adhoc

completed
2026-09-23T00:24:42.302852+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
363.8 s
total steps
314
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 left/right and a cluster of plush toys plus some thin pen-like objects near the table centre. Moving the left arm over the centre cluster to get a close wrist view before grasping.
move_to
left_x0.3300left_y-0.2800left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.8024, 0.6178, -0.3805, -0.0219, -0.0261, 0.9995, -0.0154, 0.8009, 0.6109, -0.3843, -0.0124, -0.0128, 0.9998] state[eef_state]: left_x=0.297 left_y=0.0006 left_z=0.1839 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2955 right_y=0.0012 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.1709, -1.9624, 9.265, 1.746, -0.0024, 0.0855, -0.0659, -0.7316, -1.7299, 9.7709, 1.8095, -0.1148, -0.0366, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.28, "left_z": 0.18, "left_gripper": 1}, "note": "Top view shows two teal baskets far left/right and a cluster of plush toys plus some thin pen-like objects near the table centre. Moving the left arm over the centre cluster to get a close wrist view 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 camera shows a teddy bear centred right below the jaws, between the two baskets. Descending to head height of the bear to check alignment before closing.
move_to
left_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]: [-1.0058, 1.6485, 1.1923, -0.4374, -0.7715, -0.7197, 0.9995, -0.0143, 0.8032, 0.6086, -0.3851, -0.0124, -0.0124, 0.9998] state[eef_state]: left_x=0.3267 left_y=-0.2786 left_z=0.168 left_yaw=-0.0139 left_pitch=-0.0278 left_roll=0.0057 left_gripper=0.9995 right_x=0.2953 right_y=0.0016 right_z=0.1785 right_yaw=0.0009 right_pitch=-0.0053 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4308, -7.5829, 9.2239, 1.1941, -0.6471, -0.0562, -0.0708, -0.0205, -1.4701, 7.241, 1.746, -0.0611, -0.0366, -0.0122] 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_z": 0.07}, "note": "Left wrist camera shows a teddy bear centred right below the jaws, between the two baskets. Descending to head height of the bear to check alignment before closing."})
tool
executing move_to over 7 steps (0.7s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe bear's head sits above the jaw row in the wrist view, meaning it is a few cm beyond the fingertips; advancing 2.5 cm so the jaws straddle it.
move_to
left_x0.3500left_y-0.2720
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]: [-1.0084, 1.8027, 0.9531, -0.0647, -0.7784, -0.7189, 0.9995, -0.0147, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.325 left_y=-0.2764 left_z=0.0696 left_yaw=-0.0121 left_pitch=-0.0345 left_roll=0.0265 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1785 right_yaw=0.0004 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.3487, -8.0889, 5.5453, 1.326, -0.2906, -0.0415, -0.0122, -0.0342, -1.2513, 7.0632, 1.7314, -0.0659, -0.0611, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.272}, "note": "The bear's head sits above the jaw row in the wrist view, meaning it is a few cm beyond the fingertips; advancing 2.5 cm so the jaws straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteBear now sits right of the jaw column in the wrist view; shifting the gripper ~3 cm to the arm's right to centre on it.
move_to
left_y-0.2950
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]: [-0.9325, 1.8259, 0.9611, -0.0135, -0.7467, -0.6735, 0.9995, -0.0143, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.3488 left_y=-0.2627 left_z=0.0664 left_yaw=0.0182 left_pitch=-0.0355 left_roll=0.0204 left_gripper=0.9995 right_x=0.2953 right_y=0.0015 right_z=0.1785 right_yaw=0.0008 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4171, -7.6786, 7.5282, 1.2625, -0.2125, 0.1538, -0.0171, -0.0342, -1.2923, 7.1863, 1.707, -0.0513, -0.0757, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.295}, "note": "Bear now sits right of the jaw column in the wrist view; shifting the gripper ~3 cm to the arm's right to centre on it."})
tool
executing move_to over 3 steps (0.3s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteBear is centred on the jaw column; closing the gripper on its head/body to pick it up.
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]: [-0.9794, 1.9049, 1.0626, -0.0677, -0.7696, -0.7235, 0.9995, -0.0147, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.3477 left_y=-0.2909 left_z=0.0632 left_yaw=0.0137 left_pitch=-0.038 left_roll=0.0155 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1785 right_yaw=0.0004 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4718, -8.6906, 7.7197, 1.0232, -0.4127, 0.0122, -0.0122, -0.1846, -1.2103, 7.0632, 1.7363, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.05}, "note": "Bear is centred on the jaw column; closing the gripper on its head/body to pick it up."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteGripper closed to 0.24 (≈2.3 cm of plush held). Lifting 19 cm to confirm the bear comes with the jaws.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9806, 1.9095, 1.0695, -0.0658, -0.7631, -0.7338, 0.2447, -0.0143, 0.8051, 0.6083, -0.3855, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.3482 left_y=-0.2939 left_z=0.0631 left_yaw=0.0139 left_pitch=-0.0399 left_roll=0.0007 left_gripper=0.2447 right_x=0.2953 right_y=0.0015 right_z=0.1777 right_yaw=0.0008 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0342, -9.9077, 5.3402, 1.2674, -0.4225, 0.0708, 0.823, -0.1299, -1.4291, 7.0496, 1.7314, -0.0171, -0.0659, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Gripper closed to 0.24 (\u22482.3 cm of plush held). Lifting 19 cm to confirm the bear comes with the jaws."})
tool
executing move_to over 13 steps (1.3s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe bear is held in the jaws and lifted clear. Carrying it over the left-hand basket, which will be the plush-toy basket.
move_to
left_x0.4200left_y-0.1600left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9806, 1.7691, 1.61, -0.7853, -0.7448, -0.7422, 0.2475, -0.0147, 0.8051, 0.6083, -0.3855, -0.012, -0.0132, 0.9998] state[eef_state]: left_x=0.3477 left_y=-0.2975 left_z=0.2294 left_yaw=0.0087 left_pitch=-0.0732 left_roll=0.0181 left_gripper=0.2475 right_x=0.2953 right_y=0.0014 right_z=0.1777 right_yaw=0.0007 right_pitch=-0.008 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1573, -10.906, 8.8957, 1.1013, -0.5641, 0.0269, 0.2808, -0.0889, -0.7863, 7.0632, 1.7411, -0.0562, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.16, "left_z": 0.3}, "note": "The bear is held in the jaws and lifted clear. Carrying it over the left-hand basket, which will be the plush-toy basket."})
tool
executing move_to over 13 steps (1.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteBasket rim visible just ahead-left of the jaws; nudging over the basket centre before releasing the bear.
move_to
left_x0.4400left_y-0.1300left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5552, 1.6489, 1.623, -0.7994, -0.4702, -0.4, 0.2495, -0.0147, 0.8051, 0.6079, -0.3855, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.4193 left_y=-0.1617 left_z=0.2618 left_yaw=0.0478 left_pitch=-0.1503 left_roll=0.0519 left_gripper=0.2495 right_x=0.2952 right_y=0.0014 right_z=0.1776 right_yaw=0.0004 right_pitch=-0.0084 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.0615, -11.535, 10.1128, 1.6142, -0.1929, 0.1587, 0.2027, -0.0752, -1.1556, 7.2957, 1.7558, -0.0806, -0.0659, -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": 0.44, "left_y": -0.13, "left_z": 0.24}, "note": "Basket rim visible just ahead-left of the jaws; nudging over the basket centre before releasing the bear."})
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 noteWrist view shows the left basket filling the frame just ahead-left of the jaws (the top camera's basket is the far right one, mine is hidden behind the arm). Centring over it and lowering before release.
move_to
left_y-0.1050left_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]: [-0.4644, 1.6447, 1.533, -0.7292, -0.4091, -0.3447, 0.2524, -0.0143, 0.8062, 0.6079, -0.3851, -0.012, -0.0124, 0.9998] state[eef_state]: left_x=0.4305 left_y=-0.1331 left_z=0.2347 left_yaw=0.0624 left_pitch=-0.1896 left_roll=0.0633 left_gripper=0.2524 right_x=0.2954 right_y=0.0015 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.0092 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0205, -8.4171, 7.4462, 1.9853, -0.1392, 0.1441, 0.2857, -0.0889, -0.8547, 7.0632, 1.7363, -0.0269, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). 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_y": -0.105, "left_z": 0.2}, "note": "Wrist view shows the left basket filling the frame just ahead-left of the jaws (the top camera's basket is the far right one, mine is hidden behind the arm). Centring over it and lowering before release."})
tool
executing move_to over 3 steps (0.3s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteLast lateral nudge barely moved; commanding a larger shift to the arm's left to get the bear over the basket's centre.
move_to
left_y-0.0700left_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]: [-0.4435, 1.6516, 1.5066, -0.693, -0.3916, -0.3286, 0.2532, -0.0147, 0.8082, 0.6079, -0.3855, -0.012, -0.0124, 0.9998] state[eef_state]: left_x=0.4357 left_y=-0.1283 left_z=0.2258 left_yaw=0.0604 left_pitch=-0.1939 left_roll=0.0621 left_gripper=0.2532 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0002 right_pitch=-0.0114 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1983, -9.0735, 7.6376, 1.7265, -0.2173, 0.1441, 0.0757, -0.0889, -1.1829, 7.0496, 1.7411, -0.0513, -0.0122, -0.0171] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.07, "left_z": 0.22}, "note": "Last lateral nudge barely moved; commanding a larger shift to the arm's left to get the bear over the basket's centre."})
tool
executing move_to over 6 steps (0.6s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe arm refused the last two lateral commands (identical joint readings), so I am raising and pulling back slightly to escape the stalled configuration before re-approaching the basket.
move_to
left_z0.3000left_x0.4000
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]: [-0.4435, 1.6516, 1.5066, -0.6926, -0.3916, -0.3283, 0.256, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.4357 left_y=-0.1284 left_z=0.2259 left_yaw=0.0602 left_pitch=-0.1936 left_roll=0.0621 left_gripper=0.256 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.3077, -9.1556, 7.6376, 1.6679, -0.2515, 0.1343, 0.2808, -0.0615, -1.3333, 7.3094, 1.7363, -0.0366, -0.0317, -0.0171] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3, "left_x": 0.4}, "note": "The arm refused the last two lateral commands (identical joint readings), so I am raising and pulling back slightly to escape the stalled configuration before re-approaching the basket."})
tool
executing move_to over 5 steps (0.5s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteWrist view shows the left basket straight ahead of the jaws, so I am reaching further forward to get the dog over the basket opening.
move_to
left_x0.4700left_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]: [-0.4934, 1.6394, 1.7134, -0.9386, -0.3992, -0.3637, 0.2579, -0.0143, 0.812, 0.6067, -0.3916, -0.0116, -0.0128, 0.9998] state[eef_state]: left_x=0.4122 left_y=-0.1396 left_z=0.2763 left_yaw=0.0384 left_pitch=-0.2131 left_roll=0.0549 left_gripper=0.2579 right_x=0.2947 right_y=0.0014 right_z=0.1739 right_yaw=0.0005 right_pitch=-0.0225 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.3487, -10.0581, 8.5949, 1.3211, -0.3639, -0.0415, 0.1734, -0.0752, -1.6205, 7.1316, 1.8535, -0.0317, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_z": 0.27}, "note": "Wrist view shows the left basket straight ahead of the jaws, so I am reaching further forward to get the dog over the basket opening."})
tool
executing move_to over 5 steps (0.5s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteHovering over the left basket with the dog; lowering into the basket mouth before releasing.
move_to
left_z0.1700left_y-0.1100
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]: [-0.4217, 1.8477, 1.8576, -0.9577, -0.3576, -0.3359, 0.2595, -0.0147, 0.8146, 0.6067, -0.3931, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.4593 left_y=-0.1343 left_z=0.2372 left_yaw=0.0723 left_pitch=-0.3028 left_roll=0.0872 left_gripper=0.2595 right_x=0.2946 right_y=0.0014 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.0267 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0068, -11.1521, 10.2769, 1.4725, -0.1245, 0.232, 0.1441, -0.0752, -1.5385, 7.0085, 1.7167, -0.0415, -0.0562, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_y": -0.11}, "note": "Hovering over the left basket with the dog; lowering into the basket mouth before releasing."})
tool
executing move_to over 5 steps (0.5s)
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 noteArm is at its forward/downward limit right at the left basket; releasing the dog so it drops into the basket.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4175, 1.858, 1.8832, -0.9512, -0.3576, -0.3244, 0.2615, -0.0147, 0.8146, 0.6067, -0.3927, -0.0116, -0.0128, 0.9998] state[eef_state]: left_x=0.4651 left_y=-0.1347 left_z=0.2432 left_yaw=0.067 left_pitch=-0.2841 left_roll=0.0843 left_gripper=0.2615 right_x=0.2947 right_y=0.0013 right_z=0.1729 right_yaw=0.0001 right_pitch=-0.0263 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.5812, -11.3983, 9.3607, 1.6044, -0.1734, 0.1929, 0.1929, -0.1573, -1.3744, 7.0222, 1.7167, -0.0317, -0.0122, -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_gripper": 1}, "note": "Arm is at its forward/downward limit right at the left basket; releasing the dog so it drops into the basket."})
tool
executing move_to over 8 steps (0.8s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe dog is now in the left basket. Pulling the left arm back and out of the overhead view so I can work with the right arm on the pens.
move_to
left_x0.3000left_y-0.0500left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4175, 1.858, 1.8832, -0.9531, -0.355, -0.3298, 0.9953, -0.0147, 0.8146, 0.6067, -0.3923, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.4647 left_y=-0.135 left_z=0.2428 left_yaw=0.0681 left_pitch=-0.2865 left_roll=0.0796 left_gripper=0.9953 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3761, -9.7573, 6.4615, 1.3309, -0.2369, 0.0366, -0.2271, -0.2803, -1.2239, 7.241, 1.7021, -0.022, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.3}, "note": "The dog is now in the left basket. Pulling the left arm back and out of the overhead view so I can work with the right arm on the pens."})
tool
executing move_to over 13 steps (1.3s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteOverhead now shows the dog in the left basket, remaining plush toys on the left side, and two marker pens on the right side of the table. Moving the right arm above the pens for a close look.
move_to
right_x0.2800right_y0.2000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3645, 1.2705, 1.5333, -1.1542, -0.3317, -0.3019, 0.9967, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.3132 left_y=-0.0541 left_z=0.3015 left_yaw=0.0821 left_pitch=-0.2632 left_roll=0.0648 left_gripper=0.9967 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0008 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.0752, -4.5744, 5.4359, 1.326, -0.0659, 0.1832, 0.1294, -0.0342, -1.7436, 7.0359, 1.7265, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.2, "right_z": 0.15, "right_gripper": 1}, "note": "Overhead now shows the dog in the left basket, remaining plush toys on the left side, and two marker pens on the right side of the table. Moving the right arm above the pens for a close look."})
tool
executing move_to over 17 steps (1.7s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteRight wrist view shows the two marker pens just beyond the jaws, the left one aligned with the jaw column. Advancing 2 cm and descending close to the table to grasp that pen.
move_to
right_x0.3000right_y0.1970right_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]: [-0.3634, 1.2793, 1.5246, -1.1629, -0.3286, -0.3065, 0.9968, 0.947, 1.2999, 0.7799, -0.3912, 0.6926, 0.6262, 0.9998] state[eef_state]: left_x=0.3126 left_y=-0.054 left_z=0.2943 left_yaw=0.0865 left_pitch=-0.2878 left_roll=0.0712 left_gripper=0.9968 right_x=0.2744 right_y=0.1944 right_z=0.134 right_yaw=0.0446 right_pitch=-0.0802 right_roll=-0.046 right_gripper=0.9998 state[joint_eff]: [-0.335, -4.3966, 6.6256, 1.3993, -0.2027, -0.022, -0.0024, 0.212, -4.9709, 8.8684, 1.3211, 0.6374, 0.1441, -0.0415] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.197, "right_z": 0.03}, "note": "Right wrist view shows the two marker pens just beyond the jaws, the left one aligned with the jaw column. Advancing 2 cm and descending close to the table to grasp that pen."})
tool
executing move_to over 7 steps (0.7s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe blue-capped pen lies between the open jaws at table level; closing to grasp it.
move_to
right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3634, 1.2823, 1.5242, -1.166, -0.3283, -0.3069, 0.9968, 0.878, 1.6073, 0.5781, 0.0937, 0.6403, 0.5632, 0.9997] state[eef_state]: left_x=0.3126 left_y=-0.0541 left_z=0.2928 left_yaw=0.0873 left_pitch=-0.2938 left_roll=0.0736 left_gripper=0.9968 right_x=0.2911 right_y=0.1911 right_z=0.0265 right_yaw=0.0423 right_pitch=-0.1301 right_roll=-0.0869 right_gripper=0.9997 state[joint_eff]: [-0.2803, -4.2051, 5.9692, 1.3748, -0.1587, -0.0073, -0.0122, -0.6632, -6.653, 4.7111, 1.3797, 0.3053, -0.0806, -0.0122] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.02}, "note": "The blue-capped pen lies between the open jaws at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteGripper closed to 0.03 = empty, the jaws stopped just short of the pen. Reopening and advancing 2.5 cm outward for a second attempt.
move_to
right_gripper1.0000right_x0.3150
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]: [-0.363, 1.2827, 1.5238, -1.1656, -0.3283, -0.3069, 0.9968, 0.8764, 1.618, 0.5686, 0.1093, 0.6399, 0.5568, 0.0286] state[eef_state]: left_x=0.3127 left_y=-0.054 left_z=0.2926 left_yaw=0.0877 left_pitch=-0.2941 left_roll=0.0738 left_gripper=0.9968 right_x=0.2904 right_y=0.1895 right_z=0.0222 right_yaw=0.0441 right_pitch=-0.1338 right_roll=-0.0951 right_gripper=0.0286 state[joint_eff]: [-0.0205, -4.0684, 6.1333, 1.3553, -0.188, 0.0024, -0.0073, -0.212, -6.9402, 6.2838, 1.116, 0.2808, 0.0659, 0.6667] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.315}, "note": "Gripper closed to 0.03 = empty, the jaws stopped just short of the pen. Reopening and advancing 2.5 cm outward for a second attempt."})
tool
executing move_to over 10 steps (1.0s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent notePen now sits centred between the open jaws; closing to grasp.
move_to
right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3634, 1.2831, 1.5238, -1.1664, -0.3286, -0.3069, 0.9968, 0.8108, 1.6611, 0.598, 0.1455, 0.59, 0.4889, 0.9949] state[eef_state]: left_x=0.3126 left_y=-0.054 left_z=0.2924 left_yaw=0.0878 left_pitch=-0.295 left_roll=0.0746 left_gripper=0.9968 right_x=0.3078 right_y=0.1864 right_z=0.0179 right_yaw=0.0518 right_pitch=-0.1503 right_roll=-0.1024 right_gripper=0.9949 state[joint_eff]: [-0.0479, -4.0137, 5.9419, 1.326, -0.232, -0.0513, -0.0122, -0.7316, -5.5726, 7.1316, 1.3748, 0.442, 0.0317, -0.1197] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.02}, "note": "Pen now sits centred between the open jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteGripper again reads 0.03 (likely empty) though the pen looks between the jaws; lifting to check the overhead view.
move_to
right_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]: [-0.363, 1.2831, 1.5238, -1.1656, -0.3283, -0.3069, 0.9968, 0.8112, 1.6569, 0.5995, 0.1707, 0.5938, 0.4824, 0.0288] state[eef_state]: left_x=0.3128 left_y=-0.054 left_z=0.2925 left_yaw=0.0877 left_pitch=-0.2945 left_roll=0.0739 left_gripper=0.9968 right_x=0.3116 right_y=0.1898 right_z=0.0234 right_yaw=0.056 right_pitch=-0.1261 right_roll=-0.0881 right_gripper=0.0288 state[joint_eff]: [-0.1026, -4.0, 5.9282, 1.3748, -0.1734, -0.0562, -0.0073, -0.2256, -6.1744, 4.9573, 1.1355, 0.1832, 0.0708, 0.5299] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper again reads 0.03 (likely empty) though the pen looks between the jaws; lifting to check the overhead view."})
tool
executing move_to over 7 steps (0.7s)
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 noteMoving toward the right-hand basket; the overhead view on arrival will show whether the pen is actually held.
move_to
right_x0.4000right_y0.1700right_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.363, 1.2831, 1.5238, -1.1656, -0.3286, -0.3069, 0.9968, 0.8112, 1.4376, 0.786, -0.231, 0.5896, 0.4774, 0.0304] state[eef_state]: left_x=0.3128 left_y=-0.054 left_z=0.2925 left_yaw=0.0881 left_pitch=-0.2943 left_roll=0.0742 left_gripper=0.9968 right_x=0.3124 right_y=0.1915 right_z=0.1054 right_yaw=0.062 right_pitch=-0.1255 right_roll=-0.0866 right_gripper=0.0304 state[joint_eff]: [-0.0889, -3.9179, 6.065, 1.4042, -0.2222, -0.0513, -0.0073, -0.3624, -6.9949, 8.6085, 1.2625, 0.2173, 0.0073, 0.1441] 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": {"right_x": 0.4, "right_y": 0.17, "right_z": 0.25}, "note": "Moving toward the right-hand basket; the overhead view on arrival will show whether the pen is actually held."})
tool
executing move_to over 10 steps (1.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe close was empty — the pen is still on the table. Returning over it and going right down to table level this time so the jaws straddle the full pen diameter.
move_to
right_x0.3150right_y0.1900right_z0.0000right_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]: [-0.363, 1.2831, 1.5227, -1.1656, -0.3286, -0.3073, 0.9968, 0.5716, 1.544, 1.401, -0.63, 0.4286, 0.2798, 0.0316] state[eef_state]: left_x=0.3127 left_y=-0.0539 left_z=0.2921 left_yaw=0.0884 left_pitch=-0.2953 left_roll=0.0745 left_gripper=0.9968 right_x=0.3988 right_y=0.1735 right_z=0.2394 right_yaw=0.0592 right_pitch=-0.1162 right_roll=-0.0781 right_gripper=0.0316 state[joint_eff]: [-0.0068, -3.8085, 6.0239, 1.3358, -0.2173, -0.0513, -0.0122, -0.5402, -7.0496, 8.8821, 1.1453, 0.1636, -0.0562, 0.1148] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.315, "right_y": 0.19, "right_z": 0.0, "right_gripper": 1}, "note": "The close was empty \u2014 the pen is still on the table. Returning over it and going right down to table level this time so the jaws straddle the full pen diameter."})
tool
executing move_to over 16 steps (1.6s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteBlue pen is centred between the open jaws at table level; closing on it.
move_to
right_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]: [-0.363, 1.285, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.7918, 1.7168, 0.5911, 0.2852, 0.5785, 0.4553, 0.9967] state[eef_state]: left_x=0.3129 left_y=-0.0541 left_z=0.2914 left_yaw=0.0884 left_pitch=-0.2975 left_roll=0.0753 left_gripper=0.9968 right_x=0.3216 right_y=0.1933 right_z=0.0156 right_yaw=0.0658 right_pitch=-0.101 right_roll=-0.0692 right_gripper=0.9967 state[joint_eff]: [-0.0205, -4.1504, 6.106, 1.3065, -0.1929, -0.0366, -0.0122, 0.3487, -4.2872, 2.9744, 0.5348, 0.022, 0.0952, -0.0611] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Blue pen is centred between the open jaws at table level; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteGripper settled at 0.17 (~1.6 cm) — the pen is held. Lifting and carrying it over the right-hand basket, which will be the pen basket.
move_to
right_z0.2200right_x0.4200right_y0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.363, 1.285, 1.5227, -1.166, -0.3286, -0.3073, 0.9968, 0.7918, 1.7298, 0.5808, 0.308, 0.5747, 0.45, 0.1689] state[eef_state]: left_x=0.313 left_y=-0.054 left_z=0.2915 left_yaw=0.0887 left_pitch=-0.2974 left_roll=0.0755 left_gripper=0.9968 right_x=0.3205 right_y=0.193 right_z=0.0111 right_yaw=0.0714 right_pitch=-0.1034 right_roll=-0.0715 right_gripper=0.1689 state[joint_eff]: [-0.0615, -3.8496, 5.9282, 1.3065, -0.2027, -0.0513, -0.0122, -0.1026, -7.9111, 5.5316, 1.1355, 0.2418, -0.0073, 0.9988] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.42, "right_y": 0.17}, "note": "Gripper settled at 0.17 (~1.6 cm) \u2014 the pen is held. Lifting and carrying it over the right-hand basket, which will be the pen basket."})
tool
executing move_to over 14 steps (1.4s)
step 232
assistant
agent noteThe pen is held directly over the right basket; opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3634, 1.285, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.5346, 1.5768, 1.2957, -0.4526, 0.3893, 0.244, 0.1718] state[eef_state]: left_x=0.3129 left_y=-0.0542 left_z=0.2914 left_yaw=0.088 left_pitch=-0.2975 left_roll=0.0753 left_gripper=0.9968 right_x=0.4171 right_y=0.1732 right_z=0.2094 right_yaw=0.0748 right_pitch=-0.0954 right_roll=-0.0638 right_gripper=0.1718 state[joint_eff]: [-0.3077, -4.041, 5.9829, 1.3114, -0.1148, -0.0366, -0.0073, -0.6359, -6.6667, 8.7453, 1.4872, 0.2125, -0.0513, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The pen is held directly over the right basket; opening to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 241
assistant
agent noteFirst pen released over the right basket. Moving back down over the remaining dark pens on the right side of the table for the next grasp.
move_to
right_x0.3100right_y0.1600right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3634, 1.2869, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.5308, 1.5822, 1.2945, -0.4694, 0.3801, 0.239, 0.9956] state[eef_state]: left_x=0.3132 left_y=-0.0543 left_z=0.2909 left_yaw=0.0883 left_pitch=-0.2992 left_roll=0.0761 left_gripper=0.9968 right_x=0.4153 right_y=0.172 right_z=0.2034 right_yaw=0.0799 right_pitch=-0.1192 right_roll=-0.0724 right_gripper=0.9956 state[joint_eff]: [-0.1709, -4.0274, 6.2154, 1.3455, -0.1832, -0.0611, -0.0122, 0.2393, -8.1299, 6.9402, 1.6923, 0.2271, -0.0464, -0.1685] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.16, "right_z": 0.1}, "note": "First pen released over the right basket. Moving back down over the remaining dark pens on the right side of the table for the next grasp."})
tool
executing move_to over 9 steps (0.9s)
step 250
assistant
agent noteFirst pen is visible inside the right basket. A black pen now sits right on the jaw column; descending to table level to grasp it.
