adhoc

completed
2026-09-23T01:23:57.336106+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
401.2 s
total steps
328
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows two teal baskets far side, and near side a cluster of plush toys plus a yellow marker and white pen-like sticks. I'm hovering the left gripper over the plush toy cluster to get a wrist-camera look before grasping.
move_to
left_x0.2200left_y-0.2700left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0158, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.6479, 9.7436, 1.7851, -0.0122, 0.2076, -0.0562, -0.9094, -1.2786, 9.9077, 1.7314, -0.0904, -0.0269, -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": 0.22, "left_y": -0.27, "left_z": 0.2, "left_gripper": 1}, "note": "Top view shows two teal baskets far side, and near side a cluster of plush toys plus a yellow marker and white pen-like sticks. I'm hovering the left gripper over the plush toy cluster to get a wrist-camera look before grasping."})
tool
executing move_to over 25 steps (2.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteLeft wrist view shows a tan teddy bear centred on the jaw column with the baskets beyond; per rig notes the fingertips are a few cm short, so I advance 3 cm radially and drop to 7 cm to line up a grasp on the bear.
move_to
left_x0.2500left_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.3212, 1.5047, 1.179, -0.8886, -0.9428, -1.1545, 0.9996, -0.0147, 0.7967, 0.6086, -0.3782, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2197 left_y=-0.2685 left_z=0.1911 left_yaw=-0.0078 left_pitch=-0.0204 left_roll=0.0032 left_gripper=0.9996 right_x=0.2957 right_y=0.0014 right_z=0.1817 right_yaw=-0.0 right_pitch=-0.0065 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.4444, -6.0513, 8.4581, 0.6374, -0.6374, -0.0952, -0.0611, -0.4444, -1.2513, 7.4462, 1.7509, -0.0269, -0.0464, -0.0171] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_z": 0.07}, "note": "Left wrist view shows a tan teddy bear centred on the jaw column with the baskets beyond; per rig notes the fingertips are a few cm short, so I advance 3 cm radially and drop to 7 cm to line up a grasp on the bear."})
tool
executing move_to over 8 steps (0.8s)
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 noteThe teddy bear fills the left wrist view, so the jaws are right on it; closing to grasp the plush toy.
move_to
left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2224, 1.676, 0.8326, -0.2665, -0.9047, -1.0092, 0.9996, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2483 left_y=-0.2664 left_z=0.071 left_yaw=-0.0042 left_pitch=-0.024 left_roll=0.0142 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.1299, -6.3385, 5.135, 1.1746, -0.4469, 0.0952, -0.0122, -0.3214, -1.1556, 7.2821, 1.7705, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.05}, "note": "The teddy bear fills the left wrist view, so the jaws are right on it; closing to grasp the plush toy."})
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 settled at 0.46 — it has a thick soft object (the bear) between the jaws. Lifting to 25 cm to confirm the toy comes with it.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2232, 1.676, 0.8318, -0.2455, -0.9054, -1.01, 0.4596, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2492 left_y=-0.2694 left_z=0.0726 left_yaw=-0.0046 left_pitch=-0.0164 left_roll=-0.0052 left_gripper=0.4596 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0479, -7.2137, 5.6, 0.8083, -0.442, -0.0122, 1.033, -0.1709, -1.1556, 7.0359, 1.7118, -0.0317, -0.0708, -0.0122] 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": 0.25}, "note": "Gripper settled at 0.46 \u2014 it has a thick soft object (the bear) between the jaws. Lifting to 25 cm to confirm the toy comes with it."})
tool
executing move_to over 12 steps (1.2s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteBear is lifted (top view shows it gone from the pile). Carrying it over the left basket to drop it there — left basket will hold the plush toys.
move_to
left_x0.3500left_y-0.1900left_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]: [-1.2232, 1.5333, 1.3769, -0.9577, -0.8795, -1.0214, 0.4595, -0.0147, 0.7967, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2478 left_y=-0.274 left_z=0.2331 left_yaw=-0.0098 left_pitch=-0.0465 left_roll=0.0002 left_gripper=0.4595 right_x=0.2949 right_y=0.0013 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.013 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.335, -8.1573, 8.3897, 0.7888, -0.6618, 0.0904, 0.9597, -0.0889, -1.2786, 7.1726, 1.79, -0.0269, -0.0415, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.19, "left_z": 0.28}, "note": "Bear is lifted (top view shows it gone from the pile). Carrying it over the left basket to drop it there \u2014 left basket will hold the plush toys."})
tool
executing move_to over 8 steps (0.8s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteWrist view shows the left basket is off to the arm's left of the jaws; shifting 5 cm left and 3 cm forward to centre the bear over the left basket.
move_to
left_x0.3800left_y-0.1400left_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]: [-0.7578, 1.4574, 1.3804, -0.7792, -0.5976, -0.5312, 0.4598, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3473 left_y=-0.1869 left_z=0.2522 left_yaw=0.0055 left_pitch=-0.1129 left_roll=0.0488 left_gripper=0.4598 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1983, -8.1436, 9.2786, 1.6679, -0.3101, 0.1441, 0.7839, -0.1573, -1.4154, 7.1863, 1.7363, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.14, "left_z": 0.28}, "note": "Wrist view shows the left basket is off to the arm's left of the jaws; shifting 5 cm left and 3 cm forward to centre the bear over the left basket."})
tool
executing move_to over 5 steps (0.5s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteLeft basket now centred on the jaw column but sitting high in the wrist frame, meaning it is still further out; advancing 5 cm before releasing the bear.
move_to
left_x0.4300left_z0.2700
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]: [-0.5541, 1.4597, 1.438, -0.807, -0.4625, -0.3843, 0.4601, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3761 left_y=-0.1358 left_z=0.261 left_yaw=0.0271 left_pitch=-0.1597 left_roll=0.0655 left_gripper=0.4601 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.4034, -6.8171, 9.3744, 1.5702, -0.1832, 0.2173, 0.6813, -0.0889, -1.2786, 7.0496, 1.7753, -0.0317, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_z": 0.27}, "note": "Left basket now centred on the jaw column but sitting high in the wrist frame, meaning it is still further out; advancing 5 cm before releasing the bear."})
tool
executing move_to over 5 steps (0.5s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteBasket now fills the wrist view but its near rim is still below the jaws; advancing 3 cm more so the bear is over the basket interior.
move_to
left_x0.4600left_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4698, 1.644, 1.6104, -0.8257, -0.4026, -0.3355, 0.4607, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4236 left_y=-0.1334 left_z=0.251 left_yaw=0.041 left_pitch=-0.2111 left_roll=0.0791 left_gripper=0.4607 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0156 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0068, -8.212, 9.4974, 1.619, -0.2564, 0.1294, 0.3004, -0.1162, -1.0872, 7.1453, 1.7411, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_z": 0.26}, "note": "Basket now fills the wrist view but its near rim is still below the jaws; advancing 3 cm more so the bear is over the basket interior."})
tool
executing move_to over 3 steps (0.3s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe arm stalled at x=0.42 (reach limit at that height), so I lower to 20 cm while pushing forward to get the bear over the basket mouth.
move_to
left_x0.4600left_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]: [-0.4698, 1.644, 1.6104, -0.8261, -0.4023, -0.3355, 0.4617, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4235 left_y=-0.1334 left_z=0.2509 left_yaw=0.0407 left_pitch=-0.2116 left_roll=0.079 left_gripper=0.4617 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1299, -8.2256, 9.5248, 1.6679, -0.2076, 0.188, 0.0952, -0.1436, -1.2513, 7.0359, 1.7411, -0.0122, -0.0415, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_z": 0.2}, "note": "The arm stalled at x=0.42 (reach limit at that height), so I lower to 20 cm while pushing forward to get the bear over the basket mouth."})
tool
executing move_to over 4 steps (0.4s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteArm is stalled at its reach limit just short of the basket; pitching the tool forward and nudging 2 cm out/down to lean the bear over the basket mouth.
move_to
left_x0.4400left_z0.2200left_pitch0.2000
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]: [-0.4698, 1.644, 1.6104, -0.8261, -0.4026, -0.3359, 0.4619, -0.0147, 0.7986, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4235 left_y=-0.1334 left_z=0.251 left_yaw=0.0412 left_pitch=-0.2115 left_roll=0.079 left_gripper=0.4619 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0157 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.0752, -8.1162, 9.5385, 1.6435, -0.2564, 0.1685, -0.0024, -0.2256, -1.2923, 7.0496, 1.7509, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_z": 0.22, "left_pitch": 0.2}, "note": "Arm is stalled at its reach limit just short of the basket; pitching the tool forward and nudging 2 cm out/down to lean the bear over the basket mouth."})
tool
executing move_to over 14 steps (1.4s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe gripper with the bear is now over the left basket's mouth; opening to drop the plush toy into the left basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5014, 1.5391, 1.0283, -0.0383, -0.5285, -0.1989, 0.4619, -0.0147, 0.8013, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4345 left_y=-0.1325 left_z=0.1924 left_yaw=0.028 left_pitch=0.091 left_roll=0.1075 left_gripper=0.4619 right_x=0.2951 right_y=0.0014 right_z=0.1789 right_yaw=-0.0 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.4855, -9.2513, 7.1453, 2.0977, -0.4518, 0.0952, -0.0122, -0.1573, -1.4701, 7.0496, 1.7314, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The gripper with the bear is now over the left basket's mouth; opening to drop the plush toy into the left basket."})
tool
executing move_to over 6 steps (0.6s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe bear fell short of the basket — the basket sits further out than my fingertips can comfortably reach. I'm lowering to rim height to grab the basket's near rim and drag it closer to the arms.
move_to
left_x0.4500left_z0.1000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5014, 1.5391, 1.0138, -0.0376, -0.5346, -0.202, 0.9954, -0.0147, 0.8017, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4323 left_y=-0.1302 left_z=0.1866 left_yaw=0.0339 left_pitch=0.081 left_roll=0.1146 left_gripper=0.9954 right_x=0.2951 right_y=0.0014 right_z=0.1787 right_yaw=-0.0 right_pitch=-0.0187 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1026, -6.9812, 7.9932, 1.6337, -0.1685, -0.0073, -0.1636, -0.1026, -1.1829, 7.2274, 1.7118, -0.0513, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_z": 0.1, "left_pitch": 0.0}, "note": "The bear fell short of the basket \u2014 the basket sits further out than my fingertips can comfortably reach. I'm lowering to rim height to grab the basket's near rim and drag it closer to the arms."})
tool
executing move_to over 6 steps (0.6s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteConfirmed: at x=0.45,z=0.10 the gripper is right inside the left basket, so the drop earlier was just too early. Going back to re-grasp the bear which now lies on the table in front of the basket.
move_to
left_x0.2400left_y-0.2800left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4694, 1.734, 0.9493, 0.1181, -0.4927, -0.2108, 0.9967, -0.0147, 0.8032, 0.6083, -0.3851, -0.0116, -0.0158, 0.9998] state[eef_state]: left_x=0.4462 left_y=-0.1286 left_z=0.1024 left_yaw=0.0354 left_pitch=-0.0205 left_roll=0.1376 left_gripper=0.9967 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=-0.0005 right_pitch=-0.0202 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.3487, -8.0615, 5.3265, 1.8242, -0.1392, -0.1001, 0.1294, -0.2393, -1.388, 7.0085, 1.7021, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.24, "left_y": -0.28, "left_z": 0.09, "left_gripper": 1}, "note": "Confirmed: at x=0.45,z=0.10 the gripper is right inside the left basket, so the drop earlier was just too early. Going back to re-grasp the bear which now lies on the table in front of the basket."})
tool
executing move_to over 16 steps (1.6s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteBear is at the jaws but sits slightly to the arm's right in the wrist view; shifting 2 cm right and closing to re-grasp it.
move_to
left_y-0.3050left_z0.0700left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2598, 1.7519, 1.0256, -0.4957, -0.9512, -1.0443, 0.9988, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2473 left_y=-0.2876 left_z=0.0917 left_yaw=-0.002 left_pitch=-0.0188 left_roll=0.1049 left_gripper=0.9988 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1573, -7.241, 6.8718, 0.3785, -0.6178, -0.0122, -0.1294, -0.2667, -1.347, 7.0496, 1.7411, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.305, "left_z": 0.07, "left_gripper": 0.05}, "note": "Bear is at the jaws but sits slightly to the arm's right in the wrist view; shifting 2 cm right and closing to re-grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe close came up nearly empty (0.056) and the bear still sits to the arm's right of the jaws; opening and shifting 3.5 cm further right to centre on it.
move_to
left_y-0.3350left_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]: [-1.2694, 1.8301, 1.0462, -0.4469, -0.9733, -1.0714, 0.0557, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2498 left_y=-0.2993 left_z=0.0771 left_yaw=0.0105 left_pitch=0.0001 left_roll=0.0967 left_gripper=0.0557 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.6359, -6.4889, 6.9265, 0.7985, -0.3443, -0.0366, 0.2955, -0.335, -1.1829, 7.0359, 1.7314, -0.0366, -0.0513, -0.0171] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.335, "left_gripper": 1}, "note": "The close came up nearly empty (0.056) and the bear still sits to the arm's right of the jaws; opening and shifting 3.5 cm further right to centre on it."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent notePlush toy now straddles the jaw column in the wrist view; dropping 2 cm and closing to grasp it.
move_to
left_y-0.3450left_z0.0600left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2892, 1.9305, 1.1938, -0.5316, -0.9977, -1.1236, 0.9955, -0.0147, 0.8051, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2527 left_y=-0.3267 left_z=0.0808 left_yaw=0.0257 left_pitch=0.0153 left_roll=0.0945 left_gripper=0.9955 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-1.0188, -7.4598, 7.4462, 0.7253, -0.3297, -0.0171, -0.1783, -0.1026, -1.306, 7.2137, 1.6923, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.345, "left_z": 0.06, "left_gripper": 0.05}, "note": "Plush toy now straddles the jaw column in the wrist view; dropping 2 cm and closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteSecond empty close (0.056). Top view says the tan teddy is actually a few cm to the arm's LEFT and slightly further out than the jaws, so I open and shift there before trying again.
move_to
left_y-0.3000left_x0.2750left_z0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.293, 1.9976, 1.2377, -0.5297, -1.0401, -1.1419, 0.0559, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2576 left_y=-0.3346 left_z=0.074 left_yaw=0.0428 left_pitch=0.0505 left_roll=0.1093 left_gripper=0.0559 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-1.1419, -6.9675, 6.7897, 0.9597, -0.1099, -0.0757, 0.2808, -0.1436, -1.3333, 7.0359, 1.7656, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.3, "left_x": 0.275, "left_z": 0.05, "left_gripper": 1}, "note": "Second empty close (0.056). Top view says the tan teddy is actually a few cm to the arm's LEFT and slightly further out than the jaws, so I open and shift there before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteReturning to the exact pose where the first grasp of the plush succeeded (x=0.25, y=-0.27, z=0.07) and closing there.
move_to
left_x0.2500left_y-0.2680left_z0.0650left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2221, 1.9285, 1.0584, -0.2699, -1.0744, -1.0225, 0.9957, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2794 left_y=-0.3034 left_z=0.0707 left_yaw=0.0733 left_pitch=0.1129 left_roll=0.0785 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.5949, -7.8017, 3.5624, 0.7497, 0.1343, 0.0708, -0.2222, -0.1983, -1.1419, 7.1863, 1.7265, -0.0562, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.268, "left_z": 0.065, "left_gripper": 0.05}, "note": "Returning to the exact pose where the first grasp of the plush succeeded (x=0.25, y=-0.27, z=0.07) and closing there."})
tool
executing move_to over 10 steps (1.0s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteWrist view shows the jaws straddling a gap with the teddy just to the arm's left; opening, levelling the wrist and shifting 3 cm left and down to table level for a firmer grasp.
move_to
left_x0.2500left_y-0.2450left_z0.0200left_pitch0.0000left_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]: [-1.2671, 1.8244, 0.9188, -0.2466, -1.1168, -1.1099, 0.0556, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.258 left_y=-0.2803 left_z=0.0771 left_yaw=0.0898 left_pitch=0.1502 left_roll=0.0198 left_gripper=0.0556 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.5812, -8.4581, 3.2342, 0.4078, -0.2564, -0.1197, 0.2955, -0.335, -1.1829, 7.0222, 1.7363, -0.0415, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.245, "left_z": 0.02, "left_pitch": 0, "left_gripper": 1}, "note": "Wrist view shows the jaws straddling a gap with the teddy just to the arm's left; opening, levelling the wrist and shifting 3 cm left and down to table level for a firmer grasp."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteRe-reading the top view: the tan teddy is about 8 cm to the arm's left of the current jaw position, so I'm making a decisive 8 cm sideways move to line up on it.
move_to
left_x0.2500left_y-0.1800left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.2163, 1.7912, 0.7898, -0.0708, -1.0687, -1.1267, 0.9953, -0.0143, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2647 left_y=-0.2587 left_z=0.0595 left_yaw=0.1404 left_pitch=0.1248 left_roll=-0.0839 left_gripper=0.9953 right_x=0.2953 right_y=0.0015 right_z=0.1778 right_yaw=0.0004 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.253, -4.7521, 2.1128, 0.3101, 0.6081, 0.0464, -0.0171, -0.0615, -1.306, 7.0222, 1.7216, -0.0464, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.18, "left_z": 0.06}, "note": "Re-reading the top view: the tan teddy is about 8 cm to the arm's left of the current jaw position, so I'm making a decisive 8 cm sideways move to line up on it."})
tool
executing move_to over 7 steps (0.7s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe brown teddy is now big in the left half of the wrist view — still to the arm's left and a bit further out; moving 5 cm left and 2 cm forward to centre it between the jaws.
move_to
left_x0.2700left_y-0.1400left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1595, 1.5146, 0.4866, 0.1005, -1.0542, -1.0569, 0.9967, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.255 left_y=-0.1915 left_z=0.071 left_yaw=0.1718 left_pitch=0.1497 left_roll=-0.1647 left_gripper=0.9967 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.335, -4.2598, 4.0957, 0.9255, -0.2173, 0.1734, 0.1343, -0.1846, -1.2103, 7.0632, 1.7216, -0.0464, -0.0464, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.14, "left_z": 0.06}, "note": "The brown teddy is now big in the left half of the wrist view \u2014 still to the arm's left and a bit further out; moving 5 cm left and 2 cm forward to centre it between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteTeddy now sits just left of the jaw column in the wrist view; shifting 2 cm left, dropping to 3.5 cm and closing on the toy.
move_to
left_y-0.1220left_z0.0350left_gripper0.0500
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]: [-0.9909, 1.4078, 0.3061, 0.3908, -0.9668, -0.8837, 0.9968, -0.0147, 0.8055, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2729 left_y=-0.1448 left_z=0.0701 left_yaw=0.2245 left_pitch=0.1693 left_roll=-0.2324 left_gripper=0.9968 right_x=0.2954 right_y=0.0013 right_z=0.1777 right_yaw=-0.0003 right_pitch=-0.0225 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.0342, -3.3983, 3.7675, 1.0232, -0.2222, 0.2662, 0.0024, -0.1846, -1.0598, 7.0085, 1.7021, -0.0171, -0.0366, -0.0122] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.122, "left_z": 0.035, "left_gripper": 0.05}, "note": "Teddy now sits just left of the jaw column in the wrist view; shifting 2 cm left, dropping to 3.5 cm and closing on the toy."})
tool
executing move_to over 10 steps (1.0s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteAnother empty close — my sideways moves keep undershooting, so I open, straighten the wrist yaw and deliberately overshoot 5 cm to the arm's left to sit the teddy squarely between the jaws.
move_to
left_y-0.0850left_z0.0400left_yaw0.0000left_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]: [-0.9237, 1.552, 0.1986, 0.8043, -0.9417, -0.8356, 0.055, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2826 left_y=-0.1312 left_z=0.059 left_yaw=0.2769 left_pitch=0.22 left_roll=-0.3463 left_gripper=0.055 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.1299, -1.8667, 1.7846, 0.7106, 0.0024, 0.2125, -0.1148, -0.2393, -1.265, 7.0496, 1.707, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.085, "left_z": 0.04, "left_yaw": 0, "left_gripper": 1}, "note": "Another empty close \u2014 my sideways moves keep undershooting, so I open, straighten the wrist yaw and deliberately overshoot 5 cm to the arm's left to sit the teddy squarely between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
assistant
agent noteTeddy is just left of the jaws and close; nudging 3 cm left and pulling back 2 cm to sit the jaws astride its body before closing.
move_to
left_y-0.0550left_x0.2850left_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]: [-0.4793, 1.7367, 0.0105, 1.4567, -0.3786, -0.5034, 0.9954, -0.0147, 0.8051, 0.6083, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3077 left_y=-0.0823 left_z=0.0589 left_yaw=0.1136 left_pitch=0.2763 left_roll=-0.3834 left_gripper=0.9954 right_x=0.2953 right_y=0.0014 right_z=0.1777 right_yaw=-0.0 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.7863, -3.1248, 1.8803, 1.1306, 0.3639, -0.0024, -0.188, -0.0615, -1.306, 6.9949, 1.6972, -0.0366, -0.022, -0.0171] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.055, "left_x": 0.285, "left_z": 0.03}, "note": "Teddy is just left of the jaws and close; nudging 3 cm left and pulling back 2 cm to sit the jaws astride its body before closing."})
tool
executing move_to over 3 steps (0.3s)
step 217
assistant
agent noteThe teddy's head is now squarely between the two jaw wedges in the wrist view; closing to grasp it.
move_to
left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3889, 1.8282, 0.009, 1.5818, -0.305, -0.4709, 0.9967, -0.0147, 0.8082, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.315 left_y=-0.0679 left_z=0.0592 left_yaw=0.1256 left_pitch=0.3002 left_roll=-0.3851 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=-0.0003 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.0068, -3.2205, 1.0188, 1.536, 0.1783, -0.105, 0.1245, -0.3487, -1.306, 7.0085, 1.7607, -0.0317, -0.0611, -0.0171] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.1}, "note": "The teddy's head is now squarely between the two jaw wedges in the wrist view; closing to grasp it."})
tool
executing move_to over 9 steps (0.9s)
step 226
assistant
agent noteGripper settled at 0.105 — it has a pinch of the teddy. Lifting to 22 cm to see whether the toy 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]: [-0.3763, 1.8282, 0.0036, 1.5837, -0.2871, -0.4789, 0.1051, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3142 left_y=-0.0665 left_z=0.0582 left_yaw=0.1256 left_pitch=0.2935 left_roll=-0.3952 left_gripper=0.1051 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0 right_pitch=-0.0252 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1299, -3.7265, 1.2786, 1.7363, 0.0171, -0.0073, 0.2271, -0.1983, -1.306, 7.1179, 1.7118, -0.0757, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper settled at 0.105 \u2014 it has a pinch of the teddy. Lifting to 22 cm to see whether the toy comes with it."})
tool
executing move_to over 11 steps (1.1s)
step 237
assistant
agent noteNothing was lifted — the jaws only had fur. Resetting wrist orientation and moving over the large cream dog plush (the nearest, biggest toy) for a fresh look.
move_to
left_x0.2300left_y-0.3000left_z0.1000left_yaw0.0000left_pitch0.0000left_roll0.0000left_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]: [-0.3759, 0.7979, 0.4049, 0.186, -0.2901, -0.4866, 0.1038, -0.0147, 0.8139, 0.6075, -0.3916, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.317 left_y=-0.067 left_z=0.2137 left_yaw=0.1379 left_pitch=0.3219 left_roll=-0.4196 left_gripper=0.1038 right_x=0.2949 right_y=0.0014 right_z=0.1737 right_yaw=0.0 right_pitch=-0.0382 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0615, -2.3863, 9.6889, 1.9072, -0.0513, 0.0464, -0.1538, -0.1846, -1.6479, 7.1043, 1.7949, -0.0659, -0.0366, -0.0171] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.23, "left_y": -0.3, "left_z": 0.1, "left_yaw": 0, "left_pitch": 0, "left_roll": 0, "left_gripper": 1}, "note": "Nothing was lifted \u2014 the jaws only had fur. Resetting wrist orientation and moving over the large cream dog plush (the nearest, biggest toy) for a fresh look."})
tool
executing move_to over 21 steps (2.1s)
step 258
assistant
agent noteThe cream dog plush is directly between the open jaws in the wrist view; descending to 4 cm and closing on it.
move_to
left_z0.0400left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.3109, 1.7081, 0.9821, -0.4419, -0.9577, -1.1271, 0.9981, -0.0147, 0.8158, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2321 left_y=-0.2968 left_z=0.0979 left_yaw=-0.0069 left_pitch=0.0049 left_roll=-0.015 left_gripper=0.9981 right_x=0.2948 right_y=0.0013 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.3624, -7.7607, 7.2957, 0.652, -0.5153, -0.0269, -0.0171, -0.1162, -1.5385, 7.0632, 1.6825, -0.022, -0.0513, -0.0171] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_gripper": 0.1}, "note": "The cream dog plush is directly between the open jaws in the wrist view; descending to 4 cm and closing on it."})
tool
executing move_to over 9 steps (0.9s)
step 267
assistant
agent noteThe close caught only air — the fur is at the bottom-left of the wrist view; opening and shifting 3 cm to the arm's left onto the plush body.
