adhoc

completed
2026-09-23T02:59:45.080710+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
497.3 s
total steps
417
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two teal baskets at the far side and a cluster of plush toys nearer: a grey rabbit-like plush on the left and tan/brown bears in the middle. Plan: grey plushes into the left basket, tan bears into the right basket. Moving the left gripper over the grey plush to look at it from the wrist camera.
move_to
left_x0.2700left_y-0.1300left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3801, -0.0216, -0.033, 0.9995, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1831 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9995 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.5949, -1.4974, 9.5521, 1.7753, -0.0317, 0.1441, -0.0708, -0.759, -1.4974, 9.7846, 1.7314, -0.1294, -0.0317, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.13, "left_z": 0.18, "left_gripper": 1}, "note": "I see two teal baskets at the far side and a cluster of plush toys nearer: a grey rabbit-like plush on the left and tan/brown bears in the middle. Plan: grey plushes into the left basket, tan bears into the right basket. Moving the left gripper over the grey plush to look at it from the wrist camera."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteWrist view shows a grey plush off to my left and tan bears to my right, confirming two categories. Moving the left gripper over the grey plush (to the arm's left and slightly nearer the base) to line up a grasp.
move_to
left_x0.2400left_y-0.0500left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8474, 0.9955, 0.6823, -0.4835, -0.6594, -0.5552, 0.9995, -0.0147, 0.7971, 0.6086, -0.3782, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2656 left_y=-0.1318 left_z=0.1653 left_yaw=-0.0301 left_pitch=-0.0359 left_roll=0.0196 left_gripper=0.9995 right_x=0.2958 right_y=0.0014 right_z=0.1816 right_yaw=0.0001 right_pitch=-0.0065 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.2393, -2.3453, 9.4974, 1.4432, -0.5934, -0.022, -0.0708, -0.4171, -1.265, 7.2137, 1.7607, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.24, "left_y": -0.05, "left_z": 0.15, "left_gripper": 1}, "note": "Wrist view shows a grey plush off to my left and tan bears to my right, confirming two categories. Moving the left gripper over the grey plush (to the arm's left and slightly nearer the base) to line up a grasp."})
tool
executing move_to over 8 steps (0.8s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe grey plush fills the left side of my wrist view; using the yellow marker's pixel shift I estimate it is ~8 cm further to my left. Shifting left and lowering to line the grey plush up with the jaw column.
move_to
left_x0.2500left_y0.0300left_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]: [-0.5102, 0.5934, 0.4915, -0.5522, -0.4339, -0.3233, 0.9995, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2421 left_y=-0.0463 left_z=0.1544 left_yaw=0.0073 left_pitch=-0.0198 left_roll=0.0065 left_gripper=0.9995 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.0752, 0.4444, 6.3385, 1.7558, 0.0317, 0.105, -0.0708, -0.0889, -1.265, 7.0769, 1.8193, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": 0.03, "left_z": 0.12, "left_gripper": 1}, "note": "The grey plush fills the left side of my wrist view; using the yellow marker's pixel shift I estimate it is ~8 cm further to my left. Shifting left and lowering to line the grey plush up with the jaw column."})
tool
executing move_to over 7 steps (0.7s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe grey plush is now centred on the jaw column in the wrist view. Descending onto it before closing the gripper.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2249, 0.5629, 0.3428, -0.3962, 0.1436, 0.083, 0.9995, -0.0147, 0.7986, 0.6083, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2475 left_y=0.0344 left_z=0.1165 left_yaw=0.042 left_pitch=-0.044 left_roll=0.0009 left_gripper=0.9995 right_x=0.295 right_y=0.0014 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0149 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1573, 0.1709, 6.5709, 1.9512, 0.1832, 0.1783, -0.0708, -0.0615, -0.9778, 7.0496, 1.7949, -0.0269, -0.0366, -0.0171] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "The grey plush is now centred on the jaw column in the wrist view. Descending onto it before closing the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteGripper is down among the grey plush's fur. Closing the jaws 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]: [0.2241, 0.7582, 0.0162, 0.0975, 0.1532, 0.0822, 0.9995, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2442 left_y=0.0317 left_z=0.0254 left_yaw=0.0333 left_pitch=-0.0707 left_roll=-0.0105 left_gripper=0.9995 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0479, -0.4855, 6.065, 1.6874, -0.1001, -0.0317, -0.0122, -0.1026, -0.7043, 7.0906, 1.7851, -0.0317, -0.0317, -0.0171] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Gripper is down among the grey plush's fur. Closing the jaws to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteGripper closed to 0.50, so it has a good handful of the grey plush's fur. Lifting to confirm the plush comes with it.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2241, 0.7582, 0.0162, 0.1139, 0.1509, 0.0784, 0.505, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2465 left_y=0.0326 left_z=0.0286 left_yaw=0.0375 left_pitch=-0.0548 left_roll=-0.0092 left_gripper=0.505 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1299, -0.3897, 6.4479, 1.5751, 0.0269, -0.0269, 1.0281, -0.0752, -0.9641, 7.0222, 1.7265, -0.0269, -0.0806, -0.0171] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper closed to 0.50, so it has a good handful of the grey plush's fur. Lifting to confirm the plush comes with it."})
tool
executing move_to over 13 steps (1.3s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe grey plush is lifted in the jaws (gripper settled at 0.51). Carrying it over the left basket to drop it there as category one.
move_to
left_x0.4000left_y-0.2000left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2241, 0.6788, 0.7536, -0.7708, 0.1501, 0.0711, 0.5068, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2413 left_y=0.0316 left_z=0.1991 left_yaw=0.0409 left_pitch=-0.1217 left_roll=-0.0271 left_gripper=0.5068 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.2393, -0.6496, 9.0872, 1.9512, 0.0464, 0.0464, 0.5055, -0.0479, -1.0872, 7.0359, 1.7411, -0.0464, -0.0708, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.2, "left_z": 0.28}, "note": "The grey plush is lifted in the jaws (gripper settled at 0.51). Carrying it over the left basket to drop it there as category one."})
tool
executing move_to over 21 steps (2.1s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteIn the wrist view the teal basket rim is still about 10 cm to my right, so the plush is hanging beside the basket rather than over it. Sliding right to centre over the basket.
move_to
left_y-0.2900left_x0.4200left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6632, 1.6482, 1.6272, -0.8742, -0.4873, -0.5602, 0.5089, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.3905 left_y=-0.1955 left_z=0.2537 left_yaw=0.0395 left_pitch=-0.1957 left_roll=-0.0102 left_gripper=0.5089 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.335, -8.5675, 9.4701, 1.5556, -0.4078, 0.2027, 0.2027, -0.1436, -1.1692, 7.0496, 1.7314, -0.0415, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.29, "left_x": 0.42, "left_z": 0.28}, "note": "In the wrist view the teal basket rim is still about 10 cm to my right, so the plush is hanging beside the basket rather than over it. Sliding right to centre over the basket."})
tool
executing move_to over 9 steps (0.9s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteTop view shows my gripper now above the left basket. Lowering slightly and opening to drop the grey plush into it.
move_to
left_y-0.3100left_z0.2200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7914, 2.0769, 2.2753, -1.1999, -0.5289, -0.7158, 0.5118, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4148 left_y=-0.2879 left_z=0.2626 left_yaw=0.0434 left_pitch=-0.2493 left_roll=-0.022 left_gripper=0.5118 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4855, -11.3026, 8.2393, 1.3065, -0.6569, 0.3834, 0.2857, -0.253, -1.2786, 7.159, 1.6972, -0.0464, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.31, "left_z": 0.22, "left_gripper": 1}, "note": "Top view shows my gripper now above the left basket. Lowering slightly and opening to drop the grey plush into it."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteI released between the two baskets rather than over the left one — the plush is now on the table in the gap. Descending to re-grasp it.
move_to
left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.823, 2.0892, 2.1246, -1.0981, -0.5354, -0.7532, 0.9953, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4097 left_y=-0.304 left_z=0.2162 left_yaw=0.0494 left_pitch=-0.2852 left_roll=0.0034 left_gripper=0.9953 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.3897, -11.8359, 5.7778, 1.2967, -0.3883, 0.0952, -0.0708, -0.3487, -1.1556, 7.0222, 1.7216, -0.0073, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_gripper": 1}, "note": "I released between the two baskets rather than over the left one \u2014 the plush is now on the table in the gap. Descending to re-grasp it."})
tool
executing move_to over 12 steps (1.2s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteDescent stopped on the plush at z=0.088 and the wrist camera is filled with its grey fur. Closing to re-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]: [-0.8192, 2.0834, 1.5333, -0.3973, -0.5732, -0.767, 0.9988, -0.0143, 0.7986, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4258 left_y=-0.3101 left_z=0.0879 left_yaw=0.0646 left_pitch=-0.1872 left_roll=-0.0766 left_gripper=0.9988 right_x=0.2948 right_y=0.0015 right_z=0.1792 right_yaw=0.0005 right_pitch=-0.016 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1983, -7.3368, 3.6855, 0.4078, 0.0708, 0.1783, -0.149, -0.1436, -1.2786, 7.2547, 1.7656, -0.0269, -0.0513, -0.0073] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Descent stopped on the plush at z=0.088 and the wrist camera is filled with its grey fur. Closing to re-grasp."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteRe-grasped the grey plush (gripper 0.28). Lifting and moving left toward the left-hand basket, which sits to my left in the top view.
move_to
left_z0.2500left_y-0.2000
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]: [-0.8234, 2.1036, 1.5261, -0.3767, -0.551, -0.7788, 0.2817, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4237 left_y=-0.3159 left_z=0.0761 left_yaw=0.0528 left_pitch=-0.2059 left_roll=-0.0917 left_gripper=0.2817 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0205, -13.3949, 7.2, 1.0232, -0.4567, 0.0659, 0.7106, -0.1983, -1.0735, 7.0769, 1.7265, -0.0464, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25, "left_y": -0.2}, "note": "Re-grasped the grey plush (gripper 0.28). Lifting and moving left toward the left-hand basket, which sits to my left in the top view."})
tool
executing move_to over 12 steps (1.2s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe wrist view is filled by the teal interior of the left basket right under the plush. Lowering into the basket and opening to release the grey plush.
move_to
left_z0.1700left_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]: [-0.6056, 1.8091, 1.6539, -0.8436, -0.4091, -0.6254, 0.2837, -0.0147, 0.7986, 0.6071, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4197 left_y=-0.2007 left_z=0.1949 left_yaw=0.0923 left_pitch=-0.3164 left_roll=-0.0372 left_gripper=0.2837 right_x=0.2948 right_y=0.0014 right_z=0.1791 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0889, -14.188, 10.6462, 1.8388, -0.3297, 0.3297, 0.2027, -0.0342, -1.1282, 7.2274, 1.7607, -0.0269, -0.0122, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_gripper": 1}, "note": "The wrist view is filled by the teal interior of the left basket right under the plush. Lowering into the basket and opening to release the grey plush."})
tool
executing move_to over 8 steps (0.8s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe plush fell in the gap between the two baskets again; the wrist view shows basket walls on both sides. The left basket's centre is about 12 cm further to my left. Descending to re-grasp the plush.
move_to
left_z0.0600left_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]: [-0.6071, 1.8145, 1.5616, -0.7704, -0.3958, -0.6292, 0.9954, -0.0147, 0.7986, 0.6067, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4164 left_y=-0.202 left_z=0.1661 left_yaw=0.0882 left_pitch=-0.3424 left_roll=-0.0324 left_gripper=0.9954 right_x=0.2947 right_y=0.0014 right_z=0.1788 right_yaw=0.0001 right_pitch=-0.0172 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.0889, -10.1128, 5.9966, 1.3114, -0.398, 0.0171, -0.0464, -0.1573, -1.0462, 7.0769, 1.7167, -0.0317, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06, "left_gripper": 1}, "note": "The plush fell in the gap between the two baskets again; the wrist view shows basket walls on both sides. The left basket's centre is about 12 cm further to my left. Descending to re-grasp the plush."})
tool
executing move_to over 7 steps (0.7s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe plush sits a few cm to my left of the jaw column in the wrist view. Shifting left and down onto it before closing.
move_to
left_y-0.1600left_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]: [-0.6056, 1.8793, 1.2621, -0.4194, -0.3965, -0.6312, 0.9988, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4136 left_y=-0.199 left_z=0.0702 left_yaw=0.0945 left_pitch=-0.3523 left_roll=-0.024 left_gripper=0.9988 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.3214, -8.212, 5.7504, 1.2332, -0.2076, -0.0269, -0.149, -0.0342, -1.1829, 7.2137, 1.7216, -0.0415, -0.0562, -0.0171] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.16, "left_z": 0.05}, "note": "The plush sits a few cm to my left of the jaw column in the wrist view. Shifting left and down onto it before closing."})
tool
executing move_to over 4 steps (0.4s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe grey plush is now centred under the jaws. Closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5308, 1.8442, 1.1473, -0.2775, -0.3721, -0.5724, 0.9983, -0.0147, 0.7986, 0.6067, -0.3851, -0.0116, -0.0162, 0.9997] state[eef_state]: left_x=0.4219 left_y=-0.169 left_z=0.0609 left_yaw=0.1039 left_pitch=-0.3154 left_roll=-0.0431 left_gripper=0.9983 right_x=0.2947 right_y=0.0013 right_z=0.1789 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9997 state[joint_eff]: [0.6222, -9.388, 4.5607, 0.8278, 0.0171, 0.0659, -0.0659, -0.0752, -1.265, 7.0906, 1.7314, -0.0415, -0.0513, -0.0073] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The grey plush is now centred under the jaws. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
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 noteClosed on the plush (0.11, a thin pinch of fur). Lifting and moving left-forward toward the left basket, whose centre I estimate ~10 cm to my left; I'll check the wrist view before releasing.
move_to
left_z0.2000left_y-0.1000left_x0.4500
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]: [-0.5327, 1.8389, 1.1351, -0.2382, -0.3809, -0.5808, 0.1116, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4256 left_y=-0.1705 left_z=0.0646 left_yaw=0.1076 left_pitch=-0.2853 left_roll=-0.063 left_gripper=0.1116 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.0479, -8.7453, 7.1043, 0.9158, -0.1099, 0.0708, 0.9597, -0.2393, -1.2513, 7.0769, 1.707, -0.0513, -0.0659, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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": {"left_z": 0.2, "left_y": -0.1, "left_x": 0.45}, "note": "Closed on the plush (0.11, a thin pinch of fur). Lifting and moving left-forward toward the left basket, whose centre I estimate ~10 cm to my left; I'll check the wrist view before releasing."})
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 noteThe plush is still in the jaws and a basket wall fills the right of my wrist view, so I am at the near corner of a basket. Reaching further forward to get the plush over the basket's interior.
move_to
left_x0.5000left_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]: [-0.3355, 1.7557, 1.446, -0.6937, -0.2317, -0.4553, 0.1134, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4397 left_y=-0.1065 left_z=0.15 left_yaw=0.1232 left_pitch=-0.3988 left_roll=-0.0585 left_gripper=0.1134 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.3897, -13.2581, 10.3316, 1.7998, -0.4811, 0.3004, 1.033, -0.1299, -1.2513, 7.2, 1.8046, -0.0806, -0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": 0.5, "left_z": 0.22}, "note": "The plush is still in the jaws and a basket wall fills the right of my wrist view, so I am at the near corner of a basket. Reaching further forward to get the plush over the basket's interior."})
tool
executing move_to over 5 steps (0.5s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe held plush hangs on the left of my wrist view while the basket interior fills the right, so I need to shift right to get it over the basket. Moving 9 cm to my right and up a little.
move_to
left_y-0.2000left_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]: [-0.292, 2.0323, 1.9827, -1.0451, -0.1829, -0.4526, 0.1147, -0.0147, 0.8024, 0.6067, -0.3859, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4862 left_y=-0.1089 left_z=0.1796 left_yaw=0.1413 left_pitch=-0.4992 left_roll=-0.0557 left_gripper=0.1147 right_x=0.2949 right_y=0.0014 right_z=0.1777 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1573, -13.135, 9.5521, 1.4237, -0.3297, 0.3443, 1.033, -0.2803, -0.9915, 7.0222, 1.707, -0.0366, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.2, "left_z": 0.25}, "note": "The held plush hangs on the left of my wrist view while the basket interior fills the right, so I need to shift right to get it over the basket. Moving 9 cm to my right and up a little."})
tool
executing move_to over 9 steps (0.9s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe arm didn't track the sideways move — the plush is jammed against the basket's near wall. Raising well above the rim first.
move_to
left_z0.3300
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]: [-0.2855, 2.0464, 2.0529, -1.0996, -0.2016, -0.437, 0.1147, -0.0147, 0.8032, 0.6067, -0.392, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4881 left_y=-0.1027 left_z=0.1925 left_yaw=0.1546 left_pitch=-0.4905 left_roll=-0.0306 left_gripper=0.1147 right_x=0.2941 right_y=0.0014 right_z=0.1762 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9997 state[joint_eff]: [-0.3897, -12.7658, 9.0462, 1.5507, -0.1587, 0.1538, 1.0379, -0.0752, -1.3607, 7.0085, 1.7949, -0.0171, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.33}, "note": "The arm didn't track the sideways move \u2014 the plush is jammed against the basket's near wall. Raising well above the rim first."})
tool
executing move_to over 9 steps (0.9s)
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 noteReleasing the plush here (it is against/over the basket) and will retract to get an unobstructed top view of where everything ended up.
move_to
left_gripper1.0000left_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]: [-0.2745, 2.2032, 2.6553, -1.6073, -0.194, -0.4591, 0.1151, -0.0147, 0.8062, 0.6067, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4611 left_y=-0.0907 left_z=0.2634 left_yaw=0.188 left_pitch=-0.5496 left_roll=-0.0184 left_gripper=0.1151 right_x=0.2942 right_y=0.0014 right_z=0.1752 right_yaw=0.0001 right_pitch=-0.032 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3624, -13.9556, 4.8479, 1.4286, -0.1832, 0.2515, 0.823, -0.1983, -1.2786, 7.0222, 1.7265, -0.0464, -0.0562, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). 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_gripper": 1, "left_z": 0.3}, "note": "Releasing the plush here (it is against/over the basket) and will retract to get an unobstructed top view of where everything ended up."})
tool
executing move_to over 9 steps (0.9s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteRetracting the left arm out of the way to get a clear overhead view of the baskets and where the grey plush ended up.
move_to
left_x0.2000left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2733, 2.1841, 2.5671, -1.5909, -0.1856, -0.4717, 0.9954, -0.0147, 0.8082, 0.6067, -0.3927, -0.0116, -0.0162, 0.9997] state[eef_state]: left_x=0.4558 left_y=-0.0902 left_z=0.2474 left_yaw=0.205 left_pitch=-0.6001 left_roll=-0.0045 left_gripper=0.9954 right_x=0.2943 right_y=0.0013 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9997 state[joint_eff]: [-0.0205, -13.559, 5.559, 1.1795, -0.2222, 0.1001, -0.1343, -0.1709, -1.2376, 7.2274, 1.7509, -0.0269, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.2, "left_y": 0.0, "left_z": 0.2}, "note": "Retracting the left arm out of the way to get a clear overhead view of the baskets and where the grey plush ended up."})
tool
executing move_to over 20 steps (2.0s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteClear view now: two teal baskets ahead-left, tan bears ahead-right, and the grey plush lying on the table between/below the baskets. Approaching the grey plush again for a grasp.
move_to
left_x0.3300left_y0.0500left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1452, 1.0027, 1.1439, -1.3102, -0.1486, -0.3687, 0.9967, -0.0147, 0.812, 0.6067, -0.4004, -0.012, -0.0166, 0.9997] state[eef_state]: left_x=0.2099 left_y=-0.0006 left_z=0.2033 left_yaw=0.2213 left_pitch=-0.5788 left_roll=-0.0113 left_gripper=0.9967 right_x=0.2935 right_y=0.0014 right_z=0.1721 right_yaw=0.0003 right_pitch=-0.0454 right_roll=-0.0 right_gripper=0.9997 state[joint_eff]: [0.335, -1.347, 5.9419, 1.0672, 0.0317, 0.0757, 0.1197, -0.212, -1.4701, 7.1043, 1.7851, -0.0366, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": 0.05, "left_z": 0.1}, "note": "Clear view now: two teal baskets ahead-left, tan bears ahead-right, and the grey plush lying on the table between/below the baskets. Approaching the grey plush again for a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteThe grey plush fills the lower-left of my wrist view, just short of the jaws. Coming slightly nearer and down onto it.
move_to
left_x0.2900left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1108, 1.4208, 0.9981, -0.7765, -0.057, -0.1551, 0.9967, -0.0147, 0.8146, 0.6067, -0.408, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3146 left_y=0.0487 left_z=0.0978 left_yaw=0.2521 left_pitch=-0.63 left_roll=-0.0005 left_gripper=0.9967 right_x=0.2925 right_y=0.0014 right_z=0.1698 right_yaw=0.0001 right_pitch=-0.0557 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [0.2667, -5.9282, 6.5162, 0.9646, 0.0073, 0.2173, -0.0024, -0.1299, -1.5658, 7.0085, 1.7363, -0.0366, -0.0464, -0.0073] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_z": 0.03}, "note": "The grey plush fills the lower-left of my wrist view, just short of the jaws. Coming slightly nearer and down onto it."})
tool
executing move_to over 5 steps (0.5s)
step 230
assistant
agent noteThe grey plush's body reaches the jaw column and I'm already at my left-most y limit. Closing on its edge.
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]: [0.1158, 1.3846, 0.7227, -0.4801, -0.0753, -0.1452, 0.9967, -0.0147, 0.8177, 0.6067, -0.408, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2996 left_y=0.0518 left_z=0.0444 left_yaw=0.2635 left_pitch=-0.5711 left_roll=0.0145 left_gripper=0.9967 right_x=0.2927 right_y=0.0014 right_z=0.169 right_yaw=0.0001 right_pitch=-0.0587 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.0205, -4.4376, 4.1368, 0.5348, 0.1978, -0.0415, -0.0073, -0.2803, -1.6205, 7.0085, 1.746, -0.0171, -0.0317, -0.0171] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The grey plush's body reaches the jaw column and I'm already at my left-most y limit. Closing on its edge."})
tool
executing move_to over 10 steps (1.0s)
step 240
assistant
agent noteThat close came up empty (0.01) and the grey plush sits past my left-hand limit, so I'm switching to the tan bears in the middle of the table. Moving over the bear cluster.
move_to
left_gripper1.0000left_x0.3000left_y-0.3000left_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]: [0.112, 1.3846, 0.7174, -0.4309, -0.0952, -0.1501, 0.012, -0.0147, 0.8177, 0.6067, -0.4084, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.3084 left_y=0.0552 left_z=0.0481 left_yaw=0.2781 left_pitch=-0.5249 left_roll=0.0245 left_gripper=0.012 right_x=0.2927 right_y=0.0014 right_z=0.1689 right_yaw=0.0001 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9997 state[joint_eff]: [-0.3487, -4.9573, 6.8034, 0.5983, 0.0757, -0.0611, 0.4567, -0.0752, -1.1419, 7.0359, 1.746, -0.0366, -0.022, -0.0171] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.3, "left_y": -0.3, "left_z": 0.14}, "note": "That close came up empty (0.01) and the grey plush sits past my left-hand limit, so I'm switching to the tan bears in the middle of the table. Moving over the bear cluster."})
tool
executing move_to over 32 steps (3.2s)
step 272
assistant
agent noteA tan teddy bear's head is right under my jaws in the wrist view, with the basket visible straight ahead. Dropping down onto the bear to grasp it.
move_to
left_y-0.3250left_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]: [-0.9733, 1.9984, 1.7863, -1.2152, -0.4355, -1.2278, 0.9981, -0.0147, 0.8192, 0.6067, -0.4088, -0.0124, -0.0162, 0.9998] state[eef_state]: left_x=0.2977 left_y=-0.2987 left_z=0.1316 left_yaw=0.271 left_pitch=-0.549 left_roll=0.0127 left_gripper=0.9981 right_x=0.2927 right_y=0.0015 right_z=0.1684 right_yaw=0.0005 right_pitch=-0.061 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.3487, -10.2359, 7.8974, 0.2125, -0.5543, 0.1441, -0.0708, -0.1026, -1.5111, 6.9949, 1.6679, -0.0317, -0.0464, -0.0073] 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": {"left_y": -0.325, "left_z": 0.05}, "note": "A tan teddy bear's head is right under my jaws in the wrist view, with the basket visible straight ahead. Dropping down onto the bear to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 278
assistant
agent noteThe bear's head fills the wrist view directly between the jaws. Closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0042, 2.1101, 1.668, -1.0107, -0.4419, -1.2587, 0.9981, -0.0147, 0.8192, 0.6067, -0.4084, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2973 left_y=-0.32 left_z=0.0599 left_yaw=0.2765 left_pitch=-0.5501 left_roll=0.0276 left_gripper=0.9981 right_x=0.2927 right_y=0.0013 right_z=0.1685 right_yaw=-0.0002 right_pitch=-0.0607 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.5538, -10.2632, 4.9846, 0.4469, -0.2466, -0.1099, -0.0073, -0.0342, -1.4017, 6.9949, 1.7411, -0.0317, -0.0122, -0.0171] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bear's head fills the wrist view directly between the jaws. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteGrasped the bear (gripper settled at 0.21). Lifting high and moving forward-left over the nearer teal basket to drop it in.
move_to
left_z0.3000left_x0.4000left_y-0.2700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0046, 2.1197, 1.66, -0.9791, -0.4419, -1.2659, 0.2138, -0.0147, 0.8192, 0.6067, -0.408, -0.0116, -0.0162, 0.9997] state[eef_state]: left_x=0.2996 left_y=-0.3238 left_z=0.0547 left_yaw=0.2724 left_pitch=-0.5459 left_roll=0.008 left_gripper=0.2138 right_x=0.2928 right_y=0.0013 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0603 right_roll=0.0003 right_gripper=0.9997 state[joint_eff]: [0.0205, -12.1641, 6.5026, 0.2173, -0.3101, 0.0415, 0.8327, -0.1573, -1.3333, 7.0906, 1.7216, -0.0024, -0.0366, -0.0171] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3, "left_x": 0.4, "left_y": -0.27}, "note": "Grasped the bear (gripper settled at 0.21). Lifting high and moving forward-left over the nearer teal basket to drop it in."})
tool
executing move_to over 16 steps (1.6s)
step 304
assistant
agent noteThe bear is held and the teal basket shows up-and-left of it in the wrist view. Nudging forward-left and higher so the bear hangs over the basket's interior.
move_to
left_x0.4200left_y-0.2000left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.72, 2.1929, 2.3951, -1.5864, -0.3721, -1.0084, 0.2163, -0.0147, 0.8211, 0.6067, -0.4084, -0.0116, -0.0166, 0.9997] state[eef_state]: left_x=0.3794 left_y=-0.2426 left_z=0.2041 left_yaw=0.3326 left_pitch=-0.5931 left_roll=0.0454 left_gripper=0.2163 right_x=0.2929 right_y=0.0013 right_z=0.168 right_yaw=0.0 right_pitch=-0.0626 right_roll=-0.0 right_gripper=0.9997 state[joint_eff]: [0.0342, -16.7863, 6.0239, 0.7741, -0.4029, 0.4713, 0.2515, -0.2667, -1.3744, 7.3094, 1.7167, -0.022, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.2, "left_z": 0.28}, "note": "The bear is held and the teal basket shows up-and-left of it in the wrist view. Nudging forward-left and higher so the bear hangs over the basket's interior."})
tool
executing move_to over 5 steps (0.5s)
step 309
assistant
agent noteThe wrist view shows the bear surrounded by teal basket, i.e. over the basket mouth. Opening to release it into the 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]: [-0.5602, 2.1559, 2.3547, -1.5795, -0.3355, -0.8959, 0.2192, -0.0147, 0.8211, 0.6067, -0.4084, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4045 left_y=-0.1808 left_z=0.2068 left_yaw=0.3968 left_pitch=-0.6259 left_roll=0.0714 left_gripper=0.2192 right_x=0.2929 right_y=0.0014 right_z=0.168 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-1.0872, -15.747, 5.8325, 0.7302, -0.2808, 0.3346, 0.2955, -0.2393, -1.0735, 6.9949, 1.7363, -0.0415, -0.0366, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The wrist view shows the bear surrounded by teal basket, i.e. over the basket mouth. Opening to release it into the basket."})
tool
executing move_to over 8 steps (0.8s)
step 317
assistant
agent noteThe bear slipped out and is lying on the table right beside the basket. Descending onto it to re-grasp.
move_to
left_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]: [-0.5598, 2.1441, 2.3547, -1.5887, -0.3283, -0.8669, 0.9954, -0.0147, 0.8211, 0.6067, -0.4088, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4012 left_y=-0.18 left_z=0.2109 left_yaw=0.372 left_pitch=-0.6314 left_roll=0.0768 left_gripper=0.9954 right_x=0.2928 right_y=0.0014 right_z=0.1679 right_yaw=0.0001 right_pitch=-0.0629 right_roll=0.0005 right_gripper=0.9997 state[joint_eff]: [-0.4718, -14.8444, 5.8735, 0.8327, -0.3492, 0.232, -0.1832, -0.1709, -1.347, 7.0359, 1.663, -0.0122, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05}, "note": "The bear slipped out and is lying on the table right beside the basket. Descending onto it to re-grasp."})
tool
executing move_to over 11 steps (1.1s)
step 328
assistant
agent noteThe bear's head is between the jaws against the basket wall. Closing to grasp it again.
