adhoc

completed
2026-09-23T00:57:03.617513+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
533.1 s
total steps
421
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 at the back and a cluster of plush dog toys plus several pens/markers nearer the front. Plan: plush toys into one basket, pens into the other. Moving the right arm above the plush cluster to look.
move_to
right_x0.2600right_y0.3000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6163, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0132, -0.0162, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.6342, 9.3744, 1.8046, -0.0024, 0.1978, -0.0562, -0.7043, -1.4838, 9.9624, 1.746, -0.105, -0.0122, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_y": 0.3, "right_z": 0.15, "right_gripper": 1}, "note": "Top view shows two teal baskets at the back and a cluster of plush dog toys plus several pens/markers nearer the front. Plan: plush toys into one basket, pens into the other. Moving the right arm above the plush cluster to look."})
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 noteRight wrist camera shows a large plush dog directly under the jaws with the two baskets beyond it. Descending onto the plush's upper body to grasp it.
move_to
right_x0.2800right_y0.3050right_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]: [-0.0189, 0.8043, 0.6113, -0.3805, -0.0219, -0.0376, 0.9996, 1.1984, 1.6569, 1.1065, -0.5236, 0.8837, 0.9234, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0019 left_z=0.1804 left_yaw=0.0028 left_pitch=-0.011 left_roll=-0.0036 left_gripper=0.9996 right_x=0.2584 right_y=0.296 right_z=0.138 right_yaw=0.0151 right_pitch=-0.0316 right_roll=-0.0232 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.5385, 7.6376, 1.7216, -0.0415, -0.0269, -0.0122, 0.3624, -7.6786, 8.5538, 0.9597, 0.652, 0.1636, -0.0415] 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": {"right_x": 0.28, "right_y": 0.305, "right_z": 0.03}, "note": "Right wrist camera shows a large plush dog directly under the jaws with the two baskets beyond it. Descending onto the plush's upper body to grasp it."})
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 noteWrist view is filled with the plush dog's fur, so the jaws are straddling its body. Closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8051, 0.6113, -0.3805, -0.0216, -0.038, 0.9996, 1.1625, 1.887, 0.9611, 0.0284, 0.8631, 0.8757, 0.9997] state[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1802 left_yaw=0.0027 left_pitch=-0.0118 left_roll=-0.0041 left_gripper=0.9996 right_x=0.2837 right_y=0.3269 right_z=0.0588 right_yaw=0.0168 right_pitch=0.0236 right_roll=0.1055 right_gripper=0.9997 state[joint_eff]: [-0.0752, -1.3607, 7.0632, 1.7265, -0.0171, -0.0464, -0.0171, -1.4974, -5.9145, 3.453, 0.6374, 0.2369, -0.2662, -0.0171] 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": {"right_gripper": 0}, "note": "Wrist view is filled with the plush dog's fur, so the jaws are straddling its body. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteGripper settled at 0.27 (≈2.5 cm of plush between the jaws), so the toy is held. Lifting and carrying it over the right-hand basket, which will be the basket for plush toys.
move_to
right_x0.4000right_y0.1900right_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6109, -0.3801, -0.0223, -0.038, 0.9996, 1.1637, 1.8832, 0.9619, 0.065, 0.8631, 0.8825, 0.2654] state[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1799 left_yaw=0.0033 left_pitch=-0.0126 left_roll=-0.0037 left_gripper=0.9996 right_x=0.2856 right_y=0.3324 right_z=0.0649 right_yaw=0.0131 right_pitch=0.0401 right_roll=0.1491 right_gripper=0.2654 state[joint_eff]: [-0.1026, -1.4017, 7.3915, 1.7216, -0.0171, -0.0513, -0.0171, -0.3897, -8.6359, 5.5179, 0.9792, 0.3053, -0.1099, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.19, "right_z": 0.28}, "note": "Gripper settled at 0.27 (\u22482.5 cm of plush between the jaws), so the toy is held. Lifting and carrying it over the right-hand basket, which will be the basket for plush toys."})
tool
executing move_to over 14 steps (1.4s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent notePlush toy is hanging from the jaws; the wrist view shows the basket opening up and to the right of the tool, so shifting further forward and to the arm's right to centre over the basket.
move_to
right_x0.4300right_y0.1400right_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.6182, 1.4998, 1.285, -0.4255, 0.4507, 0.4492, 0.2668] state[eef_state]: left_x=0.2962 left_y=0.0019 left_z=0.1793 left_yaw=0.003 left_pitch=-0.0141 left_roll=-0.0039 left_gripper=0.9996 right_x=0.3989 right_y=0.1936 right_z=0.245 right_yaw=-0.0008 right_pitch=-0.0123 right_roll=0.1207 right_gripper=0.2668 state[joint_eff]: [-0.294, -1.0325, 7.159, 1.6972, -0.0317, -0.0415, -0.0122, -0.1846, -9.5385, 9.9077, 1.663, 0.1832, -0.0415, 0.3785] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.14, "right_z": 0.28}, "note": "Plush toy is hanging from the jaws; the wrist view shows the basket opening up and to the right of the tool, so shifting further forward and to the arm's right to centre over the basket."})
tool
executing move_to over 5 steps (0.5s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteTop view shows the held plush now over the right basket; releasing it to drop the toy 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]: [-0.0189, 0.8116, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.4309, 1.5089, 1.3563, -0.5274, 0.3111, 0.345, 0.2699] state[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1775 left_yaw=0.0027 left_pitch=-0.0202 left_roll=-0.004 left_gripper=0.9995 right_x=0.4212 right_y=0.138 right_z=0.2479 right_yaw=-0.0201 right_pitch=-0.0842 right_roll=0.0886 right_gripper=0.2699 state[joint_eff]: [-0.1299, -1.7709, 7.0769, 1.7216, -0.0415, -0.0659, -0.0171, -0.1846, -7.2547, 11.0974, 1.7949, 0.1148, -0.0024, 0.315] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Top view shows the held plush now over the right basket; releasing it to drop the toy in."})
tool
executing move_to over 8 steps (0.8s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe first plush is now sitting inside the right basket. Retracting the right arm and bringing the left arm down toward the white plush toy that its wrist camera shows just in front of the jaws.
move_to
right_x0.3000right_y0.0500right_z0.2500left_x0.3000left_y0.0400left_z0.0800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8116, 0.6094, -0.3805, -0.0223, -0.0383, 0.9996, 0.4149, 1.5101, 1.383, -0.5232, 0.2783, 0.3168, 0.9955] state[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1775 left_yaw=0.0036 left_pitch=-0.0202 left_roll=-0.0039 left_gripper=0.9996 right_x=0.426 right_y=0.1385 right_z=0.2589 right_yaw=0.007 right_pitch=-0.0642 right_roll=0.0967 right_gripper=0.9955 state[joint_eff]: [-0.1573, -1.1692, 7.0632, 1.7314, -0.0317, -0.0757, -0.0171, 0.0752, -7.4598, 9.935, 1.7607, 0.1099, 0.0122, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.25, "left_x": 0.3, "left_y": 0.04, "left_z": 0.08, "left_gripper": 1}, "note": "The first plush is now sitting inside the right basket. Retracting the right arm and bringing the left arm down toward the white plush toy that its wrist camera shows just in front of the jaws."})
tool
executing move_to over 10 steps (1.0s)
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 noteThe left wrist camera is filled by the grey plush directly beneath the jaws. Descending the last few centimetres and closing to grasp it.
move_to
left_z0.0200left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2165, 0.984, 0.2848, 0.041, 0.1509, 0.0738, 0.9996, 0.2398, 0.9619, 0.9783, -0.6422, 0.1505, 0.223, 0.9964] state[eef_state]: left_x=0.2917 left_y=0.0407 left_z=0.0705 left_yaw=0.0321 left_pitch=-0.0871 left_roll=-0.0187 left_gripper=0.9996 right_x=0.308 right_y=0.0517 right_z=0.2494 right_yaw=-0.0106 right_pitch=-0.0608 right_roll=0.1004 right_gripper=0.9964 state[joint_eff]: [0.3077, -2.6325, 6.3658, 1.8877, 0.1685, 0.1245, -0.0562, -0.2393, -1.894, 7.241, 1.9121, 0.0122, -0.1148, 0.0806] 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_z": 0.02, "left_gripper": 0}, "note": "The left wrist camera is filled by the grey plush directly beneath the jaws. Descending the last few centimetres and closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteGripper closed to 0.12 on the grey plush, so it has a pinch of the toy. Because each arm can only reach its own basket, I'm designating the LEFT basket for plush toys; carrying the grey plush there now.
move_to
left_x0.4000left_y-0.1450left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.2173, 1.2205, 0.1772, 0.506, 0.1581, 0.0677, 0.1209, 0.2363, 0.9688, 0.973, -0.6544, 0.1379, 0.2092, 0.9965] state[eef_state]: left_x=0.3126 left_y=0.0442 left_z=0.0535 left_yaw=0.0306 left_pitch=0.0325 left_roll=-0.0055 left_gripper=0.1209 right_x=0.3066 right_y=0.0526 right_z=0.2424 right_yaw=0.0034 right_pitch=-0.0856 right_roll=0.0907 right_gripper=0.9965 state[joint_eff]: [-0.0889, -0.9915, 2.8923, 0.5739, -0.0464, 0.0122, 0.696, 0.1026, -2.7556, 7.2547, 1.79, 0.1343, 0.1148, -0.0024] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.145, "left_z": 0.28}, "note": "Gripper closed to 0.12 on the grey plush, so it has a pinch of the toy. Because each arm can only reach its own basket, I'm designating the LEFT basket for plush toys; carrying the grey plush there now."})
tool
executing move_to over 17 steps (1.7s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe lift failed — the grey plush is still on the table, so the jaws only held fur. Left basket is confirmed in view. Returning above the grey plush for a deeper regrasp.
move_to
left_x0.3100left_y0.0300left_z0.1000left_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]: [-0.5495, 1.4124, 1.2812, -0.461, -0.4717, -0.3416, 0.1226, 0.2352, 0.9726, 0.973, -0.6556, 0.1371, 0.2085, 0.9965] state[eef_state]: left_x=0.4002 left_y=-0.1468 left_z=0.2733 left_yaw=0.0088 left_pitch=0.0419 left_roll=-0.0221 left_gripper=0.1226 right_x=0.307 right_y=0.0524 right_z=0.2411 right_yaw=0.0032 right_pitch=-0.0905 right_roll=0.0894 right_gripper=0.9965 state[joint_eff]: [-0.212, -5.9556, 8.2803, 1.2772, -0.1978, -0.0611, 0.1636, -0.2393, -2.4957, 6.8034, 1.6386, 0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": 0.03, "left_z": 0.1, "left_gripper": 1}, "note": "The lift failed \u2014 the grey plush is still on the table, so the jaws only held fur. Left basket is confirmed in view. Returning above the grey plush for a deeper regrasp."})
tool
executing move_to over 16 steps (1.6s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteLeft wrist view shows the grey plush about 5 cm to the arm's right with a yellow pen beside it. Moving over the plush and down to table level for a deeper grasp of its body.
move_to
left_x0.3000left_y-0.0200left_z0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.136, 0.9722, 0.3088, 0.0864, 0.062, -0.0109, 0.9976, 0.2352, 0.9764, 0.971, -0.6594, 0.1368, 0.2085, 0.9965] state[eef_state]: left_x=0.306 left_y=0.0345 left_z=0.0923 left_yaw=0.0725 left_pitch=-0.0134 left_roll=-0.0269 left_gripper=0.9976 right_x=0.3067 right_y=0.0524 right_z=0.2384 right_yaw=0.0034 right_pitch=-0.0998 right_roll=0.0874 right_gripper=0.9965 state[joint_eff]: [0.1436, -2.441, 6.9675, 2.0342, 0.2759, 0.1734, 0.0904, -0.1573, -2.3316, 6.8991, 1.6679, 0.0562, -0.0659, -0.0122] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.02, "left_z": 0.005}, "note": "Left wrist view shows the grey plush about 5 cm to the arm's right with a yellow pen beside it. Moving over the plush and down to table level for a deeper grasp of its body."})
tool
executing move_to over 6 steps (0.6s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe yellow pen is lying radially just to the arm's right of the jaw column. Sliding 3 cm right at table level to straddle the pen before closing.
move_to
left_y-0.0500
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]: [-0.1921, 1.4586, 0.1001, 0.7055, -0.1913, -0.1509, 0.9981, 0.2352, 0.9817, 0.971, -0.6632, 0.1368, 0.2085, 0.9965] state[eef_state]: left_x=0.296 left_y=-0.0197 left_z=-0.0003 left_yaw=0.0336 left_pitch=-0.0768 left_roll=0.0097 left_gripper=0.9981 right_x=0.3068 right_y=0.0524 right_z=0.2361 right_yaw=0.0031 right_pitch=-0.1088 right_roll=0.0853 right_gripper=0.9965 state[joint_eff]: [0.253, -3.8359, 2.1128, 0.486, 0.5543, -0.5006, 0.0317, -0.1026, -2.5504, 6.8171, 1.7265, 0.0366, -0.0366, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.05}, "note": "The yellow pen is lying radially just to the arm's right of the jaw column. Sliding 3 cm right at table level to straddle the pen before closing."})
tool
executing move_to over 3 steps (0.3s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteYellow pen is now centred on the jaw column at table level; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3542, 1.4887, 0.1131, 0.7231, -0.2935, -0.2359, 0.9981, 0.2352, 0.9821, 0.971, -0.6617, 0.1368, 0.2054, 0.9965] state[eef_state]: left_x=0.2956 left_y=-0.051 left_z=0.0013 left_yaw=0.0022 left_pitch=-0.0579 left_roll=0.0003 left_gripper=0.9981 right_x=0.3071 right_y=0.0525 right_z=0.2363 right_yaw=0.0048 right_pitch=-0.1075 right_roll=0.0832 right_gripper=0.9965 state[joint_eff]: [0.3487, -3.412, 5.5453, 1.4481, -0.315, -0.0952, -0.0073, -0.0889, -2.3726, 6.7624, 1.6288, 0.0171, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Yellow pen is now centred on the jaw column at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteGripper settled at 0.16 (~1.5 cm) — the Sharpie is held. Pens belong in the right basket, which only the right arm can reach, so I'm carrying the pen across to a hand-off spot near the table centre line.
move_to
left_x0.3000left_y-0.3700left_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]: [-0.3725, 1.4883, 0.1299, 0.6807, -0.3401, -0.2665, 0.1642, 0.2352, 0.9878, 0.9676, -0.6621, 0.1368, 0.2047, 0.9965] state[eef_state]: left_x=0.2956 left_y=-0.0484 left_z=0.0001 left_yaw=0.0391 left_pitch=-0.0702 left_roll=0.0117 left_gripper=0.1642 right_x=0.3074 right_y=0.0526 right_z=0.233 right_yaw=0.0049 right_pitch=-0.1168 right_roll=0.0804 right_gripper=0.9965 state[joint_eff]: [-0.1846, -3.7949, 4.4103, 1.5067, -0.1294, -0.0513, 0.989, -0.2667, -2.7966, 7.2684, 1.619, 0.0024, -0.0366, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.37, "left_z": 0.12}, "note": "Gripper settled at 0.16 (~1.5 cm) \u2014 the Sharpie is held. Pens belong in the right basket, which only the right arm can reach, so I'm carrying the pen across to a hand-off spot near the table centre line."})
tool
executing move_to over 29 steps (2.9s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteAt the hand-off spot just past the table centre line; lowering to the table and releasing the pen so the right arm can pick it up for the right basket.
move_to
left_z0.0150left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.174, 2.0098, 1.4899, -0.6304, -0.8501, -1.0557, 0.1642, 0.2352, 0.9894, 0.9672, -0.6617, 0.1371, 0.205, 0.9965] state[eef_state]: left_x=0.2999 left_y=-0.3631 left_z=0.1111 left_yaw=0.0473 left_pitch=-0.0842 left_roll=-0.0026 left_gripper=0.1642 right_x=0.3076 right_y=0.0526 right_z=0.2325 right_yaw=0.0044 right_pitch=-0.1182 right_roll=0.0801 right_gripper=0.9965 state[joint_eff]: [-0.759, -10.2769, 8.335, 0.823, -0.4567, 0.2369, 1.033, -0.0342, -2.3043, 6.8171, 1.6435, 0.0122, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.015, "left_gripper": 1}, "note": "At the hand-off spot just past the table centre line; lowering to the table and releasing the pen so the right arm can pick it up for the right basket."})
tool
executing move_to over 9 steps (0.9s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent notePen released near the centre line. Pulling the left arm back to its home area and bringing the right arm over the pen so it can drop it into the right (pen) basket.
move_to
left_x0.3000left_y0.0000left_z0.2000right_x0.3000right_y0.2870right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1767, 2.1376, 1.3331, -0.3405, -0.8658, -1.0569, 0.9954, 0.2352, 0.9894, 0.9672, -0.6621, 0.1371, 0.2016, 0.9965] state[eef_state]: left_x=0.3007 left_y=-0.3634 left_z=0.0319 left_yaw=0.0516 left_pitch=-0.0689 left_roll=-0.0037 left_gripper=0.9954 right_x=0.3075 right_y=0.0525 right_z=0.2324 right_yaw=0.0062 right_pitch=-0.1184 right_roll=0.0773 right_gripper=0.9965 state[joint_eff]: [0.1162, -9.1692, 4.506, 0.9646, -0.2564, -0.022, -0.0611, -0.1436, -2.4, 6.7487, 1.6777, 0.022, -0.0171, -0.0073] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.2, "right_x": 0.3, "right_y": 0.287, "right_z": 0.12, "right_gripper": 1}, "note": "Pen released near the centre line. Pulling the left arm back to its home area and bringing the right arm over the pen so it can drop it into the right (pen) basket."})
tool
executing move_to over 33 steps (3.3s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteClear view now: plush toys (tan + white) are on the right half, so I'm switching the assignment — RIGHT basket for plush, LEFT basket for pens. The right wrist sees the white plush directly under the jaws; descending to the table and closing on it.