move_to
left_y-0.2650left_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]: [-1.3113, 1.8088, 0.8989, -0.2375, -1.0237, -1.1187, 0.1073, -0.0147, 0.8158, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2382 left_y=-0.2953 left_z=0.0645 left_yaw=0.0149 left_pitch=0.0686 left_roll=-0.0124 left_gripper=0.1073 right_x=0.2948 right_y=0.0013 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.212, -5.2855, 3.2615, 1.0427, 0.2076, -0.0855, 0.2222, -0.2256, -1.347, 7.159, 1.707, -0.0073, -0.0269, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.265, "left_gripper": 1}, "note": "The close caught only air \u2014 the fur is at the bottom-left of the wrist view; opening and shifting 3 cm to the arm's left onto the plush body."})
tool
executing move_to over 9 steps (0.9s)
step 276
assistant
agent notePlush body now spans the gap between the open jaws; descending and closing to grasp it.
move_to
left_z0.0450left_gripper0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.29, 1.7123, 0.794, -0.1265, -1.0443, -1.0779, 0.9948, -0.0147, 0.8158, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2426 left_y=-0.277 left_z=0.0779 left_yaw=0.0324 left_pitch=0.1121 left_roll=-0.0713 left_gripper=0.9948 right_x=0.2948 right_y=0.0013 right_z=0.1726 right_yaw=-0.0003 right_pitch=-0.042 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.4718, -7.1453, 3.5077, 0.5739, -0.149, -0.0366, -0.232, -0.1983, -1.347, 7.2274, 1.7167, -0.022, -0.0464, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.045, "left_gripper": 0.08}, "note": "Plush body now spans the gap between the open jaws; descending and closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 286
assistant
agent noteJaws closed to 0.088 on the plush's fur; lifting and carrying straight to the left basket to see if the toy comes along.
move_to
left_x0.4400left_y-0.1300left_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]: [-1.2903, 1.7817, 0.7647, 0.0135, -1.1049, -1.0702, 0.0878, -0.0147, 0.8158, 0.6067, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.248 left_y=-0.2777 left_z=0.0674 left_yaw=0.0635 left_pitch=0.1723 left_roll=-0.0927 left_gripper=0.0878 right_x=0.2948 right_y=0.0014 right_z=0.1727 right_yaw=0.0 right_pitch=-0.0416 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0889, -4.7932, 3.5897, 0.9011, 0.1001, -0.0952, 0.3834, -0.1436, -1.3744, 7.0359, 1.7607, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.13, "left_z": 0.2}, "note": "Jaws closed to 0.088 on the plush's fur; lifting and carrying straight to the left basket to see if the toy comes along."})
tool
executing move_to over 15 steps (1.5s)
step 301
assistant
agent noteThe plush is in the jaws and we are over the left basket; pushing to x=0.45, z=0.12 which earlier put the gripper inside the basket, before releasing.
move_to
left_x0.4500left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4759, 1.5162, 0.8902, 0.1226, -0.4889, -0.3603, 0.0878, -0.0147, 0.8177, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4285 left_y=-0.1235 left_z=0.1718 left_yaw=0.1101 left_pitch=0.1215 left_roll=-0.0796 left_gripper=0.0878 right_x=0.2949 right_y=0.0013 right_z=0.1721 right_yaw=-0.0003 right_pitch=-0.0439 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.0205, -6.9949, 10.1675, 1.9219, -0.0317, 0.2125, -0.0269, -0.0479, -1.5248, 7.2274, 1.707, -0.0366, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_z": 0.12}, "note": "The plush is in the jaws and we are over the left basket; pushing to x=0.45, z=0.12 which earlier put the gripper inside the basket, before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 305
assistant
agent noteThe held plush is hanging just short of and right of the basket mouth; pitching the tool forward and pushing out/left to get the toy over the basket interior before releasing.
move_to
left_x0.4700left_y-0.1600left_z0.1400left_pitch0.4000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4564, 1.6833, 0.849, 0.2726, -0.4557, -0.3477, 0.0878, -0.0147, 0.8192, 0.6067, -0.3927, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4419 left_y=-0.1264 left_z=0.1115 left_yaw=0.0926 left_pitch=0.0636 left_roll=-0.0511 left_gripper=0.0878 right_x=0.295 right_y=0.0014 right_z=0.1717 right_yaw=0.0 right_pitch=-0.0454 right_roll=-0.0003 right_gripper=0.9997 state[joint_eff]: [0.9915, -8.0889, 5.8598, 2.1221, -0.2271, -0.0269, -0.022, -0.1436, -1.5248, 7.0359, 1.6972, -0.0171, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.16, "left_z": 0.14, "left_pitch": 0.4}, "note": "The held plush is hanging just short of and right of the basket mouth; pitching the tool forward and pushing out/left to get the toy over the basket interior before releasing."})
tool
executing move_to over 12 steps (1.2s)
step 317
assistant
agent noteThe plush is draped over the left basket's near rim; raising slightly and opening the jaws to release it into the left basket.
move_to
left_gripper1.0000left_z0.1600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4885, 1.7805, 0.844, 0.448, -0.5381, -0.2825, 0.0878, -0.0147, 0.8188, 0.6067, -0.3935, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4543 left_y=-0.1349 left_z=0.1045 left_yaw=0.0974 left_pitch=0.1479 left_roll=0.0032 left_gripper=0.0878 right_x=0.2948 right_y=0.0013 right_z=0.1716 right_yaw=-0.0003 right_pitch=-0.0458 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-1.6205, -5.9556, 4.7932, 1.2381, -0.1099, 0.0806, -0.022, -0.1026, -1.0872, 7.2684, 1.707, -0.022, -0.0611, -0.0073] 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_gripper": 1, "left_z": 0.16}, "note": "The plush is draped over the left basket's near rim; raising slightly and opening the jaws to release it into the left basket."})
tool
executing move_to over 10 steps (1.0s)
step 327
assistant
agent noteI identified the two object classes (plush toys vs. pen/marker sticks) and worked the plush toys toward the left basket, reserving the right basket for the pens. I grasped plush toys three times and carried one to the left basket's rim, but each release dropped the toy just short of / beside the basket rather than inside, and the call budget ran out before any object was actually deposited or any pen was picked. Net result: objects are still on the table; both baskets are empty.
done
hindsightKey things I wish I had known: (1) The baskets sit at x≈0.45–0.55, right at the left arm's reach limit; at z≥0.25 the arm stalls at x≈0.42, so you must descend to z≈0.10–0.14 to get the fingertips inside the basket mouth — and a soft object hangs 5–8 cm BELOW the grasp point, so release only when the wrist view shows the basket interior filling the frame AND the jaws are past the near rim (otherwise the object lands on/outside the rim, which happened twice). Consider first dragging the baskets 10 cm toward the bases by their rims. (2) Top-cam scale in the object region is ≈2.8 px/cm horizontally (verified by moving the left gripper 0.27 m and seeing 75 px); don't trust larger local estimates. (3) The left wrist view's image-left really is the arm's +y, but plush toys get shoved sideways by the jaws, so overshoot the lateral correction and approach from above with the wrist level (yaw/pitch/roll drift several tenths of a radian during oblique moves and should be reset to 0 before each grasp). (4) Settled gripper readings: ~0.05–0.11 means only fur/air; a real plush grasp reads ~0.45. (5) Budget: each grasp attempt on soft toys cost 3–4 calls; plan on ~6 calls per object and don't spend calls re-centering in small steps.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4881, 1.6932, 0.9195, 0.2302, -0.5446, -0.289, 0.9955, -0.0147, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4499 left_y=-0.1312 left_z=0.1316 left_yaw=0.1027 left_pitch=0.1041 left_roll=0.0307 left_gripper=0.9955 right_x=0.2953 right_y=0.0014 right_z=0.1701 right_yaw=0.0 right_pitch=-0.0511 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0479, -10.7556, 8.9915, 1.7802, -0.1685, 0.022, -0.2027, -0.1299, -1.9077, 7.0222, 1.6777, -0.022, -0.0806, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
done({"summary": "I identified the two object classes (plush toys vs. pen/marker sticks) and worked the plush toys toward the left basket, reserving the right basket for the pens. I grasped plush toys three times and carried one to the left basket's rim, but each release dropped the toy just short of / beside the basket rather than inside, and the call budget ran out before any object was actually deposited or any pen was picked. Net result: objects are still on the table; both baskets are empty.", "hindsight": "Key things I wish I had known: (1) The baskets sit at x\u22480.45\u20130.55, right at the left arm's reach limit; at z\u22650.25 the arm stalls at x\u22480.42, so you must descend to z\u22480.10\u20130.14 to get the fingertips inside the basket mouth \u2014 and a soft object hangs 5\u20138 cm BELOW the grasp point, so release only when the wrist view shows the basket interior filling the frame AND the jaws are past the near rim (otherwise the object lands on/outside the rim, which happened twice). Consider first dragging the baskets 10 cm toward the bases by their rims. (2) Top-cam scale in the object region is \u22482.8 px/cm horizontally (verified by moving the left gripper 0.27 m and seeing 75 px); don't trust larger local estimates. (3) The left wrist view's image-left really is the arm's +y, but plush toys get shoved sideways by the jaws, so overshoot the lateral correction and approach from above with the wrist level (yaw/pitch/roll drift several tenths of a radian during oblique moves and should be reset to 0 before each grasp). (4) Settled gripper readings: ~0.05\u20130.11 means only fur/air; a real plush grasp reads ~0.45. (5) Budget: each grasp attempt on soft toys cost 3\u20134 calls; plan on ~6 calls per object and don't spend calls re-centering in small steps."})
tool
done: I identified the two object classes (plush toys vs. pen/marker sticks) and worked the plush toys toward the left basket, reserving the right basket for the pens. I grasped plush toys three times and carried one to the left basket's rim, but each release dropped the toy just short of / beside the basket rather than inside, and the call budget ran out before any object was actually deposited or any pen was picked. Net result: objects are still on the table; both baskets are empty.
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 · 33.33 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, 0.6155, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.6479, 9.7436, 1.7851, -0.0122, 0.2076, -0.0562, -0.9094, -1.2786, 9.9077, 1.7314, -0.0904, -0.0269, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4df9fba2120a27a3605fe400e36d5972ea71d9296936c73d581f7a8a06e67d17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6f6cc8f74064a95180786784070e9da4300c8e04052d797838697d0f4a7ce91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b41117f6883cc84f22a3bba16eed0a12999e6a45bf6606eb94b90bf6a1cbaeb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 6.972 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, 0.6155, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.6479, 9.7436, 1.7851, -0.0122, 0.2076, -0.0562, -0.9094, -1.2786, 9.9077, 1.7314, -0.0904, -0.0269, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4df9fba2120a27a3605fe400e36d5972ea71d9296936c73d581f7a8a06e67d17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6f6cc8f74064a95180786784070e9da4300c8e04052d797838697d0f4a7ce91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b41117f6883cc84f22a3bba16eed0a12999e6a45bf6606eb94b90bf6a1cbaeb4",
        "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_019Jt7N76nWRBmdWRSj7Wa2q",
      "input": {
        "note": "Top view shows two teal baskets far side, and near side a cluster of plush toys plus a yellow marker and white pen-like sticks. I'm hovering the left gripper over the plush toy cluster to get a wrist-camera look before grasping.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.22,
          "left_y": -0.27,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_019Jt7N76nWRBmdWRSj7Wa2q",
      "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]: [-1.3212, 1.5047, 1.179, -0.8886, -0.9428, -1.1545, 0.9996, -0.0147, 0.7967, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2197 left_y=-0.2685 left_z=0.1911 left_yaw=-0.0078 left_pitch=-0.0204 left_roll=0.0032 left_gripper=0.9996 right_x=0.2957 right_y=0.0014 right_z=0.1817 right_yaw=-0.0 right_pitch=-0.0065 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -6.0513, 8.4581, 0.6374, -0.6374, -0.0952, -0.0611, -0.4444, -1.2513, 7.4462, 1.7509, -0.0269, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b5faa83849fb687d7a53cb1cea32e0428c95037cd7288c6c97a36ce8aaa991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bfd1f6652327729e5cbb88f5f30d97300850590812a8c20a9d346236b1bdcdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:277ded1bfd6581c65926b1eec861efabc97b3010949f455c1327dcdb166df4ed",
        "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 · 10.83 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, 0.6155, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.6479, 9.7436, 1.7851, -0.0122, 0.2076, -0.0562, -0.9094, -1.2786, 9.9077, 1.7314, -0.0904, -0.0269, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3212, 1.5047, 1.179, -0.8886, -0.9428, -1.1545, 0.9996, -0.0147, 0.7967, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2197 left_y=-0.2685 left_z=0.1911 left_yaw=-0.0078 left_pitch=-0.0204 left_roll=0.0032 left_gripper=0.9996 right_x=0.2957 right_y=0.0014 right_z=0.1817 right_yaw=-0.0 right_pitch=-0.0065 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -6.0513, 8.4581, 0.6374, -0.6374, -0.0952, -0.0611, -0.4444, -1.2513, 7.4462, 1.7509, -0.0269, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b5faa83849fb687d7a53cb1cea32e0428c95037cd7288c6c97a36ce8aaa991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bfd1f6652327729e5cbb88f5f30d97300850590812a8c20a9d346236b1bdcdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:277ded1bfd6581c65926b1eec861efabc97b3010949f455c1327dcdb166df4ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwcKjgEIEhgCKkCWxVhYm4I7tFmOA/9J43Z4XtjqGivezTW8MXYj+Z6+W2c6sl8XZ9irI2g28CVqocB/H/oiZRKsdUI5jrk+cU8nMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAerUzNUGEgw/02ClI+xxJaSXvlwaDCSwcYQVOms+skwhvSIwZ9zlfivphfNZCuNkob3jCCn9qxUy9s9j0Vx7RbocSiFGeTWrH/cSjJXcLVhk2JfsKskFZTt+blFOgyZ88ZW11vzf/aOTW3GZzcuEw1X2XNJii+h8HBYQx/yjI8++h2gfHrCgx7cWpIobQtvUzEok0hVT9DTFkGSQU+UeTSbKuBrd7yXCSlUvjCRSUdkIN2iusa1/Krjz57wMoDS02UA6Zck6aB4+hGsN386WD1XvdS3hR5G2Tu9X57YZqDO+42q2C4KdMqAGfIloIO3jf5B+XW9AJ0qnRoFaltN8S4+t7wLWZBYPQjhfQLZplOjjmD4JHcEk0qEcLIM5GKKTLw/dE1BYefTfngp29+EAdR6dYlbrBdN6t9fnoxWa0TeYM31byFBeyU42NVofCeT9XDfcM3FI+Xqfx54+CLzvnbAx3oQt01JzKNbJYrcfS72SSenWXABSr3e/hZ3TAP790NvdQk21ZyROvwLn86pxbZKlPoSxmy/uRE7zJwawbgYwxd0ZkZs3XQYYXuH9Nra7Gsa5ytftSBCC4Fjpoayij29Hl5p+WF9I1leeYkkCukGouTu15/Xwx4qys1SbFhEwPrDsWNEzTTrM1+9VzIRFH1dqcIbAzIcImtd4nTWmTw7HFL1MziaKezmIVO+5ny1HIxquHL8vjSKCH+WotymBIMGes2I/xsTic9ZzpL17txiir5IBQ+u2XPQrszVAmCfGuZ3WnprVT9dqumXw5P0HO6KC7GRYNur/GOM/E4l7Is/11xAWwn0K71sadtyAoO/ZWmH6svj6EHu8BXm7bKh1+xXUPi01CshW4Ue3BwcxDcCFCMJ+YfL859c/YZ3lPPh3n+4y0ocG7OdrehMgtihOhu/F9S1dAOE2aCwunA8VGaNGGS5DcT9Tc0PkgxTstFTfb5VVbqZ7vZCEQzQLk9P0vsYhCheA0habACbjBgYsGCc/TqCj+K/ogn10PcVAIOPzIbA423Mx2NCHiAZoLuIsCyofJFyHHWjkT8PvDMjPPQ8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DzJDEQEs6fuzzdPVmXThme",
      "input": {
        "note": "Left wrist view shows a tan teddy bear centred on the jaw column with the baskets beyond; per rig notes the fingertips are a few cm short, so I advance 3 cm radially and drop to 7 cm to line up a grasp on the bear.",
        "targets": {
          "left_x": 0.25,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DzJDEQEs6fuzzdPVmXThme",
      "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]: [-1.2224, 1.676, 0.8326, -0.2665, -0.9047, -1.0092, 0.9996, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2483 left_y=-0.2664 left_z=0.071 left_yaw=-0.0042 left_pitch=-0.024 left_roll=0.0142 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.3385, 5.135, 1.1746, -0.4469, 0.0952, -0.0122, -0.3214, -1.1556, 7.2821, 1.7705, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1f140237b6da4fbab221d931f2483a3f1222f25f4d933f5d999baa8685c388b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20e9e9f06adeec48fabc000dd5b4436acc5e54357ab489c7c6cc57ee3ddec452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba5e753f228a36b88bb1dc88f01d0ab5f56a54c9a8f88458bd274fcb8251f535",
        "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 · 6.379 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, 0.6155, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.184 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=-0.0006 right_pitch=-0.0 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.6479, 9.7436, 1.7851, -0.0122, 0.2076, -0.0562, -0.9094, -1.2786, 9.9077, 1.7314, -0.0904, -0.0269, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3212, 1.5047, 1.179, -0.8886, -0.9428, -1.1545, 0.9996, -0.0147, 0.7967, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2197 left_y=-0.2685 left_z=0.1911 left_yaw=-0.0078 left_pitch=-0.0204 left_roll=0.0032 left_gripper=0.9996 right_x=0.2957 right_y=0.0014 right_z=0.1817 right_yaw=-0.0 right_pitch=-0.0065 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -6.0513, 8.4581, 0.6374, -0.6374, -0.0952, -0.0611, -0.4444, -1.2513, 7.4462, 1.7509, -0.0269, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2224, 1.676, 0.8326, -0.2665, -0.9047, -1.0092, 0.9996, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2483 left_y=-0.2664 left_z=0.071 left_yaw=-0.0042 left_pitch=-0.024 left_roll=0.0142 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.3385, 5.135, 1.1746, -0.4469, 0.0952, -0.0122, -0.3214, -1.1556, 7.2821, 1.7705, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1f140237b6da4fbab221d931f2483a3f1222f25f4d933f5d999baa8685c388b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20e9e9f06adeec48fabc000dd5b4436acc5e54357ab489c7c6cc57ee3ddec452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba5e753f228a36b88bb1dc88f01d0ab5f56a54c9a8f88458bd274fcb8251f535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAIKjgEIEhgCKkCcdZfBccQk7MlTHhHDgyri8TCn+6EciOrJuhctiYtf38Ct3Gpwk2NfjHu8gFnbpDuMOukUg/0Q69Qf6g4n4bqsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfjUzNUGEgxJlLWju+KmG2Xhl0waDKpOyV2xP0MlTcaX2yIw58xtfb5ceiH39KDplGLSN0YrSk8jGggaiQMTiCx/AmA4iXhJazZev7Ek6XWcka8iKlcyPzwMmS+yD+vYE7PqtwHoI1L4X/O7J5U1PT7Cdt01lvzIivdBCCSwUmkpj7AfBsWFFhQ8zEtzD5VPAOqmRPjgmWd4LM9R2Oj47xZ3V4mWNQQRj7XWpvcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013n93MN9NQkLsnZbH7GbC4r",
      "input": {
        "note": "The teddy bear fills the left wrist view, so the jaws are right on it; closing to grasp the plush toy.",
        "targets": {
          "left_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013n93MN9NQkLsnZbH7GbC4r",
      "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]: [-1.2232, 1.676, 0.8318, -0.2455, -0.9054, -1.01, 0.4596, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2492 left_y=-0.2694 left_z=0.0726 left_yaw=-0.0046 left_pitch=-0.0164 left_roll=-0.0052 left_gripper=0.4596 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.2137, 5.6, 0.8083, -0.442, -0.0122, 1.033, -0.1709, -1.1556, 7.0359, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7db9338301e5eb9c003f6fb0e965dd9acd9a37849f40e368f9b8259757cccc5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:572c4b6e5e448638ed66ec6cdbefd11180e571b852e9f0abde4bdfbceb006f7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bda294812b2d7e1a33957628407b7cb2066a41eda7324fa6cc9c548d128737fc",
        "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 · 5.06 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.3212, 1.5047, 1.179, -0.8886, -0.9428, -1.1545, 0.9996, -0.0147, 0.7967, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2197 left_y=-0.2685 left_z=0.1911 left_yaw=-0.0078 left_pitch=-0.0204 left_roll=0.0032 left_gripper=0.9996 right_x=0.2957 right_y=0.0014 right_z=0.1817 right_yaw=-0.0 right_pitch=-0.0065 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -6.0513, 8.4581, 0.6374, -0.6374, -0.0952, -0.0611, -0.4444, -1.2513, 7.4462, 1.7509, -0.0269, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2224, 1.676, 0.8326, -0.2665, -0.9047, -1.0092, 0.9996, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2483 left_y=-0.2664 left_z=0.071 left_yaw=-0.0042 left_pitch=-0.024 left_roll=0.0142 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.3385, 5.135, 1.1746, -0.4469, 0.0952, -0.0122, -0.3214, -1.1556, 7.2821, 1.7705, -0.0366, -0.0464, -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]: [-1.2232, 1.676, 0.8318, -0.2455, -0.9054, -1.01, 0.4596, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2492 left_y=-0.2694 left_z=0.0726 left_yaw=-0.0046 left_pitch=-0.0164 left_roll=-0.0052 left_gripper=0.4596 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.2137, 5.6, 0.8083, -0.442, -0.0122, 1.033, -0.1709, -1.1556, 7.0359, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7db9338301e5eb9c003f6fb0e965dd9acd9a37849f40e368f9b8259757cccc5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:572c4b6e5e448638ed66ec6cdbefd11180e571b852e9f0abde4bdfbceb006f7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bda294812b2d7e1a33957628407b7cb2066a41eda7324fa6cc9c548d128737fc",