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]: [-0.5632, 2.0232, 1.5829, -0.9463, -0.392, -0.8631, 0.9967, -0.0147, 0.8249, 0.6067, -0.4088, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3975 left_y=-0.167 left_z=0.0701 left_yaw=0.4082 left_pitch=-0.5855 left_roll=0.1312 left_gripper=0.9967 right_x=0.293 right_y=0.0014 right_z=0.1669 right_yaw=0.0001 right_pitch=-0.0668 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.6769, -8.2393, 4.8752, 1.1306, 0.2808, -0.105, 0.1148, -0.1983, -1.3607, 6.9949, 1.6874, -0.0269, -0.0513, -0.0073] camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bear's head is between the jaws against the basket wall. Closing to grasp it again."})
tool
executing move_to over 10 steps (1.0s)
step 338
assistant
agent noteBear re-grasped (0.22). Last drop landed just short of the rim, so this time I move ~5 cm further forward over the basket mouth before lowering in.
move_to
left_z0.2400left_x0.4500left_y-0.1900
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]: [-0.5613, 2.0232, 1.5723, -0.931, -0.3969, -0.8635, 0.2203, -0.0147, 0.8249, 0.6067, -0.4088, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3986 left_y=-0.1657 left_z=0.068 left_yaw=0.4105 left_pitch=-0.5789 left_roll=0.1298 left_gripper=0.2203 right_x=0.293 right_y=0.0014 right_z=0.1669 right_yaw=0.0001 right_pitch=-0.0668 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.4855, -10.5915, 6.7761, 0.4615, -0.1929, -0.0122, 1.0281, -0.212, -1.2376, 7.1316, 1.7167, -0.0464, -0.0464, -0.0171] camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.24, "left_x": 0.45, "left_y": -0.19}, "note": "Bear re-grasped (0.22). Last drop landed just short of the rim, so this time I move ~5 cm further forward over the basket mouth before lowering in."})
tool
executing move_to over 12 steps (1.2s)
step 350
assistant
agent noteWrist view clearly shows the basket's interior to the right of the held bear, so I'm still hanging left of the mouth. Shifting 8 cm to my right to centre the bear over the basket.
move_to
left_y-0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5365, 2.2704, 2.4302, -1.5578, -0.374, -0.8581, 0.2226, -0.0147, 0.8268, 0.6067, -0.4088, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4323 left_y=-0.1779 left_z=0.1814 left_yaw=0.4281 left_pitch=-0.6069 left_roll=0.1329 left_gripper=0.2226 right_x=0.2931 right_y=0.0014 right_z=0.1663 right_yaw=0.0002 right_pitch=-0.0687 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [0.5949, -15.706, 6.5299, 0.4664, -0.4371, 0.2906, 1.033, -0.1026, -1.4427, 7.0359, 1.6679, -0.0757, -0.0611, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.26}, "note": "Wrist view clearly shows the basket's interior to the right of the held bear, so I'm still hanging left of the mouth. Shifting 8 cm to my right to centre the bear over the basket."})
tool
executing move_to over 8 steps (0.8s)
step 358
assistant
agent noteThe bear now hangs inside the basket walls in the wrist view. Opening to drop it into the 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]: [-0.6655, 2.3615, 2.4668, -1.5585, -0.3817, -0.9886, 0.2226, -0.0147, 0.8276, 0.6067, -0.4088, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4144 left_y=-0.237 left_z=0.1509 left_yaw=0.4209 left_pitch=-0.6191 left_roll=0.134 left_gripper=0.2226 right_x=0.2931 right_y=0.0014 right_z=0.1661 right_yaw=0.0002 right_pitch=-0.0694 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.6906, -12.1368, 8.5949, 0.3687, -0.4664, -0.0269, 1.0281, -0.3624, -1.3333, 7.159, 1.6972, -0.0122, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The bear now hangs inside the basket walls in the wrist view. Opening to drop it into the basket."})
tool
executing move_to over 8 steps (0.8s)
step 366
assistant
agent noteThe tan bear is now sitting inside the teal basket — category two is placed. Now going back to the white/grey plush at my far left, approaching low at the edge of my y limit to grab its body.
move_to
left_x0.2600left_y0.0500left_z0.0200left_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]: [-0.6701, 2.368, 2.4313, -1.5288, -0.3855, -1.0035, 0.9953, -0.0147, 0.828, 0.6067, -0.4088, -0.0116, -0.0162, 0.9997] state[eef_state]: left_x=0.415 left_y=-0.2395 left_z=0.1395 left_yaw=0.4354 left_pitch=-0.6202 left_roll=0.1425 left_gripper=0.9953 right_x=0.2932 right_y=0.0013 right_z=0.166 right_yaw=-0.0002 right_pitch=-0.0698 right_roll=0.0004 right_gripper=0.9997 state[joint_eff]: [-0.0479, -14.8171, 5.135, 0.4762, -0.3199, 0.0611, -0.0073, -0.3761, -1.388, 6.9949, 1.6874, -0.022, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.26, "left_y": 0.05, "left_z": 0.02, "left_gripper": 1}, "note": "The tan bear is now sitting inside the teal basket \u2014 category two is placed. Now going back to the white/grey plush at my far left, approaching low at the edge of my y limit to grab its body."})
tool
executing move_to over 26 steps (2.6s)
step 392
assistant
agent noteSurprise: my gripper is inside the empty teal basket, so that basket sits at about x=0.28, y=+0.04 — much nearer than I assumed. Backing out toward the white plush just outside it on my left.
move_to
left_x0.2200left_y0.0500left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0105, 1.3262, 0.6361, -0.4606, -0.2359, -0.3637, 0.9983, -0.0147, 0.8314, 0.6067, -0.4091, -0.012, -0.0166, 0.9997] state[eef_state]: left_x=0.2822 left_y=0.0419 left_z=0.0378 left_yaw=0.429 left_pitch=-0.5306 left_roll=0.0695 left_gripper=0.9983 right_x=0.2933 right_y=0.0014 right_z=0.165 right_yaw=0.0004 right_pitch=-0.0736 right_roll=0.0004 right_gripper=0.9997 state[joint_eff]: [0.4718, -3.2479, 3.4256, 0.5641, -0.2808, 0.1929, -0.1978, -0.0615, -1.7436, 7.2, 1.746, -0.0708, -0.0611, -0.0073] camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.22, "left_y": 0.05, "left_z": 0.04}, "note": "Surprise: my gripper is inside the empty teal basket, so that basket sits at about x=0.28, y=+0.04 \u2014 much nearer than I assumed. Backing out toward the white plush just outside it on my left."})
tool
executing move_to over 5 steps (0.5s)
step 397
assistant
agent noteThe white plush lies just below the near basket, closer to my base. Moving over it for a grasp so it can go in the second (empty) basket.
move_to
left_x0.1900left_y-0.0100left_z0.0600left_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]: [0.0299, 1.034, 0.4908, -0.5179, -0.2108, -0.3321, 0.9982, -0.0147, 0.836, 0.6067, -0.4084, -0.0116, -0.0162, 0.9997] state[eef_state]: left_x=0.2429 left_y=0.0478 left_z=0.0518 left_yaw=0.4085 left_pitch=-0.4583 left_roll=0.0231 left_gripper=0.9982 right_x=0.2936 right_y=0.0013 right_z=0.1639 right_yaw=-0.0002 right_pitch=-0.0774 right_roll=0.0005 right_gripper=0.9997 state[joint_eff]: [0.6222, -1.306, 5.4632, 0.7399, -0.2759, 0.105, -0.0269, -0.335, -1.6068, 7.1726, 1.7411, -0.022, -0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.19, "left_y": -0.01, "left_z": 0.06, "left_gripper": 1}, "note": "The white plush lies just below the near basket, closer to my base. Moving over it for a grasp so it can go in the second (empty) basket."})
tool
executing move_to over 6 steps (0.6s)
step 403
assistant
agent noteMy gripper is trapped inside the basket (the bear I placed is visible at the bottom of the wrist view). Raising straight up out of the basket to finish clear of it.
move_to
left_z0.2500left_x0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0334, 1.0115, 0.4839, -0.5346, -0.205, -0.3283, 0.9988, -0.0147, 0.8364, 0.6067, -0.4095, -0.012, -0.0166, 0.9997] state[eef_state]: left_x=0.2387 left_y=0.0475 left_z=0.0521 left_yaw=0.4048 left_pitch=-0.4612 left_roll=0.0206 left_gripper=0.9988 right_x=0.2935 right_y=0.0014 right_z=0.1636 right_yaw=0.0004 right_pitch=-0.079 right_roll=0.0005 right_gripper=0.9997 state[joint_eff]: [0.1162, -2.1128, 5.135, 0.569, -0.2808, 0.0904, -0.1538, -0.212, -1.4291, 7.0906, 1.6728, -0.0464, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 403): [image omitted: streamed camera frame] camera 'left_cam' (step 403): [image omitted: streamed camera frame] camera 'right_cam' (step 403): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25, "left_x": 0.26}, "note": "My gripper is trapped inside the basket (the bear I placed is visible at the bottom of the wrist view). Raising straight up out of the basket to finish clear of it."})
tool
executing move_to over 13 steps (1.3s)
step 416
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]: [0.0315, 1.158, 1.314, -1.1999, -0.2016, -0.3347, 0.9983, -0.0143, 0.8379, 0.6067, -0.4099, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2677 left_y=0.0474 left_z=0.2411 left_yaw=0.4005 left_pitch=-0.4452 left_roll=0.0064 left_gripper=0.9983 right_x=0.2935 right_y=0.0015 right_z=0.1631 right_yaw=0.0005 right_pitch=-0.0809 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [-0.2256, -2.7692, 7.2684, 0.8181, -0.2125, 0.0513, -0.0611, -0.0479, -1.4564, 7.0085, 1.7265, -0.0464, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 416): [image omitted: streamed camera frame] camera 'left_cam' (step 416): [image omitted: streamed camera frame] camera 'right_cam' (step 416): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 23.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3801, -0.0216, -0.033, 0.9995, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1831 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9995 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.4974, 9.5521, 1.7753, -0.0317, 0.1441, -0.0708, -0.759, -1.4974, 9.7846, 1.7314, -0.1294, -0.0317, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b18d84c425fadb4e96793b588f511755f9b11b5e0d0d2bfa7be4d0d8fea206c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:affb4e195a2b5678578d70f3bdf1ac7e6997b15e6a6466d47d1178e7d3284155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:45cd4957758cededbbb94d12c55f3fb5df159c8b870cf2b8e1ed629b72e2faf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 18.59 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3801, -0.0216, -0.033, 0.9995, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1831 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9995 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.4974, 9.5521, 1.7753, -0.0317, 0.1441, -0.0708, -0.759, -1.4974, 9.7846, 1.7314, -0.1294, -0.0317, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b18d84c425fadb4e96793b588f511755f9b11b5e0d0d2bfa7be4d0d8fea206c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:affb4e195a2b5678578d70f3bdf1ac7e6997b15e6a6466d47d1178e7d3284155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45cd4957758cededbbb94d12c55f3fb5df159c8b870cf2b8e1ed629b72e2faf4",
        "media_type": "image/png",
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  "role": "user"
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{
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018gWz4dju4XJk4abJdZYM46",
      "input": {
        "note": "I see two teal baskets at the far side and a cluster of plush toys nearer: a grey rabbit-like plush on the left and tan/brown bears in the middle. Plan: grey plushes into the left basket, tan bears into the right basket. Moving the left gripper over the grey plush to look at it from the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.27,
          "left_y": -0.13,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_018gWz4dju4XJk4abJdZYM46",
      "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]: [-0.8474, 0.9955, 0.6823, -0.4835, -0.6594, -0.5552, 0.9995, -0.0147, 0.7971, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2656 left_y=-0.1318 left_z=0.1653 left_yaw=-0.0301 left_pitch=-0.0359 left_roll=0.0196 left_gripper=0.9995 right_x=0.2958 right_y=0.0014 right_z=0.1816 right_yaw=0.0001 right_pitch=-0.0065 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -2.3453, 9.4974, 1.4432, -0.5934, -0.022, -0.0708, -0.4171, -1.265, 7.2137, 1.7607, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a18a6c0039d6bb9df96c26b5dd0a3b9abe5955655e67c96479969d2d96b853d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888cdc0313ef3850dce16c6f634a55abb038e0ebc138c3fcade8bfec7a5ef464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79b34d0f42647c6922ae5be8b676727f04b392cee16506146614ab86cef3a782",
        "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 · 18.91 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3801, -0.0216, -0.033, 0.9995, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1831 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9995 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.4974, 9.5521, 1.7753, -0.0317, 0.1441, -0.0708, -0.759, -1.4974, 9.7846, 1.7314, -0.1294, -0.0317, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8474, 0.9955, 0.6823, -0.4835, -0.6594, -0.5552, 0.9995, -0.0147, 0.7971, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2656 left_y=-0.1318 left_z=0.1653 left_yaw=-0.0301 left_pitch=-0.0359 left_roll=0.0196 left_gripper=0.9995 right_x=0.2958 right_y=0.0014 right_z=0.1816 right_yaw=0.0001 right_pitch=-0.0065 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -2.3453, 9.4974, 1.4432, -0.5934, -0.022, -0.0708, -0.4171, -1.265, 7.2137, 1.7607, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a18a6c0039d6bb9df96c26b5dd0a3b9abe5955655e67c96479969d2d96b853d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888cdc0313ef3850dce16c6f634a55abb038e0ebc138c3fcade8bfec7a5ef464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79b34d0f42647c6922ae5be8b676727f04b392cee16506146614ab86cef3a782",
        "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_019hpyxcT4YY4KveGKFQcxEN",
      "input": {
        "note": "Wrist view shows a grey plush off to my left and tan bears to my right, confirming two categories. Moving the left gripper over the grey plush (to the arm's left and slightly nearer the base) to line up a grasp.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.24,
          "left_y": -0.05,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019hpyxcT4YY4KveGKFQcxEN",
      "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]: [-0.5102, 0.5934, 0.4915, -0.5522, -0.4339, -0.3233, 0.9995, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2421 left_y=-0.0463 left_z=0.1544 left_yaw=0.0073 left_pitch=-0.0198 left_roll=0.0065 left_gripper=0.9995 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0752, 0.4444, 6.3385, 1.7558, 0.0317, 0.105, -0.0708, -0.0889, -1.265, 7.0769, 1.8193, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:165442ecfa3b85d2ab0e0c1b05c403ffa7e3208cdf85b426fb5d9968dda19904",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c2370b634704cbe3a00878a271e0366b15d4236b33a651feee5c70ee5606c4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:569aae33df231d85edb2b1263ad09e5811010fd8cf0c5f5d9ed5fc79035f9c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.956 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6136, -0.3801, -0.0216, -0.033, 0.9995, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0017 left_z=0.1831 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9995 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5949, -1.4974, 9.5521, 1.7753, -0.0317, 0.1441, -0.0708, -0.759, -1.4974, 9.7846, 1.7314, -0.1294, -0.0317, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8474, 0.9955, 0.6823, -0.4835, -0.6594, -0.5552, 0.9995, -0.0147, 0.7971, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2656 left_y=-0.1318 left_z=0.1653 left_yaw=-0.0301 left_pitch=-0.0359 left_roll=0.0196 left_gripper=0.9995 right_x=0.2958 right_y=0.0014 right_z=0.1816 right_yaw=0.0001 right_pitch=-0.0065 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -2.3453, 9.4974, 1.4432, -0.5934, -0.022, -0.0708, -0.4171, -1.265, 7.2137, 1.7607, -0.0269, -0.0464, -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]: [-0.5102, 0.5934, 0.4915, -0.5522, -0.4339, -0.3233, 0.9995, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2421 left_y=-0.0463 left_z=0.1544 left_yaw=0.0073 left_pitch=-0.0198 left_roll=0.0065 left_gripper=0.9995 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0752, 0.4444, 6.3385, 1.7558, 0.0317, 0.105, -0.0708, -0.0889, -1.265, 7.0769, 1.8193, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:165442ecfa3b85d2ab0e0c1b05c403ffa7e3208cdf85b426fb5d9968dda19904",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c2370b634704cbe3a00878a271e0366b15d4236b33a651feee5c70ee5606c4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:569aae33df231d85edb2b1263ad09e5811010fd8cf0c5f5d9ed5fc79035f9c54",
        "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_01FJkeEXESoeaRvXkZAaxjKM",
      "input": {
        "note": "The grey plush fills the left side of my wrist view; using the yellow marker's pixel shift I estimate it is ~8 cm further to my left. Shifting left and lowering to line the grey plush up with the jaw column.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.25,
          "left_y": 0.03,
          "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_01FJkeEXESoeaRvXkZAaxjKM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2249, 0.5629, 0.3428, -0.3962, 0.1436, 0.083, 0.9995, -0.0147, 0.7986, 0.6083, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2475 left_y=0.0344 left_z=0.1165 left_yaw=0.042 left_pitch=-0.044 left_roll=0.0009 left_gripper=0.9995 right_x=0.295 right_y=0.0014 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0149 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, 0.1709, 6.5709, 1.9512, 0.1832, 0.1783, -0.0708, -0.0615, -0.9778, 7.0496, 1.7949, -0.0269, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2de3801eb06ec9a23d7df84c18404578dea8ebec80602462854c45ad0e8f58d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434aa38694bb5e50fdb8cb8f09f47f9a4abdfe58ab396cac12edcc885bd2d801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7728c972576ee102d41bcb33f87f9be5cea8699e205a6616c0512304eebced3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 2.558 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]: [-0.8474, 0.9955, 0.6823, -0.4835, -0.6594, -0.5552, 0.9995, -0.0147, 0.7971, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2656 left_y=-0.1318 left_z=0.1653 left_yaw=-0.0301 left_pitch=-0.0359 left_roll=0.0196 left_gripper=0.9995 right_x=0.2958 right_y=0.0014 right_z=0.1816 right_yaw=0.0001 right_pitch=-0.0065 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -2.3453, 9.4974, 1.4432, -0.5934, -0.022, -0.0708, -0.4171, -1.265, 7.2137, 1.7607, -0.0269, -0.0464, -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]: [-0.5102, 0.5934, 0.4915, -0.5522, -0.4339, -0.3233, 0.9995, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2421 left_y=-0.0463 left_z=0.1544 left_yaw=0.0073 left_pitch=-0.0198 left_roll=0.0065 left_gripper=0.9995 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0752, 0.4444, 6.3385, 1.7558, 0.0317, 0.105, -0.0708, -0.0889, -1.265, 7.0769, 1.8193, -0.0464, -0.0366, -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]: [0.2249, 0.5629, 0.3428, -0.3962, 0.1436, 0.083, 0.9995, -0.0147, 0.7986, 0.6083, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2475 left_y=0.0344 left_z=0.1165 left_yaw=0.042 left_pitch=-0.044 left_roll=0.0009 left_gripper=0.9995 right_x=0.295 right_y=0.0014 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0149 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, 0.1709, 6.5709, 1.9512, 0.1832, 0.1783, -0.0708, -0.0615, -0.9778, 7.0496, 1.7949, -0.0269, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2de3801eb06ec9a23d7df84c18404578dea8ebec80602462854c45ad0e8f58d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434aa38694bb5e50fdb8cb8f09f47f9a4abdfe58ab396cac12edcc885bd2d801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7728c972576ee102d41bcb33f87f9be5cea8699e205a6616c0512304eebced3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywUKjgEIEhgCKkBk4ZO+IghCGZAGz/oyZCYK3hfsk08y1VkflR5Tchk72oNxLx3y8dB3n9mM5uwvCDNO48tdcQoslIbTDwSA1SixMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfeBzdUGEgxDwBvqrbo/qbatn7EaDH3yohXZXbUEeLW8qiIwnZ9G81JFsFaO446Oo4qlHNfRDqZackb1bV4Aam1RUzNUU/xaUqrTzzbw8Ql1cX4tKukD6LCam1//zWxVKOirfnYqzgV3ZpjI5+9p8/5dvigfRq0ZygZ7UFksRa7qXeWK0gFQIblB2az+ZhMGyxcVunW8ewqCralcwyBg6y1YfThZ/2YRKVG5/0cjhxf9c3knuxLzkw/cWwR6dls2QV5uHMqWVqy5hRAawxZMpvOv0bvPyEQb7E3RhTurDsMAJXXqr2R2Ch8/q8rLYE5HhiZS0ggyzlXi0iRN5hlpDa6qpNJs1YUATVH25Sgka+Yrp5rUlqDb0PcOq9hwmBkCzGyhYc3DZCaw4SEf14XrmySnNBEHWrHTRtBqReWwkq8v8kqlTepHpbLtog90A2GL33Da5oseHv20hfujWCHD3X18S/v4zl+coM2xKMSB8h5/CNZVtRixD27FgGIb8BEtB+KdHUSkGU7hnxkCI3ksPebG735M+qQNsj44gogRxR4fgP4DUhoSwppaIywbGm52lb8UnKx9uNq7d0hVH4xptMOT5X4JrdxnMt6+CUpVSSVcBjKN+M68XT2pzmSfyE5xcznSI+us5VJESWXDB7/w5wd7DukWl6DPDaIUrtG4u1VJJVosUJ+urP8nimPVE8y94WhkFrfuQVS7phG4QhIPS8THs6F70H/4lvTkSnma91MySoqPLBoS8vZukDV1IIX7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sdi1CT6pPZTMZYXtdonGro",
      "input": {
        "note": "The grey plush is now centred on the jaw column in the wrist view. Descending onto it before closing the gripper.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Sdi1CT6pPZTMZYXtdonGro",
      "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]: [0.2241, 0.7582, 0.0162, 0.0975, 0.1532, 0.0822, 0.9995, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2442 left_y=0.0317 left_z=0.0254 left_yaw=0.0333 left_pitch=-0.0707 left_roll=-0.0105 left_gripper=0.9995 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -0.4855, 6.065, 1.6874, -0.1001, -0.0317, -0.0122, -0.1026, -0.7043, 7.0906, 1.7851, -0.0317, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35aacd9e8e93f078c4e8c0dfe505f331a827320d7e22151e7848ca22b0d575fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:203861a971c3c38e86e1e973fe7d2e977472399cf1f6ff4f98a76e9100f7fe58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ce6f64f066d9aa4b523b3717e6a79860f2361ac6d6aea52e05f7ecdff2adeed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 16.7 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]: [-0.5102, 0.5934, 0.4915, -0.5522, -0.4339, -0.3233, 0.9995, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2421 left_y=-0.0463 left_z=0.1544 left_yaw=0.0073 left_pitch=-0.0198 left_roll=0.0065 left_gripper=0.9995 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0005 right_pitch=-0.0153 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0752, 0.4444, 6.3385, 1.7558, 0.0317, 0.105, -0.0708, -0.0889, -1.265, 7.0769, 1.8193, -0.0464, -0.0366, -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]: [0.2249, 0.5629, 0.3428, -0.3962, 0.1436, 0.083, 0.9995, -0.0147, 0.7986, 0.6083, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2475 left_y=0.0344 left_z=0.1165 left_yaw=0.042 left_pitch=-0.044 left_roll=0.0009 left_gripper=0.9995 right_x=0.295 right_y=0.0014 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0149 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, 0.1709, 6.5709, 1.9512, 0.1832, 0.1783, -0.0708, -0.0615, -0.9778, 7.0496, 1.7949, -0.0269, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2241, 0.7582, 0.0162, 0.0975, 0.1532, 0.0822, 0.9995, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2442 left_y=0.0317 left_z=0.0254 left_yaw=0.0333 left_pitch=-0.0707 left_roll=-0.0105 left_gripper=0.9995 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -0.4855, 6.065, 1.6874, -0.1001, -0.0317, -0.0122, -0.1026, -0.7043, 7.0906, 1.7851, -0.0317, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35aacd9e8e93f078c4e8c0dfe505f331a827320d7e22151e7848ca22b0d575fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:203861a971c3c38e86e1e973fe7d2e977472399cf1f6ff4f98a76e9100f7fe58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ce6f64f066d9aa4b523b3717e6a79860f2361ac6d6aea52e05f7ecdff2adeed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ggo2TFDSRejXZ9PnHpwzhh",