move_to
right_z0.0100right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0956, 0.8879, 0.7216, -0.4976, -0.1711, -0.1596, 0.9967, 1.021, 1.6577, 1.0412, -0.3786, 0.6704, 0.8059, 0.9986] state[eef_state]: left_x=0.2992 left_y=0.0051 left_z=0.1851 left_yaw=0.118 left_pitch=-0.0902 left_roll=-0.007 left_gripper=0.9967 right_x=0.2948 right_y=0.2779 right_z=0.1076 right_yaw=0.0248 right_pitch=-0.1575 right_roll=0.0383 right_gripper=0.9986 state[joint_eff]: [-0.1299, -2.6462, 9.7162, 1.5067, 0.0708, 0.188, 0.1294, 0.6222, -7.4325, 9.0872, 1.3407, 0.5983, 0.1197, -0.1587] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.01, "right_gripper": 0}, "note": "Clear view now: plush toys (tan + white) are on the right half, so I'm switching the assignment \u2014 RIGHT basket for plush, LEFT basket for pens. The right wrist sees the white plush directly under the jaws; descending to the table and closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteClosed on the white plush (reading 0.10). Lifting and carrying it over the right basket, which is now the plush basket.
move_to
right_x0.4200right_y0.1700right_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0952, 0.8909, 0.7273, -0.5083, -0.1604, -0.1574, 0.9969, 1.021, 1.8545, 0.8642, -0.0025, 0.6708, 0.7994, 0.098] state[eef_state]: left_x=0.2986 left_y=0.0034 left_z=0.1846 left_yaw=0.1083 left_pitch=-0.0994 left_roll=-0.01 left_gripper=0.9969 right_x=0.2956 right_y=0.279 right_z=0.019 right_yaw=0.0283 right_pitch=-0.1559 right_roll=0.0351 right_gripper=0.098 state[joint_eff]: [-0.1709, -1.935, 6.4752, 1.7216, -0.1783, -0.0855, 0.0024, -0.0068, -6.9949, 4.4786, 1.1111, 0.3053, 0.5055, 2.1172] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.17, "right_z": 0.26}, "note": "Closed on the white plush (reading 0.10). Lifting and carrying it over the right basket, which is now the plush basket."})
tool
executing move_to over 16 steps (1.6s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteCarrying the plush; nudging slightly further forward to be squarely over the right basket's opening before releasing.
move_to
right_x0.4400right_y0.1600right_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]: [-0.0952, 0.8921, 0.7254, -0.5091, -0.1574, -0.1574, 0.9969, 0.522, 1.6108, 1.5059, -0.6922, 0.3435, 0.3656, 0.0994] state[eef_state]: left_x=0.2984 left_y=0.0029 left_z=0.1832 left_yaw=0.1058 left_pitch=-0.1035 left_roll=-0.0111 left_gripper=0.9969 right_x=0.4143 right_y=0.1738 right_z=0.2408 right_yaw=0.0264 right_pitch=-0.1792 right_roll=0.0312 right_gripper=0.0994 state[joint_eff]: [-0.0889, -1.8803, 7.1043, 1.6777, -0.1099, -0.0659, -0.0122, -0.5812, -7.1043, 9.3607, 1.5458, 0.1636, -0.0024, 0.1392] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.16, "right_z": 0.22}, "note": "Carrying the plush; nudging slightly further forward to be squarely over the right basket's opening before releasing."})
tool
executing move_to over 2 steps (0.2s)
step 240
top_cam
camera top_cam step 240
left_cam
camera left_cam step 240
right_cam
camera right_cam step 240
assistant
agent noteOver the right basket; opening the jaws to drop the plush 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]: [-0.0952, 0.8936, 0.7254, -0.5098, -0.1577, -0.1574, 0.9969, 0.4854, 1.623, 1.5013, -0.6727, 0.3023, 0.3283, 0.1001] state[eef_state]: left_x=0.2984 left_y=0.003 left_z=0.1826 left_yaw=0.1062 left_pitch=-0.1057 left_roll=-0.0104 left_gripper=0.9969 right_x=0.4223 right_y=0.1674 right_z=0.2353 right_yaw=0.0439 right_pitch=-0.1895 right_roll=0.0312 right_gripper=0.1001 state[joint_eff]: [-0.1299, -1.9214, 6.9538, 1.6337, -0.105, -0.0757, -0.0122, -1.6615, -5.3538, 6.2701, 1.5995, 0.3443, -0.0806, 0.0659] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Over the right basket; opening the jaws to drop the plush in."})
tool
executing move_to over 9 steps (0.9s)
step 249
top_cam
camera top_cam step 249
left_cam
camera left_cam step 249
right_cam
camera right_cam step 249
assistant
agent noteBoth plush toys are now sitting inside the right basket. Pulling the right arm back and up to uncover the table so I can locate the remaining pens.
move_to
right_x0.2500right_y0.1000right_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]: [-0.0952, 0.8948, 0.7254, -0.5095, -0.1574, -0.1574, 0.9969, 0.4889, 1.6493, 1.4712, -0.6697, 0.2859, 0.318, 0.9942] state[eef_state]: left_x=0.2985 left_y=0.0029 left_z=0.1824 left_yaw=0.1059 left_pitch=-0.1065 left_roll=-0.0105 left_gripper=0.9969 right_x=0.4199 right_y=0.171 right_z=0.2113 right_yaw=0.0616 right_pitch=-0.2429 right_roll=0.0118 right_gripper=0.9942 state[joint_eff]: [-0.0615, -1.9487, 6.9128, 1.6337, -0.0757, -0.0513, -0.0122, -0.4991, -10.2632, 9.1556, 1.4237, 0.2125, 0.0611, -0.149] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.1, "right_z": 0.3}, "note": "Both plush toys are now sitting inside the right basket. Pulling the right arm back and up to uncover the table so I can locate the remaining pens."})
tool
executing move_to over 14 steps (1.4s)
step 263
top_cam
camera top_cam step 263
left_cam
camera left_cam step 263
right_cam
camera right_cam step 263
assistant
agent noteRight wrist view reveals a small brown plush and two pens lying on the table in front of the right basket. Moving down over the two pens to line up a grasp.
move_to
right_x0.2400right_y0.1700right_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0952, 0.8955, 0.7254, -0.5091, -0.1577, -0.1574, 0.9969, 0.5888, 1.1168, 1.3773, -1.1255, 0.334, 0.3824, 0.9949] state[eef_state]: left_x=0.2986 left_y=0.003 left_z=0.1823 left_yaw=0.1062 left_pitch=-0.1069 left_roll=-0.0102 left_gripper=0.9969 right_x=0.2624 right_y=0.1099 right_z=0.2901 right_yaw=0.0848 right_pitch=-0.2424 right_roll=0.0166 right_gripper=0.9949 state[joint_eff]: [-0.2393, -1.7709, 6.9538, 1.6532, -0.1343, -0.0611, -0.0073, 0.4991, -3.4256, 8.6906, 1.2723, 0.315, 0.0806, 0.0562] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.24, "right_y": 0.17, "right_z": 0.13}, "note": "Right wrist view reveals a small brown plush and two pens lying on the table in front of the right basket. Moving down over the two pens to line up a grasp."})
tool
executing move_to over 11 steps (1.1s)
step 274
top_cam
camera top_cam step 274
left_cam
camera left_cam step 274
right_cam
camera right_cam step 274
assistant
agent noteTwo markers lie side by side just to the arm's right of the jaw column. Shifting 2 cm right and descending to table level to close on both pens at once.
move_to
right_x0.2450right_y0.1450right_z0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0952, 0.8955, 0.7254, -0.5091, -0.1574, -0.157, 0.9969, 0.8974, 1.1275, 0.7692, -0.6632, 0.4973, 0.6289, 0.995] state[eef_state]: left_x=0.2986 left_y=0.0029 left_z=0.1822 left_yaw=0.1057 left_pitch=-0.1069 left_roll=-0.0101 left_gripper=0.9969 right_x=0.2345 right_y=0.1646 right_z=0.1287 right_yaw=0.1065 right_pitch=-0.2874 right_roll=-0.0173 right_gripper=0.995 state[joint_eff]: [-0.1026, -1.8803, 6.9128, 1.6581, -0.0952, -0.0122, -0.0122, 0.3761, -3.1521, 6.7897, 1.2967, 0.4615, 0.0757, -0.0073] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.245, "right_y": 0.145, "right_z": 0.005}, "note": "Two markers lie side by side just to the arm's right of the jaw column. Shifting 2 cm right and descending to table level to close on both pens at once."})
tool
executing move_to over 8 steps (0.8s)
step 282
top_cam
camera top_cam step 282
left_cam
camera left_cam step 282
right_cam
camera right_cam step 282
assistant
agent noteBoth markers are between the open jaws at table level; closing to grasp them.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0959, 0.8959, 0.7254, -0.5106, -0.1574, -0.1574, 0.9969, 0.7963, 1.3258, 0.3813, -0.0708, 0.4465, 0.5484, 0.995] state[eef_state]: left_x=0.2984 left_y=0.0027 left_z=0.1818 left_yaw=0.1052 left_pitch=-0.1088 left_roll=-0.0101 left_gripper=0.9969 right_x=0.2402 right_y=0.1416 right_z=0.01 right_yaw=0.0879 right_pitch=-0.3134 right_roll=-0.0348 right_gripper=0.995 state[joint_eff]: [-0.0068, -1.812, 7.1316, 1.7265, -0.0806, -0.0269, -0.0073, -0.5402, -1.9624, 3.535, 0.7937, 0.1343, -0.1538, -0.0122] camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Both markers are between the open jaws at table level; closing to grasp them."})
tool
executing move_to over 10 steps (1.0s)
step 292
assistant
agent noteGripper settled at 0.32 (~3 cm) — both markers are held. Reaching across to the far edge of the LEFT basket (the pen basket) to see if I can drop them in directly at the arm's y limit.
move_to
right_x0.4200right_y0.4000right_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]: [-0.0952, 0.8967, 0.7254, -0.511, -0.1574, -0.157, 0.9969, 0.7925, 1.3323, 0.3676, -0.0402, 0.4416, 0.5457, 0.3199] state[eef_state]: left_x=0.2984 left_y=0.0029 left_z=0.1816 left_yaw=0.1058 left_pitch=-0.1099 left_roll=-0.0095 left_gripper=0.9969 right_x=0.2405 right_y=0.1416 right_z=0.0075 right_yaw=0.0914 right_pitch=-0.3084 right_roll=-0.0262 right_gripper=0.3199 state[joint_eff]: [-0.2393, -1.7846, 7.1316, 1.6484, -0.0806, -0.0171, -0.0073, 0.253, -4.1504, 6.5573, 0.9255, 0.2027, 0.0024, 1.033] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.4, "right_z": 0.25}, "note": "Gripper settled at 0.32 (~3 cm) \u2014 both markers are held. Reaching across to the far edge of the LEFT basket (the pen basket) to see if I can drop them in directly at the arm's y limit."})
tool
executing move_to over 22 steps (2.2s)
step 314
assistant
agent noteThe right arm is stretched to its y limit with the jaws just over the left basket's interior; opening to drop both markers into the pen basket.
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]: [-0.0952, 0.9031, 0.7254, -0.5121, -0.1574, -0.157, 0.9969, 0.889, 2.6141, 2.8288, -1.401, 0.4706, 0.6285, 0.3194] state[eef_state]: left_x=0.2987 left_y=0.0029 left_z=0.1796 left_yaw=0.1059 left_pitch=-0.1174 left_roll=-0.008 left_gripper=0.9969 right_x=0.4123 right_y=0.3866 right_z=0.145 right_yaw=0.0727 right_pitch=-0.4191 right_roll=-0.1263 right_gripper=0.3194 state[joint_eff]: [0.0205, -2.2359, 6.9675, 1.6532, -0.0855, -0.0171, -0.0122, 0.3897, -22.2427, 12.7932, 0.5592, 0.6227, 0.0855, -0.0659] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The right arm is stretched to its y limit with the jaws just over the left basket's interior; opening to drop both markers into the pen basket."})
tool
executing move_to over 7 steps (0.7s)
step 321
assistant
agent noteMarkers released over the left (pen) basket. Retracting the right arm to uncover the view and moving the left arm toward the yellow pen lying near the front-left of the table.
move_to
right_x0.2800right_y0.1200right_z0.2800left_x0.2200left_y-0.1000left_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]: [-0.0959, 0.9031, 0.7254, -0.5114, -0.1574, -0.157, 0.9969, 0.8883, 2.6537, 2.9574, -1.5318, 0.4603, 0.617, 0.995] state[eef_state]: left_x=0.2988 left_y=0.0027 left_z=0.1797 left_yaw=0.1052 left_pitch=-0.1166 left_roll=-0.0081 left_gripper=0.9969 right_x=0.4023 right_y=0.3762 right_z=0.1513 right_yaw=0.071 right_pitch=-0.4557 right_roll=-0.1596 right_gripper=0.995 state[joint_eff]: [-0.0889, -1.9214, 6.9265, 1.6288, -0.0952, -0.0171, -0.0122, -0.2393, -15.5829, 6.1744, 0.5739, 0.3297, -0.0171, -0.1636] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.12, "right_z": 0.28, "left_x": 0.22, "left_y": -0.1, "left_z": 0.12}, "note": "Markers released over the left (pen) basket. Retracting the right arm to uncover the view and moving the left arm toward the yellow pen lying near the front-left of the table."})
tool
executing move_to over 22 steps (2.2s)
step 343
assistant
agent noteThe markers bounced back out onto the table in front of the right basket; a brown plush dog also remains. Going for the brown plush first — moving above it for a grasp.
move_to
right_x0.2800right_y0.2300right_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]: [-0.955, 0.8928, 0.5587, -0.6689, -0.7124, -0.8341, 0.9969, 0.6003, 1.4223, 1.6444, -1.3243, 0.3519, 0.345, 0.9963] state[eef_state]: left_x=0.2214 left_y=-0.1068 left_z=0.1223 left_yaw=0.0615 left_pitch=-0.1296 left_roll=-0.0142 left_gripper=0.9969 right_x=0.2908 right_y=0.1296 right_z=0.2752 right_yaw=0.0605 right_pitch=-0.4422 right_roll=-0.1471 right_gripper=0.9963 state[joint_eff]: [-0.0615, -1.306, 5.7641, 1.0183, -0.569, -0.0855, -0.0122, -0.2256, -6.2154, 5.8735, 0.9451, 0.0513, -0.0415, 0.1197] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.23, "right_z": 0.12}, "note": "The markers bounced back out onto the table in front of the right basket; a brown plush dog also remains. Going for the brown plush first \u2014 moving above it for a grasp."})
tool
executing move_to over 11 steps (1.1s)
step 354
assistant
agent noteBrown plush sits about 4 cm to the arm's left of the jaw column and slightly further out; moving over it and down to the table.
move_to
right_x0.3000right_y0.2650right_z0.0100
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]: [-0.9588, 0.9012, 0.5568, -0.6838, -0.7105, -0.8459, 0.9969, 0.8871, 1.5867, 1.2045, -0.8619, 0.445, 0.6079, 0.9964] state[eef_state]: left_x=0.2192 left_y=-0.1055 left_z=0.1182 left_yaw=0.0659 left_pitch=-0.1442 left_roll=-0.0025 left_gripper=0.9969 right_x=0.2756 right_y=0.2236 right_z=0.123 right_yaw=0.0794 right_pitch=-0.478 right_roll=-0.1669 right_gripper=0.9964 state[joint_eff]: [0.1846, -1.9624, 6.8308, 1.243, -0.4225, 0.0366, -0.0122, 0.4308, -6.8855, 6.4205, 0.7595, 0.5006, 0.1343, 0.0073] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.265, "right_z": 0.01}, "note": "Brown plush sits about 4 cm to the arm's left of the jaw column and slightly further out; moving over it and down to the table."})
tool
executing move_to over 8 steps (0.8s)
step 362
assistant
agent noteJaws are down at table level with the brown plush filling the wrist view; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9588, 0.902, 0.5568, -0.688, -0.7067, -0.8463, 0.9969, 0.8989, 1.8874, 1.1175, -0.5148, 0.4389, 0.6212, 0.9965] state[eef_state]: left_x=0.2185 left_y=-0.1054 left_z=0.1172 left_yaw=0.0645 left_pitch=-0.1495 left_roll=-0.0003 left_gripper=0.9969 right_x=0.2954 right_y=0.2566 right_z=0.015 right_yaw=0.0714 right_pitch=-0.5086 right_roll=-0.1883 right_gripper=0.9965 state[joint_eff]: [-0.2256, -1.5111, 6.8034, 1.1306, -0.4029, -0.0073, -0.0073, 0.8684, -8.4991, 5.1897, 0.8278, 0.2906, 0.0464, -0.0073] camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws are down at table level with the brown plush filling the wrist view; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 372
assistant
agent noteBrown plush grasped (0.21 ≈ 2 cm). Carrying it over to the right basket with the other plush toys.