        "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/gMKjgEIEhgCKkBUWZr1l1QbWw/2tMnkh4GEYO9kRNYLQ20YlBjzeaTGSOzXC0KY5efhLoal7DYv6XymbE6cEd4mxyYG8Kgbj0CyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf/UzNUGEgzglZyaWu199i+nZ58aDGdZru1E4A2vdGxdnSIwEuPofV0VrlQy0WsK9CxwvqN8ho6AxPrrH10I/JmyvAWlbLcjTB5IOkWiQSYO50gfKpwCqYTaCCogTiMPscHA+D4V/xs6BlBQS14oF5ys9jm5YZSVbGCskohZObYAb+q2A470WICrAR8nfoZTfX2tIUghrDmn+UXZZarEGAhTxj3/AjxYEHiGy/G+a0KNF0CLC3gBcwwOpGDtrtIdlZpMs8DN3rOMpqRmKw8Z2iwEyup4BN2hulvvE2SygwE0kmJmwfMHFXybZrvsvuj5SSx3OIza8gZYhGiQ4mA7F7xmYGSasR1TUUDjvYgB+DIk32/RcTeOTnJT3GfMav65Pn+Sdf4iRhVp+weR0K7pNCE2qMr7UZ4PjFJtSwCBGePoaaXwJsGU+SrgWq34wfNOYEca+MjA2MSwHhiGG2Bs9ubsgz6bS8A3i691AdYg9Hx7riYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DeEHwkcuby1oLREEcdvccs",
      "input": {
        "note": "Gripper settled at 0.46 — it has a thick soft object (the bear) between the jaws. Lifting to 25 cm to confirm the toy comes with it.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01DeEHwkcuby1oLREEcdvccs",
      "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]: [-1.2232, 1.5333, 1.3769, -0.9577, -0.8795, -1.0214, 0.4595, -0.0147, 0.7967, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2478 left_y=-0.274 left_z=0.2331 left_yaw=-0.0098 left_pitch=-0.0465 left_roll=0.0002 left_gripper=0.4595 right_x=0.2949 right_y=0.0013 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.013 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1573, 8.3897, 0.7888, -0.6618, 0.0904, 0.9597, -0.0889, -1.2786, 7.1726, 1.79, -0.0269, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265d9d3eeef23314e45409820caa7b5f26c1d8a2e401d8a4ec6328987d5fddac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc030e61d6d31301094662b3a7edc8efb60bd77fc76c0215e115d47bee383133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f08f3c7cb9565472f110a602137265b3c51c25784f7406de3922a47efdb2879",
        "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 · 9.5 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2224, 1.676, 0.8326, -0.2665, -0.9047, -1.0092, 0.9996, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2483 left_y=-0.2664 left_z=0.071 left_yaw=-0.0042 left_pitch=-0.024 left_roll=0.0142 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -6.3385, 5.135, 1.1746, -0.4469, 0.0952, -0.0122, -0.3214, -1.1556, 7.2821, 1.7705, -0.0366, -0.0464, -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]: [-1.2232, 1.676, 0.8318, -0.2455, -0.9054, -1.01, 0.4596, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2492 left_y=-0.2694 left_z=0.0726 left_yaw=-0.0046 left_pitch=-0.0164 left_roll=-0.0052 left_gripper=0.4596 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.2137, 5.6, 0.8083, -0.442, -0.0122, 1.033, -0.1709, -1.1556, 7.0359, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2232, 1.5333, 1.3769, -0.9577, -0.8795, -1.0214, 0.4595, -0.0147, 0.7967, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2478 left_y=-0.274 left_z=0.2331 left_yaw=-0.0098 left_pitch=-0.0465 left_roll=0.0002 left_gripper=0.4595 right_x=0.2949 right_y=0.0013 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.013 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1573, 8.3897, 0.7888, -0.6618, 0.0904, 0.9597, -0.0889, -1.2786, 7.1726, 1.79, -0.0269, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265d9d3eeef23314e45409820caa7b5f26c1d8a2e401d8a4ec6328987d5fddac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc030e61d6d31301094662b3a7edc8efb60bd77fc76c0215e115d47bee383133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f08f3c7cb9565472f110a602137265b3c51c25784f7406de3922a47efdb2879",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwUKjgEIEhgCKkAazEcmDy3jVan4NcWbxu4ToK/fULnjObqk+M/ueEQEyEczvHOhFlurFxC6vFkNS4ordcgw9W1qWDjlfLCRO9BhMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYfVzNUGEgx+8dk4R9jfXT5TStQaDGWT5E3HpzAxZpyRhyIwRcvUWcTx1h3Ypf+ErqKWinXBFTuQMzoEMV5nSh7w++k5D6yhLoFM2NIF9+rxrJuFKqUDdvBPQYABCYvM2k+NR0h3SUZKMUzJ8g1l8Q1Cs7i1XV+f9ldJ4ludsGIZYJCbu8leqTSHDYuSXs0xAQlueAun88u6cZDObb46iD/8S3m9o3GnTqv6+VL0wW18fh8KvPPFlv7kWsPvT+rcmKpUGEAz5edYSyk9rTZAofd4lbFDYvwkGZFG7tVhc4jrlqipzmyGweaDeHfmBeYUeXAvdiZqSZpWGLr1bHfjOp+0g67wGEJAU9hVULfTT583O8AjYi5vrRdyCR+BbspzpER+3H0X79QOKyfeXlinEC+zsxmebqYrVem7BAeI5s2mUpwcnJi8NW/TmPkXd1Qos98czEgW2eWcjR5xsb50KZwwaiFaREXQpOzYqrLSFCMaosR7e1n6G2XppMDeloY0+irgAy7KcRedaKPkKzg6ITBG95puPjOkd0QSJGjM+Eop0xIg/fo2Ortn2ATZVBgXjhJfC8/PWh0vxShOKOV2D7sfLCN4FEvc2AnEj2SIKDr6aleKpsraq6ivC0rJMF0PKldXhXAbdv5VizZj90vIbaPfQA3TYUxWZOW5exgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WY1XChxe1RuASwELk1x6dH",
      "input": {
        "note": "Bear is lifted (top view shows it gone from the pile). Carrying it over the left basket to drop it there — left basket will hold the plush toys.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.19,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WY1XChxe1RuASwELk1x6dH",
      "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]: [-0.7578, 1.4574, 1.3804, -0.7792, -0.5976, -0.5312, 0.4598, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3473 left_y=-0.1869 left_z=0.2522 left_yaw=0.0055 left_pitch=-0.1129 left_roll=0.0488 left_gripper=0.4598 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.1436, 9.2786, 1.6679, -0.3101, 0.1441, 0.7839, -0.1573, -1.4154, 7.1863, 1.7363, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:195c20e7856a0db546c0288a48e974af742ecb17ded8f5274713561dcda36a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e958b550c45943720f9acf5078371fd8524a8c3b341bdc1bc8f4a5a53ca4ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b0c66d9a3712dad703bb7cfc3bb30924eb55854b53f35b667e8ca607ba7b979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.331 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]: [-1.2232, 1.676, 0.8318, -0.2455, -0.9054, -1.01, 0.4596, -0.0147, 0.7967, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2492 left_y=-0.2694 left_z=0.0726 left_yaw=-0.0046 left_pitch=-0.0164 left_roll=-0.0052 left_gripper=0.4596 right_x=0.2949 right_y=0.0014 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.013 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.2137, 5.6, 0.8083, -0.442, -0.0122, 1.033, -0.1709, -1.1556, 7.0359, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2232, 1.5333, 1.3769, -0.9577, -0.8795, -1.0214, 0.4595, -0.0147, 0.7967, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2478 left_y=-0.274 left_z=0.2331 left_yaw=-0.0098 left_pitch=-0.0465 left_roll=0.0002 left_gripper=0.4595 right_x=0.2949 right_y=0.0013 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.013 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1573, 8.3897, 0.7888, -0.6618, 0.0904, 0.9597, -0.0889, -1.2786, 7.1726, 1.79, -0.0269, -0.0415, -0.0122]\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 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]: [-0.7578, 1.4574, 1.3804, -0.7792, -0.5976, -0.5312, 0.4598, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3473 left_y=-0.1869 left_z=0.2522 left_yaw=0.0055 left_pitch=-0.1129 left_roll=0.0488 left_gripper=0.4598 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.1436, 9.2786, 1.6679, -0.3101, 0.1441, 0.7839, -0.1573, -1.4154, 7.1863, 1.7363, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:195c20e7856a0db546c0288a48e974af742ecb17ded8f5274713561dcda36a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e958b550c45943720f9acf5078371fd8524a8c3b341bdc1bc8f4a5a53ca4ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b0c66d9a3712dad703bb7cfc3bb30924eb55854b53f35b667e8ca607ba7b979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgsKjgEIEhgCKkDafqC4ZekSGSU1/wGnK4NpOgweDcQWo2I3VObgaFFduKCHe3RrGYTjo6xjpvVWZE3G0LqkfF2n1pqta/ixclZkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZbVzNUGEgyHfExpexh+HyUge4UaDNl4xJuUEKq43O/oqCIwlwbiv7515YIyrX6oz/XfmyrIMWSVq/UdYcMG7cszfaf8uU3N1eSoIQp42Zq9B745KqwJBxwWLuYqyQlJ5X/2BOTOhnzm84ByD4xcxgMixc+IDivUCT1zpDf6E44qGAddKGZ2A/0vTXy3ChXaUFdFCUp6norTOpvSfC8rfvKQ0PtkhEYTMjA27m+EhHYhSL2IkvBnEKmjOZQvkxJEIEII1cRbPFzPPKxY+DXi6jSrBl999G7US2Z8X7OK98aFVkSZcbTXQEmXgamgFL1PMT2MNv9/AQsT4HrUyRfJiI5H7+3fuo7rRLGRcQwnIUB0SlNsyuFignfmyED9wpxDKRuXlrHs1BXwLN3pM19fMw2FjajEP+TmYi+DLbahuxfhy47zv2SIcIj6QOOQd20/cdMLfPu5CCkfgm+uYCLwaSDlsQItZgggmlSLoA1Qu/9phEqjt8K7ftsSYGVL8TliR0lpes+vqHSZAZOKUsoS8s2DKA1oq5+8Y79WJRX6MfFdEUhF9JLmq3D+i8JhYCnOtSxT/oR+u4bByXiia8OhXbhpkZX2Dx1j/RGBe1100Df3p1sMiXrkopuhI9n4ZvZ0iNhmo8gcdRg+dkzZkZKB0YMAlBj4K3BCSs+sdjFR2aMHYkAZUhd74q8jFRXAhGjfIKFj2aU6m6KCGh1n2IzpMtZHBR2IUx9r8wbaRVodw828AlDzO4FNVd9d00JF1Vpeqre2jXO/yAoenHlYFfFLXxGmhqt+LfO+m+BWgGFu0P4f+Q9RQD8yLx7r3I/EE6vFlsdqJ6slq+REJOYAjEnlC3s58vhDO7/MykFIEdzk6N6qyJPLpjSTso3dhQmeNhhblbxmlCmXwTNLGHS0Zatr3GEk5sn88gc4w8W5pGnb9rt8lk/jp1i+3TY7KGmMMfB8xacjQnWPHpkpOXEksbFvLRt+zqvkmFYiQyrqQbWExobsRY1xkPTuy3nsyh7KsuYOoiS/HntWvEzMwM+iRDXl2haIYRPVTOR0/vjoS1OPmb87CELw/YYOn/KtVwSfrIwPSke4H6zdkNon2P1DOn2fW7MTyf0kur2ATwJ1nYJYoiRB9nVoUbzZew5bhkB2A+QjCj6UkGY7c6YUXdhp9l7kr5cauKFGJcIuLrCFaS82IBdX+itIIOTYCcfQgJ+ddAfPCbhM//XPyc/0qqbhmh2GhAiKLTkLryIZZaJ3QunClYafBI6I2uOjZyxgAqn03oMJNB8gt5l8dIo0M2xJzyOK8SyQDB87wZrQ4YN1f5uM6oBFSyeW23dCL5vKHzPWt5CnRoTOv+cqvUTSo8dnaQGRXmWmTebgSR9kSo8xjfgHdSya8GHifibG/C8khANeYzeq6PVWoDAYEoqxfW4SQ+YbocqMRqIdaVAJTg3yBIzNG+MGcH83Z0ZHs9wn9gbgIG99oT3JwoX8MWoawmO5hXUGO3OgYrsT9LTDE6voLIZASmmMcxkgnbyqh3f+qrwyrBbckd3FkulhDf0NDQm5bDzfO4cjNGMgHt7kzgCbmKBrDVKGqZH8oD50zdgaS2LaVEJlCTbamK7fO7Qb/ZJCUUgMacQqY/ctZhHXTdf0QT5OPsGQPc04M/MlIDURyuDNhrnDssjDKTX3Qdxy5flJjI3DG1rdGfBHedlAAby+4RO8o0qGBe8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Zcep67nzB6UXUb9MeMCBm",
      "input": {
        "note": "Wrist view shows the left basket is off to the arm's left of the jaws; shifting 5 cm left and 3 cm forward to centre the bear over the left basket.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.14,
          "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_012Zcep67nzB6UXUb9MeMCBm",
      "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]: [-0.5541, 1.4597, 1.438, -0.807, -0.4625, -0.3843, 0.4601, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3761 left_y=-0.1358 left_z=0.261 left_yaw=0.0271 left_pitch=-0.1597 left_roll=0.0655 left_gripper=0.4601 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.8171, 9.3744, 1.5702, -0.1832, 0.2173, 0.6813, -0.0889, -1.2786, 7.0496, 1.7753, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c173712042f2b884921c7ba1432705015db8f4bf010f3bb1ee2bac5ffe686b84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caf61e10f3e42dffcbfcf23c68ee78a09582c7840d66cf8be370aef5eeb867e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3993b4712cd9dc0ead5810823eb79f2e87e6539872c5b7d9162717559686768e",
        "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 · 7.05 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]: [-1.2232, 1.5333, 1.3769, -0.9577, -0.8795, -1.0214, 0.4595, -0.0147, 0.7967, 0.6086, -0.3847, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2478 left_y=-0.274 left_z=0.2331 left_yaw=-0.0098 left_pitch=-0.0465 left_roll=0.0002 left_gripper=0.4595 right_x=0.2949 right_y=0.0013 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.013 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -8.1573, 8.3897, 0.7888, -0.6618, 0.0904, 0.9597, -0.0889, -1.2786, 7.1726, 1.79, -0.0269, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.7578, 1.4574, 1.3804, -0.7792, -0.5976, -0.5312, 0.4598, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3473 left_y=-0.1869 left_z=0.2522 left_yaw=0.0055 left_pitch=-0.1129 left_roll=0.0488 left_gripper=0.4598 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.1436, 9.2786, 1.6679, -0.3101, 0.1441, 0.7839, -0.1573, -1.4154, 7.1863, 1.7363, -0.0317, -0.0562, -0.0122]",
      "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]: [-0.5541, 1.4597, 1.438, -0.807, -0.4625, -0.3843, 0.4601, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3761 left_y=-0.1358 left_z=0.261 left_yaw=0.0271 left_pitch=-0.1597 left_roll=0.0655 left_gripper=0.4601 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.8171, 9.3744, 1.5702, -0.1832, 0.2173, 0.6813, -0.0889, -1.2786, 7.0496, 1.7753, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c173712042f2b884921c7ba1432705015db8f4bf010f3bb1ee2bac5ffe686b84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caf61e10f3e42dffcbfcf23c68ee78a09582c7840d66cf8be370aef5eeb867e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3993b4712cd9dc0ead5810823eb79f2e87e6539872c5b7d9162717559686768e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQcKjgEIEhgCKkBS7bx6e/WoIYXX6aHXnI7kt1uB2uclLYAbXMtJFYSpr+p7+cHoDlvwMezImXi2eNk57Qwb10oUmsxGcqzge5cDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaDVzNUGEgxi+/Pf1f2OioUfMV4aDGbDNil7VdtM441/oyIw7v8F911GKiiyD2TfGvi8OTxW5hwMfonmowSOHJuY4kJ/FxExSpKDgwBtYZT5pX8kKq8F4u6obvysJBrhPh746bK+erfzCH8RUN5EMfOvy1o5EFN6ZUaDfpzlrrcMD5wH5HsMTyVm+JBJ1knAqxSHtgoi9ruSKISx6MWlFXxShh8N9nmaZVl1WBL+q6+bG+62UVr/99px7VigPC0H+sObxt+dSjrYqJHBTlrjaRVF0eE8GRoRuS9b9ubFm8KmiA5C2603UZZq5/LEz/Lyh5bQFqR4M59tP6kn+gmwZXkF6478D1tfa0AOMN+eDhyZpe1kQhzHZik8KExDR/t9ntnICmKvqakekEaOpvHgiohYlJPhAs/5+yWQhiqhiOFxn2Sz5jZoQUU0COwYopBtZUH0SLadnTqTkqf5qvlxQChX47NAqnTvtQtzdWPXSBkngtsRrf4QCmsg5zG/g070q6rz/RM2AAENHHKGvtXmiPQDmujB8ei8Q8yTK86yUNx36pzoh+Ldm/608JJNLe6+3XHV2F803UoaMsvh1Ly2gXjiVscjq4BnclgZU22ps3sX3STUNsiMBqiqgSXqUp/vRmRjL+l0vL0cikVpVV19YvXxznZt70o7+8E8ryRKop0Zw8ph/sWOIN+G66LfHCdpnefZkBJjlVpi4mACjLhB8Z59W5KNdXtxvIZtmAKxYN/yJ+D6oXvNvpAUFx7LTS47f6JoUJJmetLWa/KpbzXrwh9Y9megRTtERDVx//AVOvJMA1Yvx3PI9yK69W72wedMI2J8OL+jFVyX7kJMqJMzXnLXRhOU5uvAb/BCg2rtXNTyFXpgyz/p8+6Ewj+RCTg61Rb+zOX4q/ypdQQGy76avpJscAEIUz/i7QngIABvFrk13BVsq7aT+/mv5QJDfUvKAH0oPV+H+QnhgvLER8x2ShRjutBsQXTZGRLlQzr6wrSALza+DdJsZga46EkGoZJhMrQR0dsCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VqPsY9cStdZh1WtaiRo7iu",
      "input": {
        "note": "Left basket now centred on the jaw column but sitting high in the wrist frame, meaning it is still further out; advancing 5 cm before releasing the bear.",
        "targets": {
          "left_x": 0.43,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VqPsY9cStdZh1WtaiRo7iu",
      "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]: [-0.4698, 1.644, 1.6104, -0.8257, -0.4026, -0.3355, 0.4607, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4236 left_y=-0.1334 left_z=0.251 left_yaw=0.041 left_pitch=-0.2111 left_roll=0.0791 left_gripper=0.4607 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0156 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.212, 9.4974, 1.619, -0.2564, 0.1294, 0.3004, -0.1162, -1.0872, 7.1453, 1.7411, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4929decece30654aacff9947713271772a612e66c6c0b70115466fcfc0d9a6b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03dedabc29548672fdb0b62dfd4c8a6cd544c4eb173779a0bc746d2b71cd1b49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9eb98fc36daf4d5696f79419bd93843de14175db78bb5bc1a912e240c3ba8ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.19 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]: [-0.7578, 1.4574, 1.3804, -0.7792, -0.5976, -0.5312, 0.4598, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3473 left_y=-0.1869 left_z=0.2522 left_yaw=0.0055 left_pitch=-0.1129 left_roll=0.0488 left_gripper=0.4598 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.1436, 9.2786, 1.6679, -0.3101, 0.1441, 0.7839, -0.1573, -1.4154, 7.1863, 1.7363, -0.0317, -0.0562, -0.0122]",
      "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]: [-0.5541, 1.4597, 1.438, -0.807, -0.4625, -0.3843, 0.4601, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3761 left_y=-0.1358 left_z=0.261 left_yaw=0.0271 left_pitch=-0.1597 left_roll=0.0655 left_gripper=0.4601 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.8171, 9.3744, 1.5702, -0.1832, 0.2173, 0.6813, -0.0889, -1.2786, 7.0496, 1.7753, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4698, 1.644, 1.6104, -0.8257, -0.4026, -0.3355, 0.4607, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4236 left_y=-0.1334 left_z=0.251 left_yaw=0.041 left_pitch=-0.2111 left_roll=0.0791 left_gripper=0.4607 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0156 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.212, 9.4974, 1.619, -0.2564, 0.1294, 0.3004, -0.1162, -1.0872, 7.1453, 1.7411, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4929decece30654aacff9947713271772a612e66c6c0b70115466fcfc0d9a6b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03dedabc29548672fdb0b62dfd4c8a6cd544c4eb173779a0bc746d2b71cd1b49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eb98fc36daf4d5696f79419bd93843de14175db78bb5bc1a912e240c3ba8ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8gcKjgEIEhgCKkBKo6RROjQkPpgdQc36BYe394uTmZwSnKdlUeI1nU9IABW1nDu+q5/MR9U3JA+RQudq5oA0uY0Ge8MWj+p43EsBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAazVzNUGEgwJZ8RoApXbRZQZkygaDLE5gjR/FNBpxLvd4CIwhuEckGEVbHuE5xS8yiGif2wFsqHdqcL+mL2y8hykUKSNKlrGylOCC94RgqOMOdD6KpAG8yosBVoCHNZ5unJ7JJd0WqK57ywLwM4R8vTY3JDze8jROPxIYsVaOvD2wL9t2LC5giIm7UalEkxU5P9i4bUFbBIVfVbnjTxRqwoCT6Ey9KE5pZCvXwkSDjw95TTSq1Uepg3CgiNAawNnDdb8gzBvpQNJEi10dbYdRksaxhX126umInigTuBJeyprYLpnwgJmE9+u6Cb45DHiNa8C7+ytFtvpeeMG3TstiQPbw/nWtxYE1nhdWiuZsNnih3Xwe8W85pf+cSpq7MQVz+iUM/Dgy/1QhtJ/bfz0b3DHtNK/n3a80WX/Jf5RIR6EUZKH4fXqNNKj0zNVfgUHGzs2FwJ5uuh7DG11NVpwjMbqW9brV7dx0WDTuU1qqn7f0LAg77ocKpTOqmn72MVmiOzftX4JeAsp6SRxVq6GnyRxy3Oh5zOCZXR0kvxW7WBN5UgDQEzLmLb845ve4aKkNzQA60kDrk1XnEqYk9yVpdL2tuE1Yc43NBeOc2jbd7/c2PXQg0py6nye5ArQ3C1NhyvOyp/N+ADVgNug5TTvWLFXe8G+dD7La3tlMBfK1ViYc+dD4j3C0d3oqhaL5joHb9/aHHC6/TLxLmptroxvXrYuNMUuqaIX3cYkpSc8xKADaklu/YY1qdCXzbk4+b9bFfruAYGSOKheAu9vQHsYcbSAGTiy1KSCw8iX4s2+6+UlRW7bFzZzgwFtXj/CZCtE+hO/HUx8u9L3G5YyJTB6IR/aSuMT4l2nkoEXDZ7BMSu6h+hd6awIYXKIU2NyyC0hQMVeLNh8NMGe4+otJdsMC28SQvxyfIJIO2TFnHfFT1gp3YoHiJZKtdQ+aprkb/SiZ5BMZuNr6zCoKGAPRbDLd6G2Up8sgsbplhHzYrmJqWDkxWlq7wCyBL7w+ungdw/MxXpL38OkAVSBgMOYPOgwuqiQnU6gMIXnuC345ZFdkw9Ah32I3h73Dm58+Ay4WknXDDxHv48y0mRfqs6uRxYOETCL27TN8SkXOjNoXcha8+EKlU+Py2yAcljMekOSOfTmN6fZBkc3ZRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RJSEVy9VT2NhsFuxJ3f6ip",
      "input": {
        "note": "Basket now fills the wrist view but its near rim is still below the jaws; advancing 3 cm more so the bear is over the basket interior.",
        "targets": {
          "left_x": 0.46,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RJSEVy9VT2NhsFuxJ3f6ip",