      "input": {
        "note": "Gripper is down among the grey plush's fur. Closing the jaws to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ggo2TFDSRejXZ9PnHpwzhh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2241, 0.7582, 0.0162, 0.1139, 0.1509, 0.0784, 0.505, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2465 left_y=0.0326 left_z=0.0286 left_yaw=0.0375 left_pitch=-0.0548 left_roll=-0.0092 left_gripper=0.505 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -0.3897, 6.4479, 1.5751, 0.0269, -0.0269, 1.0281, -0.0752, -0.9641, 7.0222, 1.7265, -0.0269, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeffedfd6093664bdac9fd81dcb842f3210340652561cecd17ad20bcc63ea1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11573720c038db5ba5109c215d92616869499ea6ed589a67161deec5e16d435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b55c61031767759261c4227334d41baf5ff955814ccc259ef5c44b62c12d249b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.285 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]: [0.2249, 0.5629, 0.3428, -0.3962, 0.1436, 0.083, 0.9995, -0.0147, 0.7986, 0.6083, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2475 left_y=0.0344 left_z=0.1165 left_yaw=0.042 left_pitch=-0.044 left_roll=0.0009 left_gripper=0.9995 right_x=0.295 right_y=0.0014 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0149 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, 0.1709, 6.5709, 1.9512, 0.1832, 0.1783, -0.0708, -0.0615, -0.9778, 7.0496, 1.7949, -0.0269, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2241, 0.7582, 0.0162, 0.0975, 0.1532, 0.0822, 0.9995, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2442 left_y=0.0317 left_z=0.0254 left_yaw=0.0333 left_pitch=-0.0707 left_roll=-0.0105 left_gripper=0.9995 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -0.4855, 6.065, 1.6874, -0.1001, -0.0317, -0.0122, -0.1026, -0.7043, 7.0906, 1.7851, -0.0317, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2241, 0.7582, 0.0162, 0.1139, 0.1509, 0.0784, 0.505, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2465 left_y=0.0326 left_z=0.0286 left_yaw=0.0375 left_pitch=-0.0548 left_roll=-0.0092 left_gripper=0.505 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -0.3897, 6.4479, 1.5751, 0.0269, -0.0269, 1.0281, -0.0752, -0.9641, 7.0222, 1.7265, -0.0269, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeffedfd6093664bdac9fd81dcb842f3210340652561cecd17ad20bcc63ea1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11573720c038db5ba5109c215d92616869499ea6ed589a67161deec5e16d435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b55c61031767759261c4227334d41baf5ff955814ccc259ef5c44b62c12d249b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019EemxNgxDhtUhfRnRgFeGo",
      "input": {
        "note": "Gripper closed to 0.50, so it has a good handful of the grey plush's fur. Lifting to confirm the plush comes with it.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_019EemxNgxDhtUhfRnRgFeGo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2241, 0.6788, 0.7536, -0.7708, 0.1501, 0.0711, 0.5068, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2413 left_y=0.0316 left_z=0.1991 left_yaw=0.0409 left_pitch=-0.1217 left_roll=-0.0271 left_gripper=0.5068 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -0.6496, 9.0872, 1.9512, 0.0464, 0.0464, 0.5055, -0.0479, -1.0872, 7.0359, 1.7411, -0.0464, -0.0708, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b582d29aa3b39037633e26d8f07e7e82b715edd05033702961736cc399eb156e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4715518709fc8e428ceaddfdda35d26659fd7754f6fb96784c3bf7c5b95c4ece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55934be1d56b008a9371e304a095a1fc7c768aa1dfe6a7dec90f864121d859ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 7.788 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]: [0.2241, 0.7582, 0.0162, 0.0975, 0.1532, 0.0822, 0.9995, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2442 left_y=0.0317 left_z=0.0254 left_yaw=0.0333 left_pitch=-0.0707 left_roll=-0.0105 left_gripper=0.9995 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -0.4855, 6.065, 1.6874, -0.1001, -0.0317, -0.0122, -0.1026, -0.7043, 7.0906, 1.7851, -0.0317, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2241, 0.7582, 0.0162, 0.1139, 0.1509, 0.0784, 0.505, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2465 left_y=0.0326 left_z=0.0286 left_yaw=0.0375 left_pitch=-0.0548 left_roll=-0.0092 left_gripper=0.505 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -0.3897, 6.4479, 1.5751, 0.0269, -0.0269, 1.0281, -0.0752, -0.9641, 7.0222, 1.7265, -0.0269, -0.0806, -0.0171]",
      "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]: [0.2241, 0.6788, 0.7536, -0.7708, 0.1501, 0.0711, 0.5068, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2413 left_y=0.0316 left_z=0.1991 left_yaw=0.0409 left_pitch=-0.1217 left_roll=-0.0271 left_gripper=0.5068 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -0.6496, 9.0872, 1.9512, 0.0464, 0.0464, 0.5055, -0.0479, -1.0872, 7.0359, 1.7411, -0.0464, -0.0708, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b582d29aa3b39037633e26d8f07e7e82b715edd05033702961736cc399eb156e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4715518709fc8e428ceaddfdda35d26659fd7754f6fb96784c3bf7c5b95c4ece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55934be1d56b008a9371e304a095a1fc7c768aa1dfe6a7dec90f864121d859ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzgYKjgEIEhgCKkAJeGuAg/k+XnjNg3FJh0L3oSwD1vILabRclRLbTbSPJHdgCqm5gROnx6VR8vinysBrxEhD9DKgAnv3YS9puv65Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZmCzdUGEgw+FGzYvmVo9DQdUrgaDIT7MD+bErwMfZ42dCIwiQSmxj8ZtqwZr22I209G22B3aUCYUWOyV30LGW+M/Hs+8gcercojHpGljPa0T6LXKuwEEp1N2TIaeQCC0OA/0oY8/dI5h+/Wrv1KBy/qLdYkP6lOlgBzPK5s/tPpYjBvDd3XNco88f0g2P6N3oZYrL+rUdvoYRn4NUAkxkT8wVnU7uAsfsUcB+L/TFXCFwN5HHaG3v2l17hipoC07E9bcNBkCPsob40qTiX4QqgqIoNTIVTT5pOSIXvV4PA70FapBRIT4x+jAOoDxC0lFT32A8UaLqhORY8HfYXnBgHXUw1o6zHbHX95CuooTwWN3DTudad8cGX8DNEgLf+WMK5qgvNGCt+h8/wleYWDD0d94gNE57t80BxqJf2kMPT0/iQnkrupZ+A/FEvx744nGFMJCy97XhXmhCIeSfBSJv16VeK5hl0GRdNlRZJAV+UZnJHyLLPIR0w8XAoCOoB5+WapFwNStU8/u/UzZ9hogt706ocKJ5BBuOIljDaQnf6hgtyw+ym0SJEa99RfVSnLWdWULrKAmypZceOhrulkDgfChrHPw2UV3XOUOQ2WrR33wpqQeuvA7Lo/FW+y1LTjdiEQOXmx4yWqFnbXyGrrer78NPyx2I/KsuUeFjbncbMB6qxZXOWqC8CdvmfocvW8gtPZrFbWJjitkBOwaEGwQzOdHNd6fzBqQzK5CvGrtzxVnFidH/4vqLKXQtDuZDEa1alEbt6SLMl6xuIdLLe1fwQNvx3RZ8i14P9C1TffhpRlDaGCrhNWMoeUwlIDtYpjiRKiPRXSU++2HFzhs9kufJHy5i/ribo2b4hp8ozUIZ8u2Ozsp1cq8T59ziN7DKhVZWkezV2pUekZS/isfx5FveGkRJYs8SMzyvN/dhzDVcLOkZUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M63wrbH84Tv5Wz4jMKfdVG",
      "input": {
        "note": "The grey plush is lifted in the jaws (gripper settled at 0.51). Carrying it over the left basket to drop it there as category one.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.2,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01M63wrbH84Tv5Wz4jMKfdVG",
      "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]: [-0.6632, 1.6482, 1.6272, -0.8742, -0.4873, -0.5602, 0.5089, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3905 left_y=-0.1955 left_z=0.2537 left_yaw=0.0395 left_pitch=-0.1957 left_roll=-0.0102 left_gripper=0.5089 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -8.5675, 9.4701, 1.5556, -0.4078, 0.2027, 0.2027, -0.1436, -1.1692, 7.0496, 1.7314, -0.0415, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d9a5d5d46d15a5f21e441f68c1a2668ab93422363a377291c76f30e19de9826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f4bf846b4751e2098e550e15e63fe892713913aa85c5ed80c5f7fac6acc9eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c9f9708fb7ac4a5b0d01cb0bd7f4da50fa96911aec30940004fbadf4c084188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 9.773 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]: [0.2241, 0.7582, 0.0162, 0.1139, 0.1509, 0.0784, 0.505, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2465 left_y=0.0326 left_z=0.0286 left_yaw=0.0375 left_pitch=-0.0548 left_roll=-0.0092 left_gripper=0.505 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -0.3897, 6.4479, 1.5751, 0.0269, -0.0269, 1.0281, -0.0752, -0.9641, 7.0222, 1.7265, -0.0269, -0.0806, -0.0171]",
      "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]: [0.2241, 0.6788, 0.7536, -0.7708, 0.1501, 0.0711, 0.5068, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2413 left_y=0.0316 left_z=0.1991 left_yaw=0.0409 left_pitch=-0.1217 left_roll=-0.0271 left_gripper=0.5068 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -0.6496, 9.0872, 1.9512, 0.0464, 0.0464, 0.5055, -0.0479, -1.0872, 7.0359, 1.7411, -0.0464, -0.0708, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.6632, 1.6482, 1.6272, -0.8742, -0.4873, -0.5602, 0.5089, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3905 left_y=-0.1955 left_z=0.2537 left_yaw=0.0395 left_pitch=-0.1957 left_roll=-0.0102 left_gripper=0.5089 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -8.5675, 9.4701, 1.5556, -0.4078, 0.2027, 0.2027, -0.1436, -1.1692, 7.0496, 1.7314, -0.0415, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d9a5d5d46d15a5f21e441f68c1a2668ab93422363a377291c76f30e19de9826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f4bf846b4751e2098e550e15e63fe892713913aa85c5ed80c5f7fac6acc9eed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c9f9708fb7ac4a5b0d01cb0bd7f4da50fa96911aec30940004fbadf4c084188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQcKjgEIEhgCKkCd3wa0iaFf08O8bQ84KWOJ0nWuM/nriCZHmjWrAmjUO0lanRrH7zwL2B8agiiL34smSHHXmji5ffsKvRF2u2HLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbCCzdUGEgzQe8eBatotQsIfW14aDOzXMSDRLsaXXoDVfyIwcNAakSBEVAu3HPtDmQFhYv5bLqzJMvkX2Av7qJVoKPHBe1lRyprZK/JCl7uq4CIFKsMF8gAtiuVSZehikb6fLR+IXe4DyEb4PzI2hIcgWLYFfOGm7cSRZZjYJZz38i82jeAW2d/MT9f2HUfNco3Cx6D5QMFuJoNpD6NEj0cE0k2HkYedv1+0R8E1n1PN4DIj1/5x/dBdYl1UQ6rIECZfsVSraipkX3jfEFeWo9wdQqkLdA7uM4mbztuflqP/bvfiOK/OkoJ+ZDQIIUAWxSq91NNlO/z1iq3pQqvc6jxyvxxmOTBNNN/vlxE9vDufmcYoGqarKWTkDtjxUSpmEbDnlEpITOn4HE5cRVToJt91z8Bs9v+TZ3ywU2XDP1GiLeo8CrIGP37o9PIpUOUQSHzcbMVGsB95EeAL+RPl0gzMSiTxdETRVuWdZFo13hJlkQAHSXnnSrM5CZPh/Zt/DpGaScwImLTTJJ5an7gnWSlroVQGm8u407G5bGhsnaihzpB23hwN9D1kAxSpcPElWW/pu7QLPMBJxzhCISI9Gqqgu9kxqGxKDqju4+pe0EyVwfbTnmc7x2vsHjpN+vvv5baR2E3Nm879KzuS8NR9nf9inN4i9n+qxGQLYULMUBC7axtkwFFjgBpozEMZY0Ka9vqmt9/nFSZryWv6hoyTnkaKyY7H0gUQCmrjPVcuR37xz49yoXoSAd2eFUsErGi3pHZJEStYHJCTUBXO7ULmoGLpP+FOpm5Vgzi9ubsjs3Iui1LECKUvDiMtE0sPiNfFZP30Wjn1YqChvFfZ97jibgeGF+pMWkpcAtN9Fp5Kc/VFpnwDYET0utbT6UdkbWxds3hHd/qs5U0uyIvprXYIVrbQV7bY4p1nu0jFnpwhldBLkV4azO71+tsZXuSZwiIdNmVkuDS5tbzXfcgj716NDnm4JaoWtaKh1P93Uw8sEnb/WgtHOryTVvXlVpKsehmSO2/wwZkxZjZWiH49rWgBqzwFrdyqwZbovdAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FLVZ43EeNX4EZAiECuibXr",
      "input": {
        "note": "In the wrist view the teal basket rim is still about 10 cm to my right, so the plush is hanging beside the basket rather than over it. Sliding right to centre over the basket.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.29,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01FLVZ43EeNX4EZAiECuibXr",
      "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]: [-0.7914, 2.0769, 2.2753, -1.1999, -0.5289, -0.7158, 0.5118, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4148 left_y=-0.2879 left_z=0.2626 left_yaw=0.0434 left_pitch=-0.2493 left_roll=-0.022 left_gripper=0.5118 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -11.3026, 8.2393, 1.3065, -0.6569, 0.3834, 0.2857, -0.253, -1.2786, 7.159, 1.6972, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae7f3be3ea1ab2c1e4ca36bba773115d139087b97e76380d248c00b7ca7ed8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6279b1ac0206daa965722bb939d904033180ad60bdc613297af34b12695899c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0b5b4c7c717b8ec223f4afb7a879d32a31b1e056c2c94e3b4cf055a825d631f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 13.24 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]: [0.2241, 0.6788, 0.7536, -0.7708, 0.1501, 0.0711, 0.5068, -0.0143, 0.7986, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2413 left_y=0.0316 left_z=0.1991 left_yaw=0.0409 left_pitch=-0.1217 left_roll=-0.0271 left_gripper=0.5068 right_x=0.2949 right_y=0.0015 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -0.6496, 9.0872, 1.9512, 0.0464, 0.0464, 0.5055, -0.0479, -1.0872, 7.0359, 1.7411, -0.0464, -0.0708, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.6632, 1.6482, 1.6272, -0.8742, -0.4873, -0.5602, 0.5089, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3905 left_y=-0.1955 left_z=0.2537 left_yaw=0.0395 left_pitch=-0.1957 left_roll=-0.0102 left_gripper=0.5089 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -8.5675, 9.4701, 1.5556, -0.4078, 0.2027, 0.2027, -0.1436, -1.1692, 7.0496, 1.7314, -0.0415, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7914, 2.0769, 2.2753, -1.1999, -0.5289, -0.7158, 0.5118, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4148 left_y=-0.2879 left_z=0.2626 left_yaw=0.0434 left_pitch=-0.2493 left_roll=-0.022 left_gripper=0.5118 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -11.3026, 8.2393, 1.3065, -0.6569, 0.3834, 0.2857, -0.253, -1.2786, 7.159, 1.6972, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ae7f3be3ea1ab2c1e4ca36bba773115d139087b97e76380d248c00b7ca7ed8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6279b1ac0206daa965722bb939d904033180ad60bdc613297af34b12695899c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0b5b4c7c717b8ec223f4afb7a879d32a31b1e056c2c94e3b4cf055a825d631f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgcKjgEIEhgCKkDTYOJJWbU9DJZx3OYBV2zIDCoDNNXhR02zuoe1wVK2fRTxovpc78cxpTZa7fcCRF0BDow7n6ny+K81hbhKlphQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbqCzdUGEgyZ554xesl3pnaKOHsaDGBncUP/J2vf6hWcnCIwjsfBUGVCzCcek84ztSEAvalzxpScaMX/l8bzr6zwuoQRmS0qTWhcLxMLgtlZsBtXKswFh6uo7+YEfisBxhlfaZzQMUl1Jd+VFwq+IOm5VGSGA0+rSAUxn5GZKDFAHutZFkl2qIamDZRI10y+zYAInOgDjXfSfnWoQ4zFrgM9MLAT0VEi7ERt0QPHq1UPa4XNKuW0IY5tyMMLd6U/xmAdIBLTN9t9i09zomElutdFdZN5dX2neWDkDMRkUtW5xZwiq/wLgMSv56AV0H4xxY6SUXDTqhCD87DpWy50WG9hoX0ldaVu31q3+SlQiXEPt0kwJix+yzCWxyyOnbqTkUohtcuJrUMqD7JXK4h0naqCBSX/k4zCwMfARILCbtIwjHiVQO/MsUHWhIisaxjyuWgf8vkAfkAw7weKuoq3sSlU7/hdZLHmqTUolLM5aAtwWYgmxHu0JO1XiCfRKQtGUNdwjauUWASVo080IkGwUbhNttv+ilBjpu1HHrTNGUSTj6FvQowEvjpC56ZbzYzsDZFOYVUiJHdxtrI/w3O9jy/ngrjilwmNaa19byno1bs0A/FjP0UQmWlJfRSgnFoAB3cwYhSywYWQ9QSoYGT4TYkwP/9IHhBhWoBaoUXVhtxAE6jqvVTnjyOdhtds1wUkfCTZfw1kuEdxP6jcOsjd8b3HRBgf6C1vGy5M/hH5mjytwFRRtnBBvuYaFUgZGthf29Eo8pFCzX0sOfBAOV9GSghPA5FqfAGdBn1awM+xe21U/OJsRqJ76ID9A6V2jM6cM5eAbRWt7O/rmJ1K2z/h3Ufx0eiXDyj4c4sB4+W9oQIp8vm7N1/v9RQ+Nh24SyyJ1ZJIeQR4uvJD/rcLuc98TjNDr3NfUol5+/toMyggu6NCL3G57MgrsOddhk/64wmx16yDRPgP88OgT/4GkV9si7W0btW7U77LKEpyxiTP8xhG8l3lbE7oI1hn30p87dz9V7MOEUFmpym+Mv1Hv7hzQ2vZY4qFsq+/VuYCKWwqHkibPlsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SY5wRGKWLWxdfy2pqvcMUJ",
      "input": {
        "note": "Top view shows my gripper now above the left basket. Lowering slightly and opening to drop the grey plush into it.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.31,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SY5wRGKWLWxdfy2pqvcMUJ",
      "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]: [-0.823, 2.0892, 2.1246, -1.0981, -0.5354, -0.7532, 0.9953, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4097 left_y=-0.304 left_z=0.2162 left_yaw=0.0494 left_pitch=-0.2852 left_roll=0.0034 left_gripper=0.9953 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -11.8359, 5.7778, 1.2967, -0.3883, 0.0952, -0.0708, -0.3487, -1.1556, 7.0222, 1.7216, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2957a3e8088d0a63e89ceed51be847f8ecfb72b18ff8931abeb26481976a195e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58a89502d2babbda073b0c97bafff5892a392c7f545a53243e63f9779002ba31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8429c9412761ef1ce78d24481d313e9a2ad205e8c348641413ce76e41937902",
        "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 · 5.295 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]: [-0.6632, 1.6482, 1.6272, -0.8742, -0.4873, -0.5602, 0.5089, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3905 left_y=-0.1955 left_z=0.2537 left_yaw=0.0395 left_pitch=-0.1957 left_roll=-0.0102 left_gripper=0.5089 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -8.5675, 9.4701, 1.5556, -0.4078, 0.2027, 0.2027, -0.1436, -1.1692, 7.0496, 1.7314, -0.0415, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7914, 2.0769, 2.2753, -1.1999, -0.5289, -0.7158, 0.5118, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4148 left_y=-0.2879 left_z=0.2626 left_yaw=0.0434 left_pitch=-0.2493 left_roll=-0.022 left_gripper=0.5118 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -11.3026, 8.2393, 1.3065, -0.6569, 0.3834, 0.2857, -0.253, -1.2786, 7.159, 1.6972, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.823, 2.0892, 2.1246, -1.0981, -0.5354, -0.7532, 0.9953, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4097 left_y=-0.304 left_z=0.2162 left_yaw=0.0494 left_pitch=-0.2852 left_roll=0.0034 left_gripper=0.9953 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -11.8359, 5.7778, 1.2967, -0.3883, 0.0952, -0.0708, -0.3487, -1.1556, 7.0222, 1.7216, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2957a3e8088d0a63e89ceed51be847f8ecfb72b18ff8931abeb26481976a195e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58a89502d2babbda073b0c97bafff5892a392c7f545a53243e63f9779002ba31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8429c9412761ef1ce78d24481d313e9a2ad205e8c348641413ce76e41937902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HLSM5jZLv6EZujR6S9MqzM",
      "input": {
        "note": "I released between the two baskets rather than over the left one — the plush is now on the table in the gap. Descending to re-grasp it.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01HLSM5jZLv6EZujR6S9MqzM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8192, 2.0834, 1.5333, -0.3973, -0.5732, -0.767, 0.9988, -0.0143, 0.7986, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.3101 left_z=0.0879 left_yaw=0.0646 left_pitch=-0.1872 left_roll=-0.0766 left_gripper=0.9988 right_x=0.2948 right_y=0.0015 right_z=0.1792 right_yaw=0.0005 right_pitch=-0.016 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.3368, 3.6855, 0.4078, 0.0708, 0.1783, -0.149, -0.1436, -1.2786, 7.2547, 1.7656, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08619c8cbbb9f5f07ffcc6f1843dede7c7caed9cd83d4a221dcaee242f478eaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb133dd4c9fce92a4553cfcfb600024974f746fb2733edc12fca2bf1e7ac8b8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:660a77940494bebace4785ae0cd7a90afac2472a8f293037b9e38a1eb37756f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 8.578 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]: [-0.7914, 2.0769, 2.2753, -1.1999, -0.5289, -0.7158, 0.5118, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4148 left_y=-0.2879 left_z=0.2626 left_yaw=0.0434 left_pitch=-0.2493 left_roll=-0.022 left_gripper=0.5118 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -11.3026, 8.2393, 1.3065, -0.6569, 0.3834, 0.2857, -0.253, -1.2786, 7.159, 1.6972, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.823, 2.0892, 2.1246, -1.0981, -0.5354, -0.7532, 0.9953, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4097 left_y=-0.304 left_z=0.2162 left_yaw=0.0494 left_pitch=-0.2852 left_roll=0.0034 left_gripper=0.9953 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -11.8359, 5.7778, 1.2967, -0.3883, 0.0952, -0.0708, -0.3487, -1.1556, 7.0222, 1.7216, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8192, 2.0834, 1.5333, -0.3973, -0.5732, -0.767, 0.9988, -0.0143, 0.7986, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.3101 left_z=0.0879 left_yaw=0.0646 left_pitch=-0.1872 left_roll=-0.0766 left_gripper=0.9988 right_x=0.2948 right_y=0.0015 right_z=0.1792 right_yaw=0.0005 right_pitch=-0.016 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.3368, 3.6855, 0.4078, 0.0708, 0.1783, -0.149, -0.1436, -1.2786, 7.2547, 1.7656, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08619c8cbbb9f5f07ffcc6f1843dede7c7caed9cd83d4a221dcaee242f478eaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb133dd4c9fce92a4553cfcfb600024974f746fb2733edc12fca2bf1e7ac8b8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:660a77940494bebace4785ae0cd7a90afac2472a8f293037b9e38a1eb37756f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAUKjgEIEhgCKkA9xAsrXPkzRzsgfpVxF3NrnCv7hb1Kzb9tT769dQAEZdjvAAQ67Wqi00jQGcejid+/sIdTEwwKKN/u9zzUD/3XMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc+CzdUGEgyC/VEX4dKdP262W2caDJpFicRQKJA8Yvg5FiIwOdQtAtzDbMiP6LKeD7tY4OxYp5/ZAz+oJLrP976bFDk+3oiBbFZATYG0EcR2zUQlKuoD4/gRZp7Y600bnkRY0P7h9le4ZOm6xmuRqi3eSPblrCaDX05Qv6Rux8/x7Q97X407vsvI8BAJHwcf/rqWt5iy4FwxihDkIlmBxb+PwzlzFozTSMXSXevy5SGAC+Dnlstvckyapq/UC6LYSumkt2ZXKjrwVZFcM8X+y+ZjpCaLdW90CAHXtVtK3smyNeazGwR50W+rnpJtr5NLTMHLMUubFk0GMbP2lc+clQ5V9ikBYZc84j5cThdzuBzxkrz5z0pdGY2rdSuOSoMe4rDk/VpyQhJ6R+biyxthMLyPXB1grCQoCHpPhgzufNP6o3VfPn+sg5ShcVekoaPQK6OmUyoWcpslNQcsEf5ZMbMPovcVioqkAXRlkXNA3KObGJhSmRNhkIwfUX3b56sXiLdnwG6ipcNfzAg5KblsnY3uAroHvjwFJ0eqnLYJdJ3zTiGMB0bYPgFj7iuG2z1FLOMSArjYFypxsycYlLo3OegZ535ax2a8H/Y8nr9GAaxQgx5vsEQHnvAs8LxMdDTLPGnxAbZe+vMlSAm5E+3cMyuTDGac7WV6x3ZmVecuehEJxHYzW5grrI8LvQQNyvMJ0eD9Fo7YOpGX/jCXPCw8GT5b5srTZXWO8m8zsRW6+GsmdjNK5Bq3kHl0trMhoWF6uxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017UFnfUBkbMFBkAo1Z1Lz7P",
      "input": {
        "note": "Descent stopped on the plush at z=0.088 and the wrist camera is filled with its grey fur. Closing to re-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_017UFnfUBkbMFBkAo1Z1Lz7P",
      "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]: [-0.8234, 2.1036, 1.5261, -0.3767, -0.551, -0.7788, 0.2817, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4237 left_y=-0.3159 left_z=0.0761 left_yaw=0.0528 left_pitch=-0.2059 left_roll=-0.0917 left_gripper=0.2817 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -13.3949, 7.2, 1.0232, -0.4567, 0.0659, 0.7106, -0.1983, -1.0735, 7.0769, 1.7265, -0.0464, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9a5f955bdc0f11889b112be9e55cfb3f7368740f8d74e7f253dd29d314247bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3815a006b8099ee410d63d7aca82d9faa860b594c102841c28a9549f5e977fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b89f00e40502b18bf08a4c72c3adf832688b80a4d3c2658b44846f1667205a34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 8.939 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]: [-0.823, 2.0892, 2.1246, -1.0981, -0.5354, -0.7532, 0.9953, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4097 left_y=-0.304 left_z=0.2162 left_yaw=0.0494 left_pitch=-0.2852 left_roll=0.0034 left_gripper=0.9953 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -11.8359, 5.7778, 1.2967, -0.3883, 0.0952, -0.0708, -0.3487, -1.1556, 7.0222, 1.7216, -0.0073, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8192, 2.0834, 1.5333, -0.3973, -0.5732, -0.767, 0.9988, -0.0143, 0.7986, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.3101 left_z=0.0879 left_yaw=0.0646 left_pitch=-0.1872 left_roll=-0.0766 left_gripper=0.9988 right_x=0.2948 right_y=0.0015 right_z=0.1792 right_yaw=0.0005 right_pitch=-0.016 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.3368, 3.6855, 0.4078, 0.0708, 0.1783, -0.149, -0.1436, -1.2786, 7.2547, 1.7656, -0.0269, -0.0513, -0.0073]",