move_to
right_x0.4300right_y0.1700right_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]: [-0.9588, 0.9031, 0.5568, -0.688, -0.7063, -0.8463, 0.9969, 0.9012, 1.8961, 1.1172, -0.4892, 0.4454, 0.6136, 0.2133] state[eef_state]: left_x=0.2185 left_y=-0.1055 left_z=0.117 left_yaw=0.0644 left_pitch=-0.1504 left_roll=0.0005 left_gripper=0.9969 right_x=0.2984 right_y=0.2601 right_z=0.0138 right_yaw=0.0806 right_pitch=-0.4937 right_roll=-0.1837 right_gripper=0.2133 state[joint_eff]: [-0.1983, -1.5521, 6.8444, 1.1453, -0.3883, -0.0171, -0.0073, -0.253, -9.853, 5.5043, 0.5543, 0.1343, 0.0464, 0.9597] camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.17, "right_z": 0.24}, "note": "Brown plush grasped (0.21 \u2248 2 cm). Carrying it over to the right basket with the other plush toys."})
tool
executing move_to over 15 steps (1.5s)
step 387
assistant
agent noteBrown plush is positioned over the right basket next to the other toys; opening to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9588, 0.9031, 0.5568, -0.6884, -0.7029, -0.8467, 0.9969, 0.4904, 1.9564, 2.0708, -1.1969, 0.2913, 0.2119, 0.2168] state[eef_state]: left_x=0.2182 left_y=-0.1059 left_z=0.1166 left_yaw=0.0627 left_pitch=-0.1531 left_roll=-0.001 left_gripper=0.9969 right_x=0.4351 right_y=0.1789 right_z=0.233 right_yaw=0.0838 right_pitch=-0.46 right_roll=-0.1628 right_gripper=0.2168 state[joint_eff]: [-0.1436, -1.4564, 6.5436, 1.1404, -0.3785, -0.0366, -0.0073, -0.3897, -10.0171, 7.8564, 0.5397, 0.1001, 0.0513, 0.6618] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 387): [image omitted: streamed camera frame] camera 'left_cam' (step 387): [image omitted: streamed camera frame] camera 'right_cam' (step 387): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Brown plush is positioned over the right basket next to the other toys; opening to release it."})
tool
executing move_to over 8 steps (0.8s)
step 395
assistant
agent noteThree plush toys are now in the right basket. Last item within reach is the yellow pen near the front-left, lying sideways; moving the left arm over it and rotating the wrist 90° so the jaws close across the pen.
move_to
left_x0.1700left_y-0.1450left_z0.0400left_yaw1.5700
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]: [-0.9588, 0.9035, 0.5568, -0.6884, -0.7025, -0.8467, 0.9969, 0.485, 1.9694, 2.0689, -1.2098, 0.2779, 0.202, 0.9948] state[eef_state]: left_x=0.2181 left_y=-0.1059 left_z=0.1165 left_yaw=0.0625 left_pitch=-0.1536 left_roll=-0.0008 left_gripper=0.9969 right_x=0.4339 right_y=0.178 right_z=0.2245 right_yaw=0.0905 right_pitch=-0.4912 right_roll=-0.1684 right_gripper=0.9948 state[joint_eff]: [-0.1026, -1.2103, 6.653, 1.1209, -0.3785, -0.0073, -0.0122, 0.4308, -11.3983, 6.2974, 1.1697, 0.2613, 0.0073, -0.1929] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 395): [image omitted: streamed camera frame] camera 'left_cam' (step 395): [image omitted: streamed camera frame] camera 'right_cam' (step 395): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.17, "left_y": -0.145, "left_z": 0.04, "left_yaw": 1.57}, "note": "Three plush toys are now in the right basket. Last item within reach is the yellow pen near the front-left, lying sideways; moving the left arm over it and rotating the wrist 90\u00b0 so the jaws close across the pen."})
tool
executing move_to over 10 steps (1.0s)
step 405
assistant
agent noteThe yawed target was unreachable, so returning the wrist to yaw 0; the yellow pen is short enough to grasp without rotating. Moving down onto it.
move_to
left_x0.1700left_y-0.1450left_z0.0300left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4488, 1.8072, 0.9817, -1.1049, -0.7547, -2.0495, 0.9969, 0.4839, 1.9732, 2.067, -1.2079, 0.2752, 0.1978, 0.9963] state[eef_state]: left_x=0.2539 left_y=0.016 left_z=0.0435 left_yaw=1.4503 left_pitch=-0.1885 left_roll=0.0303 left_gripper=0.9969 right_x=0.4345 right_y=0.1782 right_z=0.2223 right_yaw=0.0934 right_pitch=-0.496 right_roll=-0.1699 right_gripper=0.9963 state[joint_eff]: [-1.7846, -8.1299, 3.8359, -0.398, -0.3297, -0.4811, -0.0073, 0.0205, -10.6735, 6.2017, 1.1209, 0.1978, -0.022, 0.1392] camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.17, "left_y": -0.145, "left_z": 0.03, "left_yaw": 0}, "note": "The yawed target was unreachable, so returning the wrist to yaw 0; the yellow pen is short enough to grasp without rotating. Moving down onto it."})
tool
executing move_to over 15 steps (1.5s)
step 420
assistant
agent noteI classified the objects into plush toys vs. pens/markers. All three plush toys (tan, grey/white, brown) are now inside the RIGHT basket. For the pens I designated the LEFT basket: I picked up the two black markers with the right arm and released them over the left basket at the arm's y limit, but they bounced back out onto the table, and a remaining short yellow pen near the front-left could not be reached — the left arm's IK stalled repeatedly at that near-base, cross-body pose. Plush sorting is complete; pen sorting is not.
done
hindsightKey geometry I had to learn the hard way: each arm can only reach its OWN basket. The baskets sit at about left_y = -0.145 / right_y = +0.16, both at x ≈ 0.42-0.44; that puts the opposite basket at |y| ≈ 0.5, outside the ±0.4 workspace box. So decide the class-to-basket assignment FIRST from where the objects lie (plush were mostly reachable by the right arm, pens were scattered), because re-assigning later costs many calls. Reaching the far basket at the y limit (right_y=0.4) does get the jaws over its rim, but objects dropped there bounce back out — don't count on it; use a hand-off drop near the centre line (left_y ≈ -0.36 ≈ right_y ≈ 0.29, reachable by both) instead. Other useful facts: plush toys grasp fine with a settled gripper reading of 0.10-0.32; a 0.10 reading (just fur) still lifted a toy once and failed once, so verify in the top view. Two markers lying side by side can be grabbed in one close (reads ≈0.32). Wrist-camera scale near the bottom of the frame is ≈10 px/cm — a 3 cm sideways move shifted the pen 30 px. Top-cam vertical scale is ≈4 px/cm in the working area and ≈2.1 px/cm horizontally near the baskets. Finally, low-x (<0.2) cross-body targets with a yaw command are frequently unreachable: the arm stalls halfway and the yaw stays partly applied.
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]: [-0.7689, 1.5894, 0.7151, -0.9016, -0.7864, -1.8469, 0.9969, 0.4839, 1.9751, 2.0666, -1.2068, 0.2745, 0.1974, 0.9964] state[eef_state]: left_x=0.2247 left_y=-0.0384 left_z=0.036 left_yaw=0.9799 left_pitch=-0.2016 left_roll=0.02 left_gripper=0.9969 right_x=0.4348 right_y=0.1785 right_z=0.2214 right_yaw=0.0941 right_pitch=-0.4973 right_roll=-0.1699 right_gripper=0.9964 state[joint_eff]: [-0.1709, -5.2855, 4.7385, -0.1392, -0.5836, 0.1099, -0.0122, -0.2667, -10.5368, 6.0923, 1.0232, 0.0708, -0.0659, 0.0024] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 420): [image omitted: streamed camera frame] camera 'left_cam' (step 420): [image omitted: streamed camera frame] camera 'right_cam' (step 420): [image omitted: streamed camera frame]
assistant
done({"summary": "I classified the objects into plush toys vs. pens/markers. All three plush toys (tan, grey/white, brown) are now inside the RIGHT basket. For the pens I designated the LEFT basket: I picked up the two black markers with the right arm and released them over the left basket at the arm's y limit, but they bounced back out onto the table, and a remaining short yellow pen near the front-left could not be reached \u2014 the left arm's IK stalled repeatedly at that near-base, cross-body pose. Plush sorting is complete; pen sorting is not.", "hindsight": "Key geometry I had to learn the hard way: each arm can only reach its OWN basket. The baskets sit at about left_y = -0.145 / right_y = +0.16, both at x \u2248 0.42-0.44; that puts the opposite basket at |y| \u2248 0.5, outside the \u00b10.4 workspace box. So decide the class-to-basket assignment FIRST from where the objects lie (plush were mostly reachable by the right arm, pens were scattered), because re-assigning later costs many calls. Reaching the far basket at the y limit (right_y=0.4) does get the jaws over its rim, but objects dropped there bounce back out \u2014 don't count on it; use a hand-off drop near the centre line (left_y \u2248 -0.36 \u2248 right_y \u2248 0.29, reachable by both) instead.\nOther useful facts: plush toys grasp fine with a settled gripper reading of 0.10-0.32; a 0.10 reading (just fur) still lifted a toy once and failed once, so verify in the top view. Two markers lying side by side can be grabbed in one close (reads \u22480.32). Wrist-camera scale near the bottom of the frame is \u224810 px/cm \u2014 a 3 cm sideways move shifted the pen 30 px. Top-cam vertical scale is \u22484 px/cm in the working area and \u22482.1 px/cm horizontally near the baskets. Finally, low-x (<0.2) cross-body targets with a yaw command are frequently unreachable: the arm stalls halfway and the yaw stays partly applied."})
tool
done: I classified the objects into plush toys vs. pens/markers. All three plush toys (tan, grey/white, brown) are now inside the RIGHT basket. For the pens I designated the LEFT basket: I picked up the two black markers with the right arm and released them over the left basket at the arm's y limit, but they bounced back out onto the table, and a remaining short yellow pen near the front-left could not be reached — the left arm's IK stalled repeatedly at that near-base, cross-body pose. Plush sorting is complete; pen sorting is not.
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 · 30.59 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6163, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.6342, 9.3744, 1.8046, -0.0024, 0.1978, -0.0562, -0.7043, -1.4838, 9.9624, 1.746, -0.105, -0.0122, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b25ec67cf4bf034dd75d2a1a251161ade9fb71d7efd78aba100925f9a07e85b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62abefff6cb4883e5698c5bb79412e45518f7ff9414401efffe7d6484382ecf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d826db2c693cd7b9ee8692d3eb34f5b5697b3d975cb05bd550afadcd3547609c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 11.17 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6163, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.6342, 9.3744, 1.8046, -0.0024, 0.1978, -0.0562, -0.7043, -1.4838, 9.9624, 1.746, -0.105, -0.0122, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b25ec67cf4bf034dd75d2a1a251161ade9fb71d7efd78aba100925f9a07e85b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62abefff6cb4883e5698c5bb79412e45518f7ff9414401efffe7d6484382ecf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d826db2c693cd7b9ee8692d3eb34f5b5697b3d975cb05bd550afadcd3547609c",
        "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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p2DpzYHhtRHXMGDyBPaldQ4hAdXtgmAn6WUxHb6TyD+r8vI8dL7bgg06P/3OuFZfSIxTSuiVk8AWsDxTL3RJ0e3FJj1FZEtjnJeP5EU2CMQZ4en1vyXbszphFOE1GhmV9s3hp5uJ/xx3EUJYPbs7yytaa08bFk1J7gYYdmxs/AlT1SrkQX+Jn57jyFF3yO+VhM7/YAwA4pSCfASFBn9KMEa5cTp7zZjr3Rv/hZfvHxxP7MJXGOv2ZOdbLiO43c9h47yNbAxjyZOElqrtbPlx0CaMrIJtv5hZY1e/bW2icDwSw4TKQCdDVikmX+2qUmEpltd/4xuk6o/ixAuK3gry8h36BsHvkbbDXbAE74EpGZ10qjk1u1J69HTiSF4gPul7/U/0mmW/ByNI+ovLQUbKiWLALF5LRS9/vYkSAgmGkT7ZnYRAv9Z1vI5jjKPoYSBJRQIbJRYtm+atd+IwqWoUnqCxfZVeOLT5ml429QcY4u9EmgNcoeCdnFgh3RZb4H+X7ub1Ct1EJ4XXRr6Iar6XCOyIz3y5+zTv6pEtYepQX+mvf8RqxzQmewMNlJmEp1At1LT0WKzb6SMvWsdUS+w6yhJVdxExD2MiJXQUnOnM0Nco9vRcTcrZNDKqckOwV8raaE9jstOoVOEx3WyUqG/Q2P1eED33BXWmDyug4zInJ3u9wec9gu6DMiXQgzw62Nl9dazLEtneF2+nA+H6jEZAFydzEe1DaZoP5ETDtKsdD4F5Y+TR4+1HxzTx1KhFMIiOFWBLgFB40hDvr/JkrT5/HakqMlr3//4t6GMhR//aHak22t8t/paaeMOaYaufnCUFrPrSNhye5cxE50zT49PgFeEl1V+HKArZqxvjz/uRQXG7VbTLrCqArEWP/2yFhrX35sXB2UHai32k9O25iLGAvmUDc+ceg4YxI70NWXf4e1Gs95dw/ODE+YY2HUNZzeyO4FUNH2b/aWWltb5H/lcTATMee3EvxGpMuNPvohRlKdoHT8x3MVgh0ND64F/2xxn0yyj5X37KsybgKjZ0gCaeyMaTD26CV27jYjnyX/jDuTrJW9XCr2+86f+Afe3+2bXY2HmHYmMuOr4KKx2+W+sPWKY0llDVwTn8dWo8Zalzqcyz1UB9/U9QnYMta7n34NVycyN8WLx/rY6yX3F5gFUnLlXrsfMz82WiC01aUkH9XpQYgcDJqPYEi1SyNWdMQV1EUEeCVC9z5PoSiCG30AXJIILTVj6E+6ZMDXh+Pjd54vNoDbUX/CqdYKPptw4+LJmkeK9/s6MBxa7czF8jjf6wyMzWE9M6gIOWOuWmD6Cj4T7Hj7h6TKEsNGqFkj9IcPBKWztlfxwS3VA8/gWjRrUGKrZScMaVmMLxztjAKSJbH94ho8u06wATwtzRqmqRRgeOQCkrYChHYszECupJdlyMq37ixh5qbtqu5jfB/7JA2Ya3fLtCJov2N66MNLJwLqwhFhwodR+lORxMhFj1aJr4+XSjPOAcd/f+zcUhGe809qMgv42fwIiLIrIfyyVuJ7E0uVrX87FTJKOZSlwuJ8ovEq8D2WOUoaFqcSe/ssRZnM+K0PXXOBmAYZ6JiFxgjDx2wDor+nRpEkm+DMO9xvLvv6erZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KpCXgYw6yhoouA1JEcZqvA",
      "input": {
        "note": "Top view shows two teal baskets at the back and a cluster of plush dog toys plus several pens/markers nearer the front. Plan: plush toys into one basket, pens into the other. Moving the right arm above the plush cluster to look.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.26,
          "right_y": 0.3,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01KpCXgYw6yhoouA1JEcZqvA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6113, -0.3805, -0.0219, -0.0376, 0.9996, 1.1984, 1.6569, 1.1065, -0.5236, 0.8837, 0.9234, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0019 left_z=0.1804 left_yaw=0.0028 left_pitch=-0.011 left_roll=-0.0036 left_gripper=0.9996 right_x=0.2584 right_y=0.296 right_z=0.138 right_yaw=0.0151 right_pitch=-0.0316 right_roll=-0.0232 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.5385, 7.6376, 1.7216, -0.0415, -0.0269, -0.0122, 0.3624, -7.6786, 8.5538, 0.9597, 0.652, 0.1636, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb247cd9364fbe6da0e41f00cb73c7e70ca2002dec512a95053ebd25290fd29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b85669ce5dc9f14f62b54f8e711bb750c75b2a1e030bb430f7096c3ad693d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d419134a4db3227355021dfd5249355d3f85843d47b7d75c90b702f6a2d2d50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.593 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6163, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.6342, 9.3744, 1.8046, -0.0024, 0.1978, -0.0562, -0.7043, -1.4838, 9.9624, 1.746, -0.105, -0.0122, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6113, -0.3805, -0.0219, -0.0376, 0.9996, 1.1984, 1.6569, 1.1065, -0.5236, 0.8837, 0.9234, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0019 left_z=0.1804 left_yaw=0.0028 left_pitch=-0.011 left_roll=-0.0036 left_gripper=0.9996 right_x=0.2584 right_y=0.296 right_z=0.138 right_yaw=0.0151 right_pitch=-0.0316 right_roll=-0.0232 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.5385, 7.6376, 1.7216, -0.0415, -0.0269, -0.0122, 0.3624, -7.6786, 8.5538, 0.9597, 0.652, 0.1636, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb247cd9364fbe6da0e41f00cb73c7e70ca2002dec512a95053ebd25290fd29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b85669ce5dc9f14f62b54f8e711bb750c75b2a1e030bb430f7096c3ad693d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d419134a4db3227355021dfd5249355d3f85843d47b7d75c90b702f6a2d2d50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uc6nYX9dWcxM7xaR7R86LK",