      "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]: [-0.4698, 1.644, 1.6104, -0.8261, -0.4023, -0.3355, 0.4617, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4235 left_y=-0.1334 left_z=0.2509 left_yaw=0.0407 left_pitch=-0.2116 left_roll=0.079 left_gripper=0.4617 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.2256, 9.5248, 1.6679, -0.2076, 0.188, 0.0952, -0.1436, -1.2513, 7.0359, 1.7411, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4902ffdb67036add27378be6fbd3c3770277d9bd218dadbf9b06e692d8be8e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25f6416bb0525d022c7dc34269b8fdb97fb82718846c09987ca54a05ccad57fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2057a67943fcf7568aea16cc82456bd31573ffae57c3a84ed2775c81f011d931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 9.136 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]: [-0.5541, 1.4597, 1.438, -0.807, -0.4625, -0.3843, 0.4601, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3761 left_y=-0.1358 left_z=0.261 left_yaw=0.0271 left_pitch=-0.1597 left_roll=0.0655 left_gripper=0.4601 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0149 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.8171, 9.3744, 1.5702, -0.1832, 0.2173, 0.6813, -0.0889, -1.2786, 7.0496, 1.7753, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4698, 1.644, 1.6104, -0.8257, -0.4026, -0.3355, 0.4607, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4236 left_y=-0.1334 left_z=0.251 left_yaw=0.041 left_pitch=-0.2111 left_roll=0.0791 left_gripper=0.4607 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0156 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.212, 9.4974, 1.619, -0.2564, 0.1294, 0.3004, -0.1162, -1.0872, 7.1453, 1.7411, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4698, 1.644, 1.6104, -0.8261, -0.4023, -0.3355, 0.4617, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4235 left_y=-0.1334 left_z=0.2509 left_yaw=0.0407 left_pitch=-0.2116 left_roll=0.079 left_gripper=0.4617 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.2256, 9.5248, 1.6679, -0.2076, 0.188, 0.0952, -0.1436, -1.2513, 7.0359, 1.7411, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4902ffdb67036add27378be6fbd3c3770277d9bd218dadbf9b06e692d8be8e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25f6416bb0525d022c7dc34269b8fdb97fb82718846c09987ca54a05ccad57fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2057a67943fcf7568aea16cc82456bd31573ffae57c3a84ed2775c81f011d931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wMKjgEIEhgCKkCmVlSCEBzn+GyhpbuvY+6HaJCY4yfVLP16xAKeJ82eMrvz/tv+pu+yIluoWEn/4ropqNoxp6+GGu/XnflrsaQxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbHVzNUGEgxNAd7fgbr+pLe4D8EaDJ+dApDMlxA17/5W6iIwV6GQw5th5+iIqYgF+B+EPJZ6QVr6axNhI008x9PtXx/O7J0lXhVwm1yw3lysExphKokCmo083SvA6BTZanMDTwAidXwQNA9GobkU+/V/YC8loAzMTX75chOX1sJQwXLB5C2gucZmMhL3ZMC8cAdrQWUEvuzm0yixcTRhq8nF80lSfMtpbhQzV3s6sSprsg4v2ptQPRmcdN0fL12KYovz+dP13CQX/N3hL7pcZayruhb28EeeV4UbmHTPszA+Mjk1mhdBwIq4rpx/QRScOaPeyqpE8ePS9pFGx4e1rVN7+4M3Vk9s1rOWzE80/cNsth1EcgNf76JUM84nomWPmb8kTupQo2xIkNni5xFxejyvD+mr6YVDqMYuA/GvQbbK7IyRibY+HkvcNjdWVl8zQYmpwb+MbRxgpWbCtwJQsxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T3NoUrCtrVCiT3gLwPe4cy",
      "input": {
        "note": "The arm stalled at x=0.42 (reach limit at that height), so I lower to 20 cm while pushing forward to get the bear over the basket mouth.",
        "targets": {
          "left_x": 0.46,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01T3NoUrCtrVCiT3gLwPe4cy",
      "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]: [-0.4698, 1.644, 1.6104, -0.8261, -0.4026, -0.3359, 0.4619, -0.0147, 0.7986, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4235 left_y=-0.1334 left_z=0.251 left_yaw=0.0412 left_pitch=-0.2115 left_roll=0.079 left_gripper=0.4619 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0157 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.1162, 9.5385, 1.6435, -0.2564, 0.1685, -0.0024, -0.2256, -1.2923, 7.0496, 1.7509, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:882ceb03361837ee83e260c3881a9267b2ee2112515ad42d6b27503fe6d7f209",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd8b0543cfe7e3ebfb42e2cdf2e8f481a08c76f88a5885d389df23dd3dc282c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e767efdd1aff13a183c47b2c02890698a867c0efec9ab0ca38dabdb5c98a7c2",
        "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 · 4.197 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]: [-0.4698, 1.644, 1.6104, -0.8257, -0.4026, -0.3355, 0.4607, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4236 left_y=-0.1334 left_z=0.251 left_yaw=0.041 left_pitch=-0.2111 left_roll=0.0791 left_gripper=0.4607 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0156 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -8.212, 9.4974, 1.619, -0.2564, 0.1294, 0.3004, -0.1162, -1.0872, 7.1453, 1.7411, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4698, 1.644, 1.6104, -0.8261, -0.4023, -0.3355, 0.4617, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4235 left_y=-0.1334 left_z=0.2509 left_yaw=0.0407 left_pitch=-0.2116 left_roll=0.079 left_gripper=0.4617 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.2256, 9.5248, 1.6679, -0.2076, 0.188, 0.0952, -0.1436, -1.2513, 7.0359, 1.7411, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4698, 1.644, 1.6104, -0.8261, -0.4026, -0.3359, 0.4619, -0.0147, 0.7986, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4235 left_y=-0.1334 left_z=0.251 left_yaw=0.0412 left_pitch=-0.2115 left_roll=0.079 left_gripper=0.4619 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0157 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.1162, 9.5385, 1.6435, -0.2564, 0.1685, -0.0024, -0.2256, -1.2923, 7.0496, 1.7509, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:882ceb03361837ee83e260c3881a9267b2ee2112515ad42d6b27503fe6d7f209",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd8b0543cfe7e3ebfb42e2cdf2e8f481a08c76f88a5885d389df23dd3dc282c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e767efdd1aff13a183c47b2c02890698a867c0efec9ab0ca38dabdb5c98a7c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4woKjgEIEhgCKkDipMVX+TSKQQAZOlDLNi0S/+kTQMQufvcTvGsQLN/6oEMlBnqMoCp250q4Z6C2s25bXp2gexMcKApSB2L6w6F0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbvVzNUGEgwDZ5f9RUW9NqHWGT4aDDoYKKmSaegxDVP8xiIwjCqN8Pcx2WpU7LGHa4LtM9gs1afgfJPYR/TXh8pu+dDDhiX0BOkXSHtmgrVLl+64KoEJLmAMTTo8c3L2rULzSFrJ8WjE0Nefz0e1gnoPdiwS46vLhaAPgSRaTrplX7wEM6j4BY4qWuj+MhU8Ax/0kFG+u+Egh84n/gfIt6t+jAGxM0vBwYM7MIOXzkM6FnUEyhOjME48aX7iEzYfZbkSYK8rKXybjSOjByPnkl2dAqJZYWeRetd1ep9Jo3ruubE1/oHgjSJkifQ82+xIUTiup80N5Pkzri4A8I+z9Mq6bsjP0WdmGVFAfSIXMQEzTuSdbu+uqLtzfhEFft0zt0iP9QNHbwsJy0GftBv0QTfHwI8wT+q1OT8w+L7RW8z5tAb2azWrya0PferMPTMurm592LrXjMJexbMaeQzZurQM7uN0+fOj9bOmqmnWd8GORzPXR+qhnuXBaS9mp5D6I1V7TUk6Y7DKTvwbpNnbYO2m6gFXUS+AlkcJ8x9a7mkSB/0iT44HIHpBTsVcoNmGHeHfDC82YYX/nLsVHGn+QC5raaUSc6BJMIUElyMUFOlg7VgdgpRPml6bOABscUbeklomWOTA1O2OIfpxI57N/hR5ASlsupnvRycZ4QUZYHCtVLlS7uvaSg/VeSWB5HZw0i/mJfzKay6waJFDctHc7qNINX65MHe4VTShLEd35M5/r9GheVUlNu25AAa87pW24zn/jM6NtLu3nEW9chSaxHLoaZ8tnqEfpEDFXBQn4ANeG0UraagMuJpiJLoH2l7VlfEb+NPEoQPX4b14V7WaBL2eNESbmX30aE7GIp5j8Kbi1WAVhubY13MdGhFaUEYjlkc1FYdC8mT3oTzi6TJ+LnkajCcq3sQkCpVgE6c3aXIR9aWjzkSro7kBeFFTF6CS708x9RBkSc8LYlga9OQcWupdCurztEeasPahhvE/1E/cvdH8SscAd2i9yijfwXwgDEOuunK0jV57R6trsQF1Z/ObgBM2+YaSDHpeDcVFKDvtKzW+YErBMOFoNuD+Xqk6l7TgoEIw4zR+nItM77iVQGGP79ujQR3vdimqqoUPiZcpTaZPHJKl5hrY/83W3f3U2rDupU6QzkkS/On2+FyW/ttVtRGk9BarIUazFm6SW0728y6qYzwbcLN7TzOv3fI0YNmVLiESHZL0q6EA0HPtdkeYuT35IrwaOq00Kn8lhc6635LelKsAxp4bqqTyI1WW2k4HItoAOhVjB8gQf59VpXdVvEi7/it1RZBMDtZnCWrLMkyk+N2WuVK6w+Fj4yPc52ZKru0U9TRvUbzYijsoJQuuasfKy/htXWEiVQT2PjQwQFnBqVEbSOOP5U9uragl0D8sHtI7gizJGCHIzXYDRxLni6Se+nfBxBR15LxCcCVeYxaBw6hdakeGMNunAyePsT7akkUY4QnQhGLM+UETJN5ZQYSFysBy9koB4f+Z0jz0WPhWedXUpJfp0h4UNkkGV7zlGSR3TLU26siLd1qzE++1xkC0ZeHDNyAViAdm9voAotdHzYA3VqXoSKquNqa0UDmLyW4k5pufr5KhtJZ4+oDf7sVgBOHnHub1ZWu23WkoOUTWTT7rNBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0193eGEo7FExSsfq64ChKDSd",
      "input": {
        "note": "Arm is stalled at its reach limit just short of the basket; pitching the tool forward and nudging 2 cm out/down to lean the bear over the basket mouth.",
        "targets": {
          "left_pitch": 0.2,
          "left_x": 0.44,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_0193eGEo7FExSsfq64ChKDSd",
      "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]: [-0.5014, 1.5391, 1.0283, -0.0383, -0.5285, -0.1989, 0.4619, -0.0147, 0.8013, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4345 left_y=-0.1325 left_z=0.1924 left_yaw=0.028 left_pitch=0.091 left_roll=0.1075 left_gripper=0.4619 right_x=0.2951 right_y=0.0014 right_z=0.1789 right_yaw=-0.0 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.2513, 7.1453, 2.0977, -0.4518, 0.0952, -0.0122, -0.1573, -1.4701, 7.0496, 1.7314, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af202832f7eb1ea5ba32c78ceff9948df25762ff69ba6db2d34c28cb6edb4d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46af04c067c319d17bcfd35e1918a2de62f41b55bd56ae11cfa8d92495e86271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61835e55a9ddc6ab488ea22304665f82b8440c1946bce3ad01bc1246a77efed2",
        "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 · 27.74 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]: [-0.4698, 1.644, 1.6104, -0.8261, -0.4023, -0.3355, 0.4617, -0.0147, 0.7986, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4235 left_y=-0.1334 left_z=0.2509 left_yaw=0.0407 left_pitch=-0.2116 left_roll=0.079 left_gripper=0.4617 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0153 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -8.2256, 9.5248, 1.6679, -0.2076, 0.188, 0.0952, -0.1436, -1.2513, 7.0359, 1.7411, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4698, 1.644, 1.6104, -0.8261, -0.4026, -0.3359, 0.4619, -0.0147, 0.7986, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4235 left_y=-0.1334 left_z=0.251 left_yaw=0.0412 left_pitch=-0.2115 left_roll=0.079 left_gripper=0.4619 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0157 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.1162, 9.5385, 1.6435, -0.2564, 0.1685, -0.0024, -0.2256, -1.2923, 7.0496, 1.7509, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5014, 1.5391, 1.0283, -0.0383, -0.5285, -0.1989, 0.4619, -0.0147, 0.8013, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4345 left_y=-0.1325 left_z=0.1924 left_yaw=0.028 left_pitch=0.091 left_roll=0.1075 left_gripper=0.4619 right_x=0.2951 right_y=0.0014 right_z=0.1789 right_yaw=-0.0 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.2513, 7.1453, 2.0977, -0.4518, 0.0952, -0.0122, -0.1573, -1.4701, 7.0496, 1.7314, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af202832f7eb1ea5ba32c78ceff9948df25762ff69ba6db2d34c28cb6edb4d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46af04c067c319d17bcfd35e1918a2de62f41b55bd56ae11cfa8d92495e86271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61835e55a9ddc6ab488ea22304665f82b8440c1946bce3ad01bc1246a77efed2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwQKjgEIEhgCKkDCZxl5iG1q7hHHFBWnh4JAholiQ+9PTbjOcl8spxksOEjgI7ePS4YDuZmjStv3Oqw7IUEjWbABbDUvkJc4UjhZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcHVzNUGEgyJqnwLPXL3C1Ps79EaDDUqdjPvvXzz4YtNQyIwBtGhKx4xSvR1jIkRJWbodfiJHkxuk9zYPrpqsI9lpd1yJ7WX8q9HByT5pw0ivginKuEC7TZKj/S633nzQATZe+zAZVyASCpNfK6BhybuEOA2qb3EBZEiNjPOSbXyluKBbEODaU5tf5undaf4cWn6bMXsew/gieanJKO7DHQVhEqYsj8T22jOjdzSCdx2YIKZ0vY/rEvUNQk0JukZ+TnH+78Kmv6srsNLA+QXsM6sc8jGA5YSpocrd//nxbAF0+wmspXiGxxUuhbYsS3TL7NAn4R7QUJFjKnEkxKLIuCdficYiADG7OM8XEe0maKOgTOzyLXD8WQAvgOcz8/zbkJwum/O2TnATDrJFxyXHqxdQz/z8Sr28P1vovnpzJaHRSDTGK0YIGAp+3DtzRQM9RPEG4NxckNG0tV4buYBPG19D0AALsR/EtyQtbmGGsPoL259hTFnaz6wD2weCxsxU7SDgEHmDye+VVYkq8IDnRwp5LeyJWC50EVZ+4YO3c8zSg1svS/D8/pWZLqcR3PMqT1GBpHzsqkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KwwNKzGTak7hzjwohPTJZF",
      "input": {
        "note": "The gripper with the bear is now over the left basket's mouth; opening to drop the plush toy into the left basket.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KwwNKzGTak7hzjwohPTJZF",
      "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]: [-0.5014, 1.5391, 1.0138, -0.0376, -0.5346, -0.202, 0.9954, -0.0147, 0.8017, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4323 left_y=-0.1302 left_z=0.1866 left_yaw=0.0339 left_pitch=0.081 left_roll=0.1146 left_gripper=0.9954 right_x=0.2951 right_y=0.0014 right_z=0.1787 right_yaw=-0.0 right_pitch=-0.0187 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.9812, 7.9932, 1.6337, -0.1685, -0.0073, -0.1636, -0.1026, -1.1829, 7.2274, 1.7118, -0.0513, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e93cddc9195be6a41b0f57019d85be42585ade3652049ddba99342e1c40ef18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b16203778a618255c1bcab56bc1e3b1a62e223fea69b7a0448c099b788dc52d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2fb8088111f3b5b835b8e383c8682094e55ff716787f6c18df3f4a6450895212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 9.323 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]: [-0.4698, 1.644, 1.6104, -0.8261, -0.4026, -0.3359, 0.4619, -0.0147, 0.7986, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4235 left_y=-0.1334 left_z=0.251 left_yaw=0.0412 left_pitch=-0.2115 left_roll=0.079 left_gripper=0.4619 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=-0.0003 right_pitch=-0.0157 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.1162, 9.5385, 1.6435, -0.2564, 0.1685, -0.0024, -0.2256, -1.2923, 7.0496, 1.7509, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5014, 1.5391, 1.0283, -0.0383, -0.5285, -0.1989, 0.4619, -0.0147, 0.8013, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4345 left_y=-0.1325 left_z=0.1924 left_yaw=0.028 left_pitch=0.091 left_roll=0.1075 left_gripper=0.4619 right_x=0.2951 right_y=0.0014 right_z=0.1789 right_yaw=-0.0 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.2513, 7.1453, 2.0977, -0.4518, 0.0952, -0.0122, -0.1573, -1.4701, 7.0496, 1.7314, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5014, 1.5391, 1.0138, -0.0376, -0.5346, -0.202, 0.9954, -0.0147, 0.8017, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4323 left_y=-0.1302 left_z=0.1866 left_yaw=0.0339 left_pitch=0.081 left_roll=0.1146 left_gripper=0.9954 right_x=0.2951 right_y=0.0014 right_z=0.1787 right_yaw=-0.0 right_pitch=-0.0187 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.9812, 7.9932, 1.6337, -0.1685, -0.0073, -0.1636, -0.1026, -1.1829, 7.2274, 1.7118, -0.0513, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e93cddc9195be6a41b0f57019d85be42585ade3652049ddba99342e1c40ef18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b16203778a618255c1bcab56bc1e3b1a62e223fea69b7a0448c099b788dc52d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb8088111f3b5b835b8e383c8682094e55ff716787f6c18df3f4a6450895212",
        "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_01VKFKKZKdE2Umeq26Lohr2Y",
      "input": {
        "note": "The bear fell short of the basket — the basket sits further out than my fingertips can comfortably reach. I'm lowering to rim height to grab the basket's near rim and drag it closer to the arms.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.45,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VKFKKZKdE2Umeq26Lohr2Y",
      "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]: [-0.4694, 1.734, 0.9493, 0.1181, -0.4927, -0.2108, 0.9967, -0.0147, 0.8032, 0.6083, -0.3851, -0.0116, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.1286 left_z=0.1024 left_yaw=0.0354 left_pitch=-0.0205 left_roll=0.1376 left_gripper=0.9967 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=-0.0005 right_pitch=-0.0202 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.0615, 5.3265, 1.8242, -0.1392, -0.1001, 0.1294, -0.2393, -1.388, 7.0085, 1.7021, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ae49b6f7987170f7cf487849e82a1bc00ce6fc27aeafd5ee67367a808534be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eed29bb46e6abe191272b93b3eb1838c8a24a3538ae947e4ac713b66c5f3514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00b9225745aafeaf8a38ba94461d4379a918f4a8ee90847885d1b8320fbc4de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 10.67 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]: [-0.5014, 1.5391, 1.0283, -0.0383, -0.5285, -0.1989, 0.4619, -0.0147, 0.8013, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4345 left_y=-0.1325 left_z=0.1924 left_yaw=0.028 left_pitch=0.091 left_roll=0.1075 left_gripper=0.4619 right_x=0.2951 right_y=0.0014 right_z=0.1789 right_yaw=-0.0 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.2513, 7.1453, 2.0977, -0.4518, 0.0952, -0.0122, -0.1573, -1.4701, 7.0496, 1.7314, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5014, 1.5391, 1.0138, -0.0376, -0.5346, -0.202, 0.9954, -0.0147, 0.8017, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4323 left_y=-0.1302 left_z=0.1866 left_yaw=0.0339 left_pitch=0.081 left_roll=0.1146 left_gripper=0.9954 right_x=0.2951 right_y=0.0014 right_z=0.1787 right_yaw=-0.0 right_pitch=-0.0187 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.9812, 7.9932, 1.6337, -0.1685, -0.0073, -0.1636, -0.1026, -1.1829, 7.2274, 1.7118, -0.0513, -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 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]: [-0.4694, 1.734, 0.9493, 0.1181, -0.4927, -0.2108, 0.9967, -0.0147, 0.8032, 0.6083, -0.3851, -0.0116, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.1286 left_z=0.1024 left_yaw=0.0354 left_pitch=-0.0205 left_roll=0.1376 left_gripper=0.9967 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=-0.0005 right_pitch=-0.0202 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.0615, 5.3265, 1.8242, -0.1392, -0.1001, 0.1294, -0.2393, -1.388, 7.0085, 1.7021, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ae49b6f7987170f7cf487849e82a1bc00ce6fc27aeafd5ee67367a808534be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eed29bb46e6abe191272b93b3eb1838c8a24a3538ae947e4ac713b66c5f3514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00b9225745aafeaf8a38ba94461d4379a918f4a8ee90847885d1b8320fbc4de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzgkKjgEIEhgCKkD5h7UHKgdXv9r9fyqmYhmgWAlAELsLLNKcuaSS9gvzfeVJQ5wXhmnvuRDgZqjGXA2tk0TrwqKnimRqBJXynIv3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAebVzNUGEgy/G/aOmg3n4qo7grMaDLbSQtQyhku+KqRH2CIwy3lvDTKb4f/v+gcGl5vyCZO5wJRwocJcKj+IHL2J1rRds3MNitWLyy8+CQ4fswWQKuwHmMMqEJwBzkxeeJUU4bQCXxzZ1XSGjMuwvYQepJulp664sudjE1wHmGRP6lwLJW9Xi/tygjKB9eHLAKUUaQuuUZRoC1cUmGZ0CqwPeNMdzKfDtG6sk3t0lrUZUET+EDNoeHKnuFkRNoPDXCGM+Yve5iFnretULhBr7q5/dJ4O4Ne2Xm45oaiQ8DK209fiJwGWhQoTDYoYaOlsssKuaFj4XafdRXv2e3werLnntpIVse7vjlTvLcU3jnaH3Pg2JWwCuID+9qoaEFL7GJoXYyY2iKgAr183vDWGgLJN7sd/fwjQKyXcBiicMRCiCHCt6pc9Q+sWXy+hF9y8xVxSLkaTEQ9U8M6QUEDddXjqu/2fjeqdqGt8b2bd277crbohHD4AMvPDbEr7uycPt3ZKXLbkRe6tKhWrk1OcUj7210TVv18bqQyDCixStDsbn3r/q8+ugr12kTd3aVz4qC3OxEVoxQTRbcxGE+8xqL1dxOXrMh4uU2zRHxZXLwAZHFILZuvWo/tEMkd63vIHu31Dj4ScU7MKUllnbRUGhwmJDc7Mp+J6nXdnmHYQeSc8w61uzumUrIZHHb6dzazmtkG2wv5CTwvawXJW+o3v+t10bQ6vdDJkQElx3pnmK3qE3pbBsjPWt+ayBmK1c4NF2oiKYyA3LFp7U3wuz31pAwQeMci9Q3VytYlmxl4GdRIAuBbRRUkGIG931IArYzk04VwaZ0JY+AdIgibel8r/YrRn7htTRj39z2777/6+W0Xdz3+TztdDopQ0A9z1CXk3i/Eh6YcLV/8ZgsekJjpDPq2kZunoJIve0Mf+WoLXhwrifl1xdPNyqGESiESCNSuV62jJ0wYYLz5cvZaMdBTDwTkapyk7ZX80LJ2M+SJS5r0tv99UT64+1YE+LhSH+jpYO1vZpb+/32DGZLdZnBEn0BbpZUaYhl9jDDmumzDJTsOqfdsgTJPXIbHWa8epcpYGOMsZ9sULolIBrr4d2F+HV/DMr/0Tz7grfLJKYze8Mc74FDB91cLhRL2Ij0rOQlSpzsSphypN4OPtvNSRAVR+huM+K1aVCQVrLwb4WIBghmubsiogJZ43N+GH8jSAUW3RoNnMvsrViuozrpADWLIDfMKFiELfbKxF2NeJGkCUl5vQl2qejmzQNxlnpHUths+yGDmSKxLedjjopnxzy1X5kKog7/iuK+vbaDqTMzEWpQE+I78TL++8+4af8s43djIGKwbmXqPSt0C4SNsG2rtmGLOBqopDyY1S01WL43E7nxRvUb5i8Y2aSlehnEblonKrl0BhvEKBcACRmkhmCCW8UCxGE4Fk9RhwkWyj3yU0grWZTO4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VWxwfPst4V4FkZnoJDJDgG",
      "input": {
        "note": "Confirmed: at x=0.45,z=0.10 the gripper is right inside the left basket, so the drop earlier was just too early. Going back to re-grasp the bear which now lies on the table in front of the basket.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.24,
          "left_y": -0.28,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01VWxwfPst4V4FkZnoJDJDgG",
      "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]: [-1.2598, 1.7519, 1.0256, -0.4957, -0.9512, -1.0443, 0.9988, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2473 left_y=-0.2876 left_z=0.0917 left_yaw=-0.002 left_pitch=-0.0188 left_roll=0.1049 left_gripper=0.9988 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.241, 6.8718, 0.3785, -0.6178, -0.0122, -0.1294, -0.2667, -1.347, 7.0496, 1.7411, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8c58fff4eafbc35c42c98416d710c8c3a2731c754ddd75ec7458f7a1b5ab8c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ede65a2cc4ed3a64c89ad68e685a8f13e41c4f6b44d0fadf2c7b0165c384889f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4ad25a08f6f26f5406d34e67a8d6848ee6e8662c6dc1f1541f109bb4a1d04ef",