      "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]: [-0.8234, 2.1036, 1.5261, -0.3767, -0.551, -0.7788, 0.2817, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4237 left_y=-0.3159 left_z=0.0761 left_yaw=0.0528 left_pitch=-0.2059 left_roll=-0.0917 left_gripper=0.2817 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -13.3949, 7.2, 1.0232, -0.4567, 0.0659, 0.7106, -0.1983, -1.0735, 7.0769, 1.7265, -0.0464, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9a5f955bdc0f11889b112be9e55cfb3f7368740f8d74e7f253dd29d314247bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3815a006b8099ee410d63d7aca82d9faa860b594c102841c28a9549f5e977fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b89f00e40502b18bf08a4c72c3adf832688b80a4d3c2658b44846f1667205a34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQoKjgEIEhgCKkCC/l8jPYsDKmzH1/D1zUp5En1mmIAZvH5y8VW/sAKwsZkujPPjydfpPQug00YrkwFMgUIGznsxb+pJoyDw62KoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdiCzdUGEgzAx+bb+WxE1DGNeVEaDBEpGCkucmIvD1PZRCIwfWAOZzMbVq9nr6OMYxkyqgH8yIbZbQ2ZWdkXOrx1LOp1wsWOzOCdC8xHXILPBJsfKq8IDQUytyJXa09EeH/0UoIjRLK/Z2l3LEW+yBVx5oM4MojUEEwktFT5pyinw0NI4ASvfUG0MQ3+gw6qorTKSEFGtggUNf/wVZhsmZ3mTVVvN2rj75TvG/xcaTicAuK45vHC1NktRQgl1pYWQXOqr4BXTt2PuT/4t3e2GrRXOIP+uai4HNnmfDkQ31tQHvY12gU2K+ylA6KDHo5TYihJ4GXKF3lHVQ/f8320fKjfqsdHh4l0UtLyFdSXXUJBF7Xe17u0Srr/fDcsXJmgorFcE6yhbZETldhEArhvcgvPZXhy0RkOHOHpcEGZoTgQiCR99GuutmltiLYl0hAG8zQiu9Ho7yryaHov5HdV78Cs8ifzO/trDRGu3eCpN2V7GDSD9/4++yEkBpxYY661kdHQ59MP6PGNrbMVsaw4ODTCM3nkwPBE30Qle7C27FiXjfOXFnkLW0EQjeMUxD7+wlzODtHDNEeVwFDiBR6gH5LYjCczL4qpB1jFJ8KVwuwfY2DjXa1nExxbgeWw0WZJH4pv3oM60X1I+XWvMlUYta8hP5E1UPN21cLJwejc6PhxxFu1VIJsiqh8VdOHLtmP13OfYr0jP7nqj9VY4aCbqIVEaI3TfGUmCt6eUc0deO3Rp8dTV3B6+XYE5laPgnx++wcvqsAe3XYCoUqUTwyDyUgYY6f1goLHNg8I3ie2VgsSnjDo2Olm6M1j9tCPMS0HFT3vmInsPmFvZSRoBFXAT/+D1bXy/gxw30V6i259lesqmsjPZwJMuhrKOluLry7kMg4a8vMsWC0VTCPAxt5h/H1D5CwcTIgN3BkyVNAAirMmAWVwmGxMuKl5Qv4w4UjLM1RAX6O9WwqBcv7jyBsX4W1KrzWIkchN/lJJwLsvHN8vGB67lzlDBWqqneOhZ8cRg06a4f78IJMjEjqt1nCj3KMauNqpIT7NXJKXhJO28oO34I1fNSK+931tFqGEKdMPO0gxxaDocZh1yf5yWlR3i3utdofKxbtDU7NPWYbfcJaZWx+PEiJBzL3NZhTO5mTBeWCcs81Vy2gk4xUobyhuT0Ga5ebWKNUFdL7x9iqjtikL4537Oqp2Yr4KLi13njDfhSwOkVTCZdDIWRl0T1s9Ic2ZK2tvNK8yGiLubmRwk85opRs3bcaqbrXCWKQnBMzmjdL2Rix6wjWNpWFRFFvcPf2dkYKl8+e96KHPYC9k0KGFLhmzQ5U2+IIFYH6RLJegZp41nccISXNcrE/ZJiSGkrLme1PnU9cyIDCwUEWWQvyWOkQQs8IJ8iuKQ4jS34rN1T+1u1dMapjDCCxaD7G+nc5goN6zly5G6f1FpP8eRU4YaTR2LUPGlMgUmB7GV/LLfsoXnZYIAtqCMc3TN2YiJeGe/Kx2tKSCFzSKdl+LjUZFpXP+G8QZODW7Es8ysyXili9jxjEgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QyRTfAhUjhrVWhU8TtMm1t",
      "input": {
        "note": "Re-grasped the grey plush (gripper 0.28). Lifting and moving left toward the left-hand basket, which sits to my left in the top view.",
        "targets": {
          "left_y": -0.2,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01QyRTfAhUjhrVWhU8TtMm1t",
      "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]: [-0.6056, 1.8091, 1.6539, -0.8436, -0.4091, -0.6254, 0.2837, -0.0147, 0.7986, 0.6071, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4197 left_y=-0.2007 left_z=0.1949 left_yaw=0.0923 left_pitch=-0.3164 left_roll=-0.0372 left_gripper=0.2837 right_x=0.2948 right_y=0.0014 right_z=0.1791 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -14.188, 10.6462, 1.8388, -0.3297, 0.3297, 0.2027, -0.0342, -1.1282, 7.2274, 1.7607, -0.0269, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1197eec069bf3db8f8495605f1dfee58e84cc6c732aa6f74db32eaa564a9911d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce30ec56b2fa1f36e539e893f9e415624bda40bafb5510b555dd9fed73b31ed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45cc6bc551439a20c5b40f5c4f7b4955d08cc7f013497ee9f02600c72f68bc31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 10.74 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]: [-0.8192, 2.0834, 1.5333, -0.3973, -0.5732, -0.767, 0.9988, -0.0143, 0.7986, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.3101 left_z=0.0879 left_yaw=0.0646 left_pitch=-0.1872 left_roll=-0.0766 left_gripper=0.9988 right_x=0.2948 right_y=0.0015 right_z=0.1792 right_yaw=0.0005 right_pitch=-0.016 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -7.3368, 3.6855, 0.4078, 0.0708, 0.1783, -0.149, -0.1436, -1.2786, 7.2547, 1.7656, -0.0269, -0.0513, -0.0073]",
      "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]: [-0.8234, 2.1036, 1.5261, -0.3767, -0.551, -0.7788, 0.2817, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4237 left_y=-0.3159 left_z=0.0761 left_yaw=0.0528 left_pitch=-0.2059 left_roll=-0.0917 left_gripper=0.2817 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -13.3949, 7.2, 1.0232, -0.4567, 0.0659, 0.7106, -0.1983, -1.0735, 7.0769, 1.7265, -0.0464, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6056, 1.8091, 1.6539, -0.8436, -0.4091, -0.6254, 0.2837, -0.0147, 0.7986, 0.6071, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4197 left_y=-0.2007 left_z=0.1949 left_yaw=0.0923 left_pitch=-0.3164 left_roll=-0.0372 left_gripper=0.2837 right_x=0.2948 right_y=0.0014 right_z=0.1791 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -14.188, 10.6462, 1.8388, -0.3297, 0.3297, 0.2027, -0.0342, -1.1282, 7.2274, 1.7607, -0.0269, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1197eec069bf3db8f8495605f1dfee58e84cc6c732aa6f74db32eaa564a9911d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce30ec56b2fa1f36e539e893f9e415624bda40bafb5510b555dd9fed73b31ed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45cc6bc551439a20c5b40f5c4f7b4955d08cc7f013497ee9f02600c72f68bc31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAgKjgEIEhgCKkC2Mh7Je68dVT3hwLWc5MyVEBnlK1a7FKhXtgN5uTN4BZI1b4pDxMre7K+z9aNrO6C8pV3egn5O/PiT8LXm+ZtxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeKCzdUGEgyYMXWCkxwW7JA3Wh8aDHREDhaaQvkE8muQ8CIwFw7gsghdjFM64tqFoyKoZgxzMaw+NAF/AJ0VLtU45jw1zv4aFokonU/nwOPZrcOPKroGt36Db9AfI4NRJW7GuXBoa4rjzh9utJjkoIoiGvr8f1L2vgoTUfmZ4uc1bGMyhpx53jp1d+vGdEcKUWS8pwXh/Y8r8BgPoN+uTp6DB96JJyh/oa4o6S3Otr3yKwbEfZnFJBrchU9krGELjy59BO6sUPbgakypMvBpf7biJFn8g51Wu05dA0GDQPIg/REfbnJjt3rB4L1/RIv58UJ93fMk+Pyb92mYYC+oWpr00vXIADyx/LWGsQ58K/IHanskh5xSdzi2tO/RNdNdbDuPFV4JdzSNCb9t42OLmai0oI9CmeqcOwbJ4c4Xc8bPNptlOnCdHuxiXsnVDo73dpm9XEql+JpEbIcCjBlAX9wAmP6k+TUj0XlFGSx5GcsAbE2BOYgORCjSgdHwhEbSW9YsL1z5moy0yPZco2FJ6bVuqWAIEv8ShZdop+y0gXvf49+De5d9SLL17urgT58oJYGodGjQvMcEsxIx+dYbTt+KcfSEYLvdiHb9x0lRR/g+kHrErmRBNLwVfmLEmPllKK1L6qTP6zP2zwbljE2EFJU4TaKlBiH0kEjEykra4aKWSfJtVs6AQDnyYcv9vQ9foK7HXIfGX0hJkFyKsrxE4lrdvd+hgPRIVvmrjvFP9fsw9Rz1k/3Aa9p2wHBGGnjnYN2QkJktf3NJez/2c8k/zsu/XyFEhcLWHKeCDjbybcYbjmOmMdkl7tN99PuFBVkhzWj49QVxaYW77Z1845zojv91k2s6BUd8LMA5u4VWxku88rlyEt802wAzm9QpZCqUJXAFPdnJ2EU0wnVNmv6+d0rbkfTmbrEGGJxsFjUQ6lurScnmJDh2qzHCHQu9UvT9yJIh482+8ofWmDgIT9E+UyhP/Vngoopxe3vaRdjAb5sDwWHYxiyQFh8QisaTA/iVugxCSreFJ+LB2edQI/QdZqMt1nComQweMW3rZ/6QpwEknXcZNtYyPbTiWPsSTQaYwOT74cLYX6cmCBXYOSsXlL6/VTRzfxjHK79KeZfGwKGZdAouflTOjoJcjtgGZodJ78wvzh/ZiljDKV8LqSXbza8jIRWAG/zMfDYPUihSN/4ijc3ZiK7/tFII0N1q1rvTYxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E73ECskLTZBTfWmzpxUmLT",
      "input": {
        "note": "The wrist view is filled by the teal interior of the left basket right under the plush. Lowering into the basket and opening to release the grey plush.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01E73ECskLTZBTfWmzpxUmLT",
      "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]: [-0.6071, 1.8145, 1.5616, -0.7704, -0.3958, -0.6292, 0.9954, -0.0147, 0.7986, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4164 left_y=-0.202 left_z=0.1661 left_yaw=0.0882 left_pitch=-0.3424 left_roll=-0.0324 left_gripper=0.9954 right_x=0.2947 right_y=0.0014 right_z=0.1788 right_yaw=0.0001 right_pitch=-0.0172 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -10.1128, 5.9966, 1.3114, -0.398, 0.0171, -0.0464, -0.1573, -1.0462, 7.0769, 1.7167, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdcad0070c89ebe99adca13acb324a743516b3ab91aeaf1d4ec244050230bd8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbfa53eba41eb643faeb5ca9b46ffd524353e4f5fd4f1ac0c62af042de53e152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:746e1f8f5e8dce9c4bdbbece956808fdbb3ed0fccb23aa960ff1b59714e22956",
        "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 · 5.717 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]: [-0.8234, 2.1036, 1.5261, -0.3767, -0.551, -0.7788, 0.2817, -0.0147, 0.7986, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4237 left_y=-0.3159 left_z=0.0761 left_yaw=0.0528 left_pitch=-0.2059 left_roll=-0.0917 left_gripper=0.2817 right_x=0.2948 right_y=0.0014 right_z=0.1792 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -13.3949, 7.2, 1.0232, -0.4567, 0.0659, 0.7106, -0.1983, -1.0735, 7.0769, 1.7265, -0.0464, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6056, 1.8091, 1.6539, -0.8436, -0.4091, -0.6254, 0.2837, -0.0147, 0.7986, 0.6071, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4197 left_y=-0.2007 left_z=0.1949 left_yaw=0.0923 left_pitch=-0.3164 left_roll=-0.0372 left_gripper=0.2837 right_x=0.2948 right_y=0.0014 right_z=0.1791 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -14.188, 10.6462, 1.8388, -0.3297, 0.3297, 0.2027, -0.0342, -1.1282, 7.2274, 1.7607, -0.0269, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6071, 1.8145, 1.5616, -0.7704, -0.3958, -0.6292, 0.9954, -0.0147, 0.7986, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4164 left_y=-0.202 left_z=0.1661 left_yaw=0.0882 left_pitch=-0.3424 left_roll=-0.0324 left_gripper=0.9954 right_x=0.2947 right_y=0.0014 right_z=0.1788 right_yaw=0.0001 right_pitch=-0.0172 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -10.1128, 5.9966, 1.3114, -0.398, 0.0171, -0.0464, -0.1573, -1.0462, 7.0769, 1.7167, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdcad0070c89ebe99adca13acb324a743516b3ab91aeaf1d4ec244050230bd8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbfa53eba41eb643faeb5ca9b46ffd524353e4f5fd4f1ac0c62af042de53e152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:746e1f8f5e8dce9c4bdbbece956808fdbb3ed0fccb23aa960ff1b59714e22956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VEBRony1Umfn9SzKMgGB1k",
      "input": {
        "note": "The plush fell in the gap between the two baskets again; the wrist view shows basket walls on both sides. The left basket's centre is about 12 cm further to my left. Descending to re-grasp the plush.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VEBRony1Umfn9SzKMgGB1k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6056, 1.8793, 1.2621, -0.4194, -0.3965, -0.6312, 0.9988, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4136 left_y=-0.199 left_z=0.0702 left_yaw=0.0945 left_pitch=-0.3523 left_roll=-0.024 left_gripper=0.9988 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.212, 5.7504, 1.2332, -0.2076, -0.0269, -0.149, -0.0342, -1.1829, 7.2137, 1.7216, -0.0415, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad71034ca0c169bea8a8b6504851c79662f1a60c4852f810298cedcec5fe513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e10dcf7d5806d15a8aa09a217a8efd33f015b3eb079f77d686f5c252c9c534b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e05a192fda54f27f2121a6764cb3dcc8199408371e6fb4926bff3eb6a8ba0003",
        "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 · 5.671 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]: [-0.6056, 1.8091, 1.6539, -0.8436, -0.4091, -0.6254, 0.2837, -0.0147, 0.7986, 0.6071, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4197 left_y=-0.2007 left_z=0.1949 left_yaw=0.0923 left_pitch=-0.3164 left_roll=-0.0372 left_gripper=0.2837 right_x=0.2948 right_y=0.0014 right_z=0.1791 right_yaw=0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -14.188, 10.6462, 1.8388, -0.3297, 0.3297, 0.2027, -0.0342, -1.1282, 7.2274, 1.7607, -0.0269, -0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.6071, 1.8145, 1.5616, -0.7704, -0.3958, -0.6292, 0.9954, -0.0147, 0.7986, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4164 left_y=-0.202 left_z=0.1661 left_yaw=0.0882 left_pitch=-0.3424 left_roll=-0.0324 left_gripper=0.9954 right_x=0.2947 right_y=0.0014 right_z=0.1788 right_yaw=0.0001 right_pitch=-0.0172 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -10.1128, 5.9966, 1.3114, -0.398, 0.0171, -0.0464, -0.1573, -1.0462, 7.0769, 1.7167, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6056, 1.8793, 1.2621, -0.4194, -0.3965, -0.6312, 0.9988, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4136 left_y=-0.199 left_z=0.0702 left_yaw=0.0945 left_pitch=-0.3523 left_roll=-0.024 left_gripper=0.9988 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.212, 5.7504, 1.2332, -0.2076, -0.0269, -0.149, -0.0342, -1.1829, 7.2137, 1.7216, -0.0415, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad71034ca0c169bea8a8b6504851c79662f1a60c4852f810298cedcec5fe513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e10dcf7d5806d15a8aa09a217a8efd33f015b3eb079f77d686f5c252c9c534b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e05a192fda54f27f2121a6764cb3dcc8199408371e6fb4926bff3eb6a8ba0003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQUKjgEIEhgCKkBp0VgBmiPo3T9w1/5Zz5ipOrwesYTGJ7+yx6zja31fArZ1oaDLjavS9Bfs7Jwds7O/Ep0y80r37QjjOy5CLtqtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfSCzdUGEgx+IAVE5Lu+k8ZdT/0aDJKd+1vx4FR3STUaICIwS+GWJUsEGSgA7u9/FTM+K5kdmXCdQGyWwTTJhbS7hXvdRIF7it6ZtgH+uxiU73nsKtsDSSkN2d+fu82n5ZWmvGsf/U1IBlK+hV/B18sIgHW9QpQUOt0UT/BsYpRudBmRJ0/4fEG57GRDTL9vHzFT6STWKYpizqE9cqa7TMkIxcBDnZMFA/DMqD68dGlcOfgQeeTTsxWgomh61vtCL+11LN2QK92txSCiS3WdJdd0YMxBHmMcmE1RKoH6YFprHqIkLhSe6h6ym4emMR2uFb+WFvfOhA28GS6jvix14tYqyse92Fq2JrLCWARGob6PIE86kWbWUcpp+n/wef2tqlPWUfgJmw8gNQIaeq1TlUNz0izADnmCoVUGeDga5NQvZ2fU5vpDLslBuEn6F2yIWF6r7tXajTVYPl1681bURQuBQemMdq5QaKHjH+LqAjqHLqr5qhmB88Bn0m8Kd48EBBilx5PwiNFdiTIODKCV0i6WTxL0F3ijsDz8TnQwCg2gjoDdPqN/Pv3WhNQjS9FocotJ7oD7Xj9SI/g+rN5kkRoJuKJkAyWW4mUTf4NTOMs/n8KID60xSkp0f8icWMLwsZrKbP62cC9y+Y6XzpcZfQgH18aCb+ui9giJdty+v6VNAHo7yaFWYidxj96X0zua+jvnEiJVj9ifEKFwNpr90ACQ3+v86DJb6B33S2yXZFEe9xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PmV3YKoL1kfuxrAN1dovPm",
      "input": {
        "note": "The plush sits a few cm to my left of the jaw column in the wrist view. Shifting left and down onto it before closing.",
        "targets": {
          "left_y": -0.16,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PmV3YKoL1kfuxrAN1dovPm",
      "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]: [-0.5308, 1.8442, 1.1473, -0.2775, -0.3721, -0.5724, 0.9983, -0.0147, 0.7986, 0.6067, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4219 left_y=-0.169 left_z=0.0609 left_yaw=0.1039 left_pitch=-0.3154 left_roll=-0.0431 left_gripper=0.9983 right_x=0.2947 right_y=0.0013 right_z=0.1789 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [0.6222, -9.388, 4.5607, 0.8278, 0.0171, 0.0659, -0.0659, -0.0752, -1.265, 7.0906, 1.7314, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e874ce820ca5a1e5e8afc4392567d4405efa0ba72a0a1ae3bb3c0fee853a111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7fa9c19a790f3a2eb39899733fa88e443835eab5f8fcdd719b3b1051ea4fb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc78de4050c9c7944fbc5e52b16aa5ee60be07a9b88fb6ab35fc2650df972554",
        "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 · 10.46 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]: [-0.6071, 1.8145, 1.5616, -0.7704, -0.3958, -0.6292, 0.9954, -0.0147, 0.7986, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4164 left_y=-0.202 left_z=0.1661 left_yaw=0.0882 left_pitch=-0.3424 left_roll=-0.0324 left_gripper=0.9954 right_x=0.2947 right_y=0.0014 right_z=0.1788 right_yaw=0.0001 right_pitch=-0.0172 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -10.1128, 5.9966, 1.3114, -0.398, 0.0171, -0.0464, -0.1573, -1.0462, 7.0769, 1.7167, -0.0317, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6056, 1.8793, 1.2621, -0.4194, -0.3965, -0.6312, 0.9988, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4136 left_y=-0.199 left_z=0.0702 left_yaw=0.0945 left_pitch=-0.3523 left_roll=-0.024 left_gripper=0.9988 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.212, 5.7504, 1.2332, -0.2076, -0.0269, -0.149, -0.0342, -1.1829, 7.2137, 1.7216, -0.0415, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5308, 1.8442, 1.1473, -0.2775, -0.3721, -0.5724, 0.9983, -0.0147, 0.7986, 0.6067, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4219 left_y=-0.169 left_z=0.0609 left_yaw=0.1039 left_pitch=-0.3154 left_roll=-0.0431 left_gripper=0.9983 right_x=0.2947 right_y=0.0013 right_z=0.1789 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [0.6222, -9.388, 4.5607, 0.8278, 0.0171, 0.0659, -0.0659, -0.0752, -1.265, 7.0906, 1.7314, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e874ce820ca5a1e5e8afc4392567d4405efa0ba72a0a1ae3bb3c0fee853a111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7fa9c19a790f3a2eb39899733fa88e443835eab5f8fcdd719b3b1051ea4fb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc78de4050c9c7944fbc5e52b16aa5ee60be07a9b88fb6ab35fc2650df972554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrwQKjgEIEhgCKkAtqLhwE4IwMA7iR7b0oGZePweWkU6a8/oHK1KGhlfbb30mOIMkjxEoyysUEn7V2bw7+A+BeKHdkpxdOmxb7lP3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfqCzdUGEgyViXVC+0L6xlESPOUaDMeRcTaLCAKDKR1+rSIwEHImWvnfASkO3reBisXuRkbb4wkAciTsTPfa1WejwPl+UUN/sIUaacvEUmGgbwmVKs0C8EsAu71SDB3VGsi5aFSfHPjZ2t4OkH6RP1xY6trlJXAIGV8lJEZJKallZrxrw5Hs+r7AMD1Ct7H+qscVZdht6bz1w4Rqeq+mTzD0Bi0sBod7yvvg1MLSWHFAReTVVYjidNUjZJkIW9YYF4SDXZ8/Vm9CerRX+OWyrk3gP7Q0RPPjFkfoVadBtY4PPBq1Ya54WVhZZA4s0Y8HxDuBLgstu0IxPO+hTyL55+3eysRm0b5UEGrRxX9NLj5PgW28pX1wvkv58OtKaYfBEpZ97x5g/P1LAf4E0xKi2cNs1I/VLE5JGr1fVBD0Yif+E4S6JDyefiO4++r7ZcCG7DywGQioi2Z7G3gIUjN1mAT3SEZ2Usup25unnydpd0RmJpWoOQTfv5FN/uO/WulKZv3v2QG/RPFPb+bACItAnULDNvUvJN92OZo04C5Xyyg93vNxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011AZonTBQhMVdU2vCHj132a",
      "input": {
        "note": "The grey plush is now centred under the jaws. Closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011AZonTBQhMVdU2vCHj132a",
      "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]: [-0.5327, 1.8389, 1.1351, -0.2382, -0.3809, -0.5808, 0.1116, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4256 left_y=-0.1705 left_z=0.0646 left_yaw=0.1076 left_pitch=-0.2853 left_roll=-0.063 left_gripper=0.1116 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -8.7453, 7.1043, 0.9158, -0.1099, 0.0708, 0.9597, -0.2393, -1.2513, 7.0769, 1.707, -0.0513, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d7a0953f2bee63c082ed1592c3c0e41df7dafbb719deb1850244c4f0469b4a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb932c80650c22bc093c7647d6f057944416f32e6c611a7791e2ff6d018cc96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c14c3395eb6f6dfa9d35fd8b6c1ae4f93285f427ff5c2d89a42a0b4b50f792c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 19.62 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]: [-0.6056, 1.8793, 1.2621, -0.4194, -0.3965, -0.6312, 0.9988, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4136 left_y=-0.199 left_z=0.0702 left_yaw=0.0945 left_pitch=-0.3523 left_roll=-0.024 left_gripper=0.9988 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -8.212, 5.7504, 1.2332, -0.2076, -0.0269, -0.149, -0.0342, -1.1829, 7.2137, 1.7216, -0.0415, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5308, 1.8442, 1.1473, -0.2775, -0.3721, -0.5724, 0.9983, -0.0147, 0.7986, 0.6067, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4219 left_y=-0.169 left_z=0.0609 left_yaw=0.1039 left_pitch=-0.3154 left_roll=-0.0431 left_gripper=0.9983 right_x=0.2947 right_y=0.0013 right_z=0.1789 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [0.6222, -9.388, 4.5607, 0.8278, 0.0171, 0.0659, -0.0659, -0.0752, -1.265, 7.0906, 1.7314, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5327, 1.8389, 1.1351, -0.2382, -0.3809, -0.5808, 0.1116, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4256 left_y=-0.1705 left_z=0.0646 left_yaw=0.1076 left_pitch=-0.2853 left_roll=-0.063 left_gripper=0.1116 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -8.7453, 7.1043, 0.9158, -0.1099, 0.0708, 0.9597, -0.2393, -1.2513, 7.0769, 1.707, -0.0513, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d7a0953f2bee63c082ed1592c3c0e41df7dafbb719deb1850244c4f0469b4a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb932c80650c22bc093c7647d6f057944416f32e6c611a7791e2ff6d018cc96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c14c3395eb6f6dfa9d35fd8b6c1ae4f93285f427ff5c2d89a42a0b4b50f792c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AgKjgEIEhgCKkDmIj+t2xESt82nNCebumITkJVd1QBjlQehL/whk9P+hcvek7qPQ19jpWEQt0GWiVlO8GTuTfIdNZvu+cjin0i0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYWDzdUGEgyw2+ASEEb12Ft6F+EaDJm/5A5qXQmznXhwQCIwm7OkNK6wbHlInux5hHV+2QlprGPDq16WJ2Pkge6joe7lCthMgYnIKkLYP0/0TZGJKvoG9dB+NQQhFH3Vl7FO7Kj8ee2rflqVTOlij/gdQm1Y3RoEQ2tKlJBgX+tjkCNzsrAXczCN3gXfXCZSThmrqJuBoljOhj8L3fBFWhCsTip+QWDLFSrSWgZgT4n1zVE9MnZiRqp+taN6vcpWvxgiB4DgjwMjAj0vk+PWZrHXqwjYX6rGJphoPHyF8/LW7sojv8TSsy14O591Hh1kdAzxkxfnysTw+YsW2n76ANG/pC514pY9l3ICOTm7yTyYy9JjHUJEANXrcTTIZkhp7UHBv0+q8PpU9chl2NwwSIcy0nBlEF4/OGJaJyrb4THFDDv2zSY6ge2I5NG1/9F7vBasbnYWMeHp3LrQt9/ImdR2rpgewi5/Wv3KrDjiGhUZ7ukb7nYiNbSYLdpfjWG8wnZnG+6cs3yg0ypCCYR+9kgwPgxzCUypv3elpOh7pJw4XzzP9/glLRvN29EQ+AF+sGepiUNNBI3L5eQgsPYyPBw80Tnhv3GZLi3RWJKZXTIieKuemV80pIHuV3usxQueXygnkFEmMxvVjpMVrxUVGl6bFj2fMIQiXPvf35wCDRzI6NwvOSYIlPrd+Uk2KsMXbUWoxzUK0OYMft4W7VydVHgFgi4qtd4k7nECUL5xi4QpJTHCOzKwJ+Pg3JxeC+aJ4SFwekUxBnMn9FLwQYcUa7AmHQWtlQfVg6PPCvMI0FUf/sEIIF3rHn0+1EbulVU1fkaYp8bn+b0L8UCWJuF9KwkMg9g97JdE1xKQpwalW6TdlQcR9D2fEOenFdtnxvSybmklwM2wS4JKI3QCrVmihtBAKfnYgoFPT72qcCP9wJwdO4dlE5+ux2IUnMyFfczEVKitWP1ppUmVevSFTgVvuCAMd7YUJNIW96aP2AWh68tCLO+20kji2uTn2px9nwdoajoLwwL5sRjtQsRG1mFhFgQBuW66LpUcv/ZPa8WKtqhVlT9iXGrxyeT3Rf2KUsDwFoqA3dgaHypTxiKW93N4mxnpgoHaur22lwttnizzynQA5U3fWYgMfn7N3gzh4iS5Ecc7toTQyZHgPG0GJsJSrDuPeMTrYP+wXon/MNLzsJS8zKJAqA7r0/ieE/AAt33hGDMPDzaa6M5YaW+4lqGm5+xp+L+8QCBU/H3bbo1cxDGBpoGGzV3z982BNneDL+2upHGQcen94kK6vvXIOhJfLmUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y1Nk5V9QmDH7K6oMyfAFuh",
      "input": {
        "note": "Closed on the plush (0.11, a thin pinch of fur). Lifting and moving left-forward toward the left basket, whose centre I estimate ~10 cm to my left; I'll check the wrist view before releasing.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.1,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Y1Nk5V9QmDH7K6oMyfAFuh",
      "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]: [-0.3355, 1.7557, 1.446, -0.6937, -0.2317, -0.4553, 0.1134, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4397 left_y=-0.1065 left_z=0.15 left_yaw=0.1232 left_pitch=-0.3988 left_roll=-0.0585 left_gripper=0.1134 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -13.2581, 10.3316, 1.7998, -0.4811, 0.3004, 1.033, -0.1299, -1.2513, 7.2, 1.8046, -0.0806, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c6810631b1f0da8a5f0d025b8be154389579baee39d968d4e71c1cc91d545a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3269e7ae4a6f035fec9462aa1dcc465b5d8184f6c4a3c52593ad0c78760a5c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:385a7085dc9dc729cf682d0c0aff7d39be85da974563cb58197c6f26e522f19c",
