWPr6KAof2f8WUIUwR8YsF4l8O1Ceh+m5gMW5mF2L7w6fyEq4kjmftSYUYW2idHUAFqeHU3zHi08GWg2uqDmad4OwCGg+Y2ATIm3hj7373zegBPSR7GtV7xkEST8VXR8/4MsGm0pRoErJhrJg/dUOq09+x4WLc456Wbb3ZhagyYdaFvQzFOuSrrV66wQskkCHSIfsthF3gXpJSWcGTIPWIPeqGvmrxnjxQIBWp2tZZA5CMMDUYOPB3QDPXpzosgVqwrZMoRDisuO0TgoZtxTkknCD2seSXLmAktHpO9KcJ3YjJAR5dt19BEScmtfvd5fNGLh23+KS0eXEqwSDhANgYXl4p7am7TlK1QKKKHgiXT56h3ICizI/Tn5hMi4KgEBXs80YgOjhyml5XvRjErTmcUaRJK4ivaO95e5MWqzgbXDDbOgTFj3Rrb31A15CfQbL8FPHHPECBftzUbQ3uI9rVVb7zkVVXNDeulR1j8Ny4wT761FKn9slUfRJBTTkxLSFkEogChd3i1V5alNP2PW4HlRhK52IMdPckyrrb2AszaoqFaE9JS7r1WtQ80OOOois2efKg2W0ocf+gEB78HusYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014fYNd45sUb5WhRUggcURW3",
      "input": {
        "note": "The monkey plush appears at the bottom of the left wrist view roughly on the jaw column; descending to 4 cm to grasp it.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.15,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014fYNd45sUb5WhRUggcURW3",
      "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]: [-0.5621, 1.7557, 1.0229, -0.2935, -0.4496, -0.5018, 0.9983, 0.4305, 1.6272, 1.3487, -0.5266, 0.2756, 0.1978, 0.9965]\nstate[eef_state]: left_x=0.3893 left_y=-0.1502 left_z=0.0563 left_yaw=0.1079 left_pitch=-0.317 left_roll=0.0937 left_gripper=0.9983 right_x=0.4306 right_y=0.1488 right_z=0.193 right_yaw=0.0814 right_pitch=-0.2002 right_roll=-0.0516 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -7.0222, 4.2462, 0.8523, -0.0611, -0.3101, -0.0366, -0.294, -8.0068, 6.8581, 1.4383, 0.0952, -0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d9581cbc709bf5a4087c456acfabfc81642ebca0f0c86917296408d19c1982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe0c66f8658732b510fc09d4fa21855473be0f028737bb8838acfb869378d611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1b9eaa70875b941acf8ccf6038e850e9e89bf18782136c7ac41ac04bd90add8",
        "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 · 17.38 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]: [-0.5842, 1.3876, 1.573, -1.1954, -0.445, -0.5255, 0.9817, 0.4305, 1.6272, 1.3487, -0.5266, 0.276, 0.1989, 0.9954]\nstate[eef_state]: left_x=0.314 left_y=-0.1121 left_z=0.2815 left_yaw=0.0923 left_pitch=-0.3056 left_roll=0.0639 left_gripper=0.9817 right_x=0.4306 right_y=0.1487 right_z=0.193 right_yaw=0.0804 right_pitch=-0.2001 right_roll=-0.0511 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -4.9983, 6.0103, 1.1697, -0.1929, -0.0513, -0.0122, -0.1299, -9.7846, 7.2547, 1.453, 0.0757, -0.0122, -0.1734]",
      "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]: [-0.5594, 1.5948, 1.132, -0.5842, -0.4355, -0.5087, 0.9985, 0.4305, 1.6272, 1.3487, -0.5266, 0.2752, 0.1982, 0.9963]\nstate[eef_state]: left_x=0.3699 left_y=-0.1395 left_z=0.121 left_yaw=0.1083 left_pitch=-0.3403 left_roll=0.0926 left_gripper=0.9985 right_x=0.4306 right_y=0.1488 right_z=0.193 right_yaw=0.0815 right_pitch=-0.2003 right_roll=-0.0511 right_gripper=0.9963\nstate[joint_eff]: [0.2256, -7.3641, 6.5299, 1.16, -0.188, 0.0904, -0.1685, -0.3761, -7.9111, 6.8308, 1.4481, 0.0464, -0.0024, 0.0806]",
      "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]: [-0.5621, 1.7557, 1.0229, -0.2935, -0.4496, -0.5018, 0.9983, 0.4305, 1.6272, 1.3487, -0.5266, 0.2756, 0.1978, 0.9965]\nstate[eef_state]: left_x=0.3893 left_y=-0.1502 left_z=0.0563 left_yaw=0.1079 left_pitch=-0.317 left_roll=0.0937 left_gripper=0.9983 right_x=0.4306 right_y=0.1488 right_z=0.193 right_yaw=0.0814 right_pitch=-0.2002 right_roll=-0.0516 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -7.0222, 4.2462, 0.8523, -0.0611, -0.3101, -0.0366, -0.294, -8.0068, 6.8581, 1.4383, 0.0952, -0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d9581cbc709bf5a4087c456acfabfc81642ebca0f0c86917296408d19c1982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe0c66f8658732b510fc09d4fa21855473be0f028737bb8838acfb869378d611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b9eaa70875b941acf8ccf6038e850e9e89bf18782136c7ac41ac04bd90add8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AoKjgEIEhgCKkBuSrh+Ym/Ce7D7sDtd0BLJSQhBn7RxG59O3aUL3OvoCUzCFuBxa83ZdfzU4dv8Av2DfNsuw9xk0kweD52kLTwtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdHFzNUGEgwfVMgSWF+BjsiuHP4aDJU4mU+2Of0numX9fCIwWXK0kzlULEQ0blWXzcEtZh+5fjnLppqjqlK252ec47/3r3VrbouVLVtDmRdUFcaGKooJi//ebQM3/4A8B02h/9XDjXzwqmqmuPiKsfkgk5RNDZE0w6djyg6o8akt/SOMLT1QBdukbVCgt7oH8OMPbQTMV7/s7PaPtoUK8cLYgcuFu4ZzNqHizKhopbvTes7RafGlKmqmM7/Rv+kbOy3AhLb/hxK857xLC+7ivs7ExcN55t6KcC5pyy1e7hPcqBhPDA9OoFKKtmPMkx8rMVvqcrn/qKfpQGDttL/JljYSWRLpaJhYhXrWe11RcxJNj3hzKP7rizxn1xZ8UhvcIOGypq7eanqoEhAZL/XF5B50RdYT05V/mxA5W+a27R067x7b7Q7FDaguvYH5S6/qQMUWobomEIQCUu9AEMkhX5gWIRm0JRJDZuFMjV7Yop6aSB4JOPbyN4KS3RRFpazxiXQPifJZnRr+KpldpAwzkHi3eN4r67T5fMnVaTd3t1SE8D2xXNnreIGl4dXBfRqNl+sB5eivFaVOChUXUDiCcgz+3LSgJqGzi6UYCnfwNTZoQLgWTK3LFfKmtrwHx9npkynx4p24Un1wmmhMV5ZPU5NJ7e9iT80szUvC8Vacegh4w2cFyZVI8uly894M0T0eI6c7YBEH4MNTpv/wZQ1aAptsu7heOaSARStd5mHL49sJE6Co81bkygMmBsri/VLSo2IjXJaZx1kULh0bwHXrsUQFQ7H7aj7K0jjswNm+tGHYxH3lu9+DWPFRIGgEqC/lOTQ4AlRr9+VwZfAyKC9UTVh26kz9J/gHkXN1APOXu5oo55vLao3NUrPtf80Pz4CdisRVRRE8UMjUfd9AOoTx3IHy9XoYY2eYbsSyzD+Aw5aneK1wWe5+JuXS9dg82VivcbnQot2MQjMn63N6DimImYcjeAQcSi6HozyTr/76JddfTNlM6f4es93rulEH07gRNMZbHpxcSUMaMDPoFZGD1hSXkrR7aS90v/IkGmQ1l5xf1J3Wh3puWXfuKus/eaEQoinenXtC3AFGL/iA+tasx8MmsYFRCfueplwIKaoWJ6A+SjZZ2Mz8Jo7s2zBgqBAJiUWcFX2hNSNehCwiF7i86UjFDG3AqDb0lwZ6Sfaf8fF3MmthcmwfRmJQsCbDJYV3Ey7AQBVli2hk38Svhzh/Q4cix1ys4tkWvzn4MGw1E5jHpHnFnKTlfx9tB30tMczYMoU1qga66I048MsXh5rkMbbtvxpwZmZdP5zVYbecMta/yEXYhyfgRjNkF1eQYggWZUcfkXUlcd+M6cjrnPpU8/e78mxAY95T3Ohle2jJCHR7OjRIK0QrP87OCPkaJ5fgXnEzdAzIKcAEUlCHIh1TvzhooL+1nUP7LeR3NqplSLhD+mlRUGXAjWLRUe59Ua8J87HzYOUF024QbXjb6vrY6TnfyerwMLQkwTTXaDZ28CEeTu6FrU+uvuCzsjue4uhx66OA+YyjmNfrpu8qQ4ZLbSvaFdZsSYbPoR/+2kPVqSCJDq4RyNDkA7qet/udxEboe9Lxn/1Yp+zHs3MOTfd4jomLYm709eSsprojY2mjs2svtiLVRgbB0NRJhArAdsfGeBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XbTha9aDcEu18Dq9Q1yVEA",
      "input": {
        "note": "I over-shot: the wrist is looking into the basket, and the overhead view shows the monkey plush closer to the base and to the arm's left. Backing off to hover above the monkey.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.21,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XbTha9aDcEu18Dq9Q1yVEA",