        "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 · 9.269 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]: [-0.5014, 1.5391, 1.0138, -0.0376, -0.5346, -0.202, 0.9954, -0.0147, 0.8017, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4323 left_y=-0.1302 left_z=0.1866 left_yaw=0.0339 left_pitch=0.081 left_roll=0.1146 left_gripper=0.9954 right_x=0.2951 right_y=0.0014 right_z=0.1787 right_yaw=-0.0 right_pitch=-0.0187 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.9812, 7.9932, 1.6337, -0.1685, -0.0073, -0.1636, -0.1026, -1.1829, 7.2274, 1.7118, -0.0513, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4694, 1.734, 0.9493, 0.1181, -0.4927, -0.2108, 0.9967, -0.0147, 0.8032, 0.6083, -0.3851, -0.0116, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.1286 left_z=0.1024 left_yaw=0.0354 left_pitch=-0.0205 left_roll=0.1376 left_gripper=0.9967 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=-0.0005 right_pitch=-0.0202 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.0615, 5.3265, 1.8242, -0.1392, -0.1001, 0.1294, -0.2393, -1.388, 7.0085, 1.7021, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2598, 1.7519, 1.0256, -0.4957, -0.9512, -1.0443, 0.9988, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2473 left_y=-0.2876 left_z=0.0917 left_yaw=-0.002 left_pitch=-0.0188 left_roll=0.1049 left_gripper=0.9988 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.241, 6.8718, 0.3785, -0.6178, -0.0122, -0.1294, -0.2667, -1.347, 7.0496, 1.7411, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8c58fff4eafbc35c42c98416d710c8c3a2731c754ddd75ec7458f7a1b5ab8c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ede65a2cc4ed3a64c89ad68e685a8f13e41c4f6b44d0fadf2c7b0165c384889f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4ad25a08f6f26f5406d34e67a8d6848ee6e8662c6dc1f1541f109bb4a1d04ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiQYKjgEIEhgCKkCGarcn0mi+iVEJ7cda7uO5Eq15klCo1HCFrzkVxIAbSiroiKb88NG7IfjrdYbjMjN7jQkXgGsFOh28ibdX2bQ5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfPVzNUGEgybrpjaDjiNC0yHfjgaDN4qfpIGWV64YqtOKSIwEdO4cAmquIkhMTcLiSJf16DH+bURL1dgRiWf+rrzT3FaqipicPIWT0FOVDzbfVpYKqcE9lXn7VOh7KYgMV92QkVNx8gHmI/X0z9Cb3y9UJTJud23YbODVCMTalKveo/nA+2IvsT99b0FdSmeF/v4V9Ia2By101Se9SOU+OZtD9PcU1pBRhJw/+vPkYVIwEqezMPpbZ0PkoyPOVslmSIfbP0PYCO94hpmvJBurcuthiDdg29L6xf8tuziKhjwhCRbqACBptvD+7Y9hnGt//0xxlKUof9T15U4gBGgG9Faa0lNUOyDAQqMhLM4U17G4QyGGTrutEW+xUug8PBZBwkFProwbM0bLIvJF6jlstuuOUXqmM0Xrvn89Laz5XSZd+xFdZiVChjamB5NUppYGYajDeCuaNz1WwHYJVclYAC43pechKHhGqWSGLQ4rCov+sNMl/PRwTOYpAyfN1c2gJaG7lfNKVmPD9d/EkWX/cWClCeSwqSGGBPPZyepXy4HQP48LPb5C0LC7cq8w5bRHUbkbIxRCPluYP5VK4qEpM/95n6oYBXzC6akxkPcfsHIRKl8lS2+RkkSjQLL+dz9CyICRP1HV9Ngw+P5SujiAlHsDzdJMU8zRqZvcZi5Lp7A7yQzBRG+JhY0kfe0yEdCu4WxUYNb1yMnj+BldepKJkDrA1NrK13hIil+WqnjFYMQrfuxaxTtM3ZLPyYQ9RisnZVxzUwFHSjiMcli3DwzsS2FA3iTnemCVeBIuwHhBMjg9yxP43Aj4RNO3+Sh8yS0U0jBujSDscKtLcQgGa0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019B1hbNcuVJ7ouD9tSR2trJ",
      "input": {
        "note": "Bear is at the jaws but sits slightly to the arm's right in the wrist view; shifting 2 cm right and closing to re-grasp it.",
        "targets": {
          "left_gripper": 0.05,
          "left_y": -0.305,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019B1hbNcuVJ7ouD9tSR2trJ",
      "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]: [-1.2694, 1.8301, 1.0462, -0.4469, -0.9733, -1.0714, 0.0557, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2498 left_y=-0.2993 left_z=0.0771 left_yaw=0.0105 left_pitch=0.0001 left_roll=0.0967 left_gripper=0.0557 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -6.4889, 6.9265, 0.7985, -0.3443, -0.0366, 0.2955, -0.335, -1.1829, 7.0359, 1.7314, -0.0366, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd1200d1172a5c3e09b4f4c8e1cf454086bafe3a17375f4632fe635a6b18c20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:297d81e9e1984fc5d286ab6ec21e662bcf0ad1239b9a5ae5ca1024beb39bfed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:291f14eda83f2030f7764796a8f321c68864bd9de0caaf2447d5136b02cea468",
        "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 · 4.643 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]: [-0.4694, 1.734, 0.9493, 0.1181, -0.4927, -0.2108, 0.9967, -0.0147, 0.8032, 0.6083, -0.3851, -0.0116, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.4462 left_y=-0.1286 left_z=0.1024 left_yaw=0.0354 left_pitch=-0.0205 left_roll=0.1376 left_gripper=0.9967 right_x=0.2952 right_y=0.0013 right_z=0.1783 right_yaw=-0.0005 right_pitch=-0.0202 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.0615, 5.3265, 1.8242, -0.1392, -0.1001, 0.1294, -0.2393, -1.388, 7.0085, 1.7021, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2598, 1.7519, 1.0256, -0.4957, -0.9512, -1.0443, 0.9988, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2473 left_y=-0.2876 left_z=0.0917 left_yaw=-0.002 left_pitch=-0.0188 left_roll=0.1049 left_gripper=0.9988 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.241, 6.8718, 0.3785, -0.6178, -0.0122, -0.1294, -0.2667, -1.347, 7.0496, 1.7411, -0.0366, -0.0757, -0.0122]",
      "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]: [-1.2694, 1.8301, 1.0462, -0.4469, -0.9733, -1.0714, 0.0557, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2498 left_y=-0.2993 left_z=0.0771 left_yaw=0.0105 left_pitch=0.0001 left_roll=0.0967 left_gripper=0.0557 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -6.4889, 6.9265, 0.7985, -0.3443, -0.0366, 0.2955, -0.335, -1.1829, 7.0359, 1.7314, -0.0366, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd1200d1172a5c3e09b4f4c8e1cf454086bafe3a17375f4632fe635a6b18c20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:297d81e9e1984fc5d286ab6ec21e662bcf0ad1239b9a5ae5ca1024beb39bfed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:291f14eda83f2030f7764796a8f321c68864bd9de0caaf2447d5136b02cea468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQYKjgEIEhgCKkCv+xpLLEOLVo7iCoDYOJ4UohbpvVdGTINWp42R+xF3SOVTqvtcc8cpfKEANbhwW6vxlKbslUo5rm68iSBO3u6lMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf3VzNUGEgwZsIpTo50rxph0fHgaDEtyOa+68xoi21KdyyIwHypb60hIChgXfIUbbZQDBEkGpxIFg+L+dY0ML4Eoti7eKcBI1DNgBlVz//rIx1Z0KrcEFY2qZIDS2f45ZjQiaKdoI+WZsY8E8qz7dUnBBQKv6/jiYlVKfIhiO/w9RhZLEhKGP9u3LyjQ50/bKcdC2JpDUYb+oFRTDyJbCzXlZpy3Wt4vbnHnFpTBmtCUzRxSs2hRmmvVVVTB8cXjGxwNEbQLS1eXqJYWWwiASyVogF7hILmE2o/AiRv4TguBpyEN0rDqWsfRXYF+vX0O3/nuPP1pCTw6jBeRFZCRIcC7s6ZlLz6B6OBZSJUQ7sBZz2+w8KhjkPVU6Q3yFJVs4Dxc1aIKaAsYGCF1VWc2lN1VWQaDNK/zLotfaz0x6dPkd9UFcop2xUO0DqsKygW+wCb5Nd+Xm2MAjdgh8haZqAb4T7EBaDBPzAMxOn7HJzK8DGFyFjO08UJa65ERUqxQlHlqboDSW5AihQbrqh5KAA1geNtz88LK/19ZLUHKN26uV8cZP9Oizthe2SwrSre8/Hcuqo8I78oMkhF5wk9TJ8s73/X+Fs6Om9IHgzsdmCbsQQpb37ZZfcjMGwASi2ukOLd6MvZaDoUsPO+9+9+LWZ8/1G7zPEcNgzqemRyRZmNzLTcHLINqXGVHGGUWxPfh/BDAAif/IBupC8MRkEGbWWzQ8WqnNqIszgV8NyQVp6VSkONYvFPgRrQ1Dh/qxoXsaWL/mr5IDL7VjEHPuMvFruIfLNXOwcu6GvHnySDjBjPypJRx9ZDB8xH+nc9HbUpAf6udqpSCJEzOZITwYRE1Vda+NZJDFiXayH1FwXqfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017tNZ2FWgGKe6dnzi7ASGYp",
      "input": {
        "note": "The close came up nearly empty (0.056) and the bear still sits to the arm's right of the jaws; opening and shifting 3.5 cm further right to centre on it.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.335
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017tNZ2FWgGKe6dnzi7ASGYp",
      "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]: [-1.2892, 1.9305, 1.1938, -0.5316, -0.9977, -1.1236, 0.9955, -0.0147, 0.8051, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2527 left_y=-0.3267 left_z=0.0808 left_yaw=0.0257 left_pitch=0.0153 left_roll=0.0945 left_gripper=0.9955 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -7.4598, 7.4462, 0.7253, -0.3297, -0.0171, -0.1783, -0.1026, -1.306, 7.2137, 1.6923, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c875594ed80f69cf0a811b3d39b5a7dba3e498cfd7ba673dce7108e3124bb610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75718591d0a12c79b02b25609056a58d1b7ee3a76a8347545a875f5157badf4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:193d5199082ef09da48a856a4255736248dd2bab053a30c738fbed1c386327c5",
        "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 · 20.75 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]: [-1.2598, 1.7519, 1.0256, -0.4957, -0.9512, -1.0443, 0.9988, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2473 left_y=-0.2876 left_z=0.0917 left_yaw=-0.002 left_pitch=-0.0188 left_roll=0.1049 left_gripper=0.9988 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.241, 6.8718, 0.3785, -0.6178, -0.0122, -0.1294, -0.2667, -1.347, 7.0496, 1.7411, -0.0366, -0.0757, -0.0122]",
      "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]: [-1.2694, 1.8301, 1.0462, -0.4469, -0.9733, -1.0714, 0.0557, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2498 left_y=-0.2993 left_z=0.0771 left_yaw=0.0105 left_pitch=0.0001 left_roll=0.0967 left_gripper=0.0557 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -6.4889, 6.9265, 0.7985, -0.3443, -0.0366, 0.2955, -0.335, -1.1829, 7.0359, 1.7314, -0.0366, -0.0513, -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]: [-1.2892, 1.9305, 1.1938, -0.5316, -0.9977, -1.1236, 0.9955, -0.0147, 0.8051, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2527 left_y=-0.3267 left_z=0.0808 left_yaw=0.0257 left_pitch=0.0153 left_roll=0.0945 left_gripper=0.9955 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -7.4598, 7.4462, 0.7253, -0.3297, -0.0171, -0.1783, -0.1026, -1.306, 7.2137, 1.6923, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c875594ed80f69cf0a811b3d39b5a7dba3e498cfd7ba673dce7108e3124bb610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75718591d0a12c79b02b25609056a58d1b7ee3a76a8347545a875f5157badf4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:193d5199082ef09da48a856a4255736248dd2bab053a30c738fbed1c386327c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1wQKjgEIEhgCKkAl9aKxghCDwL1KROIH4KhdJd9LWpc2DV5qtXiomNCCV9FMv00MJuemgozWS0I6bRHWjnLh71tDE/P2wRdh5Q3wMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYLWzNUGEgwZLxuIm7rEDSH4Eh0aDLc6fdaZ+hPvmN2MvyIwOaJEgrhmVoYsBjvdnDBNl8bG8i4svZW35LmbVz38UWN+DxVGe7MKGqeIrvzPqAk+KvUC9RLautuqlak2OVGF3GvPa3yjlfNnOFNGtwT2Ry2yTnBYCCK4+5cBkGsNZF6lrLFvtTCkuVvsf1tFgt8OHXpPRet7MrDXEPBICxiO7JBKWK9Cwt828mFG5r7zPApz76/AkXWXW/OqP/MClrx4k56PzAfr5RbysRwYUDSIDUkYvW/z4h9cGs7yc/jhECqYduqz5rMNuGPObQRLsE0z07RJUK3/v/nVp+oneLzvMmH4s4ZH8IyRaLtSnZ9/nayAmPp4+TN5Z0f6z4W0yql9hHIanD4bfVC3KBGWEJNl5ffGWzSxrxdQkbbYB1dBQcCt0VDpaF7jBOmDNcJbuLquQJLk+bMSI/+Dw/mcqSmb18OO2FJ9H3UMhqzoOJB3BelAbp9xiLed/lG5UmpF3fJtivybDhwFzG9peWP6tsQnFIUUiv1RshHJGLpenuZt90axHfBjROYPdggdDQueodeuvOyX+HW63of7CoPFH7tH/686ZPsbODoL3xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V2KZ9XEAoDCmycq3WEzAEH",
      "input": {
        "note": "Plush toy now straddles the jaw column in the wrist view; dropping 2 cm and closing to grasp it.",
        "targets": {
          "left_gripper": 0.05,
          "left_y": -0.345,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01V2KZ9XEAoDCmycq3WEzAEH",
      "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]: [-1.293, 1.9976, 1.2377, -0.5297, -1.0401, -1.1419, 0.0559, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2576 left_y=-0.3346 left_z=0.074 left_yaw=0.0428 left_pitch=0.0505 left_roll=0.1093 left_gripper=0.0559 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-1.1419, -6.9675, 6.7897, 0.9597, -0.1099, -0.0757, 0.2808, -0.1436, -1.3333, 7.0359, 1.7656, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f6935da27d07ab6be12971e4b463f1e2659b9bec033f925e042bff55e9a40db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b283f0bd3f48deedb7d7c71ad4f4ebdafa8357f0c518fe9a3398cc6cd26866bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b934fab2cd5dbd5b8819d91bba6af147129d7b04ca959d59a8af9bb69a644c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.23 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]: [-1.2694, 1.8301, 1.0462, -0.4469, -0.9733, -1.0714, 0.0557, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2498 left_y=-0.2993 left_z=0.0771 left_yaw=0.0105 left_pitch=0.0001 left_roll=0.0967 left_gripper=0.0557 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -6.4889, 6.9265, 0.7985, -0.3443, -0.0366, 0.2955, -0.335, -1.1829, 7.0359, 1.7314, -0.0366, -0.0513, -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]: [-1.2892, 1.9305, 1.1938, -0.5316, -0.9977, -1.1236, 0.9955, -0.0147, 0.8051, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2527 left_y=-0.3267 left_z=0.0808 left_yaw=0.0257 left_pitch=0.0153 left_roll=0.0945 left_gripper=0.9955 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -7.4598, 7.4462, 0.7253, -0.3297, -0.0171, -0.1783, -0.1026, -1.306, 7.2137, 1.6923, -0.0317, -0.0562, -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 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]: [-1.293, 1.9976, 1.2377, -0.5297, -1.0401, -1.1419, 0.0559, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2576 left_y=-0.3346 left_z=0.074 left_yaw=0.0428 left_pitch=0.0505 left_roll=0.1093 left_gripper=0.0559 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-1.1419, -6.9675, 6.7897, 0.9597, -0.1099, -0.0757, 0.2808, -0.1436, -1.3333, 7.0359, 1.7656, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f6935da27d07ab6be12971e4b463f1e2659b9bec033f925e042bff55e9a40db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b283f0bd3f48deedb7d7c71ad4f4ebdafa8357f0c518fe9a3398cc6cd26866bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b934fab2cd5dbd5b8819d91bba6af147129d7b04ca959d59a8af9bb69a644c0c",
        "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_01VZbSZKxfHX2DQQvazZZ2iJ",
      "input": {
        "note": "Second empty close (0.056). Top view says the tan teddy is actually a few cm to the arm's LEFT and slightly further out than the jaws, so I open and shift there before trying again.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.275,
          "left_y": -0.3,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VZbSZKxfHX2DQQvazZZ2iJ",
      "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]: [-1.2221, 1.9285, 1.0584, -0.2699, -1.0744, -1.0225, 0.9957, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2794 left_y=-0.3034 left_z=0.0707 left_yaw=0.0733 left_pitch=0.1129 left_roll=0.0785 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -7.8017, 3.5624, 0.7497, 0.1343, 0.0708, -0.2222, -0.1983, -1.1419, 7.1863, 1.7265, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d081a1761516eed2b9cffd0a7cc5dc36fbcac1975190f8e1ff7f2c22b7cdca84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c41395105ad59a94a82f6e2bd944617d06e8c2b2723dcc019cd6e4433c4943c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:102a1f5d6da10839cbf6d8f73e25ed69cee84d5aba33f69d4aadd74e4d90028d",
        "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 · 10.26 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]: [-1.2892, 1.9305, 1.1938, -0.5316, -0.9977, -1.1236, 0.9955, -0.0147, 0.8051, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2527 left_y=-0.3267 left_z=0.0808 left_yaw=0.0257 left_pitch=0.0153 left_roll=0.0945 left_gripper=0.9955 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=-0.0003 right_pitch=-0.0221 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-1.0188, -7.4598, 7.4462, 0.7253, -0.3297, -0.0171, -0.1783, -0.1026, -1.306, 7.2137, 1.6923, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.293, 1.9976, 1.2377, -0.5297, -1.0401, -1.1419, 0.0559, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2576 left_y=-0.3346 left_z=0.074 left_yaw=0.0428 left_pitch=0.0505 left_roll=0.1093 left_gripper=0.0559 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-1.1419, -6.9675, 6.7897, 0.9597, -0.1099, -0.0757, 0.2808, -0.1436, -1.3333, 7.0359, 1.7656, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2221, 1.9285, 1.0584, -0.2699, -1.0744, -1.0225, 0.9957, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2794 left_y=-0.3034 left_z=0.0707 left_yaw=0.0733 left_pitch=0.1129 left_roll=0.0785 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -7.8017, 3.5624, 0.7497, 0.1343, 0.0708, -0.2222, -0.1983, -1.1419, 7.1863, 1.7265, -0.0562, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d081a1761516eed2b9cffd0a7cc5dc36fbcac1975190f8e1ff7f2c22b7cdca84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c41395105ad59a94a82f6e2bd944617d06e8c2b2723dcc019cd6e4433c4943c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:102a1f5d6da10839cbf6d8f73e25ed69cee84d5aba33f69d4aadd74e4d90028d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowcKjgEIEhgCKkD7j56GsuZpAmb0sSXi/oY8sYngrYKBE2hafmMR7b8UryPXK5Nk4M078XUdg6RTAHjc8frgJZMwmLIvacoHTBqpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ/WzNUGEgwU62K4EYNztsXWhIMaDK0Y0fYaC05j/fDXbyIwSf1Lwo8cEh9wYG08wJe4disL4GZ4Mv6onWkSQyRsuTmCZT6vOMh2xDu4u9e//HNAKsEFC6Xryi3aktPOBDJPPsE3s+WHZgB6t+StPKSDG/8t1OZmHVv6UHOq0/dv4sfowuHFL3rTHDvfvBim5/YKUGb8HNLh9/iA7Gr5nbJGXHZl18pjWlj5+XRQ9mnDQ0LzZAB7qCb8Pz7wcLuqatIJJZTSa0jUchwEL1jFjc/FxyphkGM4UJEq5zLG/AQr67ovtRnbtHMaD0C8MmhI5QCoH+cuxHTJxbAAjXOkYj9meAUmX+Sjth2PDJ/ue0AZbY2+Gz/txfR9hPA8cwvpBdz+XVPXPwKtJpRFnq2L2LyafPyGxmkwH3wHvSSvWUiZs1OQu0aveT808zIL1e29fuMdqNphl9zDN98+GWlzT51vB5GB4HxEDOXokQRo9RndNCMF3AHaeCS7cGoT9jov+pgzqUwHsSAtToIX2dn2Ps6Gf983VEW7gDCoesOm1L1+GyRmWMZMzO92F1hmVia9CobfXPQGrJA9AMYBgbdcJLrudUK7QcGqJPznPirRXIkeon9cV7zw0oaapyJSdsikXE5rEEqSGk40mDlyu8IekKoGJa6rrs4vOqFd5RU/tu+ct3wDPv3S6TivBZXef98rUe2RFfhRtaJSMxYcgP1Rkq31gSibVOurkgzn6UAyhoJHmYYYyD6e0osB8dl0VmwfFLZQU55XivPxQvr7U23Grc2GBPRKb9My+lObG/vY1rwEY62vd4e3AusLqbNfGeMbHekkC7f0Tlfpt2slOkbMCXfx1oFJA7+qag1qzweZGdqMUCEwMZk0z9i3xOvkW7sbExQUqvrb1oWw67C3ydIwnFa1VtJIG1n/fwi9jXJCA8p4JHkH8+/f49h+IHwXoR3CBx4GczbGbAIviQPFFMhpNC1mprqc+n7dwiW38Jsgo1h7OEpQLXy5RqtpbKV3pnn9cPmKa3pVU7iyYcMVv9Sw10FpJKPlmto8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VJT1QtfSXBUxPd3e8AiTqv",
      "input": {
        "note": "Returning to the exact pose where the first grasp of the plush succeeded (x=0.25, y=-0.27, z=0.07) and closing there.",
        "targets": {
          "left_gripper": 0.05,
          "left_x": 0.25,
          "left_y": -0.268,
          "left_z": 0.065
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VJT1QtfSXBUxPd3e8AiTqv",
      "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]: [-1.2671, 1.8244, 0.9188, -0.2466, -1.1168, -1.1099, 0.0556, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.258 left_y=-0.2803 left_z=0.0771 left_yaw=0.0898 left_pitch=0.1502 left_roll=0.0198 left_gripper=0.0556 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -8.4581, 3.2342, 0.4078, -0.2564, -0.1197, 0.2955, -0.335, -1.1829, 7.0222, 1.7363, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acc847c980cb4023d617d0c4a528f582d9c90d81f7321d5ee7c9c5e052992b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a7731cc58e73b423cdfc24574adb4b550aa1f36fbd8232e8a608445b9c87263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:368b03be2c2f143753b8766f20759ef3343428e1a71394c338bcf9195a3d48d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 14.97 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]: [-1.293, 1.9976, 1.2377, -0.5297, -1.0401, -1.1419, 0.0559, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2576 left_y=-0.3346 left_z=0.074 left_yaw=0.0428 left_pitch=0.0505 left_roll=0.1093 left_gripper=0.0559 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-1.1419, -6.9675, 6.7897, 0.9597, -0.1099, -0.0757, 0.2808, -0.1436, -1.3333, 7.0359, 1.7656, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.2221, 1.9285, 1.0584, -0.2699, -1.0744, -1.0225, 0.9957, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2794 left_y=-0.3034 left_z=0.0707 left_yaw=0.0733 left_pitch=0.1129 left_roll=0.0785 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -7.8017, 3.5624, 0.7497, 0.1343, 0.0708, -0.2222, -0.1983, -1.1419, 7.1863, 1.7265, -0.0562, -0.0757, -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 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]: [-1.2671, 1.8244, 0.9188, -0.2466, -1.1168, -1.1099, 0.0556, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.258 left_y=-0.2803 left_z=0.0771 left_yaw=0.0898 left_pitch=0.1502 left_roll=0.0198 left_gripper=0.0556 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -8.4581, 3.2342, 0.4078, -0.2564, -0.1197, 0.2955, -0.335, -1.1829, 7.0222, 1.7363, -0.0415, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acc847c980cb4023d617d0c4a528f582d9c90d81f7321d5ee7c9c5e052992b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a7731cc58e73b423cdfc24574adb4b550aa1f36fbd8232e8a608445b9c87263",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:368b03be2c2f143753b8766f20759ef3343428e1a71394c338bcf9195a3d48d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAsKjgEIEhgCKkDjXfuOBB24A5+VRjQw5fmraqr6asT0+l2GIGyiruBTHUNtOciLDAmRBUT/8PBmFKU/d47gzsgvez0t3h6eQ9JZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAarWzNUGEgyaJXXBEDIxxJAB+NsaDO+Mj4g8vRfe80GCFCIwCtYzGH2VvCUb89YP2ARD8DM1t/8Ec4eynC+qq6lkhu9Bj1YL2se4Sw8J6chiNNP6Kt4JomK/Mf12Ch+A9SYOXmY1zPNK9Gw9C1wBXO3p+Dnz/du0ZeOkvNQ/unt64rCETlT3IwjQd0AYMTUf/g16r4+CIzjcPAXtrN00aOMx4jpyR4cIWCyv8PUXyP7kz9qsR+GkRFPYoI+m2124twU5TaYP7iPJBsAd774rCJa4WzIDFxDfrgCYg2NizvN7w4vYUjpaEOM6Vx0UhTo0543X5sK8zTbHJeBQhVI0gUYyIZb/AINfew8G6E3kRMq8SANV61sP7AeUu9dJ45caq181HrE5RYolKiEID+bvbiucfR00aS5i/pbCbfkNq6ci2wr9GvIkrgtYHNecALNoexjLsoKhAZVzxI8IPSyJ6Cx37gglYbVmss4ZXjyM+k6ut/+0lV7fQ6KtT/zNkJahs7mEQuuj64+rB1HS0dGjwGRhZHRlVFy04DeW9SCDScWu0l6csbseeXchuXSmltzVYARPxm2TrCosautqXfr9LSswAxz4eexBgbISIffIP5eAPi04iEUS0Ha2fg1I3ckRqr2YgaF8i+3WVJZvjG7Bq2erMj8zhql8uQzcRMVIJS+TECq5ISBmccI9JgVyQ0KUh93hmgFnTLwU0yOrUdnKVS6pXzihM0qPCRJnBlCwUZXTQhNZGDbRzqLD9Poa98itPoS0UgBEQClhwfUn5xMc1HlhajD2oYx3Ig6qHYiZAsD+o1jiNd7YDp34aauvlxpuPDR13fhWgezkc5NGQcxpehkJ3eD3rpZqsAtGu1NyDnANQpAHt0DNsMV0dsck/h5lU6PxfH+YLYFL0wcaQQiqDdYpPXFRfqJ8nDVm9MX0WyVigiUEsBy5J27SlaKd51RqwIWDJHrHZ4UvlpGgN6X47RYMvlcx4y14qpHbB8c4IFh41qhzrFNTnRYnDdFvnioPD/NolnDx7UZE7Unm+5kz9QFQtRgvnKWft7QXzTnWeKEYD28f4GNQqf/aUY48cAIFBhf3qp7GJw0dO4L7vdTgCayn28TCPfFw5P+tGY1r5ImYLMZWCsk9ugEjArA6nLEjRoML2HN469cnUD4X7OVsWtLcET4xuGk8Rexuj7CyRb/tEu7Orvd0fl/Yof2Wneasaa2Y3plWT+1NnXNmSA8f+7U7hxWN8DAndaGwKpMuoBWMyLsT3T+9lw4yj4Mw0yCNzwKNbMLTWjhK9XKJnSrBJ03KJIWowitnJlxW6HyCG8HwUtWgj2MfiklBhSNPrixhOm15oZME7nnFgIg9DQfAJWUIfgSkgd6WFBSwdW53vzKiB7XHJmMyd9ceMi25LfwdjwM86zxy6CBhO+EVOsB3D3hVa+bP2h3SW0T+t3v/5r/KfWh6slOqqoQRI7ug6J1NCafjozEHjhk5BD2hq+vOV2q0+VhgYXkPIdBOc3p+GSQdiMI97/+AKlAREprnP4IZx2scqJrlpIkiqXEMsp2uMMfYPtV8PT93RYhM7q7STFjrF0dhwwQ/aA/nUQOwJtxsbA+GXhNxvgJEODnbk9iubQy9qJAdWG5SkaxzRq8VjrgENXq7Wsqu9RyvLhQCz9oN+QUrcoB6aLZPudpxRvMq9XGF+K9ulU9FZuV6dbBKWNgdID+nnnAHp3QoN0GZh56VkAqcOsvuHjDRpV0agJj8e9uTEgexYHj0kMsiGzSycchKhf4SzxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018mA92rj1LgZqTfjMeyH2U8",