      "input": {
        "note": "Right wrist camera shows a large plush dog directly under the jaws with the two baskets beyond it. Descending onto the plush's upper body to grasp it.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.305,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Uc6nYX9dWcxM7xaR7R86LK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6113, -0.3805, -0.0216, -0.038, 0.9996, 1.1625, 1.887, 0.9611, 0.0284, 0.8631, 0.8757, 0.9997]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1802 left_yaw=0.0027 left_pitch=-0.0118 left_roll=-0.0041 left_gripper=0.9996 right_x=0.2837 right_y=0.3269 right_z=0.0588 right_yaw=0.0168 right_pitch=0.0236 right_roll=0.1055 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.3607, 7.0632, 1.7265, -0.0171, -0.0464, -0.0171, -1.4974, -5.9145, 3.453, 0.6374, 0.2369, -0.2662, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb15d41b8c38fa00f0560ec3b0c47500f7f207ae82407299d08039a75b44ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed57d69673b7e4950af02c1ce26806d842c9f7d30037770e9aec85dc50bc0df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f08b434d7364d5c5bd181fd675a86e8b6ac37d21dd4bc257beda5d189f3c7cc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 8.523 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6163, -0.3801, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.6342, 9.3744, 1.8046, -0.0024, 0.1978, -0.0562, -0.7043, -1.4838, 9.9624, 1.746, -0.105, -0.0122, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6113, -0.3805, -0.0219, -0.0376, 0.9996, 1.1984, 1.6569, 1.1065, -0.5236, 0.8837, 0.9234, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0019 left_z=0.1804 left_yaw=0.0028 left_pitch=-0.011 left_roll=-0.0036 left_gripper=0.9996 right_x=0.2584 right_y=0.296 right_z=0.138 right_yaw=0.0151 right_pitch=-0.0316 right_roll=-0.0232 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.5385, 7.6376, 1.7216, -0.0415, -0.0269, -0.0122, 0.3624, -7.6786, 8.5538, 0.9597, 0.652, 0.1636, -0.0415]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6113, -0.3805, -0.0216, -0.038, 0.9996, 1.1625, 1.887, 0.9611, 0.0284, 0.8631, 0.8757, 0.9997]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1802 left_yaw=0.0027 left_pitch=-0.0118 left_roll=-0.0041 left_gripper=0.9996 right_x=0.2837 right_y=0.3269 right_z=0.0588 right_yaw=0.0168 right_pitch=0.0236 right_roll=0.1055 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.3607, 7.0632, 1.7265, -0.0171, -0.0464, -0.0171, -1.4974, -5.9145, 3.453, 0.6374, 0.2369, -0.2662, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fb15d41b8c38fa00f0560ec3b0c47500f7f207ae82407299d08039a75b44ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed57d69673b7e4950af02c1ce26806d842c9f7d30037770e9aec85dc50bc0df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f08b434d7364d5c5bd181fd675a86e8b6ac37d21dd4bc257beda5d189f3c7cc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8QMKjgEIEhgCKkAUzh2dp3A37za97vfYacXLp1X7ub6U7B87pHZ5NZcNKAwQRL4FGzLXOIZi6+p+he6Z5zjPBXBHX+fYZGucdP8pMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAajIzNUGEgzHhQSqMyN9lco7l2YaDLABSInnTlAL/QobJSIwbKLDrlnUCRUvde/vkOHYm8okDDUCXNU1PGzj0s7AouBp7Gz4zYMfFcaOX67EGRLzKo8C1cGrRC06CKjRtkTiDwAmnwPn/x/jp7kkOrfflNhcAVQj7OL25ouNxQSko2ZvK9RtqMXSu/CbKq7hC6FB2EOEX4kodb5LZjLL5EvU09lWSuJ7jsYc45IxHG+xqSOAecHFUKFbcfeR9padaQMYMoR7ZG63wcgG6Yn39ttuFuiIienRdkjUjMWxQX+gq+1q3iQNE6y3TZ/CvEhHqqOGjRTWrUvIbpon3zJpX5DSwdwi9hjFnyKopd+DVp/9SOOhbTdTwfpgG2eaXcOshqnaianBl8YfkhQ47ymUda9AUaKVA5/dKqRrATLaLXnV5o+dJA+QNJkPq/n1Ds2XtDB7LJac4t7lz1rZ3lfQLzEHpZQ4ZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VGZyUFropBzp8uKbMuSdDF",
      "input": {
        "note": "Wrist view is filled with the plush dog's fur, so the jaws are straddling its body. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VGZyUFropBzp8uKbMuSdDF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6109, -0.3801, -0.0223, -0.038, 0.9996, 1.1637, 1.8832, 0.9619, 0.065, 0.8631, 0.8825, 0.2654]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1799 left_yaw=0.0033 left_pitch=-0.0126 left_roll=-0.0037 left_gripper=0.9996 right_x=0.2856 right_y=0.3324 right_z=0.0649 right_yaw=0.0131 right_pitch=0.0401 right_roll=0.1491 right_gripper=0.2654\nstate[joint_eff]: [-0.1026, -1.4017, 7.3915, 1.7216, -0.0171, -0.0513, -0.0171, -0.3897, -8.6359, 5.5179, 0.9792, 0.3053, -0.1099, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44c1bd75ecff773ce6b6383efaac2cec6fdcb93a4a57c8f9c923fe261d26d681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f48cf28d3e89285ff8ba6eb6e0c2d4482884e0f745321efaca809e4238625f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b6a11c93db0eb28ad9b6013ae935d395561245e0aa8d14140aa3631824245f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 9.559 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6113, -0.3805, -0.0219, -0.0376, 0.9996, 1.1984, 1.6569, 1.1065, -0.5236, 0.8837, 0.9234, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0019 left_z=0.1804 left_yaw=0.0028 left_pitch=-0.011 left_roll=-0.0036 left_gripper=0.9996 right_x=0.2584 right_y=0.296 right_z=0.138 right_yaw=0.0151 right_pitch=-0.0316 right_roll=-0.0232 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.5385, 7.6376, 1.7216, -0.0415, -0.0269, -0.0122, 0.3624, -7.6786, 8.5538, 0.9597, 0.652, 0.1636, -0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6113, -0.3805, -0.0216, -0.038, 0.9996, 1.1625, 1.887, 0.9611, 0.0284, 0.8631, 0.8757, 0.9997]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1802 left_yaw=0.0027 left_pitch=-0.0118 left_roll=-0.0041 left_gripper=0.9996 right_x=0.2837 right_y=0.3269 right_z=0.0588 right_yaw=0.0168 right_pitch=0.0236 right_roll=0.1055 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.3607, 7.0632, 1.7265, -0.0171, -0.0464, -0.0171, -1.4974, -5.9145, 3.453, 0.6374, 0.2369, -0.2662, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6109, -0.3801, -0.0223, -0.038, 0.9996, 1.1637, 1.8832, 0.9619, 0.065, 0.8631, 0.8825, 0.2654]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1799 left_yaw=0.0033 left_pitch=-0.0126 left_roll=-0.0037 left_gripper=0.9996 right_x=0.2856 right_y=0.3324 right_z=0.0649 right_yaw=0.0131 right_pitch=0.0401 right_roll=0.1491 right_gripper=0.2654\nstate[joint_eff]: [-0.1026, -1.4017, 7.3915, 1.7216, -0.0171, -0.0513, -0.0171, -0.3897, -8.6359, 5.5179, 0.9792, 0.3053, -0.1099, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44c1bd75ecff773ce6b6383efaac2cec6fdcb93a4a57c8f9c923fe261d26d681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f48cf28d3e89285ff8ba6eb6e0c2d4482884e0f745321efaca809e4238625f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b6a11c93db0eb28ad9b6013ae935d395561245e0aa8d14140aa3631824245f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwgKjgEIEhgCKkCSqspeDuicYB8Lv1dyOBAkY8h0w/f2jPZfkWlIqBm5ax9DayTalVBNoHOkvr9BxJHltlLuuYMSpDd2JkLpaRc7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbbIzNUGEgx1xLJnpOsKII51ChsaDDz4jesjUfrLlmDatiIwobAl48zgkByduo3xehRrclHPGx34INEdq+DkHgwp/nHWY8St9WuS6ZwaGPkqy+RYKqkGgTjxJKJCyMIGg6Oq7wXPa49j/jnXbocRClydz3VFQLBGwc+wXCSwlpDmxCQ+wD3zu3YtDic5d8GRPRN+aKzwC8D6v2SSPqaK9rDj+ctipbfQ5UY32xoC8gJsEVDydqJbMMBn5M9/A4+R2bfJMz2Okyww9ZCQkiufvC9UZaW+6cqaI0zE7sxkp5tc5LPk8nWu68pKlPJRDlPPLgKLTATFRXTaGZfaZYtHbBj+ze+pcRF3YS7rIfJFsyHX8NV2NZV1u8gNrbWy/Z8PiiaRZzCRxVaio1sWbtalnTYOLJuj4n9SUwyRsvGSO4MjYnR3ukrYE5RUoBWF6GrB0hnwD1HIK5qcARGWpCPAzHYQ8nFzcEjhIknO7Y57r/+tSczGpkIxFcDyxbhgDQvbEIAcGEyA3jswEsc0lnXCc+y/Zwwubv2NWaXAGK1lpbjmxgKGkb2aMrEtzdHy9Yp5jvs+TmqHkOzBDgcSzpJTFKp7fjIM8ofD71h7VYoqxgPrJn8dz2bcZxu2GI/UHZzxAHmjMv1MnN/ffMRjhchEPz+/ortmJL9bPqYwvjLRVlD4DILPvS+304hB63pfqQhOlvLV05A9yHzmeyf7dBTo4UfVaxWhQFf9pgkiyQBvvLMKVIc9tlUANktaejwd2nRh+gk/Wp+ZGUtoe6FvkWHPSEcU9xguyZ/Dk01LqgbDf1VsHYVB0sifETuyXmwCt4UBud0orhzNmHANXS2fmcHOiL/LuH0Po0WNIkb042ZLWkbRNkKHRGUrcUOcXbUTul0nKK6hU/yEwwnndQvMalCLG98ZpfkNTS2d6WbvHLmlg2SLb76oUhyA8D7qR1GhQDwdvlXAPCexYKxusj9uyGBd34BYUr05kEQQPwRx7ya+9XIG2rNO8LTGOtvwBxJpNf3+Owh8Bs3n9HlH5HyMW3R3tFRtYF4tgHNzA96AY8xLlgovjsr0uZXPs342+P69rb858pNeWMNSB8hU5LAnZsxoEHSY6xX0v7ASJArGgT2+/hdnR1CdQgPM48BCpNYodRCZdYLYD/QttxvTdoJ0vjOtss3jzjo9XFwsP5NHYTwRIg0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LXwXLeWeuA72kTL1NiAD1D",
      "input": {
        "note": "Gripper settled at 0.27 (≈2.5 cm of plush between the jaws), so the toy is held. Lifting and carrying it over the right-hand basket, which will be the basket for plush toys.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.19,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01LXwXLeWeuA72kTL1NiAD1D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.6182, 1.4998, 1.285, -0.4255, 0.4507, 0.4492, 0.2668]\nstate[eef_state]: left_x=0.2962 left_y=0.0019 left_z=0.1793 left_yaw=0.003 left_pitch=-0.0141 left_roll=-0.0039 left_gripper=0.9996 right_x=0.3989 right_y=0.1936 right_z=0.245 right_yaw=-0.0008 right_pitch=-0.0123 right_roll=0.1207 right_gripper=0.2668\nstate[joint_eff]: [-0.294, -1.0325, 7.159, 1.6972, -0.0317, -0.0415, -0.0122, -0.1846, -9.5385, 9.9077, 1.663, 0.1832, -0.0415, 0.3785]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fecdcf67267b9ab8aa9424408c1d9b14088e2bcbcf2242acbe4980806fdbf21a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dffa0a8080e59998225bb6f6999a46939e18a8e86384bce817a753948685d600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90e9e013fb7f81316337704684ad112b912fe117c5ae34765809a658118d97e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.342 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6113, -0.3805, -0.0216, -0.038, 0.9996, 1.1625, 1.887, 0.9611, 0.0284, 0.8631, 0.8757, 0.9997]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1802 left_yaw=0.0027 left_pitch=-0.0118 left_roll=-0.0041 left_gripper=0.9996 right_x=0.2837 right_y=0.3269 right_z=0.0588 right_yaw=0.0168 right_pitch=0.0236 right_roll=0.1055 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.3607, 7.0632, 1.7265, -0.0171, -0.0464, -0.0171, -1.4974, -5.9145, 3.453, 0.6374, 0.2369, -0.2662, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6109, -0.3801, -0.0223, -0.038, 0.9996, 1.1637, 1.8832, 0.9619, 0.065, 0.8631, 0.8825, 0.2654]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1799 left_yaw=0.0033 left_pitch=-0.0126 left_roll=-0.0037 left_gripper=0.9996 right_x=0.2856 right_y=0.3324 right_z=0.0649 right_yaw=0.0131 right_pitch=0.0401 right_roll=0.1491 right_gripper=0.2654\nstate[joint_eff]: [-0.1026, -1.4017, 7.3915, 1.7216, -0.0171, -0.0513, -0.0171, -0.3897, -8.6359, 5.5179, 0.9792, 0.3053, -0.1099, 1.033]\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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.6182, 1.4998, 1.285, -0.4255, 0.4507, 0.4492, 0.2668]\nstate[eef_state]: left_x=0.2962 left_y=0.0019 left_z=0.1793 left_yaw=0.003 left_pitch=-0.0141 left_roll=-0.0039 left_gripper=0.9996 right_x=0.3989 right_y=0.1936 right_z=0.245 right_yaw=-0.0008 right_pitch=-0.0123 right_roll=0.1207 right_gripper=0.2668\nstate[joint_eff]: [-0.294, -1.0325, 7.159, 1.6972, -0.0317, -0.0415, -0.0122, -0.1846, -9.5385, 9.9077, 1.663, 0.1832, -0.0415, 0.3785]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fecdcf67267b9ab8aa9424408c1d9b14088e2bcbcf2242acbe4980806fdbf21a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dffa0a8080e59998225bb6f6999a46939e18a8e86384bce817a753948685d600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90e9e013fb7f81316337704684ad112b912fe117c5ae34765809a658118d97e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQkKjgEIEhgCKkDKWfeuY2/XS2KjW2C6k7EYLF7RsjRb87j6bk3uyau7PEH0HkgYx9ata7cI6cfeT2R9zFkSIR2N2sywUaiV1EesMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcfIzNUGEgwNl7Z1jLwXZcYh3SIaDN9QQJ2LrC3LLc4+ICIwB99UL84/aIKPibwDyKOGc2L9keyyQUvhGC/CQ9pp7qeF3aQYCfL3zDejciLvj2PCKtsHVClJZYp76l2SWab6eDqL9F3zZRZ6Tik5WXoxG9OEKfDCHjEBy2VN54IXZ9tB3Xf78F+porNGv8OnffsNrz8oeSJsdnYWbEgOk8OVCWKyv0o+phRIl2ddxAh2He2D926vJ48K5pDM70rPfruMzUuFuWIf9Snwp1mHqJtsqLG6BOk2ab2WFMaSJlgGwZF1NO7HrBPJN+1AL4xz8NRnWKknVg0WaDUYMjW3/AKyNFFsZwg2kZsayUeQGp+IbU1PV0dWQ/azRA3xwb2BvgLHnbgkJY0CCF8v/TnDqnWta6xBGBP3JbeDDlk19Hpn9D1vymYLXeVYo9dCCQ9BYFjqZ8MYp/t8niyWrfg8HqRrs3/0loe6ZxE7K0x4lj5lx/vNUP8xDKOUc3Wn/+nvwkl9nXc9OeDgd50f1pB5wPLvYwoVBl5gj3UsPUIjpkBnF+IYJ7mZmTMokhFGj4h1iX80PHVlKi8LSRe7qruFkXefqO44GDzu87CYyPMLLjAuk9+VT2MxKUldNJ80eTLLQ/D1Mws6+eO+vyIl4gIp4dXIB7fd5lJw2f/4yzGH3WzAw7Q0J0qol48haiZPfYFY+SJc6VDNBKSiBDSZ9Y9Z5Pm5hkwJE0x+GwrqpIv3tQpOdj3ne+JlX26WCGEOSz0/suPQYOwPiiw/PMriPHlMbrYClDaibj7Ihx1G6eQ9IGAtKbwry+5DSaIt3T7Lj+AzONMhPQ6YtuS+V6e2u4LXUx2zvuZcoj6I9cuMqWDoGPmPAiTMerzz4h4efiP+PLUCfqW90/1HOVwimmiTPVh1XhROorC5cxJl18lXMduuQUAodIFBCg4LhqjEuLtkF2UpW5lqjV+PtY/iNTNM+OATHAuUgKCg0Z7NO5SYJnCUIGrJrPFFChIMnNxOmd+bSIgxobGWmdOM+Wmt69XDRH3ugBHXrxvHi5DKTZ1zLtZNeptq4ElnhxS+HFvoEQV94C4H03NbSptbLPNmLmWrm15Xs7SoPoRDuXKwyt/nqKOZ0COPnb+VLbRC/K+CfDzwsQ1A4qYLX5he+IYL7xM44itc5Ua3BLoj9KimzBF18HyFBD1OXbGL+6/QV/I+X0cmrdr7b8GHSm73vdBL41LQofk/xw/wt9tu4CMhgzlGeJGplz/k7xsD00rVPCb3XTMaW2ZDDUSTtdw2qTPI/we8/lelU6za1Y+CLLHrB42IJDcQd32BtIoieBmQmKqG+CHvuptKoOt89o5LwLNne+53DqitPJrVsnm7Wk53oHiNc8y/56ZLUEqhDF2CdVomuEkxBQCLgMQpoJflNkA3gAQ3QeOTJMHnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0164mhrQ1FyZ3xmsM6uZLG8L",
      "input": {
        "note": "Plush toy is hanging from the jaws; the wrist view shows the basket opening up and to the right of the tool, so shifting further forward and to the arm's right to centre over the basket.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.14,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0164mhrQ1FyZ3xmsM6uZLG8L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.4309, 1.5089, 1.3563, -0.5274, 0.3111, 0.345, 0.2699]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1775 left_yaw=0.0027 left_pitch=-0.0202 left_roll=-0.004 left_gripper=0.9995 right_x=0.4212 right_y=0.138 right_z=0.2479 right_yaw=-0.0201 right_pitch=-0.0842 right_roll=0.0886 right_gripper=0.2699\nstate[joint_eff]: [-0.1299, -1.7709, 7.0769, 1.7216, -0.0415, -0.0659, -0.0171, -0.1846, -7.2547, 11.0974, 1.7949, 0.1148, -0.0024, 0.315]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1ede45b99b85799ea5f24875c1e58260491c750c4c1754651b73b9e22ee92d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b9dcf1a2c7c5f7feceb5abc729b817526ee7bfa405e449cb6b631ce3e93dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6aed99e49b5d9560db558517fcbf8b4d95e2517f60d3f024dc42db581bd47ee8",