      "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]: [-0.8257, 1.6588, 1.2049, -0.6777, -0.5426, -0.7341, 0.9983, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1978, 0.9965]\nstate[eef_state]: left_x=0.3299 left_y=-0.2178 left_z=0.1213 left_yaw=0.0632 left_pitch=-0.3233 left_roll=0.0784 left_gripper=0.9983 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0816 right_pitch=-0.201 right_roll=-0.0516 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -10.2222, 8.4991, 0.9304, -0.3834, -0.022, -0.0122, -0.335, -8.0889, 6.9128, 1.453, 0.0757, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbfe350d195fa324990168e313ddb29dfb0d5bd8b166af69bcf8bc8f408f3e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32383de0ae11acb196da953ae24cf12e21edc75d3e7b37718ac09cdab2ebbc4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:337fda360608f3ac2439db61129702986b48b4514ad2386a45b8ba3c12eed221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 6.748 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]: [-0.5594, 1.5948, 1.132, -0.5842, -0.4355, -0.5087, 0.9985, 0.4305, 1.6272, 1.3487, -0.5266, 0.2752, 0.1982, 0.9963]\nstate[eef_state]: left_x=0.3699 left_y=-0.1395 left_z=0.121 left_yaw=0.1083 left_pitch=-0.3403 left_roll=0.0926 left_gripper=0.9985 right_x=0.4306 right_y=0.1488 right_z=0.193 right_yaw=0.0815 right_pitch=-0.2003 right_roll=-0.0511 right_gripper=0.9963\nstate[joint_eff]: [0.2256, -7.3641, 6.5299, 1.16, -0.188, 0.0904, -0.1685, -0.3761, -7.9111, 6.8308, 1.4481, 0.0464, -0.0024, 0.0806]",
      "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]: [-0.5621, 1.7557, 1.0229, -0.2935, -0.4496, -0.5018, 0.9983, 0.4305, 1.6272, 1.3487, -0.5266, 0.2756, 0.1978, 0.9965]\nstate[eef_state]: left_x=0.3893 left_y=-0.1502 left_z=0.0563 left_yaw=0.1079 left_pitch=-0.317 left_roll=0.0937 left_gripper=0.9983 right_x=0.4306 right_y=0.1488 right_z=0.193 right_yaw=0.0814 right_pitch=-0.2002 right_roll=-0.0516 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -7.0222, 4.2462, 0.8523, -0.0611, -0.3101, -0.0366, -0.294, -8.0068, 6.8581, 1.4383, 0.0952, -0.0366, -0.0024]",
      "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]: [-0.8257, 1.6588, 1.2049, -0.6777, -0.5426, -0.7341, 0.9983, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1978, 0.9965]\nstate[eef_state]: left_x=0.3299 left_y=-0.2178 left_z=0.1213 left_yaw=0.0632 left_pitch=-0.3233 left_roll=0.0784 left_gripper=0.9983 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0816 right_pitch=-0.201 right_roll=-0.0516 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -10.2222, 8.4991, 0.9304, -0.3834, -0.022, -0.0122, -0.335, -8.0889, 6.9128, 1.453, 0.0757, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbfe350d195fa324990168e313ddb29dfb0d5bd8b166af69bcf8bc8f408f3e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32383de0ae11acb196da953ae24cf12e21edc75d3e7b37718ac09cdab2ebbc4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:337fda360608f3ac2439db61129702986b48b4514ad2386a45b8ba3c12eed221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VCTGvRqRzzCawEbNd1N3h3",
      "input": {
        "note": "The monkey plush lies closer to the base and to the arm's left of the current jaw position; moving back 4 cm and left 8 cm to hover over it.",
        "targets": {
          "left_x": 0.29,
          "left_y": -0.14,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VCTGvRqRzzCawEbNd1N3h3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.733, 1.356, 0.9409, -0.6781, -0.5083, -0.6613, 0.9983, 0.4305, 1.6276, 1.3479, -0.5255, 0.2752, 0.1951, 0.9965]\nstate[eef_state]: left_x=0.2942 left_y=-0.1444 left_z=0.1269 left_yaw=0.0831 left_pitch=-0.3241 left_roll=0.0748 left_gripper=0.9983 right_x=0.4306 right_y=0.1489 right_z=0.1927 right_yaw=0.0832 right_pitch=-0.2004 right_roll=-0.0533 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -6.1744, 6.3521, 1.1502, -0.1343, 0.1343, -0.0171, -0.0615, -8.0615, 6.8444, 1.5702, 0.0757, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8133c2013b5d6f72d29de6f469943d338dbc5b4f7c213f29dc4390a58d942ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54b11ee5b22bf7f927c4429333a50469709a139591a9764b6b1c86e10d05c977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9cf98cfe866a805ada59ae3d34f11e2f048d3660dfdc6d8f445f4eb5f9a8be5",
        "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 · 4.06 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]: [-0.5621, 1.7557, 1.0229, -0.2935, -0.4496, -0.5018, 0.9983, 0.4305, 1.6272, 1.3487, -0.5266, 0.2756, 0.1978, 0.9965]\nstate[eef_state]: left_x=0.3893 left_y=-0.1502 left_z=0.0563 left_yaw=0.1079 left_pitch=-0.317 left_roll=0.0937 left_gripper=0.9983 right_x=0.4306 right_y=0.1488 right_z=0.193 right_yaw=0.0814 right_pitch=-0.2002 right_roll=-0.0516 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -7.0222, 4.2462, 0.8523, -0.0611, -0.3101, -0.0366, -0.294, -8.0068, 6.8581, 1.4383, 0.0952, -0.0366, -0.0024]",
      "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]: [-0.8257, 1.6588, 1.2049, -0.6777, -0.5426, -0.7341, 0.9983, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1978, 0.9965]\nstate[eef_state]: left_x=0.3299 left_y=-0.2178 left_z=0.1213 left_yaw=0.0632 left_pitch=-0.3233 left_roll=0.0784 left_gripper=0.9983 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0816 right_pitch=-0.201 right_roll=-0.0516 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -10.2222, 8.4991, 0.9304, -0.3834, -0.022, -0.0122, -0.335, -8.0889, 6.9128, 1.453, 0.0757, -0.0122, -0.0122]",
      "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]: [-0.733, 1.356, 0.9409, -0.6781, -0.5083, -0.6613, 0.9983, 0.4305, 1.6276, 1.3479, -0.5255, 0.2752, 0.1951, 0.9965]\nstate[eef_state]: left_x=0.2942 left_y=-0.1444 left_z=0.1269 left_yaw=0.0831 left_pitch=-0.3241 left_roll=0.0748 left_gripper=0.9983 right_x=0.4306 right_y=0.1489 right_z=0.1927 right_yaw=0.0832 right_pitch=-0.2004 right_roll=-0.0533 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -6.1744, 6.3521, 1.1502, -0.1343, 0.1343, -0.0171, -0.0615, -8.0615, 6.8444, 1.5702, 0.0757, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8133c2013b5d6f72d29de6f469943d338dbc5b4f7c213f29dc4390a58d942ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54b11ee5b22bf7f927c4429333a50469709a139591a9764b6b1c86e10d05c977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9cf98cfe866a805ada59ae3d34f11e2f048d3660dfdc6d8f445f4eb5f9a8be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxwUKjgEIEhgCKkDivALAlY1sTcCQ3nS7/qxjY9tX/lG5isAOBSQFaRpYtfGohsfbjsisJr2N/ClypcRUKYgoME5bYIVhbbeYy9kIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAevFzNUGEgzqHtDWDArZgfRj7WcaDMB/fm3MZ2/1RdzkESIwxIOlmNXVlTD5TwMU9a0iicDo26y5uu/5RqAZavbo8w4AUSoXH5BvLI0fIjti8bXzKuUDkBctu3VA7m1LdexKJHid2FK7VYsQ077PKNknYTr62CFzuiFdbxpUKxCELeh1H8vfZiiKQKp2dkWOgpboBiL8kE0B2Td0mtyPO3makijcCjHH3CbkjoGJRHMzPj3/yPEnsUlGgA4MsIJfXmzFKUX0jegAqHn+TWr7N+zyrfg5KmJH6i0VLyA3F+ij0Em0ROhuQwfECzIjxvFua8VrMGGXGz7WqGwB053vknvY8lD6PBESus8F0VOOR6y/husNdPNpURzvYZjtZ+8lQ7vMcxRMDjY7D4EmM8nut0/gDNZVYswqDCUZv+psuTJP4LMiqw8lKzZRQLlGXHQ/4T76RpaDw8MvNpxCMVUXbF4gKrjGN8Ujlx9bC1aHklZV1c1oLcDjkLByF66O7mCg2pFK4qjfvRa2YaRj+JZpgsMENehq2iILBcknan83v5lLXn/eBHm7z+5DvNT7QaHgPBu6cZ6O5jrcEHs4p1POxmYPBVN3olVvSFMWTqtqnBZMthhL3S1kSfsm0IVdzbxTW2Z8bZlNslSvejWl/AvklcQCghNeB9rpfE3TSMZDZRuc/bLbTJHa8F20Bie49nq327KvNVNlxSU71XZI19AooN4y1ZXbQk9j2wJxBmxbLoTxkEeqpucg6v712gIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QkYNHwLQ1MHetaw7N2w7N9",
      "input": {
        "note": "Wrist view now shows the brown monkey plush just below-left of the jaws (with a yellow marker beside it). Shifting 3 cm left and descending to 5 cm to grasp the monkey.",