        "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 · 13.38 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]: [-0.5308, 1.8442, 1.1473, -0.2775, -0.3721, -0.5724, 0.9983, -0.0147, 0.7986, 0.6067, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4219 left_y=-0.169 left_z=0.0609 left_yaw=0.1039 left_pitch=-0.3154 left_roll=-0.0431 left_gripper=0.9983 right_x=0.2947 right_y=0.0013 right_z=0.1789 right_yaw=-0.0002 right_pitch=-0.0168 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [0.6222, -9.388, 4.5607, 0.8278, 0.0171, 0.0659, -0.0659, -0.0752, -1.265, 7.0906, 1.7314, -0.0415, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5327, 1.8389, 1.1351, -0.2382, -0.3809, -0.5808, 0.1116, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4256 left_y=-0.1705 left_z=0.0646 left_yaw=0.1076 left_pitch=-0.2853 left_roll=-0.063 left_gripper=0.1116 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -8.7453, 7.1043, 0.9158, -0.1099, 0.0708, 0.9597, -0.2393, -1.2513, 7.0769, 1.707, -0.0513, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3355, 1.7557, 1.446, -0.6937, -0.2317, -0.4553, 0.1134, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4397 left_y=-0.1065 left_z=0.15 left_yaw=0.1232 left_pitch=-0.3988 left_roll=-0.0585 left_gripper=0.1134 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -13.2581, 10.3316, 1.7998, -0.4811, 0.3004, 1.033, -0.1299, -1.2513, 7.2, 1.8046, -0.0806, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c6810631b1f0da8a5f0d025b8be154389579baee39d968d4e71c1cc91d545a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3269e7ae4a6f035fec9462aa1dcc465b5d8184f6c4a3c52593ad0c78760a5c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:385a7085dc9dc729cf682d0c0aff7d39be85da974563cb58197c6f26e522f19c",
        "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_013LKiWc1Y4LhpwQ5ojfFJf3",
      "input": {
        "note": "The plush is still in the jaws and a basket wall fills the right of my wrist view, so I am at the near corner of a basket. Reaching further forward to get the plush over the basket's interior.",
        "targets": {
          "left_x": 0.5,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013LKiWc1Y4LhpwQ5ojfFJf3",
      "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]: [-0.292, 2.0323, 1.9827, -1.0451, -0.1829, -0.4526, 0.1147, -0.0147, 0.8024, 0.6067, -0.3859, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4862 left_y=-0.1089 left_z=0.1796 left_yaw=0.1413 left_pitch=-0.4992 left_roll=-0.0557 left_gripper=0.1147 right_x=0.2949 right_y=0.0014 right_z=0.1777 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -13.135, 9.5521, 1.4237, -0.3297, 0.3443, 1.033, -0.2803, -0.9915, 7.0222, 1.707, -0.0366, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:727071b64f1b4a3b0c3718ca2652d8aa75b5814e5832caeda42251bbef98e890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e369267100f00e67642d2b6c658034aab851872f00f7cfb3ce5aa22f4913b04d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35512a0c98a0bc6fedc908576e03911e7dd40981a0ddf0bf88b12f3ed0de2741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 6.625 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]: [-0.5327, 1.8389, 1.1351, -0.2382, -0.3809, -0.5808, 0.1116, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4256 left_y=-0.1705 left_z=0.0646 left_yaw=0.1076 left_pitch=-0.2853 left_roll=-0.063 left_gripper=0.1116 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -8.7453, 7.1043, 0.9158, -0.1099, 0.0708, 0.9597, -0.2393, -1.2513, 7.0769, 1.707, -0.0513, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3355, 1.7557, 1.446, -0.6937, -0.2317, -0.4553, 0.1134, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4397 left_y=-0.1065 left_z=0.15 left_yaw=0.1232 left_pitch=-0.3988 left_roll=-0.0585 left_gripper=0.1134 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -13.2581, 10.3316, 1.7998, -0.4811, 0.3004, 1.033, -0.1299, -1.2513, 7.2, 1.8046, -0.0806, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.292, 2.0323, 1.9827, -1.0451, -0.1829, -0.4526, 0.1147, -0.0147, 0.8024, 0.6067, -0.3859, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4862 left_y=-0.1089 left_z=0.1796 left_yaw=0.1413 left_pitch=-0.4992 left_roll=-0.0557 left_gripper=0.1147 right_x=0.2949 right_y=0.0014 right_z=0.1777 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -13.135, 9.5521, 1.4237, -0.3297, 0.3443, 1.033, -0.2803, -0.9915, 7.0222, 1.707, -0.0366, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:727071b64f1b4a3b0c3718ca2652d8aa75b5814e5832caeda42251bbef98e890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e369267100f00e67642d2b6c658034aab851872f00f7cfb3ce5aa22f4913b04d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35512a0c98a0bc6fedc908576e03911e7dd40981a0ddf0bf88b12f3ed0de2741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgwkKjgEIEhgCKkBwxPznf7mULiTcDqCOWA/h/1kcFKPCVCcAG3Yuf5PlhLNpCMbjMstAoaHo9gmW1wc82Pjz7iSWJ6SpWF9+aSybMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaeDzdUGEgzQI8POG9PzXv93UmoaDE0N9t4kLQI7rzUr9iIw11MNI9pH5BiloHx5hl2JvcTss7mNFEb5lwYVtYLmAkVqORK4aBumbgLrDkIxJdMtKqEHPNLkzpVsZ0RoRD/twkyhOqohnzfCVJv/fZ0uw341DpTCh8P/gjtJa8JgqI+A6ssGCRvFM/yepXuepFqDBga32AgddrQe+9gxFhdWq1OZYlb0zrqrIQFOPhgYeRjqVm7dC6yZYy0qfIKDsa6DJadyWaC+gPUS/eIQl8JHy9FEz2m8j4YFs2sgSCGA0u7RiXpHgSo2ZR9RTGgPgSHODGXD6shqik5huk0Vs4S6yVy8wmBmi6OcRHutmBuWd50ceT8jREiEawyFMsUdORu/zmNN+LK1aqabeoCr4AtVvytG0jTD2MIQP+BHvaP4udBHtF86ujzrYXLlh9qL9KBuy73f9TxlBgMaJeaPfPp/eVjw9PoFZ8gXS7sqov5S2iiZ6584UMcXy9+uHAl9KBq/az6Ht0ynUywViFD30YNh7q/E4YK0aQocIicE3szst2T47yzRuXosCZfsgKs3tzYQwlfjvnlgGOU0A7z7W2gWZn1Ocd6Ug9faSRWFltXew+xIgX1/2IIJgyqiHn7F6n9SI8imwao/w9Mu0oZjiKGBiOzdVmMe6Re30Acw+6kFgMtBV5l9lnmr6OyeNMalpTmDdCu70IElA2JEIAmAmVk5u9u07qXM463ZIV0TpOZExcjfW3JPJxOo3pBiReZiDW5g+ltvmAIjMKy765lLAD99jRIwQEr5tif6L6UfTKIiD+xw5RRSCikJyKVeAem/JzFencAU3gDweNEolDfsjF1ipLgAV+7zkWlfzlWCoyplMUuIhIK/nMEbZ84puweJPvnbYfM+66/lPjSSi2YgyHQuqKUWhHmgoj+NfluthFR0VjyFZoah2CdNbVgpe6esFN4NK28KIviea9sdOvGewG9YXdMtFOnnHpsI6M95KPzlpKQRRDYYd0jZ8VUpQWUeNk41urqSKp1HYOCPrvUIXIHFvBcCa/EVSg3OtBeNeLhwHqFQN1YTN/T+M/9r5OE3KHaueoAFyhYF4eDKhvSjvfYLnA6c93BKA74JRs9eyzHIwhN0kC4z1BCNj5KvC74kfmKtQepr4+jrFKpzJK0sJJ6TauVzgC1TZYlfthVtm9MoKOTLm2evkkZxlg4QeJ2DXsqcThFS5mulhwiOddoa1u+MJWhhKBRBLih87hKnLQWqJqgc60g7sNRBqjt3ZeMLwYtUYy46hD7F6oGg33gqvVV0Vcz2vX0MgGi1fuwJxc/vIj3PvB0oi4j3Vxwk5OfsbliLaMiTjFAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EfMoaHd3HPWLYWGbGjww7Y",
      "input": {
        "note": "The held plush hangs on the left of my wrist view while the basket interior fills the right, so I need to shift right to get it over the basket. Moving 9 cm to my right and up a little.",
        "targets": {
          "left_y": -0.2,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01EfMoaHd3HPWLYWGbGjww7Y",
      "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]: [-0.2855, 2.0464, 2.0529, -1.0996, -0.2016, -0.437, 0.1147, -0.0147, 0.8032, 0.6067, -0.392, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4881 left_y=-0.1027 left_z=0.1925 left_yaw=0.1546 left_pitch=-0.4905 left_roll=-0.0306 left_gripper=0.1147 right_x=0.2941 right_y=0.0014 right_z=0.1762 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -12.7658, 9.0462, 1.5507, -0.1587, 0.1538, 1.0379, -0.0752, -1.3607, 7.0085, 1.7949, -0.0171, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889852a0216e8447c8ac598cd57e799ad7687f7de1da65086e4975841a1bd3a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4611e1c5b5999ddc6a09a70c90e8b5bf5892fc2de7850d42a7df3e7c02b7f016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4dacc48abbefdcf12e4e7101b79fce6ca53c8a55061d3719a90269f1a41e7b23",
        "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 · 8.066 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]: [-0.3355, 1.7557, 1.446, -0.6937, -0.2317, -0.4553, 0.1134, -0.0147, 0.7986, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4397 left_y=-0.1065 left_z=0.15 left_yaw=0.1232 left_pitch=-0.3988 left_roll=-0.0585 left_gripper=0.1134 right_x=0.2947 right_y=0.0014 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -13.2581, 10.3316, 1.7998, -0.4811, 0.3004, 1.033, -0.1299, -1.2513, 7.2, 1.8046, -0.0806, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 2.0323, 1.9827, -1.0451, -0.1829, -0.4526, 0.1147, -0.0147, 0.8024, 0.6067, -0.3859, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4862 left_y=-0.1089 left_z=0.1796 left_yaw=0.1413 left_pitch=-0.4992 left_roll=-0.0557 left_gripper=0.1147 right_x=0.2949 right_y=0.0014 right_z=0.1777 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -13.135, 9.5521, 1.4237, -0.3297, 0.3443, 1.033, -0.2803, -0.9915, 7.0222, 1.707, -0.0366, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2855, 2.0464, 2.0529, -1.0996, -0.2016, -0.437, 0.1147, -0.0147, 0.8032, 0.6067, -0.392, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4881 left_y=-0.1027 left_z=0.1925 left_yaw=0.1546 left_pitch=-0.4905 left_roll=-0.0306 left_gripper=0.1147 right_x=0.2941 right_y=0.0014 right_z=0.1762 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -12.7658, 9.0462, 1.5507, -0.1587, 0.1538, 1.0379, -0.0752, -1.3607, 7.0085, 1.7949, -0.0171, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889852a0216e8447c8ac598cd57e799ad7687f7de1da65086e4975841a1bd3a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4611e1c5b5999ddc6a09a70c90e8b5bf5892fc2de7850d42a7df3e7c02b7f016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dacc48abbefdcf12e4e7101b79fce6ca53c8a55061d3719a90269f1a41e7b23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywYKjgEIEhgCKkDqTiR3Ig4Z2SSb4npT+voQM5mXM7EYs6TV4GOE0JIWve8eaSUmxzf0+iiR2x8HGGGDQB61WaghgdXacsxw+rxiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+DzdUGEgxy3mwqtfbid7b/MOcaDH4aGCtfQz16KSKmgiIwBIJwCErqAFzUAA7mO6S6suA6Bnif6396CJiBVjCiUhGXhewJF9CuzEQ8p+YkKlm4KukEaB7Zxz6SRAfwyBO6qYpXy8NaJbDORA3EtpvqFY2VswH37OcRyUaK5swnCIaLaR5oisrCNHbOJNOaR4cT+p1Vy9aML6Go+bE/yhSU0h4BAjpF8dGho8xGAC1ilxuinwNqllOXW9nrQ9Qc0kwxqW9lnrQWTeIDF8ybRVh85E+LVY7b0jfd/wBaHngHGajkKAydHAS8pKzFdQM9/Uy5BTk6K8tluTVYTCK7nSc1/xznPdZEPcgkKo02Ul3GRlYlDozZma2L8aBPqXpIg1zn1t+pFQ11I0PVCkQ7V8pYDUaqcbkrPWxNh0Xgv8IaD71rUW9b6ieSWetBUWqLto/CQ/36ryEMRMDZPMl5bXG5MhsQra0ltz+cRMdElBH6IN96icrV6q/fe0hgGncjeDocMEAg460CROYvFnBzz3vF3hoahBuivcBgMfdiA3WF7x1fa2o6yVJ7b47SzU4oh8rjgx+DuKPbAEVdTvzJFQa0rwqz4Rtt7YntOCg+mJOSPx/flMdqjHxTasMBrdshH5IdqjMNbr2oNMXsgeRlTvfzEg7cXi2ok5CEgEgI29o7ib/9nznUsUP8G7groXnqI0ocDq8aFIEGKH5ewWAf4w8Uc5kQ8nSqkJ6YhzTuc0my2GJzj3goVrhi8w554kPKkmxMlrh7i7FG4NBUfVqiophVhAcC5keouQ9Hj1AUqrSqvfQTw3uJjuBzNIOqWgd8kLH/FqnNeq5+LEAWfqNEYGjkREFrxrcIJnx1dSiZijM3i6A3C3ySMea56lWyTQVSvQTlct8q11tPgd6bolmoylt8acEZWqNnaPFgC2oCtTcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vj7yEoy6FChq1Hx8MjE9nx",
      "input": {
        "note": "The arm didn't track the sideways move — the plush is jammed against the basket's near wall. Raising well above the rim first.",
        "targets": {
          "left_z": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Vj7yEoy6FChq1Hx8MjE9nx",
      "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]: [-0.2745, 2.2032, 2.6553, -1.6073, -0.194, -0.4591, 0.1151, -0.0147, 0.8062, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4611 left_y=-0.0907 left_z=0.2634 left_yaw=0.188 left_pitch=-0.5496 left_roll=-0.0184 left_gripper=0.1151 right_x=0.2942 right_y=0.0014 right_z=0.1752 right_yaw=0.0001 right_pitch=-0.032 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -13.9556, 4.8479, 1.4286, -0.1832, 0.2515, 0.823, -0.1983, -1.2786, 7.0222, 1.7265, -0.0464, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7335ad004f1560b07840df1bf24d9bfe694beeea42d9777e95fb35316981c8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:254565ab0ef96fe16b79d9f426ea2323c904a2be24237eb237035c1613a5b605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b713d74e73614f280b31449928b1bd30f86562e5be6ddba02306a70ad648cf22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 9.534 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]: [-0.292, 2.0323, 1.9827, -1.0451, -0.1829, -0.4526, 0.1147, -0.0147, 0.8024, 0.6067, -0.3859, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4862 left_y=-0.1089 left_z=0.1796 left_yaw=0.1413 left_pitch=-0.4992 left_roll=-0.0557 left_gripper=0.1147 right_x=0.2949 right_y=0.0014 right_z=0.1777 right_yaw=0.0001 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -13.135, 9.5521, 1.4237, -0.3297, 0.3443, 1.033, -0.2803, -0.9915, 7.0222, 1.707, -0.0366, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2855, 2.0464, 2.0529, -1.0996, -0.2016, -0.437, 0.1147, -0.0147, 0.8032, 0.6067, -0.392, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4881 left_y=-0.1027 left_z=0.1925 left_yaw=0.1546 left_pitch=-0.4905 left_roll=-0.0306 left_gripper=0.1147 right_x=0.2941 right_y=0.0014 right_z=0.1762 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -12.7658, 9.0462, 1.5507, -0.1587, 0.1538, 1.0379, -0.0752, -1.3607, 7.0085, 1.7949, -0.0171, -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 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]: [-0.2745, 2.2032, 2.6553, -1.6073, -0.194, -0.4591, 0.1151, -0.0147, 0.8062, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4611 left_y=-0.0907 left_z=0.2634 left_yaw=0.188 left_pitch=-0.5496 left_roll=-0.0184 left_gripper=0.1151 right_x=0.2942 right_y=0.0014 right_z=0.1752 right_yaw=0.0001 right_pitch=-0.032 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -13.9556, 4.8479, 1.4286, -0.1832, 0.2515, 0.823, -0.1983, -1.2786, 7.0222, 1.7265, -0.0464, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7335ad004f1560b07840df1bf24d9bfe694beeea42d9777e95fb35316981c8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:254565ab0ef96fe16b79d9f426ea2323c904a2be24237eb237035c1613a5b605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b713d74e73614f280b31449928b1bd30f86562e5be6ddba02306a70ad648cf22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4QgKjgEIEhgCKkDJRbdl0L7I9XHTqP3RDjeXSPoCp2l9iYlAHkI69TJMvXVH50I9IWYaYC/PC/Rx4wVSzNnOv6lYWd6t1KO5z2t/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbeDzdUGEgzpGxJZigDxot1UuPIaDH11+8Lxi4XtHWJ1SyIwIyI84/JvDS7tU/u+YjI1Q4BAv5iB3VBw8tIqSIKzZsmV9mCL3auJCrsZ+Z6xKKIzKv8GnF2BciQDUooum5dBhxA7RfYhiEZFEniebyw0IlUoLE0FW07+av30glo/4Uas9sOBmLr5EuUsGszX3jHO3erU6quKnxnRUm5WJlawUKwFsCqFEiVdvI/bZPuwjjNIA7GOQPgiW/63nLUOafLGnphGfGfTo/+SD3KepMomNL5dgwCxVwxeuTtgOSrsz54PIxrAOBaw3G5jqEg+nuAGyp5B56II/pSOLKGK7oFIfd8VwToQky5+S+ANTzqZJyoiCZEwmd7RBHhA9Di5qzJoV5t/qksMn6pBehYA9ViD5f5EEtulI+YXkjQqmZgAHp9h5tY8kPakc4el22qzSCKWPhO7WPqnWp2UHX+aT548+fHN5v4/heW1NW7iOemDYx5Xj1H+8ujI+CO+dofsTpY09ayAZu8RzZ42s+1vLprAKtbLBOgExhe3Drk4pcOspzpREp6NMHUp5pD4iMXmCS9K2kfaELQ1g+6XhKvKajn65srCU2xhhtieRxoORaRYQaiWpW8CLuLM/FnPV+Z/qkIcLtwcvYs2u12XYBoq4rH6IHtmuHvlc5a6TEFDTbHJMef7UTOpyINbrpjUr7Dft8JOhJqrBSShFMhErfWX8fqEOPDhpZQwFhZm2RuEdVVwlwy3TSDPc5KBgCKoup3PR3inYsKKXdxmrvX1SwKCuLals8pavjCFM6jWmEgYyWH4jv5ZxyRv2nlYKijpJbyZNwqybd6htPBtqGmAqCMNWyDkSkJ9a7Pkt0WTSTrNPduDYoBmvEHHrgtH381shm46Lf3EATl16qyGucCTfiBb1qsOdgT+oyidgZvYN+uvu8OBw0XqiyVjTqy5tkG2ohm2pMwK+W7b2+EneKstvNvzsreYGxCU3LRfwY8JeMXwuYOpb7+OssWKqal115gP/cRAd8odDNB+E+UyRXsrr9QbjOf+GPL7fpS/1NVGMsA2wr7u9GudTKp2svffrmTV2EM96fkgrcKDimP5r+LQBaBmP7f6h3M66sgIxD/J6ygJH2QXPq1vITLqhN8qVc/ZJ9V5PEHdQCS+vCkBDvusIeN62kLxt2fjMZeURVSXW2NiMR8sU6k3ybL94fdiwd6Eaa70maSMjUmt6WzlgBm0FYrfpcceEWTa1VoLwJimnHcWUXhJNPYroCAoDh5UZu67N53ndeZD4Ebk8QO1CB5ydlRNUvRjrlBaYhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017u93JD6WobcdHXStQZN7G3",
      "input": {
        "note": "Releasing the plush here (it is against/over the basket) and will retract to get an unobstructed top view of where everything ended up.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017u93JD6WobcdHXStQZN7G3",
      "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]: [-0.2733, 2.1841, 2.5671, -1.5909, -0.1856, -0.4717, 0.9954, -0.0147, 0.8082, 0.6067, -0.3927, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4558 left_y=-0.0902 left_z=0.2474 left_yaw=0.205 left_pitch=-0.6001 left_roll=-0.0045 left_gripper=0.9954 right_x=0.2943 right_y=0.0013 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -13.559, 5.559, 1.1795, -0.2222, 0.1001, -0.1343, -0.1709, -1.2376, 7.2274, 1.7509, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67f400b32974ec5884b832d90cec93effc2bfb8310f43296a66e97b2f1e7e90b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807f436bc2cca7eb323eb1adc2b329469e61e0fd5536b8a8648caf162706d23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef5e96ebbe36a1b9cb40b0d2ab8ca615144c549ecbc89c3ef55845f56097c418",
        "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 · 28.09 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]: [-0.2855, 2.0464, 2.0529, -1.0996, -0.2016, -0.437, 0.1147, -0.0147, 0.8032, 0.6067, -0.392, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4881 left_y=-0.1027 left_z=0.1925 left_yaw=0.1546 left_pitch=-0.4905 left_roll=-0.0306 left_gripper=0.1147 right_x=0.2941 right_y=0.0014 right_z=0.1762 right_yaw=0.0001 right_pitch=-0.0282 right_roll=0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -12.7658, 9.0462, 1.5507, -0.1587, 0.1538, 1.0379, -0.0752, -1.3607, 7.0085, 1.7949, -0.0171, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2745, 2.2032, 2.6553, -1.6073, -0.194, -0.4591, 0.1151, -0.0147, 0.8062, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4611 left_y=-0.0907 left_z=0.2634 left_yaw=0.188 left_pitch=-0.5496 left_roll=-0.0184 left_gripper=0.1151 right_x=0.2942 right_y=0.0014 right_z=0.1752 right_yaw=0.0001 right_pitch=-0.032 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -13.9556, 4.8479, 1.4286, -0.1832, 0.2515, 0.823, -0.1983, -1.2786, 7.0222, 1.7265, -0.0464, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.2733, 2.1841, 2.5671, -1.5909, -0.1856, -0.4717, 0.9954, -0.0147, 0.8082, 0.6067, -0.3927, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4558 left_y=-0.0902 left_z=0.2474 left_yaw=0.205 left_pitch=-0.6001 left_roll=-0.0045 left_gripper=0.9954 right_x=0.2943 right_y=0.0013 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -13.559, 5.559, 1.1795, -0.2222, 0.1001, -0.1343, -0.1709, -1.2376, 7.2274, 1.7509, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67f400b32974ec5884b832d90cec93effc2bfb8310f43296a66e97b2f1e7e90b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807f436bc2cca7eb323eb1adc2b329469e61e0fd5536b8a8648caf162706d23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef5e96ebbe36a1b9cb40b0d2ab8ca615144c549ecbc89c3ef55845f56097c418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wkKjgEIEhgCKkAK43uwBB68zdz7WbcSFc1f/fpODKm6nVeZUknsjkOCt0YnVrJimeqeL1P/fYLf3XKdNKMqPb3nCwKxTj2PtNtgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcKDzdUGEgxG4Qn2T4pn3jQh9loaDB816nuoEFc9JPrkbiIwduuavjMpESa/9lNh+0kMqahsIfv7WqX/yR03DK8TmnRF4L3SpPv8TTGHf5wDQzB7KpUIhHcC/cA1aog/9roFocckhuM76jHVgbwIniLoIbKO0d8MzP335tPfPhjW1QluII/PFCHD91pT0Z6kDORyJD2OHOZcEGIy9ldWZwbxJd9frB1p4Fu49A709hJXafUqSAl/LU+1ECnIU+hFS+LoRG8brHY23arIjfX2Lf26BmJTF5yjePcwoZqG1heVF7KwuB1Dlt2Xskoz9QInTSXLHEI4p4Ra0SCYohK7P6gsEeIEn/lZXfQR5fV9aUd6Vn7wIEizfCIdNiMrmAKZqli6og0xT8wpPqH74HZq9y0ouyx4hLWxqgO0LUAn7M4bf0MdFnCdXbJdm887yCothTBfnDQ/ngDN+deb2RC1cUldedlmB91mWY2uLBl9gd21Nfj6XK+eSl49mdz5Z8OnFC44GmlkZYedu0iG4eZsp0ENyDKV+MLn7Fq5+gGAnGhcUQ1OEATAygZ6iU1jJYW2mXTxKGwk5+Q8jxKcEJ3XNyd/XIOTHVts7fBU8IMvAYKK1DOSej5jjfGd2kB8X+BK6OICbXhcKyariz42ILbAUzaQyvbQpJ3IvxB4jzdHI+I5HsZu57/bqa2d2ZpbkXnA2uZH633EGVSmxYWlogT5sEOkvJeQ0ssuCZBsXeBM1DfnKVBpttmeiTmVku/owEr83fsEca8j90Y/HpxwM7vTg4dfQEcOWhda0AvTdIB3ay0t/OBmO/x1aNrkZ3SypsgPFyiS+LSsuS5/8YyCnA6niyUTgvGw30Y7UHDxUK9WSbuAfNj3kcWa6Gnw4RU/Odsl4K4Z+oNTQwiTvjBRA3O/LccJSemVwr/x4DbdQglREl5aV2UaqgOBj/UFiBPASDWeMfi1aLWxT7XI7IAHRog+EzV3pluL8AoPU4esVLoF0f1dZ6Jt5G2H9WmJEDPhHDr4Z6tUvVomBXe66hc/RLXd3RNonpX/yes+HJgq3TfVMtWiqYIJqsfRQ8EkCHH3KjYF3fULTp/1spNStexrRSqC2jfYACchSlVL+UVR9C8DqFBUUdAfZ7xJrA8i5Rz34kEHogMjvRt9+YgvzU5yiUHZutioJ2YLVUuWgcjwVP8eKoyo899kYc8cg+ebCRbqEyJnvJes+ps1GYQMc6gj0xj0jAYKqBCo7F4qpMr5Jkff3FTKyUNp8WM9uRulU5X+xa8LqcuqOGu6giwjRYekiA5DJbF/zGNnLwxZHwkCMLs2qJFsKf1GqxzFhjrXK1qqTZamnMoVJc+n9/t/wMuhF21/7ANJbQNeUQL+1OpBNn+qeg6whvYLC6dbu3g+QiHYBoqgqv9xHpilA1ghPkvZ3jLUK7dx91aV/Mwu7U3unlxyt5Pv/RJLdYYkqktBd/GmD6BSV+7LUTZBEd5Bugf+q7o0O4njZVpG5UMMSqDT7RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016mYJZspVUpQKNJgB5pvfXo",
      "input": {
        "note": "Retracting the left arm out of the way to get a clear overhead view of the baskets and where the grey plush ended up.",
        "targets": {
          "left_x": 0.2,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_016mYJZspVUpQKNJgB5pvfXo",
      "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]: [-0.1452, 1.0027, 1.1439, -1.3102, -0.1486, -0.3687, 0.9967, -0.0147, 0.812, 0.6067, -0.4004, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2099 left_y=-0.0006 left_z=0.2033 left_yaw=0.2213 left_pitch=-0.5788 left_roll=-0.0113 left_gripper=0.9967 right_x=0.2935 right_y=0.0014 right_z=0.1721 right_yaw=0.0003 right_pitch=-0.0454 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.347, 5.9419, 1.0672, 0.0317, 0.0757, 0.1197, -0.212, -1.4701, 7.1043, 1.7851, -0.0366, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a0788c908e0dbb6179c462df18ea394903a5cfbeb6011c1ca5d79c650f6195e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6ba49336e95a26ca856ec73e4e1592b759db92bc47964d6b85d0185fc10fc0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c4880d08dac4aacee182c4d05e0ba9112d64a0342336b2d87341feaa6022eca",
        "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 · 7.011 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]: [-0.2745, 2.2032, 2.6553, -1.6073, -0.194, -0.4591, 0.1151, -0.0147, 0.8062, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4611 left_y=-0.0907 left_z=0.2634 left_yaw=0.188 left_pitch=-0.5496 left_roll=-0.0184 left_gripper=0.1151 right_x=0.2942 right_y=0.0014 right_z=0.1752 right_yaw=0.0001 right_pitch=-0.032 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -13.9556, 4.8479, 1.4286, -0.1832, 0.2515, 0.823, -0.1983, -1.2786, 7.0222, 1.7265, -0.0464, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.2733, 2.1841, 2.5671, -1.5909, -0.1856, -0.4717, 0.9954, -0.0147, 0.8082, 0.6067, -0.3927, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4558 left_y=-0.0902 left_z=0.2474 left_yaw=0.205 left_pitch=-0.6001 left_roll=-0.0045 left_gripper=0.9954 right_x=0.2943 right_y=0.0013 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -13.559, 5.559, 1.1795, -0.2222, 0.1001, -0.1343, -0.1709, -1.2376, 7.2274, 1.7509, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1452, 1.0027, 1.1439, -1.3102, -0.1486, -0.3687, 0.9967, -0.0147, 0.812, 0.6067, -0.4004, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2099 left_y=-0.0006 left_z=0.2033 left_yaw=0.2213 left_pitch=-0.5788 left_roll=-0.0113 left_gripper=0.9967 right_x=0.2935 right_y=0.0014 right_z=0.1721 right_yaw=0.0003 right_pitch=-0.0454 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.347, 5.9419, 1.0672, 0.0317, 0.0757, 0.1197, -0.212, -1.4701, 7.1043, 1.7851, -0.0366, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a0788c908e0dbb6179c462df18ea394903a5cfbeb6011c1ca5d79c650f6195e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6ba49336e95a26ca856ec73e4e1592b759db92bc47964d6b85d0185fc10fc0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c4880d08dac4aacee182c4d05e0ba9112d64a0342336b2d87341feaa6022eca",