move_to
right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.363, 1.2877, 1.5227, -1.1648, -0.3286, -0.3073, 0.9968, 0.7036, 1.3491, 0.683, -0.1947, 0.4751, 0.3496, 0.9964] state[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2908 left_yaw=0.0889 left_pitch=-0.2988 left_roll=0.0762 left_gripper=0.9968 right_x=0.309 right_y=0.1609 right_z=0.0932 right_yaw=0.1103 right_pitch=-0.1696 right_roll=-0.1007 right_gripper=0.9964 state[joint_eff]: [-0.0479, -4.1094, 5.9556, 1.3797, -0.2222, -0.0415, -0.0073, 0.2667, -6.2291, 6.8855, 1.7705, 0.3834, 0.188, 0.0659] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0}, "note": "First pen is visible inside the right basket. A black pen now sits right on the jaw column; descending to table level to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 257
assistant
agent noteA black pen lies just right of the jaw column in the wrist view; shifting ~4 cm to the arm's right to line up on it.
move_to
right_y0.1250
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]: [-0.3634, 1.2877, 1.5227, -1.166, -0.3286, -0.3077, 0.9968, 0.7059, 1.6104, 0.5072, 0.2672, 0.4774, 0.3569, 0.9965] state[eef_state]: left_x=0.3134 left_y=-0.0543 left_z=0.2907 left_yaw=0.0889 left_pitch=-0.2998 left_roll=0.0765 left_gripper=0.9968 right_x=0.3141 right_y=0.1659 right_z=0.0159 right_yaw=0.1091 right_pitch=-0.1477 right_roll=-0.0826 right_gripper=0.9965 state[joint_eff]: [-0.0889, -3.8496, 6.147, 1.3114, -0.1636, -0.0659, -0.0122, -0.2393, -3.6171, 2.7282, 0.5934, 0.0269, -0.0464, -0.0073] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.125}, "note": "A black pen lies just right of the jaw column in the wrist view; shifting ~4 cm to the arm's right to line up on it."})
tool
executing move_to over 4 steps (0.4s)
step 261
assistant
agent noteBlack pen is now centred between the jaws at table level; closing on it.
move_to
right_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]: [-0.363, 1.2884, 1.5227, -1.1656, -0.3286, -0.3073, 0.9968, 0.5777, 1.5398, 0.4179, 0.3359, 0.4057, 0.2817, 0.9965] state[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2905 left_yaw=0.0891 left_pitch=-0.3001 left_roll=0.0769 left_gripper=0.9968 right_x=0.318 right_y=0.1284 right_z=0.0169 right_yaw=0.0815 right_pitch=-0.1352 right_roll=-0.0688 right_gripper=0.9965 state[joint_eff]: [-0.1026, -4.1368, 6.065, 1.3553, -0.2125, -0.0708, -0.0122, -0.6222, -6.147, 4.3829, 1.453, 0.1343, -0.1587, -0.0122] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Black pen is now centred between the jaws at table level; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 271
assistant
agent noteSecond pen grasped (gripper 0.17). Carrying it over the right basket, aiming a touch nearer than last time so it lands inside rather than on the far rim.
move_to
right_x0.4000right_y0.1900right_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]: [-0.363, 1.2884, 1.5227, -1.1656, -0.3283, -0.3073, 0.9968, 0.5701, 1.5318, 0.4084, 0.3355, 0.3893, 0.2733, 0.166] state[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2905 left_yaw=0.0888 left_pitch=-0.3003 left_roll=0.0766 left_gripper=0.9968 right_x=0.3159 right_y=0.1272 right_z=0.0155 right_yaw=0.0913 right_pitch=-0.1426 right_roll=-0.0657 right_gripper=0.166 state[joint_eff]: [-0.1983, -4.0821, 5.9282, 1.3358, -0.149, -0.0415, -0.0122, 0.4444, -4.4513, 5.641, 1.4628, 0.2613, 0.0366, 0.9792] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.19, "right_z": 0.22}, "note": "Second pen grasped (gripper 0.17). Carrying it over the right basket, aiming a touch nearer than last time so it lands inside rather than on the far rim."})
tool
executing move_to over 14 steps (1.4s)
step 285
assistant
agent noteBasket mouth sits just beyond the fingertips in the wrist view; reaching 4 cm further forward so the pen is over the middle of the basket.
move_to
right_x0.4400right_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.363, 1.2884, 1.5227, -1.166, -0.3283, -0.3107, 0.9968, 0.5873, 1.5723, 1.3205, -0.5293, 0.3893, 0.2737, 0.1666] state[eef_state]: left_x=0.3135 left_y=-0.0543 left_z=0.2904 left_yaw=0.0908 left_pitch=-0.3005 left_roll=0.0745 left_gripper=0.9968 right_x=0.4002 right_y=0.1902 right_z=0.2088 right_yaw=0.1087 right_pitch=-0.1365 right_roll=-0.0622 right_gripper=0.1666 state[joint_eff]: [-0.212, -4.0684, 6.0239, 1.2918, -0.1441, 0.0073, -0.0122, 0.5949, -7.0906, 9.1282, 1.1551, 0.2418, 0.1441, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.24}, "note": "Basket mouth sits just beyond the fingertips in the wrist view; reaching 4 cm further forward so the pen is over the middle of the basket."})
tool
executing move_to over 4 steps (0.4s)
step 289
assistant
agent notePen held over the centre of the right basket; opening to release it inside.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3634, 1.2884, 1.5227, -1.166, -0.3286, -0.3134, 0.9968, 0.5339, 1.6981, 1.5185, -0.6277, 0.3496, 0.2363, 0.1673] state[eef_state]: left_x=0.3135 left_y=-0.0544 left_z=0.2905 left_yaw=0.0922 left_pitch=-0.3002 left_roll=0.073 left_gripper=0.9968 right_x=0.4323 right_y=0.1894 right_z=0.2187 right_yaw=0.1058 right_pitch=-0.174 right_roll=-0.0764 right_gripper=0.1673 state[joint_eff]: [-0.1436, -4.0547, 5.9282, 1.3114, -0.1978, -0.0024, -0.0122, -0.759, -8.9915, 9.8667, 1.3895, 0.1636, -0.0415, 0.989] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Pen held over the centre of the right basket; opening to release it inside."})
tool
executing move_to over 9 steps (0.9s)
step 298
assistant
agent noteRetracting the right arm out of the overhead view to check whether the two pens actually landed inside the right basket.
move_to
right_x0.2500right_y0.0500right_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3634, 1.2884, 1.5227, -1.1656, -0.3286, -0.3138, 0.9968, 0.5285, 1.7077, 1.5513, -0.6395, 0.3347, 0.2199, 0.9956] state[eef_state]: left_x=0.3136 left_y=-0.0544 left_z=0.2905 left_yaw=0.0924 left_pitch=-0.2999 left_roll=0.0725 left_gripper=0.9968 right_x=0.4361 right_y=0.1916 right_z=0.2255 right_yaw=0.1223 right_pitch=-0.1686 right_roll=-0.074 right_gripper=0.9956 state[joint_eff]: [-0.3214, -4.0957, 6.1744, 1.3065, -0.2271, -0.022, -0.0122, -0.6085, -9.1282, 9.1829, 1.5165, 0.1636, 0.0024, -0.1832] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.05, "right_z": 0.25}, "note": "Retracting the right arm out of the overhead view to check whether the two pens actually landed inside the right basket."})
tool
executing move_to over 15 steps (1.5s)
step 313
assistant
agent noteI classified the scene into plush toys vs. pens. Using the left arm I picked the large plush dog from the table centre and placed it into the left basket (confirmed in the overhead view). Using the right arm I grasped two marker pens at table level and released them over the right basket; one appears in/at the basket while the other landed just short on the table in front of it. Remaining plush toys and a yellow pen were left on the table when the call budget ran out.
done
hindsightKey things learned: (1) The two baskets sit at the far edge, roughly left_y≈-0.15/right_y≈+0.18 at x≈0.43-0.46; each arm's own wrist camera is the reliable guide to its own basket because the top camera's left basket is hidden behind the working arm. (2) The left arm stalls (identical joint readings, no motion) around x>0.44 with y>-0.13 — raise z and reduce x to escape. (3) For thin pens, the 2-3 cm 'advance beyond the wrist view' rule matters AND you must descend to z≈0.00-0.015 (not 0.02+) or the close reads 0.03 = empty; a good pen grasp settles at ≈0.17. (4) Releasing over a basket from z≈0.22 with the object dangling can drop it on the near rim; get the basket centre below image row ~120 in the wrist view and descend to z≈0.15 before opening. (5) Each pick-place cycle costs 6-9 LLM calls, so budget ~4 objects max for 40 calls.
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]: [-0.363, 1.2907, 1.5227, -1.1645, -0.3286, -0.3138, 0.9968, 0.3183, 0.8829, 1.0492, -0.8917, 0.1993, 0.0837, 0.9964] state[eef_state]: left_x=0.3142 left_y=-0.0545 left_z=0.29 left_yaw=0.0929 left_pitch=-0.3009 left_roll=0.0731 left_gripper=0.9968 right_x=0.2626 right_y=0.0535 right_z=0.2545 right_yaw=0.1021 right_pitch=-0.1353 right_roll=-0.0653 right_gripper=0.9964 state[joint_eff]: [-0.2393, -4.2462, 5.9692, 1.3553, -0.1832, -0.0269, -0.0122, -0.2393, -1.1009, 6.5709, 1.5897, -0.0171, -0.0855, 0.0757] camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
done({"summary": "I classified the scene into plush toys vs. pens. Using the left arm I picked the large plush dog from the table centre and placed it into the left basket (confirmed in the overhead view). Using the right arm I grasped two marker pens at table level and released them over the right basket; one appears in/at the basket while the other landed just short on the table in front of it. Remaining plush toys and a yellow pen were left on the table when the call budget ran out.", "hindsight": "Key things learned: (1) The two baskets sit at the far edge, roughly left_y\u2248-0.15/right_y\u2248+0.18 at x\u22480.43-0.46; each arm's own wrist camera is the reliable guide to its own basket because the top camera's left basket is hidden behind the working arm. (2) The left arm stalls (identical joint readings, no motion) around x>0.44 with y>-0.13 \u2014 raise z and reduce x to escape. (3) For thin pens, the 2-3 cm 'advance beyond the wrist view' rule matters AND you must descend to z\u22480.00-0.015 (not 0.02+) or the close reads 0.03 = empty; a good pen grasp settles at \u22480.17. (4) Releasing over a basket from z\u22480.22 with the object dangling can drop it on the near rim; get the basket centre below image row ~120 in the wrist view and descend to z\u22480.15 before opening. (5) Each pick-place cycle costs 6-9 LLM calls, so budget ~4 objects max for 40 calls."})
tool
done: I classified the scene into plush toys vs. pens. Using the left arm I picked the large plush dog from the table centre and placed it into the left basket (confirmed in the overhead view). Using the right arm I grasped two marker pens at table level and released them over the right basket; one appears in/at the basket while the other landed just short on the table in front of it. Remaining plush toys and a yellow pen were left on the table when the call budget ran out.
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 · 18.13 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]: [-0.0231, 0.8024, 0.6178, -0.3805, -0.0219, -0.0261, 0.9995, -0.0154, 0.8009, 0.6109, -0.3843, -0.0124, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0006 left_z=0.1839 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2955 right_y=0.0012 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.9624, 9.265, 1.746, -0.0024, 0.0855, -0.0659, -0.7316, -1.7299, 9.7709, 1.8095, -0.1148, -0.0366, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a50ba0d6aa32211d1612f71a682e97f170679dd1404769d06622e1067af065b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31ce4ef505e15f3eb3bf96b9dcff26ba26c9a37ca54d0046c47eeeecc2290d87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8512917fb5c753fbe7a38a3ebe10828c318431d119dd7ad6a84ff052749ade24",
        "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 · 9.562 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]: [-0.0231, 0.8024, 0.6178, -0.3805, -0.0219, -0.0261, 0.9995, -0.0154, 0.8009, 0.6109, -0.3843, -0.0124, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0006 left_z=0.1839 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2955 right_y=0.0012 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.9624, 9.265, 1.746, -0.0024, 0.0855, -0.0659, -0.7316, -1.7299, 9.7709, 1.8095, -0.1148, -0.0366, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a50ba0d6aa32211d1612f71a682e97f170679dd1404769d06622e1067af065b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31ce4ef505e15f3eb3bf96b9dcff26ba26c9a37ca54d0046c47eeeecc2290d87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8512917fb5c753fbe7a38a3ebe10828c318431d119dd7ad6a84ff052749ade24",
        "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_01GP2DiKddzPrEbpywFkciFZ",
      "input": {
        "note": "Top view shows two teal baskets far left/right and a cluster of plush toys plus some thin pen-like objects near the table centre. Moving the left arm over the centre cluster to get a close wrist view before grasping.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "left_y": -0.28,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01GP2DiKddzPrEbpywFkciFZ",
      "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]: [-1.0058, 1.6485, 1.1923, -0.4374, -0.7715, -0.7197, 0.9995, -0.0143, 0.8032, 0.6086, -0.3851, -0.0124, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.3267 left_y=-0.2786 left_z=0.168 left_yaw=-0.0139 left_pitch=-0.0278 left_roll=0.0057 left_gripper=0.9995 right_x=0.2953 right_y=0.0016 right_z=0.1785 right_yaw=0.0009 right_pitch=-0.0053 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -7.5829, 9.2239, 1.1941, -0.6471, -0.0562, -0.0708, -0.0205, -1.4701, 7.241, 1.746, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfcd98ebf92056403d86ea5a2874dadecce7584c5bbbab4899dae108b34fa319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a714ce71cd5dcc18e24ffc88c549eea8f11793592d68dc20c122d48a8eae9d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b265f2c740daa51c1de98b770fa12295fd703a95fe77ac50ec28bb8bb6aaabc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 6.607 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]: [-0.0231, 0.8024, 0.6178, -0.3805, -0.0219, -0.0261, 0.9995, -0.0154, 0.8009, 0.6109, -0.3843, -0.0124, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0006 left_z=0.1839 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2955 right_y=0.0012 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.9624, 9.265, 1.746, -0.0024, 0.0855, -0.0659, -0.7316, -1.7299, 9.7709, 1.8095, -0.1148, -0.0366, -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]: [-1.0058, 1.6485, 1.1923, -0.4374, -0.7715, -0.7197, 0.9995, -0.0143, 0.8032, 0.6086, -0.3851, -0.0124, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.3267 left_y=-0.2786 left_z=0.168 left_yaw=-0.0139 left_pitch=-0.0278 left_roll=0.0057 left_gripper=0.9995 right_x=0.2953 right_y=0.0016 right_z=0.1785 right_yaw=0.0009 right_pitch=-0.0053 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -7.5829, 9.2239, 1.1941, -0.6471, -0.0562, -0.0708, -0.0205, -1.4701, 7.241, 1.746, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfcd98ebf92056403d86ea5a2874dadecce7584c5bbbab4899dae108b34fa319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a714ce71cd5dcc18e24ffc88c549eea8f11793592d68dc20c122d48a8eae9d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b265f2c740daa51c1de98b770fa12295fd703a95fe77ac50ec28bb8bb6aaabc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISugkKjgEIEhgCKkBBieBybuQUFXqycEdnHrnvpS/SZsgYFdufkO/XkAOMSE9HfXWDhIWyXl3FRiXG/ahTVnR1lH8h+IHrLnYClwtvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfq4zNUGEgxDEf4vRPhndbYLA4MaDD0SW2xrbBdZthstCiIw0Q42K4t5F/5CNnsxYd6SDBw2h4oBUKT9gXokBxbRuQ0HqMF0A3UuCvE8t2EYvp6MKtgHsq2e70pk0X9hGm6ee81vqFSdMt81n8zARxswEe+vIUEE0A3H3jef5JsJ7Zz8m27NXjPajBpwjeccWCK9TaoUiVSJqmu6YR0eHOUQpn6JqYkUFDvccYYK6X7xDqVAsU+N4RnfabLJfIzJBaZ+MF4Tq82d6LS63ULiHNWYLKsVXVUs0QYcdbHvb8FBra8Jt7afzQVJKTNXxbnAxFLytjRXp3khwgPJYdZ6o8Msn3OlrOP2bFGnnCmjt6Oqkom14mADb9Bm1ej088UCo74ieV2G52Inzj0bHg5GxUk2rXAFK380LqFX3AE1SdeVo3N8oa/26Uwfym1UYPzqZ1WdNLzcN6zr5JKhmGICj5CocM8x24L4tM+5kSXE5pjyZ8Lff4CrbO0vkMTOYOjmRV9rhBCPqQCMMhJIxbwltkzcJCYT4RT/CibZs25soMf9x1Z8FLVeaOR/2bxTGicyqEIbbTSOqHshvm3W6Bdx604ETq6v607/pwij326k9gbbCfqf7Cd6LAfhrhW/AIvWezDkkjC2Q/K39fY5hIEe4OFa6eOXL5LMVBChvS0wK2i87pRYkAEzvkSmfnvND2y83KClzZ1T9POXAZZLmayoQZ2n5ljTQfj99lOfwe5W371+uB4/9uUoO+KEStAeCQMTX52EqrI+EQBzuQJXGkO8fAeQnPJLyI40iN3KGkfZKHatTBDMk3LCxgM9+N+5Rs3K0uFUQMMP4sPR83qQ/Mg3yV4lWdUKWR3Moft1FOqGdOVv/mM5kIci3GaD6EpilIV/uOHcH2N4CWgWlEUv0D5jPX6hwhpeY0YRRmXj/gWJZVX3mAUY9nSoQ14Iv8RUKp4deJm09R1cDwyyuhtt4pDTPgYixRICYVW5KVu5oCgzyRXTFbzIi3zA4uuzS3yIoAYTdkMJa1VsuEJay9ksOtcc4E5HVk0LktlvE3yf0cfAQ+tAyCKMdRJr4i5LOUiP6MLr6gWHmqVyCC9o0Psiayoy7HJGGsEd99a20PUr9d+2vH/C/2TuRQ3cjqVz9+7h+3fKeGwjTctrCPdMHjcPK1j8eNHsCQV9WpbzEMMYSQK+9OJIpFkNAtKor01q6TwndY2PO9lb+E/gvXEAFB83VXI926mcMN/DmM3pG4KgquzxsnXfDbSzRs27RI4XTo00jngxT6U8cGllMNGVGDBdOalMrzCcT9/qj2eX8k+qFDCgazSgpa2ffCyvVxcIMw77BEWkv4pj+4RRz0XyCtukVofU+5qP5jdnYtk+5US2wMJkhWXlx0I8HDLV2zRb6K9gdWUUIHSRYT3221lVuUw//ofGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012RQDtNxWykoK7863MotYdV",
      "input": {
        "note": "Left wrist camera shows a teddy bear centred right below the jaws, between the two baskets. Descending to head height of the bear to check alignment before closing.",
        "targets": {
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012RQDtNxWykoK7863MotYdV",
      "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]: [-1.0084, 1.8027, 0.9531, -0.0647, -0.7784, -0.7189, 0.9995, -0.0147, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.325 left_y=-0.2764 left_z=0.0696 left_yaw=-0.0121 left_pitch=-0.0345 left_roll=0.0265 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1785 right_yaw=0.0004 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.0889, 5.5453, 1.326, -0.2906, -0.0415, -0.0122, -0.0342, -1.2513, 7.0632, 1.7314, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e1571de019270de56b30a6513717ee8e4b23099e464928adeba6af89e605b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad35db8371cf8d95a52c8e8f365f5128e2a55199b6ac9299fef43a5c00dd07e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14120bc8fd73f6756b67aeb160bdb5b8496b41960e960d6afe1f0c3ce78158fd",
        "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 · 4.606 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]: [-0.0231, 0.8024, 0.6178, -0.3805, -0.0219, -0.0261, 0.9995, -0.0154, 0.8009, 0.6109, -0.3843, -0.0124, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0006 left_z=0.1839 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2955 right_y=0.0012 right_z=0.1803 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.9624, 9.265, 1.746, -0.0024, 0.0855, -0.0659, -0.7316, -1.7299, 9.7709, 1.8095, -0.1148, -0.0366, -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]: [-1.0058, 1.6485, 1.1923, -0.4374, -0.7715, -0.7197, 0.9995, -0.0143, 0.8032, 0.6086, -0.3851, -0.0124, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.3267 left_y=-0.2786 left_z=0.168 left_yaw=-0.0139 left_pitch=-0.0278 left_roll=0.0057 left_gripper=0.9995 right_x=0.2953 right_y=0.0016 right_z=0.1785 right_yaw=0.0009 right_pitch=-0.0053 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -7.5829, 9.2239, 1.1941, -0.6471, -0.0562, -0.0708, -0.0205, -1.4701, 7.241, 1.746, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0084, 1.8027, 0.9531, -0.0647, -0.7784, -0.7189, 0.9995, -0.0147, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.325 left_y=-0.2764 left_z=0.0696 left_yaw=-0.0121 left_pitch=-0.0345 left_roll=0.0265 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1785 right_yaw=0.0004 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.0889, 5.5453, 1.326, -0.2906, -0.0415, -0.0122, -0.0342, -1.2513, 7.0632, 1.7314, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e1571de019270de56b30a6513717ee8e4b23099e464928adeba6af89e605b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad35db8371cf8d95a52c8e8f365f5128e2a55199b6ac9299fef43a5c00dd07e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14120bc8fd73f6756b67aeb160bdb5b8496b41960e960d6afe1f0c3ce78158fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wgKjgEIEhgCKkDChfVTPe5eI8n0PwxgprST5i/M4zdLI7SlPlOIB1VidFsGZ+Yz2Rf6lmfXnpz+vEmav/G+jAYOQyY5xW2mZ8r8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYK5zNUGEgwzg92c1J3lHiqwoakaDEgGBGyShIz7Xl6MNiIwMX3jh0gAS6dG9UGYXjIUkc3iThCgBzp8c82gkEwdqaVYNLTFcPeE/Md4ykqqidQjKoEH8N5EEXIAfRQrIRiFSeQqxsBcvxpRLJnm9MCGh9rwTV9LAqttuQQW0uTW7WMjLP/3+xcvrcc3WR6QfsHb+QGtJHh8gDcebtWaOE6vu8+oCoDaMm/kqmqdqDOI7NJQDY/RV4LV/T3ID8GHUHjc0cuTFgDM1y8SSnLUsSQxDlOYaN2b1gwQ6tE/Y+ND92VtHa1IxnU4wqvEmF4aJDQbIPvGDoqlYx/B8UXWXcXn+qtBFzBP9G8lD1sFZ1XDMHeYVuEm3bA5SqiVS5Mi/qOKA1kNjXoJAMWInEEoT0zgjyODQ9HykvyaZ0otVfhC1VjTpvYJXGHYxboxxeUgNIEhWGYRCL9E93U3c8mr03AhBTyALxFmMnlwPkjMpz20fh0USSn2JsGAyj6W5NctlUpUvvF2sECWF6htDmEbIzBWOzqFLzowzKaZ297BzKe8lCdAHHm4rzC6iFtM/aNOtGGEllXISTLfwOqf5wdzZIFn85exGPkt4mHATJwo/fQmVlKj7vUp0u/XGKXUGIhmTRIjjvfne2+MNE29QramiMYnnZJj50GN4LOaom9hrneCFJdaUEQ6pFqgHMbmRfM8u66VjZvzb1+iMr6HMNF5fNLZimbwo4EAc/XjvDbt5VeyBRN11L5oJi4D6vueYs68nr07kmgAtTprPk0MmIwGFXX5lPHkiBZg4yp41s/eTSoNbG2qqcd5kCQCY8ANb0INrH2j1GEa+18UyYzjO/kUYYydIBlajgW16yPn/ILHt2W6No7zfW05sw8xezHpt6ARpyOuKk1jbjKYDXtEJjCtbC7e1EwDOGfQZXiuSo+a0Nuj/2OE2S6q9UZG0dXV8Oyumg4hm0QeWKTZUk+vcz7A8ZLoG8NCG8Banu2ACxwKgURCaY5LJIr2g1XZJ/+l88nQWPLM+gNClzXPnqI9RzB57qgietlKlTgy4XkRjsIfIAaMKJ+WAxI/CClDYs1bsa/8968DgzSb/3oFFpV1HQ8J/bkSnNfOmxpL6M75k37cL02fJ8i+0k7pqJfEgOH2x3cU921iS7+lK37rawehmzNwHmvxpjOcF7yRVGF2S7DFy5Vtl4UN4TgzBT+PI09IsIzA5/BEjp90NzVC6tVr4YFHpVPJ54eXdDD19g5ma68MwMtAIvBuSd88Dgw0yPzESDsz13naJeWhInDnhGICDrT8Dll1s3swidshGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AUEQtx8uDbuRkeA1GcX5Jk",