        "targets": {
          "left_x": 0.285,
          "left_y": -0.115,
          "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_01QkYNHwLQ1MHetaw7N2w7N9",
      "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]: [-0.6666, 1.3491, 0.6323, -0.4133, -0.4835, -0.6125, 0.9983, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2751 left_y=-0.1074 left_z=0.0491 left_yaw=0.1147 left_pitch=-0.3685 left_roll=0.1183 left_gripper=0.9983 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0833 right_pitch=-0.2011 right_roll=-0.0539 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -3.8632, 6.2427, 1.2576, -0.2515, 0.1148, -0.0171, -0.2256, -8.0752, 6.8855, 1.4628, 0.1148, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac03e20e9ca180f0825c43bf72abce731bee60c3d64adfe483b6aae029fcebee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7203acfaf6c1cff3c98495324802446afa75d23ee342555de56b86efd17d1784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f77280f1c15f7bba2f8f5b79a7bffa553258b7e23ab7ee6b8239ed361bde1949",
        "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 · 9.252 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]: [-0.8257, 1.6588, 1.2049, -0.6777, -0.5426, -0.7341, 0.9983, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1978, 0.9965]\nstate[eef_state]: left_x=0.3299 left_y=-0.2178 left_z=0.1213 left_yaw=0.0632 left_pitch=-0.3233 left_roll=0.0784 left_gripper=0.9983 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0816 right_pitch=-0.201 right_roll=-0.0516 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -10.2222, 8.4991, 0.9304, -0.3834, -0.022, -0.0122, -0.335, -8.0889, 6.9128, 1.453, 0.0757, -0.0122, -0.0122]",
      "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]: [-0.733, 1.356, 0.9409, -0.6781, -0.5083, -0.6613, 0.9983, 0.4305, 1.6276, 1.3479, -0.5255, 0.2752, 0.1951, 0.9965]\nstate[eef_state]: left_x=0.2942 left_y=-0.1444 left_z=0.1269 left_yaw=0.0831 left_pitch=-0.3241 left_roll=0.0748 left_gripper=0.9983 right_x=0.4306 right_y=0.1489 right_z=0.1927 right_yaw=0.0832 right_pitch=-0.2004 right_roll=-0.0533 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -6.1744, 6.3521, 1.1502, -0.1343, 0.1343, -0.0171, -0.0615, -8.0615, 6.8444, 1.5702, 0.0757, -0.0317, -0.0171]",
      "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]: [-0.6666, 1.3491, 0.6323, -0.4133, -0.4835, -0.6125, 0.9983, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2751 left_y=-0.1074 left_z=0.0491 left_yaw=0.1147 left_pitch=-0.3685 left_roll=0.1183 left_gripper=0.9983 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0833 right_pitch=-0.2011 right_roll=-0.0539 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -3.8632, 6.2427, 1.2576, -0.2515, 0.1148, -0.0171, -0.2256, -8.0752, 6.8855, 1.4628, 0.1148, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac03e20e9ca180f0825c43bf72abce731bee60c3d64adfe483b6aae029fcebee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7203acfaf6c1cff3c98495324802446afa75d23ee342555de56b86efd17d1784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f77280f1c15f7bba2f8f5b79a7bffa553258b7e23ab7ee6b8239ed361bde1949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7gIKjgEIEhgCKkAd42z640lFeuyndjVjT++XGZYqeGcDWPjfW0RG1teIlFohC+TpyJWjxhpjjSAQmaZFZCeQve2ly4cwqaaSrablMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfDFzNUGEgxGWPfEUBUoGoJtIqUaDONx+yXGQsbmcq5GViIwjfxh6aewCbS8FhHNE4Mx2saTvGoCwndXtTkR69gDwgdSUI61GSeUAl90bpnILF7cKowBiDP9d/TpNszGZDCnx0taLYrvoXA2fHXGiHUHl9mu+GGM8R1XBoA26aSbyfdNVmYrcq9hgJvMEmbR+fMwUddk3NhnPRIuglQiQOtfLJmays3qOIYXq3nWVdEq0RHP6OHE6UwAKu74Xab26EwNXGC873a5hHAR9TE2UZ/NCHAvl5X3sdh76sXbGdIHVEgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SfwAHC1o79kyXGG11mWD2i",
      "input": {
        "note": "The monkey plush now sits centred between the jaw wedges at the bottom of 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_01SfwAHC1o79kyXGG11mWD2i",
      "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]: [-0.6605, 1.3548, 0.6067, -0.3084, -0.4713, -0.5945, 0.0102, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.1152 left_z=0.0493 left_yaw=0.0839 left_pitch=-0.3236 left_roll=0.0676 left_gripper=0.0102 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0833 right_pitch=-0.2011 right_roll=-0.0539 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -4.588, 6.2291, 1.072, -0.3248, 0.0464, 0.8864, -0.335, -7.8838, 6.8171, 1.5018, 0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1339b9ca6d9846916c186fbc4c7c1b1a09b9365f65b1305c443c302731098e40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd829c5d5b7f2c03a55eb777806d8cc855ffada8bc05389deb0099067bc4e87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ae0dfe88355c5a59b646cea1d7f8dc8efecf3016e9e33de4d70510dae3ad64b",
        "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 · 13.01 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]: [-0.733, 1.356, 0.9409, -0.6781, -0.5083, -0.6613, 0.9983, 0.4305, 1.6276, 1.3479, -0.5255, 0.2752, 0.1951, 0.9965]\nstate[eef_state]: left_x=0.2942 left_y=-0.1444 left_z=0.1269 left_yaw=0.0831 left_pitch=-0.3241 left_roll=0.0748 left_gripper=0.9983 right_x=0.4306 right_y=0.1489 right_z=0.1927 right_yaw=0.0832 right_pitch=-0.2004 right_roll=-0.0533 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -6.1744, 6.3521, 1.1502, -0.1343, 0.1343, -0.0171, -0.0615, -8.0615, 6.8444, 1.5702, 0.0757, -0.0317, -0.0171]",
      "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]: [-0.6666, 1.3491, 0.6323, -0.4133, -0.4835, -0.6125, 0.9983, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2751 left_y=-0.1074 left_z=0.0491 left_yaw=0.1147 left_pitch=-0.3685 left_roll=0.1183 left_gripper=0.9983 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0833 right_pitch=-0.2011 right_roll=-0.0539 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -3.8632, 6.2427, 1.2576, -0.2515, 0.1148, -0.0171, -0.2256, -8.0752, 6.8855, 1.4628, 0.1148, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6605, 1.3548, 0.6067, -0.3084, -0.4713, -0.5945, 0.0102, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.1152 left_z=0.0493 left_yaw=0.0839 left_pitch=-0.3236 left_roll=0.0676 left_gripper=0.0102 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0833 right_pitch=-0.2011 right_roll=-0.0539 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -4.588, 6.2291, 1.072, -0.3248, 0.0464, 0.8864, -0.335, -7.8838, 6.8171, 1.5018, 