        "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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4h3Y81hB499Djo4rbjTIvcgu2gwq5SxoPTiOmI4wPRjNtYcHcgZRVN987kb1T3OP92I3pRTRB3BGHKBXDPR+CvBoe671ioQjwad+f8AC0dVKUaPpnb+spygt2Ub1JghhpQoanJ27627O2skO2wAiuuXhGkpiQNIQc5lRN0aZTztlovgSpnJfUpGnkW6NwRkWONDYIciuA+eXFOpvg7NtIDZn/vzTm3EbFy1wjKPYh0pl8zFycuBZXt0GsnCFjnNKXdpl88KBbi/8APPWEvZCo3IOhc2i2qBs4t83314zlktGeGdBV/9caLxxyJRL5xb3+tk0Vstw80fZnu3nF+dHcr7xzVnJ+9PQ3spEKqGV/NAwHrfn8BhgQqKp8UESJLDXynYjWgxGEYSv40Ir6jDx6lvanljJWeOwdQ6wbBbvfFwjrktkIxPGvn1nvvak5+zPt8gMbTsy13tAYV0+OgKYF1Z2rxZNKj/UoXJlRmvHZtZHqemCSSW2Romn3AwNYBOWUNw0nwVKKdlVWo3gPR8nPGcmRLhxmp9Aeg4c3wgJ3jfiNMXhVugdGIFIzTqww0uAmAu5CTCbyYlazz+xWeV4BUmG2BwNXm8p37Jte/koWmFhUBp1qIeKaPes3CAJNiefzwFdfE7hegZkYR+Z0jNkaQmtYXkDKTNjm86b+WxF92ZeEYEqBDCjxv91IvZ8QGk9zxbrUT1HA8LWbJc4ZbKFcRjTS2PcxEijgxsmBXmVyhA2Uq43wwETOnyFu3ZoNaHc4hioBNE7YI9BrjAGpjBIGitFSdZOOnCi1qPXxw6TNJo9XPhcb5emFgqAjXYN4dU9T1NEuzLpxBFHuu2MDhwRGkMvXzS38hEOdFfiyLPZCYXxkWagzNNcVpXv/8wU1RwGlFpMujk0tZxbDm/gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C27RH9i32tzuu8RUM1GKrF",
      "input": {
        "note": "Clear view now: two teal baskets ahead-left, tan bears ahead-right, and the grey plush lying on the table between/below the baskets. Approaching the grey plush again for a grasp.",
        "targets": {
          "left_x": 0.33,
          "left_y": 0.05,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01C27RH9i32tzuu8RUM1GKrF",
      "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]: [0.1108, 1.4208, 0.9981, -0.7765, -0.057, -0.1551, 0.9967, -0.0147, 0.8146, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3146 left_y=0.0487 left_z=0.0978 left_yaw=0.2521 left_pitch=-0.63 left_roll=-0.0005 left_gripper=0.9967 right_x=0.2925 right_y=0.0014 right_z=0.1698 right_yaw=0.0001 right_pitch=-0.0557 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.9282, 6.5162, 0.9646, 0.0073, 0.2173, -0.0024, -0.1299, -1.5658, 7.0085, 1.7363, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68f7dee93c93cfff24c1cca86406db8b3e48f32c430af7f7d185074037bd38d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2bd67c4fb4ea9e3c8f4eee7255df50ebcaf28ce022bece00836a2f32c504ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed1ea70f10b18392c51a328c7ca059cefbb8384d486014ae47d295f29c308ff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 6.202 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]: [-0.2733, 2.1841, 2.5671, -1.5909, -0.1856, -0.4717, 0.9954, -0.0147, 0.8082, 0.6067, -0.3927, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4558 left_y=-0.0902 left_z=0.2474 left_yaw=0.205 left_pitch=-0.6001 left_roll=-0.0045 left_gripper=0.9954 right_x=0.2943 right_y=0.0013 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.034 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [-0.0205, -13.559, 5.559, 1.1795, -0.2222, 0.1001, -0.1343, -0.1709, -1.2376, 7.2274, 1.7509, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1452, 1.0027, 1.1439, -1.3102, -0.1486, -0.3687, 0.9967, -0.0147, 0.812, 0.6067, -0.4004, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2099 left_y=-0.0006 left_z=0.2033 left_yaw=0.2213 left_pitch=-0.5788 left_roll=-0.0113 left_gripper=0.9967 right_x=0.2935 right_y=0.0014 right_z=0.1721 right_yaw=0.0003 right_pitch=-0.0454 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.347, 5.9419, 1.0672, 0.0317, 0.0757, 0.1197, -0.212, -1.4701, 7.1043, 1.7851, -0.0366, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.1108, 1.4208, 0.9981, -0.7765, -0.057, -0.1551, 0.9967, -0.0147, 0.8146, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3146 left_y=0.0487 left_z=0.0978 left_yaw=0.2521 left_pitch=-0.63 left_roll=-0.0005 left_gripper=0.9967 right_x=0.2925 right_y=0.0014 right_z=0.1698 right_yaw=0.0001 right_pitch=-0.0557 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.9282, 6.5162, 0.9646, 0.0073, 0.2173, -0.0024, -0.1299, -1.5658, 7.0085, 1.7363, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68f7dee93c93cfff24c1cca86406db8b3e48f32c430af7f7d185074037bd38d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2bd67c4fb4ea9e3c8f4eee7255df50ebcaf28ce022bece00836a2f32c504ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1ea70f10b18392c51a328c7ca059cefbb8384d486014ae47d295f29c308ff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQcKjgEIEhgCKkD1/2HO2qPUBCHTcYm8FmX2aS0jFy0ibQIzopuSODFqHXK/xhCDrrba3J7lmmL+F8FM1xodZSwldeCKyCt2MBbJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeiDzdUGEgzQcCZse3BkkX4BD7AaDNkMFCJKPYJkmFxU8iIwLvuGOhg6E2lBvqObR/t52C62vOnp5g1OjE+C4dy7RSyRRaKZyzAd2KkRPelcd4T8KucFAZSYAHIjTD2jFiXhMexVfPp3iuJbwDa/lmxdoq+B1N5xefVvDP/NF3KyNl73ff78mGulj7qCJCBbp4GAEv4lL9OF3WyH9cE3v2NqA2/Eji39sOnDPSwidENww6bmTVzNlcGcCJqXCG8gZukI3sYKVNUXDo0AhpoRRkUVsTbeKa3o8XHk53iuUbesDm4h4A8YEVb72MHyZHfw1T4QAy9GMQnMxLWDkPuKPWV7VryijZ6h4XOgs1NEK9GtsmtfIXIZh8hX9giqHmWscv2Ma/Kk4bjrbKks+F9iAheE+AHH/e7/9ci8rXXCHQhNBa70fsH6J+mUPktaKKBEF4wmJdht024wgkHNVanjp9i/1UgqKlCBdNJI/96oEcb95Qq+7XOjTmDmpBqH6EqisNPDDppOmwPDHXdIcPYfgG2s+uKOThUN2vBKyw+utJ9UDg4xXoI/VEH+4nBU8n4gqa/FRAbs31M+kHEYQ+VpBcPwFytaYF1RyLIzEwNWa7C/aeJvToh4N9GqgGbRLakRJTDSritWN6F4yX9qkQ5tR/CO5She40PIxCi3VBg3U/1cv717GRXXNmSPpwkeOwtzrIEpKwwcAD2y8Cr8oRrnv51nm7PjhDXjEZrvhDQ0hmNbrnBitfnbcZX/7JDsiOsVS2hFuwCxZHG+qDsVHp2s9E4GVlhHueXsklssDD6pW1R/fyr5d5Q9OQCr3mZHIG1MdOlIJwFf/hyTvu6H9PZIQLVjFOzRQr81h+sdFM6YwfhAIu30Rqs9BmBuu98hUS6g5h6o+7FzatchCum947+gXb9E0DwSRAIGD9D7l/7j+1deGkhr2nUj171I3QeQz6YAIgJcefofOw4Iw4U/SRq0lo5uayVo2Xv49Cja/wg8U+TcI7LmT+1M/9/GOBAbZTrpyF/V2nuj78A7+5AoNPtoQwt4oSu0/+BGRRKEJxCsGBixbULSmJWTu8l/TK2L4/rpM46uMoJ/hHzrEJqx6iwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FuGPNdu3cCGBBXJBw8rXe2",
      "input": {
        "note": "The grey plush fills the lower-left of my wrist view, just short of the jaws. Coming slightly nearer and down onto it.",
        "targets": {
          "left_x": 0.29,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FuGPNdu3cCGBBXJBw8rXe2",
      "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]: [0.1158, 1.3846, 0.7227, -0.4801, -0.0753, -0.1452, 0.9967, -0.0147, 0.8177, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0518 left_z=0.0444 left_yaw=0.2635 left_pitch=-0.5711 left_roll=0.0145 left_gripper=0.9967 right_x=0.2927 right_y=0.0014 right_z=0.169 right_yaw=0.0001 right_pitch=-0.0587 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -4.4376, 4.1368, 0.5348, 0.1978, -0.0415, -0.0073, -0.2803, -1.6205, 7.0085, 1.746, -0.0171, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed0ad690185f6b8cdf9d7f085f9f26a4ac8e960d120bba28a5288868b1144f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff30c9e81214dd11eacef630ba5304ac38f8edd934ec772b40ff055a69e282e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7f17f7c8320a15f1928eeef759a103a353f3b9974aad132a652f9287cc552bc",
        "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 · 22.66 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]: [-0.1452, 1.0027, 1.1439, -1.3102, -0.1486, -0.3687, 0.9967, -0.0147, 0.812, 0.6067, -0.4004, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2099 left_y=-0.0006 left_z=0.2033 left_yaw=0.2213 left_pitch=-0.5788 left_roll=-0.0113 left_gripper=0.9967 right_x=0.2935 right_y=0.0014 right_z=0.1721 right_yaw=0.0003 right_pitch=-0.0454 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.335, -1.347, 5.9419, 1.0672, 0.0317, 0.0757, 0.1197, -0.212, -1.4701, 7.1043, 1.7851, -0.0366, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1108, 1.4208, 0.9981, -0.7765, -0.057, -0.1551, 0.9967, -0.0147, 0.8146, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3146 left_y=0.0487 left_z=0.0978 left_yaw=0.2521 left_pitch=-0.63 left_roll=-0.0005 left_gripper=0.9967 right_x=0.2925 right_y=0.0014 right_z=0.1698 right_yaw=0.0001 right_pitch=-0.0557 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.9282, 6.5162, 0.9646, 0.0073, 0.2173, -0.0024, -0.1299, -1.5658, 7.0085, 1.7363, -0.0366, -0.0464, -0.0073]",
      "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]: [0.1158, 1.3846, 0.7227, -0.4801, -0.0753, -0.1452, 0.9967, -0.0147, 0.8177, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0518 left_z=0.0444 left_yaw=0.2635 left_pitch=-0.5711 left_roll=0.0145 left_gripper=0.9967 right_x=0.2927 right_y=0.0014 right_z=0.169 right_yaw=0.0001 right_pitch=-0.0587 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -4.4376, 4.1368, 0.5348, 0.1978, -0.0415, -0.0073, -0.2803, -1.6205, 7.0085, 1.746, -0.0171, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed0ad690185f6b8cdf9d7f085f9f26a4ac8e960d120bba28a5288868b1144f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff30c9e81214dd11eacef630ba5304ac38f8edd934ec772b40ff055a69e282e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7f17f7c8320a15f1928eeef759a103a353f3b9974aad132a652f9287cc552bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAcKjgEIEhgCKkB5A+gehIYW/KZlyz1BHlyk0BWNR4NldtblnIbhfcxU6/h5evrLpfSqJ2KhSN3bkR6ap0R9UTKPkLUy7eEWBDQmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+DzdUGEgyLFmEZnPDkAx3+ancaDO3xyOVLBWSVyfr0cyIw43opVLNtA3RNbv4SnLJjNpDBRdrW7efAurrq/bA8nV9vN11BW+AzGNoZ55m/lV91KsIF1NTJI2+T91VgJQThBKdawi97Qx2a8FNQXHYb1tSkxA0+BwVqlwebKp//vQfiktMOdHEj+zsHM6N32vvmZxmxo2TpFf2UGwpkPjAE6CrYcD2CO88fPpeXlc6NQkNrb/pjIiROnsXgIWzzD17nHGF1MMhslroqCdZy7AnJOsc7fZPksWEaeo6pmF3aCz+thgIsIl29nvLRb7i2yhdWT1WslFYQTRukxwgp+Wzh5S1L2Q3k/Md+bqFb7lkU8cuw4sKHoq+2T1Cu1m8jzKihUPa2ZTC9njW3yPBbTJnkhQP8k0DBe+GS6x2T4Q6C9GhnyWNtzxAA6HfsYO5wNLMFC2onw48mk+CVVpuWuYa0lKfo4Ov7W9Z1oIfOENuy2gD8S6TjX1Z1W0tB1HgGOC4r4afarrH9UTqC8yD+YbFyGak0IIpoLRrpCiyv2NkSp6A3Wc5n09YVFsQiQKKIJwi4Oy7FC/8b8iqfx7tQl+v1SqQZW7vt4Blq/P0aAzXwKdYhiG3J3xSWfQ/OpZOlLrh+3686hruE6etBk20bhDuBcN9VZ73HJDm9oLxhhkqdt4EsW6yCZZ0rsglU0VSJlhvslq2INPBpG931qpTTzaB13ZsH4QvgCoFHbrHD2aoOcJwFuy9Nyw1EtCLH/+Aexo2QR3JUDfVSTT9BUrXzgodW/2xAy138/H29RJW91HEzpt3rMkJP8C/s+Wk/wtq0GMeU+QtZnBHnXtWcx5zb6tSB7BEufhNDJCOS4RhfSCjPTmPYmldCi3q3dGMNxwpBBVsdwRSERwerM/b4lbcfLoVaeUSJwXjEaV6G24Lht3mSFUTXFoHIbXAKnjolJediNtBc96dXDKZTCW+kaaCbyMRSXYUKEIccLA118rTCxcWattS5kY9G3ramASVMsDAX9gq7c/Y9hAXFcIJgPydE9hB4L+ORUk9SlBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A8AScLeWCbsnxyiR9LzrZn",
      "input": {
        "note": "The grey plush's body reaches the jaw column and I'm already at my left-most y limit. Closing on its edge.",
        "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_01A8AScLeWCbsnxyiR9LzrZn",
      "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]: [0.112, 1.3846, 0.7174, -0.4309, -0.0952, -0.1501, 0.012, -0.0147, 0.8177, 0.6067, -0.4084, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3084 left_y=0.0552 left_z=0.0481 left_yaw=0.2781 left_pitch=-0.5249 left_roll=0.0245 left_gripper=0.012 right_x=0.2927 right_y=0.0014 right_z=0.1689 right_yaw=0.0001 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -4.9573, 6.8034, 0.5983, 0.0757, -0.0611, 0.4567, -0.0752, -1.1419, 7.0359, 1.746, -0.0366, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3d933f740ead631d91c8b1fee2f0b35ec01c353dcc8fb1aa2811b790004719e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4303035200478a2f1884cb50beccc2da20663df144f0092a4b3125ef423b25b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b31fae461eca7717017a06e5678783b4b37c894c2ee851bf04ccd52520299f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 7.656 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]: [0.1108, 1.4208, 0.9981, -0.7765, -0.057, -0.1551, 0.9967, -0.0147, 0.8146, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3146 left_y=0.0487 left_z=0.0978 left_yaw=0.2521 left_pitch=-0.63 left_roll=-0.0005 left_gripper=0.9967 right_x=0.2925 right_y=0.0014 right_z=0.1698 right_yaw=0.0001 right_pitch=-0.0557 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -5.9282, 6.5162, 0.9646, 0.0073, 0.2173, -0.0024, -0.1299, -1.5658, 7.0085, 1.7363, -0.0366, -0.0464, -0.0073]",
      "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]: [0.1158, 1.3846, 0.7227, -0.4801, -0.0753, -0.1452, 0.9967, -0.0147, 0.8177, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0518 left_z=0.0444 left_yaw=0.2635 left_pitch=-0.5711 left_roll=0.0145 left_gripper=0.9967 right_x=0.2927 right_y=0.0014 right_z=0.169 right_yaw=0.0001 right_pitch=-0.0587 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -4.4376, 4.1368, 0.5348, 0.1978, -0.0415, -0.0073, -0.2803, -1.6205, 7.0085, 1.746, -0.0171, -0.0317, -0.0171]",
      "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]: [0.112, 1.3846, 0.7174, -0.4309, -0.0952, -0.1501, 0.012, -0.0147, 0.8177, 0.6067, -0.4084, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3084 left_y=0.0552 left_z=0.0481 left_yaw=0.2781 left_pitch=-0.5249 left_roll=0.0245 left_gripper=0.012 right_x=0.2927 right_y=0.0014 right_z=0.1689 right_yaw=0.0001 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -4.9573, 6.8034, 0.5983, 0.0757, -0.0611, 0.4567, -0.0752, -1.1419, 7.0359, 1.746, -0.0366, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3d933f740ead631d91c8b1fee2f0b35ec01c353dcc8fb1aa2811b790004719e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4303035200478a2f1884cb50beccc2da20663df144f0092a4b3125ef423b25b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b31fae461eca7717017a06e5678783b4b37c894c2ee851bf04ccd52520299f1",
        "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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druo/MnFxxUrrSRU1zcHjBgKHjPFE991AXBtAzRjUXBhhHjSxfeW+PElitEWXnU8mUvWGwH01grZde+Exepp4zW8NRbBlwSnPVvtbsVDuXdcLI84juMXphGpWKBaEBonFST6yGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BZZvY4ALe5FgJ2jng7FRCZ",
      "input": {
        "note": "That close came up empty (0.01) and the grey plush sits past my left-hand limit, so I'm switching to the tan bears in the middle of the table. Moving over the bear cluster.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": -0.3,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_01BZZvY4ALe5FgJ2jng7FRCZ",
      "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]: [-0.9733, 1.9984, 1.7863, -1.2152, -0.4355, -1.2278, 0.9981, -0.0147, 0.8192, 0.6067, -0.4088, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2977 left_y=-0.2987 left_z=0.1316 left_yaw=0.271 left_pitch=-0.549 left_roll=0.0127 left_gripper=0.9981 right_x=0.2927 right_y=0.0015 right_z=0.1684 right_yaw=0.0005 right_pitch=-0.061 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.2359, 7.8974, 0.2125, -0.5543, 0.1441, -0.0708, -0.1026, -1.5111, 6.9949, 1.6679, -0.0317, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a29cdb5c41da734fab87f082c91ea9c5e6094f860be64377ca83847de10c5562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4bdfd8a3c64514429ece133ae7a4ac1924501df8a6d149f12ef01f80e42e557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45198e6d38b4d7ac446e8116b8a2a291a3dd6cea85454af6b375217e885c471e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.996 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]: [0.1158, 1.3846, 0.7227, -0.4801, -0.0753, -0.1452, 0.9967, -0.0147, 0.8177, 0.6067, -0.408, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2996 left_y=0.0518 left_z=0.0444 left_yaw=0.2635 left_pitch=-0.5711 left_roll=0.0145 left_gripper=0.9967 right_x=0.2927 right_y=0.0014 right_z=0.169 right_yaw=0.0001 right_pitch=-0.0587 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -4.4376, 4.1368, 0.5348, 0.1978, -0.0415, -0.0073, -0.2803, -1.6205, 7.0085, 1.746, -0.0171, -0.0317, -0.0171]",
      "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]: [0.112, 1.3846, 0.7174, -0.4309, -0.0952, -0.1501, 0.012, -0.0147, 0.8177, 0.6067, -0.4084, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3084 left_y=0.0552 left_z=0.0481 left_yaw=0.2781 left_pitch=-0.5249 left_roll=0.0245 left_gripper=0.012 right_x=0.2927 right_y=0.0014 right_z=0.1689 right_yaw=0.0001 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -4.9573, 6.8034, 0.5983, 0.0757, -0.0611, 0.4567, -0.0752, -1.1419, 7.0359, 1.746, -0.0366, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9733, 1.9984, 1.7863, -1.2152, -0.4355, -1.2278, 0.9981, -0.0147, 0.8192, 0.6067, -0.4088, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2977 left_y=-0.2987 left_z=0.1316 left_yaw=0.271 left_pitch=-0.549 left_roll=0.0127 left_gripper=0.9981 right_x=0.2927 right_y=0.0015 right_z=0.1684 right_yaw=0.0005 right_pitch=-0.061 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.2359, 7.8974, 0.2125, -0.5543, 0.1441, -0.0708, -0.1026, -1.5111, 6.9949, 1.6679, -0.0317, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a29cdb5c41da734fab87f082c91ea9c5e6094f860be64377ca83847de10c5562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4bdfd8a3c64514429ece133ae7a4ac1924501df8a6d149f12ef01f80e42e557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45198e6d38b4d7ac446e8116b8a2a291a3dd6cea85454af6b375217e885c471e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQYKjgEIEhgCKkB6xPa/9qP4Uc8XBSHFqb7pEy0AoPvRcYJnYoAQ57+PcKC/xU5b71BetqFLw2ZW8HmAW+hqDLHDNulAWnVU7HUbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGEzdUGEgywuai3kFKDoDj3VlgaDHMBUFWfrjdOeMOwlyIw1NiJic+sQVL7B0lf5Ao0Z+i9v6P9rIMx5OQMWSGpK9YjaNAPL/j7nmBIS5Z5xBlbKrMEouXZcLiFMclAXMqgJyXhJvkPDaZVpiJuyt2sBFjkvoIWa6sAtTEGt1n4ul53eWW7LqWmentBESUB4EaO1ZgtxdIVH/KEs65orJRgQE5924qNEz8fCTOojxGqwOqce2s4W2aotyDuavOy0eRcjfN6IzRfRe32NzvBMo3AOXaNw0/ZoXz1AgIJprVT8MHXSLj3L5Q+Hm3uOMh7gZ4SjOZAmOL0qJUlo424hraHFBAlYj6HNlVrqIpCwb0QR0Vw3yqZMFXzKnir21D0yCKDkS9IDtGxxge5sm/t7RvIUUf8sT04opSPrqA9fa1ezhU56roMIyGFIeXMXz92YK5XkN4qRSSbD3ZJEydNU76jUAmiDzKYrksjyb1RYsukNQkJlpdEVLT7/QmDahgLnEnEpFYp7aSdnLIENFklPNYeytVWCXfI0apvFIK5v5jnss5y8LsfGO9NGn+PIEXpilWg6YGrwr0rnyMawPlcUBpNCY3XaLyw7P1kw/mMn6XcWCER4gd7Y0dEHo0mLAqNU4ACjYKl8CDHi3rYstenJNeQFG6oa8arLuqxF6YTErGUkTxYV+HZkVFyN/2ttsx149FRn8Uo/+Iemjjo+AlyRYHIsyXOlxSgLEeWSar/e71Ms1ZxPC6ve7t5UcGQgQHRzXsfChRFeIXKYsiQ+J64ey0bjL0Uat2cEoHDWLFSro4Vwms5p4N5hWkYOFj/lmYox3CuJpt7cpmzvpDPJSN/Jcnb0819oKFriskYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K2XJH5uWLBTEcXbdukpRWc",
      "input": {
        "note": "A tan teddy bear's head is right under my jaws in the wrist view, with the basket visible straight ahead. Dropping down onto the bear to grasp it.",
        "targets": {
          "left_y": -0.325,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01K2XJH5uWLBTEcXbdukpRWc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0042, 2.1101, 1.668, -1.0107, -0.4419, -1.2587, 0.9981, -0.0147, 0.8192, 0.6067, -0.4084, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=-0.32 left_z=0.0599 left_yaw=0.2765 left_pitch=-0.5501 left_roll=0.0276 left_gripper=0.9981 right_x=0.2927 right_y=0.0013 right_z=0.1685 right_yaw=-0.0002 right_pitch=-0.0607 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -10.2632, 4.9846, 0.4469, -0.2466, -0.1099, -0.0073, -0.0342, -1.4017, 6.9949, 1.7411, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:766cc8c5c956c77c1f7d50ebc454c9c530e0260b5f4f7a1327826211e562bd0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f5e6b3c27147f32cbb038414b2896dafd7c2e2132355b2f9c042a235085c94a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bb79652bb71bd6778e6e802db51d4f61b6b54aa76f2101d6afd3e3e1712a491",
        "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 · 5.902 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]: [0.112, 1.3846, 0.7174, -0.4309, -0.0952, -0.1501, 0.012, -0.0147, 0.8177, 0.6067, -0.4084, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.3084 left_y=0.0552 left_z=0.0481 left_yaw=0.2781 left_pitch=-0.5249 left_roll=0.0245 left_gripper=0.012 right_x=0.2927 right_y=0.0014 right_z=0.1689 right_yaw=0.0001 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -4.9573, 6.8034, 0.5983, 0.0757, -0.0611, 0.4567, -0.0752, -1.1419, 7.0359, 1.746, -0.0366, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9733, 1.9984, 1.7863, -1.2152, -0.4355, -1.2278, 0.9981, -0.0147, 0.8192, 0.6067, -0.4088, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2977 left_y=-0.2987 left_z=0.1316 left_yaw=0.271 left_pitch=-0.549 left_roll=0.0127 left_gripper=0.9981 right_x=0.2927 right_y=0.0015 right_z=0.1684 right_yaw=0.0005 right_pitch=-0.061 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.2359, 7.8974, 0.2125, -0.5543, 0.1441, -0.0708, -0.1026, -1.5111, 6.9949, 1.6679, -0.0317, -0.0464, -0.0073]",
      "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]: [-1.0042, 2.1101, 1.668, -1.0107, -0.4419, -1.2587, 0.9981, -0.0147, 0.8192, 0.6067, -0.4084, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=-0.32 left_z=0.0599 left_yaw=0.2765 left_pitch=-0.5501 left_roll=0.0276 left_gripper=0.9981 right_x=0.2927 right_y=0.0013 right_z=0.1685 right_yaw=-0.0002 right_pitch=-0.0607 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -10.2632, 4.9846, 0.4469, -0.2466, -0.1099, -0.0073, -0.0342, -1.4017, 6.9949, 1.7411, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:766cc8c5c956c77c1f7d50ebc454c9c530e0260b5f4f7a1327826211e562bd0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f5e6b3c27147f32cbb038414b2896dafd7c2e2132355b2f9c042a235085c94a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb79652bb71bd6778e6e802db51d4f61b6b54aa76f2101d6afd3e3e1712a491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A8v4FHdWjnrjw37qZ6FYjY",
      "input": {
        "note": "The bear's head fills the wrist view directly between the jaws. Closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01A8v4FHdWjnrjw37qZ6FYjY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0046, 2.1197, 1.66, -0.9791, -0.4419, -1.2659, 0.2138, -0.0147, 0.8192, 0.6067, -0.408, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=-0.3238 left_z=0.0547 left_yaw=0.2724 left_pitch=-0.5459 left_roll=0.008 left_gripper=0.2138 right_x=0.2928 right_y=0.0013 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0603 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -12.1641, 6.5026, 0.2173, -0.3101, 0.0415, 0.8327, -0.1573, -1.3333, 7.0906, 1.7216, -0.0024, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a25314fae837c302be90dd1af9bfc4e4e1700d2a34f4850c02de50ae57e2621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5752dea4b44ff5e6f10572fb47f70c66ad18e7cb1f03b83ad15698ef1df2eae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:332fed773f3c7a0da5e4d1cb1f68e5492fd14e07517dc83ca7d3b8c4a245ddcd",
        "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 · 8.156 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]: [-0.9733, 1.9984, 1.7863, -1.2152, -0.4355, -1.2278, 0.9981, -0.0147, 0.8192, 0.6067, -0.4088, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2977 left_y=-0.2987 left_z=0.1316 left_yaw=0.271 left_pitch=-0.549 left_roll=0.0127 left_gripper=0.9981 right_x=0.2927 right_y=0.0015 right_z=0.1684 right_yaw=0.0005 right_pitch=-0.061 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -10.2359, 7.8974, 0.2125, -0.5543, 0.1441, -0.0708, -0.1026, -1.5111, 6.9949, 1.6679, -0.0317, -0.0464, -0.0073]",