      "input": {
        "note": "The bear's head sits above the jaw row in the wrist view, meaning it is a few cm beyond the fingertips; advancing 2.5 cm so the jaws straddle it.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.272
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AUEQtx8uDbuRkeA1GcX5Jk",
      "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]: [-0.9325, 1.8259, 0.9611, -0.0135, -0.7467, -0.6735, 0.9995, -0.0143, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3488 left_y=-0.2627 left_z=0.0664 left_yaw=0.0182 left_pitch=-0.0355 left_roll=0.0204 left_gripper=0.9995 right_x=0.2953 right_y=0.0015 right_z=0.1785 right_yaw=0.0008 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.6786, 7.5282, 1.2625, -0.2125, 0.1538, -0.0171, -0.0342, -1.2923, 7.1863, 1.707, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d1329094c93eb6cb9797294c6cb8d4e68ddaeafc2bc382d19a43b005285537b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccf9b895156037ee8952084f392d7ba9a4734baeb35e40db882f51cffae14af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a4fd8347786d63be77fe740eaef86be655cf345145635e5c8b693b879264e07",
        "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 · 3.131 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]: [-1.0058, 1.6485, 1.1923, -0.4374, -0.7715, -0.7197, 0.9995, -0.0143, 0.8032, 0.6086, -0.3851, -0.0124, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.3267 left_y=-0.2786 left_z=0.168 left_yaw=-0.0139 left_pitch=-0.0278 left_roll=0.0057 left_gripper=0.9995 right_x=0.2953 right_y=0.0016 right_z=0.1785 right_yaw=0.0009 right_pitch=-0.0053 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -7.5829, 9.2239, 1.1941, -0.6471, -0.0562, -0.0708, -0.0205, -1.4701, 7.241, 1.746, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0084, 1.8027, 0.9531, -0.0647, -0.7784, -0.7189, 0.9995, -0.0147, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.325 left_y=-0.2764 left_z=0.0696 left_yaw=-0.0121 left_pitch=-0.0345 left_roll=0.0265 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1785 right_yaw=0.0004 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.0889, 5.5453, 1.326, -0.2906, -0.0415, -0.0122, -0.0342, -1.2513, 7.0632, 1.7314, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9325, 1.8259, 0.9611, -0.0135, -0.7467, -0.6735, 0.9995, -0.0143, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3488 left_y=-0.2627 left_z=0.0664 left_yaw=0.0182 left_pitch=-0.0355 left_roll=0.0204 left_gripper=0.9995 right_x=0.2953 right_y=0.0015 right_z=0.1785 right_yaw=0.0008 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.6786, 7.5282, 1.2625, -0.2125, 0.1538, -0.0171, -0.0342, -1.2923, 7.1863, 1.707, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d1329094c93eb6cb9797294c6cb8d4e68ddaeafc2bc382d19a43b005285537b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccf9b895156037ee8952084f392d7ba9a4734baeb35e40db882f51cffae14af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a4fd8347786d63be77fe740eaef86be655cf345145635e5c8b693b879264e07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wQKjgEIEhgCKkCDoOydlZrEJujiW4Ee/1egMHFcCjsjI4XTcxkaqQjAeSZN9eloSyGCa8MQjlVguBvSwAcjE5SPNDCyH14sBJqQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYi5zNUGEgzaQcMdiKy+bDRoABIaDCqdAktqQ8whyq1moyIwD8qZ5ctkiYxcdNWhXRnZm3U9oTvW3Vxvd5v8Si8rdIUMPCzW+TyP2eV6O6OvIizMKvkCN/zzuTR1w0dOBWI5WX7tYVzNoUymE/6ohcAzKzU5jVjfFqeXJIZ/Qyw0MO2DU+2QfRJGE8KTQBJJAm5EEy8DB1RsM+GTLwaJz3X+gqBWC91QYe1eejLhLclKu56i0x28hN1T/YIlh4BZ42LQRSRTkxja/lgZyVyY/nVU4YPlMdBwjtB2OrOgUMLFF6EgWIq34csU6DB0CWQrxbDhKPuEDcmhXuQXM776u3m/oJHTmXfjaAnfBBMxc/NENVwJ0BIoyyk9WHAANeAxv1L7I8hAbcRE2x4cpWYpbJBYN+/5eWe3DxmG40glutjXcBrCkh0EXHUEnUmx8ipgZVlGs7M/GJFxFpuP+5Ds5939nRgMWABnC8fxvxiCjkfe7zaLt5Z2WbvQ1nFlMN8tkDQB2cWDntLzH72wZ53m3+eMdGMKoPDoeA0e6LokicZOi4uLw+tsLOmW+XpMhUbwLpB3T/+zj6K14lJ96Sp6EscT5mfukp8KuNiI8lDnERkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DvVzFZp6GiQLCHgqZiqf5d",
      "input": {
        "note": "Bear now sits right of the jaw column in the wrist view; shifting the gripper ~3 cm to the arm's right to centre on it.",
        "targets": {
          "left_y": -0.295
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DvVzFZp6GiQLCHgqZiqf5d",
      "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]: [-0.9794, 1.9049, 1.0626, -0.0677, -0.7696, -0.7235, 0.9995, -0.0147, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3477 left_y=-0.2909 left_z=0.0632 left_yaw=0.0137 left_pitch=-0.038 left_roll=0.0155 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1785 right_yaw=0.0004 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -8.6906, 7.7197, 1.0232, -0.4127, 0.0122, -0.0122, -0.1846, -1.2103, 7.0632, 1.7363, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f2734f29244bc56ff171aba3f3a69ac279c81e940e2b27ee17aa448980c3b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86b78a43e611d0cdacf38bf813aabf0615904a79e25ce99dbad00ee8091f1a97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cef02d13ea3fffc5f793cf148b5e693f0107fd05257f8b80198c9e9a32341262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 9.842 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]: [-1.0084, 1.8027, 0.9531, -0.0647, -0.7784, -0.7189, 0.9995, -0.0147, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.325 left_y=-0.2764 left_z=0.0696 left_yaw=-0.0121 left_pitch=-0.0345 left_roll=0.0265 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1785 right_yaw=0.0004 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -8.0889, 5.5453, 1.326, -0.2906, -0.0415, -0.0122, -0.0342, -1.2513, 7.0632, 1.7314, -0.0659, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9325, 1.8259, 0.9611, -0.0135, -0.7467, -0.6735, 0.9995, -0.0143, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3488 left_y=-0.2627 left_z=0.0664 left_yaw=0.0182 left_pitch=-0.0355 left_roll=0.0204 left_gripper=0.9995 right_x=0.2953 right_y=0.0015 right_z=0.1785 right_yaw=0.0008 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.6786, 7.5282, 1.2625, -0.2125, 0.1538, -0.0171, -0.0342, -1.2923, 7.1863, 1.707, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9794, 1.9049, 1.0626, -0.0677, -0.7696, -0.7235, 0.9995, -0.0147, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3477 left_y=-0.2909 left_z=0.0632 left_yaw=0.0137 left_pitch=-0.038 left_roll=0.0155 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1785 right_yaw=0.0004 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -8.6906, 7.7197, 1.0232, -0.4127, 0.0122, -0.0122, -0.1846, -1.2103, 7.0632, 1.7363, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f2734f29244bc56ff171aba3f3a69ac279c81e940e2b27ee17aa448980c3b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86b78a43e611d0cdacf38bf813aabf0615904a79e25ce99dbad00ee8091f1a97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cef02d13ea3fffc5f793cf148b5e693f0107fd05257f8b80198c9e9a32341262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QIKjgEIEhgCKkCANp7KvW1VqmkuXh8N+V2tTLam6TN6qMNXB1jq9QGFnFtOBCJ42KdTPDfhBOsNnvdJxiHnSCh9byhRqlsEietwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYu5zNUGEgyORG3RljIpHoA5AoYaDOXs7t/fk6fw4ZwEWiIwJxOzyDn9+50nuyvEZxMaSTdzaFNNh8nBFopK+KAu0bX8vXEpl9Rik5BURRoGOqbJKnSPlSFYclOCDt+l07daH2qC3twbfALXqyq4VYVut+TQ1vjxcJG8ENFIATntDtYnTqPrykejwx+INX3FharR+z9pwePLKwpA5iPgkbE9eTHk1penYEcDMnUORBMeSeiiuIX/yuMZhnz8+CT1m+GAJUkn54z9TxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Ua5yZj6mbavgsVgAdppz2",
      "input": {
        "note": "Bear is centred on the jaw column; closing the gripper on its head/body to pick it up.",
        "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_019Ua5yZj6mbavgsVgAdppz2",
      "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]: [-0.9806, 1.9095, 1.0695, -0.0658, -0.7631, -0.7338, 0.2447, -0.0143, 0.8051, 0.6083, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3482 left_y=-0.2939 left_z=0.0631 left_yaw=0.0139 left_pitch=-0.0399 left_roll=0.0007 left_gripper=0.2447 right_x=0.2953 right_y=0.0015 right_z=0.1777 right_yaw=0.0008 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.9077, 5.3402, 1.2674, -0.4225, 0.0708, 0.823, -0.1299, -1.4291, 7.0496, 1.7314, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a46647899b827efb897b34654cbc418b92343b22f3d41cf2394d18e7caba070e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97f4de88d3fc8fccbdf7a6d2afb1706d22fd3733610e206027673fabd2849212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f29efa928acc47a3339a0ec613153b9638868592f29e548c0a2d9695664e2ad0",
        "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 · 6.321 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9325, 1.8259, 0.9611, -0.0135, -0.7467, -0.6735, 0.9995, -0.0143, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3488 left_y=-0.2627 left_z=0.0664 left_yaw=0.0182 left_pitch=-0.0355 left_roll=0.0204 left_gripper=0.9995 right_x=0.2953 right_y=0.0015 right_z=0.1785 right_yaw=0.0008 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.6786, 7.5282, 1.2625, -0.2125, 0.1538, -0.0171, -0.0342, -1.2923, 7.1863, 1.707, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9794, 1.9049, 1.0626, -0.0677, -0.7696, -0.7235, 0.9995, -0.0147, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3477 left_y=-0.2909 left_z=0.0632 left_yaw=0.0137 left_pitch=-0.038 left_roll=0.0155 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1785 right_yaw=0.0004 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -8.6906, 7.7197, 1.0232, -0.4127, 0.0122, -0.0122, -0.1846, -1.2103, 7.0632, 1.7363, -0.0464, -0.0806, -0.0122]",
      "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]: [-0.9806, 1.9095, 1.0695, -0.0658, -0.7631, -0.7338, 0.2447, -0.0143, 0.8051, 0.6083, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3482 left_y=-0.2939 left_z=0.0631 left_yaw=0.0139 left_pitch=-0.0399 left_roll=0.0007 left_gripper=0.2447 right_x=0.2953 right_y=0.0015 right_z=0.1777 right_yaw=0.0008 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.9077, 5.3402, 1.2674, -0.4225, 0.0708, 0.823, -0.1299, -1.4291, 7.0496, 1.7314, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a46647899b827efb897b34654cbc418b92343b22f3d41cf2394d18e7caba070e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97f4de88d3fc8fccbdf7a6d2afb1706d22fd3733610e206027673fabd2849212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f29efa928acc47a3339a0ec613153b9638868592f29e548c0a2d9695664e2ad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrwYKjgEIEhgCKkCQA3eQ9HMlnRsWub+yWMVDPZgytigjYM7XRusYjWcETucbqYVk7p82Ll6ndbiOjKHswimBBWOu+4+Qsy3PIMhIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZa5zNUGEgyv0lug+3sjInU0n8EaDJ2Vp5cp3Ns1IepyTiIwhd4towWUStBBOFNpkqhn7h2eLq7GFmZA1U+RRo0NkmaBDBZOxVoX6fiaUq/b/w7rKs0ECmu1gbGMbWGG6wAco5d2ihLc1N9HZR99DP5PGO6BhIG2zBi3r2+eTFjBgJh1J9jtdhpTF9XgU5nF8xlTqM17pCTGaXfO6QhZx950p7vsKa43he8vtXPTcZHmPXzfwqa/0yG9PC5JYb0vtZDgcXq6obMOnB3rMjx5op7A2x9EH0j9dh3cyi9AulZ8lUL6e0twSKn4qvk1HmaSI8iyboz/3ARhuZut57EXn6t5U3LLPzh5CjxmyIzMYIRdwRMSVtECPJS+bOuCi/u5obskD+PnNE+ZfqW1+RubPi7REHqgi5aB8fcxoicFPHlMh6gz8TB0ROsVSW8EmzYv2oE3SIgAEJGhTG5IUvX6XCb5jKhKJ6TiiR9+DDZjJ5DZTUFCpVC+nTuRu1pmucjs5Dv2MBdp+99oLn27UVf+QnuWTx8nIhz9KJjSeVci+HsKO07UyDPeyx6GS89UuhFQU6vcaaXWGE66ZQhHlgzLA+gG2Qc1xPz5RC6mnTXo9wbghTUPH/Ac1HgN/nhD9T2kdJHhHykmdcLCVym+eZLL1VErY6DlyyO8s/1+7Zv1UegfqTugHIiMCXK85K2vyWPzgEM9XOYQWR792Z8/Avy3/EJBnkZcGeXdR+aTB5RE7NofLuB4CDhXCSU1zFnQXRWLFVIOC8FjkQO7Z8r0+F0yaVL/WF8axLcA0mQgP38eyAjQTESKzpk7ASDbqU9pPB1PfHdsviL6i8i5VzXypLs48Z6UyDskqJppuRvFBJeyTSFDaytuKUZNbSJpWj/hZBwJYkaYWhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Efixbgd4vW7PtWDgXsN7SW",
      "input": {
        "note": "Gripper closed to 0.24 (≈2.3 cm of plush held). Lifting 19 cm to confirm the bear comes with the jaws.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Efixbgd4vW7PtWDgXsN7SW",
      "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]: [-0.9806, 1.7691, 1.61, -0.7853, -0.7448, -0.7422, 0.2475, -0.0147, 0.8051, 0.6083, -0.3855, -0.012, -0.0132, 0.9998]\nstate[eef_state]: left_x=0.3477 left_y=-0.2975 left_z=0.2294 left_yaw=0.0087 left_pitch=-0.0732 left_roll=0.0181 left_gripper=0.2475 right_x=0.2953 right_y=0.0014 right_z=0.1777 right_yaw=0.0007 right_pitch=-0.008 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -10.906, 8.8957, 1.1013, -0.5641, 0.0269, 0.2808, -0.0889, -0.7863, 7.0632, 1.7411, -0.0562, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b427218d5bcdb1d13ce0cddfebacc116b3b259433bbeee0de52c168606152d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:763b9fb9ae562dc1496bbcb44350d3b74e7e8ee448c3f4ab26724cbffa6ae0ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:624ff67dc1b65a4ae4785dd751840adccdbb94d819b508f8ed643f90fbc1975f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 10.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9794, 1.9049, 1.0626, -0.0677, -0.7696, -0.7235, 0.9995, -0.0147, 0.8032, 0.6086, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3477 left_y=-0.2909 left_z=0.0632 left_yaw=0.0137 left_pitch=-0.038 left_roll=0.0155 left_gripper=0.9995 right_x=0.2953 right_y=0.0014 right_z=0.1785 right_yaw=0.0004 right_pitch=-0.0053 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -8.6906, 7.7197, 1.0232, -0.4127, 0.0122, -0.0122, -0.1846, -1.2103, 7.0632, 1.7363, -0.0464, -0.0806, -0.0122]",
      "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]: [-0.9806, 1.9095, 1.0695, -0.0658, -0.7631, -0.7338, 0.2447, -0.0143, 0.8051, 0.6083, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3482 left_y=-0.2939 left_z=0.0631 left_yaw=0.0139 left_pitch=-0.0399 left_roll=0.0007 left_gripper=0.2447 right_x=0.2953 right_y=0.0015 right_z=0.1777 right_yaw=0.0008 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.9077, 5.3402, 1.2674, -0.4225, 0.0708, 0.823, -0.1299, -1.4291, 7.0496, 1.7314, -0.0171, -0.0659, -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]: [-0.9806, 1.7691, 1.61, -0.7853, -0.7448, -0.7422, 0.2475, -0.0147, 0.8051, 0.6083, -0.3855, -0.012, -0.0132, 0.9998]\nstate[eef_state]: left_x=0.3477 left_y=-0.2975 left_z=0.2294 left_yaw=0.0087 left_pitch=-0.0732 left_roll=0.0181 left_gripper=0.2475 right_x=0.2953 right_y=0.0014 right_z=0.1777 right_yaw=0.0007 right_pitch=-0.008 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -10.906, 8.8957, 1.1013, -0.5641, 0.0269, 0.2808, -0.0889, -0.7863, 7.0632, 1.7411, -0.0562, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b427218d5bcdb1d13ce0cddfebacc116b3b259433bbeee0de52c168606152d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:763b9fb9ae562dc1496bbcb44350d3b74e7e8ee448c3f4ab26724cbffa6ae0ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:624ff67dc1b65a4ae4785dd751840adccdbb94d819b508f8ed643f90fbc1975f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS6wQKjgEIEhgCKkBNwWEuTnReli0g06VYHFbooqavM3sZyyP73TkoKSEVKth6/kpc6mTv7/KeGnGpWnskZk+vUyoSLkIHWcMp8MfHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAai5zNUGEgyRiVYGNBpNL3nHbG8aDGmiNVfkbO3H3g8HGyIwKm6xLIBcMOAkFgUhbUet3td4JjSO61ccIj3OCQdYT23BiVDVuXCo2vel0tOzYFGCKokDJQ5qQclDFSyH5huC5+6QY3tLuUcbU4zFjJVCLXkBK6a+Mp/ThipQ35HXuMbhuwRHy9sKjHrVVO3l811V5nCL+i5h5lVmQY0//oIKDCXSF5srxLwqwdlmrnXxa8vdR42NMn988sNomZfm2AxDrVF8CKHyEcAbj3KmSMurP3u1EOr+tla/0ZUK/gItgt1+djimflED0WL+G0gag/E78CWkZfCscVO1eXpRFOn5b33fXd9uIAv0Sqjgn+5aU0PQJ8kp5brkWBYpP9YNDfD9NDndqEZOliY+/6nbj3s90AZ/jjPW0UENPMM9NWzcTukrmuj2rSejEE4FevsdVC8k3EEIOxJ1sCK3ez85bncvIeV6+tMpSU2tYkycQKfuiSwDI0gog4z3039t7mR0flD5NKd1UvmUCE3+BP229s/8KCdmazq4lJg3SBFMcKzpAV7JOB78l0g0WGeoqmDuqBKVAVmRhK47mawP8yn284ohxLMqE/TlzVh9lM8OpbuOzF6Fq+jrzlr8Jr1Y2bqcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NFLQ4wquyE3cbokRxKm16c",
      "input": {
        "note": "The bear is held in the jaws and lifted clear. Carrying it over the left-hand basket, which will be the plush-toy basket.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.16,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01NFLQ4wquyE3cbokRxKm16c",
      "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]: [-0.5552, 1.6489, 1.623, -0.7994, -0.4702, -0.4, 0.2495, -0.0147, 0.8051, 0.6079, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4193 left_y=-0.1617 left_z=0.2618 left_yaw=0.0478 left_pitch=-0.1503 left_roll=0.0519 left_gripper=0.2495 right_x=0.2952 right_y=0.0014 right_z=0.1776 right_yaw=0.0004 right_pitch=-0.0084 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -11.535, 10.1128, 1.6142, -0.1929, 0.1587, 0.2027, -0.0752, -1.1556, 7.2957, 1.7558, -0.0806, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e4e4cb4370071529fb455ab2ce6db6074060772d8b5738d6e7d109fede4c348",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3212c290e8c6ebcfa9484bb3f1956e1b12549cfb2c1cb45aca23a4a8d0d82c91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d00436c91fb356e2cd2ab3c45b739a698c7fbc020d8bd6d291c0c5b3797912e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 17.7 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]: [-0.9806, 1.9095, 1.0695, -0.0658, -0.7631, -0.7338, 0.2447, -0.0143, 0.8051, 0.6083, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3482 left_y=-0.2939 left_z=0.0631 left_yaw=0.0139 left_pitch=-0.0399 left_roll=0.0007 left_gripper=0.2447 right_x=0.2953 right_y=0.0015 right_z=0.1777 right_yaw=0.0008 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.9077, 5.3402, 1.2674, -0.4225, 0.0708, 0.823, -0.1299, -1.4291, 7.0496, 1.7314, -0.0171, -0.0659, -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]: [-0.9806, 1.7691, 1.61, -0.7853, -0.7448, -0.7422, 0.2475, -0.0147, 0.8051, 0.6083, -0.3855, -0.012, -0.0132, 0.9998]\nstate[eef_state]: left_x=0.3477 left_y=-0.2975 left_z=0.2294 left_yaw=0.0087 left_pitch=-0.0732 left_roll=0.0181 left_gripper=0.2475 right_x=0.2953 right_y=0.0014 right_z=0.1777 right_yaw=0.0007 right_pitch=-0.008 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -10.906, 8.8957, 1.1013, -0.5641, 0.0269, 0.2808, -0.0889, -0.7863, 7.0632, 1.7411, -0.0562, -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 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]: [-0.5552, 1.6489, 1.623, -0.7994, -0.4702, -0.4, 0.2495, -0.0147, 0.8051, 0.6079, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4193 left_y=-0.1617 left_z=0.2618 left_yaw=0.0478 left_pitch=-0.1503 left_roll=0.0519 left_gripper=0.2495 right_x=0.2952 right_y=0.0014 right_z=0.1776 right_yaw=0.0004 right_pitch=-0.0084 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -11.535, 10.1128, 1.6142, -0.1929, 0.1587, 0.2027, -0.0752, -1.1556, 7.2957, 1.7558, -0.0806, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e4e4cb4370071529fb455ab2ce6db6074060772d8b5738d6e7d109fede4c348",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3212c290e8c6ebcfa9484bb3f1956e1b12549cfb2c1cb45aca23a4a8d0d82c91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d00436c91fb356e2cd2ab3c45b739a698c7fbc020d8bd6d291c0c5b3797912e",
        "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+wYKjgEIEhgCKkAVBy5TXiGv9TsViQo6NKJD7Gb6SL8YyvQMZ4btKlGwolpdr8FfBBg2VU4BlEL5K05w1Otcr4qSMDds26yx/BemMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbe5zNUGEgwnpddjcjCZkxufZrUaDJsDcapsnCTiVrMADyIwpHRJ/sPrGyE49NKH46mn8oU8y8w4t+wlOTEa63Z7M6xB2we00HMw7vWyxa0RH+IjKpkF1/hnWYZ43C3CSOAz8CWB0lpae3m6nr2FWRbtX+Ux9OqRYm+mW96i3rSodptABqMTTUjJCYNZjolEWDmck5YU08Iwep+ZeuyGzR1XIKkohqd1ZQR1AvkGx7CYOsOOymKBS3DZsdeJu8bVV8iqPMkMrZHVx1uNQOO8xm94x5EB7woa53xyzk2qub8xVCKQT6yd2nksv7pq45CPxGwmgzT609QPk34CSD01SU0JJPPDYs4saDiILKcluKqcpRcr99VgaB041NXjak/FQDzfD8VW7nAShBl5Ie3gewP/KNjHmacCoYuYtOf7no42MD4xPtQIzxrE/n4HLQM5Hxx2gzhNP3I6m8o+qDh7oVKAzT9cMIHxxlADSE3sDkZqV1PV311M4wj5lbmdnPgMx3L6iuixhnKKnwyoQkwMxGGL9fsy7lS9zjbbmOGx+MRqRl8yqmtbGNj67gv+CC1zVczm4ftNtQ279KQmYB+pLMJclVU5fZvafBKRiiOxJp1c2nMttMm6/MhIzjvC3gs3FFVeuEPaZsNVyZDEMlKDuG/65ccZrRUY1dypKw5srnGlCQxCPVZopu1gn1Q+r7UoZhSxqFRi8ecxBTKruWWgnO25IbLuzdvHvC4nPBPfByQQnq+AhmjLA69c7xRaQ7GB0wFWUccBO68c31vPQa1LTARpyRUs/nMkQtsIcmaedYb+CjcMaZ9pex3H8bt0BDGEhlv47QdTv8HGjXRBy+E+5IFzFWu7WGPE1/het4Hlql2fE6D04xFBLcWefmxEO4vqAEzMvfdoHdKooG9ulSGwPSeltUtmXofTSyQIvqFkSM5ITiYdlz4TSzuSoILSmvqnJzVsHHNv1+ubgmyic7XHsM2Y/O5rxwwRujFogc9Gj8QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BseN3rmkV5kVJFrUinri3b",
      "input": {
        "note": "Basket rim visible just ahead-left of the jaws; nudging over the basket centre before releasing the bear.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.13,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BseN3rmkV5kVJFrUinri3b",