0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1339b9ca6d9846916c186fbc4c7c1b1a09b9365f65b1305c443c302731098e40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd829c5d5b7f2c03a55eb777806d8cc855ffada8bc05389deb0099067bc4e87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae0dfe88355c5a59b646cea1d7f8dc8efecf3016e9e33de4d70510dae3ad64b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggoKjgEIEhgCKkBcqPc90LN55EbK0I8QyeCHVcsqrv3hvKiTVFJgNBCDv5ASn+Wwa0oufLOh+Cu5nlbVnjrE2/xrcZ24PrrwAt0kMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfnFzNUGEgwJLmRLrgnqk7KwhXcaDE88IYw+/tq0huM08iIwnRptSzQt5QVnnNm4jKpm0pVgpTFJsAz/kGI8lp/28eU7vdlXgL7c7esQqzhC/MLNKqAIC2xk1cv8K6HIb8jJPBD9e2eIxIfk54iFRp6ZA08Q4W1zrdEUPRO4/ZIRvSRa85e3Lmd5b+QK/8lKra7IxQCmoHlmrkyS8R+jEeq/3vAN7I4BIvE3fOZwyjM85Elf2yOZid/HHOh0e3+d7Djy2zcybZusyqZkDgoVqZ/O82GtnTSH2d3VBcwels+rQKXhkfN/gAxfvlx0sOQ9sws2T4pa5Fr6K5dpPvPBusRk2cgQ9Btde+eJaYW52UtUYGJrgA+ZHv0V3KYzi+80qLBkOstaYsUPTrSOZ7hvXUyz3yWXN+pjpGPkMDNPCRuazuoQhi6MOBYOvNGjCqbFHaRFmFDpqT8DnB9/pVb46FkZvnzCxMP445yZx+5NliZ04pzCOnUASwaX5HAGgaxo/tapVMONYCH3p0HiK6I4ifqlqT89pgvcXqe5zml0v882+9cgA5e2EroenpY8wGDkQ3H9hiwiONVaEBwLd81E2ZLXy703YFfJ2MjANQRj3bC3RmbaWaveoHWxRTQdo3yOMftw8KQtig2uvvNdj+zNq7mdooiJlmmnclutOJ5XopM4yaUzYatmztZN9Sf+W6SaXKR0dER34Vpr5W6Ygb2fHvo9O+sBzFvI5PJ2eORSxntof6NETOczuV6KHxpqmRumCNGV7e3ITCjKgrFGCFYDfMDaUibw5y0WT2pCkzt31vjsbVhem22TBOb715RNCdFAHvflOW5y+N59WT6oxzZxkvUWC586Re36D5FRM/+zjj8vVo4iz0W7bNufYRZg0mPonBAjgiLQwW+UoB+sJmB6iAyUZx+ByvqvE/RRghkvfJTQtS3Y45aZC5QUo6C6U6WP43XbYs9Mfnaxg0h2GzR/3GJLC+TQamoqjc+Nb6s2Sc3J040i454qPmNgf9pJVIE7L/sBAq6L7EZXvN47sqANNDtriv5dC/mZlgWxg/euovpLYcAtcD7igi33Xc8f8sAxEAbPC5Xgx5QmycaPMbSvStnkOuNOEsHXIk+JL7myoh+bg3AB9BbS8igesxd/mVQwldwJAAsLXhn8BJv/J6kLIqIpgERZQG0ZOc/MYHIO3EiWKcHO0ZivuKJzeCcSACBMLYBZzL8iBrbo/hye3BiEJUf+DEN1zZXBdUnu91jobMyuyrvKp7YObCjIOOTpmovLGIVFmW0THmm4WCinQHCM9Dx+ymo+8zoh+8hXNMXm4bf5IOMnEEbOtYnm+CcLIKwHUQrR26LT2khEMPj22ug6pouymCrXujMB/uusqq72ajf0rVohfi88kXZ2m/fKJf648PODFmpo44Sz01MTxXVMkYSVKCPZAXA237M+U8TZLACW+90v6wpKm+MRnM/ky9Job23mGHLN9Y1x2eVi1chkRoamopRfZDZIvVKkFFc5Qt1lLp56XI6jGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JoXW4MrhDWtkSGkuT8N5jw",
      "input": {
        "note": "The close came back empty (0.01), so the monkey is a bit farther out than the jaws. Reopening and advancing 2 cm radially for a second attempt.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.305,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JoXW4MrhDWtkSGkuT8N5jw",
      "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]: [-0.6132, 1.4254, 0.6197, -0.2626, -0.4461, -0.5587, 0.9952, 0.4305, 1.6276, 1.3479, -0.5262, 0.2756, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2955 left_y=-0.1104 left_z=0.0371 left_yaw=0.0956 left_pitch=-0.3485 left_roll=0.0821 left_gripper=0.9952 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.083 right_pitch=-0.201 right_roll=-0.0541 right_gripper=0.9965\nstate[joint_eff]: [0.5265, -4.1641, 8.1709, 1.3211, -0.2369, 0.105, -0.0952, -0.3214, -7.8974, 6.8171, 1.4774, 0.0659, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4919dd5e1f5c187ffc1ae75dea37ae9604c8b10f21a0919f094f75ead84424e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33568e95d424a2a8cecff533920bb881d061a18806ef3a9ae95753cc8c02e254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2c0b4a83bb6d000958d60a01c148373c2e51102a223f9ea72d67d97b4e90921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 12.34 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]: [-0.6666, 1.3491, 0.6323, -0.4133, -0.4835, -0.6125, 0.9983, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2751 left_y=-0.1074 left_z=0.0491 left_yaw=0.1147 left_pitch=-0.3685 left_roll=0.1183 left_gripper=0.9983 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0833 right_pitch=-0.2011 right_roll=-0.0539 right_gripper=0.9965\nstate[joint_eff]: [0.2256, -3.8632, 6.2427, 1.2576, -0.2515, 0.1148, -0.0171, -0.2256, -8.0752, 6.8855, 1.4628, 0.1148, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6605, 1.3548, 0.6067, -0.3084, -0.4713, -0.5945, 0.0102, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.1152 left_z=0.0493 left_yaw=0.0839 left_pitch=-0.3236 left_roll=0.0676 left_gripper=0.0102 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0833 right_pitch=-0.2011 right_roll=-0.0539 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -4.588, 6.2291, 1.072, -0.3248, 0.0464, 0.8864, -0.335, -7.8838, 6.8171, 1.5018, 0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6132, 1.4254, 0.6197, -0.2626, -0.4461, -0.5587, 0.9952, 0.4305, 1.6276, 1.3479, -0.5262, 0.2756, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2955 left_y=-0.1104 left_z=0.0371 left_yaw=0.0956 left_pitch=-0.3485 left_roll=0.0821 left_gripper=0.9952 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.083 right_pitch=-0.201 right_roll=-0.0541 right_gripper=0.9965\nstate[joint_eff]: [0.5265, -4.1641, 8.1709, 1.3211, -0.2369, 0.105, -0.0952, -0.3214, -7.8974, 6.8171, 1.4774, 0.0659, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4919dd5e1f5c187ffc1ae75dea37ae9604c8b10f21a0919f094f75ead84424e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33568e95d424a2a8cecff533920bb881d061a18806ef3a9ae95753cc8c02e254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c0b4a83bb6d000958d60a01c148373c2e51102a223f9ea72d67d97b4e90921",
        "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_01JrhyYkuxRMSfdd2GRRtkdj",
      "input": {
        "note": "Left arm keeps bumping the basket wall; switching attention to the remaining pen on the right side. Moving the right arm back down over the pen area for a wrist look.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": 0.09,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01JrhyYkuxRMSfdd2GRRtkdj",
      "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]: [-0.6121, 1.4322, 0.6209, -0.2653, -0.4442, -0.5575, 0.9967, 0.3836, 1.2316, 0.7601, -0.3576, 0.244, 0.1642, 0.9986]\nstate[eef_state]: left_x=0.295 left_y=-0.1099 left_z=0.0351 left_yaw=0.0967 left_pitch=-0.356 left_roll=0.0873 left_gripper=0.9967 right_x=0.3307 right_y=0.0913 right_z=0.1252 right_yaw=0.0777 right_pitch=-0.2314 right_roll=-0.0615 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -5.1761, 5.7094, 1.199, -0.232, -0.0611, 0.1392, -0.5538, -4.506, 7.747, 1.7265, 0.0317, -0.0415, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c16d968f4049a18fb6cdd129d21210dfd8e3266798d099f9164519bd9b330cd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0218c5432d21cbf22fce39ebcf8487f7416772a23ee7b86c17a1b6220bc710c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d94603d137a7aa932e1a189e91ec7b85ce2f8dca1756b154f3b734f3aca2b41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 7.014 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]: [-0.6605, 1.3548, 0.6067, -0.3084, -0.4713, -0.5945, 0.0102, 0.4305, 1.6276, 1.3479, -0.5262, 0.2752, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.1152 left_z=0.0493 left_yaw=0.0839 left_pitch=-0.3236 left_roll=0.0676 left_gripper=0.0102 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.0833 right_pitch=-0.2011 right_roll=-0.0539 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -4.588, 6.2291, 1.072, -0.3248, 0.0464, 0.8864, -0.335, -7.8838, 6.8171, 1.5018, 0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6132, 1.4254, 0.6197, -0.2626, -0.4461, -0.5587, 0.9952, 0.4305, 1.6276, 1.3479, -0.5262, 0.2756, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2955 left_y=-0.1104 left_z=0.0371 left_yaw=0.0956 