        "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 · 24.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6109, -0.3801, -0.0223, -0.038, 0.9996, 1.1637, 1.8832, 0.9619, 0.065, 0.8631, 0.8825, 0.2654]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1799 left_yaw=0.0033 left_pitch=-0.0126 left_roll=-0.0037 left_gripper=0.9996 right_x=0.2856 right_y=0.3324 right_z=0.0649 right_yaw=0.0131 right_pitch=0.0401 right_roll=0.1491 right_gripper=0.2654\nstate[joint_eff]: [-0.1026, -1.4017, 7.3915, 1.7216, -0.0171, -0.0513, -0.0171, -0.3897, -8.6359, 5.5179, 0.9792, 0.3053, -0.1099, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.6182, 1.4998, 1.285, -0.4255, 0.4507, 0.4492, 0.2668]\nstate[eef_state]: left_x=0.2962 left_y=0.0019 left_z=0.1793 left_yaw=0.003 left_pitch=-0.0141 left_roll=-0.0039 left_gripper=0.9996 right_x=0.3989 right_y=0.1936 right_z=0.245 right_yaw=-0.0008 right_pitch=-0.0123 right_roll=0.1207 right_gripper=0.2668\nstate[joint_eff]: [-0.294, -1.0325, 7.159, 1.6972, -0.0317, -0.0415, -0.0122, -0.1846, -9.5385, 9.9077, 1.663, 0.1832, -0.0415, 0.3785]\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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.4309, 1.5089, 1.3563, -0.5274, 0.3111, 0.345, 0.2699]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1775 left_yaw=0.0027 left_pitch=-0.0202 left_roll=-0.004 left_gripper=0.9995 right_x=0.4212 right_y=0.138 right_z=0.2479 right_yaw=-0.0201 right_pitch=-0.0842 right_roll=0.0886 right_gripper=0.2699\nstate[joint_eff]: [-0.1299, -1.7709, 7.0769, 1.7216, -0.0415, -0.0659, -0.0171, -0.1846, -7.2547, 11.0974, 1.7949, 0.1148, -0.0024, 0.315]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1ede45b99b85799ea5f24875c1e58260491c750c4c1754651b73b9e22ee92d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b9dcf1a2c7c5f7feceb5abc729b817526ee7bfa405e449cb6b631ce3e93dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aed99e49b5d9560db558517fcbf8b4d95e2517f60d3f024dc42db581bd47ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wQKjgEIEhgCKkDP4WU7R4OV0wrESOF0KNooEhLHrtCbm1pXHagPEPPOBvyweK+mfEB6JCC6hbKUfa0UIW4Fc1N4g64FMWEGD/PAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc3IzNUGEgyCZuHr/zBlHyrFWFYaDG4ETY+tD3Uokgs7sCIweGLXMvOeSFQnSOXqsSGSFnHxonD1YcVWMtRwjfDcPEE++HDXGyOq/wsBKcgDXNqNKoEDrdnQUeXp/BqpZVJ+YgH5eDyerD+iRFW6+KGrMWYshzOZlgZsQKcA1aHWTdEh2FXpi3/B/gGRbZfYlkhyCItBKnNnio+p/FFkJXSkX9jFwCRWpb1XyONYrmRrZXHbveodQ1O5kQ2eH4awn1/DrSOyxOAlz7kybfxbVblrgHK+0VwS48h/zFQy8RpYEpvDDk/3d9CkPWf2zYduWSOulL9ML2ROLatVIIabYjWOUJ4q2dwG6kF2DTVXfGGfuC4rSjmZ4j5gcwzYQpE8Cf1t5zs0GnI1mQiXrx1WIKEa8vprr51jTKwOiwAb/cHf4+ZIYTRlVO1Yvv6pWGJjm9PMaJyWdnJFoQIaUHctoOLeLGDVULgW+hdscJ41324+z/FxYDBskVDflfSHPhwOme+PmgY8r+WclgRY5on1weJrc0z8ohfOvQSg/1VWq63Lyov6HkZGiY9isvqmrVemNXP3O9G+w50Wm7NjRtj75C1+RqAbqYWIiFECf5wYdTbwzSCkirCtwRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BEEMjMzDesFX3rSnXVMo8J",
      "input": {
        "note": "Top view shows the held plush now over the right basket; releasing it to drop the toy in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BEEMjMzDesFX3rSnXVMo8J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6094, -0.3805, -0.0223, -0.0383, 0.9996, 0.4149, 1.5101, 1.383, -0.5232, 0.2783, 0.3168, 0.9955]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1775 left_yaw=0.0036 left_pitch=-0.0202 left_roll=-0.0039 left_gripper=0.9996 right_x=0.426 right_y=0.1385 right_z=0.2589 right_yaw=0.007 right_pitch=-0.0642 right_roll=0.0967 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.1692, 7.0632, 1.7314, -0.0317, -0.0757, -0.0171, 0.0752, -7.4598, 9.935, 1.7607, 0.1099, 0.0122, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ba1ccf22b3e2016b4e212329bc9d3a018dd744c7a86480ecd00ad66c3c201de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:720d28cbb8e604cc686710ca0c29b616a0780ab0db2e555523109749d8d1a602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ff9593a436fd7304aee23bfc9b14d11c6c5e043244f8b5c0da2a1146e621e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 6.749 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.6182, 1.4998, 1.285, -0.4255, 0.4507, 0.4492, 0.2668]\nstate[eef_state]: left_x=0.2962 left_y=0.0019 left_z=0.1793 left_yaw=0.003 left_pitch=-0.0141 left_roll=-0.0039 left_gripper=0.9996 right_x=0.3989 right_y=0.1936 right_z=0.245 right_yaw=-0.0008 right_pitch=-0.0123 right_roll=0.1207 right_gripper=0.2668\nstate[joint_eff]: [-0.294, -1.0325, 7.159, 1.6972, -0.0317, -0.0415, -0.0122, -0.1846, -9.5385, 9.9077, 1.663, 0.1832, -0.0415, 0.3785]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.4309, 1.5089, 1.3563, -0.5274, 0.3111, 0.345, 0.2699]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1775 left_yaw=0.0027 left_pitch=-0.0202 left_roll=-0.004 left_gripper=0.9995 right_x=0.4212 right_y=0.138 right_z=0.2479 right_yaw=-0.0201 right_pitch=-0.0842 right_roll=0.0886 right_gripper=0.2699\nstate[joint_eff]: [-0.1299, -1.7709, 7.0769, 1.7216, -0.0415, -0.0659, -0.0171, -0.1846, -7.2547, 11.0974, 1.7949, 0.1148, -0.0024, 0.315]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6094, -0.3805, -0.0223, -0.0383, 0.9996, 0.4149, 1.5101, 1.383, -0.5232, 0.2783, 0.3168, 0.9955]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1775 left_yaw=0.0036 left_pitch=-0.0202 left_roll=-0.0039 left_gripper=0.9996 right_x=0.426 right_y=0.1385 right_z=0.2589 right_yaw=0.007 right_pitch=-0.0642 right_roll=0.0967 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.1692, 7.0632, 1.7314, -0.0317, -0.0757, -0.0171, 0.0752, -7.4598, 9.935, 1.7607, 0.1099, 0.0122, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ba1ccf22b3e2016b4e212329bc9d3a018dd744c7a86480ecd00ad66c3c201de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:720d28cbb8e604cc686710ca0c29b616a0780ab0db2e555523109749d8d1a602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ff9593a436fd7304aee23bfc9b14d11c6c5e043244f8b5c0da2a1146e621e6b",
        "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_01G6swmUwxspZs9Muj1cB1ak",
      "input": {
        "note": "The first plush is now sitting inside the right basket. Retracting the right arm and bringing the left arm down toward the white plush toy that its wrist camera shows just in front of the jaws.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": 0.04,
          "left_z": 0.08,
          "right_x": 0.3,
          "right_y": 0.05,
          "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_01G6swmUwxspZs9Muj1cB1ak",
      "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]: [0.2165, 0.984, 0.2848, 0.041, 0.1509, 0.0738, 0.9996, 0.2398, 0.9619, 0.9783, -0.6422, 0.1505, 0.223, 0.9964]\nstate[eef_state]: left_x=0.2917 left_y=0.0407 left_z=0.0705 left_yaw=0.0321 left_pitch=-0.0871 left_roll=-0.0187 left_gripper=0.9996 right_x=0.308 right_y=0.0517 right_z=0.2494 right_yaw=-0.0106 right_pitch=-0.0608 right_roll=0.1004 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -2.6325, 6.3658, 1.8877, 0.1685, 0.1245, -0.0562, -0.2393, -1.894, 7.241, 1.9121, 0.0122, -0.1148, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c74e50dea59c54e98c9ca46bd3fd945d76c80a7aaec17966a1e4eb16355db6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:857563aa19d78b7f136fd970d6a340399f8dd6d4c7f3e93dfbb194912f726522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e08201d20b643ce43406ba5215d29a521b305b2c89caa4f4e951223363574ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 42.04 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.4309, 1.5089, 1.3563, -0.5274, 0.3111, 0.345, 0.2699]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1775 left_yaw=0.0027 left_pitch=-0.0202 left_roll=-0.004 left_gripper=0.9995 right_x=0.4212 right_y=0.138 right_z=0.2479 right_yaw=-0.0201 right_pitch=-0.0842 right_roll=0.0886 right_gripper=0.2699\nstate[joint_eff]: [-0.1299, -1.7709, 7.0769, 1.7216, -0.0415, -0.0659, -0.0171, -0.1846, -7.2547, 11.0974, 1.7949, 0.1148, -0.0024, 0.315]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6094, -0.3805, -0.0223, -0.0383, 0.9996, 0.4149, 1.5101, 1.383, -0.5232, 0.2783, 0.3168, 0.9955]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1775 left_yaw=0.0036 left_pitch=-0.0202 left_roll=-0.0039 left_gripper=0.9996 right_x=0.426 right_y=0.1385 right_z=0.2589 right_yaw=0.007 right_pitch=-0.0642 right_roll=0.0967 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.1692, 7.0632, 1.7314, -0.0317, -0.0757, -0.0171, 0.0752, -7.4598, 9.935, 1.7607, 0.1099, 0.0122, -0.1783]\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]: [0.2165, 0.984, 0.2848, 0.041, 0.1509, 0.0738, 0.9996, 0.2398, 0.9619, 0.9783, -0.6422, 0.1505, 0.223, 0.9964]\nstate[eef_state]: left_x=0.2917 left_y=0.0407 left_z=0.0705 left_yaw=0.0321 left_pitch=-0.0871 left_roll=-0.0187 left_gripper=0.9996 right_x=0.308 right_y=0.0517 right_z=0.2494 right_yaw=-0.0106 right_pitch=-0.0608 right_roll=0.1004 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -2.6325, 6.3658, 1.8877, 0.1685, 0.1245, -0.0562, -0.2393, -1.894, 7.241, 1.9121, 0.0122, -0.1148, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c74e50dea59c54e98c9ca46bd3fd945d76c80a7aaec17966a1e4eb16355db6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:857563aa19d78b7f136fd970d6a340399f8dd6d4c7f3e93dfbb194912f726522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08201d20b643ce43406ba5215d29a521b305b2c89caa4f4e951223363574ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1AcKjgEIEhgCKkCa2OOuAQUBKxDDK0AcMr8NY87/YjMCoMqOhdlOKq5er7cwO8+Tq/aF48K4da+YtQHoBlc0d+OfTbJSEd7uIffiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe3IzNUGEgwUQ0wVc3+Po2WrAMgaDHfBKDv6tg8c3clKgCIwLgRr2h8wwShQn5gUd8vn7LC3DmjAuihDMCO1BuyiaCOhnCp4R8D4ryl6JNqgsh0RKvIFlxWoPBpgix0rsR6HExLnj7VhrQg90EPu9Xaw363c13I4DYh8ig/SfAZHLH34LsiN0hCo6ata92gsU0c3DDQOIKbD3gfPZKBZqmKtED+7nQLaiwkXxxmtNyCmQ1F+ervJ6P3aK5UVRf6KeI5gxV+zJyL9GWn/zECzSnxLCAdNIeTfxVlACAdhrM1hA9ejaxolz8r25pAJHfQVGP5mc5zRmMxlff8jbK95nBvNTeiaWWN2Uez7SjiPpAKoyOtxe0uJZnDuKjNZnp8atZ9ZMfC6m2j4r3Xok/3gn2wFDanS4qr/D0nFHTzy1WCZy3zOzsBlUCCD5HOOC5Z1jx/EfsdbP1x/x23nvMyZ/VFYUkK1KUKMjgTinemj1WVyAziBFoiSs1/yKVsCRJ2nzg87TzH3tvvM+WSON6c+pE+hcTnjff9WSS9wM6r9snTxpd81G/5A9E44Z/60EIOa/HAw1ZxfiV9rsAqmhIs7scLLFh7r6CX7BYGzW7f0j84v3GpHEyF3UulYxt2B3L1pfbCW/wGWw8b1WSn2Jv5qgS0gerKWBCx4aQj5sBb4cmMueNCuCEdg0I/n8KlBnoJdjX70I9BxxNT1jV8IUWCx5cUHYb2qAX8Jk8HJ/SOXIICb+rbh7vSZ42Dt5jcLR/SI+u9BZqyhs+mQgiVi7Zg1HUn1JbknM6Am6HkgllXJ5/vI22W8ylAeWvUK+7R913xFeQPAwIh7NHY0yqWmJjeNQvgL6yxV+4RxoPuyg/QpvdoX9Rhm/gG+zn13iAdQe9FaAJ4Ai1keemsz7t7I7f5DeiSHgz863zS2+Wv9jeJQuj1vOStNwCTTmChOVda0LmXLNQRRCsF1ShDyqRfd7oaUauUtwlJBZXStfRORJYezex//EKV0zBxa/yT+7KSPjcRuF2y2YW2Kzy44ZKpt/9fp/XBkGwSJVTTARFZ8pNHq9khLlCxmMTJp4FFXA7oTb7TcMhSP9K/8WQInUP9AafLLwyZ4kRNUZIGO3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YPcXnsnuxTGjNvRLGkBZWx",
      "input": {
        "note": "The left wrist camera is filled by the grey plush directly beneath the jaws. Descending the last few centimetres and closing to grasp it.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YPcXnsnuxTGjNvRLGkBZWx",
      "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]: [0.2173, 1.2205, 0.1772, 0.506, 0.1581, 0.0677, 0.1209, 0.2363, 0.9688, 0.973, -0.6544, 0.1379, 0.2092, 0.9965]\nstate[eef_state]: left_x=0.3126 left_y=0.0442 left_z=0.0535 left_yaw=0.0306 left_pitch=0.0325 left_roll=-0.0055 left_gripper=0.1209 right_x=0.3066 right_y=0.0526 right_z=0.2424 right_yaw=0.0034 right_pitch=-0.0856 right_roll=0.0907 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -0.9915, 2.8923, 0.5739, -0.0464, 0.0122, 0.696, 0.1026, -2.7556, 7.2547, 1.79, 0.1343, 0.1148, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35b92eb13fa43f84ad918dc837758283d801334386dcc57d19904b2f0d6224bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38be5b801bf0fa0ac4da30e6ba6d5bbca4f3e4b7d8a1aaec1a60cd6ddca2a7ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ad6a829d5db217f19479314908b2020bf926f8ce47a0d5ddc262dbb92d42cc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 17.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6094, -0.3805, -0.0223, -0.0383, 0.9996, 0.4149, 1.5101, 1.383, -0.5232, 0.2783, 0.3168, 0.9955]\nstate[eef_state]: left_x=0.2965 left_y=0.0019 left_z=0.1775 left_yaw=0.0036 left_pitch=-0.0202 left_roll=-0.0039 left_gripper=0.9996 right_x=0.426 right_y=0.1385 right_z=0.2589 right_yaw=0.007 right_pitch=-0.0642 right_roll=0.0967 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -1.1692, 7.0632, 1.7314, -0.0317, -0.0757, -0.0171, 0.0752, -7.4598, 9.935, 1.7607, 0.1099, 0.0122, -0.1783]\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]: [0.2165, 0.984, 0.2848, 0.041, 0.1509, 0.0738, 0.9996, 0.2398, 0.9619, 0.9783, -0.6422, 0.1505, 0.223, 0.9964]\nstate[eef_state]: left_x=0.2917 left_y=0.0407 left_z=0.0705 left_yaw=0.0321 left_pitch=-0.0871 left_roll=-0.0187 left_gripper=0.9996 right_x=0.308 right_y=0.0517 right_z=0.2494 right_yaw=-0.0106 right_pitch=-0.0608 right_roll=0.1004 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -2.6325, 6.3658, 1.8877, 0.1685, 0.1245, -0.0562, -0.2393, -1.894, 7.241, 1.9121, 0.0122, -0.1148, 0.0806]",
      "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]: [0.2173, 1.2205, 0.1772, 0.506, 0.1581, 0.0677, 0.1209, 0.2363, 0.9688, 0.973, -0.6544, 0.1379, 0.2092, 0.9965]\nstate[eef_state]: left_x=0.3126 left_y=0.0442 left_z=0.0535 left_yaw=0.0306 left_pitch=0.0325 left_roll=-0.0055 left_gripper=0.1209 right_x=0.3066 right_y=0.0526 right_z=0.2424 right_yaw=0.0034 right_pitch=-0.0856 right_roll=0.0907 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -0.9915, 2.8923, 0.5739, -0.0464, 0.0122, 0.696, 0.1026, -2.7556, 7.2547, 1.79, 0.1343, 0.1148, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35b92eb13fa43f84ad918dc837758283d801334386dcc57d19904b2f0d6224bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38be5b801bf0fa0ac4da30e6ba6d5bbca4f3e4b7d8a1aaec1a60cd6ddca2a7ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ad6a829d5db217f19479314908b2020bf926f8ce47a0d5ddc262dbb92d42cc5",
        "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_0132wtbhtoDngiUmr1LwyHbk",
      "input": {
        "note": "Gripper closed to 0.12 on the grey plush, so it has a pinch of the toy. Because each arm can only reach its own basket, I'm designating the LEFT basket for plush toys; carrying the grey plush there now.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.145,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_0132wtbhtoDngiUmr1LwyHbk",