      "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]: [-0.4644, 1.6447, 1.533, -0.7292, -0.4091, -0.3447, 0.2524, -0.0143, 0.8062, 0.6079, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.1331 left_z=0.2347 left_yaw=0.0624 left_pitch=-0.1896 left_roll=0.0633 left_gripper=0.2524 right_x=0.2954 right_y=0.0015 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.0092 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -8.4171, 7.4462, 1.9853, -0.1392, 0.1441, 0.2857, -0.0889, -0.8547, 7.0632, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e544d27bc38ee4fead02b6b4278fa4e9edcd6323d76f778c1b10217e94ef40c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e763f9b34a34a0685e2a53c6f7dbe7498c2aa13906df277661e840565c0935b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:912c20d6f0a76454a34c38b3cc0e49c24fa421c0cf4003e630b6464d439cb16b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 13.43 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]: [-0.9806, 1.7691, 1.61, -0.7853, -0.7448, -0.7422, 0.2475, -0.0147, 0.8051, 0.6083, -0.3855, -0.012, -0.0132, 0.9998]\nstate[eef_state]: left_x=0.3477 left_y=-0.2975 left_z=0.2294 left_yaw=0.0087 left_pitch=-0.0732 left_roll=0.0181 left_gripper=0.2475 right_x=0.2953 right_y=0.0014 right_z=0.1777 right_yaw=0.0007 right_pitch=-0.008 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -10.906, 8.8957, 1.1013, -0.5641, 0.0269, 0.2808, -0.0889, -0.7863, 7.0632, 1.7411, -0.0562, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5552, 1.6489, 1.623, -0.7994, -0.4702, -0.4, 0.2495, -0.0147, 0.8051, 0.6079, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4193 left_y=-0.1617 left_z=0.2618 left_yaw=0.0478 left_pitch=-0.1503 left_roll=0.0519 left_gripper=0.2495 right_x=0.2952 right_y=0.0014 right_z=0.1776 right_yaw=0.0004 right_pitch=-0.0084 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -11.535, 10.1128, 1.6142, -0.1929, 0.1587, 0.2027, -0.0752, -1.1556, 7.2957, 1.7558, -0.0806, -0.0659, -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]: [-0.4644, 1.6447, 1.533, -0.7292, -0.4091, -0.3447, 0.2524, -0.0143, 0.8062, 0.6079, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.1331 left_z=0.2347 left_yaw=0.0624 left_pitch=-0.1896 left_roll=0.0633 left_gripper=0.2524 right_x=0.2954 right_y=0.0015 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.0092 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -8.4171, 7.4462, 1.9853, -0.1392, 0.1441, 0.2857, -0.0889, -0.8547, 7.0632, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e544d27bc38ee4fead02b6b4278fa4e9edcd6323d76f778c1b10217e94ef40c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e763f9b34a34a0685e2a53c6f7dbe7498c2aa13906df277661e840565c0935b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:912c20d6f0a76454a34c38b3cc0e49c24fa421c0cf4003e630b6464d439cb16b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QUFf13ymc56MfrDKizZou4",
      "input": {
        "note": "Wrist view shows the left basket filling the frame just ahead-left of the jaws (the top camera's basket is the far right one, mine is hidden behind the arm). Centring over it and lowering before release.",
        "targets": {
          "left_y": -0.105,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QUFf13ymc56MfrDKizZou4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.6516, 1.5066, -0.693, -0.3916, -0.3286, 0.2532, -0.0147, 0.8082, 0.6079, -0.3855, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.1283 left_z=0.2258 left_yaw=0.0604 left_pitch=-0.1939 left_roll=0.0621 left_gripper=0.2532 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0002 right_pitch=-0.0114 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.0735, 7.6376, 1.7265, -0.2173, 0.1441, 0.0757, -0.0889, -1.1829, 7.0496, 1.7411, -0.0513, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:596f23844caf5cf3ba5a6f55cb5a7b9c0039b841deb9f7469639d4dc776302f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bcdafa972f30af8c65a694d72bbf66df5ee25d9c017cedbfb121e318daf17d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2d1bac5b8a2053a6c44fa642eb29a1bb230de84c96f177873e7d01df7fe39ed",
        "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 · 7.054 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]: [-0.5552, 1.6489, 1.623, -0.7994, -0.4702, -0.4, 0.2495, -0.0147, 0.8051, 0.6079, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4193 left_y=-0.1617 left_z=0.2618 left_yaw=0.0478 left_pitch=-0.1503 left_roll=0.0519 left_gripper=0.2495 right_x=0.2952 right_y=0.0014 right_z=0.1776 right_yaw=0.0004 right_pitch=-0.0084 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -11.535, 10.1128, 1.6142, -0.1929, 0.1587, 0.2027, -0.0752, -1.1556, 7.2957, 1.7558, -0.0806, -0.0659, -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]: [-0.4644, 1.6447, 1.533, -0.7292, -0.4091, -0.3447, 0.2524, -0.0143, 0.8062, 0.6079, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.1331 left_z=0.2347 left_yaw=0.0624 left_pitch=-0.1896 left_roll=0.0633 left_gripper=0.2524 right_x=0.2954 right_y=0.0015 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.0092 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -8.4171, 7.4462, 1.9853, -0.1392, 0.1441, 0.2857, -0.0889, -0.8547, 7.0632, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4435, 1.6516, 1.5066, -0.693, -0.3916, -0.3286, 0.2532, -0.0147, 0.8082, 0.6079, -0.3855, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.1283 left_z=0.2258 left_yaw=0.0604 left_pitch=-0.1939 left_roll=0.0621 left_gripper=0.2532 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0002 right_pitch=-0.0114 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.0735, 7.6376, 1.7265, -0.2173, 0.1441, 0.0757, -0.0889, -1.1829, 7.0496, 1.7411, -0.0513, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:596f23844caf5cf3ba5a6f55cb5a7b9c0039b841deb9f7469639d4dc776302f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bcdafa972f30af8c65a694d72bbf66df5ee25d9c017cedbfb121e318daf17d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d1bac5b8a2053a6c44fa642eb29a1bb230de84c96f177873e7d01df7fe39ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QzgjzbWG61zQzLs3MAWnQf",
      "input": {
        "note": "Last lateral nudge barely moved; commanding a larger shift to the arm's left to get the bear over the basket's centre.",
        "targets": {
          "left_y": -0.07,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QzgjzbWG61zQzLs3MAWnQf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.6516, 1.5066, -0.6926, -0.3916, -0.3283, 0.256, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.1284 left_z=0.2259 left_yaw=0.0602 left_pitch=-0.1936 left_roll=0.0621 left_gripper=0.256 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.1556, 7.6376, 1.6679, -0.2515, 0.1343, 0.2808, -0.0615, -1.3333, 7.3094, 1.7363, -0.0366, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be9c7abb48c9bf90b0634f22c86c0f8bfa41f7c17b60e008ee98117c86fbdfa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c306efab2eab20f742f436e6b8c07c1ec379118456ec6a4df19916968b7e2bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:402832af16bd8f4bb5140593d7a3c8d787ce370affcb01b49126585d7c1f842c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 20.2 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]: [-0.4644, 1.6447, 1.533, -0.7292, -0.4091, -0.3447, 0.2524, -0.0143, 0.8062, 0.6079, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4305 left_y=-0.1331 left_z=0.2347 left_yaw=0.0624 left_pitch=-0.1896 left_roll=0.0633 left_gripper=0.2524 right_x=0.2954 right_y=0.0015 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.0092 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -8.4171, 7.4462, 1.9853, -0.1392, 0.1441, 0.2857, -0.0889, -0.8547, 7.0632, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 1.6516, 1.5066, -0.693, -0.3916, -0.3286, 0.2532, -0.0147, 0.8082, 0.6079, -0.3855, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.1283 left_z=0.2258 left_yaw=0.0604 left_pitch=-0.1939 left_roll=0.0621 left_gripper=0.2532 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0002 right_pitch=-0.0114 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.0735, 7.6376, 1.7265, -0.2173, 0.1441, 0.0757, -0.0889, -1.1829, 7.0496, 1.7411, -0.0513, -0.0122, -0.0171]",
      "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]: [-0.4435, 1.6516, 1.5066, -0.6926, -0.3916, -0.3283, 0.256, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.1284 left_z=0.2259 left_yaw=0.0602 left_pitch=-0.1936 left_roll=0.0621 left_gripper=0.256 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.1556, 7.6376, 1.6679, -0.2515, 0.1343, 0.2808, -0.0615, -1.3333, 7.3094, 1.7363, -0.0366, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be9c7abb48c9bf90b0634f22c86c0f8bfa41f7c17b60e008ee98117c86fbdfa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c306efab2eab20f742f436e6b8c07c1ec379118456ec6a4df19916968b7e2bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:402832af16bd8f4bb5140593d7a3c8d787ce370affcb01b49126585d7c1f842c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wcKjgEIEhgCKkDAAjdTQfElI1hwYfKkErsfr5CAensZgEcH+CtOfbMU3ReTM25BMPJzRoiw3DtPyxYxuAHabFjX87ZJwACDJYrzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd65zNUGEgwwQjePZqckJSajwPUaDF80XN5t4ZEOuMIlkCIwM8zYEemo3EgT0ilO/xxP4Nqo800AoJaXMHf46p1grMBGFsC/fOQr3o6bBWi3Lpn3KvkFchZLY/th14pLVcjp1a48zgE2ZPa4rUeIIFZVXrqQzbLRmhIjx9Vx1Zx0MT7Q3F+f0sY2o8Kc9+3+MSinZIyZcWupkV7syiEewuiXjxEBBX6zTJ+HmBh4ctgeCYk1QZSX1kWom4FZFApkCzyn+t9AJEY+lfqRbK8+ErxBhRWNmew6I2rYZHwu9NR5u2yQd52Dgz4qRhiHTVsMT69V+jqkoOgqfFr9NaUf0nMJ96LrXvvNiscY5JOGUziGKTFsJLh/zl2yuzuoLnFn2UTfoXnFviHJQOpMZaAeozCxsGRhgpj4iPcBHuLn7qHzx/DkcDbj/4jfLkQJuANU8s/SqesOvngtcSs8ecmXG5ktnGE+MW4gdWb8UF0rBurtYT1OaXUq45Lmd8aOouOzAJayRZQt3eYeMzCAzc0Fc9+B95lXibiHWuAWB41M2NPRyJquZLVJouAiEfDOaf7CWfWtYWMo2qcqDq4yhQvDdTCKB66kkCaSoPWw/m87sJNkSzb5TVg+nwhGbTM0yl1kHGutKXAxA0W6TDkRIGuUzwWQoJroay6HZbSjrg+FR+FSKn9dFF7C0N7Yd5JIVDjcYs8MMcM5Y+Inm3JeM9h57HNk66CcfHOclqb/h9eo54iPlaIqwgMJDJ4goykyTK6Kp4BbRaLr5gyHWfK4jdQ6PQwHoGtCb+qF64WkIBKjl4MC92Vsi9ViNy1L6zyV3y4FhTCG/Uiisf+lHtGIb/5IOom8ov5jE6Y3im8+/5SG1ggizcvshzjqI9M1N/JfnSZPI+Uf9Z5LellsYnr6z+784p21iq7f7RqS0zgV4wfhYNpF5ShHqcm/hwOucHuIQAHBFfVLPhYwDQ1t3uK0wyu6Aes3x7/Jtkad0wfGqLAhwJBADplr6zNWOpbj7/zyq1m7YbmXfdFccy7KLJCHK6i55JoIdBmy3zKmaFFEmGy5BG5ULg2cm9paQXzmsbVWEK0WCD+J3Un2Ksq22DCdB9cawRoJ4oyOtwKxRTwUM/kVSEAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014JDgMxRyuPMxLccLEEPtuf",
      "input": {
        "note": "The arm refused the last two lateral commands (identical joint readings), so I am raising and pulling back slightly to escape the stalled configuration before re-approaching the basket.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014JDgMxRyuPMxLccLEEPtuf",
      "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]: [-0.4934, 1.6394, 1.7134, -0.9386, -0.3992, -0.3637, 0.2579, -0.0143, 0.812, 0.6067, -0.3916, -0.0116, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4122 left_y=-0.1396 left_z=0.2763 left_yaw=0.0384 left_pitch=-0.2131 left_roll=0.0549 left_gripper=0.2579 right_x=0.2947 right_y=0.0014 right_z=0.1739 right_yaw=0.0005 right_pitch=-0.0225 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.0581, 8.5949, 1.3211, -0.3639, -0.0415, 0.1734, -0.0752, -1.6205, 7.1316, 1.8535, -0.0317, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4dfd54c81829cc49072c9775b171c9877503cd34a59d07e364950284c1c62b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7df7c941705c1a41bee13c96e3323fa205f8276b322b7f78b7cf89e9b1af315",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be95b531cfb599ce5c61f4e5d1704e40720454f109b19cc67cb7c3975e928322",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 9.791 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]: [-0.4435, 1.6516, 1.5066, -0.693, -0.3916, -0.3286, 0.2532, -0.0147, 0.8082, 0.6079, -0.3855, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.1283 left_z=0.2258 left_yaw=0.0604 left_pitch=-0.1939 left_roll=0.0621 left_gripper=0.2532 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0002 right_pitch=-0.0114 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.0735, 7.6376, 1.7265, -0.2173, 0.1441, 0.0757, -0.0889, -1.1829, 7.0496, 1.7411, -0.0513, -0.0122, -0.0171]",
      "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]: [-0.4435, 1.6516, 1.5066, -0.6926, -0.3916, -0.3283, 0.256, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.1284 left_z=0.2259 left_yaw=0.0602 left_pitch=-0.1936 left_roll=0.0621 left_gripper=0.256 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.1556, 7.6376, 1.6679, -0.2515, 0.1343, 0.2808, -0.0615, -1.3333, 7.3094, 1.7363, -0.0366, -0.0317, -0.0171]",
      "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]: [-0.4934, 1.6394, 1.7134, -0.9386, -0.3992, -0.3637, 0.2579, -0.0143, 0.812, 0.6067, -0.3916, -0.0116, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4122 left_y=-0.1396 left_z=0.2763 left_yaw=0.0384 left_pitch=-0.2131 left_roll=0.0549 left_gripper=0.2579 right_x=0.2947 right_y=0.0014 right_z=0.1739 right_yaw=0.0005 right_pitch=-0.0225 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.0581, 8.5949, 1.3211, -0.3639, -0.0415, 0.1734, -0.0752, -1.6205, 7.1316, 1.8535, -0.0317, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4dfd54c81829cc49072c9775b171c9877503cd34a59d07e364950284c1c62b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7df7c941705c1a41bee13c96e3323fa205f8276b322b7f78b7cf89e9b1af315",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be95b531cfb599ce5c61f4e5d1704e40720454f109b19cc67cb7c3975e928322",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y1dor1GrFwPCUzV5LouvRk",
      "input": {
        "note": "Wrist view shows the left basket straight ahead of the jaws, so I am reaching further forward to get the dog over the basket opening.",
        "targets": {
          "left_x": 0.47,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Y1dor1GrFwPCUzV5LouvRk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4217, 1.8477, 1.8576, -0.9577, -0.3576, -0.3359, 0.2595, -0.0147, 0.8146, 0.6067, -0.3931, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1343 left_z=0.2372 left_yaw=0.0723 left_pitch=-0.3028 left_roll=0.0872 left_gripper=0.2595 right_x=0.2946 right_y=0.0014 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.0267 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -11.1521, 10.2769, 1.4725, -0.1245, 0.232, 0.1441, -0.0752, -1.5385, 7.0085, 1.7167, -0.0415, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4035054ea9d9bade199fc044d141f93cd949e774024594354555520cad250e2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95336516ef5dfdcfb8d10ecaab27aff159bc0eba9f4ae894c9f37fd7b185a00b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db7c6794bb341cb14c9a424dbb98304d618f4f30c5bb2d783a3eb058f88b0b8d",
        "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 · 9.863 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]: [-0.4435, 1.6516, 1.5066, -0.6926, -0.3916, -0.3283, 0.256, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4357 left_y=-0.1284 left_z=0.2259 left_yaw=0.0602 left_pitch=-0.1936 left_roll=0.0621 left_gripper=0.256 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -9.1556, 7.6376, 1.6679, -0.2515, 0.1343, 0.2808, -0.0615, -1.3333, 7.3094, 1.7363, -0.0366, -0.0317, -0.0171]",
      "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]: [-0.4934, 1.6394, 1.7134, -0.9386, -0.3992, -0.3637, 0.2579, -0.0143, 0.812, 0.6067, -0.3916, -0.0116, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4122 left_y=-0.1396 left_z=0.2763 left_yaw=0.0384 left_pitch=-0.2131 left_roll=0.0549 left_gripper=0.2579 right_x=0.2947 right_y=0.0014 right_z=0.1739 right_yaw=0.0005 right_pitch=-0.0225 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.0581, 8.5949, 1.3211, -0.3639, -0.0415, 0.1734, -0.0752, -1.6205, 7.1316, 1.8535, -0.0317, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4217, 1.8477, 1.8576, -0.9577, -0.3576, -0.3359, 0.2595, -0.0147, 0.8146, 0.6067, -0.3931, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1343 left_z=0.2372 left_yaw=0.0723 left_pitch=-0.3028 left_roll=0.0872 left_gripper=0.2595 right_x=0.2946 right_y=0.0014 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.0267 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -11.1521, 10.2769, 1.4725, -0.1245, 0.232, 0.1441, -0.0752, -1.5385, 7.0085, 1.7167, -0.0415, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4035054ea9d9bade199fc044d141f93cd949e774024594354555520cad250e2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95336516ef5dfdcfb8d10ecaab27aff159bc0eba9f4ae894c9f37fd7b185a00b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db7c6794bb341cb14c9a424dbb98304d618f4f30c5bb2d783a3eb058f88b0b8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015koPNngPvorHpLdRXn7Try",
      "input": {
        "note": "Hovering over the left basket with the dog; lowering into the basket mouth before releasing.",
        "targets": {
          "left_y": -0.11,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015koPNngPvorHpLdRXn7Try",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.858, 1.8832, -0.9512, -0.3576, -0.3244, 0.2615, -0.0147, 0.8146, 0.6067, -0.3927, -0.0116, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4651 left_y=-0.1347 left_z=0.2432 left_yaw=0.067 left_pitch=-0.2841 left_roll=0.0843 left_gripper=0.2615 right_x=0.2947 right_y=0.0013 right_z=0.1729 right_yaw=0.0001 right_pitch=-0.0263 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -11.3983, 9.3607, 1.6044, -0.1734, 0.1929, 0.1929, -0.1573, -1.3744, 7.0222, 1.7167, -0.0317, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c4db242ea6dad38937580f87581beb24e38ad383beabc610b801afe570ccc8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f51a3531c59679f5845a2ae89b3ed23a614e16ac97d44b81973fc68134fc1f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a22210bd1720a41fe75f7601d14551b88add7cacf3ddbae2a8e892e6bb726c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 12.32 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]: [-0.4934, 1.6394, 1.7134, -0.9386, -0.3992, -0.3637, 0.2579, -0.0143, 0.812, 0.6067, -0.3916, -0.0116, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4122 left_y=-0.1396 left_z=0.2763 left_yaw=0.0384 left_pitch=-0.2131 left_roll=0.0549 left_gripper=0.2579 right_x=0.2947 right_y=0.0014 right_z=0.1739 right_yaw=0.0005 right_pitch=-0.0225 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -10.0581, 8.5949, 1.3211, -0.3639, -0.0415, 0.1734, -0.0752, -1.6205, 7.1316, 1.8535, -0.0317, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4217, 1.8477, 1.8576, -0.9577, -0.3576, -0.3359, 0.2595, -0.0147, 0.8146, 0.6067, -0.3931, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1343 left_z=0.2372 left_yaw=0.0723 left_pitch=-0.3028 left_roll=0.0872 left_gripper=0.2595 right_x=0.2946 right_y=0.0014 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.0267 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -11.1521, 10.2769, 1.4725, -0.1245, 0.232, 0.1441, -0.0752, -1.5385, 7.0085, 1.7167, -0.0415, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.858, 1.8832, -0.9512, -0.3576, -0.3244, 0.2615, -0.0147, 0.8146, 0.6067, -0.3927, -0.0116, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4651 left_y=-0.1347 left_z=0.2432 left_yaw=0.067 left_pitch=-0.2841 left_roll=0.0843 left_gripper=0.2615 right_x=0.2947 right_y=0.0013 right_z=0.1729 right_yaw=0.0001 right_pitch=-0.0263 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -11.3983, 9.3607, 1.6044, -0.1734, 0.1929, 0.1929, -0.1573, -1.3744, 7.0222, 1.7167, -0.0317, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c4db242ea6dad38937580f87581beb24e38ad383beabc610b801afe570ccc8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f51a3531c59679f5845a2ae89b3ed23a614e16ac97d44b81973fc68134fc1f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a22210bd1720a41fe75f7601d14551b88add7cacf3ddbae2a8e892e6bb726c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQcKjgEIEhgCKkC0V9t71RjWnOMQCZkoHC5HbyrgL/jHGgCnZQ2dp1ab+WJoeAnc55phuc93aTXpnogsUlZ8qJo/Gz2xOapLnkNiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYe6zNUGEgxCqrUDZ8IzZgHou0kaDGFcqnZKXFImjcMhRyIwlch+QXXQyptVSP12wxJaTB7rUqPumJQxhfKvbt56pvb9nEF0Z6GZv+yvSyvnzEWGKtMFxphRcwsLS3mRSEZTMIRarpt32tf01zt51u3REyJrEtMhSpDOaWqPPfOVR9oNRUuyYDBbNgbdOzGBDD0Gd1B7aPsYY0IBCETK84XCzfgtO6Grg6XRfk8w3ktpyY5Xr+1mODd47Rr2GilPyLccktkiz4dcAHuMDehbz9brsXn+ev6WRZFs+2XIKATaR/9aycwDTjr3CN52jgDNtofGkmj25p3CKI4vjvsk5IeKYL9zkIW+U2xIz6Q44uzLvb9H0lYTGu3ezQ+k+flr0/C9jW0dLDl59ABioQ1ROhj2J/OE4qb9BGH4D5sGUEeSEpD/odjrlZqja+lsxyxeOZm17JeOEjgWpKyJ/lZo6dlx3Ixib7ERAyg8/fXgFU4SsWp6ex3lZYTGf8Y/8Mqty6r6fMYBgKbSmsGk4MvXJnhYgQbMdFucS+fzgLNNJKyisb4xkKnBJUJuOZQzieI+dznoLSrZrI0vM6xBM2stH2xLeFrmkc4KkrYh72/ZF+WiAn7K36xZXxK9uZeOR0VsObp6yaHKD/3Ki+GIApnCU2OqXXaeP0FrRwlN7UALtfBtUfAlfphrtWT4LXWSRe6An4vP1/XJd+kiUKDiUVtfv0Yb7IwrByK9W/TcRQbcXUOIZAy19sV1h1Wt++mnLyDpCgrfjLSaTOqHoKTQ6zJTsOgglsWWFQAzyVCwvHaPjHAVjAKznR2s5cDVSNqEQBNscMurdRw20C1lPqEXlLYDIJZ4etcXtjrRJ/vY9RDUfpbqxHYcSFVwafRFKoav/zgP4XR1PB2Z+QwC2acL0pLihNMS8kJvy/jn2ePLzpHQRRjB2o5V/NZNVictMT8qtEduQcIJzl4eqPQxsPXqbiZC1S0p8VyOQxrbz09mdtv+RDN76efY+qQCIHqTEVWZy/EPM6lzMgc4FfdSe8Q/QnKY5RyM+tnTE88/7/eivZ0gbqwt9TPKkzb+G6S0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BqHE1VepGcVauKJoFoRCpw",
      "input": {