left_pitch=-0.3485 left_roll=0.0821 left_gripper=0.9952 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.083 right_pitch=-0.201 right_roll=-0.0541 right_gripper=0.9965\nstate[joint_eff]: [0.5265, -4.1641, 8.1709, 1.3211, -0.2369, 0.105, -0.0952, -0.3214, -7.8974, 6.8171, 1.4774, 0.0659, -0.0659, -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 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]: [-0.6121, 1.4322, 0.6209, -0.2653, -0.4442, -0.5575, 0.9967, 0.3836, 1.2316, 0.7601, -0.3576, 0.244, 0.1642, 0.9986]\nstate[eef_state]: left_x=0.295 left_y=-0.1099 left_z=0.0351 left_yaw=0.0967 left_pitch=-0.356 left_roll=0.0873 left_gripper=0.9967 right_x=0.3307 right_y=0.0913 right_z=0.1252 right_yaw=0.0777 right_pitch=-0.2314 right_roll=-0.0615 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -5.1761, 5.7094, 1.199, -0.232, -0.0611, 0.1392, -0.5538, -4.506, 7.747, 1.7265, 0.0317, -0.0415, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c16d968f4049a18fb6cdd129d21210dfd8e3266798d099f9164519bd9b330cd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0218c5432d21cbf22fce39ebcf8487f7416772a23ee7b86c17a1b6220bc710c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d94603d137a7aa932e1a189e91ec7b85ce2f8dca1756b154f3b734f3aca2b41",
        "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_01WFYMGapH41getSoUS7rsFD",
      "input": {
        "note": "Overhead shows one pen already in the right basket and a second white pen lying on the table directly in front of that basket, closer to the bases. Moving the right arm over that estimated spot.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.145,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WFYMGapH41getSoUS7rsFD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.2665, -0.4446, -0.5571, 0.9968, 0.7151, 1.1786, 0.7212, -0.4427, 0.4103, 0.3794, 0.9985]\nstate[eef_state]: left_x=0.2948 left_y=-0.1096 left_z=0.0349 left_yaw=0.0975 left_pitch=-0.357 left_roll=0.0888 left_gripper=0.9968 right_x=0.2777 right_y=0.1526 right_z=0.1199 right_yaw=0.1477 right_pitch=-0.2352 right_roll=-0.0563 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -5.1487, 5.8735, 1.1795, -0.2759, -0.0122, 0.0024, 0.1573, -4.7658, 6.3932, 1.1795, 0.3541, 0.0952, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b72d2ad6a631b3ee891853316c6c03aae308648592b7837da6e7b30d27218e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e7e58bbc4ec9017fd7b53b48b638d1bc5dbd82d45c366df60ec9d146015197d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4860a87ada891caa0317a0fd685091e8099cfce725cc35858f2f785df831cc1",
        "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 · 3.476 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]: [-0.6132, 1.4254, 0.6197, -0.2626, -0.4461, -0.5587, 0.9952, 0.4305, 1.6276, 1.3479, -0.5262, 0.2756, 0.1947, 0.9965]\nstate[eef_state]: left_x=0.2955 left_y=-0.1104 left_z=0.0371 left_yaw=0.0956 left_pitch=-0.3485 left_roll=0.0821 left_gripper=0.9952 right_x=0.4305 right_y=0.1488 right_z=0.1926 right_yaw=0.083 right_pitch=-0.201 right_roll=-0.0541 right_gripper=0.9965\nstate[joint_eff]: [0.5265, -4.1641, 8.1709, 1.3211, -0.2369, 0.105, -0.0952, -0.3214, -7.8974, 6.8171, 1.4774, 0.0659, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6121, 1.4322, 0.6209, -0.2653, -0.4442, -0.5575, 0.9967, 0.3836, 1.2316, 0.7601, -0.3576, 0.244, 0.1642, 0.9986]\nstate[eef_state]: left_x=0.295 left_y=-0.1099 left_z=0.0351 left_yaw=0.0967 left_pitch=-0.356 left_roll=0.0873 left_gripper=0.9967 right_x=0.3307 right_y=0.0913 right_z=0.1252 right_yaw=0.0777 right_pitch=-0.2314 right_roll=-0.0615 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -5.1761, 5.7094, 1.199, -0.232, -0.0611, 0.1392, -0.5538, -4.506, 7.747, 1.7265, 0.0317, -0.0415, -0.1538]",
      "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]: [-0.6117, 1.4326, 0.6209, -0.2665, -0.4446, -0.5571, 0.9968, 0.7151, 1.1786, 0.7212, -0.4427, 0.4103, 0.3794, 0.9985]\nstate[eef_state]: left_x=0.2948 left_y=-0.1096 left_z=0.0349 left_yaw=0.0975 left_pitch=-0.357 left_roll=0.0888 left_gripper=0.9968 right_x=0.2777 right_y=0.1526 right_z=0.1199 right_yaw=0.1477 right_pitch=-0.2352 right_roll=-0.0563 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -5.1487, 5.8735, 1.1795, -0.2759, -0.0122, 0.0024, 0.1573, -4.7658, 6.3932, 1.1795, 0.3541, 0.0952, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b72d2ad6a631b3ee891853316c6c03aae308648592b7837da6e7b30d27218e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e7e58bbc4ec9017fd7b53b48b638d1bc5dbd82d45c366df60ec9d146015197d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4860a87ada891caa0317a0fd685091e8099cfce725cc35858f2f785df831cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QYKjgEIEhgCKkCmogM3WaJEk3w481A4F9LjsJ9qMnv2YU4vJWVEtP+Ic7FlT6dIAlCSrS3tWWMZmJNwF7Z6durT+c5ujAn+RyfkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZzGzNUGEgxW7tyADQLCl8Zv/qIaDPUjW0B3rKefJns1QCIwc2mJU8Mmq6byn7RyucIDJrwOg4LDuHXNumbEBEWONnrv4FUv1jM9zSndDCtfMPnKKvsEfiQSvN0/age7ZfltcXUzHiEjcnJQwo90mP0vPh04ljqElpDSWzDrbHYOKgz7pKLFY4yUuncWoI/sIbxANGFfAUYG+Fg/Pa0/id//ik/pqaeA0yQNJiolrvyRSq61p/CcJWXu9iW1/Ve1i4dzbgLhbKbIGrokNQ+SLeI2EFGhMk8LvOhX20qespbCHmwOTfZK7qkpaL9DKT9uAZdW4z/t+FStrmUSk7C5qoHg7LjL1QmdFPKnUT1UuO6vpfWgPG+40iajQXwoWVJkPJ5ESvgohI2p72bw6f+fv7bnuNic+5K1llCpT32tDLmGb0brFuV10G2erxys8ABBUfON36aVXwNhvsrPHiKhmTKs/gbC+73ghoOipdrsMt9KR+bRWcOjZhvDLDBuOgu46JY9LflIMhSxL9CTN+UGois+JD0nPHwA+BZyRlJH6ISpGbh+FCz1RcR+1MYuiHlMFUMwkjxiUs+h4bMymwKlv4ETR7ienVbrxXNwj5GUAiHzZ9WZgEIsHX/XllKFDspXadBu2CiApVHSlb3JSMREHUeeF7/lK7mBcU75D+hzMx2OrV5PgGAfumuUWMrCPBEQuVi/oLTLAlpS/8j0LsXzKqOl7JUkd/z90DrztcrCmxuBKBV/TwBg1VNzX4sHR14X2G6ESc7SCQ6NtKHZLg0VbLn+6mhYy8pkf5fsm8LGwkQl+LLhcBAUW/h1374m8OhqKA+AGWHUZD40pp4+AzLlXRZQcOFQki9U4xoqm2lzeXI0+o4J+PQGTehvVt+WseOOUFGawZhW1QgEUVrGVxuv905UfgiT/6/f21sZenqpeUba1QBIJWo5UIZxfFUrrpNVbq4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WNAiiUhQjcutne9cEKbVYK",
      "input": {
        "note": "The white pen is directly below the jaws, about 2 cm to the arm's left, lying radially. Shifting left and descending to table level to grasp across it.",
        "targets": {
          "right_x": 0.275,
          "right_y": 0.168,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WNAiiUhQjcutne9cEKbVYK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5571, 0.9968, 0.7673, 1.4822, 0.4644, 0.0834, 0.4416, 0.4259, 0.9984]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.0978 left_pitch=-0.3579 left_roll=0.0896 left_gripper=0.9968 right_x=0.2752 right_y=0.1655 right_z=0.0133 right_yaw=0.1454 right_pitch=-0.2483 right_roll=-0.0642 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.1077, 6.0239, 1.0525, -0.2271, -0.0269, -0.0122, 0.8137, -3.0291, 3.5487, 0.6422, 0.1343, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0a3126fa5c9d22ae64ec35fbde985044f2862000869a6313c2706b4fdffdb1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae298ed89282731f258e884104f6a59300c425e3afb922e8864098c0f2c8c48b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ce36bbf13a0f15d74780a065e4470a6249229d83229e3dc315efea89b224eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.294 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]: [-0.6121, 1.4322, 0.6209, -0.2653, -0.4442, -0.5575, 0.9967, 0.3836, 1.2316, 0.7601, -0.3576, 0.244, 0.1642, 0.9986]\nstate[eef_state]: left_x=0.295 left_y=-0.1099 left_z=0.0351 left_yaw=0.0967 left_pitch=-0.356 left_roll=0.0873 left_gripper=0.9967 right_x=0.3307 right_y=0.0913 right_z=0.1252 right_yaw=0.0777 right_pitch=-0.2314 right_roll=-0.0615 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -5.1761, 5.7094, 1.199, -0.232, -0.0611, 0.1392, -0.5538, -4.506, 7.747, 1.7265, 0.0317, -0.0415, -0.1538]",