      "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]: [-0.5495, 1.4124, 1.2812, -0.461, -0.4717, -0.3416, 0.1226, 0.2352, 0.9726, 0.973, -0.6556, 0.1371, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.4002 left_y=-0.1468 left_z=0.2733 left_yaw=0.0088 left_pitch=0.0419 left_roll=-0.0221 left_gripper=0.1226 right_x=0.307 right_y=0.0524 right_z=0.2411 right_yaw=0.0032 right_pitch=-0.0905 right_roll=0.0894 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -5.9556, 8.2803, 1.2772, -0.1978, -0.0611, 0.1636, -0.2393, -2.4957, 6.8034, 1.6386, 0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36f527fd04feed4790330b9b614d652f0a8417092868c61653cff972885ee5fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdca809112f51bd13ae1c11c9f5d16438821d2445c9dbe0472c31cc2cfb8d68d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1701b630a024ab0219bf8e29c6d57047fefd27b4a018bceaa415e94aebd58237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 20.95 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]: [0.2165, 0.984, 0.2848, 0.041, 0.1509, 0.0738, 0.9996, 0.2398, 0.9619, 0.9783, -0.6422, 0.1505, 0.223, 0.9964]\nstate[eef_state]: left_x=0.2917 left_y=0.0407 left_z=0.0705 left_yaw=0.0321 left_pitch=-0.0871 left_roll=-0.0187 left_gripper=0.9996 right_x=0.308 right_y=0.0517 right_z=0.2494 right_yaw=-0.0106 right_pitch=-0.0608 right_roll=0.1004 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -2.6325, 6.3658, 1.8877, 0.1685, 0.1245, -0.0562, -0.2393, -1.894, 7.241, 1.9121, 0.0122, -0.1148, 0.0806]",
      "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]: [0.2173, 1.2205, 0.1772, 0.506, 0.1581, 0.0677, 0.1209, 0.2363, 0.9688, 0.973, -0.6544, 0.1379, 0.2092, 0.9965]\nstate[eef_state]: left_x=0.3126 left_y=0.0442 left_z=0.0535 left_yaw=0.0306 left_pitch=0.0325 left_roll=-0.0055 left_gripper=0.1209 right_x=0.3066 right_y=0.0526 right_z=0.2424 right_yaw=0.0034 right_pitch=-0.0856 right_roll=0.0907 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -0.9915, 2.8923, 0.5739, -0.0464, 0.0122, 0.696, 0.1026, -2.7556, 7.2547, 1.79, 0.1343, 0.1148, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5495, 1.4124, 1.2812, -0.461, -0.4717, -0.3416, 0.1226, 0.2352, 0.9726, 0.973, -0.6556, 0.1371, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.4002 left_y=-0.1468 left_z=0.2733 left_yaw=0.0088 left_pitch=0.0419 left_roll=-0.0221 left_gripper=0.1226 right_x=0.307 right_y=0.0524 right_z=0.2411 right_yaw=0.0032 right_pitch=-0.0905 right_roll=0.0894 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -5.9556, 8.2803, 1.2772, -0.1978, -0.0611, 0.1636, -0.2393, -2.4957, 6.8034, 1.6386, 0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36f527fd04feed4790330b9b614d652f0a8417092868c61653cff972885ee5fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdca809112f51bd13ae1c11c9f5d16438821d2445c9dbe0472c31cc2cfb8d68d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1701b630a024ab0219bf8e29c6d57047fefd27b4a018bceaa415e94aebd58237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NzAMCZnpcoU9b7xdFb7Wae",
      "input": {
        "note": "The lift failed — the grey plush is still on the table, so the jaws only held fur. Left basket is confirmed in view. Returning above the grey plush for a deeper regrasp.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.31,
          "left_y": 0.03,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01NzAMCZnpcoU9b7xdFb7Wae",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.136, 0.9722, 0.3088, 0.0864, 0.062, -0.0109, 0.9976, 0.2352, 0.9764, 0.971, -0.6594, 0.1368, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.306 left_y=0.0345 left_z=0.0923 left_yaw=0.0725 left_pitch=-0.0134 left_roll=-0.0269 left_gripper=0.9976 right_x=0.3067 right_y=0.0524 right_z=0.2384 right_yaw=0.0034 right_pitch=-0.0998 right_roll=0.0874 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -2.441, 6.9675, 2.0342, 0.2759, 0.1734, 0.0904, -0.1573, -2.3316, 6.8991, 1.6679, 0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dd8b575c9fe1ad73e8c6ad254e5c1b2885e3a2da3eb9aa759510ee6ba2f07fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddaed03a9d64dfe0452ef3f1cfb3cc33099efa43bcf9db35f2b5f00064defe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3b5057176f6f1b444f0601c2a3e4fa9a8e1da321b00d90339f1170195d16b69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 23.07 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]: [0.2173, 1.2205, 0.1772, 0.506, 0.1581, 0.0677, 0.1209, 0.2363, 0.9688, 0.973, -0.6544, 0.1379, 0.2092, 0.9965]\nstate[eef_state]: left_x=0.3126 left_y=0.0442 left_z=0.0535 left_yaw=0.0306 left_pitch=0.0325 left_roll=-0.0055 left_gripper=0.1209 right_x=0.3066 right_y=0.0526 right_z=0.2424 right_yaw=0.0034 right_pitch=-0.0856 right_roll=0.0907 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -0.9915, 2.8923, 0.5739, -0.0464, 0.0122, 0.696, 0.1026, -2.7556, 7.2547, 1.79, 0.1343, 0.1148, -0.0024]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5495, 1.4124, 1.2812, -0.461, -0.4717, -0.3416, 0.1226, 0.2352, 0.9726, 0.973, -0.6556, 0.1371, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.4002 left_y=-0.1468 left_z=0.2733 left_yaw=0.0088 left_pitch=0.0419 left_roll=-0.0221 left_gripper=0.1226 right_x=0.307 right_y=0.0524 right_z=0.2411 right_yaw=0.0032 right_pitch=-0.0905 right_roll=0.0894 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -5.9556, 8.2803, 1.2772, -0.1978, -0.0611, 0.1636, -0.2393, -2.4957, 6.8034, 1.6386, 0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.136, 0.9722, 0.3088, 0.0864, 0.062, -0.0109, 0.9976, 0.2352, 0.9764, 0.971, -0.6594, 0.1368, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.306 left_y=0.0345 left_z=0.0923 left_yaw=0.0725 left_pitch=-0.0134 left_roll=-0.0269 left_gripper=0.9976 right_x=0.3067 right_y=0.0524 right_z=0.2384 right_yaw=0.0034 right_pitch=-0.0998 right_roll=0.0874 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -2.441, 6.9675, 2.0342, 0.2759, 0.1734, 0.0904, -0.1573, -2.3316, 6.8991, 1.6679, 0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dd8b575c9fe1ad73e8c6ad254e5c1b2885e3a2da3eb9aa759510ee6ba2f07fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddaed03a9d64dfe0452ef3f1cfb3cc33099efa43bcf9db35f2b5f00064defe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b5057176f6f1b444f0601c2a3e4fa9a8e1da321b00d90339f1170195d16b69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ut9LYcWkfCLCbuXrWWPkQH",
      "input": {
        "note": "Left wrist view shows the grey plush about 5 cm to the arm's right with a yellow pen beside it. Moving over the plush and down to table level for a deeper grasp of its body.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.02,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Ut9LYcWkfCLCbuXrWWPkQH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1921, 1.4586, 0.1001, 0.7055, -0.1913, -0.1509, 0.9981, 0.2352, 0.9817, 0.971, -0.6632, 0.1368, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.296 left_y=-0.0197 left_z=-0.0003 left_yaw=0.0336 left_pitch=-0.0768 left_roll=0.0097 left_gripper=0.9981 right_x=0.3068 right_y=0.0524 right_z=0.2361 right_yaw=0.0031 right_pitch=-0.1088 right_roll=0.0853 right_gripper=0.9965\nstate[joint_eff]: [0.253, -3.8359, 2.1128, 0.486, 0.5543, -0.5006, 0.0317, -0.1026, -2.5504, 6.8171, 1.7265, 0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59ce3a9f57ea34f0655193dca023a4268e85ca947103d372c234f270e2235d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8dbfc0ffa9a11194ec2ca3c22c48e86f33f35642c332c48858ebc82e6dcb8d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ac09476d115dd0f813f660142f86652bac0ead9d7067008f360716057a3d606",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 4.117 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]: [-0.5495, 1.4124, 1.2812, -0.461, -0.4717, -0.3416, 0.1226, 0.2352, 0.9726, 0.973, -0.6556, 0.1371, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.4002 left_y=-0.1468 left_z=0.2733 left_yaw=0.0088 left_pitch=0.0419 left_roll=-0.0221 left_gripper=0.1226 right_x=0.307 right_y=0.0524 right_z=0.2411 right_yaw=0.0032 right_pitch=-0.0905 right_roll=0.0894 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -5.9556, 8.2803, 1.2772, -0.1978, -0.0611, 0.1636, -0.2393, -2.4957, 6.8034, 1.6386, 0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.136, 0.9722, 0.3088, 0.0864, 0.062, -0.0109, 0.9976, 0.2352, 0.9764, 0.971, -0.6594, 0.1368, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.306 left_y=0.0345 left_z=0.0923 left_yaw=0.0725 left_pitch=-0.0134 left_roll=-0.0269 left_gripper=0.9976 right_x=0.3067 right_y=0.0524 right_z=0.2384 right_yaw=0.0034 right_pitch=-0.0998 right_roll=0.0874 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -2.441, 6.9675, 2.0342, 0.2759, 0.1734, 0.0904, -0.1573, -2.3316, 6.8991, 1.6679, 0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1921, 1.4586, 0.1001, 0.7055, -0.1913, -0.1509, 0.9981, 0.2352, 0.9817, 0.971, -0.6632, 0.1368, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.296 left_y=-0.0197 left_z=-0.0003 left_yaw=0.0336 left_pitch=-0.0768 left_roll=0.0097 left_gripper=0.9981 right_x=0.3068 right_y=0.0524 right_z=0.2361 right_yaw=0.0031 right_pitch=-0.1088 right_roll=0.0853 right_gripper=0.9965\nstate[joint_eff]: [0.253, -3.8359, 2.1128, 0.486, 0.5543, -0.5006, 0.0317, -0.1026, -2.5504, 6.8171, 1.7265, 0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59ce3a9f57ea34f0655193dca023a4268e85ca947103d372c234f270e2235d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8dbfc0ffa9a11194ec2ca3c22c48e86f33f35642c332c48858ebc82e6dcb8d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ac09476d115dd0f813f660142f86652bac0ead9d7067008f360716057a3d606",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GJDd6Y4BDDymoUrZmyhbQ4",
      "input": {
        "note": "The yellow pen is lying radially just to the arm's right of the jaw column. Sliding 3 cm right at table level to straddle the pen before closing.",
        "targets": {
          "left_y": -0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GJDd6Y4BDDymoUrZmyhbQ4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3542, 1.4887, 0.1131, 0.7231, -0.2935, -0.2359, 0.9981, 0.2352, 0.9821, 0.971, -0.6617, 0.1368, 0.2054, 0.9965]\nstate[eef_state]: left_x=0.2956 left_y=-0.051 left_z=0.0013 left_yaw=0.0022 left_pitch=-0.0579 left_roll=0.0003 left_gripper=0.9981 right_x=0.3071 right_y=0.0525 right_z=0.2363 right_yaw=0.0048 right_pitch=-0.1075 right_roll=0.0832 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -3.412, 5.5453, 1.4481, -0.315, -0.0952, -0.0073, -0.0889, -2.3726, 6.7624, 1.6288, 0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fdfc7a9e1bd500d6c87f7cd6651138f171bd32c4958a588555c0c20046980b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edbf3858393bc4c22af7d48081f269fcc4c544a9b78fbc6e347d1cb115873405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:299e590d89bd97612fb1a3ee735c67904d555752e0c505ce808a6a97143f0f5f",
        "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 · 14.38 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]: [0.136, 0.9722, 0.3088, 0.0864, 0.062, -0.0109, 0.9976, 0.2352, 0.9764, 0.971, -0.6594, 0.1368, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.306 left_y=0.0345 left_z=0.0923 left_yaw=0.0725 left_pitch=-0.0134 left_roll=-0.0269 left_gripper=0.9976 right_x=0.3067 right_y=0.0524 right_z=0.2384 right_yaw=0.0034 right_pitch=-0.0998 right_roll=0.0874 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -2.441, 6.9675, 2.0342, 0.2759, 0.1734, 0.0904, -0.1573, -2.3316, 6.8991, 1.6679, 0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1921, 1.4586, 0.1001, 0.7055, -0.1913, -0.1509, 0.9981, 0.2352, 0.9817, 0.971, -0.6632, 0.1368, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.296 left_y=-0.0197 left_z=-0.0003 left_yaw=0.0336 left_pitch=-0.0768 left_roll=0.0097 left_gripper=0.9981 right_x=0.3068 right_y=0.0524 right_z=0.2361 right_yaw=0.0031 right_pitch=-0.1088 right_roll=0.0853 right_gripper=0.9965\nstate[joint_eff]: [0.253, -3.8359, 2.1128, 0.486, 0.5543, -0.5006, 0.0317, -0.1026, -2.5504, 6.8171, 1.7265, 0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3542, 1.4887, 0.1131, 0.7231, -0.2935, -0.2359, 0.9981, 0.2352, 0.9821, 0.971, -0.6617, 0.1368, 0.2054, 0.9965]\nstate[eef_state]: left_x=0.2956 left_y=-0.051 left_z=0.0013 left_yaw=0.0022 left_pitch=-0.0579 left_roll=0.0003 left_gripper=0.9981 right_x=0.3071 right_y=0.0525 right_z=0.2363 right_yaw=0.0048 right_pitch=-0.1075 right_roll=0.0832 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -3.412, 5.5453, 1.4481, -0.315, -0.0952, -0.0073, -0.0889, -2.3726, 6.7624, 1.6288, 0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fdfc7a9e1bd500d6c87f7cd6651138f171bd32c4958a588555c0c20046980b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edbf3858393bc4c22af7d48081f269fcc4c544a9b78fbc6e347d1cb115873405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:299e590d89bd97612fb1a3ee735c67904d555752e0c505ce808a6a97143f0f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISngQKjgEIEhgCKkC2EDug6aIMLIgk1h6N+1NQyizYji+DZP9zbzzuOdol3FOQRFT3NMC8N8PMDmL0rJKcnFjBParZ9oleBJEpmk1oMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd/JzNUGEgy+onCMK6EFjEC5YzAaDIPq1rYR7avy0AvVpiIwdXX0bfMRSZUWwIMBcbzQYXUtdayuGbKl0NdzlhvohgGkJToexIHy349p92SprDc0KrwCf4go0ZyBeRypJgYL5UEQVPbjcby+MBQsAhb62FppturuXzeQDdXiwnE/wa/4+gFf5fr8QdRbVGA+RfX9Tk7qT1h3/hvih16QcdF6Y2fqd9aJvB6JBo5ASRQqw9/hK8J6oW9xi1Ry18PS8bnvK6nwhnZOSlik3CV7HL/4gg99txIdxXqMKavn0YBiZ6KZOUrCzdQWV4iQHvXMbutjQGm39etes1//MHjPXE9LqOcv2bVj43IXCeTy13jAPvuHL9Z5IGeqNk4p08IdI+TyMxdgdJqu/Q985pZdJuTb8dIo85bGz5yywSAbr+Q1Oo2+RvHQW3M5dmFyYSBLeqNNzYcJlSKA02sDuQjjwNxmVX+6HJOau3W66830GT9/mohvDeuZwOnVnno6QGsYNHmPQWt9Nb0UwGlzaN11MTc1ZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FJc4bLrEN6HcMKPtzCmTtw",
      "input": {
        "note": "Yellow pen is now centred on the jaw column at table level; closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FJc4bLrEN6HcMKPtzCmTtw",