      "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]: [-1.0042, 2.1101, 1.668, -1.0107, -0.4419, -1.2587, 0.9981, -0.0147, 0.8192, 0.6067, -0.4084, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=-0.32 left_z=0.0599 left_yaw=0.2765 left_pitch=-0.5501 left_roll=0.0276 left_gripper=0.9981 right_x=0.2927 right_y=0.0013 right_z=0.1685 right_yaw=-0.0002 right_pitch=-0.0607 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -10.2632, 4.9846, 0.4469, -0.2466, -0.1099, -0.0073, -0.0342, -1.4017, 6.9949, 1.7411, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0046, 2.1197, 1.66, -0.9791, -0.4419, -1.2659, 0.2138, -0.0147, 0.8192, 0.6067, -0.408, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=-0.3238 left_z=0.0547 left_yaw=0.2724 left_pitch=-0.5459 left_roll=0.008 left_gripper=0.2138 right_x=0.2928 right_y=0.0013 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0603 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -12.1641, 6.5026, 0.2173, -0.3101, 0.0415, 0.8327, -0.1573, -1.3333, 7.0906, 1.7216, -0.0024, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a25314fae837c302be90dd1af9bfc4e4e1700d2a34f4850c02de50ae57e2621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5752dea4b44ff5e6f10572fb47f70c66ad18e7cb1f03b83ad15698ef1df2eae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:332fed773f3c7a0da5e4d1cb1f68e5492fd14e07517dc83ca7d3b8c4a245ddcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgUKjgEIEhgCKkDLPXDHFyIAFcnLvn7TiwAD5BDBCLFujNr321NDkxAXeSXZmElSGIkSbHHL5s6jifk98EnqGHT/tJVGa9q/P1JNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZyEzdUGEgzU9kADTnzySS0XOacaDFNcPRSGq2ZEi5NgSCIwK9I/zgvelWdjygT5ts/Ya0dWoEzQg+6JMj50cn0gf7IRGFcd2kJIbwl/K+keNoGUKrgDuqb/3C5aJn+96NLS26wEID0sMtlyCBL6yjklPRVCoezEHIgNuaSnEIWE6zTCYk7WClVSa8PpIaIBVFmwiN/CbhIVntuwDtpLjGQzo5mDMO7IEAQ/pPLYeC4/zz8f1xGR85FQC9nOnr7igKRMlNTCE5HfhcclLXsizlLeu40zUBf0KpVT4YKNlRq78GMa0hCSkbD/6yQo6X6jdd4jtyfjzHwMoRpi3LYJcQc+AfUnj1g2NtBM5D0pak1QXrbPlLQOCVAtWEKvWsIEVbL3ELmhNl8AQY6BYZrm42RiYlFzewL2IV8s7lFe8Ff03Gz/mlryvKM2+JYaUa17RaN++wv/rX4ia4gt33hhIFqt43N4GmcXm49ggS3cLOg7ZYEIPwmO9wbHPH6aY+ryxkpofkAaUHqUU4aUgxSBqN+aCUPXTEvvckdMfSLZPxO8RDg0czsQ5wgVKkEa2JBoAEKZo8vGAjCKihLTfU/VOwp5bMJNQKzyeH+Lbq3WkIrNXsR6VeuvhWqNMnQ+VHIyOzVV1HJbqDTzIMkrNrBVDxoVBn3wW0ithpTEQGExTcwbYJd93QCzIkCZ0AcfgZEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P3cqyiwX75U6ABDLhsYSHh",
      "input": {
        "note": "Grasped the bear (gripper settled at 0.21). Lifting high and moving forward-left over the nearer teal basket to drop it in.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.27,
          "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_01P3cqyiwX75U6ABDLhsYSHh",
      "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]: [-0.72, 2.1929, 2.3951, -1.5864, -0.3721, -1.0084, 0.2163, -0.0147, 0.8211, 0.6067, -0.4084, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.3794 left_y=-0.2426 left_z=0.2041 left_yaw=0.3326 left_pitch=-0.5931 left_roll=0.0454 left_gripper=0.2163 right_x=0.2929 right_y=0.0013 right_z=0.168 right_yaw=0.0 right_pitch=-0.0626 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -16.7863, 6.0239, 0.7741, -0.4029, 0.4713, 0.2515, -0.2667, -1.3744, 7.3094, 1.7167, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12db354a917e94c5b113bf0260e9cef3cae526a2fd39545048abaeda884f5932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45568a548a8a1f67334723e2255a730b924b5e2b5775c566c6eb399a0ec1ae5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:498fdf7c4d4431799fb050a17064eab7d6ce7e89559084577f200c75a5ee969c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 6.397 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]: [-1.0042, 2.1101, 1.668, -1.0107, -0.4419, -1.2587, 0.9981, -0.0147, 0.8192, 0.6067, -0.4084, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=-0.32 left_z=0.0599 left_yaw=0.2765 left_pitch=-0.5501 left_roll=0.0276 left_gripper=0.9981 right_x=0.2927 right_y=0.0013 right_z=0.1685 right_yaw=-0.0002 right_pitch=-0.0607 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -10.2632, 4.9846, 0.4469, -0.2466, -0.1099, -0.0073, -0.0342, -1.4017, 6.9949, 1.7411, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0046, 2.1197, 1.66, -0.9791, -0.4419, -1.2659, 0.2138, -0.0147, 0.8192, 0.6067, -0.408, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=-0.3238 left_z=0.0547 left_yaw=0.2724 left_pitch=-0.5459 left_roll=0.008 left_gripper=0.2138 right_x=0.2928 right_y=0.0013 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0603 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -12.1641, 6.5026, 0.2173, -0.3101, 0.0415, 0.8327, -0.1573, -1.3333, 7.0906, 1.7216, -0.0024, -0.0366, -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]: [-0.72, 2.1929, 2.3951, -1.5864, -0.3721, -1.0084, 0.2163, -0.0147, 0.8211, 0.6067, -0.4084, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.3794 left_y=-0.2426 left_z=0.2041 left_yaw=0.3326 left_pitch=-0.5931 left_roll=0.0454 left_gripper=0.2163 right_x=0.2929 right_y=0.0013 right_z=0.168 right_yaw=0.0 right_pitch=-0.0626 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -16.7863, 6.0239, 0.7741, -0.4029, 0.4713, 0.2515, -0.2667, -1.3744, 7.3094, 1.7167, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12db354a917e94c5b113bf0260e9cef3cae526a2fd39545048abaeda884f5932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45568a548a8a1f67334723e2255a730b924b5e2b5775c566c6eb399a0ec1ae5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:498fdf7c4d4431799fb050a17064eab7d6ce7e89559084577f200c75a5ee969c",
        "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+wcKjgEIEhgCKkCgEfd/fN48HvVI/1RahwoEflm4k2Dng9cgIV/uEcJ0CURxcrJHnbL7C+s2C1fLe71iwd0DjpzilOgT4Fg0AFIcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaaEzdUGEgxZ9EH0ZU7YFPDfK3kaDGl99FlplmLo9KD6UiIw8eh/CPpLfpBS/4cZBHPasAZE5fHjsZWCFBlAPq+9HeSmfgWmyEzneSinWKBkHsNwKpkG3YJTL6Vba5xji0PKBaiTPIduGH7TdlmPLkER4ij68l4zGWQlmIkYsSh0whkGBVnjM26vvbn/uydtVTcHLe71tvDFj+wQlod7ZrhccvEmsjmRlKHe1HVxuPq5oHbcve3/INDNCXdJK64BHb7BCcL/x0UJZyvzrTCMntyu2ZBER8Y2zLy2hiE+xyATQWEpwgwRfemocjrZxt4dPYmP1SSvw2RI3WsQ6dVBDW4UzaORCipnvcfcbc9l4cfvY22LSfxEdWhTQMXRs/DUuFBK/6UDNYxyDrCWNk+Y4IosrLADszxpkeODPdvpcpmUC+6Yc06oHfpv49LDK541/7V/5DoWWq0VufmA0E1hDEVmg+GmstgjjFO3boUK/cfstoJq8+Q0Q4zn0Q8isQzqyz10nNYGs7nnSJ1LhUc2rfW9nR0tW0q51TUIlhRbtO2JBgTC9zEBhfzU+qjNyhK/iwnESyG2dzvglRI3OOZDGjFNRmgVrzxgNKGyAJE/8AlKb70OH6alqUicmrfQss50ObqXOOyIAdPcC0msPdgKI7SlriwsOYOMYi5gXNUDNjVsdxAkhprmg9WLugERq3nEAjk48n74Hiew2TEwvrvrWbCv+pjfT8Zp75ArF5qhp1qz/Pgg70Zh/xKkMBt2zyJaPEcoMm3fY31fiulFPWC3OChnYAlP7C1WQT1sTle8hDAGjyoIFnDQV+he2CVuAmW+0kw9zke9pHQoAa2D+042QE78LF/DQOcdy+FGmdaKKPbvwqtrGRfKAxqIVOgzcbC/+ldDTgjYzQF+uQJ+qbzDOBMvU8wAA0czJg7wiSaTdlapyB3d0AxoxUVEAviqc7TrkmcILDSWEgxVAigq18EGRrYRIxxMyh2Rgs7/iL+zAJtFdw48VluobsoaKlUa1CGeBeLwaFa2kSNQZgJVOh47BZFwwXOr2FEQDMXw8oru6YDprq1I/ejfIu86XU/ESzRIxYGxvsgaRi5knq98ZKFDuC45n+x1UUlQ0R7dbVSboAfs88QsGypMa6fcT6+FZ/UQ+gUo021mAaoO1hlrW5XA9RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A1Q5efzRBHePukMugrFUws",
      "input": {
        "note": "The bear is held and the teal basket shows up-and-left of it in the wrist view. Nudging forward-left and higher so the bear hangs over the basket's interior.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.2,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01A1Q5efzRBHePukMugrFUws",
      "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]: [-0.5602, 2.1559, 2.3547, -1.5795, -0.3355, -0.8959, 0.2192, -0.0147, 0.8211, 0.6067, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1808 left_z=0.2068 left_yaw=0.3968 left_pitch=-0.6259 left_roll=0.0714 left_gripper=0.2192 right_x=0.2929 right_y=0.0014 right_z=0.168 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-1.0872, -15.747, 5.8325, 0.7302, -0.2808, 0.3346, 0.2955, -0.2393, -1.0735, 6.9949, 1.7363, -0.0415, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26f927cf49561eb49a6f25c1ca2a2d71b955ca3bb707cf0718bf7fb7d2660ba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ff0ea84e851d6248efa0055f2f3f0783357e092011ba754d03a0f2a40b3051d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:411a6db740f366b9d040fb5d577858e0a5655916d1d33455249230b9824584dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 8.98 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]: [-1.0046, 2.1197, 1.66, -0.9791, -0.4419, -1.2659, 0.2138, -0.0147, 0.8192, 0.6067, -0.408, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.2996 left_y=-0.3238 left_z=0.0547 left_yaw=0.2724 left_pitch=-0.5459 left_roll=0.008 left_gripper=0.2138 right_x=0.2928 right_y=0.0013 right_z=0.1686 right_yaw=-0.0002 right_pitch=-0.0603 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -12.1641, 6.5026, 0.2173, -0.3101, 0.0415, 0.8327, -0.1573, -1.3333, 7.0906, 1.7216, -0.0024, -0.0366, -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]: [-0.72, 2.1929, 2.3951, -1.5864, -0.3721, -1.0084, 0.2163, -0.0147, 0.8211, 0.6067, -0.4084, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.3794 left_y=-0.2426 left_z=0.2041 left_yaw=0.3326 left_pitch=-0.5931 left_roll=0.0454 left_gripper=0.2163 right_x=0.2929 right_y=0.0013 right_z=0.168 right_yaw=0.0 right_pitch=-0.0626 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -16.7863, 6.0239, 0.7741, -0.4029, 0.4713, 0.2515, -0.2667, -1.3744, 7.3094, 1.7167, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5602, 2.1559, 2.3547, -1.5795, -0.3355, -0.8959, 0.2192, -0.0147, 0.8211, 0.6067, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1808 left_z=0.2068 left_yaw=0.3968 left_pitch=-0.6259 left_roll=0.0714 left_gripper=0.2192 right_x=0.2929 right_y=0.0014 right_z=0.168 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-1.0872, -15.747, 5.8325, 0.7302, -0.2808, 0.3346, 0.2955, -0.2393, -1.0735, 6.9949, 1.7363, -0.0415, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26f927cf49561eb49a6f25c1ca2a2d71b955ca3bb707cf0718bf7fb7d2660ba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ff0ea84e851d6248efa0055f2f3f0783357e092011ba754d03a0f2a40b3051d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:411a6db740f366b9d040fb5d577858e0a5655916d1d33455249230b9824584dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQYKjgEIEhgCKkBSzTETkNrs7/3kKaXHd38QwiSHs7yrrRMsa9/0FtmxubE+Q1ysEyGXbokVDjxAgG6umLva+6+LEzX1Wpl8AB/7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa2EzdUGEgzi7YVQ7QQPFRdM4sQaDFs1MkNc4SnQwyFx8SIw+F3m3se/yHyKMM6a7pRhWy83eQM/SHcoMhTEdmlDcEnGLKQ/8HgX+HtKZizVAgzpKscEZqR7JaZC61FeTjiz7Di1mqZiwuawu/c68Jv6BsPvBvADEdhPMYrisHssIyQOw+eBUxmGkmLq5ery1aDJPtGK+fYEBSEhJnpZfdDZdEGh2Rtvfezv+MJ/ccwvstl7QKtDMb2NfomSp/vfjeTi9euQxTMkHlm0i/t2A2CkD4KsrGn0LhtL3ae9dLh6KHOBEV9vJRUy0jHwhSI0wvf9bToIOTVR5U0MQWiBYGZ6raZfgouTVhTVUh3Rv5wtTa15Km6AmKIUJqtiGSoEZ0ctL1rVflf6qUSBRakNElUkD98knsyvQ1sr7bPmaLGBRW6ZWrGrrekplczQToH6L6Fvc3G5KWAgt1662p9d4Un8SC79qa3aPhysH59CuOKF/2kra2OesjGhWSwdUiMtWrCufKhyfgcTN8zCYklUjeE/JQCJPZFuAUQggAcPEmJkQDeACT5vYN3VgxfS+Jk+YguF0JWBDqJQzCtCVOppdLDSfJGexqnU3uc8VLD1LKQOzvm+2w8DRbvXQoBdDaPfMu0R8JwDnXkjS0z1nXphaAQNgRE3fsxgDqpLsV16uTgNbe8lT5Y9ln3IF8g2XzMjyjwy01YSYGyqMuDqI5cw8Lv+hh5/qpZxU04F2UdateP1VRz5oX6awAJpwNqFUx7TPUmqlTan+ohfp5Xm+3PezDkMKCffJQxRW60ta3tMI6eOcQdbTiXegTb3CUYl01r3uzCM/FomZ56CeACBD4iMei113iFA+Eza1NnfEcoue8ml0BuM1jOiAsNGorUvWxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HDQZ3FCoePben7fSoF8Eyv",
      "input": {
        "note": "The wrist view shows the bear surrounded by teal basket, i.e. over the basket mouth. Opening to release it into the basket.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HDQZ3FCoePben7fSoF8Eyv",
      "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]: [-0.5598, 2.1441, 2.3547, -1.5887, -0.3283, -0.8669, 0.9954, -0.0147, 0.8211, 0.6067, -0.4088, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4012 left_y=-0.18 left_z=0.2109 left_yaw=0.372 left_pitch=-0.6314 left_roll=0.0768 left_gripper=0.9954 right_x=0.2928 right_y=0.0014 right_z=0.1679 right_yaw=0.0001 right_pitch=-0.0629 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -14.8444, 5.8735, 0.8327, -0.3492, 0.232, -0.1832, -0.1709, -1.347, 7.0359, 1.663, -0.0122, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:554dacd087b3fe06e4e5a0a6ed1d47d4bbc4b96dff89fb939538d9681b21948a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38cb62326ee24c2b025158632c3a8f547660132a32d44804cb78b2ad5e9a0ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca0e46ef93aa591074ad2683e43045e453ba4f1ee5e12f3dc0429a56f8e8310a",
        "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 · 3.303 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]: [-0.72, 2.1929, 2.3951, -1.5864, -0.3721, -1.0084, 0.2163, -0.0147, 0.8211, 0.6067, -0.4084, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.3794 left_y=-0.2426 left_z=0.2041 left_yaw=0.3326 left_pitch=-0.5931 left_roll=0.0454 left_gripper=0.2163 right_x=0.2929 right_y=0.0013 right_z=0.168 right_yaw=0.0 right_pitch=-0.0626 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [0.0342, -16.7863, 6.0239, 0.7741, -0.4029, 0.4713, 0.2515, -0.2667, -1.3744, 7.3094, 1.7167, -0.022, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5602, 2.1559, 2.3547, -1.5795, -0.3355, -0.8959, 0.2192, -0.0147, 0.8211, 0.6067, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1808 left_z=0.2068 left_yaw=0.3968 left_pitch=-0.6259 left_roll=0.0714 left_gripper=0.2192 right_x=0.2929 right_y=0.0014 right_z=0.168 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-1.0872, -15.747, 5.8325, 0.7302, -0.2808, 0.3346, 0.2955, -0.2393, -1.0735, 6.9949, 1.7363, -0.0415, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5598, 2.1441, 2.3547, -1.5887, -0.3283, -0.8669, 0.9954, -0.0147, 0.8211, 0.6067, -0.4088, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4012 left_y=-0.18 left_z=0.2109 left_yaw=0.372 left_pitch=-0.6314 left_roll=0.0768 left_gripper=0.9954 right_x=0.2928 right_y=0.0014 right_z=0.1679 right_yaw=0.0001 right_pitch=-0.0629 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -14.8444, 5.8735, 0.8327, -0.3492, 0.232, -0.1832, -0.1709, -1.347, 7.0359, 1.663, -0.0122, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:554dacd087b3fe06e4e5a0a6ed1d47d4bbc4b96dff89fb939538d9681b21948a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38cb62326ee24c2b025158632c3a8f547660132a32d44804cb78b2ad5e9a0ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca0e46ef93aa591074ad2683e43045e453ba4f1ee5e12f3dc0429a56f8e8310a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgkKjgEIEhgCKkCtE5XttBjeMuofikO8Z6ilm6C+89KSnaSKEpBR8m/HdPg+nups8axjd/zU3Mi3O/NzfW3cv6DYnESk8qLccbIjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbeEzdUGEgzD6nlLlFiS5fPomvMaDFH84E5tt+XR8oJW5CIwAIt+6AA8mIHFE8L+N+1Ro+P8Tv3DArFs6v4L7DWpher84E7jSYzqTwpRWTVJP14dKuAHO52Dk4+zwKsLJiFUvbN6XcCFZh7ToWP28gZMalShKn6TLu1DzgQQF4MHCEGij1SsmCulhwOL4CKHylVcxZQpQ4gITszXQPdxudwFs+jLwB4cWsEOi9zvLbMryvhieXvTHVmAmIQvkiDu68qBLLYOjPHo3kNFrCQJaekO3RFFRil7iea9XTdsJnVeI8rx6jufrmY4y7DNrfC3ApXfHXxRa+Uu9ITPFClAjEV8DJFAbLiJru1fsBxo3SYXtq0YaLbc9LlMK/BbfB6fjr6RkUfDBMcplxI3238r7q/phpo2g3QPCaX8vQdop5uRTtKQTReOvAeLALbEJSFNjwOIbYzmr550ssNXAtwHAEYYa4FuXwflMru+0wXSJa3uOq7Erjujq/mx3m+oQPwv+1gBblxpqvginWrmE24UBUTREkOw9lZ7ybI3E/7V3nkJuNRHHKV7vBEw22+IOffng7iEtM2NjEK9Cn1pRpB5yyY211kDb7hIXFw8+46MRuomP6X18JD+2IhXim4oKP4pzYDCuDwlYrt32Mef7CXJToKwdWwVG1YS3XLSVGh7w2VTzCLh9PQUD5NwemTZHQe4e6wKgT7rq3PcXmlYnORvQRsQVGPlvIZGgnjVtNzXkxaWdCgUSUqeJf6Z+aAT4ba4eOMQGEXm6JbDQK8Z0048jhnenB1lM1jmIOmD0lmK1dQJbqJ0Y8xi+JdxitvPDJfv0RZK54Xh1rZMYY38TZ6zI2ZKUYuGESHaow7uzJxIZkIHmW6qizCj3PpAbY0VkEKSK/vEpUSwqI1RiKw7myxkGNdjXQUjLGqPP7GMc17Pwk2KxcvPIM9ebm1kqfM6s0fb1U/BKYz8YrDyI1Ccergt0W2FG+qw6bYmNvJZ+HXMYzHwgZwIcuHP0pHyUoc34foGKbwUnr9dlVp5n8LIIi18dOTGG10vuuwg423e9Gfc/mrIixJmfmAAH8XuX6fXMBFcfZfDiWzSh59WEMOBtYW5zIHgE3NAG4vysrnKYgXQbjOKulF7zKX/h28/k+BYEiJiQ+7TT7HVGzYHfuJm183Kiwpzoq8gkwuMg+VH5/8CgNQ9uv6qBF/juuoU8h/QyStZXgPfmIx/R+cz/eCa2R8fBx+VIiE2XgBSF/Py7K6j7j+fIgPCSp9AMCPudTVFuM/z+bahHPPYoZQ0SBF5Gh1Xd+VDMZgw1pP0Cwwy+pkeGqRSOhENr8I8BgfkLQBHz5DsqEYrAR70VCiuHDm2fd9zqC/8tJ0QdR9tFJqMWqhTobZsWkkaLcnQNSw3tSa/vmUx5EZuimuBFlNu6cLa/i8bj8UNcYSrHGgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JFTwsRVHjfp9M3bK8UC3sF",
      "input": {
        "note": "The bear slipped out and is lying on the table right beside the basket. Descending onto it to re-grasp.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01JFTwsRVHjfp9M3bK8UC3sF",
      "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]: [-0.5632, 2.0232, 1.5829, -0.9463, -0.392, -0.8631, 0.9967, -0.0147, 0.8249, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3975 left_y=-0.167 left_z=0.0701 left_yaw=0.4082 left_pitch=-0.5855 left_roll=0.1312 left_gripper=0.9967 right_x=0.293 right_y=0.0014 right_z=0.1669 right_yaw=0.0001 right_pitch=-0.0668 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -8.2393, 4.8752, 1.1306, 0.2808, -0.105, 0.1148, -0.1983, -1.3607, 6.9949, 1.6874, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aca69f93f7afb2e1c2462b791bf30d70d008a73739ac8516dc7ed4afc8c4eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:144c62102ad7f45616b7ce8602c066424e7c9cde054b894aa3324d33014adcd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c722e49191d7a95344c6b0706b994ffb2a0b65043829c86b366d12ec8990a09",
        "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 · 6.043 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]: [-0.5602, 2.1559, 2.3547, -1.5795, -0.3355, -0.8959, 0.2192, -0.0147, 0.8211, 0.6067, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4045 left_y=-0.1808 left_z=0.2068 left_yaw=0.3968 left_pitch=-0.6259 left_roll=0.0714 left_gripper=0.2192 right_x=0.2929 right_y=0.0014 right_z=0.168 right_yaw=0.0001 right_pitch=-0.0626 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-1.0872, -15.747, 5.8325, 0.7302, -0.2808, 0.3346, 0.2955, -0.2393, -1.0735, 6.9949, 1.7363, -0.0415, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5598, 2.1441, 2.3547, -1.5887, -0.3283, -0.8669, 0.9954, -0.0147, 0.8211, 0.6067, -0.4088, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4012 left_y=-0.18 left_z=0.2109 left_yaw=0.372 left_pitch=-0.6314 left_roll=0.0768 left_gripper=0.9954 right_x=0.2928 right_y=0.0014 right_z=0.1679 right_yaw=0.0001 right_pitch=-0.0629 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -14.8444, 5.8735, 0.8327, -0.3492, 0.232, -0.1832, -0.1709, -1.347, 7.0359, 1.663, -0.0122, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5632, 2.0232, 1.5829, -0.9463, -0.392, -0.8631, 0.9967, -0.0147, 0.8249, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3975 left_y=-0.167 left_z=0.0701 left_yaw=0.4082 left_pitch=-0.5855 left_roll=0.1312 left_gripper=0.9967 right_x=0.293 right_y=0.0014 right_z=0.1669 right_yaw=0.0001 right_pitch=-0.0668 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -8.2393, 4.8752, 1.1306, 0.2808, -0.105, 0.1148, -0.1983, -1.3607, 6.9949, 1.6874, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aca69f93f7afb2e1c2462b791bf30d70d008a73739ac8516dc7ed4afc8c4eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:144c62102ad7f45616b7ce8602c066424e7c9cde054b894aa3324d33014adcd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c722e49191d7a95344c6b0706b994ffb2a0b65043829c86b366d12ec8990a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gIKjgEIEhgCKkB8mJd1DdTc7e8o/pNtas+H59qpCyUpMtMoWcMZ9M/kXF8jx+Y8DpiMC/t79fvYoKdr9iU2U1oH+asuRfxyv4yKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbuEzdUGEgz7znRbZfWQDjmCVGcaDJFM44rYRHfQ5+1beSIwzCZxwU6AXgPOLg+JliRPM682nwAMqEUEuPXU1g3YPuGf6WyG/W0gvyDWuFkesNl6KnFLjE89Xu/3Ky/VBsQaUY7+Wz0To8qt4biWSQVTZ73zvnqp2c/MT5RjVEW818Kt4kh3UEOP8QRHiEb0l+W4eAqx59fwPE/CwPYk+0ZoRJ4+jsrUsVejEODY5MLN2DZ3gh9lZSqF3jQZ0GRDHnbek5I6vBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vxznm8cdJgaQBENcWvjKxe",
      "input": {
        "note": "The bear's head is between the jaws against the basket wall. Closing to grasp it again.",
        "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_01Vxznm8cdJgaQBENcWvjKxe",
      "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]: [-0.5613, 2.0232, 1.5723, -0.931, -0.3969, -0.8635, 0.2203, -0.0147, 0.8249, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3986 left_y=-0.1657 left_z=0.068 left_yaw=0.4105 left_pitch=-0.5789 left_roll=0.1298 left_gripper=0.2203 right_x=0.293 right_y=0.0014 right_z=0.1669 right_yaw=0.0001 right_pitch=-0.0668 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.5915, 6.7761, 0.4615, -0.1929, -0.0122, 1.0281, -0.212, -1.2376, 7.1316, 1.7167, -0.0464, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a49b9236885a641ecd57469436a670e6825aa13113f5afcdd8b79d82dc9d9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac76cd6ea1c2fd119bc12b3d6c8c17e699b99b43514314b4286f53f474010b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7bafd9ef27ac6b2ec6c7598a79f11bf83dbc560e35941cff30d92e1904fbfef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 9.636 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5598, 2.1441, 2.3547, -1.5887, -0.3283, -0.8669, 0.9954, -0.0147, 0.8211, 0.6067, -0.4088, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4012 left_y=-0.18 left_z=0.2109 left_yaw=0.372 left_pitch=-0.6314 left_roll=0.0768 left_gripper=0.9954 right_x=0.2928 right_y=0.0014 right_z=0.1679 right_yaw=0.0001 right_pitch=-0.0629 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -14.8444, 5.8735, 0.8327, -0.3492, 0.232, -0.1832, -0.1709, -1.347, 7.0359, 1.663, -0.0122, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5632, 2.0232, 1.5829, -0.9463, -0.392, -0.8631, 0.9967, -0.0147, 0.8249, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3975 left_y=-0.167 left_z=0.0701 left_yaw=0.4082 left_pitch=-0.5855 left_roll=0.1312 left_gripper=0.9967 right_x=0.293 right_y=0.0014 right_z=0.1669 right_yaw=0.0001 right_pitch=-0.0668 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -8.2393, 4.8752, 1.1306, 0.2808, -0.105, 0.1148, -0.1983, -1.3607, 6.9949, 1.6874, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 2.0232, 1.5723, -0.931, -0.3969, -0.8635, 0.2203, -0.0147, 0.8249, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3986 left_y=-0.1657 left_z=0.068 left_yaw=0.4105 left_pitch=-0.5789 left_roll=0.1298 left_gripper=0.2203 right_x=0.293 right_y=0.0014 right_z=0.1669 right_yaw=0.0001 right_pitch=-0.0668 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.5915, 6.7761, 0.4615, -0.1929, -0.0122, 1.0281, -0.212, -1.2376, 7.1316, 1.7167, -0.0464, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92a49b9236885a641ecd57469436a670e6825aa13113f5afcdd8b79d82dc9d9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac76cd6ea1c2fd119bc12b3d6c8c17e699b99b43514314b4286f53f474010b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7bafd9ef27ac6b2ec6c7598a79f11bf83dbc560e35941cff30d92e1904fbfef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkAUKjgEIEhgCKkDC7hv+npeXqchkzjp5KrPEQAwEGkwtoYLNl3QTZGWZCehPOUeHJax0dU0PWEw7Jfp3mgn+WsDXfphB8IXIH2TTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcKEzdUGEgzON1bQgJJI7443qJoaDMWpLk+aOq6v4QLYeiIw97bJzBoyNaTLPnC2Lgk1a7dFM+BZvwg/zHJDYp6/HKESKEvb+7f+DhYFgKWmTOlOKq4Dsr62iMACIlq/x7IfCOw/kqY8sNmStQO+alaL+l9VPl9rW5o5F/1bT8pr150EEBe9s7BOpDSEqq5zRo2g9969NT/zH+nseT3DSoiX2oGMve+51O1ywHUAnWXe5L6vFMQiazJxnRLmz5S70Ls7w3jPL+P38pWsvnRdFITWUnzu/Zfyf2g5wm6BrmnnXJuTDcVhz+HtaV6+ba2/ROxgDSxIB1F3uoDQxmsGtjSEyfzq79YKfLykOamCC7KrlZBLfLwKXzLq+4F/NAHXyWlsq022rjk697p+duTM4If7gDetGcBy15v+ccFxOCoCXLzTWxCqs8EVrrHHrz6Cu8SlEvXgBLT1bwZsZSjulHYHlUlI+GMCUvZZZDoKBtFxC5fkl62v7JmsbuQrPTYW+aYch1/4diXn6ZGiYLcTX0FyCbJkCco+6w4ZKEcr/+JGqwtpm7Js1aWVS7jxKmh3aZADakKSwtR+u8pTDfD6XX421A0BtJwmwaAw4hpEl+o2L49W7mwl5oQz69eqV8518MBsRnY0V5BCDQbYYQ9juJDLTeBbhgAC8kHZ8+r89Jzi9F5FphgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ucu5Hbi9toGXdRCQ8Fq6Jg",