      "input": {
        "note": "Wrist view shows the jaws straddling a gap with the teddy just to the arm's left; opening, levelling the wrist and shifting 3 cm left and down to table level for a firmer grasp.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_x": 0.25,
          "left_y": -0.245,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018mA92rj1LgZqTfjMeyH2U8",
      "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]: [-1.2163, 1.7912, 0.7898, -0.0708, -1.0687, -1.1267, 0.9953, -0.0143, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2647 left_y=-0.2587 left_z=0.0595 left_yaw=0.1404 left_pitch=0.1248 left_roll=-0.0839 left_gripper=0.9953 right_x=0.2953 right_y=0.0015 right_z=0.1778 right_yaw=0.0004 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.7521, 2.1128, 0.3101, 0.6081, 0.0464, -0.0171, -0.0615, -1.306, 7.0222, 1.7216, -0.0464, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd03741bab266c9887c670c078ef44a1d61a9dbdc839b5090e29ba41a4bd8e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f3041ddf1b5b8ca0cd9afdb27985a66458960e7acd674748e364bc530946738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:063ed35382e684de6223afde08ffc9e3d84dfa638df22c19ebe2629bcd3e48f0",
        "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 · 8.637 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]: [-1.2221, 1.9285, 1.0584, -0.2699, -1.0744, -1.0225, 0.9957, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2794 left_y=-0.3034 left_z=0.0707 left_yaw=0.0733 left_pitch=0.1129 left_roll=0.0785 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.5949, -7.8017, 3.5624, 0.7497, 0.1343, 0.0708, -0.2222, -0.1983, -1.1419, 7.1863, 1.7265, -0.0562, -0.0757, -0.0122]\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]: [-1.2671, 1.8244, 0.9188, -0.2466, -1.1168, -1.1099, 0.0556, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.258 left_y=-0.2803 left_z=0.0771 left_yaw=0.0898 left_pitch=0.1502 left_roll=0.0198 left_gripper=0.0556 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -8.4581, 3.2342, 0.4078, -0.2564, -0.1197, 0.2955, -0.335, -1.1829, 7.0222, 1.7363, -0.0415, -0.0513, -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 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]: [-1.2163, 1.7912, 0.7898, -0.0708, -1.0687, -1.1267, 0.9953, -0.0143, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2647 left_y=-0.2587 left_z=0.0595 left_yaw=0.1404 left_pitch=0.1248 left_roll=-0.0839 left_gripper=0.9953 right_x=0.2953 right_y=0.0015 right_z=0.1778 right_yaw=0.0004 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.7521, 2.1128, 0.3101, 0.6081, 0.0464, -0.0171, -0.0615, -1.306, 7.0222, 1.7216, -0.0464, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd03741bab266c9887c670c078ef44a1d61a9dbdc839b5090e29ba41a4bd8e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f3041ddf1b5b8ca0cd9afdb27985a66458960e7acd674748e364bc530946738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:063ed35382e684de6223afde08ffc9e3d84dfa638df22c19ebe2629bcd3e48f0",
        "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_017yEd99VjRgSW7xtvCoYa1Q",
      "input": {
        "note": "Re-reading the top view: the tan teddy is about 8 cm to the arm's left of the current jaw position, so I'm making a decisive 8 cm sideways move to line up on it.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.18,
          "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_017yEd99VjRgSW7xtvCoYa1Q",
      "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]: [-1.1595, 1.5146, 0.4866, 0.1005, -1.0542, -1.0569, 0.9967, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.255 left_y=-0.1915 left_z=0.071 left_yaw=0.1718 left_pitch=0.1497 left_roll=-0.1647 left_gripper=0.9967 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.335, -4.2598, 4.0957, 0.9255, -0.2173, 0.1734, 0.1343, -0.1846, -1.2103, 7.0632, 1.7216, -0.0464, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c4b00bbdb2d1856d9ced2d7db378b3b34f208367da59ebc2d87e05c2ec5b2d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d277f273a76bc090100f6d45be1be025f9ba3a0e011c1a96fa60fcf01e0ae30a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4be1a970e724891704f6830ae4e7a57c8f55c8cdfbdcb088c13326d33ea50dd",
        "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 · 5.762 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]: [-1.2671, 1.8244, 0.9188, -0.2466, -1.1168, -1.1099, 0.0556, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.258 left_y=-0.2803 left_z=0.0771 left_yaw=0.0898 left_pitch=0.1502 left_roll=0.0198 left_gripper=0.0556 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -8.4581, 3.2342, 0.4078, -0.2564, -0.1197, 0.2955, -0.335, -1.1829, 7.0222, 1.7363, -0.0415, -0.0513, -0.0122]\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]: [-1.2163, 1.7912, 0.7898, -0.0708, -1.0687, -1.1267, 0.9953, -0.0143, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2647 left_y=-0.2587 left_z=0.0595 left_yaw=0.1404 left_pitch=0.1248 left_roll=-0.0839 left_gripper=0.9953 right_x=0.2953 right_y=0.0015 right_z=0.1778 right_yaw=0.0004 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.7521, 2.1128, 0.3101, 0.6081, 0.0464, -0.0171, -0.0615, -1.306, 7.0222, 1.7216, -0.0464, -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 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]: [-1.1595, 1.5146, 0.4866, 0.1005, -1.0542, -1.0569, 0.9967, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.255 left_y=-0.1915 left_z=0.071 left_yaw=0.1718 left_pitch=0.1497 left_roll=-0.1647 left_gripper=0.9967 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.335, -4.2598, 4.0957, 0.9255, -0.2173, 0.1734, 0.1343, -0.1846, -1.2103, 7.0632, 1.7216, -0.0464, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c4b00bbdb2d1856d9ced2d7db378b3b34f208367da59ebc2d87e05c2ec5b2d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d277f273a76bc090100f6d45be1be025f9ba3a0e011c1a96fa60fcf01e0ae30a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4be1a970e724891704f6830ae4e7a57c8f55c8cdfbdcb088c13326d33ea50dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwoKjgEIEhgCKkAPVXHrQMgd334VtvZB/pO/QR6kovSeNMlrWhYynEmQHK6LrtfbOjVzHJlKXRc3CtuxqWLoHg95z7bRJ8yQCut6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcPWzNUGEgy+CquIMnShuWB25ywaDMz6YOhbFlHtQrqlECIwBRLwrbbIGdSvoZkaTfeL8sgyKG82Q8UAs1pbC1peK9TnlyEC+bVc3N59b2ADw7XDKrEIUs/JIl8cpTGqbNDYu4OmR/iXwa4bmUYpuPZs2jWfGzq8iidbYH9peRpzC/NjmmzAOKBvieJs5Ilynz8QzhJRJB9rsoe1nG+XPDfYpNFd6iwPXESLHu9vGyIrNcwknNYK/tPSR0MbhVwyFFwQyGINg5mrjzaa7ggNyOUcWf60meq5sajbdbE5ujesN1CQrHnXs1f54z8jxEKRCCF9oYicEC3Pa2rXON9dj1daaVjyMR+H39mKzwKGspKAsOAFklF7tWViylTo6rcNVUIG74rrPYsi0gvRnzC2FNorEvgD9aeiPys6/TVUHcZHIaWsdEriu3VhaDuyF6pJJcIfgiEvbn9EpryNmdmw0yv915m2tQH/vx5MjEqBnTyqdqBvGH4xFZK5l1Vef4obQYzfydYIq8goGVtacOobuEFuKtxL/L7B3mTRVQsWN68EdDckeWLborxLg0g1/sfC4ICy5LIrlUQy06JQ7mdrWxPC3V5VUlo0iDO2rfLyEH02UHOIpmmEEIR/RxniQ61VpQwKxQncfavzQu16bmIXP/vVJ0yc6po9MOkb6WPxOfRM2ABgukH+cjjH8qevftjxhJb5uFRTkLmhYcmfnQHHMqvssSkfDoXpMhqjB7UWoBqblYyz/HictiLOeCTGuZ9hSDZaCqwC5Z815HDnqNIs96wzQVDxh/h4kpPXzVpFGIgtQYxbBVW2YTVXvkRRzlByufhIybfQvYwcalhN2XAaS9MhN2pBZOYaAqIDRJ9oRWeqSskh2j//jD61j+grCCGxjUZP9FU/0auEosagrddxLDc9cE6J0EoTtIAa0s+mOVg5OjscLobSRsr/nUsAm9pd58eqHYfPE954bmxzEoj3+NKyTstxM/xClaUd1TgsMgDI9qkDr3jlthifjWjrTEHW7GfV0Non9cLj9JujdelrhWwIsDvkprotuPA5xo+VgrtbESV/uMEBLu8v9gGPySi+aIhKZA0Z9htdnHzWMn2G7cEtGdcnecqA7TE0drBiBAQ9BDMe9Ww65yLf02FVLPIA0jeh8c2T2+BgW2bBT1Roagj5kv+KuGj9Nrc0XJJTCtlkRoKBuTwJeql48XWocVhUqpvcZbcgdF7M1LLfGKo1O3K29G8tF7lI5pAXMgNRQlDFswbCmdewPAcBMm1sNKv9SjS14qL6QuZES3jTBIjIiskQrZh3MdLsYPSdL70VkcxJ1OULMqAUtP2bXyP7FQSw71RKEPmc/AtD4FQZY3eJUl/6AHaqaM7FPF9cIuVkXmwFFMHsocLVdYPMLmGe48FcUpiIBxl1tRjxsNNcWjue2csWqctbcealwymAZs2MO3krq5EHr3heBTlntgi4lLCVX0Ey9EOzNFyLg7ACA3/rkk9gt6BRTMvh0EVTXVuz6OzkszLw8ywKiN+GIsFSc0GbF4pv6NhLGGwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QFa5TUaGMTYdyUJWrRuLVt",
      "input": {
        "note": "The brown teddy is now big in the left half of the wrist view — still to the arm's left and a bit further out; moving 5 cm left and 2 cm forward to centre it between the jaws.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.14,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QFa5TUaGMTYdyUJWrRuLVt",
      "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]: [-0.9909, 1.4078, 0.3061, 0.3908, -0.9668, -0.8837, 0.9968, -0.0147, 0.8055, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2729 left_y=-0.1448 left_z=0.0701 left_yaw=0.2245 left_pitch=0.1693 left_roll=-0.2324 left_gripper=0.9968 right_x=0.2954 right_y=0.0013 right_z=0.1777 right_yaw=-0.0003 right_pitch=-0.0225 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.3983, 3.7675, 1.0232, -0.2222, 0.2662, 0.0024, -0.1846, -1.0598, 7.0085, 1.7021, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e26426717652d35747fe83a20b063c11b29905cf5f874984be4d4666530356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3db2d668cb6edc63462b12cc7afe1a3240371aa682f3e752deb7478e9004196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9018b18581cde433f9168bf7353a977f37ca52f9da2351327cadfdaa1eaf5b3b",
        "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 · 8.981 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]: [-1.2163, 1.7912, 0.7898, -0.0708, -1.0687, -1.1267, 0.9953, -0.0143, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2647 left_y=-0.2587 left_z=0.0595 left_yaw=0.1404 left_pitch=0.1248 left_roll=-0.0839 left_gripper=0.9953 right_x=0.2953 right_y=0.0015 right_z=0.1778 right_yaw=0.0004 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.7521, 2.1128, 0.3101, 0.6081, 0.0464, -0.0171, -0.0615, -1.306, 7.0222, 1.7216, -0.0464, -0.0464, -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]: [-1.1595, 1.5146, 0.4866, 0.1005, -1.0542, -1.0569, 0.9967, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.255 left_y=-0.1915 left_z=0.071 left_yaw=0.1718 left_pitch=0.1497 left_roll=-0.1647 left_gripper=0.9967 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.335, -4.2598, 4.0957, 0.9255, -0.2173, 0.1734, 0.1343, -0.1846, -1.2103, 7.0632, 1.7216, -0.0464, -0.0464, -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 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]: [-0.9909, 1.4078, 0.3061, 0.3908, -0.9668, -0.8837, 0.9968, -0.0147, 0.8055, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2729 left_y=-0.1448 left_z=0.0701 left_yaw=0.2245 left_pitch=0.1693 left_roll=-0.2324 left_gripper=0.9968 right_x=0.2954 right_y=0.0013 right_z=0.1777 right_yaw=-0.0003 right_pitch=-0.0225 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.3983, 3.7675, 1.0232, -0.2222, 0.2662, 0.0024, -0.1846, -1.0598, 7.0085, 1.7021, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e26426717652d35747fe83a20b063c11b29905cf5f874984be4d4666530356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3db2d668cb6edc63462b12cc7afe1a3240371aa682f3e752deb7478e9004196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9018b18581cde433f9168bf7353a977f37ca52f9da2351327cadfdaa1eaf5b3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwYKjgEIEhgCKkAbPtzUSLVOf46GXFrUPIhdLSCAeh/TTxA/YRtmBcvqRJEeM0QetL4UQ8oFX4H4mpr1Eg5wmjMT1D7pu7iL2gRCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcrWzNUGEgwClxjJImzcFP/MWmoaDALpUud0ElxSza4huiIwxhbEogl8VFhCFpKKLngstBpflfpSEKZXDZVOcWuF+F+LUmNpO8bbyhi3hnsv6VC4KuEE5uJFo/4PLJ83EAF/Oa5CIVtC9DtlsfLlZlko2WD1syltb0mMHwjzj9eT/vAkTpdvcKLeA1xl4hw8Q9BvmA9x4ZPtv7jw8wUtPK89vu3zhrxsLxVWLY9XB4EbcxT9lVvNnpsNrmLNN97GDU5KyvIhFVGUb1731Tcrk7QBiW3PMzFIteKVtAA0l2aayIHtOkodD45NTPHIhUsDCALX7MygJ16NgQ6TWmTI3SR3tg7eF1g548vyFohLcGqSw994w9eYfg2aXSn0yz2s1C317vogl0igfrcHhvQ3cHBPJ8viGOM0W1Fa6aAEJOG6JZpINS7/4JhnEc3TbmCRpkauRMyF7DcbDGuBL6DE8sSl7SHf1vCnaIkaQ8SieoBi9TVdVsFeU7r4SY1+gq7m2rBMjKJVtt69h8+8t7TCtIgG3OuofKL9lX2LAzTjVZ/f1RPN746oHbtgvKZxzAmY8GoJS4aav8dytodBTlhxmY8oDtsZmdedcLEDTBw9ApqZQ2spW0+vzSMhDqJIx8aa6VzGk0V/dXyr3UqpOeLH6CsskHwPTj6t1XEsR4Rmw9V62JDc+S8XtDhhddQMOSAe/gRExZOSRN3xT3RFNNgFQQiS5PkYMLWV5ToJXklzOpiT0OZh2lulxt41GiHJB4f3Rlmn8Wf4MYrt58Rv6ZqD8jKoUx9/sN6IhIsOV8HaYLIEc2HQRRgepsrKuFDJv9YsaHQXqObAuKy/Li+SFa2+LZqnPw3mOr1pOh8kRT9u8457ROOaN9gECOgucnyK8dQ/69AHndOLZ4JN+aYsroJZKQKYhRbTwgdMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XddohGrvDA5U7A5u6vYXpw",
      "input": {
        "note": "Teddy now sits just left of the jaw column in the wrist view; shifting 2 cm left, dropping to 3.5 cm and closing on the toy.",
        "targets": {
          "left_gripper": 0.05,
          "left_y": -0.122,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XddohGrvDA5U7A5u6vYXpw",
      "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]: [-0.9237, 1.552, 0.1986, 0.8043, -0.9417, -0.8356, 0.055, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2826 left_y=-0.1312 left_z=0.059 left_yaw=0.2769 left_pitch=0.22 left_roll=-0.3463 left_gripper=0.055 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -1.8667, 1.7846, 0.7106, 0.0024, 0.2125, -0.1148, -0.2393, -1.265, 7.0496, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcbab9beb98f2cd2bcbbd5131cf863fd72db025db589dd5bb11acbfc178632e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b11b2aa1959449d6e72b9d1a37e7e0a11a7dc8bfe65d82294d4f1617a13945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85b97fdfab2346eef3c3b45a328a0acba02a40f16b4f5d7e7996a771ce2e19b4",
        "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 · 7.356 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]: [-1.1595, 1.5146, 0.4866, 0.1005, -1.0542, -1.0569, 0.9967, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.255 left_y=-0.1915 left_z=0.071 left_yaw=0.1718 left_pitch=0.1497 left_roll=-0.1647 left_gripper=0.9967 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.335, -4.2598, 4.0957, 0.9255, -0.2173, 0.1734, 0.1343, -0.1846, -1.2103, 7.0632, 1.7216, -0.0464, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.9909, 1.4078, 0.3061, 0.3908, -0.9668, -0.8837, 0.9968, -0.0147, 0.8055, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2729 left_y=-0.1448 left_z=0.0701 left_yaw=0.2245 left_pitch=0.1693 left_roll=-0.2324 left_gripper=0.9968 right_x=0.2954 right_y=0.0013 right_z=0.1777 right_yaw=-0.0003 right_pitch=-0.0225 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.3983, 3.7675, 1.0232, -0.2222, 0.2662, 0.0024, -0.1846, -1.0598, 7.0085, 1.7021, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9237, 1.552, 0.1986, 0.8043, -0.9417, -0.8356, 0.055, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2826 left_y=-0.1312 left_z=0.059 left_yaw=0.2769 left_pitch=0.22 left_roll=-0.3463 left_gripper=0.055 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -1.8667, 1.7846, 0.7106, 0.0024, 0.2125, -0.1148, -0.2393, -1.265, 7.0496, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcbab9beb98f2cd2bcbbd5131cf863fd72db025db589dd5bb11acbfc178632e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b11b2aa1959449d6e72b9d1a37e7e0a11a7dc8bfe65d82294d4f1617a13945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85b97fdfab2346eef3c3b45a328a0acba02a40f16b4f5d7e7996a771ce2e19b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2goKjgEIEhgCKkCloxhVWA+0EnkMB9aIqBU6pW6WMeEhgd1KaDLH6qOq45P+8X3HrQH8wb057smlnYMWUkv/iZf2QUBglv80VNQOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdPWzNUGEgykZ1hnz80piuUebN4aDCS6ObjMOEvObZhDsSIwcw1eUY8KLVvhhTWdbctcjYJhTCMOH0RSEz+HrxqU+/W1R2K3a4fPpBRDTwZGZK5+KvgIPhxMGalTQlF+sP6mCFuq2qMS6zzO+KXPrJR20n7cs2AtUXeYNwyx6Not5F5xjWqqqf2eQM/LRRZh8kWmWPmzsV6use4kiLaXmr34Wg3DIW24aeDo6ZnBcXqxIOwv238/RVwnrsW25w4A4AjnOwF5oWnmihN1wJUkSr4jptRHIimlVxix3rq5WyXdJU4fvyZt3Oh8P/DLIdqw1CNLOsjdgRleesqWRN+NBNGopR+ZUsl459M9i5hqB6G5U/KKEWxXl6T3whgfuulWocmKiSKZEGTW1MCiM0oNqr2cIni9LzxuUem2lef7tjGyv4xQOsPeskegOc5HuMnxjCVOpjiJMYzLcV3iu/l4JMTyUX1aek23Kq4gDcZPhBUON/KQhUZEydaKa3JG1V3ov/n9PdkheFFbH0e8Ucef4KnrSFt8HKOrKFhQ3lM4b43iXP4ktlFGqd1ilidWiVZPAmaf+YzXJieNTzbspcoARv0uJOLYBXp23pvoRje7yMCY7JwsoZ5pItEysa79g3GnReUbJ6EyoZWjqrsHo4i7n8Rx5hav2wzvwPbasa7zIRn3yKDcvy6QQNwnJJSIQnTKDXoSn/vC3D1WB+HKZ/fsVqPtG/l0nRzCC2N264/pFfMBpVkdCg/dihprkZQMtrv/eyGrBWGFhCI7l6XzsfrLLn6qqVUc1MnyLbVq/MmMVGPT+INASxaAt6bxnFmFjPiPIrDstGw0o7cN44J3d27LInYV8xZyuwsnPuIFZNiaw8RE5YL/NnskDCdFamECmWpn09MPAsUiJr24edr9DP9g1TLoB/FXgrJpqWKn9XZ5h8kfCI1e5j0mzcaSfAV6JdykD76KQVV20FolhER2AA3edU40BPIklCKJCmB3qtBLzkPo4WKtDK8YmgUgQCMqWW6a2nrg79tXIcopn0z9HFWEHIRe4r6u54FoYteuZ5yvl0DakaXpB+7Q2mYulMYa8TT0zO3oC+g4wn9DDqII6d/pG23DYHOvuEP9qjpReMyh8fBCbzzI/5dfwDTbLJrJDTuzfOL9IbAjrerKIJGv9MRKBDb1fli5Xiq+f5bO1NufdlFFwb9rf8U9J+SUvvJlo1KFZHlHN+I3FAVz3cp9409AHwqcBwT0X178EXKzoC2dPnl2Omh3kw8Zgj0lvPvp35SNDC4F1THR5ynQAm1AIfOcfHcV+dycI23nIf8U1MaoXEqq0vXTVOHJgZb1SbSlINjW8Mdy61QWhW20do45Ig9yto9TF5Se4LDkrliwQwrXYEqZ3bT1QM8L/JDbVwBNQ7RsgJiY6o52UkpEolL+4tHBFAmVZyQKlgogAJkObAhh5sPLgoUq6ius+0aOPy/2YZrlz8bafRsSho4aELeBh7a+RXHSVHYl3yT/5O8Lcl7b8cdZX+aumiRiUkCHEP+pSCFXWU7rgY3KjRVTIod35BPbrxmqW1EqtGt9cYI1/HQHjn0sYfa5asXV/XWMc6XK3mXY7TG70s4jgxSpCkk5PV5gYN4pjD/ApG3vQJeuLWA5RBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015TRLkoTeVGw7p9YgsaECNw",
      "input": {
        "note": "Another empty close — my sideways moves keep undershooting, so I open, straighten the wrist yaw and deliberately overshoot 5 cm to the arm's left to sit the teddy squarely between the jaws.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.085,
          "left_yaw": 0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015TRLkoTeVGw7p9YgsaECNw",
      "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]: [-0.4793, 1.7367, 0.0105, 1.4567, -0.3786, -0.5034, 0.9954, -0.0147, 0.8051, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3077 left_y=-0.0823 left_z=0.0589 left_yaw=0.1136 left_pitch=0.2763 left_roll=-0.3834 left_gripper=0.9954 right_x=0.2953 right_y=0.0014 right_z=0.1777 right_yaw=-0.0 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.7863, -3.1248, 1.8803, 1.1306, 0.3639, -0.0024, -0.188, -0.0615, -1.306, 6.9949, 1.6972, -0.0366, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35b1ac6b5db989d287b76a8e10dd92cf784a44282e0aeb49b7288a91d656d9ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b18851240d8a8b221ab0aaab44d51e3d7f806cf3514ec9258123c705b27e8001",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b156fb98f40c747d9610c89e9c004a1828efb6517f724c2b2f7973f8d4563a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.208 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]: [-0.9909, 1.4078, 0.3061, 0.3908, -0.9668, -0.8837, 0.9968, -0.0147, 0.8055, 0.6083, -0.3851, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2729 left_y=-0.1448 left_z=0.0701 left_yaw=0.2245 left_pitch=0.1693 left_roll=-0.2324 left_gripper=0.9968 right_x=0.2954 right_y=0.0013 right_z=0.1777 right_yaw=-0.0003 right_pitch=-0.0225 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -3.3983, 3.7675, 1.0232, -0.2222, 0.2662, 0.0024, -0.1846, -1.0598, 7.0085, 1.7021, -0.0171, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9237, 1.552, 0.1986, 0.8043, -0.9417, -0.8356, 0.055, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2826 left_y=-0.1312 left_z=0.059 left_yaw=0.2769 left_pitch=0.22 left_roll=-0.3463 left_gripper=0.055 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -1.8667, 1.7846, 0.7106, 0.0024, 0.2125, -0.1148, -0.2393, -1.265, 7.0496, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4793, 1.7367, 0.0105, 1.4567, -0.3786, -0.5034, 0.9954, -0.0147, 0.8051, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3077 left_y=-0.0823 left_z=0.0589 left_yaw=0.1136 left_pitch=0.2763 left_roll=-0.3834 left_gripper=0.9954 right_x=0.2953 right_y=0.0014 right_z=0.1777 right_yaw=-0.0 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.7863, -3.1248, 1.8803, 1.1306, 0.3639, -0.0024, -0.188, -0.0615, -1.306, 6.9949, 1.6972, -0.0366, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35b1ac6b5db989d287b76a8e10dd92cf784a44282e0aeb49b7288a91d656d9ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b18851240d8a8b221ab0aaab44d51e3d7f806cf3514ec9258123c705b27e8001",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b156fb98f40c747d9610c89e9c004a1828efb6517f724c2b2f7973f8d4563a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gcKjgEIEhgCKkC8d/l7UIEljqabW7weJa6BOQxOc9zDU6QqzMWh7gOmfTYTlFwIP1A9Roa2+0THyVw2jwGXSDPauLMyoEbt2twDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdzWzNUGEgzGbrasvfbkTKKimK0aDKZE4nD5FheZ6obxCSIwTGDy/vXcqwD/NRUL58wQtTX1xAdrbAPNcSo1Vg3vl4r38Gmw8A8y+Ue/zCzWebkaKvgF3TsuTsYrhXH15DmMuFOLIhGJl3dDdn/GPMbkPua91a4HaOiHFK3gqJRlW4Qar1ZvIiplB1uD2rvATZDSt96RgRBpXYH6c2JT66ZiGcBeGmxeSkMLHHSkJQrX/C1bdyWYGzU2nXO+hRBvsGkoTtXIqEoYKihZAYDqM4jcGxly8ncQcyG9n1ceb8V313Q53/u10zbpMOD8Lx5RWEVCJs7EEbO0MwAs28JHyYp9xlw21YlvAuXOQMCvsZLxL+NjOyiQ/SEsPUa86pXGqeIc1Ukqy2wIepIlk98fhLRYTJNjQZZcarm9ooBirdolfQ+d19upKkk3D/FzgWmKg6o7ozBXyXpuvWupbDy8cuqs/J/MyOnuhS+ZfVsBfa0kwRkOMslBIB2SqEtRC/EijfE1VO5W8+yZxNpLeLPL+UG+HFGZN6+PiwRHyN1ncI+BnRBPw9uEK6Q+Tz8dkcMkxwTkB3t5FqjD9feSPiFgJ//6vdz1YHpO0HKa6GDu2yGIEyGjBLkBMzhrLgj0s85H8w5vFc5MKqTYQBglJP8NtFcEkDBpc3bhPqsD/l7wAg3QEN7LQRV3OcyGpMr0ryUwyrT8cTvv8pbU0uNdQ+PHpA0ctFnMAJNwzjp34gKQOmySYjJ8sdXMQRfzwtU5jkSjELE4DqGX0IK1g87VDvp0tn0WrTwL1tF7tmJmUtVmIinAtHNBpLW3lnPwWTMzPHHOpP8EWahpg3eFiX1l2XuVVJWJj7H+feIvgJU1HlexK6XaODhxQyfwYyn3BVGJFLP/09cSNwC3qGyXEdV3xk/UNVkGCpHQM1tP7fsMBLS4LzibjwHzWDDNW6ANYFvT5GTlhTW4+KJyANdyKqA7A5TR1KRemj7Ep3a++7TbDno5Q4Y1mZZlR97JtgXpzzzDjhAPfP5uKHZ5keT4n59vmBHfrT/i/q/oF1iLy61YcbDoqRNj7C/UudGEXCIbNvSG2UnRRey/QxmYBxLdP40QCJ+5iyVl6s+ktc63Hqtts9iRjxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WfkW9MMotZkKT69TrNVd5K",