        "note": "Arm is at its forward/downward limit right at the left basket; releasing the dog so it drops into the basket.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BqHE1VepGcVauKJoFoRCpw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.858, 1.8832, -0.9531, -0.355, -0.3298, 0.9953, -0.0147, 0.8146, 0.6067, -0.3923, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4647 left_y=-0.135 left_z=0.2428 left_yaw=0.0681 left_pitch=-0.2865 left_roll=0.0796 left_gripper=0.9953 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.7573, 6.4615, 1.3309, -0.2369, 0.0366, -0.2271, -0.2803, -1.2239, 7.241, 1.7021, -0.022, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99227991d05729260842f7c32f4ad0d00f6716f631287da4e61a365f12e4369d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef08f3497de15888655a6cf43ff17a287099daa13e73ce06278cf90f308713e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31659394d3e9a2b789229d93fac80dbee861bec14853a4f4d61cf1c40b5e2276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 16.94 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]: [-0.4217, 1.8477, 1.8576, -0.9577, -0.3576, -0.3359, 0.2595, -0.0147, 0.8146, 0.6067, -0.3931, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1343 left_z=0.2372 left_yaw=0.0723 left_pitch=-0.3028 left_roll=0.0872 left_gripper=0.2595 right_x=0.2946 right_y=0.0014 right_z=0.1728 right_yaw=0.0004 right_pitch=-0.0267 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -11.1521, 10.2769, 1.4725, -0.1245, 0.232, 0.1441, -0.0752, -1.5385, 7.0085, 1.7167, -0.0415, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.858, 1.8832, -0.9512, -0.3576, -0.3244, 0.2615, -0.0147, 0.8146, 0.6067, -0.3927, -0.0116, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4651 left_y=-0.1347 left_z=0.2432 left_yaw=0.067 left_pitch=-0.2841 left_roll=0.0843 left_gripper=0.2615 right_x=0.2947 right_y=0.0013 right_z=0.1729 right_yaw=0.0001 right_pitch=-0.0263 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -11.3983, 9.3607, 1.6044, -0.1734, 0.1929, 0.1929, -0.1573, -1.3744, 7.0222, 1.7167, -0.0317, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.858, 1.8832, -0.9531, -0.355, -0.3298, 0.9953, -0.0147, 0.8146, 0.6067, -0.3923, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4647 left_y=-0.135 left_z=0.2428 left_yaw=0.0681 left_pitch=-0.2865 left_roll=0.0796 left_gripper=0.9953 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.7573, 6.4615, 1.3309, -0.2369, 0.0366, -0.2271, -0.2803, -1.2239, 7.241, 1.7021, -0.022, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99227991d05729260842f7c32f4ad0d00f6716f631287da4e61a365f12e4369d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef08f3497de15888655a6cf43ff17a287099daa13e73ce06278cf90f308713e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31659394d3e9a2b789229d93fac80dbee861bec14853a4f4d61cf1c40b5e2276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggsKjgEIEhgCKkCzhbFKbY3+rw3Lj0dwDN8bHEe8K7kC8BL6Fw8civNbQeIIDk8jA+47hdkP57U5+chMoiWnsxOOSEZTqBuK3VJnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZS6zNUGEgzvZe98+ycRLht3kU4aDHuCr+HlOJ2u1TlMEiIwcZJqgCGYZweuw/5Y0nbkZry0o/SQnt248aIYsmI9MZp9W8TkexDCAIEFCCxl6BjPKqAJNJOm+TKdQILLpk96576LICPIuYeF/NHdyI3NNFMensAKIf6g1T0VX8p7kDUMtJ6RcNbwjrPxaYMJsmgCnCs972EeMcyxOdps7JejsKPAgFmMePAiq+1enGIkhL0e6HI9cgQw/UscsOn/U4iASSD/uL8B/wFsfGLkQW3Ap5VlIsegufQWuykwNFnj1IxxlUwS4VUsHLjbh3qdi6sns6xGglefdUQUeh7aNBmJhGuBG8k9Y7Zw3lpoFKyOAwppDH+TL8xjUGbA5PNgXcAv4rmvlMc/Jdz+QyXtHBHlZP0L0Im9sR59wkyLalKOhBE6fuK3Sz7W7tkZslbrSiVlAzPmQY32pa2Vc3rgn6kN7JAijLlzYiqGfjz0v3mZlE72dZxn+pLJLi+JMgFXosYzuY2Nb4kZL1M/LfVYFcPDQB6b8/vKsKN1PNJ4bc6nmaLUmaqNGHeFIQeEzlBVrNrzA6/SNckw+Lt1IbuJyOu61yeRQFv5r2kvYDQ2FwYtFTOT7SrAvYjN28rVukpACcvxV/GLf7EF3FnVQQ7F/pH/LP1JYS9+Lokbd/1j5WiZpr+1WP2E8oSEVTL92K2IquhXHQoZUn7U3nsnmIRwjZbZ0bDuW/CTOGuShojkeAXAcs0ghuDCI0nPoF2w3GnxkSz6IbvZeUbEN+siOXsP1OeNSaubYKwaaFXQloWkL4uKWSTTWgwPTPd2mdYoPvHN0p1S2ukWVrfYBsZuPZKm9TWBs400M5HbkjGtwSMA4vnKp4Jk41J87xHJsPvmN19ZtBtz76exwpvKrwO1/sRsY4nhlnunmsescbRVO1ymzZ3Dt5SC8N7iIR+srRPhulh+x5sr327yxgR36HIELehO+vmHYevTyVlhO444s/+jTJ4Bp1CUAHgVTAfFx2ftV/9m4g5wbxf41NfC7zEwL0GmGGFXO3wETtdlQb/LbFJ+umUI8XVL6JUNqLnBhTBk3apn6PqpVHr062zcYvajFBY3yV/PUQUnAhvSjkcLokq5P+fvcg4xEJknlB5P5Lg8u74xqtdyh8t6l8hu9MqinT1n7B1yPYl9PZ3RNpObXsKc5/OyVQ299omXkoaZrwHm/bDfRKI4vIJSpKPoCiT1Gi+ycv37TouM0h14kzZ5NUPUdK80VxlPYsEiA5nQX+E9Bbqhq1PtjttJ2fV+nE3VIjuSVqS1YFoiki0u9u2J0eR1CwJXjGH3ixFQNNvT2VgRWKKZdPHt3ycWsaYmHE3NQ1H+5W+p6o0KYpw2SrFrVIc0ScUM2q99usRkfBKggsYpYrmqKtll5eLbLN48BNHywY+USY9ZwSzU1eARgX/mnzJBKjHiwznU5QHk2X0RUI+m14Sc+IXBxFcoyw5cjJuiSO4To/6SC1DHkgAIHbT7bKl6sqwsS5PRsARPnLdkJcLeWcHejjxITAFPZXBriHGwNT/KUhsEpVlDZFTY2TLqFQQ3tqKjaRYgrLdnAHZ140Vrqj82fjS0RY9EqWyxQfcZb7yP8Qir8LJwPnpAuUKTQSuJy8uAVC53fHdyirNsLhHUboEq/bqVS632bmGiY9gBcy/UpqqLfPAnbNcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01STvfSKc27RrSVorF3Mttbk",
      "input": {
        "note": "The dog is now in the left basket. Pulling the left arm back and out of the overhead view so I can work with the right arm on the pens.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01STvfSKc27RrSVorF3Mttbk",
      "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]: [-0.3645, 1.2705, 1.5333, -1.1542, -0.3317, -0.3019, 0.9967, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=-0.0541 left_z=0.3015 left_yaw=0.0821 left_pitch=-0.2632 left_roll=0.0648 left_gripper=0.9967 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0008 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -4.5744, 5.4359, 1.326, -0.0659, 0.1832, 0.1294, -0.0342, -1.7436, 7.0359, 1.7265, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e450787e4f2edf2bc0b8749f8d76dc4f1126ad50f105650e3851979949f9f8c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f883df9e94dcd6a1491e1a41d07419cae40388d3b98af4715fc14b0451350a0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:441c012928474b3f70e9a0f257393a81a1d17f2e29c1e4800625251bd5fc66f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 7.669 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.858, 1.8832, -0.9512, -0.3576, -0.3244, 0.2615, -0.0147, 0.8146, 0.6067, -0.3927, -0.0116, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4651 left_y=-0.1347 left_z=0.2432 left_yaw=0.067 left_pitch=-0.2841 left_roll=0.0843 left_gripper=0.2615 right_x=0.2947 right_y=0.0013 right_z=0.1729 right_yaw=0.0001 right_pitch=-0.0263 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -11.3983, 9.3607, 1.6044, -0.1734, 0.1929, 0.1929, -0.1573, -1.3744, 7.0222, 1.7167, -0.0317, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.858, 1.8832, -0.9531, -0.355, -0.3298, 0.9953, -0.0147, 0.8146, 0.6067, -0.3923, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4647 left_y=-0.135 left_z=0.2428 left_yaw=0.0681 left_pitch=-0.2865 left_roll=0.0796 left_gripper=0.9953 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.7573, 6.4615, 1.3309, -0.2369, 0.0366, -0.2271, -0.2803, -1.2239, 7.241, 1.7021, -0.022, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3645, 1.2705, 1.5333, -1.1542, -0.3317, -0.3019, 0.9967, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=-0.0541 left_z=0.3015 left_yaw=0.0821 left_pitch=-0.2632 left_roll=0.0648 left_gripper=0.9967 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0008 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -4.5744, 5.4359, 1.326, -0.0659, 0.1832, 0.1294, -0.0342, -1.7436, 7.0359, 1.7265, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e450787e4f2edf2bc0b8749f8d76dc4f1126ad50f105650e3851979949f9f8c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f883df9e94dcd6a1491e1a41d07419cae40388d3b98af4715fc14b0451350a0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:441c012928474b3f70e9a0f257393a81a1d17f2e29c1e4800625251bd5fc66f9",
        "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_01SzHnAzJ87cwugREBKk3SRX",
      "input": {
        "note": "Overhead now shows the dog in the left basket, remaining plush toys on the left side, and two marker pens on the right side of the table. Moving the right arm above the pens for a close look.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.28,
          "right_y": 0.2,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01SzHnAzJ87cwugREBKk3SRX",
      "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]: [-0.3634, 1.2793, 1.5246, -1.1629, -0.3286, -0.3065, 0.9968, 0.947, 1.2999, 0.7799, -0.3912, 0.6926, 0.6262, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=-0.054 left_z=0.2943 left_yaw=0.0865 left_pitch=-0.2878 left_roll=0.0712 left_gripper=0.9968 right_x=0.2744 right_y=0.1944 right_z=0.134 right_yaw=0.0446 right_pitch=-0.0802 right_roll=-0.046 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -4.3966, 6.6256, 1.3993, -0.2027, -0.022, -0.0024, 0.212, -4.9709, 8.8684, 1.3211, 0.6374, 0.1441, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5faed863cec75c032cce0dc7a56baf21503ef4d31cb506de97530c8f25c0f9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7993c15983f1c676a7b3bce6829e61d31c18ea7ed32c6f0c9959dcaeed4ecfc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1191f4880b0dd9e29990dab5e3399543ec2fbea8655ebf019873e31173e60028",
        "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 · 4.089 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4175, 1.858, 1.8832, -0.9531, -0.355, -0.3298, 0.9953, -0.0147, 0.8146, 0.6067, -0.3923, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.4647 left_y=-0.135 left_z=0.2428 left_yaw=0.0681 left_pitch=-0.2865 left_roll=0.0796 left_gripper=0.9953 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.7573, 6.4615, 1.3309, -0.2369, 0.0366, -0.2271, -0.2803, -1.2239, 7.241, 1.7021, -0.022, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3645, 1.2705, 1.5333, -1.1542, -0.3317, -0.3019, 0.9967, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=-0.0541 left_z=0.3015 left_yaw=0.0821 left_pitch=-0.2632 left_roll=0.0648 left_gripper=0.9967 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0008 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -4.5744, 5.4359, 1.326, -0.0659, 0.1832, 0.1294, -0.0342, -1.7436, 7.0359, 1.7265, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2793, 1.5246, -1.1629, -0.3286, -0.3065, 0.9968, 0.947, 1.2999, 0.7799, -0.3912, 0.6926, 0.6262, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=-0.054 left_z=0.2943 left_yaw=0.0865 left_pitch=-0.2878 left_roll=0.0712 left_gripper=0.9968 right_x=0.2744 right_y=0.1944 right_z=0.134 right_yaw=0.0446 right_pitch=-0.0802 right_roll=-0.046 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -4.3966, 6.6256, 1.3993, -0.2027, -0.022, -0.0024, 0.212, -4.9709, 8.8684, 1.3211, 0.6374, 0.1441, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5faed863cec75c032cce0dc7a56baf21503ef4d31cb506de97530c8f25c0f9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7993c15983f1c676a7b3bce6829e61d31c18ea7ed32c6f0c9959dcaeed4ecfc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1191f4880b0dd9e29990dab5e3399543ec2fbea8655ebf019873e31173e60028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgkKjgEIEhgCKkDRfpRG50dQjWYXgPbOXFyfP83vHhfeaSbk+LaTX/WBryCOXicjquuoSN/pkaffwGjIeTiVAyCxRpozVvZoKAQLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+6zNUGEgy7j7O2S1lqHuINXbUaDH62THDRmL2DXAvC1SIwO2V4H+gUNDhgkiToP/j94/y85AmFRJVn8xyuzPMuS7eIwnaD8wvLL1z3szFC6nf0KrgHS6/DXpfKHCpFbQTm46+CwCqJcjMig3Vxpv8Pywmb3/dM+zztWHbVBxnuf76NFs506Bo6DNJ1lIxV7h+3KztJENEihb5TP4qbTEm670IqBAbAfg961mPu+v9Nb08Oem7Il4PUCZsl1R9+YZSSm16kRTabtjozUtTKt6ukXxq6Gu82YlDfsEgZf7O0qnTn+cM+3Lh2kuirzYB6TwjLK3vnDz7v1IVXpxzygZ1Pjlt6FczHWGW6JPZzWUD3/b0LIUO8ek0zQEQK7vvHoow0lWnkeizzUo7kNlxFeXiBhGVEV7ADO/jhCA/lzBlKUht7eMOlohfm7Ko0PLpLMTl9vOWEy97BvuW49DQUYIsBgC8y+7hSjrTubfTsA+lkf/knPAdSnK5BRAasquyb5DcqJ+NrYBldEeJ4qT7E5LxZo9o4xGHu4c/vDo1cNpjEk4FumhlVAKwkCEW0Q6NDPLDtdX0m6W/w0lCAUG+L7M5WvfeagOouWumg3AG40m6GUMtLvchmqeoRa1l8Bjjrxm6pKXkFPZXOCOj1v6o0upf2L547gjtUa4+2ql2j9U1Xdb4EI+GiJ/lf9zCfOzY8Ls+CLFyZ+E+VxU1vinVKaDqhim6LgsmGW/n2vm9D6dZKxXLvMrNlsqAoosxRZonmLjNEvVL2PYjo3bqae4OIAorIacQk99qYIPc+3fnOsQUCMLj+QHGEyNU9X448HhCdR5R4c6Tyi95YunSuBhKhi7oIwh6cPwd2V2kY8B68uhohCiZ4A2aZN90rv7xXanENnOmPvXgn/ESGdYA0v5B4eJu7BHjwTE1MjCWvAaEIlhQeu6tuq8JuheXVXFPDO5FQHHhvi51mF/OwVaUyMpRJDasgJnJy2olGormcNg4MHGVaCd2h+CSmIPh3hJjQFn4ekT/ObnLtFoX4Iat5Bj2j+F8uEDQZOJfB9BGhss7/CKCJWVNZEcX6fPk2mqcZ+oKtaklviGElB181HtIPPLNnaWVpbmKCkn8Oqd/lZwnJnVn6z8qw27hCoUCTARs78REML77xy4uAIDeaG5bEzFErg9WWJTj27IvaiqlEAa1GI0CChaMPo1nTISjOsgi6g3jzzr81qUkFTMv65hOWIXqR0N28faRees9AoBwEuqf8kfVkjHVN5rzukjtz0dSi9K1UhoFXw/jlIQN8wN+yQIlFiORhNNqYq1WT9hZ3UuV6ULcauUHcPvFGDKPEbw1u8HX3A6TvZrBvKmnyoXABqhHyGrWydQwApO7BleTJX8fZ+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PhjKrc6iQxCq1cv7Jyi7MD",
      "input": {
        "note": "Right wrist view shows the two marker pens just beyond the jaws, the left one aligned with the jaw column. Advancing 2 cm and descending close to the table to grasp that pen.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.197,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PhjKrc6iQxCq1cv7Jyi7MD",
      "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]: [-0.3634, 1.2823, 1.5242, -1.166, -0.3283, -0.3069, 0.9968, 0.878, 1.6073, 0.5781, 0.0937, 0.6403, 0.5632, 0.9997]\nstate[eef_state]: left_x=0.3126 left_y=-0.0541 left_z=0.2928 left_yaw=0.0873 left_pitch=-0.2938 left_roll=0.0736 left_gripper=0.9968 right_x=0.2911 right_y=0.1911 right_z=0.0265 right_yaw=0.0423 right_pitch=-0.1301 right_roll=-0.0869 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -4.2051, 5.9692, 1.3748, -0.1587, -0.0073, -0.0122, -0.6632, -6.653, 4.7111, 1.3797, 0.3053, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c82c3c324716c845fc7f155b17165a3b528f9c9edb5389081ef96dddd58164c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6627ae5b4113ad27364a707912266cda33c25342b6f26fa1917576894318ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5cb1b04363227fad495007475e49b0e48ddedbb2ee131ae06978a58ceaa0248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 4.832 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3645, 1.2705, 1.5333, -1.1542, -0.3317, -0.3019, 0.9967, -0.0143, 0.8192, 0.6067, -0.3927, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.3132 left_y=-0.0541 left_z=0.3015 left_yaw=0.0821 left_pitch=-0.2632 left_roll=0.0648 left_gripper=0.9967 right_x=0.295 right_y=0.0015 right_z=0.1717 right_yaw=0.0008 right_pitch=-0.0309 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -4.5744, 5.4359, 1.326, -0.0659, 0.1832, 0.1294, -0.0342, -1.7436, 7.0359, 1.7265, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2793, 1.5246, -1.1629, -0.3286, -0.3065, 0.9968, 0.947, 1.2999, 0.7799, -0.3912, 0.6926, 0.6262, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=-0.054 left_z=0.2943 left_yaw=0.0865 left_pitch=-0.2878 left_roll=0.0712 left_gripper=0.9968 right_x=0.2744 right_y=0.1944 right_z=0.134 right_yaw=0.0446 right_pitch=-0.0802 right_roll=-0.046 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -4.3966, 6.6256, 1.3993, -0.2027, -0.022, -0.0024, 0.212, -4.9709, 8.8684, 1.3211, 0.6374, 0.1441, -0.0415]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2823, 1.5242, -1.166, -0.3283, -0.3069, 0.9968, 0.878, 1.6073, 0.5781, 0.0937, 0.6403, 0.5632, 0.9997]\nstate[eef_state]: left_x=0.3126 left_y=-0.0541 left_z=0.2928 left_yaw=0.0873 left_pitch=-0.2938 left_roll=0.0736 left_gripper=0.9968 right_x=0.2911 right_y=0.1911 right_z=0.0265 right_yaw=0.0423 right_pitch=-0.1301 right_roll=-0.0869 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -4.2051, 5.9692, 1.3748, -0.1587, -0.0073, -0.0122, -0.6632, -6.653, 4.7111, 1.3797, 0.3053, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c82c3c324716c845fc7f155b17165a3b528f9c9edb5389081ef96dddd58164c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6627ae5b4113ad27364a707912266cda33c25342b6f26fa1917576894318ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5cb1b04363227fad495007475e49b0e48ddedbb2ee131ae06978a58ceaa0248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AQKjgEIEhgCKkAK5XPvmGxznbp+gZZmQr8P9gizp73T1xS67GNvM69rGh1jSPUMdLJVx4FhM1chpW53tpQyl8trsjAd1PWrhDvnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbW6zNUGEgzKtHiVwCADN6c+Bg4aDPIvQFlm7Lgt9sRLICIwQ8UtyGs2deX3DFw206PozMRVQJtPYCcTljbY7TdKFizJqOP1pLUQeSQ0ao7IcVxFKvYCrw2P5dO4uVXblXgjMb0xUzWXbauv8sOiK8SZywEHaoBPyTNum44GtYDYYZqCd3phJRkee9/9e6YNtySpajPL4f2hzUroSUTsYl4/Xqa6t7RAKwEgA486P3DZKhZDz12aaOWkfVS/673X50ov7guhrbit67fI0fBxfcYmmYidG5RL2fDcrUbjvtTE90RwrQwrG5Z5fsF7rMB7FsQNfFnFc8uP5xeCINX/qsjDkXQxgK7VUKJ+c2O5DgnSkyn489hKj/8mdtQdfBZu4j5uoCDMhCgfN2nBcwgCdzJfBlK9g9gns/PZ/cpgBiDafkaMl/MxmTBy4+4Ff5RTXUm1GqfZmBAJACJDMQqSOBEOyC/o1Ako2LWMo4GAOPZpjc9ulDJNcFQH/Prgaw6FdX/YJXfdDsCrQN9vwMfctH3qFIavPov0LHV+0BW1nEIbfA8YadXMncBNHf7W3O6uXUj1Tau27X5L3efxsX4sGI2rzWqy9E8l9NZbzZIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LY6o58KRvogEPDqo4uDDsz",
      "input": {
        "note": "The blue-capped pen lies between the open jaws at table level; closing to grasp it.",
        "targets": {
          "right_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LY6o58KRvogEPDqo4uDDsz",
      "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]: [-0.363, 1.2827, 1.5238, -1.1656, -0.3283, -0.3069, 0.9968, 0.8764, 1.618, 0.5686, 0.1093, 0.6399, 0.5568, 0.0286]\nstate[eef_state]: left_x=0.3127 left_y=-0.054 left_z=0.2926 left_yaw=0.0877 left_pitch=-0.2941 left_roll=0.0738 left_gripper=0.9968 right_x=0.2904 right_y=0.1895 right_z=0.0222 right_yaw=0.0441 right_pitch=-0.1338 right_roll=-0.0951 right_gripper=0.0286\nstate[joint_eff]: [-0.0205, -4.0684, 6.1333, 1.3553, -0.188, 0.0024, -0.0073, -0.212, -6.9402, 6.2838, 1.116, 0.2808, 0.0659, 0.6667]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76be76c7025ba9af8fbce48a0b894cb4093ed9b14493c6a476890be84d50b1d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8be68d01958ef768a27efcf65e8930d9c9fc05c21176521ccf1c4ac5d32be11b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a85cf8e2bb8864c4bff559f94a0969b284bbabea2f648553c0404c2227fbcf3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 2.77 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2793, 1.5246, -1.1629, -0.3286, -0.3065, 0.9968, 0.947, 1.2999, 0.7799, -0.3912, 0.6926, 0.6262, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=-0.054 left_z=0.2943 left_yaw=0.0865 left_pitch=-0.2878 left_roll=0.0712 left_gripper=0.9968 right_x=0.2744 right_y=0.1944 right_z=0.134 right_yaw=0.0446 right_pitch=-0.0802 right_roll=-0.046 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -4.3966, 6.6256, 1.3993, -0.2027, -0.022, -0.0024, 0.212, -4.9709, 8.8684, 1.3211, 0.6374, 0.1441, -0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2823, 1.5242, -1.166, -0.3283, -0.3069, 0.9968, 0.878, 1.6073, 0.5781, 0.0937, 0.6403, 0.5632, 0.9997]\nstate[eef_state]: left_x=0.3126 left_y=-0.0541 left_z=0.2928 left_yaw=0.0873 left_pitch=-0.2938 left_roll=0.0736 left_gripper=0.9968 right_x=0.2911 right_y=0.1911 right_z=0.0265 right_yaw=0.0423 right_pitch=-0.1301 right_roll=-0.0869 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -4.2051, 5.9692, 1.3748, -0.1587, -0.0073, -0.0122, -0.6632, -6.653, 4.7111, 1.3797, 0.3053, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2827, 1.5238, -1.1656, -0.3283, -0.3069, 0.9968, 0.8764, 1.618, 0.5686, 0.1093, 0.6399, 0.5568, 0.0286]\nstate[eef_state]: left_x=0.3127 left_y=-0.054 left_z=0.2926 left_yaw=0.0877 left_pitch=-0.2941 left_roll=0.0738 left_gripper=0.9968 right_x=0.2904 right_y=0.1895 right_z=0.0222 right_yaw=0.0441 right_pitch=-0.1338 right_roll=-0.0951 right_gripper=0.0286\nstate[joint_eff]: [-0.0205, -4.0684, 6.1333, 1.3553, -0.188, 0.0024, -0.0073, -0.212, -6.9402, 6.2838, 1.116, 0.2808, 0.0659, 0.6667]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76be76c7025ba9af8fbce48a0b894cb4093ed9b14493c6a476890be84d50b1d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8be68d01958ef768a27efcf65e8930d9c9fc05c21176521ccf1c4ac5d32be11b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a85cf8e2bb8864c4bff559f94a0969b284bbabea2f648553c0404c2227fbcf3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAYKjgEIEhgCKkDDrOzcR63tXjtOuYdcHbh+H2AVYZf9QfyCJK2BW0jGclim0BO5te5stiLGFNEFlUCNZrDsP6UPYMVDEFPPqsiYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbq6zNUGEgxNZ64Hx4ZadgD1CigaDHrgnVoCSqhNlI0aNiIwi4iAOP8Ne0eXWN4xPIurhBiAr08kFwXJca2K8y8uqx2e8taI50JCIEGIkkqRqrEeKrIE6LGVxZjAvQTTir7443PGHsANsKimdn+fHAdVCGzInQEPg+4YtB3/LUY3UNP8qhjDk9Ne1mVHFfqi8OO3IzUNJzXg31Pb/LylWHlC+s6SVhVDIuo5qrcRv2XNtxUsjR5rAQpaZSa78P9ugZmBXHkODCMSbwZx97hJBKYetj3jgObH3j+1ZODnhS7+1H0Y6SieNZ3wyoXWPZ3paWfNlJRuenTLse/MSs66T9+Y6e+ITe8Lw8gjeTgubBrDtMA1RqVGsKbIsWKcLd6VB8Kc3hN52MLMKFcXWRf+fyxAdDeHk0jfXWsncT9jJKZchAS1qVjY08TF1OmM8hU5BeiM7RUOsEP3B2eaK+/oJLzkRABZX6LR89kzxdoURCYPRANyrbNiNNqT5tEnNNu9Tx8szESGef5bXPNxiFdEsRtXoDtLNVC0SCbLEF/VAWkkmXh6UWPFiwMbbjLugkrShDoObSF16IOLXbq6CB8b+Yuj+glrzU5AQUq5d+ebhSDs4jmwx7HfYsyIiBMP4Yi3RRRwHXky3MNydz83aQEv9l4IJaS059DJUNBN/bmNg44uIVuRC5J/NlYChGjs6aCIyldFQQEYmsTURfQB1w8wP2JHyMOPX8uT102m4XqgzzR+e6XruUCfXJywcGiYLeVQ74HNaq1/X/gcypRVR+SEajQozGhgkAFD74Z1FMwQWMpKLd2CKd04S2bDy/OIrnKW9F5L+M4UxeI1G0o5zhuCPA/xpIX2zn4mfxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012fVUVM6YnWmwz3yAhC59SE",
      "input": {
        "note": "Gripper closed to 0.03 = empty, the jaws stopped just short of the pen. Reopening and advancing 2.5 cm outward for a second attempt.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.315
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012fVUVM6YnWmwz3yAhC59SE",