      "input": {
        "note": "Bear re-grasped (0.22). Last drop landed just short of the rim, so this time I move ~5 cm further forward over the basket mouth before lowering in.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.19,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Ucu5Hbi9toGXdRCQ8Fq6Jg",
      "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]: [-0.5365, 2.2704, 2.4302, -1.5578, -0.374, -0.8581, 0.2226, -0.0147, 0.8268, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4323 left_y=-0.1779 left_z=0.1814 left_yaw=0.4281 left_pitch=-0.6069 left_roll=0.1329 left_gripper=0.2226 right_x=0.2931 right_y=0.0014 right_z=0.1663 right_yaw=0.0002 right_pitch=-0.0687 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -15.706, 6.5299, 0.4664, -0.4371, 0.2906, 1.033, -0.1026, -1.4427, 7.0359, 1.6679, -0.0757, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a30fbf5a465a8414620cedcecc62eb10303826870c8a99fe4043604befc329ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34b59b34306abd52f1dea655e06607d6ee46d1947e9fcaafc9791154db67b7e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6ce0bc4fe7ae19e1c549ce505ac570e7506567d2eaa2149d076908281d51f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 4.096 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5632, 2.0232, 1.5829, -0.9463, -0.392, -0.8631, 0.9967, -0.0147, 0.8249, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3975 left_y=-0.167 left_z=0.0701 left_yaw=0.4082 left_pitch=-0.5855 left_roll=0.1312 left_gripper=0.9967 right_x=0.293 right_y=0.0014 right_z=0.1669 right_yaw=0.0001 right_pitch=-0.0668 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -8.2393, 4.8752, 1.1306, 0.2808, -0.105, 0.1148, -0.1983, -1.3607, 6.9949, 1.6874, -0.0269, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 2.0232, 1.5723, -0.931, -0.3969, -0.8635, 0.2203, -0.0147, 0.8249, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3986 left_y=-0.1657 left_z=0.068 left_yaw=0.4105 left_pitch=-0.5789 left_roll=0.1298 left_gripper=0.2203 right_x=0.293 right_y=0.0014 right_z=0.1669 right_yaw=0.0001 right_pitch=-0.0668 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.5915, 6.7761, 0.4615, -0.1929, -0.0122, 1.0281, -0.212, -1.2376, 7.1316, 1.7167, -0.0464, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5365, 2.2704, 2.4302, -1.5578, -0.374, -0.8581, 0.2226, -0.0147, 0.8268, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4323 left_y=-0.1779 left_z=0.1814 left_yaw=0.4281 left_pitch=-0.6069 left_roll=0.1329 left_gripper=0.2226 right_x=0.2931 right_y=0.0014 right_z=0.1663 right_yaw=0.0002 right_pitch=-0.0687 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -15.706, 6.5299, 0.4664, -0.4371, 0.2906, 1.033, -0.1026, -1.4427, 7.0359, 1.6679, -0.0757, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a30fbf5a465a8414620cedcecc62eb10303826870c8a99fe4043604befc329ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34b59b34306abd52f1dea655e06607d6ee46d1947e9fcaafc9791154db67b7e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6ce0bc4fe7ae19e1c549ce505ac570e7506567d2eaa2149d076908281d51f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AgKjgEIEhgCKkAP/2YCGFGp7ZtBQTXfFPkmKDn/cTkCPZfM2++qNKyCjRz2JE22k3O4lssG/mHDe3oZ6cCAXugFibWw6GND+n4TMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcyEzdUGEgyDMgrIP+oTcL7KZzkaDL4P1bmtT62rA9e+NyIws5ZtNSySd90f2ikFoKIKwrz6QJBc1oR8LN90PfBiyLxlFvA10rxMZ6/F17xQzeSnKooHrVovyf1QmCuGaAp2cJDkrG6VoEl4F0gC5d24r/0mx7pvc5k49Z+UuLLTwrpFsREhcmlbMGHlwjECEVGlbjqpwaL30t5AoOncGdXyS44TzE9vTWjojylgXI+tYEcNR7Xai8wMZQLjiqORW/iFRrLP/0OQ9DY/TLHIgsznVrlCzUic2enmK7Q3i/U3BEs3/hwIRhmLb2a1+7WzTuqJ2P5ELcXBWkNS21gaYr/eXSIxBMJSGm8casXvxWlbszGQYXZa3B4I1/fiip7q9gBqWRv/D/H5LLTDr63seAlY3cKnkz40WVAIFnuZzameM20GV4Mwb+oZaQ8DAmIvjAHV01TcohExEiPZYgVHjShHaK/tR9AWmEbW9IgLa+alGAjqAHOKxhLq5/0FcGMmriqBv5qdJWxnWg5TuBqE3ai9C1IoYHo+cTndNhZttqiKH6mI3/xYRw7v+VqGzHnHiHacw5zov9EUbBUs2pkrR3m4beCX0XCAHLYc5Y2mf0ChfFG8YAINfHXYaabh7wzShHM+UOjMhD9WeT7nGPHMmeTA1H4HFhyfEoz+I6XpZ/k+x9ncteE/mBIcFzZgmdeOwx1xC8ayYz1wu4bT/deH294otasAMObcJ52KjUPvU8739aoUXGprKUmMo4BHPsOPbmsTY9gzOVAu3qYNd+Zsx2ufiAZp1HRSU+EfxNPh+u67AEkd+4V4rjAnlk76TK4dg3u8mz1CIIyNQeAUsFlbUZBA95Wpwz93WJEa5il7itirpB+7oFy1gVsTB2hOAUFl00d0v49g60XCYnS5oBRU8mkVQK4ycR0Nx97NgHWyCyNiwcVeldoItxD2m2+YQIB2ksZ8Htujk0t5zxqH0z4sC+G0NkrzTtiKEo8VwE9pCAIpZpRzkdCUvYlMEMR+W1wIt7j25u4e5noDMUHQpqwvaC2bmd6jdmNkhC66nM79XISxGP9Qua9WhsDuh/u9qOzWb1vCnMyRcGSfawFQhYo/mOUxPcAc59sjeBTbO0uQsMHjoYU7bctECaZe6w8iOqtUuRqQObWuIQfQhBwrejkAfuEhOg/6qxmOwo5K6rBdhv8aSGdLN17usRge69ZDY5FLL7p+yAfB/sUXxA1TtJTKKL/2apM3b1pbUy9ltVLpPq8OqkJpJ4W4K/0vK2WQWVbeNRB6J6KGPd/MKc4W+ML5VGyqllnqJ71iQRwuI3Z4IzR6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0134AyZUCReNQpjCQx8vEUcj",
      "input": {
        "note": "Wrist view clearly shows the basket's interior to the right of the held bear, so I'm still hanging left of the mouth. Shifting 8 cm to my right to centre the bear over the basket.",
        "targets": {
          "left_y": -0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0134AyZUCReNQpjCQx8vEUcj",
      "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]: [-0.6655, 2.3615, 2.4668, -1.5585, -0.3817, -0.9886, 0.2226, -0.0147, 0.8276, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4144 left_y=-0.237 left_z=0.1509 left_yaw=0.4209 left_pitch=-0.6191 left_roll=0.134 left_gripper=0.2226 right_x=0.2931 right_y=0.0014 right_z=0.1661 right_yaw=0.0002 right_pitch=-0.0694 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.1368, 8.5949, 0.3687, -0.4664, -0.0269, 1.0281, -0.3624, -1.3333, 7.159, 1.6972, -0.0122, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c20da303ff97fbdf49a91269ae321556141441b1be0116671957156a8975228f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dad0a4f076b9dcb5f0e5311a37ba6eaed532bc5435fa857249eb74367b899f78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82e7310f3a5115aab11982e72ce82b1ea153e984b6d5a96cf7321d77ef8b0d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 15.66 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5613, 2.0232, 1.5723, -0.931, -0.3969, -0.8635, 0.2203, -0.0147, 0.8249, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3986 left_y=-0.1657 left_z=0.068 left_yaw=0.4105 left_pitch=-0.5789 left_roll=0.1298 left_gripper=0.2203 right_x=0.293 right_y=0.0014 right_z=0.1669 right_yaw=0.0001 right_pitch=-0.0668 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.5915, 6.7761, 0.4615, -0.1929, -0.0122, 1.0281, -0.212, -1.2376, 7.1316, 1.7167, -0.0464, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5365, 2.2704, 2.4302, -1.5578, -0.374, -0.8581, 0.2226, -0.0147, 0.8268, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4323 left_y=-0.1779 left_z=0.1814 left_yaw=0.4281 left_pitch=-0.6069 left_roll=0.1329 left_gripper=0.2226 right_x=0.2931 right_y=0.0014 right_z=0.1663 right_yaw=0.0002 right_pitch=-0.0687 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -15.706, 6.5299, 0.4664, -0.4371, 0.2906, 1.033, -0.1026, -1.4427, 7.0359, 1.6679, -0.0757, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6655, 2.3615, 2.4668, -1.5585, -0.3817, -0.9886, 0.2226, -0.0147, 0.8276, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4144 left_y=-0.237 left_z=0.1509 left_yaw=0.4209 left_pitch=-0.6191 left_roll=0.134 left_gripper=0.2226 right_x=0.2931 right_y=0.0014 right_z=0.1661 right_yaw=0.0002 right_pitch=-0.0694 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.1368, 8.5949, 0.3687, -0.4664, -0.0269, 1.0281, -0.3624, -1.3333, 7.159, 1.6972, -0.0122, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c20da303ff97fbdf49a91269ae321556141441b1be0116671957156a8975228f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dad0a4f076b9dcb5f0e5311a37ba6eaed532bc5435fa857249eb74367b899f78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82e7310f3a5115aab11982e72ce82b1ea153e984b6d5a96cf7321d77ef8b0d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wMKjgEIEhgCKkDKsmRTd9Wr3NSa7Jap/eUgpeGrR9QmfavRmrnKUMDZMrpAAECtmC1wdtAA1xERAp+04B2zjZzKjVPY07YxKmk4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdKEzdUGEgyGY00u/NN9n3C8G7IaDDD/ClE8U1fL2LY/TSIwAOh4H7ijKfsHdnRnAUv8e64/DVYNx5txWm/iJg6BcO1yp+sJ5LFAFNodilnk+hwBKoECFFaI9k8BvnQXMtJLnoZEArwxaBRmzthEr+EeW31A9bmQwjcFA4Q+BV8G2+kloW1jx1Vhno8di2tFKw9HMAuc/0bOyyHFIo4z3g51SNrS+ZH1iqO1NsHh8FoNZRUclppezPJl0xxvj8be2eNKHxSiSXzWy2OguPjMXNykMttVkIODhtu73Mlb0e8amqztKyJ/UGET1XTxhRzKFDzkLTUWFUkmevmUwnESHrwcpNAmWg8NcgyFit9MHbs4wYzMk7hnOak2UXdlppafvOsJTkjEP6gauMq2b9N3KmqFqlxkm+K1ouU06Vm8n3+O/C1AtnYNfnkGl0YGahVakzufaFvXRr8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bvn28nvQaXamXNYdmk8xeK",
      "input": {
        "note": "The bear now hangs inside the basket walls in the wrist view. Opening to drop it into the basket.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Bvn28nvQaXamXNYdmk8xeK",
      "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]: [-0.6701, 2.368, 2.4313, -1.5288, -0.3855, -1.0035, 0.9953, -0.0147, 0.828, 0.6067, -0.4088, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.415 left_y=-0.2395 left_z=0.1395 left_yaw=0.4354 left_pitch=-0.6202 left_roll=0.1425 left_gripper=0.9953 right_x=0.2932 right_y=0.0013 right_z=0.166 right_yaw=-0.0002 right_pitch=-0.0698 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -14.8171, 5.135, 0.4762, -0.3199, 0.0611, -0.0073, -0.3761, -1.388, 6.9949, 1.6874, -0.022, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88928ae1d4443b8c09cc7bf7707be7b29d046b531222a2d1b4c56ec8eaad29a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c9c1b5fb810cc2503d2281cd12e415bbcaa4c07a3f809a3ea8c9ccf82be126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:192237f72da7805b9283bb81e7e5de262a141b5545c6daf60ee244ec32e50a83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 18.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5365, 2.2704, 2.4302, -1.5578, -0.374, -0.8581, 0.2226, -0.0147, 0.8268, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4323 left_y=-0.1779 left_z=0.1814 left_yaw=0.4281 left_pitch=-0.6069 left_roll=0.1329 left_gripper=0.2226 right_x=0.2931 right_y=0.0014 right_z=0.1663 right_yaw=0.0002 right_pitch=-0.0687 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -15.706, 6.5299, 0.4664, -0.4371, 0.2906, 1.033, -0.1026, -1.4427, 7.0359, 1.6679, -0.0757, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6655, 2.3615, 2.4668, -1.5585, -0.3817, -0.9886, 0.2226, -0.0147, 0.8276, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4144 left_y=-0.237 left_z=0.1509 left_yaw=0.4209 left_pitch=-0.6191 left_roll=0.134 left_gripper=0.2226 right_x=0.2931 right_y=0.0014 right_z=0.1661 right_yaw=0.0002 right_pitch=-0.0694 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.1368, 8.5949, 0.3687, -0.4664, -0.0269, 1.0281, -0.3624, -1.3333, 7.159, 1.6972, -0.0122, -0.0366, -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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6701, 2.368, 2.4313, -1.5288, -0.3855, -1.0035, 0.9953, -0.0147, 0.828, 0.6067, -0.4088, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.415 left_y=-0.2395 left_z=0.1395 left_yaw=0.4354 left_pitch=-0.6202 left_roll=0.1425 left_gripper=0.9953 right_x=0.2932 right_y=0.0013 right_z=0.166 right_yaw=-0.0002 right_pitch=-0.0698 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -14.8171, 5.135, 0.4762, -0.3199, 0.0611, -0.0073, -0.3761, -1.388, 6.9949, 1.6874, -0.022, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88928ae1d4443b8c09cc7bf7707be7b29d046b531222a2d1b4c56ec8eaad29a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c9c1b5fb810cc2503d2281cd12e415bbcaa4c07a3f809a3ea8c9ccf82be126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:192237f72da7805b9283bb81e7e5de262a141b5545c6daf60ee244ec32e50a83",
        "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_011t6WQ99d1jTcekYDmgXWj5",
      "input": {
        "note": "The tan bear is now sitting inside the teal basket — category two is placed. Now going back to the white/grey plush at my far left, approaching low at the edge of my y limit to grab its body.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.26,
          "left_y": 0.05,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_011t6WQ99d1jTcekYDmgXWj5",
      "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]: [-0.0105, 1.3262, 0.6361, -0.4606, -0.2359, -0.3637, 0.9983, -0.0147, 0.8314, 0.6067, -0.4091, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2822 left_y=0.0419 left_z=0.0378 left_yaw=0.429 left_pitch=-0.5306 left_roll=0.0695 left_gripper=0.9983 right_x=0.2933 right_y=0.0014 right_z=0.165 right_yaw=0.0004 right_pitch=-0.0736 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [0.4718, -3.2479, 3.4256, 0.5641, -0.2808, 0.1929, -0.1978, -0.0615, -1.7436, 7.2, 1.746, -0.0708, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b847a1eb31cb29b03a955d56147dc664b31af2a373fe0d1910e265909610c9c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db06f7394306c0d0898dc0200313f34bd3fe0e1821c83e931a531899bd36e956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db201456a11501080b581a6dec11b0e7d0c28afb14b8d34efae6b03547635c78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 20.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6655, 2.3615, 2.4668, -1.5585, -0.3817, -0.9886, 0.2226, -0.0147, 0.8276, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4144 left_y=-0.237 left_z=0.1509 left_yaw=0.4209 left_pitch=-0.6191 left_roll=0.134 left_gripper=0.2226 right_x=0.2931 right_y=0.0014 right_z=0.1661 right_yaw=0.0002 right_pitch=-0.0694 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -12.1368, 8.5949, 0.3687, -0.4664, -0.0269, 1.0281, -0.3624, -1.3333, 7.159, 1.6972, -0.0122, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6701, 2.368, 2.4313, -1.5288, -0.3855, -1.0035, 0.9953, -0.0147, 0.828, 0.6067, -0.4088, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.415 left_y=-0.2395 left_z=0.1395 left_yaw=0.4354 left_pitch=-0.6202 left_roll=0.1425 left_gripper=0.9953 right_x=0.2932 right_y=0.0013 right_z=0.166 right_yaw=-0.0002 right_pitch=-0.0698 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -14.8171, 5.135, 0.4762, -0.3199, 0.0611, -0.0073, -0.3761, -1.388, 6.9949, 1.6874, -0.022, -0.0806, -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 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0105, 1.3262, 0.6361, -0.4606, -0.2359, -0.3637, 0.9983, -0.0147, 0.8314, 0.6067, -0.4091, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2822 left_y=0.0419 left_z=0.0378 left_yaw=0.429 left_pitch=-0.5306 left_roll=0.0695 left_gripper=0.9983 right_x=0.2933 right_y=0.0014 right_z=0.165 right_yaw=0.0004 right_pitch=-0.0736 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [0.4718, -3.2479, 3.4256, 0.5641, -0.2808, 0.1929, -0.1978, -0.0615, -1.7436, 7.2, 1.746, -0.0708, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b847a1eb31cb29b03a955d56147dc664b31af2a373fe0d1910e265909610c9c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db06f7394306c0d0898dc0200313f34bd3fe0e1821c83e931a531899bd36e956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db201456a11501080b581a6dec11b0e7d0c28afb14b8d34efae6b03547635c78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyBQKjgEIEhgCKkBiKG+Y830zd8IhsM+fqQLsP0bLD98cbHiSSQ06Nr+38VP0v6uiz8IkcgMj5W/CmPe+tO0LWV3iD8AVonIn+pM2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfaEzdUGEgyNPHA+cxFh6+GpAVgaDAS+Im8cXS+XchpryiIwywN+xcvKdWLIm1M9Cs1HBafloXgSmuTZNWpznwX3YrAesMCq2dI98PgpvLdthHF7KuYS3+UYa5N/ikwM6AUgTmK0Fw7YxJoTKn+1EmuUMuHY3CKunFwzwGw1HTXiDHSygm6XtwE1NxSc8DXrd40USHBcOeRbDTo3hfVprpx7c8RjvUI4ebbLzznbSNgOBdg42uIDQ1ZcqvpIzpIyk/iPTfpsabeoR/gU/yaJEivfyesvmBRPagbgFkuz915dbXxKAZMPjP2T2hSXO4CxyV3RaSh9pSzzwQmp7THSTF1mpq/6H+/5tlfsBOGzkI7ZO/UvJgEwFBw4MAu7ZkChhz3L3GW+2Afgtn8OkLDBrwaaiZVZtlMM2XfPaGomSQzj95hi4r2Dya/Ru5MaqKGNtjA4YuJeA4DxztK2MsVYK4+TNAaUpdz9y23exxZr17EqCwAgR665zaj7HVvkJn1NXaLV2ZTcAQgfiGGRvhOaJprGbvW+8WHpe5e+st/wB5bcgamVdWXSkX/Ym0nyoJhrImf7EO9Rra6B0TfeXvi6jNndQYYLVgtw/Aupx2dWueLfChC4EUVeJRO+Y0V0Cq/yxjflAhAKkcuaFLQCOB4jghl8uLjlwPP7jbPj9CjtjG5ak98gE+YthyD9RtC4Z6kAN3NBR8d4KkmlfhMN34LoC2nWsja7e/hG10EtOEfoiDKgI1qKrCJgg1n52IgsYobKDaYS/Gy3VDi5YbV7dvTNq+yZ3f59bht8OXxSvwG8IxhJbdbL2KW5GuRFAkFqY8ABUt8Dlv+8U36Dbw5R7aXx5lsG2KrrnOu85OKd0UzayoI3AJrgWey1edtwNY+DVFwNtwQzrEvz8MyaCLTQ81k1Uyl+mjEIxzeTMmHjuFJuDz5EZb6vfqWSDFx3UDcnqQq+CN1A/68lql60ukQqiNBd9FIAc9KugPtKOafjUja/zlE6eSEMmRYoR+mNoF0Z8yRET/gFnJlgz5HA+fn0tV4+vRueFeK6wR44cQwbNc4EuuLQCn4F0G603ILo5ixg61JLf4Rx6RmsJAiXPYCaaD9SjdOr6MDSnNPcoHsN6wo2P1BaprfCFPWJeu8I6j5j1RcRBDN5glxbCEJsxoGZM69VXxkmERhh/pcD9lghZfLCl3DEVh17xqPnqWk4nwiU944lZnAz2cDNlh8KAaZWm9B82wYjHSZIL+BB7FizFF/nsV+St6iuNzLUQQ3frttWA5BibK3ORLLffLkl0EZ2QAKEZ79WcFRyA7QCsUF7WtcHEeTmDCrsl0nWuoDObxZ5UIdgIr6fIq/3CuuTfz32HVlnMeKauduHaC9EyhlOqfSEVd+vTJJdaBMZjOYBwqJqaWJpBWPAbmViqJi3SKtZk0hhloRX3nAHoGtN5xpYVmrG9C9aMDPCz5q14dKSIzWxqhG21cn8WhiH5PPaYn3giFU4Fu4t5/LiywACfyETy8+vSEdudHrf8gm6L3qc2DcMeZpnbmB0Vdc70rGd3xmoUbPbvjFCGgPgP0dOxTIbyuCRE+NmWO5R6cnPb3k+jRZDs2qaiPV5XlXAULIjAUkiyFVjbr7qKa+zkM01bUzOiKMW9X++SpDrRoPM+Aw3i2HhrmKviUPPvUmp65TwipbavE2733AVOmcdISST0Fs7TRGVKPh7yHGQfLgu88HZSDaF5vVzpuU6pmSltePN+i0zRV6+/k8FrSEWC7r8I8SWnPrEETRZnhR0GJ/BteL+gZBWaV2jwOWTOe63oG6jLkSqFqpD/cN4ZdLTvWrtBBwtzTkWjKTWnLTxK68b4zKNgS9lmZ+SnzQ2RUBLnuo1jsopnmTPfQuRMfMFZZ47r04/3JKEOt82cmDJXBZOpNF+DEsQCwf4ZvgtWcwnYXwImVjWkzXbHBUGXDUhCqJlSXU6XWSp5uv7NwBrFbQnH7k4ICB4rn35tTAn0jq7DEyMn4vwfeUmiPuZY7jKNlz3BzVJNFqpdfEvbhqD9t9dfsWL5ixLshyLFwDzuBqa9C2DcnZbz/IbvXQVJ1bClr6PPgkko6s2VJaoH0pexnSUG0XeTBQ1eYC6Fqrtbvvisct5oxoRZPI2Qz459RZQU2LFa9MzhFT4YfHdj+k1ecnwgGbC6qu3ojk8p0DOWfkOCRDyDZjf6VVJBj+XaeVTU8KG7S+YSOdJklpjQY5xLisL8wrQS//B0IJ/EcKWAFjChDrb0H2Q/cqYzV+g2lx/J61CEQfkVS2gO4Hn99ZxVSHHLaCgwFZpR0nwzfkDfiREAnhzzVtV5BTasJ6WgMsSpB0ovmq6sErdRwk1lx6NniluPMf+sS3S8Ht0jv0WNBYRe/UMoDk/S0tRULN6rUJujzVHrcFvRodgHDvLLL8p7W+i9pYbwfAhctuTg9dmJQTrVotlv9kRpFimkqDu1CxuqLJ54RJu9JJHHjSNnyT28NtbvIz6R5JaksaZvI8ucq4TkzrZs48dl4XrXcbIzlfG5MObemxfcIwkTMOnKnKGvsdstleiZW+0ppyRuct5iNFIDNScvJm5KiLPN+9g91HqWZVYgx1pr/UVhZXttzV6O4HXGBVQbLB36FePLVyq3bVE9c4mmGEoDBVRKG42ff4+xAZRWEA2/qlWxtAlQNw1ObFi9PGoFZdbjuiCDc7yQQFwrLLwCkMxBoHQ2YpCyySnIWWwwsqpN8ttDz+xGGDfK4HEC12892C0blerrVNEgUoYEw35ZFJ6IrPNvw1e490dNjr5zWmk1mPDKxA6ZB3ktNJJe9aWmRX4+NYihWEHsen01r3lhionZVxWCQMs9vLvs4CtTma4fGLmVlFJQAFg74WtOCtWZr6Xr/DPMbss+YMIRPesyd8ydLPZ5wr5q/o/+ogn4tqfUZo9f+7tk5ui1E+UM9O7gXuF5R9euZ9VdK+O3I0NU9q75Uug80mEwaIvcNGpUGpVmhk0xuHj3jmQL9yP0dE20EnVgnsiglFbRvg4SgMJ407BS1tjM/bu/ew0ry0wxag3wQryuJLJ5eM2LYJN/IrQD1FvZCEI10QOHyWvE5wDgYMKLbET6fMkZN18+pfDTEORNBRnh9WrUTZ1gmZhIB/4zOXC0HVetFxNc+cBs/B5uF4zpquBMrbWozrMsStYzi+BTt5bksa834+DjDdMKviWEi25urNU3ZPhD+i4ZcFuQNLNaKfZZv3oEdF0mlATIl4MDUWKkrMCPPUx1ywPu2vTz0y90HnTcBBWI8upP+y04YwFFdBXDIgVyiXrmWjrHbJ9iyzDiX+NbkmPofxyeQiuNXsDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LVwyH4soQqx6zvNngHQXU9",
      "input": {
        "note": "Surprise: my gripper is inside the empty teal basket, so that basket sits at about x=0.28, y=+0.04 — much nearer than I assumed. Backing out toward the white plush just outside it on my left.",
        "targets": {
          "left_x": 0.22,
          "left_y": 0.05,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LVwyH4soQqx6zvNngHQXU9",
      "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]: [0.0299, 1.034, 0.4908, -0.5179, -0.2108, -0.3321, 0.9982, -0.0147, 0.836, 0.6067, -0.4084, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.2429 left_y=0.0478 left_z=0.0518 left_yaw=0.4085 left_pitch=-0.4583 left_roll=0.0231 left_gripper=0.9982 right_x=0.2936 right_y=0.0013 right_z=0.1639 right_yaw=-0.0002 right_pitch=-0.0774 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.6222, -1.306, 5.4632, 0.7399, -0.2759, 0.105, -0.0269, -0.335, -1.6068, 7.1726, 1.7411, -0.022, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8665795db0815ad8e60c8123851393e4f3361ad0324d6e97fa3179de05781eec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ef2bbed492c324370606e4bd7d228cf279e442828a9e7041f9b7292f21d08a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:659675c973396aced63234b9cec2233d712832f88095907aaa3b4c7c614edef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 8.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6701, 2.368, 2.4313, -1.5288, -0.3855, -1.0035, 0.9953, -0.0147, 0.828, 0.6067, -0.4088, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.415 left_y=-0.2395 left_z=0.1395 left_yaw=0.4354 left_pitch=-0.6202 left_roll=0.1425 left_gripper=0.9953 right_x=0.2932 right_y=0.0013 right_z=0.166 right_yaw=-0.0002 right_pitch=-0.0698 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -14.8171, 5.135, 0.4762, -0.3199, 0.0611, -0.0073, -0.3761, -1.388, 6.9949, 1.6874, -0.022, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0105, 1.3262, 0.6361, -0.4606, -0.2359, -0.3637, 0.9983, -0.0147, 0.8314, 0.6067, -0.4091, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2822 left_y=0.0419 left_z=0.0378 left_yaw=0.429 left_pitch=-0.5306 left_roll=0.0695 left_gripper=0.9983 right_x=0.2933 right_y=0.0014 right_z=0.165 right_yaw=0.0004 right_pitch=-0.0736 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [0.4718, -3.2479, 3.4256, 0.5641, -0.2808, 0.1929, -0.1978, -0.0615, -1.7436, 7.2, 1.746, -0.0708, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0299, 1.034, 0.4908, -0.5179, -0.2108, -0.3321, 0.9982, -0.0147, 0.836, 0.6067, -0.4084, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.2429 left_y=0.0478 left_z=0.0518 left_yaw=0.4085 left_pitch=-0.4583 left_roll=0.0231 left_gripper=0.9982 right_x=0.2936 right_y=0.0013 right_z=0.1639 right_yaw=-0.0002 right_pitch=-0.0774 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.6222, -1.306, 5.4632, 0.7399, -0.2759, 0.105, -0.0269, -0.335, -1.6068, 7.1726, 1.7411, -0.022, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8665795db0815ad8e60c8123851393e4f3361ad0324d6e97fa3179de05781eec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ef2bbed492c324370606e4bd7d228cf279e442828a9e7041f9b7292f21d08a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:659675c973396aced63234b9cec2233d712832f88095907aaa3b4c7c614edef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015bSL6ryByRzHn2Y363r2NJ",
      "input": {
        "note": "The white plush lies just below the near basket, closer to my base. Moving over it for a grasp so it can go in the second (empty) basket.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.19,
          "left_y": -0.01,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015bSL6ryByRzHn2Y363r2NJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0334, 1.0115, 0.4839, -0.5346, -0.205, -0.3283, 0.9988, -0.0147, 0.8364, 0.6067, -0.4095, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2387 left_y=0.0475 left_z=0.0521 left_yaw=0.4048 left_pitch=-0.4612 left_roll=0.0206 left_gripper=0.9988 right_x=0.2935 right_y=0.0014 right_z=0.1636 right_yaw=0.0004 right_pitch=-0.079 right_roll=0.0005 right_gripper=0.9997\nstate[joint_eff]: [0.1162, -2.1128, 5.135, 0.569, -0.2808, 0.0904, -0.1538, -0.212, -1.4291, 7.0906, 1.6728, -0.0464, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:851a3770d273a4f26c6eb4d13d05e68912738766c1568540cb634655f0585512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5793b6808b935073772cc339507e9c974ec4800dbce7a209a60dbdeec6b18eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66387bfc489097eb7f5c21fc2dd3a59d04d6482cf2847c97ea4bfd82918b50dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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