      "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]: [-0.6117, 1.4326, 0.6209, -0.2665, -0.4446, -0.5571, 0.9968, 0.7151, 1.1786, 0.7212, -0.4427, 0.4103, 0.3794, 0.9985]\nstate[eef_state]: left_x=0.2948 left_y=-0.1096 left_z=0.0349 left_yaw=0.0975 left_pitch=-0.357 left_roll=0.0888 left_gripper=0.9968 right_x=0.2777 right_y=0.1526 right_z=0.1199 right_yaw=0.1477 right_pitch=-0.2352 right_roll=-0.0563 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -5.1487, 5.8735, 1.1795, -0.2759, -0.0122, 0.0024, 0.1573, -4.7658, 6.3932, 1.1795, 0.3541, 0.0952, -0.0317]",
      "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]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5571, 0.9968, 0.7673, 1.4822, 0.4644, 0.0834, 0.4416, 0.4259, 0.9984]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.0978 left_pitch=-0.3579 left_roll=0.0896 left_gripper=0.9968 right_x=0.2752 right_y=0.1655 right_z=0.0133 right_yaw=0.1454 right_pitch=-0.2483 right_roll=-0.0642 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.1077, 6.0239, 1.0525, -0.2271, -0.0269, -0.0122, 0.8137, -3.0291, 3.5487, 0.6422, 0.1343, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0a3126fa5c9d22ae64ec35fbde985044f2862000869a6313c2706b4fdffdb1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae298ed89282731f258e884104f6a59300c425e3afb922e8864098c0f2c8c48b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ce36bbf13a0f15d74780a065e4470a6249229d83229e3dc315efea89b224eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAMKjgEIEhgCKkBNSZTDvtXGqEEvZwMurVkG0PORpM3KZIugEc6sK9tlsGbdiaKGJG0BICQvZxUkVFLuNDv7f0y5hlxrJrzaX/XvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaHGzNUGEgx6Etue3w9wNWf9U6saDHXFJAv4uTr7ik1hDSIwXjlX3G3PJjpYr36fIKAOJRx6hL0wqea/szFLlkB8Dlp4YGG1CeEgm9hKqAwZRMy/KqIBeMSSc5WzsUk+o6yxvFLod4Qp2ojg4YB4oFsoi26iAA44MT0QTQDjKDVIS1gbnB5CubPCUs0EfIqs1i/fxyCIXEecGVLi4kSdjgBbdqOPg9zY7sDA8Wh75AYL2sWHX2VNsDp2AxePrM/M2MyulwF8xTXwStez+Koj4J0GymIOfgUv1bP4FUPOzXYJEvmUPR7LqNiROPuVZNQP2fzkZmbIGQBvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Yv5Gys7oEm9bBMn2kguyQ",
      "input": {
        "note": "The pen runs right between the two jaw wedges 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_017Yv5Gys7oEm9bBMn2kguyQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5575, 0.9968, 0.7658, 1.4921, 0.4534, 0.1036, 0.4339, 0.4236, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.098 left_pitch=-0.3579 left_roll=0.0894 left_gripper=0.9968 right_x=0.2739 right_y=0.1653 right_z=0.0093 right_yaw=0.1509 right_pitch=-0.2525 right_roll=-0.0611 right_gripper=0.1311\nstate[joint_eff]: [-0.0752, -5.1214, 5.7915, 1.1111, -0.2955, -0.0562, -0.0122, -0.0752, -5.8735, 5.9556, 1.0867, 0.2271, -0.0122, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d78682c9212518aaae48d2f10c8024affb8b8d88d19e40c1531c23bf1df851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ea455da2fd5e19304534e2c428ee3db71c67f9b9d33307f894eec9e7be0fff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfe3cf7fbe17579b4beec34b75924d0c93c933b7b11a26a2cb7ee60db7be3795",
        "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 · 4.429 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]: [-0.6117, 1.4326, 0.6209, -0.2665, -0.4446, -0.5571, 0.9968, 0.7151, 1.1786, 0.7212, -0.4427, 0.4103, 0.3794, 0.9985]\nstate[eef_state]: left_x=0.2948 left_y=-0.1096 left_z=0.0349 left_yaw=0.0975 left_pitch=-0.357 left_roll=0.0888 left_gripper=0.9968 right_x=0.2777 right_y=0.1526 right_z=0.1199 right_yaw=0.1477 right_pitch=-0.2352 right_roll=-0.0563 right_gripper=0.9985\nstate[joint_eff]: [-0.1573, -5.1487, 5.8735, 1.1795, -0.2759, -0.0122, 0.0024, 0.1573, -4.7658, 6.3932, 1.1795, 0.3541, 0.0952, -0.0317]",
      "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]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5571, 0.9968, 0.7673, 1.4822, 0.4644, 0.0834, 0.4416, 0.4259, 0.9984]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.0978 left_pitch=-0.3579 left_roll=0.0896 left_gripper=0.9968 right_x=0.2752 right_y=0.1655 right_z=0.0133 right_yaw=0.1454 right_pitch=-0.2483 right_roll=-0.0642 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.1077, 6.0239, 1.0525, -0.2271, -0.0269, -0.0122, 0.8137, -3.0291, 3.5487, 0.6422, 0.1343, -0.0122, -0.0171]",
      "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]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5575, 0.9968, 0.7658, 1.4921, 0.4534, 0.1036, 0.4339, 0.4236, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.098 left_pitch=-0.3579 left_roll=0.0894 left_gripper=0.9968 right_x=0.2739 right_y=0.1653 right_z=0.0093 right_yaw=0.1509 right_pitch=-0.2525 right_roll=-0.0611 right_gripper=0.1311\nstate[joint_eff]: [-0.0752, -5.1214, 5.7915, 1.1111, -0.2955, -0.0562, -0.0122, -0.0752, -5.8735, 5.9556, 1.0867, 0.2271, -0.0122, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d78682c9212518aaae48d2f10c8024affb8b8d88d19e40c1531c23bf1df851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ea455da2fd5e19304534e2c428ee3db71c67f9b9d33307f894eec9e7be0fff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfe3cf7fbe17579b4beec34b75924d0c93c933b7b11a26a2cb7ee60db7be3795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAQKjgEIEhgCKkBcHYY9M3XCDTG3kQz91VB/oKxT4g4r3xOGM74m4TRsQkejkQa9HTwFCTnj/Q5aGi9Ues7JM+5rAmUMGVbdiuV4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAabGzNUGEgwjR2o+MPGb2Py4E5MaDK1HTfsfmZvSlNYvhCIwOeSI9yMRaDee1zMnkJJ9A0+Oau52anV/zILByCvjSc/C6t35UXW+7CeuZQPM7TJyKtoCWsmctxrlI24dPsNf7KqanQJCccW+vT+poWN2DP5Qn1iQc0TD2PZ12s/tafxgiZQhyyQlAUgqdr6Q7y3U6l/UPEPvhTVym1tNhar8DmJLqLzdGWtGaXoTuf0NPZfPSYKeGJMhmF7pKx+d+trPZofIQFMuQJr6ICXXuWsICrjJbroougXA6TiTdy1utsjOwN5UtQMZp9YlLLQbWC/uhLrbuc1dYTLPpqUWQ0V8lYvHupULQ82l1Z0eWtzb8Nhf91lDjpsvE5wjITavsoQLqqtd3r/usevydQHwAYwO8mRZgLTFwBXG/RwmXsTTPzI7t/U4cPy2Xvwlboq5T2psb2V4E0jwhizHiNdMc94pbNcKMr7D1ZvRhgZRDUOrw+QCFi9EzJjG9OwUwOmu2piNTHAUPl3L8K1g097mO7QJERICPzvODH1lIPw4PDhLuSotIQGWKeOwGyNLvXj5vRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RrEho8uViRJvLLcu9H9wCP",
      "input": {