      "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]: [-0.3725, 1.4883, 0.1299, 0.6807, -0.3401, -0.2665, 0.1642, 0.2352, 0.9878, 0.9676, -0.6621, 0.1368, 0.2047, 0.9965]\nstate[eef_state]: left_x=0.2956 left_y=-0.0484 left_z=0.0001 left_yaw=0.0391 left_pitch=-0.0702 left_roll=0.0117 left_gripper=0.1642 right_x=0.3074 right_y=0.0526 right_z=0.233 right_yaw=0.0049 right_pitch=-0.1168 right_roll=0.0804 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.7949, 4.4103, 1.5067, -0.1294, -0.0513, 0.989, -0.2667, -2.7966, 7.2684, 1.619, 0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03bd1868da28590ec9fb21dfd89bccc3fe9abbb3f11c37bd071bc9a4baba0dd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7ea915d005d7a3ffe920d587cacf87f7ab062975fa01023c550ebcb06e06d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d7b99e54c32c7f0d362855b885eec5e3806077b2f8fb335bc414226cd778e2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 10.67 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]: [-0.1921, 1.4586, 0.1001, 0.7055, -0.1913, -0.1509, 0.9981, 0.2352, 0.9817, 0.971, -0.6632, 0.1368, 0.2085, 0.9965]\nstate[eef_state]: left_x=0.296 left_y=-0.0197 left_z=-0.0003 left_yaw=0.0336 left_pitch=-0.0768 left_roll=0.0097 left_gripper=0.9981 right_x=0.3068 right_y=0.0524 right_z=0.2361 right_yaw=0.0031 right_pitch=-0.1088 right_roll=0.0853 right_gripper=0.9965\nstate[joint_eff]: [0.253, -3.8359, 2.1128, 0.486, 0.5543, -0.5006, 0.0317, -0.1026, -2.5504, 6.8171, 1.7265, 0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3542, 1.4887, 0.1131, 0.7231, -0.2935, -0.2359, 0.9981, 0.2352, 0.9821, 0.971, -0.6617, 0.1368, 0.2054, 0.9965]\nstate[eef_state]: left_x=0.2956 left_y=-0.051 left_z=0.0013 left_yaw=0.0022 left_pitch=-0.0579 left_roll=0.0003 left_gripper=0.9981 right_x=0.3071 right_y=0.0525 right_z=0.2363 right_yaw=0.0048 right_pitch=-0.1075 right_roll=0.0832 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -3.412, 5.5453, 1.4481, -0.315, -0.0952, -0.0073, -0.0889, -2.3726, 6.7624, 1.6288, 0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3725, 1.4883, 0.1299, 0.6807, -0.3401, -0.2665, 0.1642, 0.2352, 0.9878, 0.9676, -0.6621, 0.1368, 0.2047, 0.9965]\nstate[eef_state]: left_x=0.2956 left_y=-0.0484 left_z=0.0001 left_yaw=0.0391 left_pitch=-0.0702 left_roll=0.0117 left_gripper=0.1642 right_x=0.3074 right_y=0.0526 right_z=0.233 right_yaw=0.0049 right_pitch=-0.1168 right_roll=0.0804 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.7949, 4.4103, 1.5067, -0.1294, -0.0513, 0.989, -0.2667, -2.7966, 7.2684, 1.619, 0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03bd1868da28590ec9fb21dfd89bccc3fe9abbb3f11c37bd071bc9a4baba0dd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7ea915d005d7a3ffe920d587cacf87f7ab062975fa01023c550ebcb06e06d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7b99e54c32c7f0d362855b885eec5e3806077b2f8fb335bc414226cd778e2e",
        "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_0142jHBb1Uoff9ceBzM844Fv",
      "input": {
        "note": "Gripper settled at 0.16 (~1.5 cm) — the Sharpie is held. Pens belong in the right basket, which only the right arm can reach, so I'm carrying the pen across to a hand-off spot near the table centre line.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.37,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_0142jHBb1Uoff9ceBzM844Fv",
      "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]: [-1.174, 2.0098, 1.4899, -0.6304, -0.8501, -1.0557, 0.1642, 0.2352, 0.9894, 0.9672, -0.6617, 0.1371, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=-0.3631 left_z=0.1111 left_yaw=0.0473 left_pitch=-0.0842 left_roll=-0.0026 left_gripper=0.1642 right_x=0.3076 right_y=0.0526 right_z=0.2325 right_yaw=0.0044 right_pitch=-0.1182 right_roll=0.0801 right_gripper=0.9965\nstate[joint_eff]: [-0.759, -10.2769, 8.335, 0.823, -0.4567, 0.2369, 1.033, -0.0342, -2.3043, 6.8171, 1.6435, 0.0122, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4b94122f340f96b8cfcb186fdff92dde26c47863aa2698feabca80fda4543be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5548bf9a332c06d1fe1a1a8b3d01541795db62ce93ac83c67752dc0a3d363d74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a55a59d30344e7b60d7407d844a31204b2d64a46b6f8a4f4868a6878d25b2fd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 16.28 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]: [-0.3542, 1.4887, 0.1131, 0.7231, -0.2935, -0.2359, 0.9981, 0.2352, 0.9821, 0.971, -0.6617, 0.1368, 0.2054, 0.9965]\nstate[eef_state]: left_x=0.2956 left_y=-0.051 left_z=0.0013 left_yaw=0.0022 left_pitch=-0.0579 left_roll=0.0003 left_gripper=0.9981 right_x=0.3071 right_y=0.0525 right_z=0.2363 right_yaw=0.0048 right_pitch=-0.1075 right_roll=0.0832 right_gripper=0.9965\nstate[joint_eff]: [0.3487, -3.412, 5.5453, 1.4481, -0.315, -0.0952, -0.0073, -0.0889, -2.3726, 6.7624, 1.6288, 0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3725, 1.4883, 0.1299, 0.6807, -0.3401, -0.2665, 0.1642, 0.2352, 0.9878, 0.9676, -0.6621, 0.1368, 0.2047, 0.9965]\nstate[eef_state]: left_x=0.2956 left_y=-0.0484 left_z=0.0001 left_yaw=0.0391 left_pitch=-0.0702 left_roll=0.0117 left_gripper=0.1642 right_x=0.3074 right_y=0.0526 right_z=0.233 right_yaw=0.0049 right_pitch=-0.1168 right_roll=0.0804 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.7949, 4.4103, 1.5067, -0.1294, -0.0513, 0.989, -0.2667, -2.7966, 7.2684, 1.619, 0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.174, 2.0098, 1.4899, -0.6304, -0.8501, -1.0557, 0.1642, 0.2352, 0.9894, 0.9672, -0.6617, 0.1371, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=-0.3631 left_z=0.1111 left_yaw=0.0473 left_pitch=-0.0842 left_roll=-0.0026 left_gripper=0.1642 right_x=0.3076 right_y=0.0526 right_z=0.2325 right_yaw=0.0044 right_pitch=-0.1182 right_roll=0.0801 right_gripper=0.9965\nstate[joint_eff]: [-0.759, -10.2769, 8.335, 0.823, -0.4567, 0.2369, 1.033, -0.0342, -2.3043, 6.8171, 1.6435, 0.0122, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4b94122f340f96b8cfcb186fdff92dde26c47863aa2698feabca80fda4543be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5548bf9a332c06d1fe1a1a8b3d01541795db62ce93ac83c67752dc0a3d363d74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a55a59d30344e7b60d7407d844a31204b2d64a46b6f8a4f4868a6878d25b2fd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UUoeak21brMccQFqYpzNBX",
      "input": {
        "note": "At the hand-off spot just past the table centre line; lowering to the table and releasing the pen so the right arm can pick it up for the right basket.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UUoeak21brMccQFqYpzNBX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1767, 2.1376, 1.3331, -0.3405, -0.8658, -1.0569, 0.9954, 0.2352, 0.9894, 0.9672, -0.6621, 0.1371, 0.2016, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.3634 left_z=0.0319 left_yaw=0.0516 left_pitch=-0.0689 left_roll=-0.0037 left_gripper=0.9954 right_x=0.3075 right_y=0.0525 right_z=0.2324 right_yaw=0.0062 right_pitch=-0.1184 right_roll=0.0773 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -9.1692, 4.506, 0.9646, -0.2564, -0.022, -0.0611, -0.1436, -2.4, 6.7487, 1.6777, 0.022, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22544fc3aa31c1ba7c2190be35feff60dd5adf615891a90da33cd8c5c37f6800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:930dd21dc07062f734aab4252944c961bafa0ba9cb5178ab8dda013e5ce17b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09d66b41076cd4b5eb29a3d5002de28983ed49fcec25f78de7992bd2593a41db",
        "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 · 18.84 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]: [-0.3725, 1.4883, 0.1299, 0.6807, -0.3401, -0.2665, 0.1642, 0.2352, 0.9878, 0.9676, -0.6621, 0.1368, 0.2047, 0.9965]\nstate[eef_state]: left_x=0.2956 left_y=-0.0484 left_z=0.0001 left_yaw=0.0391 left_pitch=-0.0702 left_roll=0.0117 left_gripper=0.1642 right_x=0.3074 right_y=0.0526 right_z=0.233 right_yaw=0.0049 right_pitch=-0.1168 right_roll=0.0804 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -3.7949, 4.4103, 1.5067, -0.1294, -0.0513, 0.989, -0.2667, -2.7966, 7.2684, 1.619, 0.0024, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.174, 2.0098, 1.4899, -0.6304, -0.8501, -1.0557, 0.1642, 0.2352, 0.9894, 0.9672, -0.6617, 0.1371, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=-0.3631 left_z=0.1111 left_yaw=0.0473 left_pitch=-0.0842 left_roll=-0.0026 left_gripper=0.1642 right_x=0.3076 right_y=0.0526 right_z=0.2325 right_yaw=0.0044 right_pitch=-0.1182 right_roll=0.0801 right_gripper=0.9965\nstate[joint_eff]: [-0.759, -10.2769, 8.335, 0.823, -0.4567, 0.2369, 1.033, -0.0342, -2.3043, 6.8171, 1.6435, 0.0122, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1767, 2.1376, 1.3331, -0.3405, -0.8658, -1.0569, 0.9954, 0.2352, 0.9894, 0.9672, -0.6621, 0.1371, 0.2016, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.3634 left_z=0.0319 left_yaw=0.0516 left_pitch=-0.0689 left_roll=-0.0037 left_gripper=0.9954 right_x=0.3075 right_y=0.0525 right_z=0.2324 right_yaw=0.0062 right_pitch=-0.1184 right_roll=0.0773 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -9.1692, 4.506, 0.9646, -0.2564, -0.022, -0.0611, -0.1436, -2.4, 6.7487, 1.6777, 0.022, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22544fc3aa31c1ba7c2190be35feff60dd5adf615891a90da33cd8c5c37f6800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:930dd21dc07062f734aab4252944c961bafa0ba9cb5178ab8dda013e5ce17b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09d66b41076cd4b5eb29a3d5002de28983ed49fcec25f78de7992bd2593a41db",
        "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_01WPzv4U7SmpYqVkJw5a5XPU",
      "input": {
        "note": "Pen released near the centre line. Pulling the left arm back to its home area and bringing the right arm over the pen so it can drop it into the right (pen) basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.287,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 33 steps (3.3s)",
      "tool_use_id": "toolu_01WPzv4U7SmpYqVkJw5a5XPU",
      "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]: [-0.0956, 0.8879, 0.7216, -0.4976, -0.1711, -0.1596, 0.9967, 1.021, 1.6577, 1.0412, -0.3786, 0.6704, 0.8059, 0.9986]\nstate[eef_state]: left_x=0.2992 left_y=0.0051 left_z=0.1851 left_yaw=0.118 left_pitch=-0.0902 left_roll=-0.007 left_gripper=0.9967 right_x=0.2948 right_y=0.2779 right_z=0.1076 right_yaw=0.0248 right_pitch=-0.1575 right_roll=0.0383 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -2.6462, 9.7162, 1.5067, 0.0708, 0.188, 0.1294, 0.6222, -7.4325, 9.0872, 1.3407, 0.5983, 0.1197, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf66f802ccc45b5730f079208decb567ebf671a7ec5277c8e5fa30aa146fb725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56f01f264fb9d6e77154559c743f544ede20dad8ba99ec8f0d85466623af572b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:051c9e8fc7a015b0dc0b52fb64e5699f9334be8c44bb040269ec681f0b6fe3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 6.732 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.174, 2.0098, 1.4899, -0.6304, -0.8501, -1.0557, 0.1642, 0.2352, 0.9894, 0.9672, -0.6617, 0.1371, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2999 left_y=-0.3631 left_z=0.1111 left_yaw=0.0473 left_pitch=-0.0842 left_roll=-0.0026 left_gripper=0.1642 right_x=0.3076 right_y=0.0526 right_z=0.2325 right_yaw=0.0044 right_pitch=-0.1182 right_roll=0.0801 right_gripper=0.9965\nstate[joint_eff]: [-0.759, -10.2769, 8.335, 0.823, -0.4567, 0.2369, 1.033, -0.0342, -2.3043, 6.8171, 1.6435, 0.0122, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1767, 2.1376, 1.3331, -0.3405, -0.8658, -1.0569, 0.9954, 0.2352, 0.9894, 0.9672, -0.6621, 0.1371, 0.2016, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.3634 left_z=0.0319 left_yaw=0.0516 left_pitch=-0.0689 left_roll=-0.0037 left_gripper=0.9954 right_x=0.3075 right_y=0.0525 right_z=0.2324 right_yaw=0.0062 right_pitch=-0.1184 right_roll=0.0773 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -9.1692, 4.506, 0.9646, -0.2564, -0.022, -0.0611, -0.1436, -2.4, 6.7487, 1.6777, 0.022, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0956, 0.8879, 0.7216, -0.4976, -0.1711, -0.1596, 0.9967, 1.021, 1.6577, 1.0412, -0.3786, 0.6704, 0.8059, 0.9986]\nstate[eef_state]: left_x=0.2992 left_y=0.0051 left_z=0.1851 left_yaw=0.118 left_pitch=-0.0902 left_roll=-0.007 left_gripper=0.9967 right_x=0.2948 right_y=0.2779 right_z=0.1076 right_yaw=0.0248 right_pitch=-0.1575 right_roll=0.0383 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -2.6462, 9.7162, 1.5067, 0.0708, 0.188, 0.1294, 0.6222, -7.4325, 9.0872, 1.3407, 0.5983, 0.1197, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf66f802ccc45b5730f079208decb567ebf671a7ec5277c8e5fa30aa146fb725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56f01f264fb9d6e77154559c743f544ede20dad8ba99ec8f0d85466623af572b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:051c9e8fc7a015b0dc0b52fb64e5699f9334be8c44bb040269ec681f0b6fe3de",
        "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_01CgMZCPbpehk9EVZ5AGmGwN",
      "input": {
        "note": "Clear view now: plush toys (tan + white) are on the right half, so I'm switching the assignment — RIGHT basket for plush, LEFT basket for pens. The right wrist sees the white plush directly under the jaws; descending to the table and closing on it.",
        "targets": {
          "right_gripper": 0,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CgMZCPbpehk9EVZ5AGmGwN",
      "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]: [-0.0952, 0.8909, 0.7273, -0.5083, -0.1604, -0.1574, 0.9969, 1.021, 1.8545, 0.8642, -0.0025, 0.6708, 0.7994, 0.098]\nstate[eef_state]: left_x=0.2986 left_y=0.0034 left_z=0.1846 left_yaw=0.1083 left_pitch=-0.0994 left_roll=-0.01 left_gripper=0.9969 right_x=0.2956 right_y=0.279 right_z=0.019 right_yaw=0.0283 right_pitch=-0.1559 right_roll=0.0351 right_gripper=0.098\nstate[joint_eff]: [-0.1709, -1.935, 6.4752, 1.7216, -0.1783, -0.0855, 0.0024, -0.0068, -6.9949, 4.4786, 1.1111, 0.3053, 0.5055, 2.1172]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f6c35c41e365af2e8f1a7dc522aecf57cd3f22f0f81d208cfdc28ef2a05659d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:539bd528647e63fb8d8a2423b0718823c6a7cdd18daf8c8d62c4ae486814457b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bef370566861787900a6d8ee0a2dac6a4e26cb76ea94d7e9766e44817c5ff00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 10.34 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1767, 2.1376, 1.3331, -0.3405, -0.8658, -1.0569, 0.9954, 0.2352, 0.9894, 0.9672, -0.6621, 0.1371, 0.2016, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.3634 left_z=0.0319 left_yaw=0.0516 left_pitch=-0.0689 left_roll=-0.0037 left_gripper=0.9954 right_x=0.3075 right_y=0.0525 right_z=0.2324 right_yaw=0.0062 right_pitch=-0.1184 right_roll=0.0773 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -9.1692, 4.506, 0.9646, -0.2564, -0.022, -0.0611, -0.1436, -2.4, 6.7487, 1.6777, 0.022, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0956, 0.8879, 0.7216, -0.4976, -0.1711, -0.1596, 0.9967, 1.021, 1.6577, 1.0412, -0.3786, 0.6704, 0.8059, 0.9986]\nstate[eef_state]: left_x=0.2992 left_y=0.0051 left_z=0.1851 left_yaw=0.118 left_pitch=-0.0902 left_roll=-0.007 left_gripper=0.9967 right_x=0.2948 right_y=0.2779 right_z=0.1076 right_yaw=0.0248 right_pitch=-0.1575 right_roll=0.0383 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -2.6462, 9.7162, 1.5067, 0.0708, 0.188, 0.1294, 0.6222, -7.4325, 9.0872, 1.3407, 0.5983, 0.1197, -0.1587]",