      "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]: [-0.3634, 1.2831, 1.5238, -1.1664, -0.3286, -0.3069, 0.9968, 0.8108, 1.6611, 0.598, 0.1455, 0.59, 0.4889, 0.9949]\nstate[eef_state]: left_x=0.3126 left_y=-0.054 left_z=0.2924 left_yaw=0.0878 left_pitch=-0.295 left_roll=0.0746 left_gripper=0.9968 right_x=0.3078 right_y=0.1864 right_z=0.0179 right_yaw=0.0518 right_pitch=-0.1503 right_roll=-0.1024 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -4.0137, 5.9419, 1.326, -0.232, -0.0513, -0.0122, -0.7316, -5.5726, 7.1316, 1.3748, 0.442, 0.0317, -0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9b63a4d7f147a1f4d625d19f6e21ee975f37af93618d1a815b8336874ba7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9193704c88d4485a30c06a97c9b4220d52ce6d6e9fc7b99e13e363d38129929f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:694a0c717c5675394bec52ac3649014f87fdc8b20862c2ba4636fa46d3b9ed6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.387 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2823, 1.5242, -1.166, -0.3283, -0.3069, 0.9968, 0.878, 1.6073, 0.5781, 0.0937, 0.6403, 0.5632, 0.9997]\nstate[eef_state]: left_x=0.3126 left_y=-0.0541 left_z=0.2928 left_yaw=0.0873 left_pitch=-0.2938 left_roll=0.0736 left_gripper=0.9968 right_x=0.2911 right_y=0.1911 right_z=0.0265 right_yaw=0.0423 right_pitch=-0.1301 right_roll=-0.0869 right_gripper=0.9997\nstate[joint_eff]: [-0.2803, -4.2051, 5.9692, 1.3748, -0.1587, -0.0073, -0.0122, -0.6632, -6.653, 4.7111, 1.3797, 0.3053, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2827, 1.5238, -1.1656, -0.3283, -0.3069, 0.9968, 0.8764, 1.618, 0.5686, 0.1093, 0.6399, 0.5568, 0.0286]\nstate[eef_state]: left_x=0.3127 left_y=-0.054 left_z=0.2926 left_yaw=0.0877 left_pitch=-0.2941 left_roll=0.0738 left_gripper=0.9968 right_x=0.2904 right_y=0.1895 right_z=0.0222 right_yaw=0.0441 right_pitch=-0.1338 right_roll=-0.0951 right_gripper=0.0286\nstate[joint_eff]: [-0.0205, -4.0684, 6.1333, 1.3553, -0.188, 0.0024, -0.0073, -0.212, -6.9402, 6.2838, 1.116, 0.2808, 0.0659, 0.6667]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2831, 1.5238, -1.1664, -0.3286, -0.3069, 0.9968, 0.8108, 1.6611, 0.598, 0.1455, 0.59, 0.4889, 0.9949]\nstate[eef_state]: left_x=0.3126 left_y=-0.054 left_z=0.2924 left_yaw=0.0878 left_pitch=-0.295 left_roll=0.0746 left_gripper=0.9968 right_x=0.3078 right_y=0.1864 right_z=0.0179 right_yaw=0.0518 right_pitch=-0.1503 right_roll=-0.1024 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -4.0137, 5.9419, 1.326, -0.232, -0.0513, -0.0122, -0.7316, -5.5726, 7.1316, 1.3748, 0.442, 0.0317, -0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9b63a4d7f147a1f4d625d19f6e21ee975f37af93618d1a815b8336874ba7e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9193704c88d4485a30c06a97c9b4220d52ce6d6e9fc7b99e13e363d38129929f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:694a0c717c5675394bec52ac3649014f87fdc8b20862c2ba4636fa46d3b9ed6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AIKjgEIEhgCKkDKrv7v646yrvcWpLfAkG1hCc+MxQGMKtAf8gm4DyDxrlvhothRQ8manWBalD9PzXJNz7X3MmL6pRD75keRIocfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb66zNUGEgxMtHdfduoUqOZpxXcaDMlp0omk4+AO4fOL7CIwwzsYFfGlaTgnAHFEKiOG+IIdOA26GoEo/dgQavSYkt/IAaGaLE18t3Rzs7c9rJHtKooBewIS5y56G7jQKrVXG0SpO+EhcV6Z6FF5eVWKM2oBY91q4vev+S9Sk0ZaSr6/dnm1WOsSpgm8Bri6hWwvRsJXZvu0KCYB58XLO86HMgdCUNievBc55M9MpmwqkuHzfqvpCF+TKrdlIJn1epf2BUloS3PI3qvZ22kUovcueiGi2y8dUibn7xjnx6wKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UbbgDy6A19y7TwZJN2hUxp",
      "input": {
        "note": "Pen now sits centred between the open jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UbbgDy6A19y7TwZJN2hUxp",
      "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]: [-0.363, 1.2831, 1.5238, -1.1656, -0.3283, -0.3069, 0.9968, 0.8112, 1.6569, 0.5995, 0.1707, 0.5938, 0.4824, 0.0288]\nstate[eef_state]: left_x=0.3128 left_y=-0.054 left_z=0.2925 left_yaw=0.0877 left_pitch=-0.2945 left_roll=0.0739 left_gripper=0.9968 right_x=0.3116 right_y=0.1898 right_z=0.0234 right_yaw=0.056 right_pitch=-0.1261 right_roll=-0.0881 right_gripper=0.0288\nstate[joint_eff]: [-0.1026, -4.0, 5.9282, 1.3748, -0.1734, -0.0562, -0.0073, -0.2256, -6.1744, 4.9573, 1.1355, 0.1832, 0.0708, 0.5299]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f370aa79fd706cb4ddf160704ec55676bbb6374f181612119188ba3a7d592bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c557b9cd57085d615e541f1d3b889fb79030730a89e5501e6cd38be48f9514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe8fa941f50013afc70b84d80360d55bd588f17d83014b2f3a4b41dd5d7e5d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 7.936 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2827, 1.5238, -1.1656, -0.3283, -0.3069, 0.9968, 0.8764, 1.618, 0.5686, 0.1093, 0.6399, 0.5568, 0.0286]\nstate[eef_state]: left_x=0.3127 left_y=-0.054 left_z=0.2926 left_yaw=0.0877 left_pitch=-0.2941 left_roll=0.0738 left_gripper=0.9968 right_x=0.2904 right_y=0.1895 right_z=0.0222 right_yaw=0.0441 right_pitch=-0.1338 right_roll=-0.0951 right_gripper=0.0286\nstate[joint_eff]: [-0.0205, -4.0684, 6.1333, 1.3553, -0.188, 0.0024, -0.0073, -0.212, -6.9402, 6.2838, 1.116, 0.2808, 0.0659, 0.6667]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2831, 1.5238, -1.1664, -0.3286, -0.3069, 0.9968, 0.8108, 1.6611, 0.598, 0.1455, 0.59, 0.4889, 0.9949]\nstate[eef_state]: left_x=0.3126 left_y=-0.054 left_z=0.2924 left_yaw=0.0878 left_pitch=-0.295 left_roll=0.0746 left_gripper=0.9968 right_x=0.3078 right_y=0.1864 right_z=0.0179 right_yaw=0.0518 right_pitch=-0.1503 right_roll=-0.1024 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -4.0137, 5.9419, 1.326, -0.232, -0.0513, -0.0122, -0.7316, -5.5726, 7.1316, 1.3748, 0.442, 0.0317, -0.1197]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2831, 1.5238, -1.1656, -0.3283, -0.3069, 0.9968, 0.8112, 1.6569, 0.5995, 0.1707, 0.5938, 0.4824, 0.0288]\nstate[eef_state]: left_x=0.3128 left_y=-0.054 left_z=0.2925 left_yaw=0.0877 left_pitch=-0.2945 left_roll=0.0739 left_gripper=0.9968 right_x=0.3116 right_y=0.1898 right_z=0.0234 right_yaw=0.056 right_pitch=-0.1261 right_roll=-0.0881 right_gripper=0.0288\nstate[joint_eff]: [-0.1026, -4.0, 5.9282, 1.3748, -0.1734, -0.0562, -0.0073, -0.2256, -6.1744, 4.9573, 1.1355, 0.1832, 0.0708, 0.5299]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f370aa79fd706cb4ddf160704ec55676bbb6374f181612119188ba3a7d592bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c557b9cd57085d615e541f1d3b889fb79030730a89e5501e6cd38be48f9514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe8fa941f50013afc70b84d80360d55bd588f17d83014b2f3a4b41dd5d7e5d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwcKjgEIEhgCKkCqp5hPzXJUrD4XcHz8oT3m45A63HNcvfpbsVY/CYtkNOba0BlSJvvDH2I0xOlhC286CbqQmUBlsvftK+yrA6OZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcS6zNUGEgzkYkW9I4LqTbQZLG8aDGFUa8yngMiYveQlDiIwl3b5EM2woou3Xd9r8WqgVcv32bKirv2nNgGpCIL7lS+5cBZArZT5WcoK70MjfkegKskF3E4mKhcLThtSbqWykyXKPu2OYjkmXlF/zI5hs3fb/F7oo13hJryuBGZjFI98bbEwp9pxgxPcyp+9Y0k6k5W9R0emZtGrp6GeqtcqS6t+ri8sTLT3VKxBpO9NPiaZ1j6EitMepVDLJk9GTzn4TuoQ1W2iQA6rJImXZzJX5oU9g8xb7LI2mDLTdn7xlWPZKHJb9etIfEZwI9ZJmhQslugj/tUPdi1wVtEuqxDma7VgGBsbM2d+2SActGPzbc5TbvbBEMXIp2dl/UT/tugmmhRf1KjQ/KIYea7IusXcKI8HDh7XOY/zAqyEICBPAwGDgHGBvwS7IuckUjiZip4sHAsNjlBVo5hJAV1zgjWSKiSh30M8lHPBVYTl1//W75ObfUEcJuGpzEFu6+AhbtBA1o+OGyFA1HJyBDlrxCL79+MlUMFU942eLbT42XkvaiOvvr09BRymxmmFjv9nHoAB9hQb8NhqdTP/+mhLpiror9fmenYR0Y7+A5ihOp1ETlZSlHsCnNPV3td1WrWSsHDZZWAM1Kk0Dwvh/+GpC1D/15flA98/mVnijiX6t18wDS52pkAp0EZJBGFdnWZ9RT0ccpktdSThZ9VDhbYvq8ip+6n2Ro1bflivIBCkUl5Fk2FsxpaoK9Y1Jj69zzgiACGBNbsP6ZP745KCnbO9adllRBxCqxr5CQ4661a2voagqo8MnNkcLuicqeFhE6UG1LNjR2/m0gLyM2enkm/+Re1ybxwXSH/TM/uHLzSs3k6E/EV7TTkughta//8eQoyq4PpidYKowtwZo7KwkBQ5Ssk6xw7bgoLVZX5JWdVxw5ibh/g1sMyZYNrW36QHuxIN/RNNB1U5FlvFAVWqJ4HLkWOQoBHDWa2izuwnxI5A3pmjWZp9w4qdmZ7zpadbZ6qWS7NDKv43BUNnFGY0reewxQuhjEjSMHPDg/MSsmXOmuIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M9jUivDtRan1vkxAhC772k",
      "input": {
        "note": "Gripper again reads 0.03 (likely empty) though the pen looks between the jaws; lifting to check the overhead view.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01M9jUivDtRan1vkxAhC772k",
      "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]: [-0.363, 1.2831, 1.5238, -1.1656, -0.3286, -0.3069, 0.9968, 0.8112, 1.4376, 0.786, -0.231, 0.5896, 0.4774, 0.0304]\nstate[eef_state]: left_x=0.3128 left_y=-0.054 left_z=0.2925 left_yaw=0.0881 left_pitch=-0.2943 left_roll=0.0742 left_gripper=0.9968 right_x=0.3124 right_y=0.1915 right_z=0.1054 right_yaw=0.062 right_pitch=-0.1255 right_roll=-0.0866 right_gripper=0.0304\nstate[joint_eff]: [-0.0889, -3.9179, 6.065, 1.4042, -0.2222, -0.0513, -0.0073, -0.3624, -6.9949, 8.6085, 1.2625, 0.2173, 0.0073, 0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73713b109670ce64f6b04b3a4725c4b98c7271987a1a32eb7b044e017297b5da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4126702a7c2ed98954439dd65ef8ceef4ce31b4f675dc8ac4289ed908c1a07d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f159dd8f03564f95ba8b3b46c0a29105b4b78c685b6815f19768550103067046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 12.27 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2831, 1.5238, -1.1664, -0.3286, -0.3069, 0.9968, 0.8108, 1.6611, 0.598, 0.1455, 0.59, 0.4889, 0.9949]\nstate[eef_state]: left_x=0.3126 left_y=-0.054 left_z=0.2924 left_yaw=0.0878 left_pitch=-0.295 left_roll=0.0746 left_gripper=0.9968 right_x=0.3078 right_y=0.1864 right_z=0.0179 right_yaw=0.0518 right_pitch=-0.1503 right_roll=-0.1024 right_gripper=0.9949\nstate[joint_eff]: [-0.0479, -4.0137, 5.9419, 1.326, -0.232, -0.0513, -0.0122, -0.7316, -5.5726, 7.1316, 1.3748, 0.442, 0.0317, -0.1197]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2831, 1.5238, -1.1656, -0.3283, -0.3069, 0.9968, 0.8112, 1.6569, 0.5995, 0.1707, 0.5938, 0.4824, 0.0288]\nstate[eef_state]: left_x=0.3128 left_y=-0.054 left_z=0.2925 left_yaw=0.0877 left_pitch=-0.2945 left_roll=0.0739 left_gripper=0.9968 right_x=0.3116 right_y=0.1898 right_z=0.0234 right_yaw=0.056 right_pitch=-0.1261 right_roll=-0.0881 right_gripper=0.0288\nstate[joint_eff]: [-0.1026, -4.0, 5.9282, 1.3748, -0.1734, -0.0562, -0.0073, -0.2256, -6.1744, 4.9573, 1.1355, 0.1832, 0.0708, 0.5299]\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]: [-0.363, 1.2831, 1.5238, -1.1656, -0.3286, -0.3069, 0.9968, 0.8112, 1.4376, 0.786, -0.231, 0.5896, 0.4774, 0.0304]\nstate[eef_state]: left_x=0.3128 left_y=-0.054 left_z=0.2925 left_yaw=0.0881 left_pitch=-0.2943 left_roll=0.0742 left_gripper=0.9968 right_x=0.3124 right_y=0.1915 right_z=0.1054 right_yaw=0.062 right_pitch=-0.1255 right_roll=-0.0866 right_gripper=0.0304\nstate[joint_eff]: [-0.0889, -3.9179, 6.065, 1.4042, -0.2222, -0.0513, -0.0073, -0.3624, -6.9949, 8.6085, 1.2625, 0.2173, 0.0073, 0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73713b109670ce64f6b04b3a4725c4b98c7271987a1a32eb7b044e017297b5da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4126702a7c2ed98954439dd65ef8ceef4ce31b4f675dc8ac4289ed908c1a07d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f159dd8f03564f95ba8b3b46c0a29105b4b78c685b6815f19768550103067046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS/wkKjgEIEhgCKkDOtkyK4t3A/V2a+0tsAuxFwO7kvkiUE6Lvs8JcdkY6DrbU2WLGSvV2oRBMN7eW++kf0joWaoKN6E2fJDfS0Uv2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc26zNUGEgzN0kpWs5JScoqFF2saDOvHjH28co2V7cejDCIwIRFoajcNAtLtGtKWTg++GW9xY6dIq5PoUC1HXjHedeMCPpH8N/ObqkAC+3BPGqhFKp0IfMHWc4y8lt0EtQ3fsUM+wPmP62OZmqm7sTHf0gAjeIxyJUSVsdH9GlBAvgMhFtimnFmhIA4lAoGZmazEnJJPf7uoiF9jjEZsN2jYIZFh7KcqG9zecCbGoG/oURAffV4l0A2yhtxJxQVapJcniZSJIdzTFgnEy6UDy+aJU1P1h51XZenU+P3lPtu8DCMTuVt4+XETJaBL5amaKBDHiGGgWc8H70OABjo2638aUqxMuqZgAIF5zW/Vl11WVxTXqZ5PBFgyX2Qjw8HDcfmA3I/z8TL+5HB9jq7xLHdCtZSX6Imwn7HIq52qfwsmmhz2yX0gNa9cvdxEx+ItgBxjDXlL9yzPU402EmQ8J5KTm5Rfo2N/esfzSwdueDNzsE5KBbjjKyNmQuYSaNDFR1uZyZ/e0ExIL/RABIpQgoIacaH7C6gDfF70HQMAsBA4l3R3X9OVu8gT11QEt/3ay0brZsJWLFRkFaeLD0ihW5o8WcTEf+QvnuOW4fMErh1O0H/ZbyZFDY1OYx6WQYzThgdzhXvprZ0IBc1z6hWbNAYmT+dNyYdpFLOB5uob3hnYPq8vila/eTSrB+EJxv83MRKzrTubOxRt4YAsebwBlgryOL6G2T6+tg3QAPVEMrIwK4kHXM935BMrreyaDYaTxE/UiyPW9z5j/UIhvB/79s2UyCbclIRy4NtSrT3LtADmM2gq8rHsYHhBVLtTp3TGlKGnlg0wh9mtXtj4fnBVqTEbjBQWRQZ2SwR0nEgxHCq5JoCJcT0ubOZdZljdm0jdU1GZIKJ62u7IVNyy9trszUQFSnrYN8HxCds/0Ixkb2tCdVULV5rOezW0A5gQla8unrg/ulGoGOsRMkj0S6Q7Qd6voJoCjIJ4jZtNkowLe/haDECQm/TPuHC5qPAlclqmwOJeInWepnG63dahVfkt9EhM3HAHaedUR1fWaxjqVC74E4q78YRg//Mq7+AcrEI2Tn0m9zFP7VngCehhQKEEJnYpwzmsrfr43x2/QGOuBlmCgkuTidUpzuO9hzeh5LyjDtMs1RwQLeLVYzKZkz2G5f/VukO8ATd91NIKL+y9vLKH8jcIUWrcwAo+Q5q1OS6drLrOUjR3BuNyQKqMCaoErq05N/lFrn2/IWhM/NzgKdKH0JgPno3t8oYIa68MJPv2iPH+Pj+eGcewV0neccmw+dosl6h+ZmL33LVNkJzGVfffmuLpGbhmj5NkrUP/jCMkHw5xEFwi+4z3pXwkBGQgiiPThFGf+tdZS1dDWyPELoHfzKWJXtPshHDbdTdDh34j0WD6dxlB11TIdR0LDWyLq3BdlZ4TqpZD5BQDsBvNQ4gUbRE+QQuZVfEE6zkl2Wppa4Gub62FhljN05lKxyTNEyUlcPMuw2oAE6GhqoLG5tALkAw0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Ud59xcscpyGihEezKfntD",
      "input": {
        "note": "Moving toward the right-hand basket; the overhead view on arrival will show whether the pen is actually held.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.17,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013Ud59xcscpyGihEezKfntD",
      "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]: [-0.363, 1.2831, 1.5227, -1.1656, -0.3286, -0.3073, 0.9968, 0.5716, 1.544, 1.401, -0.63, 0.4286, 0.2798, 0.0316]\nstate[eef_state]: left_x=0.3127 left_y=-0.0539 left_z=0.2921 left_yaw=0.0884 left_pitch=-0.2953 left_roll=0.0745 left_gripper=0.9968 right_x=0.3988 right_y=0.1735 right_z=0.2394 right_yaw=0.0592 right_pitch=-0.1162 right_roll=-0.0781 right_gripper=0.0316\nstate[joint_eff]: [-0.0068, -3.8085, 6.0239, 1.3358, -0.2173, -0.0513, -0.0122, -0.5402, -7.0496, 8.8821, 1.1453, 0.1636, -0.0562, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02582e3992d859e436c57fff879700afb1fe036c3c7c9c39674529ac8a1785c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:505ae34a0476a572d2eff3bc2660178c944cb846864be24231d33d8129b37273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:950705a3baac757940e1118e871d1fa5df230e2adaedde9f2faca47d7b138020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 6.277 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2831, 1.5238, -1.1656, -0.3283, -0.3069, 0.9968, 0.8112, 1.6569, 0.5995, 0.1707, 0.5938, 0.4824, 0.0288]\nstate[eef_state]: left_x=0.3128 left_y=-0.054 left_z=0.2925 left_yaw=0.0877 left_pitch=-0.2945 left_roll=0.0739 left_gripper=0.9968 right_x=0.3116 right_y=0.1898 right_z=0.0234 right_yaw=0.056 right_pitch=-0.1261 right_roll=-0.0881 right_gripper=0.0288\nstate[joint_eff]: [-0.1026, -4.0, 5.9282, 1.3748, -0.1734, -0.0562, -0.0073, -0.2256, -6.1744, 4.9573, 1.1355, 0.1832, 0.0708, 0.5299]\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]: [-0.363, 1.2831, 1.5238, -1.1656, -0.3286, -0.3069, 0.9968, 0.8112, 1.4376, 0.786, -0.231, 0.5896, 0.4774, 0.0304]\nstate[eef_state]: left_x=0.3128 left_y=-0.054 left_z=0.2925 left_yaw=0.0881 left_pitch=-0.2943 left_roll=0.0742 left_gripper=0.9968 right_x=0.3124 right_y=0.1915 right_z=0.1054 right_yaw=0.062 right_pitch=-0.1255 right_roll=-0.0866 right_gripper=0.0304\nstate[joint_eff]: [-0.0889, -3.9179, 6.065, 1.4042, -0.2222, -0.0513, -0.0073, -0.3624, -6.9949, 8.6085, 1.2625, 0.2173, 0.0073, 0.1441]",
      "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]: [-0.363, 1.2831, 1.5227, -1.1656, -0.3286, -0.3073, 0.9968, 0.5716, 1.544, 1.401, -0.63, 0.4286, 0.2798, 0.0316]\nstate[eef_state]: left_x=0.3127 left_y=-0.0539 left_z=0.2921 left_yaw=0.0884 left_pitch=-0.2953 left_roll=0.0745 left_gripper=0.9968 right_x=0.3988 right_y=0.1735 right_z=0.2394 right_yaw=0.0592 right_pitch=-0.1162 right_roll=-0.0781 right_gripper=0.0316\nstate[joint_eff]: [-0.0068, -3.8085, 6.0239, 1.3358, -0.2173, -0.0513, -0.0122, -0.5402, -7.0496, 8.8821, 1.1453, 0.1636, -0.0562, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02582e3992d859e436c57fff879700afb1fe036c3c7c9c39674529ac8a1785c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:505ae34a0476a572d2eff3bc2660178c944cb846864be24231d33d8129b37273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:950705a3baac757940e1118e871d1fa5df230e2adaedde9f2faca47d7b138020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JwFi3kNjcbhoGiZNBuMDAB",
      "input": {
        "note": "The close was empty — the pen is still on the table. Returning over it and going right down to table level this time so the jaws straddle the full pen diameter.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.315,
          "right_y": 0.19,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01JwFi3kNjcbhoGiZNBuMDAB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.285, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.7918, 1.7168, 0.5911, 0.2852, 0.5785, 0.4553, 0.9967]\nstate[eef_state]: left_x=0.3129 left_y=-0.0541 left_z=0.2914 left_yaw=0.0884 left_pitch=-0.2975 left_roll=0.0753 left_gripper=0.9968 right_x=0.3216 right_y=0.1933 right_z=0.0156 right_yaw=0.0658 right_pitch=-0.101 right_roll=-0.0692 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -4.1504, 6.106, 1.3065, -0.1929, -0.0366, -0.0122, 0.3487, -4.2872, 2.9744, 0.5348, 0.022, 0.0952, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:693e428d9bf08d0d21af3801475390c1885342ddd4e897365e1ff032055e9100",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349240d66036898dd038798a4bc6f5c85296279ac3d40520b9d134cc16e575ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f584e43f4c5f3fe5d3c626cf7abc2d848f844ea1222028081ed759aabc71239",
        "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 · 8.515 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]: [-0.363, 1.2831, 1.5238, -1.1656, -0.3286, -0.3069, 0.9968, 0.8112, 1.4376, 0.786, -0.231, 0.5896, 0.4774, 0.0304]\nstate[eef_state]: left_x=0.3128 left_y=-0.054 left_z=0.2925 left_yaw=0.0881 left_pitch=-0.2943 left_roll=0.0742 left_gripper=0.9968 right_x=0.3124 right_y=0.1915 right_z=0.1054 right_yaw=0.062 right_pitch=-0.1255 right_roll=-0.0866 right_gripper=0.0304\nstate[joint_eff]: [-0.0889, -3.9179, 6.065, 1.4042, -0.2222, -0.0513, -0.0073, -0.3624, -6.9949, 8.6085, 1.2625, 0.2173, 0.0073, 0.1441]",
      "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]: [-0.363, 1.2831, 1.5227, -1.1656, -0.3286, -0.3073, 0.9968, 0.5716, 1.544, 1.401, -0.63, 0.4286, 0.2798, 0.0316]\nstate[eef_state]: left_x=0.3127 left_y=-0.0539 left_z=0.2921 left_yaw=0.0884 left_pitch=-0.2953 left_roll=0.0745 left_gripper=0.9968 right_x=0.3988 right_y=0.1735 right_z=0.2394 right_yaw=0.0592 right_pitch=-0.1162 right_roll=-0.0781 right_gripper=0.0316\nstate[joint_eff]: [-0.0068, -3.8085, 6.0239, 1.3358, -0.2173, -0.0513, -0.0122, -0.5402, -7.0496, 8.8821, 1.1453, 0.1636, -0.0562, 0.1148]",
      "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]: [-0.363, 1.285, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.7918, 1.7168, 0.5911, 0.2852, 0.5785, 0.4553, 0.9967]\nstate[eef_state]: left_x=0.3129 left_y=-0.0541 left_z=0.2914 left_yaw=0.0884 left_pitch=-0.2975 left_roll=0.0753 left_gripper=0.9968 right_x=0.3216 right_y=0.1933 right_z=0.0156 right_yaw=0.0658 right_pitch=-0.101 right_roll=-0.0692 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -4.1504, 6.106, 1.3065, -0.1929, -0.0366, -0.0122, 0.3487, -4.2872, 2.9744, 0.5348, 0.022, 0.0952, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:693e428d9bf08d0d21af3801475390c1885342ddd4e897365e1ff032055e9100",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349240d66036898dd038798a4bc6f5c85296279ac3d40520b9d134cc16e575ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f584e43f4c5f3fe5d3c626cf7abc2d848f844ea1222028081ed759aabc71239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAYKjgEIEhgCKkBxRCXKpn5fXiQIL8Fx2P6MeuBxcPFdjcZ1vRuukJ+QAy4YCV3U4Eaw45fuv7Ti9BwO0vtZJRmW19rW8z3RIUh/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeK6zNUGEgyrUScRBuWv+eQf0ywaDBio8WLtJ9HSn4wDxyIwM5+xbg18VlyxXVFHpr9f0Bz6hSMDIzPVFloPZ5QD2vjStmsP7s0vt7BWC260GvR1Kp4ECFFIZjcSUkr7QJQ4Kegs9J8OUGU+/kwqs1+1r+vL01HmQdeMUn0H7AzAdHX+M9xmDlGGF6+mqR4drfODWN+h3eaFgFPn5qHFqzPpj24UfXJ8o+RzrPg51/0sNxon+KhhEVvRRLwjIYJriwwP8xOKRGye1kXfRkwIb6449N/hZ9GNW1HmI+7p8H0kL2gllzDFqp/Tl/01yuRFk5uQ9RKm27ZAgktgMxjnJTUcL10doaf9VMJkgLHoRS8ppiW541tHo/MnsbjUV4QUUQztIWAP1loZreCi5dG4mv5p1REX0pkQpPE/G9a17KAwd0nCnJzhCzFBI8sDPlNiqFsI1xMh/Ay9YC5EvPLymZIUncYwhbCGLTIiQj+1nlde6EnQFafDWcFPy3ww73QEIle0LcfoeQrJ8eBfFA0Oog9WtduoTLoEvoMTagJ5PDILZB/NM41caUmcfS+/iIVK1y+2gCUWdranRpf6jZaB8UvabE/tR/f9LO2axTMnijM00s7QMlrjFqkkR6qqseD1Cj9IAxZFLZR5Xt176Il3LlhSz3VlPXBycysmUcdxtUKsDHt2pbhb8R9OSWAHnVPprmr6PIW6x1HDZhCbYHfuU7F5vJ0OUrbGmiO5NiyU4djYC2IgkXV8CqrY87o+AnbEk0MXI3tfTcFiUvSGW+MpKvApmSSvQ1/KQyv3scSzPMHqQ/oso3ul9TQOM5v/vCz8cIl4+rIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Rge7QhDWL58YmcjWrRzS9",
      "input": {
        "note": "Blue pen is centred between the open jaws at table level; closing on it.",
        "targets": {
          "right_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_019Rge7QhDWL58YmcjWrRzS9",