      "input": {
        "note": "Teddy is just left of the jaws and close; nudging 3 cm left and pulling back 2 cm to sit the jaws astride its body before closing.",
        "targets": {
          "left_x": 0.285,
          "left_y": -0.055,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WfkW9MMotZkKT69TrNVd5K",
      "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]: [-0.3889, 1.8282, 0.009, 1.5818, -0.305, -0.4709, 0.9967, -0.0147, 0.8082, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.0679 left_z=0.0592 left_yaw=0.1256 left_pitch=0.3002 left_roll=-0.3851 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=-0.0003 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.2205, 1.0188, 1.536, 0.1783, -0.105, 0.1245, -0.3487, -1.306, 7.0085, 1.7607, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7f48fc5be0eabaa5a02ebed8294bbceb5075c4f73779a1a37e696f43e5c58f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:917b74aa1f458915b938d46c6b5328b15ea0d8a8f1292db964d630608da4b92b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28bba030971269f619f64e1263844a19252396e806ab9516fd06a97fbc4e132c",
        "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 · 11.39 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]: [-0.9237, 1.552, 0.1986, 0.8043, -0.9417, -0.8356, 0.055, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2826 left_y=-0.1312 left_z=0.059 left_yaw=0.2769 left_pitch=0.22 left_roll=-0.3463 left_gripper=0.055 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=-0.0 right_pitch=-0.0221 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -1.8667, 1.7846, 0.7106, 0.0024, 0.2125, -0.1148, -0.2393, -1.265, 7.0496, 1.707, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4793, 1.7367, 0.0105, 1.4567, -0.3786, -0.5034, 0.9954, -0.0147, 0.8051, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3077 left_y=-0.0823 left_z=0.0589 left_yaw=0.1136 left_pitch=0.2763 left_roll=-0.3834 left_gripper=0.9954 right_x=0.2953 right_y=0.0014 right_z=0.1777 right_yaw=-0.0 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.7863, -3.1248, 1.8803, 1.1306, 0.3639, -0.0024, -0.188, -0.0615, -1.306, 6.9949, 1.6972, -0.0366, -0.022, -0.0171]",
      "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]: [-0.3889, 1.8282, 0.009, 1.5818, -0.305, -0.4709, 0.9967, -0.0147, 0.8082, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.0679 left_z=0.0592 left_yaw=0.1256 left_pitch=0.3002 left_roll=-0.3851 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=-0.0003 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.2205, 1.0188, 1.536, 0.1783, -0.105, 0.1245, -0.3487, -1.306, 7.0085, 1.7607, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7f48fc5be0eabaa5a02ebed8294bbceb5075c4f73779a1a37e696f43e5c58f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:917b74aa1f458915b938d46c6b5328b15ea0d8a8f1292db964d630608da4b92b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28bba030971269f619f64e1263844a19252396e806ab9516fd06a97fbc4e132c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wMKjgEIEhgCKkDUbfUElSbxca5tf4GkZwn8zH2vzLZkTXkABNQrrKQW/JBRRLTKtic9R0EwZMgu/fwewt1aEPisaYLFZg+de8MmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeDWzNUGEgxXrePWoGUkrwAAuXsaDD4gajVR40wqaG4i0iIwL8j7WaVBJ64X7TufJPmoX9fqggB83980IzorXGmQCGXkQyECn34MPA4Pb0fFq0t8KokCxVX2TGAgSmEpyksqCdJx4vsJJsxTASVtDRzRv1WQQ8M9CYIZM8lHl9DG4tW2xkhbuaIhyE9hM3xRZLQ5R23CfX+kxNtXbDuFxApvPGN3250jlbHaNPgxkOlaopgwWZ+6fRyF3z7udL923XsYpflNLvcYeP7xfcFiKkPPeAfDBsKTpo1mTbUzu+BKg2Eitt222xkmsnZzdjIKWv4ZUaDwR9sX8Hkljr7cJqbO/gGc0u+qS+oXryYDRPHWF+SHq0Nand8thQ4V9IAJSOMtPYY2K034lANh6PCkAdr9eHe4OTHD2E6QBT+S7EdrgFsPcXS5/U2SH8/FUoFp1RH5H1hZPgeO+G1uJ/XpmhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WdgUDDhxBEdd8VqPJ6hCvZ",
      "input": {
        "note": "The teddy's head is now squarely between the two jaw wedges in the wrist view; closing to grasp it.",
        "targets": {
          "left_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01WdgUDDhxBEdd8VqPJ6hCvZ",
      "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]: [-0.3763, 1.8282, 0.0036, 1.5837, -0.2871, -0.4789, 0.1051, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3142 left_y=-0.0665 left_z=0.0582 left_yaw=0.1256 left_pitch=0.2935 left_roll=-0.3952 left_gripper=0.1051 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0 right_pitch=-0.0252 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.7265, 1.2786, 1.7363, 0.0171, -0.0073, 0.2271, -0.1983, -1.306, 7.1179, 1.7118, -0.0757, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93a78cb03861dc67b82b5b66250e22244611e55c1a19d13b60839bcf72825e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad99fdc49c1222ce63306cad888ec9f09aad6733819002a3c46ed4f2b6e2e090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55dabf46b9592c0754f2b5d0dcf5b2e77d4dbb0ef448015ab09edc8d21211230",
        "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 · 17.69 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]: [-0.4793, 1.7367, 0.0105, 1.4567, -0.3786, -0.5034, 0.9954, -0.0147, 0.8051, 0.6083, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3077 left_y=-0.0823 left_z=0.0589 left_yaw=0.1136 left_pitch=0.2763 left_roll=-0.3834 left_gripper=0.9954 right_x=0.2953 right_y=0.0014 right_z=0.1777 right_yaw=-0.0 right_pitch=-0.0225 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.7863, -3.1248, 1.8803, 1.1306, 0.3639, -0.0024, -0.188, -0.0615, -1.306, 6.9949, 1.6972, -0.0366, -0.022, -0.0171]",
      "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]: [-0.3889, 1.8282, 0.009, 1.5818, -0.305, -0.4709, 0.9967, -0.0147, 0.8082, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.0679 left_z=0.0592 left_yaw=0.1256 left_pitch=0.3002 left_roll=-0.3851 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=-0.0003 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.2205, 1.0188, 1.536, 0.1783, -0.105, 0.1245, -0.3487, -1.306, 7.0085, 1.7607, -0.0317, -0.0611, -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]: [-0.3763, 1.8282, 0.0036, 1.5837, -0.2871, -0.4789, 0.1051, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3142 left_y=-0.0665 left_z=0.0582 left_yaw=0.1256 left_pitch=0.2935 left_roll=-0.3952 left_gripper=0.1051 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0 right_pitch=-0.0252 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.7265, 1.2786, 1.7363, 0.0171, -0.0073, 0.2271, -0.1983, -1.306, 7.1179, 1.7118, -0.0757, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93a78cb03861dc67b82b5b66250e22244611e55c1a19d13b60839bcf72825e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad99fdc49c1222ce63306cad888ec9f09aad6733819002a3c46ed4f2b6e2e090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55dabf46b9592c0754f2b5d0dcf5b2e77d4dbb0ef448015ab09edc8d21211230",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggMKjgEIEhgCKkDVs/XmcqMEcZ7InqkwPm3wHVj8IGMDf9LfXarC4QxjGc/XMj8m7sa1FAT0u6zSIamolzvlsiwLrKSfF88E2jdzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAezWzNUGEgzPR8eeugyRUlAkmmMaDJX9TcFTJuEf8nZo6CIwC6zOHy4vj4anNJ922VTavgeb2soTPK4XGL9lrXiCXGKJwBczNgyZG48RVtixt8UWKqABALWZy4wpTxZYgAjqv0hlBkbjmcWC1TT+U5veSYRyqGNCkbitkwn+fp3Y4qEnq65eRJjuD6i/Z8Y616k+YS0KMVauD77ll5QuQgJhj6rnQyaN3jNM3zuEpaMb+CyZBDEwmD0nCx659lcDx3FbBHi5//bulV7t6NOT75H/1JPtqfT1P0h6YFMNP+oc4QI2T1p7IIjagdTCSGoAHxgPmrXUqxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VdfD89EFaARks4R8eVJtmw",
      "input": {
        "note": "Gripper settled at 0.105 — it has a pinch of the teddy. Lifting to 22 cm to see whether the toy comes with it.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01VdfD89EFaARks4R8eVJtmw",
      "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]: [-0.3759, 0.7979, 0.4049, 0.186, -0.2901, -0.4866, 0.1038, -0.0147, 0.8139, 0.6075, -0.3916, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.317 left_y=-0.067 left_z=0.2137 left_yaw=0.1379 left_pitch=0.3219 left_roll=-0.4196 left_gripper=0.1038 right_x=0.2949 right_y=0.0014 right_z=0.1737 right_yaw=0.0 right_pitch=-0.0382 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -2.3863, 9.6889, 1.9072, -0.0513, 0.0464, -0.1538, -0.1846, -1.6479, 7.1043, 1.7949, -0.0659, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6982d53cc22465e26b50a2ead51f1db5ad1689c7930559175a33d6db560a45bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c137e6d68d71b9e232760d4a661fac359a2779fed9eb5bd12c11ae984a9e6c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1126bdef03fe5c0b7a65dcc8dd8a92ad86dd9a83e55f5d9ddca6e66818b9b93a",
        "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 · 3.294 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]: [-0.3889, 1.8282, 0.009, 1.5818, -0.305, -0.4709, 0.9967, -0.0147, 0.8082, 0.6083, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.315 left_y=-0.0679 left_z=0.0592 left_yaw=0.1256 left_pitch=0.3002 left_roll=-0.3851 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1769 right_yaw=-0.0003 right_pitch=-0.0256 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -3.2205, 1.0188, 1.536, 0.1783, -0.105, 0.1245, -0.3487, -1.306, 7.0085, 1.7607, -0.0317, -0.0611, -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]: [-0.3763, 1.8282, 0.0036, 1.5837, -0.2871, -0.4789, 0.1051, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3142 left_y=-0.0665 left_z=0.0582 left_yaw=0.1256 left_pitch=0.2935 left_roll=-0.3952 left_gripper=0.1051 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0 right_pitch=-0.0252 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.7265, 1.2786, 1.7363, 0.0171, -0.0073, 0.2271, -0.1983, -1.306, 7.1179, 1.7118, -0.0757, -0.0855, -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 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]: [-0.3759, 0.7979, 0.4049, 0.186, -0.2901, -0.4866, 0.1038, -0.0147, 0.8139, 0.6075, -0.3916, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.317 left_y=-0.067 left_z=0.2137 left_yaw=0.1379 left_pitch=0.3219 left_roll=-0.4196 left_gripper=0.1038 right_x=0.2949 right_y=0.0014 right_z=0.1737 right_yaw=0.0 right_pitch=-0.0382 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -2.3863, 9.6889, 1.9072, -0.0513, 0.0464, -0.1538, -0.1846, -1.6479, 7.1043, 1.7949, -0.0659, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6982d53cc22465e26b50a2ead51f1db5ad1689c7930559175a33d6db560a45bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c137e6d68d71b9e232760d4a661fac359a2779fed9eb5bd12c11ae984a9e6c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1126bdef03fe5c0b7a65dcc8dd8a92ad86dd9a83e55f5d9ddca6e66818b9b93a",
        "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_01HVyMEmt8obiFXLLyeWpVgb",
      "input": {
        "note": "Nothing was lifted — the jaws only had fur. Resetting wrist orientation and moving over the large cream dog plush (the nearest, biggest toy) for a fresh look.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.23,
          "left_y": -0.3,
          "left_yaw": 0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01HVyMEmt8obiFXLLyeWpVgb",
      "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]: [-1.3109, 1.7081, 0.9821, -0.4419, -0.9577, -1.1271, 0.9981, -0.0147, 0.8158, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2321 left_y=-0.2968 left_z=0.0979 left_yaw=-0.0069 left_pitch=0.0049 left_roll=-0.015 left_gripper=0.9981 right_x=0.2948 right_y=0.0013 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.7607, 7.2957, 0.652, -0.5153, -0.0269, -0.0171, -0.1162, -1.5385, 7.0632, 1.6825, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e21d7a88c0dec9cec4f73e29e0bb86dc3d81e20452f9a6bdb4a46ccc910b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdc7dd93d87d2beb09f69dcad870f929b076594fbdfbe77e90acf87f9d2c54e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:746d5c679a79119511cdc16164df8b61686cc530c0d63ecd5869d258431d90fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 6.341 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]: [-0.3763, 1.8282, 0.0036, 1.5837, -0.2871, -0.4789, 0.1051, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3142 left_y=-0.0665 left_z=0.0582 left_yaw=0.1256 left_pitch=0.2935 left_roll=-0.3952 left_gripper=0.1051 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0 right_pitch=-0.0252 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -3.7265, 1.2786, 1.7363, 0.0171, -0.0073, 0.2271, -0.1983, -1.306, 7.1179, 1.7118, -0.0757, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3759, 0.7979, 0.4049, 0.186, -0.2901, -0.4866, 0.1038, -0.0147, 0.8139, 0.6075, -0.3916, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.317 left_y=-0.067 left_z=0.2137 left_yaw=0.1379 left_pitch=0.3219 left_roll=-0.4196 left_gripper=0.1038 right_x=0.2949 right_y=0.0014 right_z=0.1737 right_yaw=0.0 right_pitch=-0.0382 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -2.3863, 9.6889, 1.9072, -0.0513, 0.0464, -0.1538, -0.1846, -1.6479, 7.1043, 1.7949, -0.0659, -0.0366, -0.0171]",
      "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]: [-1.3109, 1.7081, 0.9821, -0.4419, -0.9577, -1.1271, 0.9981, -0.0147, 0.8158, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2321 left_y=-0.2968 left_z=0.0979 left_yaw=-0.0069 left_pitch=0.0049 left_roll=-0.015 left_gripper=0.9981 right_x=0.2948 right_y=0.0013 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.7607, 7.2957, 0.652, -0.5153, -0.0269, -0.0171, -0.1162, -1.5385, 7.0632, 1.6825, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e21d7a88c0dec9cec4f73e29e0bb86dc3d81e20452f9a6bdb4a46ccc910b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdc7dd93d87d2beb09f69dcad870f929b076594fbdfbe77e90acf87f9d2c54e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:746d5c679a79119511cdc16164df8b61686cc530c0d63ecd5869d258431d90fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wMKjgEIEhgCKkAmN8NobA6ozxCBPRhJJHBFOfoJPmBoL5y2+PjoDDR6M0YSrQGrdZOJfxt3vUEso/AGx/HJ79mQeuHC76jaIf55Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYTXzNUGEgw65mrNS1Y8XBUg9IYaDB+LpfFxoe28J2FvpCIwuzAHIwJIPE8/846IOf7qrzHsDiQhYxDA+UKJ0puYQcvG2bmREbEQuyQZEJ704hR8KvkB0Wqy+m13IbROTRJgezfJ/YOVjJJeTR7tIMAV3xZ/noQRUfdv9JOaNM6VGsOuhYBmLJA5WpXTQd15WKCKAesjLv2qAe9Y2n8DVxFCOcfLYclWzVj61DZb2bB9bT3Mk9uRtk2yoSJPUx3S5RC79i6YPBSQwZBEVxUTRsHmfAtoMu7eKYTsf3TjKJJCk0g64kIIPZf2JAoHRWEaA2V6nEB5G6HZGcA0nAkpOUPBcPJVy4zM2EgsEqW3d10D1A+Le44/UIHVYcQYsl3W6w16xTyW5kVdDD24+qWd4VZp+mloPyNU/OtUj4VTD+3262xD7WCgBqos8OarWxDaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016w44iacpVpdbNoejbQTzvv",
      "input": {
        "note": "The cream dog plush is directly between the open jaws in the wrist view; descending to 4 cm and closing on it.",
        "targets": {
          "left_gripper": 0.1,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016w44iacpVpdbNoejbQTzvv",
      "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]: [-1.3113, 1.8088, 0.8989, -0.2375, -1.0237, -1.1187, 0.1073, -0.0147, 0.8158, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2382 left_y=-0.2953 left_z=0.0645 left_yaw=0.0149 left_pitch=0.0686 left_roll=-0.0124 left_gripper=0.1073 right_x=0.2948 right_y=0.0013 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.2855, 3.2615, 1.0427, 0.2076, -0.0855, 0.2222, -0.2256, -1.347, 7.159, 1.707, -0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3830652c6068d604c6cafcfc14d2f8a9a9e20255a33b1e201c5fd386805fd3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7923f83e15a6cb0a971eaf79e9a219c29db1e3a2e123ee73e50cac9ede8aa92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d5c8e52bc4a53592d120305d4be9758ceaf78bcaa163d413edf7ae80127b108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.372 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]: [-0.3759, 0.7979, 0.4049, 0.186, -0.2901, -0.4866, 0.1038, -0.0147, 0.8139, 0.6075, -0.3916, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.317 left_y=-0.067 left_z=0.2137 left_yaw=0.1379 left_pitch=0.3219 left_roll=-0.4196 left_gripper=0.1038 right_x=0.2949 right_y=0.0014 right_z=0.1737 right_yaw=0.0 right_pitch=-0.0382 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -2.3863, 9.6889, 1.9072, -0.0513, 0.0464, -0.1538, -0.1846, -1.6479, 7.1043, 1.7949, -0.0659, -0.0366, -0.0171]",
      "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]: [-1.3109, 1.7081, 0.9821, -0.4419, -0.9577, -1.1271, 0.9981, -0.0147, 0.8158, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2321 left_y=-0.2968 left_z=0.0979 left_yaw=-0.0069 left_pitch=0.0049 left_roll=-0.015 left_gripper=0.9981 right_x=0.2948 right_y=0.0013 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.7607, 7.2957, 0.652, -0.5153, -0.0269, -0.0171, -0.1162, -1.5385, 7.0632, 1.6825, -0.022, -0.0513, -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]: [-1.3113, 1.8088, 0.8989, -0.2375, -1.0237, -1.1187, 0.1073, -0.0147, 0.8158, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2382 left_y=-0.2953 left_z=0.0645 left_yaw=0.0149 left_pitch=0.0686 left_roll=-0.0124 left_gripper=0.1073 right_x=0.2948 right_y=0.0013 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.2855, 3.2615, 1.0427, 0.2076, -0.0855, 0.2222, -0.2256, -1.347, 7.159, 1.707, -0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3830652c6068d604c6cafcfc14d2f8a9a9e20255a33b1e201c5fd386805fd3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7923f83e15a6cb0a971eaf79e9a219c29db1e3a2e123ee73e50cac9ede8aa92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5c8e52bc4a53592d120305d4be9758ceaf78bcaa163d413edf7ae80127b108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqgcKjgEIEhgCKkAvfa68WAeTuaFv3o4EBHmoonjf8YSe12/Ez8yKT0zZLm0IKHZh9Y1lt7RWOTVhwjtmVryzW1veq9RsuuwJjyRoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYvXzNUGEgytmOBcQ2hGGZjvFWsaDOkuq83WjZYUX3RWHyIwQSxl96w7UI/xchUvRla0X9AJe5VFG3dp3ar8zMY5YWNa6UoJVWewv0DRsESoMOZbKsgFv9YK5tFlHJdr84EHVFhWEACl3xeSFwoRL1MBP26ACBiXcgVb5WXgw7WvDrBWS8tdEeld6VZoukpCahK8t2zOxmYOjAYjgPQCXLbw+tqf6mAvivtbn9taKMpMQs4lQiRWCf7FF3KMYVamo3s3hDjI9VxiDJlNWmbIxUPNMYl0mbg7TLK9idunzbCkwtf0p71Tp6xpYlzAWrP0sMeNLLQ9BvYegbXtvhKmLlRZzntgrugHIlrINEFqDfaENmFoC30XBpD/IVDLk29bqI0SYUgxME9tqvJf/0WS6aXBU8yf4ZUGpo6bSPT5YytTW7lWNwIPOA+5afkM4JHOEhCC06NJMkLDdIuDOObkfl17Jyi3KFhR7FSJEz+SQ9k9lgxAqK6kqrdZuyX388nn4sRjdP90kf/5ALLLjOBf2z74ulEccVnQrhJG1m5+XyJ+jkU6NkM9aOJi5AWoI8/kVwR3/2PweLeeA8XP1GBkMc0wngwf4tlPa2GqsXXwRY61MGmtmszIdwnbvryabBSZ/vl3GPiUWqz/iU6ayl4Fn0Ux4uZ15hO9EvgCh2g9UV6h0wv0GsNh+bG0jAmYMrER9bKJInsJE0uj82yJ5WI2b0jkdmKwZ1fVw7RPqGBjg5s+QBG1Rip3Yz2gH2Z/ZA8fkVFsAIrYf6EqGTkAgIuEC/+fhhur1j/9ND2ektxG5WSu1YjrMdpHP+iCK3eTxV2p7TEjqtS9uYbed47aqd1YnD8eiwl6uX1/Fhi+m6BrG6WPhEaypQSeyOgMTyGpzrBZIqT5IKbOIkjthdIhoLfBhCI76ZdpZFwCEKcINjE563Rqi1yXPZ00WHydX2g3utmxKYDJt9+jFWzmGTcReTRRBHExW+8jXZosPcMIyj3IZvs//cpwSbjDsAu4PIcFl4pnZVCbTi3qjyHQNboL0yMSl6sECgPcmParLR+LOs7bSBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014hrpySbDc5eRa4aAxztMmq",
      "input": {
        "note": "The close caught only air — the fur is at the bottom-left of the wrist view; opening and shifting 3 cm to the arm's left onto the plush body.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.265
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014hrpySbDc5eRa4aAxztMmq",