        "note": "The marker is held (gripper 0.13). Lifting and carrying it over the right basket, which already holds the first pen.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.15,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01RrEho8uViRJvLLcu9H9wCP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.268, -0.4446, -0.5575, 0.9968, 0.4168, 1.6432, 1.4414, -0.6552, 0.2131, 0.1406, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1094 left_z=0.0347 left_yaw=0.0981 left_pitch=-0.3581 left_roll=0.0897 left_gripper=0.9968 right_x=0.4253 right_y=0.1513 right_z=0.2016 right_yaw=0.1481 right_pitch=-0.2654 right_roll=-0.0636 right_gripper=0.1311\nstate[joint_eff]: [0.0068, -5.1214, 5.7368, 1.0672, -0.2711, -0.0171, -0.0122, -0.5265, -8.1709, 9.5521, 1.3162, 0.0317, 0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4a0076456db0bc7ce8efae17cdadff97b808d990cb42e9ca74555084f33d2a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a747fdc2607a4d41f64d4a79f46e67e85be947c7cce0666f32d159cd347bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea64d3cfe924459f1138e888c4fb0f1a1c273e1c43d6a4216fc32937901b79db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 8.836 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]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5571, 0.9968, 0.7673, 1.4822, 0.4644, 0.0834, 0.4416, 0.4259, 0.9984]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.0978 left_pitch=-0.3579 left_roll=0.0896 left_gripper=0.9968 right_x=0.2752 right_y=0.1655 right_z=0.0133 right_yaw=0.1454 right_pitch=-0.2483 right_roll=-0.0642 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.1077, 6.0239, 1.0525, -0.2271, -0.0269, -0.0122, 0.8137, -3.0291, 3.5487, 0.6422, 0.1343, -0.0122, -0.0171]",
      "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]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5575, 0.9968, 0.7658, 1.4921, 0.4534, 0.1036, 0.4339, 0.4236, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.098 left_pitch=-0.3579 left_roll=0.0894 left_gripper=0.9968 right_x=0.2739 right_y=0.1653 right_z=0.0093 right_yaw=0.1509 right_pitch=-0.2525 right_roll=-0.0611 right_gripper=0.1311\nstate[joint_eff]: [-0.0752, -5.1214, 5.7915, 1.1111, -0.2955, -0.0562, -0.0122, -0.0752, -5.8735, 5.9556, 1.0867, 0.2271, -0.0122, 0.989]",
      "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]: [-0.6117, 1.4326, 0.6209, -0.268, -0.4446, -0.5575, 0.9968, 0.4168, 1.6432, 1.4414, -0.6552, 0.2131, 0.1406, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1094 left_z=0.0347 left_yaw=0.0981 left_pitch=-0.3581 left_roll=0.0897 left_gripper=0.9968 right_x=0.4253 right_y=0.1513 right_z=0.2016 right_yaw=0.1481 right_pitch=-0.2654 right_roll=-0.0636 right_gripper=0.1311\nstate[joint_eff]: [0.0068, -5.1214, 5.7368, 1.0672, -0.2711, -0.0171, -0.0122, -0.5265, -8.1709, 9.5521, 1.3162, 0.0317, 0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4a0076456db0bc7ce8efae17cdadff97b808d990cb42e9ca74555084f33d2a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a747fdc2607a4d41f64d4a79f46e67e85be947c7cce0666f32d159cd347bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea64d3cfe924459f1138e888c4fb0f1a1c273e1c43d6a4216fc32937901b79db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gMKjgEIEhgCKkDI+KHr1N31ywmTYj6wbr/UrN8+SkkImiToZRb/IYWuF3MMfz7H26B+BVIHE2FxLupWk35jN7in8zn+lVlAOYu0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAazGzNUGEgzKeUtHAF1LlLKtVaEaDE7goBVzJXzJaH5mHCIwFKu0jzKYYxwf+/WJoerHS23b/QKv0EG5OCSAfDuLLVY0gj0R6Py48ZiJgSJH3K/jKvABkcPWaPqoCYmxtrCK6nTUb2jsKeXYbsq1929/yhVC0ub7B/OSJlWsquAJnWl0Hvo3QDaCiuOubWoLgzb8TQ5EJPWsgY27CKhip/9zA1eBFhYoLr7So97xVdbe2aOkdFkYLeVNYIuVP5duUuqlaNzJfdc+TLxonRGgjmxKQSLslvVBUFVMwRalRhwRfgKVDS0vNXU5GTxQtRrO64ntHVqh2XAl9JuwqGi9U+bnZRhWPgVPCu5pplzF5Cirs4MqSiUT6AS0sJNSh3EJU704PIPPAUjjMYDXMyDmvo7vGYUKvhfBfCzGn35EEsGwmvlqUPy3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UqBs62SmbC3wAnkGNDrXjx",
      "input": {
        "note": "The marker is still outside the basket's near wall; raising to clear the rim and moving 3 cm further forward over the basket interior.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.16,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UqBs62SmbC3wAnkGNDrXjx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.268, -0.4446, -0.5575, 0.9968, 0.4072, 1.832, 1.8702, -0.9142, 0.1974, 0.1265, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1094 left_z=0.0347 left_yaw=0.0981 left_pitch=-0.3581 left_roll=0.0897 left_gripper=0.9968 right_x=0.459 right_y=0.1642 right_z=0.2496 right_yaw=0.1585 right_pitch=-0.2874 right_roll=-0.0664 right_gripper=0.1311\nstate[joint_eff]: [-0.3077, -5.1214, 5.8735, 1.033, -0.2906, -0.0415, -0.0122, -0.6632, -10.1675, 9.1692, 1.1844, 0.0855, -0.0171, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4a1af89e99ceb59d3802d7c4daffa7155736ed3dede79f2ce5a774064b6f7b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c4bb6482aef80da02540db805c18aff2d5fc03e650e940a9fb96d9c7ced2e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c11863f66bee0bd428223b1abc0d6ed9e75f20b13854990902efce9d768e2eb",
        "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 · 6.292 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]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5575, 0.9968, 0.7658, 1.4921, 0.4534, 0.1036, 0.4339, 0.4236, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.098 left_pitch=-0.3579 left_roll=0.0894 left_gripper=0.9968 right_x=0.2739 right_y=0.1653 right_z=0.0093 right_yaw=0.1509 right_pitch=-0.2525 right_roll=-0.0611 right_gripper=0.1311\nstate[joint_eff]: [-0.0752, -5.1214, 5.7915, 1.1111, -0.2955, -0.0562, -0.0122, -0.0752, -5.8735, 5.9556, 1.0867, 0.2271, -0.0122, 0.989]",
      "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]: [-0.6117, 1.4326, 0.6209, -0.268, -0.4446, -0.5575, 0.9968, 0.4168, 1.6432, 1.4414, -0.6552, 0.2131, 0.1406, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1094 left_z=0.0347 left_yaw=0.0981 left_pitch=-0.3581 left_roll=0.0897 left_gripper=0.9968 right_x=0.4253 right_y=0.1513 right_z=0.2016 right_yaw=0.1481 right_pitch=-0.2654 right_roll=-0.0636 right_gripper=0.1311\nstate[joint_eff]: [0.0068, -5.1214, 5.7368, 1.0672, -0.2711, -0.0171, -0.0122, -0.5265, -8.1709, 9.5521, 1.3162, 0.0317, 0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6117, 1.4326, 0.6209, -0.268, -0.4446, -0.5575, 0.9968, 0.4072, 1.832, 1.8702, -0.9142, 0.1974, 0.1265, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1094 left_z=0.0347 left_yaw=0.0981 left_pitch=-0.3581 left_roll=0.0897 left_gripper=0.9968 right_x=0.459 right_y=0.1642 right_z=0.2496 right_yaw=0.1585 right_pitch=-0.2874 right_roll=-0.0664 right_gripper=0.1311\nstate[joint_eff]: [-0.3077, -5.1214, 5.8735, 1.033, -0.2906, -0.0415, -0.0122, -0.6632, -10.1675, 9.1692, 1.1844, 