      "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]: [-0.363, 1.285, 1.5227, -1.166, -0.3286, -0.3073, 0.9968, 0.7918, 1.7298, 0.5808, 0.308, 0.5747, 0.45, 0.1689]\nstate[eef_state]: left_x=0.313 left_y=-0.054 left_z=0.2915 left_yaw=0.0887 left_pitch=-0.2974 left_roll=0.0755 left_gripper=0.9968 right_x=0.3205 right_y=0.193 right_z=0.0111 right_yaw=0.0714 right_pitch=-0.1034 right_roll=-0.0715 right_gripper=0.1689\nstate[joint_eff]: [-0.0615, -3.8496, 5.9282, 1.3065, -0.2027, -0.0513, -0.0122, -0.1026, -7.9111, 5.5316, 1.1355, 0.2418, -0.0073, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2d302f87d7ca63f6611bb75815c0e9cd577404f9ed239591213f14df000b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4d2c00ea361640a304cfef70ac305299842b0280a4a49830b59c312d098caee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db7a4d4857e0db315402b85a35866a35326b2307053470f9a88237830430406b",
        "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 · 2.6 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]: [-0.363, 1.2831, 1.5227, -1.1656, -0.3286, -0.3073, 0.9968, 0.5716, 1.544, 1.401, -0.63, 0.4286, 0.2798, 0.0316]\nstate[eef_state]: left_x=0.3127 left_y=-0.0539 left_z=0.2921 left_yaw=0.0884 left_pitch=-0.2953 left_roll=0.0745 left_gripper=0.9968 right_x=0.3988 right_y=0.1735 right_z=0.2394 right_yaw=0.0592 right_pitch=-0.1162 right_roll=-0.0781 right_gripper=0.0316\nstate[joint_eff]: [-0.0068, -3.8085, 6.0239, 1.3358, -0.2173, -0.0513, -0.0122, -0.5402, -7.0496, 8.8821, 1.1453, 0.1636, -0.0562, 0.1148]",
      "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]: [-0.363, 1.285, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.7918, 1.7168, 0.5911, 0.2852, 0.5785, 0.4553, 0.9967]\nstate[eef_state]: left_x=0.3129 left_y=-0.0541 left_z=0.2914 left_yaw=0.0884 left_pitch=-0.2975 left_roll=0.0753 left_gripper=0.9968 right_x=0.3216 right_y=0.1933 right_z=0.0156 right_yaw=0.0658 right_pitch=-0.101 right_roll=-0.0692 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -4.1504, 6.106, 1.3065, -0.1929, -0.0366, -0.0122, 0.3487, -4.2872, 2.9744, 0.5348, 0.022, 0.0952, -0.0611]",
      "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]: [-0.363, 1.285, 1.5227, -1.166, -0.3286, -0.3073, 0.9968, 0.7918, 1.7298, 0.5808, 0.308, 0.5747, 0.45, 0.1689]\nstate[eef_state]: left_x=0.313 left_y=-0.054 left_z=0.2915 left_yaw=0.0887 left_pitch=-0.2974 left_roll=0.0755 left_gripper=0.9968 right_x=0.3205 right_y=0.193 right_z=0.0111 right_yaw=0.0714 right_pitch=-0.1034 right_roll=-0.0715 right_gripper=0.1689\nstate[joint_eff]: [-0.0615, -3.8496, 5.9282, 1.3065, -0.2027, -0.0513, -0.0122, -0.1026, -7.9111, 5.5316, 1.1355, 0.2418, -0.0073, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2d302f87d7ca63f6611bb75815c0e9cd577404f9ed239591213f14df000b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4d2c00ea361640a304cfef70ac305299842b0280a4a49830b59c312d098caee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db7a4d4857e0db315402b85a35866a35326b2307053470f9a88237830430406b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmAUKjgEIEhgCKkDVRfV4aLKUvZYqnym85zK9KHgxGx951RFBNMYdYLJpsmh8DVIKQD8S4J9QPJL4CCs+evxjSku8SnC3Ee2XwplDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeu6zNUGEgyFSth6TEUxiI9YLeIaDDbgdCGQe8cUuBMytyIwIwXD1HND/TsnssxAZZxGjXS59LMdcHRFTAYT2sRzFKaYqG0YrsE6XvHOuMiS1DiQKrYD7ObwuNx0qK4ujqq7A6w9AknG8OfbYDfIIidJi1PDMozX21zSUfHsXtZ+Kcrg1yu3B9XBTOOypfrU5Sxqrz0rZOeBQ0kvZOPz82PMmZmKXIaK6KTOfgB7Z1Hti5CGSwizyuHD6DDUbjbvymX3zYkKaG56j+HjJOwhREZv35dikE9/w7Px1gA2nsy0RVAqFISqyvGNqX46hbaG2pFk12sZprmnvw6JqLGewi30F2Mz1jdhHoy1znh+t6DgvSuQePUu0nOLVXE4Peuoemo4aO2lrT06OOMnmDq1KGy0k5XkaJSLC84t5vacF2IcZUeGBeLDv8FEaKfuuxJh2ifxnbZH8gh7NZDugYAFkwAlL2GoCmreAKnlW+Gz3rKZZojF4FFfEbKmOyEvm3OevzsPZBqmZLoKZXaZOU8bO9KVm5gNBU7hbmwX/kOlvUmjJy3sshiupiE3yUyJ0GgfFRADuFnvseR6Bf43/r4GVdirxT04vwSJ+qd9dp7ERTN1Cr+3nPGpXsMUjxnPGbFQGmEQhGGEjLiV1oCY9LnX3+lZTBI33UZIabpHPSZbyz6Hpt6qTagzN1kwjuwzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013sqwFpezTkJT9VEGtD4V7C",
      "input": {
        "note": "Gripper settled at 0.17 (~1.6 cm) — the pen is held. Lifting and carrying it over the right-hand basket, which will be the pen basket.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.17,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_013sqwFpezTkJT9VEGtD4V7C",
      "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]: [-0.3634, 1.285, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.5346, 1.5768, 1.2957, -0.4526, 0.3893, 0.244, 0.1718]\nstate[eef_state]: left_x=0.3129 left_y=-0.0542 left_z=0.2914 left_yaw=0.088 left_pitch=-0.2975 left_roll=0.0753 left_gripper=0.9968 right_x=0.4171 right_y=0.1732 right_z=0.2094 right_yaw=0.0748 right_pitch=-0.0954 right_roll=-0.0638 right_gripper=0.1718\nstate[joint_eff]: [-0.3077, -4.041, 5.9829, 1.3114, -0.1148, -0.0366, -0.0073, -0.6359, -6.6667, 8.7453, 1.4872, 0.2125, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32a8defe1852d7c180181486d505b33bf16a920c0dbe076415098b50145d2074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97e86fc03f654c5fa1706c537273fed1cc976d03bd3ca05504dbd8db1759f9d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ba26c19169ec9f315f244281faf5ddf52b0269a2e19e7495c34e3200a1f6a80",
        "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 · 12.26 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]: [-0.363, 1.285, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.7918, 1.7168, 0.5911, 0.2852, 0.5785, 0.4553, 0.9967]\nstate[eef_state]: left_x=0.3129 left_y=-0.0541 left_z=0.2914 left_yaw=0.0884 left_pitch=-0.2975 left_roll=0.0753 left_gripper=0.9968 right_x=0.3216 right_y=0.1933 right_z=0.0156 right_yaw=0.0658 right_pitch=-0.101 right_roll=-0.0692 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -4.1504, 6.106, 1.3065, -0.1929, -0.0366, -0.0122, 0.3487, -4.2872, 2.9744, 0.5348, 0.022, 0.0952, -0.0611]",
      "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]: [-0.363, 1.285, 1.5227, -1.166, -0.3286, -0.3073, 0.9968, 0.7918, 1.7298, 0.5808, 0.308, 0.5747, 0.45, 0.1689]\nstate[eef_state]: left_x=0.313 left_y=-0.054 left_z=0.2915 left_yaw=0.0887 left_pitch=-0.2974 left_roll=0.0755 left_gripper=0.9968 right_x=0.3205 right_y=0.193 right_z=0.0111 right_yaw=0.0714 right_pitch=-0.1034 right_roll=-0.0715 right_gripper=0.1689\nstate[joint_eff]: [-0.0615, -3.8496, 5.9282, 1.3065, -0.2027, -0.0513, -0.0122, -0.1026, -7.9111, 5.5316, 1.1355, 0.2418, -0.0073, 0.9988]",
      "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]: [-0.3634, 1.285, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.5346, 1.5768, 1.2957, -0.4526, 0.3893, 0.244, 0.1718]\nstate[eef_state]: left_x=0.3129 left_y=-0.0542 left_z=0.2914 left_yaw=0.088 left_pitch=-0.2975 left_roll=0.0753 left_gripper=0.9968 right_x=0.4171 right_y=0.1732 right_z=0.2094 right_yaw=0.0748 right_pitch=-0.0954 right_roll=-0.0638 right_gripper=0.1718\nstate[joint_eff]: [-0.3077, -4.041, 5.9829, 1.3114, -0.1148, -0.0366, -0.0073, -0.6359, -6.6667, 8.7453, 1.4872, 0.2125, -0.0513, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32a8defe1852d7c180181486d505b33bf16a920c0dbe076415098b50145d2074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97e86fc03f654c5fa1706c537273fed1cc976d03bd3ca05504dbd8db1759f9d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ba26c19169ec9f315f244281faf5ddf52b0269a2e19e7495c34e3200a1f6a80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2QIKjgEIEhgCKkD45S4CZ9JE21UexyAYcIVNMgqd8rVLaLslhSq+aJAlkFgql/MNtK2OZ4EHRe6Ahe4k/IqIQYXofSgicoXLoAZlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+6zNUGEgzlfXXyZ0Oh0y3ZSlYaDHNF500mYQIG16UveCIw3JFxlqMRyvY0YY0X71vMuxmvVWdveOit1imI3r+0JO6QN0LyJa/KvxotNBHvg8avKnh38TMKp0Ov0rl8LjutZC2JqiU0HpmShflmfm7ysFjd4oMibS2h/OILLsBrhYXaKKD4PrjDjTRCwm+TpsdDkjVIjL+rAqbj1L3cOp5ZLtskGS9ifRAUQDd061/IARVSD2nxU9q5ouNVmvNAkj7EWeQ754j5w7vSyOAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AueHmHx9XRY8TK2VH2WSwd",
      "input": {
        "note": "The pen is held directly over the right basket; opening to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01AueHmHx9XRY8TK2VH2WSwd",
      "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]: [-0.3634, 1.2869, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.5308, 1.5822, 1.2945, -0.4694, 0.3801, 0.239, 0.9956]\nstate[eef_state]: left_x=0.3132 left_y=-0.0543 left_z=0.2909 left_yaw=0.0883 left_pitch=-0.2992 left_roll=0.0761 left_gripper=0.9968 right_x=0.4153 right_y=0.172 right_z=0.2034 right_yaw=0.0799 right_pitch=-0.1192 right_roll=-0.0724 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -4.0274, 6.2154, 1.3455, -0.1832, -0.0611, -0.0122, 0.2393, -8.1299, 6.9402, 1.6923, 0.2271, -0.0464, -0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08b9c8af223d30d61e4ffda373bfcedbd92dd5c30e70112d941248c3a0b10acd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f114ea0f014a9029aa9e69cebc6a9621cc9eb2dd529d3a84cfa9d71b6ff22deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6578e5d97f6c32a8ec69b288554f22d49ccf004910bab65421e82ee6a402ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 5.309 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]: [-0.363, 1.285, 1.5227, -1.166, -0.3286, -0.3073, 0.9968, 0.7918, 1.7298, 0.5808, 0.308, 0.5747, 0.45, 0.1689]\nstate[eef_state]: left_x=0.313 left_y=-0.054 left_z=0.2915 left_yaw=0.0887 left_pitch=-0.2974 left_roll=0.0755 left_gripper=0.9968 right_x=0.3205 right_y=0.193 right_z=0.0111 right_yaw=0.0714 right_pitch=-0.1034 right_roll=-0.0715 right_gripper=0.1689\nstate[joint_eff]: [-0.0615, -3.8496, 5.9282, 1.3065, -0.2027, -0.0513, -0.0122, -0.1026, -7.9111, 5.5316, 1.1355, 0.2418, -0.0073, 0.9988]",
      "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]: [-0.3634, 1.285, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.5346, 1.5768, 1.2957, -0.4526, 0.3893, 0.244, 0.1718]\nstate[eef_state]: left_x=0.3129 left_y=-0.0542 left_z=0.2914 left_yaw=0.088 left_pitch=-0.2975 left_roll=0.0753 left_gripper=0.9968 right_x=0.4171 right_y=0.1732 right_z=0.2094 right_yaw=0.0748 right_pitch=-0.0954 right_roll=-0.0638 right_gripper=0.1718\nstate[joint_eff]: [-0.3077, -4.041, 5.9829, 1.3114, -0.1148, -0.0366, -0.0073, -0.6359, -6.6667, 8.7453, 1.4872, 0.2125, -0.0513, 1.033]\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]: [-0.3634, 1.2869, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.5308, 1.5822, 1.2945, -0.4694, 0.3801, 0.239, 0.9956]\nstate[eef_state]: left_x=0.3132 left_y=-0.0543 left_z=0.2909 left_yaw=0.0883 left_pitch=-0.2992 left_roll=0.0761 left_gripper=0.9968 right_x=0.4153 right_y=0.172 right_z=0.2034 right_yaw=0.0799 right_pitch=-0.1192 right_roll=-0.0724 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -4.0274, 6.2154, 1.3455, -0.1832, -0.0611, -0.0122, 0.2393, -8.1299, 6.9402, 1.6923, 0.2271, -0.0464, -0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08b9c8af223d30d61e4ffda373bfcedbd92dd5c30e70112d941248c3a0b10acd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f114ea0f014a9029aa9e69cebc6a9621cc9eb2dd529d3a84cfa9d71b6ff22deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6578e5d97f6c32a8ec69b288554f22d49ccf004910bab65421e82ee6a402ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KoWDh8adFkYMYUzRPrFNJu",
      "input": {
        "note": "First pen released over the right basket. Moving back down over the remaining dark pens on the right side of the table for the next grasp.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.16,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KoWDh8adFkYMYUzRPrFNJu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2877, 1.5227, -1.1648, -0.3286, -0.3073, 0.9968, 0.7036, 1.3491, 0.683, -0.1947, 0.4751, 0.3496, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2908 left_yaw=0.0889 left_pitch=-0.2988 left_roll=0.0762 left_gripper=0.9968 right_x=0.309 right_y=0.1609 right_z=0.0932 right_yaw=0.1103 right_pitch=-0.1696 right_roll=-0.1007 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.1094, 5.9556, 1.3797, -0.2222, -0.0415, -0.0073, 0.2667, -6.2291, 6.8855, 1.7705, 0.3834, 0.188, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:885941f02882a5bb888bd56c7e6b5f73cf0fa3e2070dbe028baead14e253fea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b5c2f77ff343b95a71152bf941e1eccf7ddb00e9dec6d8d38a2d1d24e02907b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c28f5c786cdc81f3c982ecc7fe70678ee52dd53d303a9ce60850489d3af3e37d",
        "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 · 9.376 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]: [-0.3634, 1.285, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.5346, 1.5768, 1.2957, -0.4526, 0.3893, 0.244, 0.1718]\nstate[eef_state]: left_x=0.3129 left_y=-0.0542 left_z=0.2914 left_yaw=0.088 left_pitch=-0.2975 left_roll=0.0753 left_gripper=0.9968 right_x=0.4171 right_y=0.1732 right_z=0.2094 right_yaw=0.0748 right_pitch=-0.0954 right_roll=-0.0638 right_gripper=0.1718\nstate[joint_eff]: [-0.3077, -4.041, 5.9829, 1.3114, -0.1148, -0.0366, -0.0073, -0.6359, -6.6667, 8.7453, 1.4872, 0.2125, -0.0513, 1.033]\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]: [-0.3634, 1.2869, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.5308, 1.5822, 1.2945, -0.4694, 0.3801, 0.239, 0.9956]\nstate[eef_state]: left_x=0.3132 left_y=-0.0543 left_z=0.2909 left_yaw=0.0883 left_pitch=-0.2992 left_roll=0.0761 left_gripper=0.9968 right_x=0.4153 right_y=0.172 right_z=0.2034 right_yaw=0.0799 right_pitch=-0.1192 right_roll=-0.0724 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -4.0274, 6.2154, 1.3455, -0.1832, -0.0611, -0.0122, 0.2393, -8.1299, 6.9402, 1.6923, 0.2271, -0.0464, -0.1685]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2877, 1.5227, -1.1648, -0.3286, -0.3073, 0.9968, 0.7036, 1.3491, 0.683, -0.1947, 0.4751, 0.3496, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2908 left_yaw=0.0889 left_pitch=-0.2988 left_roll=0.0762 left_gripper=0.9968 right_x=0.309 right_y=0.1609 right_z=0.0932 right_yaw=0.1103 right_pitch=-0.1696 right_roll=-0.1007 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.1094, 5.9556, 1.3797, -0.2222, -0.0415, -0.0073, 0.2667, -6.2291, 6.8855, 1.7705, 0.3834, 0.188, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:885941f02882a5bb888bd56c7e6b5f73cf0fa3e2070dbe028baead14e253fea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b5c2f77ff343b95a71152bf941e1eccf7ddb00e9dec6d8d38a2d1d24e02907b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c28f5c786cdc81f3c982ecc7fe70678ee52dd53d303a9ce60850489d3af3e37d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8gUKjgEIEhgCKkAP2dwkCaOGKesjCKPwjGGga6ynNVdyFCoir+JqpozZZNwN5hppLCdGOQOli/FSYYAmD62Nk4miM0upiNMpLHRgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYK7zNUGEgxYtcREEpV8zFB0O0IaDPloLq6Qhr3OUlDIQiIwpPbF4hRbr5DLG9ULXg/NGwdPS3dj+OIp6abFXRTl7DcFGgY1gHMRy/ncM4pS9lt0KpAEWK/VFlXIo3htjQRwpSGMpsSltdKhcj6wZZYumpmArVv5S+DJNTMeLUSoqbATqCS7djRzeCyabCjIsiVnmghiW/oHNiYrOSK8Ntit/3k/632ZQpF9zGkIc2YbXPTmK42GO0gnlFir9MgPKuEdKOHXf6LNgosMVOoc0mAtMuka1CxTm8n1zyhpaXh3+Hv77dJoKbxTzA7WUWdJxbjF4dnHO9HWybIZiBwRwI1eUxiKoYv2/eq23ujz110wKS6MpL+FGdJJ5MO6MV7GFW6u1fwBKu2UlqovoiiGSvu2qLegiDOa/aFLE1VhqW9ikJIT654IZBZb5LAAzW74xHvYM8idToQrLGwu4qsJEKfCm53CbTGD3LSLO00bDBFxsALJxGay8pml9bigoege/DQNN7UJr5z/3aBoSoWjrNAfGWu7ssrbDIzzhW/HSLjgLKYyd6H+tmTahVcEMhCpyFqV2Ux3gv1wUFnhuv+xF9e9SCifVRgZH59s1m+Smu/jwWKLI7+alcGuuqY7yi3GdsMSOKQe8Nri0m0Rwbd7J/SHgjYt9VEpY9KPYmzJ3foGdJIyTSCyTN03agMIGcTx7xAy7Sp2BsQnZuOHYIge6NEoBs5zswtx6YgLY0KdWt85fpLlcHWI48O8YL0vLzrZxDuyWblWW4OSTQH0978OCJpik8vZDc9oaCG+Qn1BoI7V25e+/BWzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ftj1wGvRKWRA5jU57KbzvM",
      "input": {
        "note": "First pen is visible inside the right basket. A black pen now sits right on the jaw column; descending to table level to grasp it.",
        "targets": {
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Ftj1wGvRKWRA5jU57KbzvM",
      "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]: [-0.3634, 1.2877, 1.5227, -1.166, -0.3286, -0.3077, 0.9968, 0.7059, 1.6104, 0.5072, 0.2672, 0.4774, 0.3569, 0.9965]\nstate[eef_state]: left_x=0.3134 left_y=-0.0543 left_z=0.2907 left_yaw=0.0889 left_pitch=-0.2998 left_roll=0.0765 left_gripper=0.9968 right_x=0.3141 right_y=0.1659 right_z=0.0159 right_yaw=0.1091 right_pitch=-0.1477 right_roll=-0.0826 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -3.8496, 6.147, 1.3114, -0.1636, -0.0659, -0.0122, -0.2393, -3.6171, 2.7282, 0.5934, 0.0269, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34705b41490b97989616c855347b404c7d17a06c4847a935fca93ef95dee3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5958ca27f44180428085a7416dc5676bc0a5f77f2ee5d4c8fc2c6f575f39752d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8df773033b13e32ebf1687b56df7d7186afce662052759fee2995157aefdd352",
        "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 · 5.247 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]: [-0.3634, 1.2869, 1.5227, -1.166, -0.3283, -0.3073, 0.9968, 0.5308, 1.5822, 1.2945, -0.4694, 0.3801, 0.239, 0.9956]\nstate[eef_state]: left_x=0.3132 left_y=-0.0543 left_z=0.2909 left_yaw=0.0883 left_pitch=-0.2992 left_roll=0.0761 left_gripper=0.9968 right_x=0.4153 right_y=0.172 right_z=0.2034 right_yaw=0.0799 right_pitch=-0.1192 right_roll=-0.0724 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -4.0274, 6.2154, 1.3455, -0.1832, -0.0611, -0.0122, 0.2393, -8.1299, 6.9402, 1.6923, 0.2271, -0.0464, -0.1685]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2877, 1.5227, -1.1648, -0.3286, -0.3073, 0.9968, 0.7036, 1.3491, 0.683, -0.1947, 0.4751, 0.3496, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2908 left_yaw=0.0889 left_pitch=-0.2988 left_roll=0.0762 left_gripper=0.9968 right_x=0.309 right_y=0.1609 right_z=0.0932 right_yaw=0.1103 right_pitch=-0.1696 right_roll=-0.1007 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.1094, 5.9556, 1.3797, -0.2222, -0.0415, -0.0073, 0.2667, -6.2291, 6.8855, 1.7705, 0.3834, 0.188, 0.0659]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2877, 1.5227, -1.166, -0.3286, -0.3077, 0.9968, 0.7059, 1.6104, 0.5072, 0.2672, 0.4774, 0.3569, 0.9965]\nstate[eef_state]: left_x=0.3134 left_y=-0.0543 left_z=0.2907 left_yaw=0.0889 left_pitch=-0.2998 left_roll=0.0765 left_gripper=0.9968 right_x=0.3141 right_y=0.1659 right_z=0.0159 right_yaw=0.1091 right_pitch=-0.1477 right_roll=-0.0826 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -3.8496, 6.147, 1.3114, -0.1636, -0.0659, -0.0122, -0.2393, -3.6171, 2.7282, 0.5934, 0.0269, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34705b41490b97989616c855347b404c7d17a06c4847a935fca93ef95dee3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5958ca27f44180428085a7416dc5676bc0a5f77f2ee5d4c8fc2c6f575f39752d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df773033b13e32ebf1687b56df7d7186afce662052759fee2995157aefdd352",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FL1cK4t9qezbRUVdLSBxKm",
      "input": {
        "note": "A black pen lies just right of the jaw column in the wrist view; shifting ~4 cm to the arm's right to line up on it.",
        "targets": {
          "right_y": 0.125
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FL1cK4t9qezbRUVdLSBxKm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2884, 1.5227, -1.1656, -0.3286, -0.3073, 0.9968, 0.5777, 1.5398, 0.4179, 0.3359, 0.4057, 0.2817, 0.9965]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2905 left_yaw=0.0891 left_pitch=-0.3001 left_roll=0.0769 left_gripper=0.9968 right_x=0.318 right_y=0.1284 right_z=0.0169 right_yaw=0.0815 right_pitch=-0.1352 right_roll=-0.0688 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -4.1368, 6.065, 1.3553, -0.2125, -0.0708, -0.0122, -0.6222, -6.147, 4.3829, 1.453, 0.1343, -0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4de4d8e34b9e7e758e8a417514dd7dc66e2e3bc31236520316158f06d8c72e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d606cd013788fa222d794863746dd4da948f864845531e36cfdfb6822700e318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c035950e5a64a89e6eda9603b358a6d49a46c32e2235149ed1d0af30213e9f66",