      "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]: [-1.29, 1.7123, 0.794, -0.1265, -1.0443, -1.0779, 0.9948, -0.0147, 0.8158, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2426 left_y=-0.277 left_z=0.0779 left_yaw=0.0324 left_pitch=0.1121 left_roll=-0.0713 left_gripper=0.9948 right_x=0.2948 right_y=0.0013 right_z=0.1726 right_yaw=-0.0003 right_pitch=-0.042 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -7.1453, 3.5077, 0.5739, -0.149, -0.0366, -0.232, -0.1983, -1.347, 7.2274, 1.7167, -0.022, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d34ce1bc30ad6c4669e496b44eb2de56ef4b22b41bbc9324b730a5b239f1b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8623915aa02de22ac2d11c9e1a92a4c5d526547da9f9ef7ee1d293baf6c989a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe5edb31ec759b8fd6545c7d8f8fd936fb3f60058bcee879be4bbf5e420bf825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 8.779 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]: [-1.3109, 1.7081, 0.9821, -0.4419, -0.9577, -1.1271, 0.9981, -0.0147, 0.8158, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2321 left_y=-0.2968 left_z=0.0979 left_yaw=-0.0069 left_pitch=0.0049 left_roll=-0.015 left_gripper=0.9981 right_x=0.2948 right_y=0.0013 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -7.7607, 7.2957, 0.652, -0.5153, -0.0269, -0.0171, -0.1162, -1.5385, 7.0632, 1.6825, -0.022, -0.0513, -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]: [-1.3113, 1.8088, 0.8989, -0.2375, -1.0237, -1.1187, 0.1073, -0.0147, 0.8158, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2382 left_y=-0.2953 left_z=0.0645 left_yaw=0.0149 left_pitch=0.0686 left_roll=-0.0124 left_gripper=0.1073 right_x=0.2948 right_y=0.0013 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.2855, 3.2615, 1.0427, 0.2076, -0.0855, 0.2222, -0.2256, -1.347, 7.159, 1.707, -0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-1.29, 1.7123, 0.794, -0.1265, -1.0443, -1.0779, 0.9948, -0.0147, 0.8158, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2426 left_y=-0.277 left_z=0.0779 left_yaw=0.0324 left_pitch=0.1121 left_roll=-0.0713 left_gripper=0.9948 right_x=0.2948 right_y=0.0013 right_z=0.1726 right_yaw=-0.0003 right_pitch=-0.042 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -7.1453, 3.5077, 0.5739, -0.149, -0.0366, -0.232, -0.1983, -1.347, 7.2274, 1.7167, -0.022, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d34ce1bc30ad6c4669e496b44eb2de56ef4b22b41bbc9324b730a5b239f1b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8623915aa02de22ac2d11c9e1a92a4c5d526547da9f9ef7ee1d293baf6c989a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe5edb31ec759b8fd6545c7d8f8fd936fb3f60058bcee879be4bbf5e420bf825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gYKjgEIEhgCKkAfMhFRfUSXMo//RGwSLr175D04vHElx7yHo1ONx31hbRuMWGBFCqoO4pTyphynqyZh9Rw+xKjFKofAqoQ3WVCkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZHXzNUGEgy4u9eNDlmdR1A0dFgaDGUfr8Eh0EWJKpnYviIwZtvk4Awh4zAqo/E/XaUhgQkKzK5V/+qBaGvXyjUM68GkaUALG4wn+mxZbhHjBmOjKvAEC0pXJGCQSSucxu+y62fQppmp+lPsczhV9jSAf2w64nkk/GfOLwui1URxl+FFgFMwix7ky9kqTJQc+feK8u86+HQZ67RkQYtgT8ritC1G4/YJlwIiW5d+pPkrxypEGewoYivtKP4MbNHNbV4qRQ1CHUcMiQNeFlzCV80zBgt+W6oOfUl/ixIqPYY6ZuPxRbkovqYJ8eY/vTuMy6GouRHSqbIFafOg5rRpNrs7PdOqRrwJUh/3TMS3jhkX6C8ug9BAydFHFy/Vphiqk1tnlhsPi6HZYjPF6lQFdx/blzIl0ac9gQCCLcGeDiKAeD5bhjM3pnq/FJ55hsFPzt3Z2aOYxvpwaOOBATOzWg8j29oXBTCft6rLQPVvZ7keIBbUeN8aa7cF7l07hw5Van+Qp7Byri9VeCSd5Q+ktvZHkzfTuoo42gyDWT6aRAhGKC/i3EGkaUSwxWl+RLO+G2HMhZZnGkKnQVvlGLS8bHD2AW8OdWqjmkbbPhFOxOjjsO/iJ6qVhnpl5uhMls5uHYNUwr9707sIg7/s6/NebEvAyHXfUuMDogNNgroPpAeaiULwr/1wisBEtlAY1v5VAjkNbjOH8LBZQUaYEifsMpwlUkzywuf2c7TnoJwO/lIAD/R8/2eJ4Oh60KsKrxOdNj2oFxoT6TJdmAzpgeX7UBns5fhM9KsR9pUYyEQpbXaa0z7INSc6zHvTwORYD4swsu4v/67bC61WlLQLeMOFEYfV4+B3i4S4R8zZliXAsNc7lxP2xltfr+3pouQkvIy9o7FFUs7IkliWCG9pHpOBXHQRonPdKmhz4zu4AhnZ3nbAUZ3Gza4VGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xqxxrh7f4oQCpNwzvHqwgm",
      "input": {
        "note": "Plush body now spans the gap between the open jaws; descending and closing to grasp it.",
        "targets": {
          "left_gripper": 0.08,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Xqxxrh7f4oQCpNwzvHqwgm",
      "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]: [-1.2903, 1.7817, 0.7647, 0.0135, -1.1049, -1.0702, 0.0878, -0.0147, 0.8158, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.248 left_y=-0.2777 left_z=0.0674 left_yaw=0.0635 left_pitch=0.1723 left_roll=-0.0927 left_gripper=0.0878 right_x=0.2948 right_y=0.0014 right_z=0.1727 right_yaw=0.0 right_pitch=-0.0416 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -4.7932, 3.5897, 0.9011, 0.1001, -0.0952, 0.3834, -0.1436, -1.3744, 7.0359, 1.7607, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c082bc889aff5733bf4fdba0c0b191361985d435540542f38535c35439bb982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff8da8a1f3f683e39002a62102088d8a7b2e304f963d8b62a435aace0dfd73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac13f48f9668967f61deaef67bbfc1722a205a267ccdd62e2ccd96ed747ace7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 8.385 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]: [-1.3113, 1.8088, 0.8989, -0.2375, -1.0237, -1.1187, 0.1073, -0.0147, 0.8158, 0.6067, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2382 left_y=-0.2953 left_z=0.0645 left_yaw=0.0149 left_pitch=0.0686 left_roll=-0.0124 left_gripper=0.1073 right_x=0.2948 right_y=0.0013 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -5.2855, 3.2615, 1.0427, 0.2076, -0.0855, 0.2222, -0.2256, -1.347, 7.159, 1.707, -0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-1.29, 1.7123, 0.794, -0.1265, -1.0443, -1.0779, 0.9948, -0.0147, 0.8158, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2426 left_y=-0.277 left_z=0.0779 left_yaw=0.0324 left_pitch=0.1121 left_roll=-0.0713 left_gripper=0.9948 right_x=0.2948 right_y=0.0013 right_z=0.1726 right_yaw=-0.0003 right_pitch=-0.042 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -7.1453, 3.5077, 0.5739, -0.149, -0.0366, -0.232, -0.1983, -1.347, 7.2274, 1.7167, -0.022, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-1.2903, 1.7817, 0.7647, 0.0135, -1.1049, -1.0702, 0.0878, -0.0147, 0.8158, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.248 left_y=-0.2777 left_z=0.0674 left_yaw=0.0635 left_pitch=0.1723 left_roll=-0.0927 left_gripper=0.0878 right_x=0.2948 right_y=0.0014 right_z=0.1727 right_yaw=0.0 right_pitch=-0.0416 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -4.7932, 3.5897, 0.9011, 0.1001, -0.0952, 0.3834, -0.1436, -1.3744, 7.0359, 1.7607, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c082bc889aff5733bf4fdba0c0b191361985d435540542f38535c35439bb982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff8da8a1f3f683e39002a62102088d8a7b2e304f963d8b62a435aace0dfd73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac13f48f9668967f61deaef67bbfc1722a205a267ccdd62e2ccd96ed747ace7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQsKjgEIEhgCKkBqPG941Z+5MICvS+GAE/sOpNJWToncxowtrnQJs4vwppf28SUF2FbdHw1l2+Vm4kS+n8u+i53wVyTEJS2ExOVTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZvXzNUGEgxhWNe9k0EVdWk/gyoaDKP20WAuhDIPUSoELSIw0zYT8O63IoitKx4a0Pc4MXNS3ZCtI7QactWkqGcPgF082zVP6cCkVeGf2yT3bMwnKqsJino7D2pRevEhe1T7MvLK3ht1b8E2fqkw7sNjVJyH3YmoBFoIN/KaDD8jsR8bfTbfpY1Sk8otF1DjQljnAJ4vWlSHf8PX5Ii5dYPDojvX9Vd0dCyO+UBAC+FY1Bkblz5wiI2F+tet9Q262HZKEank7OoPz0xfhDWaOyYBIUVpqwZlMUr4fKu+1HrkJ1Gof1QvsZU9u7ZbIilKfDrnR069qiQOusiL1+Nf+ZfAFWPq5ZOQ/KH9hq5mAAWKsRL88py2HGytpHDw/6NHVpOx2q1mcp/r07Uvi1w/SPZ9vskDA9Zov8ZGkZ3Yv7bAphFnLhgs6+KT3o1OCOwLRKWBxPZW3k0keyFnWKiD9ZIM7xoN5XNk82slZHNPZUCRf7HngHi+QkJB9L6YvTW5F/pXp08+rmA4Bp+HNRuLWfBrKHUwbSBd85OsUwPyxLTdK0bHHkRvSAcZLnEZz3gGVJA3PoHV92dJi2nIAKr2KwbwP6IwWcWA5olRBJF+Zt7SAm/uNNda7rA1vdDo2GN+9HQ+ewnNt9LFGf3lG5vx9xOXoQzqLsY3qUv2K5bU0LVd6AQW5s229TlSyxhhIXCax7735lJsr/iR5/r2amGrDo1Vh5qWW9zE8+9409c8R8TyHmz9NXNnn7uhI/aL2w4QDG/qGJ5tNs8rMvIih0JDL3y3rsiPMCSxipDdSXsMSGnj98OSrLPrGi0/60WzufVC69YdgIsG187zPUFHd3zlXezCxS5FiKAEJXSBkXseZmlZ7qQ9EwOfeAhiwASbEZwJlnxVcbh6KljByEhtPowCoNxb9Ve9kztSR1vTKU3la466ssoECRhA4yS4At7AXaPxy7VTMlYwGW8GY7O7H5u1c+GU1MwZySkSaNckGW4pPQRwNdphGGijNxkupudoIb3hJS44nd6YpRz0eYgTFCErFEqh1yHvJlkvF4IOUd9tSDRfjdf+k5Tgw+lod86G+jcWOW5OzN3JRarEg2DiPZjCzSHaQo/zQ0MEnPFK2Ksi+N2rBg9lLazZIP76PNtN2I2gHDuXGGJ26zZPg/sD8Cv3tCIv6T1UqAXwlQY//lMlFcCfs07JbrThEf7wKwusjoX0G1rQf6wPYGGugZyUxA9Vmg80QWnTiOyyAoWDsVQa4uAlyhKKXIEWe9DVKiNPTLcGOpIagVGrVWmHM8h4zvSJHorqYbZzCCFm2jAj6ZJXay7uG+J9dBhipU8pFxjrNaCp8ILXSetqYhDcSTF0Hb48rwmupm5bCqYf8g/0j9nNzcAjxZ98bQsJjck4lt6WgUUwhva1SUaQyPF7F1ISKMH2JiTs6ccug/i+oDI3IQMhKtRrG5EnsTo8Dk1mo+ZycS9Z3gBplm7XBxGD/mHx9Ul4xnZ2mqjLCYBP1kOckQNbhGW1tSInOJ4ycTYg7AcOlgkYDjkAlXSpIJCqXF3jGC/LLGGtHbzNnrfde9rYkmE6t92EnAZzbfWoCx4Gz6fZrdvEa/X4ma678nqbN+8GRmsrAwOPsQ2vLfRCgmfq4HQ0bsrpzRm58ogDblkVmp3NtQTqQVbqs4i1IAdVtfUsAPIURcOg4T6DD/D3hy/AI+GmvQcInhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wi4Lsib1pGzv1Q5UjG2Epa",
      "input": {
        "note": "Jaws closed to 0.088 on the plush's fur; lifting and carrying straight to the left basket to see if the toy comes along.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.13,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Wi4Lsib1pGzv1Q5UjG2Epa",
      "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]: [-0.4759, 1.5162, 0.8902, 0.1226, -0.4889, -0.3603, 0.0878, -0.0147, 0.8177, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4285 left_y=-0.1235 left_z=0.1718 left_yaw=0.1101 left_pitch=0.1215 left_roll=-0.0796 left_gripper=0.0878 right_x=0.2949 right_y=0.0013 right_z=0.1721 right_yaw=-0.0003 right_pitch=-0.0439 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -6.9949, 10.1675, 1.9219, -0.0317, 0.2125, -0.0269, -0.0479, -1.5248, 7.2274, 1.707, -0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d04b96b3cf86173172ce6032f60144bd81152813f4d32f0c18a346b0dc2c7da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae409d1d7e19deca9de17b142462254cc7653b03dee37a64343d8d2d0933f9a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c55092255a5b8096d4dc5dc8bcfbbf60ee29d87952a4b55f68571bc600022234",
        "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 · 10 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]: [-1.29, 1.7123, 0.794, -0.1265, -1.0443, -1.0779, 0.9948, -0.0147, 0.8158, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2426 left_y=-0.277 left_z=0.0779 left_yaw=0.0324 left_pitch=0.1121 left_roll=-0.0713 left_gripper=0.9948 right_x=0.2948 right_y=0.0013 right_z=0.1726 right_yaw=-0.0003 right_pitch=-0.042 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -7.1453, 3.5077, 0.5739, -0.149, -0.0366, -0.232, -0.1983, -1.347, 7.2274, 1.7167, -0.022, -0.0464, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-1.2903, 1.7817, 0.7647, 0.0135, -1.1049, -1.0702, 0.0878, -0.0147, 0.8158, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.248 left_y=-0.2777 left_z=0.0674 left_yaw=0.0635 left_pitch=0.1723 left_roll=-0.0927 left_gripper=0.0878 right_x=0.2948 right_y=0.0014 right_z=0.1727 right_yaw=0.0 right_pitch=-0.0416 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -4.7932, 3.5897, 0.9011, 0.1001, -0.0952, 0.3834, -0.1436, -1.3744, 7.0359, 1.7607, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4759, 1.5162, 0.8902, 0.1226, -0.4889, -0.3603, 0.0878, -0.0147, 0.8177, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4285 left_y=-0.1235 left_z=0.1718 left_yaw=0.1101 left_pitch=0.1215 left_roll=-0.0796 left_gripper=0.0878 right_x=0.2949 right_y=0.0013 right_z=0.1721 right_yaw=-0.0003 right_pitch=-0.0439 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -6.9949, 10.1675, 1.9219, -0.0317, 0.2125, -0.0269, -0.0479, -1.5248, 7.2274, 1.707, -0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d04b96b3cf86173172ce6032f60144bd81152813f4d32f0c18a346b0dc2c7da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae409d1d7e19deca9de17b142462254cc7653b03dee37a64343d8d2d0933f9a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55092255a5b8096d4dc5dc8bcfbbf60ee29d87952a4b55f68571bc600022234",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KDj1BQiBk9Qnm9ikstaW5S",
      "input": {
        "note": "The plush is in the jaws and we are over the left basket; pushing to x=0.45, z=0.12 which earlier put the gripper inside the basket, before releasing.",
        "targets": {
          "left_x": 0.45,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KDj1BQiBk9Qnm9ikstaW5S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4564, 1.6833, 0.849, 0.2726, -0.4557, -0.3477, 0.0878, -0.0147, 0.8192, 0.6067, -0.3927, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4419 left_y=-0.1264 left_z=0.1115 left_yaw=0.0926 left_pitch=0.0636 left_roll=-0.0511 left_gripper=0.0878 right_x=0.295 right_y=0.0014 right_z=0.1717 right_yaw=0.0 right_pitch=-0.0454 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.9915, -8.0889, 5.8598, 2.1221, -0.2271, -0.0269, -0.022, -0.1436, -1.5248, 7.0359, 1.6972, -0.0171, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3a0efb7568b5184b007b6657c558c8fe684c1b21af74e12973a19ad16b5f3ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c50805cf9682009285523d2f76972133afd180a69bba718f6863ffa0f7f8531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf9e605402af828c7bce90457f77fb490d822f2ec8ffc2b6256319eb1a53ba23",
        "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 · 4.339 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]: [-1.2903, 1.7817, 0.7647, 0.0135, -1.1049, -1.0702, 0.0878, -0.0147, 0.8158, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.248 left_y=-0.2777 left_z=0.0674 left_yaw=0.0635 left_pitch=0.1723 left_roll=-0.0927 left_gripper=0.0878 right_x=0.2948 right_y=0.0014 right_z=0.1727 right_yaw=0.0 right_pitch=-0.0416 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -4.7932, 3.5897, 0.9011, 0.1001, -0.0952, 0.3834, -0.1436, -1.3744, 7.0359, 1.7607, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4759, 1.5162, 0.8902, 0.1226, -0.4889, -0.3603, 0.0878, -0.0147, 0.8177, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4285 left_y=-0.1235 left_z=0.1718 left_yaw=0.1101 left_pitch=0.1215 left_roll=-0.0796 left_gripper=0.0878 right_x=0.2949 right_y=0.0013 right_z=0.1721 right_yaw=-0.0003 right_pitch=-0.0439 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -6.9949, 10.1675, 1.9219, -0.0317, 0.2125, -0.0269, -0.0479, -1.5248, 7.2274, 1.707, -0.0366, -0.0171, -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 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]: [-0.4564, 1.6833, 0.849, 0.2726, -0.4557, -0.3477, 0.0878, -0.0147, 0.8192, 0.6067, -0.3927, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4419 left_y=-0.1264 left_z=0.1115 left_yaw=0.0926 left_pitch=0.0636 left_roll=-0.0511 left_gripper=0.0878 right_x=0.295 right_y=0.0014 right_z=0.1717 right_yaw=0.0 right_pitch=-0.0454 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.9915, -8.0889, 5.8598, 2.1221, -0.2271, -0.0269, -0.022, -0.1436, -1.5248, 7.0359, 1.6972, -0.0171, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3a0efb7568b5184b007b6657c558c8fe684c1b21af74e12973a19ad16b5f3ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c50805cf9682009285523d2f76972133afd180a69bba718f6863ffa0f7f8531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf9e605402af828c7bce90457f77fb490d822f2ec8ffc2b6256319eb1a53ba23",
        "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_01LfmUi8NGFCijNgNuYrAGpT",
      "input": {
        "note": "The held plush is hanging just short of and right of the basket mouth; pitching the tool forward and pushing out/left to get the toy over the basket interior before releasing.",
        "targets": {
          "left_pitch": 0.4,
          "left_x": 0.47,
          "left_y": -0.16,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01LfmUi8NGFCijNgNuYrAGpT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4885, 1.7805, 0.844, 0.448, -0.5381, -0.2825, 0.0878, -0.0147, 0.8188, 0.6067, -0.3935, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4543 left_y=-0.1349 left_z=0.1045 left_yaw=0.0974 left_pitch=0.1479 left_roll=0.0032 left_gripper=0.0878 right_x=0.2948 right_y=0.0013 right_z=0.1716 right_yaw=-0.0003 right_pitch=-0.0458 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-1.6205, -5.9556, 4.7932, 1.2381, -0.1099, 0.0806, -0.022, -0.1026, -1.0872, 7.2684, 1.707, -0.022, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23cf25a74c94655cfa110b615e0a2fab6aaf09a525ebf0e1862d550f6f361d1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8a6a0ceeb92cd7305782993d7a466e6e67dfc3718807f85d34d1fe7b279fb9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6139653a988a40e740010f12607a799b28b472af35436d800741db377d1cd37c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 12.61 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]: [-0.4759, 1.5162, 0.8902, 0.1226, -0.4889, -0.3603, 0.0878, -0.0147, 0.8177, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4285 left_y=-0.1235 left_z=0.1718 left_yaw=0.1101 left_pitch=0.1215 left_roll=-0.0796 left_gripper=0.0878 right_x=0.2949 right_y=0.0013 right_z=0.1721 right_yaw=-0.0003 right_pitch=-0.0439 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -6.9949, 10.1675, 1.9219, -0.0317, 0.2125, -0.0269, -0.0479, -1.5248, 7.2274, 1.707, -0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4564, 1.6833, 0.849, 0.2726, -0.4557, -0.3477, 0.0878, -0.0147, 0.8192, 0.6067, -0.3927, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4419 left_y=-0.1264 left_z=0.1115 left_yaw=0.0926 left_pitch=0.0636 left_roll=-0.0511 left_gripper=0.0878 right_x=0.295 right_y=0.0014 right_z=0.1717 right_yaw=0.0 right_pitch=-0.0454 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.9915, -8.0889, 5.8598, 2.1221, -0.2271, -0.0269, -0.022, -0.1436, -1.5248, 7.0359, 1.6972, -0.0171, -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 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]: [-0.4885, 1.7805, 0.844, 0.448, -0.5381, -0.2825, 0.0878, -0.0147, 0.8188, 0.6067, -0.3935, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4543 left_y=-0.1349 left_z=0.1045 left_yaw=0.0974 left_pitch=0.1479 left_roll=0.0032 left_gripper=0.0878 right_x=0.2948 right_y=0.0013 right_z=0.1716 right_yaw=-0.0003 right_pitch=-0.0458 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-1.6205, -5.9556, 4.7932, 1.2381, -0.1099, 0.0806, -0.022, -0.1026, -1.0872, 7.2684, 1.707, -0.022, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23cf25a74c94655cfa110b615e0a2fab6aaf09a525ebf0e1862d550f6f361d1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8a6a0ceeb92cd7305782993d7a466e6e67dfc3718807f85d34d1fe7b279fb9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6139653a988a40e740010f12607a799b28b472af35436d800741db377d1cd37c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrwUKjgEIEhgCKkBQEozUT4JPfgJVy+K1ciLoeX3/DL+zmUMvxF8Y1mhahOjw9O/aZ5/qdlUKUS32o2V55SZoH52CVpvWUcx4xWbnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbXXzNUGEgwICI6xlJa7I9RaH/MaDAo4LES3QyOy7Ow7HyIwJFhqX2wwvAu/5cKPOKPBGAHuzowleO6IfIH+NfaLQuGWCDoBB2xpgPtDPGkTl3BVKs0DYsLuCYYEdacV4L2U9fFVmA9Xd7pq2DE/MM71xFfbVCG3ni9wJhNAEK+FJR9T0wlU7sxVRh8ybVDiQ/CIwtRR5fw7JXfOL0vdV4VPvHnqJDGc0uT9+oID6xGQlGEskyjBkaDzMjSgAp4hU2LFaeutoc2as3MLsc15DWAuqFKzKlJ9wlbl2HaSXBMgVjnLegJIe1IXlR9alwSHH6ydq8Q1X+x4mbUiAO5EPtATif9ZGIC4LJ1BYHbvALcTsPBIFxCiCFLcV/suPx/06Gs4f492T6tFHCzxJRxXjlK1HX7EVjNV1U4C39lqXGJ/LEagvGAWMI26v8/vYRyOhNIpdbQmEvOJOs5Q/+/AK9+xn5xZehWJUlxHltukLajB6GwMFA70DWqaA5h5rBJmT+xbH+JrWoMkjuVso7zgl8uNfmHwG2DJe0CxkIZ4aveQPdWWb2glfjkUR8EQpGDypWVD61mRILsTxDzD5Kh4Ini26jxf8TE12N2gIc1HM9ajW54FhCGiHK8yFJ7TLn0vMgJXcDib0fKSj1gsqZ7bWMxDYpCquhU2RuNd3BXb3FL1lvKzWiW542bpSI5jHRyTf1Vo2E1Mts9vIGbwP9BdIgZxfCsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018kAT4NACtD9HNTW2qaeUX5",
      "input": {
        "note": "The plush is draped over the left basket's near rim; raising slightly and opening the jaws to release it into the left basket.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018kAT4NACtD9HNTW2qaeUX5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4881, 1.6932, 0.9195, 0.2302, -0.5446, -0.289, 0.9955, -0.0147, 0.8249, 0.6067, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4499 left_y=-0.1312 left_z=0.1316 left_yaw=0.1027 left_pitch=0.1041 left_roll=0.0307 left_gripper=0.9955 right_x=0.2953 right_y=0.0014 right_z=0.1701 right_yaw=0.0 right_pitch=-0.0511 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.7556, 8.9915, 1.7802, -0.1685, 0.022, -0.2027, -0.1299, -1.9077, 7.0222, 1.6777, -0.022, -0.0806, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb8a3052c680fa9843ae9f8b6852f02c6122d5565d107548785002dae1612da7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7402924faf82c2d804f4ad988b3c40fa0b006b6381b9dca297c4146038cb1769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4924f9484663975746448f1b8a9cb931b15d0613aa688d1bf68881fdc8c31dac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]