0.0855, -0.0171, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4a1af89e99ceb59d3802d7c4daffa7155736ed3dede79f2ce5a774064b6f7b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c4bb6482aef80da02540db805c18aff2d5fc03e650e940a9fb96d9c7ced2e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c11863f66bee0bd428223b1abc0d6ed9e75f20b13854990902efce9d768e2eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQoKjgEIEhgCKkADFvCRWu1LxpnbV/nr7fZTOhK98B9g3HyOHqaCKxh8DVrgbwZVjpdbGrGTctTuYVRcvPX2+m/hqjeOJQeltnVXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbXGzNUGEgwkgYl0iJXqYqZ3/5caDJL5gJTy5Vn5eXPK1yIwMBVBW0VXrMWy5bFkruBBWDGtxrBYkVj5wYV+L8uZkaLKH2m8m6y8DmTTyTbNkwzlKrMIj+HOhAvdfNbtAdiIuWZulkafOubU8z2ZtMSoueehASV6fTsX80Vc/2/NQ2W5NyEXVsyJawWglpnHJIhKV6K7bnrTjMFBtfF4zVbaQoO++YmC5d+KxBsK5nBg2m7LAPUf5bwKNl7QBhCCemp69rmoWAXeWb0IG+22/L7fBTc7+/QvcEX46jNRZZHqd3RMKsdT5yoqVNFkPPStw7k6sfonxDAB9lo3KOn4yfnZyloNywqPog1ubebOwy8jC9kgFgZuQBQ0Cwvf21z0drx4FUZ4yJE9gPskzSs8XNAw2VSFinHRCy8bpkn1OGhMnJVOsC7UwamiYUzq9lk97nL+IKcZOnvK2j41xuq/l0mqyzOTcKeqG4UIgZpQC6xS1Y4rMBT2W9VRipxbwH4BKP24NIAiz9NVHrd7QPHmTE6n+rh+nmecmfPxfdHNwSo2fKdJMP+M0QxpzTrZUl7Gg/Tif1dNIdAexf+2Xr9B0Nx8GyeGW82Ff9Ews+V/y38OGaUc22C2HKskT5BTrFLrsT2gQ6cz8jIb94audDgRxtu0LJuITveeT3X0ASAEdPYU4zxFIBgJ+55fsDf8MiOQbqYP8V18RusXDMTgh6t1oCGSdYOjJs+afttpSbFBOiDwkxuG37nJY3AFGN1KjqtnjA/OHXRJrh+XeVJYHDPovJp9X6DFgLdE/YEyflBPggtqfcMdy0MJNsKjJkaDzzDriAAr3yP1HSO1CVish5sndFh1t4DSQdh9j4Rvy+3LJ+XvsFhj4hvO1jOuMjTRKBd2pXvz87aOObjOSSzX2KaUPi2E2wnwHn88m/e8IMHQ/D/TbM2eJv4S/L+fASOcvu/AcEGveVeTeAGTBub8EpGOb9IT+QgfjaP7dvnRDdr+9QtZNnxxp5OGaKiygWWg8hdP+pd1dN7ugTcNkCMI5/leAA7F/L2+vLlQp/6LrjyjnwfByhQi1eBDYx+1n+nBeVUyuH/qvEGxmzD671KuF7zfsd+y694DtUlUfi+GpHEzEXRY6kXKpJjCH/Xn2HEkI9DOrc2Y0LAE9GYAt3hgdd03uV1i824ybPOYW2VAVBI0PD950U6xpyVK6wTxMYP7kROCvUpXxBvNmZEwyGKna25fIXOS29d+s15FTHsmewXQ9DzKoSulZyzYkwcLUTamq0heEy+8USTQ/bNGAOTAsIWFaSpC+WTpq8iykAz+BZWAkVsE6DuijvSD2/NoJusL7SLIhczIc5ZesuDUcs+o1J2sl80GblmV8XW1dcR7SsUkBvKWWE84PbkYbSIVQ8KQ9F7wc2iRzevCLGk8KCdUpebdmedLizOp8jay7mD7+++ZWbkmeWIm5SMRe0r8GVo7UHVBYg9a5OgpgKHaOJ4mOdoxUntD8peKuWzWeSUemoSgRvtUisD5fD0aJ5RsjDWSpbwjEYX2QFqlbh/m5xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01474YebrDfSVTbc5kt2NhPv",
      "input": {
        "note": "Wrist view still shows the basket's outer wall ahead, so the jaws are short of the interior; advancing 5 cm more to get over the basket mouth.",
        "targets": {
          "right_x": 0.51,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01474YebrDfSVTbc5kt2NhPv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5575, 0.9968, 0.3767, 2.0106, 2.0605, -0.9421, 0.1627, 0.0914, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.098 left_pitch=-0.3579 left_roll=0.0894 left_gripper=0.9968 right_x=0.4998 right_y=0.1708 right_z=0.2329 right_yaw=0.1766 right_pitch=-0.3102 right_roll=-0.0666 right_gripper=0.1311\nstate[joint_eff]: [-0.2393, -5.012, 5.6821, 1.0818, -0.2369, -0.0415, -0.0122, -1.2239, -11.0427, 9.1009, 1.3162, 0.0904, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d14290abecb3bfd86245966f944cf856f7224c5179b269d62cca390dc9557526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec78aae89260a7c559d9af2502368399c46fe6ca8baf010206c147ac54ae53df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbbbe6c2aa15858cf0f234530c54958427157b5de2a856dd098ade792fbe431c",
        "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 · 12.4 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]: [-0.6117, 1.4326, 0.6209, -0.268, -0.4446, -0.5575, 0.9968, 0.4168, 1.6432, 1.4414, -0.6552, 0.2131, 0.1406, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1094 left_z=0.0347 left_yaw=0.0981 left_pitch=-0.3581 left_roll=0.0897 left_gripper=0.9968 right_x=0.4253 right_y=0.1513 right_z=0.2016 right_yaw=0.1481 right_pitch=-0.2654 right_roll=-0.0636 right_gripper=0.1311\nstate[joint_eff]: [0.0068, -5.1214, 5.7368, 1.0672, -0.2711, -0.0171, -0.0122, -0.5265, -8.1709, 9.5521, 1.3162, 0.0317, 0.0317, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6117, 1.4326, 0.6209, -0.268, -0.4446, -0.5575, 0.9968, 0.4072, 1.832, 1.8702, -0.9142, 0.1974, 0.1265, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1094 left_z=0.0347 left_yaw=0.0981 left_pitch=-0.3581 left_roll=0.0897 left_gripper=0.9968 right_x=0.459 right_y=0.1642 right_z=0.2496 right_yaw=0.1585 right_pitch=-0.2874 right_roll=-0.0664 right_gripper=0.1311\nstate[joint_eff]: [-0.3077, -5.1214, 5.8735, 1.033, -0.2906, -0.0415, -0.0122, -0.6632, -10.1675, 9.1692, 1.1844, 0.0855, -0.0171, 1.0379]",
      "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]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5575, 0.9968, 0.3767, 2.0106, 2.0605, -0.9421, 0.1627, 0.0914, 0.1311]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.098 left_pitch=-0.3579 left_roll=0.0894 left_gripper=0.9968 right_x=0.4998 right_y=0.1708 right_z=0.2329 right_yaw=0.1766 right_pitch=-0.3102 right_roll=-0.0666 right_gripper=0.1311\nstate[joint_eff]: [-0.2393, -5.012, 5.6821, 1.0818, -0.2369, -0.0415, -0.0122, -1.2239, -11.0427, 9.1009, 1.3162, 0.0904, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d14290abecb3bfd86245966f944cf856f7224c5179b269d62cca390dc9557526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec78aae89260a7c559d9af2502368399c46fe6ca8baf010206c147ac54ae53df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbbbe6c2aa15858cf0f234530c54958427157b5de2a856dd098ade792fbe431c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gMKjgEIEhgCKkALTcoyBTUzxygw+Y3KLqku+B0w7mEUpmsjdQ+h/ctP42awStGuIu0yBPONCck3VSQ50vWh1SbL3ohFc66LINWvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbzGzNUGEgx2yJIiCBe4KDLhdu8aDHgFjdMl/tnVfeBGIiIwDawhpQXN4S8XIDmmV/V2hUdoMBXqxY9HPLhYQY5f7iHuk/hzZIislep4bRXBkOzKKvgBVDzGC478lmFELRpw1ltGAg5BCZr3YTSleZ77e728q1qSATQA1VPdzluCHB6lIYHPBl4usB0D+bFXWcJyWZLVBtEXNT8iz7YtvQDcHJkCWml5OX5aLRYKLM7jZUFbEYCH7Ky5RarKl65C8m63vmLk2WPHpi7+86zqgY4TNx2TJnebAq1j4tZ7c2Ej/e3q5SxmJY5KaMM7Y/oQpi6oJ6JLc3rHb6LuZuiqPR1TSZdy4AdgC9jnh0LvNWeyPpWtxmQS/VAE20xa5ZVmwiqSsk/nMgcsC+LET0se5f2jNe29cUyH2xk8b/4IQZVRazx5SaovDrOncXvpe70YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bz2ZsmJBSmUXJDTRdRsCeY",
      "input": {
        "note": "Jaws are over the right basket's mouth with the marker hanging down; lowering slightly and opening to drop it in with the other pen.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Bz2ZsmJBSmUXJDTRdRsCeY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6117, 1.4326, 0.6209, -0.2676, -0.4446, -0.5575, 0.9968, 0.3641, 2.0518, 2.0693, -0.9493, 0.1596, 0.0822, 0.9953]\nstate[eef_state]: left_x=0.2946 left_y=-0.1095 left_z=0.0348 left_yaw=0.098 left_pitch=-0.3579 left_roll=0.0894 left_gripper=0.9968 right_x=0.5057 right_y=0.1665 right_z=0.2142 right_yaw=0.1692 right_pitch=-0.35 right_roll=-0.0783 right_gripper=0.9953\nstate[joint_eff]: [-0.3487, -5.094, 5.9009, 1.1306, -0.2418, -0.0171, -0.0122, -0.7316, -12.9983, 9.4838, 1.3797, 0.1392, 0.0317, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce99735202941605b02068439331851407c067404addde0dcfba2b55ebc0753e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae6fb4fc3da11a7f700517736f9c212c5475ba9bf9ff2312016893e80bd13803",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92b860c2b1b61938fbcf7f6dd45675d8a685a6f4cb33b8a5256e08c5e2864031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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