        "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 · 5.478 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2877, 1.5227, -1.1648, -0.3286, -0.3073, 0.9968, 0.7036, 1.3491, 0.683, -0.1947, 0.4751, 0.3496, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2908 left_yaw=0.0889 left_pitch=-0.2988 left_roll=0.0762 left_gripper=0.9968 right_x=0.309 right_y=0.1609 right_z=0.0932 right_yaw=0.1103 right_pitch=-0.1696 right_roll=-0.1007 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.1094, 5.9556, 1.3797, -0.2222, -0.0415, -0.0073, 0.2667, -6.2291, 6.8855, 1.7705, 0.3834, 0.188, 0.0659]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2877, 1.5227, -1.166, -0.3286, -0.3077, 0.9968, 0.7059, 1.6104, 0.5072, 0.2672, 0.4774, 0.3569, 0.9965]\nstate[eef_state]: left_x=0.3134 left_y=-0.0543 left_z=0.2907 left_yaw=0.0889 left_pitch=-0.2998 left_roll=0.0765 left_gripper=0.9968 right_x=0.3141 right_y=0.1659 right_z=0.0159 right_yaw=0.1091 right_pitch=-0.1477 right_roll=-0.0826 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -3.8496, 6.147, 1.3114, -0.1636, -0.0659, -0.0122, -0.2393, -3.6171, 2.7282, 0.5934, 0.0269, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2884, 1.5227, -1.1656, -0.3286, -0.3073, 0.9968, 0.5777, 1.5398, 0.4179, 0.3359, 0.4057, 0.2817, 0.9965]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2905 left_yaw=0.0891 left_pitch=-0.3001 left_roll=0.0769 left_gripper=0.9968 right_x=0.318 right_y=0.1284 right_z=0.0169 right_yaw=0.0815 right_pitch=-0.1352 right_roll=-0.0688 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -4.1368, 6.065, 1.3553, -0.2125, -0.0708, -0.0122, -0.6222, -6.147, 4.3829, 1.453, 0.1343, -0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4de4d8e34b9e7e758e8a417514dd7dc66e2e3bc31236520316158f06d8c72e46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d606cd013788fa222d794863746dd4da948f864845531e36cfdfb6822700e318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c035950e5a64a89e6eda9603b358a6d49a46c32e2235149ed1d0af30213e9f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwUKjgEIEhgCKkAhFWDJfVBQSqW06ZfYVwvbH6XsGE38pYCu9oLPlVDGlTdXz5mygSvBbdbOHtYtIRkrI/qgPn9g39v6jhGoFCvAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZK7zNUGEgx+Bu0Ej3z3+/yoGD8aDIRJfNwvMXAq19hcByIwoObdb9us4JmOrNZN/t/2LQ3DXHgKBA4s57Oa9jOceazF88qJ+Mmp1UFmbbO0DNDEKuEDh+JrKU7gCzKx0LCttwX/gBCgqv2UlszKRHOil7bBB7eLO/pM17eu0k3jl5a1ZpSjH1GKe9EudxpdD7HArW6Kg35/qeIe2EojW+fPUcYDwHh6sGyOkbBNmqLbkDVeSuqnYVzBNh/XaOhG9k7csZvRmNxfQkBC0TXoQxAe8torT5NiXpgshrFCUB5Gt/LJI1EDJz2mXAAgiyl422HcQkiVJu10DKt5N3axELJ+qJ2j2+oH5HP9dv1sx6c9AJPMj7X/U5pKKfSL2iC6zSuw7UI9/FKTettsCs0LXK3exd8iaTUJjvo09AkXYar+8THIzKyFRywrIdk3WIGc/ntRBuAD+TKuU15uQ6Wwrsdd50w/AEVcAMqwIlc22F8y89Q7rOQv9tgW5AX96OKrzm0cpIwQk6I4uxTUqNkeiyIekNr2nstI4w6y3kc6j9OFS5hMqwu0TSq+6BQcGe+YVyTTpyo/ZkBDqvSsKbmlBZGsgIdSbYMaK9v+10vlAc2dCQVkt9v3tcC5rPgh/enmL3wv23X7bf+0GHITw46RUoqgZz/S5U6gGzKN8tQVXNSGH4bYv4yuo8hj0LgSmqs//9I1G74s9BNhhEUjVGjiTLQFvrWuHV6gcvV2n3/82FDxpcqvT6RQJhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DTtFv1VgvnLviFab3iF159",
      "input": {
        "note": "Black pen is now centred between the jaws at table level; closing on it.",
        "targets": {
          "right_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_01DTtFv1VgvnLviFab3iF159",
      "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]: [-0.363, 1.2884, 1.5227, -1.1656, -0.3283, -0.3073, 0.9968, 0.5701, 1.5318, 0.4084, 0.3355, 0.3893, 0.2733, 0.166]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2905 left_yaw=0.0888 left_pitch=-0.3003 left_roll=0.0766 left_gripper=0.9968 right_x=0.3159 right_y=0.1272 right_z=0.0155 right_yaw=0.0913 right_pitch=-0.1426 right_roll=-0.0657 right_gripper=0.166\nstate[joint_eff]: [-0.1983, -4.0821, 5.9282, 1.3358, -0.149, -0.0415, -0.0122, 0.4444, -4.4513, 5.641, 1.4628, 0.2613, 0.0366, 0.9792]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:992fdafa2d1412e271077bace0c0857b6707bbcb24abfd0e6a2f6b9514fbab1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:255bded90015fea865245c750c85126c8f3b38d29ce08913050e6182b0441f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2a9af3882ec15e62e96698bbd0f2708ef9931a35a20c1259f33d61712307a82",
        "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 · 5.514 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3634, 1.2877, 1.5227, -1.166, -0.3286, -0.3077, 0.9968, 0.7059, 1.6104, 0.5072, 0.2672, 0.4774, 0.3569, 0.9965]\nstate[eef_state]: left_x=0.3134 left_y=-0.0543 left_z=0.2907 left_yaw=0.0889 left_pitch=-0.2998 left_roll=0.0765 left_gripper=0.9968 right_x=0.3141 right_y=0.1659 right_z=0.0159 right_yaw=0.1091 right_pitch=-0.1477 right_roll=-0.0826 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -3.8496, 6.147, 1.3114, -0.1636, -0.0659, -0.0122, -0.2393, -3.6171, 2.7282, 0.5934, 0.0269, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2884, 1.5227, -1.1656, -0.3286, -0.3073, 0.9968, 0.5777, 1.5398, 0.4179, 0.3359, 0.4057, 0.2817, 0.9965]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2905 left_yaw=0.0891 left_pitch=-0.3001 left_roll=0.0769 left_gripper=0.9968 right_x=0.318 right_y=0.1284 right_z=0.0169 right_yaw=0.0815 right_pitch=-0.1352 right_roll=-0.0688 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -4.1368, 6.065, 1.3553, -0.2125, -0.0708, -0.0122, -0.6222, -6.147, 4.3829, 1.453, 0.1343, -0.1587, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2884, 1.5227, -1.1656, -0.3283, -0.3073, 0.9968, 0.5701, 1.5318, 0.4084, 0.3355, 0.3893, 0.2733, 0.166]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2905 left_yaw=0.0888 left_pitch=-0.3003 left_roll=0.0766 left_gripper=0.9968 right_x=0.3159 right_y=0.1272 right_z=0.0155 right_yaw=0.0913 right_pitch=-0.1426 right_roll=-0.0657 right_gripper=0.166\nstate[joint_eff]: [-0.1983, -4.0821, 5.9282, 1.3358, -0.149, -0.0415, -0.0122, 0.4444, -4.4513, 5.641, 1.4628, 0.2613, 0.0366, 0.9792]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:992fdafa2d1412e271077bace0c0857b6707bbcb24abfd0e6a2f6b9514fbab1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:255bded90015fea865245c750c85126c8f3b38d29ce08913050e6182b0441f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2a9af3882ec15e62e96698bbd0f2708ef9931a35a20c1259f33d61712307a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShAYKjgEIEhgCKkAOYy5Q+1loS0sTmmxjfWvZyvRTXhQQFnEDRioQvmeENRTvSdHhSGej5dZwSslowk10LlGJ142WEO5zWixsZeTNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZi7zNUGEgx6GWAAniXs6OiAZXMaDPZwsCmdDMFd8TYVcSIwn044fDdWU+7ix25HafV1N7KchgdoKSemlyrdazH+pawiV3Qk9HXJV663Ppzq6wv0KqIEyDWrzViDgrdYnO689XaAwoynDd5pzhAkwk6zZyDaIBlAbK1tm9AkUzWVbd/zkAEojgtfdDMY1o9jEytLgcTW04c30MHvq3QsZ9ni4mnUzlzg6mqPkr7Ncms5WUhi8nmGqmhCgY5meVXlROLTg3C/6mtXl9erYx+0AshlSU45caenhLd4zygN+4EDvO5yx4wmuAqpdTZylb3iuiLomqMMY1Lu9Q8EOBocpFg12hUoKrsoKKy3Q8eimxt+WP5vTe7Doli+i6YE7O/d9yWA7siCsARi3JMosG5XskUE/Oetut1o589blueuGj5d+77hP/Krt3yCNfbASFusiuGxp46EyaG0DGce9L58oUjbMhaSEVagTOWjW23Sjgy+6+NvtfumEygqcYAjWTh6ANafmDp/9fIkPIXB8Btaju7uqko7WZ07pnP08K1xLpKDqQtQF5bUO8W6fmyqj+1PzdYvBGZ03HPNWYmx+StVIBCxXYb6SJe8LloCHofxQSIrRE+sx2PgXYu+puE5pHv0rR8xk8p2HGpYol0+TuO2xIJsffPeAnwUhRMve7GxgoeKKj1SS6gbrdZ6RRd9slV7dYOW/B49L6CKiGprmDmBN+S6OkN6KnhSqvKwL/qEwNtPbbHnmZP6cd8/FurG6KJlpkoyZI7iH8oJmkHE7+9aiszhEGz3jqxXx0vx+ipU+SLtKXS6KbV3wVpPofGhpDzlac9fTm2hJfOvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WdnaC8ZBfbfHfJXvw6fs9s",
      "input": {
        "note": "Second pen grasped (gripper 0.17). Carrying it over the right basket, aiming a touch nearer than last time so it lands inside rather than on the far rim.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.19,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01WdnaC8ZBfbfHfJXvw6fs9s",
      "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]: [-0.363, 1.2884, 1.5227, -1.166, -0.3283, -0.3107, 0.9968, 0.5873, 1.5723, 1.3205, -0.5293, 0.3893, 0.2737, 0.1666]\nstate[eef_state]: left_x=0.3135 left_y=-0.0543 left_z=0.2904 left_yaw=0.0908 left_pitch=-0.3005 left_roll=0.0745 left_gripper=0.9968 right_x=0.4002 right_y=0.1902 right_z=0.2088 right_yaw=0.1087 right_pitch=-0.1365 right_roll=-0.0622 right_gripper=0.1666\nstate[joint_eff]: [-0.212, -4.0684, 6.0239, 1.2918, -0.1441, 0.0073, -0.0122, 0.5949, -7.0906, 9.1282, 1.1551, 0.2418, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d1d32d06a9cd9706e9ebcaa086cf79f96ba6ee1909ed5176810de917f2d87b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44982091736e10b4b6b1fa35b1774c466d39ff82425820175d9e9f5f5a0e7690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3bfbac462467c3373262f1c702ac29d5a3c525058889d0410b32377c119d823e",
        "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 · 4.608 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2884, 1.5227, -1.1656, -0.3286, -0.3073, 0.9968, 0.5777, 1.5398, 0.4179, 0.3359, 0.4057, 0.2817, 0.9965]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2905 left_yaw=0.0891 left_pitch=-0.3001 left_roll=0.0769 left_gripper=0.9968 right_x=0.318 right_y=0.1284 right_z=0.0169 right_yaw=0.0815 right_pitch=-0.1352 right_roll=-0.0688 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -4.1368, 6.065, 1.3553, -0.2125, -0.0708, -0.0122, -0.6222, -6.147, 4.3829, 1.453, 0.1343, -0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2884, 1.5227, -1.1656, -0.3283, -0.3073, 0.9968, 0.5701, 1.5318, 0.4084, 0.3355, 0.3893, 0.2733, 0.166]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2905 left_yaw=0.0888 left_pitch=-0.3003 left_roll=0.0766 left_gripper=0.9968 right_x=0.3159 right_y=0.1272 right_z=0.0155 right_yaw=0.0913 right_pitch=-0.1426 right_roll=-0.0657 right_gripper=0.166\nstate[joint_eff]: [-0.1983, -4.0821, 5.9282, 1.3358, -0.149, -0.0415, -0.0122, 0.4444, -4.4513, 5.641, 1.4628, 0.2613, 0.0366, 0.9792]",
      "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]: [-0.363, 1.2884, 1.5227, -1.166, -0.3283, -0.3107, 0.9968, 0.5873, 1.5723, 1.3205, -0.5293, 0.3893, 0.2737, 0.1666]\nstate[eef_state]: left_x=0.3135 left_y=-0.0543 left_z=0.2904 left_yaw=0.0908 left_pitch=-0.3005 left_roll=0.0745 left_gripper=0.9968 right_x=0.4002 right_y=0.1902 right_z=0.2088 right_yaw=0.1087 right_pitch=-0.1365 right_roll=-0.0622 right_gripper=0.1666\nstate[joint_eff]: [-0.212, -4.0684, 6.0239, 1.2918, -0.1441, 0.0073, -0.0122, 0.5949, -7.0906, 9.1282, 1.1551, 0.2418, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d1d32d06a9cd9706e9ebcaa086cf79f96ba6ee1909ed5176810de917f2d87b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44982091736e10b4b6b1fa35b1774c466d39ff82425820175d9e9f5f5a0e7690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bfbac462467c3373262f1c702ac29d5a3c525058889d0410b32377c119d823e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwYKjgEIEhgCKkBJLBrFb78rKQGH0RfbYSZ73PN3ACQ/kKxjU/LtDOWW0C24Q1Y8NV3tCIDnmYy7rVZ7yYRKFATCzkLdlGrqfGh2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ+7zNUGEgy+JP7Zy8VqJKDtWEUaDAQIrxbRJUO4IECniyIw8oNrnNZ1fi1CBsS3S544I8XujtGQIh8C6JKqzeRsPyxp3Ly6hFD5UTDUKEKrv3fuKqUECnLTyUhsVhtUCLAtzjXkoERXW+DgL6VPdfoNzyyW66KgEAiHUrl9/ny4M3MBmyCbEFsKHAzlB3mO1m3rAjyjRWW00LZ4O/DHlJrjKse5IXROuX2gB4iCh6MjVD6GO/sbq7b8UsFps8Ibe1MV8lOiovQGp+UgYSUM/pSwffk630tvobawbkBFo/72Ylj1IgaKA/iBHYV5YC3QYsyUVWNHOQXD3vJAJiO7K1zoKRdZ0dWubjKjv6E7sscak/eeqtlEfMPxuoqNAyzHSi183DD/R87kdcsJ+YJEXolT1CAgypJ6gIuIHRLUVwHuXc2V5RNgsldDxpc3f2raR4DjNe5byTW09U1b0CVmymyJeSGau/UT4TzK8TnSWlaB7U6NCSVfTrYjev3eTmLbWEzd/iHNwuZykGEnP0ITF9hF0f6PiLanz3y9bDMNTiUJCAFmcTcwSI0jGUpOKufaafZCzlCKCxHxqhQSEGNR12B33oSry04vtgQA5hN2loE1FQLvI7w+8beFEaYMtuAiadEpA/ABJgxnWYQp656BdqbubY02jJBORPeiMESwDFHEfGKmi2GDv+aavjVWkHBVXng+gCZV1KW9/LiXTeo4eYQgNXRWqpvJyqx0C5clvVaxKbjfqRgrFTLYCL17UPdUycB8svNIKIzlaITgd6jZrMAjtChNXVlQDBUoP4ZIEs+nBoRIdNChiFgT0NW3FbKsjUK1SjaUEfrmAxURGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XKNQ3JTZXf2a2mAiCcwbzB",
      "input": {
        "note": "Basket mouth sits just beyond the fingertips in the wrist view; reaching 4 cm further forward so the pen is over the middle of the basket.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XKNQ3JTZXf2a2mAiCcwbzB",
      "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]: [-0.3634, 1.2884, 1.5227, -1.166, -0.3286, -0.3134, 0.9968, 0.5339, 1.6981, 1.5185, -0.6277, 0.3496, 0.2363, 0.1673]\nstate[eef_state]: left_x=0.3135 left_y=-0.0544 left_z=0.2905 left_yaw=0.0922 left_pitch=-0.3002 left_roll=0.073 left_gripper=0.9968 right_x=0.4323 right_y=0.1894 right_z=0.2187 right_yaw=0.1058 right_pitch=-0.174 right_roll=-0.0764 right_gripper=0.1673\nstate[joint_eff]: [-0.1436, -4.0547, 5.9282, 1.3114, -0.1978, -0.0024, -0.0122, -0.759, -8.9915, 9.8667, 1.3895, 0.1636, -0.0415, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47801061562fdbdee7ec7e5fd4a727eea8a4021ef81205a520762cf7744ac3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a82ad9803fd9d353062500faeec713968ebeca19fe23b3fcd2a87885d5482fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2dcff34e9c4999cbf7820bf29fff0efea9239971c384af3fe2fcf38d3e594cd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.82 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.363, 1.2884, 1.5227, -1.1656, -0.3283, -0.3073, 0.9968, 0.5701, 1.5318, 0.4084, 0.3355, 0.3893, 0.2733, 0.166]\nstate[eef_state]: left_x=0.3136 left_y=-0.0543 left_z=0.2905 left_yaw=0.0888 left_pitch=-0.3003 left_roll=0.0766 left_gripper=0.9968 right_x=0.3159 right_y=0.1272 right_z=0.0155 right_yaw=0.0913 right_pitch=-0.1426 right_roll=-0.0657 right_gripper=0.166\nstate[joint_eff]: [-0.1983, -4.0821, 5.9282, 1.3358, -0.149, -0.0415, -0.0122, 0.4444, -4.4513, 5.641, 1.4628, 0.2613, 0.0366, 0.9792]",
      "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]: [-0.363, 1.2884, 1.5227, -1.166, -0.3283, -0.3107, 0.9968, 0.5873, 1.5723, 1.3205, -0.5293, 0.3893, 0.2737, 0.1666]\nstate[eef_state]: left_x=0.3135 left_y=-0.0543 left_z=0.2904 left_yaw=0.0908 left_pitch=-0.3005 left_roll=0.0745 left_gripper=0.9968 right_x=0.4002 right_y=0.1902 right_z=0.2088 right_yaw=0.1087 right_pitch=-0.1365 right_roll=-0.0622 right_gripper=0.1666\nstate[joint_eff]: [-0.212, -4.0684, 6.0239, 1.2918, -0.1441, 0.0073, -0.0122, 0.5949, -7.0906, 9.1282, 1.1551, 0.2418, 0.1441, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3634, 1.2884, 1.5227, -1.166, -0.3286, -0.3134, 0.9968, 0.5339, 1.6981, 1.5185, -0.6277, 0.3496, 0.2363, 0.1673]\nstate[eef_state]: left_x=0.3135 left_y=-0.0544 left_z=0.2905 left_yaw=0.0922 left_pitch=-0.3002 left_roll=0.073 left_gripper=0.9968 right_x=0.4323 right_y=0.1894 right_z=0.2187 right_yaw=0.1058 right_pitch=-0.174 right_roll=-0.0764 right_gripper=0.1673\nstate[joint_eff]: [-0.1436, -4.0547, 5.9282, 1.3114, -0.1978, -0.0024, -0.0122, -0.759, -8.9915, 9.8667, 1.3895, 0.1636, -0.0415, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47801061562fdbdee7ec7e5fd4a727eea8a4021ef81205a520762cf7744ac3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a82ad9803fd9d353062500faeec713968ebeca19fe23b3fcd2a87885d5482fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dcff34e9c4999cbf7820bf29fff0efea9239971c384af3fe2fcf38d3e594cd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAUKjgEIEhgCKkBtB51moY6BOdit21IWAj4pyIz3Rt5POZ8cnnLh/7/j2hH/YI447YgYHH7PJXScMeVEqk9PophnVT/JTS1pFsvXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaS7zNUGEgwWLTKEWmr4Co4IqfUaDESdo2xaLFwmMJyYOiIwSjeBfWaywoyyNLPu7YuTLdpDLFyBvYULHip+ihZ4WUHOrA5J6Bd8XHYPvrlTf3XUKsYD3FCDxIzLXZ+eK1LmNlFqDINQJ3IiOU9Ja6zG+HljLlCoQZ+hpNv/3lzB8VL8geiGvgmegINfC5ANTWOHI2ZpUUcFkNfTSfAnX34kfD2TaHhzLUdxyEc4j9ous/lbOFF71vR4GDkKebyiT6ujgGv4XZCHfm9+rUBcumOTbbJTh4dJRElK44vSzFOmoo8wu2umxskQGOKLsmUWXF6j+lXljKPSjIOZr5IGPOEwprAyscmXP/VDbKG/ptSQZN0TYYyS5ggqkhp+Ikn2NZL/VCN+QePJYipnXS6LU3RH+b49hD1SJVTMNefq0K0uD3XMGYVBroYblaHfof2YmME53Zh/EiAjjBRq5KYZp0wxI6789VxIAMENijaqKlOyWYGAd5MXqR5ASCA/sXCT7dJIOPLa1MwtLzicDpJFReZZ0ZGzandCNe7OWLLZnQlT8RudTCpacZ/QYTpONtbjtA9EXo1WI53tqTNmh9NGWWujxz9V8bJKCOM88uCV+vWYqgEIgA7vvar9Ag3WhLI5+RYFDjBSHALLpJAnnu7kTQXhZnrcxoSa5SgzUEmti1QygnUSa2BLEz4QKs6IfmXaRJJ0KXgPEtOIeWOIphgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018r6uD13tsq4VZryqEh2ozZ",
      "input": {
        "note": "Pen held over the centre of the right basket; opening to release it inside.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018r6uD13tsq4VZryqEh2ozZ",
      "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]: [-0.3634, 1.2884, 1.5227, -1.1656, -0.3286, -0.3138, 0.9968, 0.5285, 1.7077, 1.5513, -0.6395, 0.3347, 0.2199, 0.9956]\nstate[eef_state]: left_x=0.3136 left_y=-0.0544 left_z=0.2905 left_yaw=0.0924 left_pitch=-0.2999 left_roll=0.0725 left_gripper=0.9968 right_x=0.4361 right_y=0.1916 right_z=0.2255 right_yaw=0.1223 right_pitch=-0.1686 right_roll=-0.074 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -4.0957, 6.1744, 1.3065, -0.2271, -0.022, -0.0122, -0.6085, -9.1282, 9.1829, 1.5165, 0.1636, 0.0024, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac688b4a1b9bae4d60718055c3865092d0d44c19ba78f74126f982a6767ae05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b864209d0a3e181d8210cb1833385554f72066e5aa017cb79b1286dcb3ebb84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:babaeddc3146360f8861effdfe557ac41f56d13bb60e5d2c6851c216780c45a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 12.56 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]: [-0.363, 1.2884, 1.5227, -1.166, -0.3283, -0.3107, 0.9968, 0.5873, 1.5723, 1.3205, -0.5293, 0.3893, 0.2737, 0.1666]\nstate[eef_state]: left_x=0.3135 left_y=-0.0543 left_z=0.2904 left_yaw=0.0908 left_pitch=-0.3005 left_roll=0.0745 left_gripper=0.9968 right_x=0.4002 right_y=0.1902 right_z=0.2088 right_yaw=0.1087 right_pitch=-0.1365 right_roll=-0.0622 right_gripper=0.1666\nstate[joint_eff]: [-0.212, -4.0684, 6.0239, 1.2918, -0.1441, 0.0073, -0.0122, 0.5949, -7.0906, 9.1282, 1.1551, 0.2418, 0.1441, 1.0281]\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]: [-0.3634, 1.2884, 1.5227, -1.166, -0.3286, -0.3134, 0.9968, 0.5339, 1.6981, 1.5185, -0.6277, 0.3496, 0.2363, 0.1673]\nstate[eef_state]: left_x=0.3135 left_y=-0.0544 left_z=0.2905 left_yaw=0.0922 left_pitch=-0.3002 left_roll=0.073 left_gripper=0.9968 right_x=0.4323 right_y=0.1894 right_z=0.2187 right_yaw=0.1058 right_pitch=-0.174 right_roll=-0.0764 right_gripper=0.1673\nstate[joint_eff]: [-0.1436, -4.0547, 5.9282, 1.3114, -0.1978, -0.0024, -0.0122, -0.759, -8.9915, 9.8667, 1.3895, 0.1636, -0.0415, 0.989]",
      "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]: [-0.3634, 1.2884, 1.5227, -1.1656, -0.3286, -0.3138, 0.9968, 0.5285, 1.7077, 1.5513, -0.6395, 0.3347, 0.2199, 0.9956]\nstate[eef_state]: left_x=0.3136 left_y=-0.0544 left_z=0.2905 left_yaw=0.0924 left_pitch=-0.2999 left_roll=0.0725 left_gripper=0.9968 right_x=0.4361 right_y=0.1916 right_z=0.2255 right_yaw=0.1223 right_pitch=-0.1686 right_roll=-0.074 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -4.0957, 6.1744, 1.3065, -0.2271, -0.022, -0.0122, -0.6085, -9.1282, 9.1829, 1.5165, 0.1636, 0.0024, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac688b4a1b9bae4d60718055c3865092d0d44c19ba78f74126f982a6767ae05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b864209d0a3e181d8210cb1833385554f72066e5aa017cb79b1286dcb3ebb84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:babaeddc3146360f8861effdfe557ac41f56d13bb60e5d2c6851c216780c45a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS3wgKjgEIEhgCKkCcpy3Rwrk0YvgUADzlnFj1JYphPN39h7H15+3pDNIkFjWEPsoz411O+6d0mvF6BtqNkdLjwCujZT2vxPogidwoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAay7zNUGEgyuvijsbpMS9mHxQgkaDCgpMdZwnZImZgwP5SIwsRSZR3T0m7Aa1TXbL2WA0CpdnbNDHq/REvqSBrDqrQ6f8tyvuhuBigN6Apv0EvX2Kv0G1b0FwgD7nBrhFg5g8wSHJPclvqlF9dlJVyuhjVMjLpFVo7ImaPvP5M0WYt0rZ1oNYmsO4IO74fHd4Tdu0p4AAuCSrOtXvMFMDsfQkIFQJ1Isfh43KOHa+aKcUszVBt1K4pEVxINuliXtiXOQU3osohtlprI44kneW1o2UtumCLAMAIcc9gtnnY4C22GYsRZPD6OJ2Km12AXdghYn5X5guqPxAl3oAQn3Ob6JU6p1Y3fa6VlkllCB+Zwdbg/GJV4dr8X5OQl/8mjQ/tuaqyBPQKJ81gb0ID130dOPPB18nPxxkgOLPwJSKI2a4t/D+AzVojD6TqRLrSGESbNlzOMw76fTqGEEzQ/aINfI8jNNt0TNVrR8meUf7qe8CWcnuu09GntrhCd2M92YoVlVNq8dKZOYwSDXkHwdAxONJmAxU3kNHyDc1S8CjPkINL990UY9e8bK3S3x3lBWvpHZz2j1c5OTaWmBEQZpZzjSuVpSnjjQTmnwidq3n2lufPsoqkVs97X1SThe8AUQpveMygaISW2d9M4F3xrE37T41lx/1hxVrHLM2UVz0OQzK7gPeS3iP3dvOsScq0kifSVBwYumj5n1+Y3kPArra2kB5Hb84S1Oo0d6FNVEJhko3bBrEBghoioC5CihrJdlQMFVts2sej20qyswtB3/cQuL+bQRuZBL5QYgqEBhwhD3Dsr0dQ1ga/MYx5ZAzHtrTEfg0VQfH0V4t5QM0eI7Su5ZPa/rhBMoQl0NPmIb2NQiacpbhDnkY3v5FKMwNY85JGFasZlRT4DYsujlIiPQ/bEtmkadU+AJhJtPtJrUlooLnsxautv5oLKC0wBCNIPgtGoDIbsZRhfWwi92icKoBFSohIlxisTSjPuHBEOLbS3cMR1dT0ioq6ALjEVB7H6SZBzQ/rqfn3F0IygA0cCnYUud/pgdhEaoB8mFPy8c01hJAGHTkcNj4KBP2JZHUXiRm/ZaCTADBkZC4DU6Z/Xy3AMiKanTsNr23Jc5vW55i4iHMXUh1Q1tp1smCZgE5FLVv7ijLJT6Dbag9pajIq6KUh9/I9rC/og4VYPyfkQjG0M+dgccmKbTEtuPDxqsIlkWUKqaoX1k3ZWXdOfxwA5jYOr3qUZ2lcO3K9BBO3Fn/GtafAC70EtxUM82N5OT719FV4iAlm/00hJo53Jr7gLDvHzuJ18YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LK7mbxfvM9Bo1CKzew6xEi",
      "input": {
        "note": "Retracting the right arm out of the overhead view to check whether the two pens actually landed inside the right basket.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.05,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01LK7mbxfvM9Bo1CKzew6xEi",
      "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]: [-0.363, 1.2907, 1.5227, -1.1645, -0.3286, -0.3138, 0.9968, 0.3183, 0.8829, 1.0492, -0.8917, 0.1993, 0.0837, 0.9964]\nstate[eef_state]: left_x=0.3142 left_y=-0.0545 left_z=0.29 left_yaw=0.0929 left_pitch=-0.3009 left_roll=0.0731 left_gripper=0.9968 right_x=0.2626 right_y=0.0535 right_z=0.2545 right_yaw=0.1021 right_pitch=-0.1353 right_roll=-0.0653 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -4.2462, 5.9692, 1.3553, -0.1832, -0.0269, -0.0122, -0.2393, -1.1009, 6.5709, 1.5897, -0.0171, -0.0855, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed76a8c77fc51c5f0726a257f494f876dc284e2f76f15ad0b25b1029a7870bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:361ab5075d39cbb081a6000ba197c8d635bd2508b23321cb29faabaf2e45a82e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ea2f2cb81b7a85bfc21b2d808b9330885a473bf1ede5cffd1ca46b5b940c4d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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