      "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]: [-0.0952, 0.8909, 0.7273, -0.5083, -0.1604, -0.1574, 0.9969, 1.021, 1.8545, 0.8642, -0.0025, 0.6708, 0.7994, 0.098]\nstate[eef_state]: left_x=0.2986 left_y=0.0034 left_z=0.1846 left_yaw=0.1083 left_pitch=-0.0994 left_roll=-0.01 left_gripper=0.9969 right_x=0.2956 right_y=0.279 right_z=0.019 right_yaw=0.0283 right_pitch=-0.1559 right_roll=0.0351 right_gripper=0.098\nstate[joint_eff]: [-0.1709, -1.935, 6.4752, 1.7216, -0.1783, -0.0855, 0.0024, -0.0068, -6.9949, 4.4786, 1.1111, 0.3053, 0.5055, 2.1172]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f6c35c41e365af2e8f1a7dc522aecf57cd3f22f0f81d208cfdc28ef2a05659d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:539bd528647e63fb8d8a2423b0718823c6a7cdd18daf8c8d62c4ae486814457b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bef370566861787900a6d8ee0a2dac6a4e26cb76ea94d7e9766e44817c5ff00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzwUKjgEIEhgCKkDKalREHPUo6O2K2jKmylZehw1ycyaRElSLYwHCG32V9NaPzR7l9rzesPZSb59h+olFZqwNAwjKapI6oxBswbXbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAarKzNUGEgzkVOrgBw/JbAf6bDwaDE2J7rHkM95xI6EQ7CIw3qr+dtRfN7vAPGg2pJJw59RXIHu9cXtvTuaFGRj39zYtoLfi4a/hdbyNL6ExAC1BKu0DqRV8f7amsSR8+HXFUn59qWDfNuHBwsEJp8GSHx7AqCMP5hcr1hQ03A8UWjjEd3cMCvCfMkW789AOx+eOkXRJcpx0c6GtlLKxkkyuSwa8doLnXMNUq+oP3EGv1CJV/+/x6INKUb5CA2V/Yv2B9XjVOqn+Mx/phDI/hVfVe8vXvVfx3cRTGdojWBhlwimW6LvDvnZteckgB/peNI7ohKpebgqyoDw718CbSxuK/zPlxbLFoWQSd7/BUNeCZgyrU/7mxHbGxlH4njAfBsDzcvhTWl1o8UcRNmeg5Rp+u1Rl0wOQh6BvIHBOXgEZy2Zir92wR5NAuPHJtwjRVZ1NZXdVh5ma7KgoWXMwyfWceMvUmi2WXKcuRx6b1m2TiQ4p3Dz09hilItFSGFA89fCdmtgGlNBBmmFWBoaAyrYNKqb+QlK4USp6FUxY7d9CKHMNGE/lITG4jtI+xNniXdMv6Nqr7c/TuHb8Q5+nFxYWnwypEoahnxiqpwHmqwrCmrONY371Duxrj0BSfDPLKrlSlItcCOH2Pqi4a5IvSJvZu6Mm9zVd4do5j0F9VBep/LLc11Kk0b9/WE/Ji/kEOxyUShgxfXmSipqmB9LwCzDyHq2max5BuEGcisAtdCIf/VpukYYWxJlfoAB8sruQKO1u/xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Azsegh2A2qc7MytJUrSKA",
      "input": {
        "note": "Closed on the white plush (reading 0.10). Lifting and carrying it over the right basket, which is now the plush basket.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.17,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_014Azsegh2A2qc7MytJUrSKA",
      "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]: [-0.0952, 0.8921, 0.7254, -0.5091, -0.1574, -0.1574, 0.9969, 0.522, 1.6108, 1.5059, -0.6922, 0.3435, 0.3656, 0.0994]\nstate[eef_state]: left_x=0.2984 left_y=0.0029 left_z=0.1832 left_yaw=0.1058 left_pitch=-0.1035 left_roll=-0.0111 left_gripper=0.9969 right_x=0.4143 right_y=0.1738 right_z=0.2408 right_yaw=0.0264 right_pitch=-0.1792 right_roll=0.0312 right_gripper=0.0994\nstate[joint_eff]: [-0.0889, -1.8803, 7.1043, 1.6777, -0.1099, -0.0659, -0.0122, -0.5812, -7.1043, 9.3607, 1.5458, 0.1636, -0.0024, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:558444f6b9b55753cbfe2eaa83a981cc47ca67cc9770065324020f43d8923f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88099f5dad4a208c5da2bcdf9517146f855b00904fe10eafc5ec68680cfc62e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:278aad428d83c99f4217f98ebf7a3e491358370141b460019d18aaf10400895f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 6.593 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]: [-0.0956, 0.8879, 0.7216, -0.4976, -0.1711, -0.1596, 0.9967, 1.021, 1.6577, 1.0412, -0.3786, 0.6704, 0.8059, 0.9986]\nstate[eef_state]: left_x=0.2992 left_y=0.0051 left_z=0.1851 left_yaw=0.118 left_pitch=-0.0902 left_roll=-0.007 left_gripper=0.9967 right_x=0.2948 right_y=0.2779 right_z=0.1076 right_yaw=0.0248 right_pitch=-0.1575 right_roll=0.0383 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -2.6462, 9.7162, 1.5067, 0.0708, 0.188, 0.1294, 0.6222, -7.4325, 9.0872, 1.3407, 0.5983, 0.1197, -0.1587]",
      "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]: [-0.0952, 0.8909, 0.7273, -0.5083, -0.1604, -0.1574, 0.9969, 1.021, 1.8545, 0.8642, -0.0025, 0.6708, 0.7994, 0.098]\nstate[eef_state]: left_x=0.2986 left_y=0.0034 left_z=0.1846 left_yaw=0.1083 left_pitch=-0.0994 left_roll=-0.01 left_gripper=0.9969 right_x=0.2956 right_y=0.279 right_z=0.019 right_yaw=0.0283 right_pitch=-0.1559 right_roll=0.0351 right_gripper=0.098\nstate[joint_eff]: [-0.1709, -1.935, 6.4752, 1.7216, -0.1783, -0.0855, 0.0024, -0.0068, -6.9949, 4.4786, 1.1111, 0.3053, 0.5055, 2.1172]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0952, 0.8921, 0.7254, -0.5091, -0.1574, -0.1574, 0.9969, 0.522, 1.6108, 1.5059, -0.6922, 0.3435, 0.3656, 0.0994]\nstate[eef_state]: left_x=0.2984 left_y=0.0029 left_z=0.1832 left_yaw=0.1058 left_pitch=-0.1035 left_roll=-0.0111 left_gripper=0.9969 right_x=0.4143 right_y=0.1738 right_z=0.2408 right_yaw=0.0264 right_pitch=-0.1792 right_roll=0.0312 right_gripper=0.0994\nstate[joint_eff]: [-0.0889, -1.8803, 7.1043, 1.6777, -0.1099, -0.0659, -0.0122, -0.5812, -7.1043, 9.3607, 1.5458, 0.1636, -0.0024, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:558444f6b9b55753cbfe2eaa83a981cc47ca67cc9770065324020f43d8923f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88099f5dad4a208c5da2bcdf9517146f855b00904fe10eafc5ec68680cfc62e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:278aad428d83c99f4217f98ebf7a3e491358370141b460019d18aaf10400895f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011oUvfW9ZzFUKbaYE7w4q19",
      "input": {
        "note": "Carrying the plush; nudging slightly further forward to be squarely over the right basket's opening before releasing.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.16,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_011oUvfW9ZzFUKbaYE7w4q19",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0952, 0.8936, 0.7254, -0.5098, -0.1577, -0.1574, 0.9969, 0.4854, 1.623, 1.5013, -0.6727, 0.3023, 0.3283, 0.1001]\nstate[eef_state]: left_x=0.2984 left_y=0.003 left_z=0.1826 left_yaw=0.1062 left_pitch=-0.1057 left_roll=-0.0104 left_gripper=0.9969 right_x=0.4223 right_y=0.1674 right_z=0.2353 right_yaw=0.0439 right_pitch=-0.1895 right_roll=0.0312 right_gripper=0.1001\nstate[joint_eff]: [-0.1299, -1.9214, 6.9538, 1.6337, -0.105, -0.0757, -0.0122, -1.6615, -5.3538, 6.2701, 1.5995, 0.3443, -0.0806, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4269d476530d2fac02d0b368353867dd03b5483d38b362e8e9e002dac603cc7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44323ce6c8bcc1f722cb027ba21b95faca43a8b31b0d8d40885d1bb4db5f0e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1cac3e093e5f9f2c7cb37c190d768f2d856c75f131da86de904d21789fac3b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 10.16 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]: [-0.0952, 0.8909, 0.7273, -0.5083, -0.1604, -0.1574, 0.9969, 1.021, 1.8545, 0.8642, -0.0025, 0.6708, 0.7994, 0.098]\nstate[eef_state]: left_x=0.2986 left_y=0.0034 left_z=0.1846 left_yaw=0.1083 left_pitch=-0.0994 left_roll=-0.01 left_gripper=0.9969 right_x=0.2956 right_y=0.279 right_z=0.019 right_yaw=0.0283 right_pitch=-0.1559 right_roll=0.0351 right_gripper=0.098\nstate[joint_eff]: [-0.1709, -1.935, 6.4752, 1.7216, -0.1783, -0.0855, 0.0024, -0.0068, -6.9949, 4.4786, 1.1111, 0.3053, 0.5055, 2.1172]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0952, 0.8921, 0.7254, -0.5091, -0.1574, -0.1574, 0.9969, 0.522, 1.6108, 1.5059, -0.6922, 0.3435, 0.3656, 0.0994]\nstate[eef_state]: left_x=0.2984 left_y=0.0029 left_z=0.1832 left_yaw=0.1058 left_pitch=-0.1035 left_roll=-0.0111 left_gripper=0.9969 right_x=0.4143 right_y=0.1738 right_z=0.2408 right_yaw=0.0264 right_pitch=-0.1792 right_roll=0.0312 right_gripper=0.0994\nstate[joint_eff]: [-0.0889, -1.8803, 7.1043, 1.6777, -0.1099, -0.0659, -0.0122, -0.5812, -7.1043, 9.3607, 1.5458, 0.1636, -0.0024, 0.1392]",
      "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]: [-0.0952, 0.8936, 0.7254, -0.5098, -0.1577, -0.1574, 0.9969, 0.4854, 1.623, 1.5013, -0.6727, 0.3023, 0.3283, 0.1001]\nstate[eef_state]: left_x=0.2984 left_y=0.003 left_z=0.1826 left_yaw=0.1062 left_pitch=-0.1057 left_roll=-0.0104 left_gripper=0.9969 right_x=0.4223 right_y=0.1674 right_z=0.2353 right_yaw=0.0439 right_pitch=-0.1895 right_roll=0.0312 right_gripper=0.1001\nstate[joint_eff]: [-0.1299, -1.9214, 6.9538, 1.6337, -0.105, -0.0757, -0.0122, -1.6615, -5.3538, 6.2701, 1.5995, 0.3443, -0.0806, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4269d476530d2fac02d0b368353867dd03b5483d38b362e8e9e002dac603cc7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44323ce6c8bcc1f722cb027ba21b95faca43a8b31b0d8d40885d1bb4db5f0e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1cac3e093e5f9f2c7cb37c190d768f2d856c75f131da86de904d21789fac3b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8QYKjgEIEhgCKkDzh+M5p39wt/UwLnUDRFNzxb3x8qwO+dpIIpOjjsA60+7nVTWRAPMtaqL8c+8xFbPEIHyGPgknL+xDPFZ0TuSYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb3KzNUGEgxC+G1C3LpJs0YQEA8aDJN/eKVdx2PuKdn5jyIwg4AnvjfOkAY6v1C99Tdiehwt+Ckd5j13Ekqo6N7OiL/6z0ef/U9jCZv4ruOJtRduKo8FpXpbK0Q1hsYWZIsB32w9W5yfmVm8T32Z3PxuBVJMHbX+bRZCqU4EgR2TXGh5jozG/gJ2MRlKNlTwNpTu3UMipBZW0Em8K64NoimIbOokD48AWFT68HnIcs3G4yrMw+D517J7iEvdeKBXixd0hCHkrQPNbU4CexesBJ2T03B+d53++Mxjn1zrOqpDRJc5ABZzSLfnTeZYxH86VRCht0lXqQx65RASLdKv+MyTXXJw19nIzjGuyeb9NqA/adtg+7hspNofhU/bVQOHyT/0WJOm+6e65CdhrByI8TuhGuW+AGdWyGEHKRen35GjdWwpzYBZp8xyGsloP9yumzz0ntMYodXy8lLBxZcd/IX3vAd7p7Oc7jc9Qav/PnkbMfAMbUQRKVAZ2L79eq2NIXzdXGDsGVOIpR+E9Av6cC7yJHNN+NAfvqbkrfgupYzV8vjajxF6NRoa692hZy8Ixah7Hdoobt3dlW9+reyYnCPoTgMcA51nU5E18QAd+kTzNNcqIZ7x0nzkSYHWas2XwJ1eduPYfVFXxR9HPY15Dgu6e+8xlTlXjNcPjpE6Ab9DHzTb8hEcNAlBhZadnI0zE9L9+d9nV/4FU5ExeQlFj//FQ7bAfgRE7DOHC8ChBeY+t/a+Ln8BL4HldOHZBiuu1bL0wxh1VXqfWb1XPf7oZBDcKaaPz7OVDDuNs987gH9GkIZhUPq3G0xAZcyn6FJdKLomOGRYkdr3YWKvQPtovvZTaJwEJTdzv8+t+sR2jk8QMp6s4rOntUjm0XVQQiB4JvkBQfwnDSsa29w82sEH3pjU3cLxXX+yDDnLx/jNipNxtROuePjUvV7PTqgBXpTRjuKteCPy9Ki8gdMceygOgOMnLrOWdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ue7hzCcrbKbq19dL7BukFU",
      "input": {
        "note": "Over the right basket; opening the jaws to drop the plush 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_01Ue7hzCcrbKbq19dL7BukFU",
      "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]: [-0.0952, 0.8948, 0.7254, -0.5095, -0.1574, -0.1574, 0.9969, 0.4889, 1.6493, 1.4712, -0.6697, 0.2859, 0.318, 0.9942]\nstate[eef_state]: left_x=0.2985 left_y=0.0029 left_z=0.1824 left_yaw=0.1059 left_pitch=-0.1065 left_roll=-0.0105 left_gripper=0.9969 right_x=0.4199 right_y=0.171 right_z=0.2113 right_yaw=0.0616 right_pitch=-0.2429 right_roll=0.0118 right_gripper=0.9942\nstate[joint_eff]: [-0.0615, -1.9487, 6.9128, 1.6337, -0.0757, -0.0513, -0.0122, -0.4991, -10.2632, 9.1556, 1.4237, 0.2125, 0.0611, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de0bb99bdcb722baf342f660cb7dd7230d2744e45c6390b6a91a3823ae7d6205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beab67f17e21c881d403a0f9e6841cb575c8ef827c03d8c3ed980133675629ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41c7b7598405ab4088b2b7909aecf34bac51e9cd03505fbc653d3fdb12033de7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 23.23 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]: [-0.0952, 0.8921, 0.7254, -0.5091, -0.1574, -0.1574, 0.9969, 0.522, 1.6108, 1.5059, -0.6922, 0.3435, 0.3656, 0.0994]\nstate[eef_state]: left_x=0.2984 left_y=0.0029 left_z=0.1832 left_yaw=0.1058 left_pitch=-0.1035 left_roll=-0.0111 left_gripper=0.9969 right_x=0.4143 right_y=0.1738 right_z=0.2408 right_yaw=0.0264 right_pitch=-0.1792 right_roll=0.0312 right_gripper=0.0994\nstate[joint_eff]: [-0.0889, -1.8803, 7.1043, 1.6777, -0.1099, -0.0659, -0.0122, -0.5812, -7.1043, 9.3607, 1.5458, 0.1636, -0.0024, 0.1392]",
      "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]: [-0.0952, 0.8936, 0.7254, -0.5098, -0.1577, -0.1574, 0.9969, 0.4854, 1.623, 1.5013, -0.6727, 0.3023, 0.3283, 0.1001]\nstate[eef_state]: left_x=0.2984 left_y=0.003 left_z=0.1826 left_yaw=0.1062 left_pitch=-0.1057 left_roll=-0.0104 left_gripper=0.9969 right_x=0.4223 right_y=0.1674 right_z=0.2353 right_yaw=0.0439 right_pitch=-0.1895 right_roll=0.0312 right_gripper=0.1001\nstate[joint_eff]: [-0.1299, -1.9214, 6.9538, 1.6337, -0.105, -0.0757, -0.0122, -1.6615, -5.3538, 6.2701, 1.5995, 0.3443, -0.0806, 0.0659]",
      "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]: [-0.0952, 0.8948, 0.7254, -0.5095, -0.1574, -0.1574, 0.9969, 0.4889, 1.6493, 1.4712, -0.6697, 0.2859, 0.318, 0.9942]\nstate[eef_state]: left_x=0.2985 left_y=0.0029 left_z=0.1824 left_yaw=0.1059 left_pitch=-0.1065 left_roll=-0.0105 left_gripper=0.9969 right_x=0.4199 right_y=0.171 right_z=0.2113 right_yaw=0.0616 right_pitch=-0.2429 right_roll=0.0118 right_gripper=0.9942\nstate[joint_eff]: [-0.0615, -1.9487, 6.9128, 1.6337, -0.0757, -0.0513, -0.0122, -0.4991, -10.2632, 9.1556, 1.4237, 0.2125, 0.0611, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de0bb99bdcb722baf342f660cb7dd7230d2744e45c6390b6a91a3823ae7d6205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beab67f17e21c881d403a0f9e6841cb575c8ef827c03d8c3ed980133675629ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41c7b7598405ab4088b2b7909aecf34bac51e9cd03505fbc653d3fdb12033de7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAsKjgEIEhgCKkDEloBOE5gGgh20nwSe3tvNBdwnqA93eQ4ZpuUPganYRiMPf4BKRDo01P5W6OdM0OQhe5S8TxHwXvYAXJ+ABYOuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcfKzNUGEgzI9VIWNNFchugvtSoaDNeMF6ZChBGfLJRoXyIw/nUhWrnvWTt3Ws16GxJsJgUc+R5tuELxBKwmxRIMz4voaJg2463le5LN1QvUi0+5KtIJi4hQ/nw1L8010G3qH2VAP56rAKPRLmCc7xvVLj1q1aDC94UzxMVIF+0uYwXTcMO5+GFCRbnEVz6VCOej/7Wunad9V5nESURfff5Qo/jG3k7pX2osvbh8zuRJYsSMtTxhLhupjsfEITHAOzhN4H8Aja4AM5ur0Ao5BdIz6BDD9V0HPjrS3uWSxyc09xMiyzY6rfRziVAwapk9cI6m7rGpZHbt9GstMjKXUFJ4teVdPj5hGyzRZE9u6VxAMn0xeO+UgNckSPoGolJHKP45b57fo7h7OEKujgF2zy3yUD/bCdjyInnYSVCnYD2B7wtfUSGS+kfm2OWnsxVSEi0P8WwPD4UYUgXI/48vI1dEdz6ZEtSuFY76M7z1xABIJTwk39aib6lFnRr8Ay272sly2wdtADX7LrjwJ6hxN/5o1mTcvDy4aAQMRgJrq4KVsZPiqMnpeu/p56JJUHyB4fWEgOx5ACPA/527d1cqvBVcRpDZjwpPeK2/Hbzw6xNUTKaBhBMtAROlL8lzB8V7G2sMxU7esur9pn63xKrvv49uWOOfnZKRQXSdqkcqXJmHkHEuxyzFWs7QtMp1a+HJQYdFZKycuwOYjCQsq+9EwRca0tm5xorgD0vc446Vk5zdg5jZlaVdx76RD5wP5lSurbMkBzmon+UbEt5RrRKOLMho5HkOr4YjuIgavgQh1/Tf4uW7c2fP7GsgaQSuZWyXneEO1kE0KndsezDzWUKoucQjRCG5XrjSOxgLYugQ4jEMoSsWjpHvZU9aaECgtVcGVKLiUxrJ5McaBR40dS9YAS826fSJJx+Zgocj6wlpVrP1PrGES85J1XyEq+x6rL40J+sJ5mGmuAyfDisieH53YRr/4uLvzuXqVAWVSlMoXAixIyQrt82zdC04yUi+BfVV90Giq2XsWHdCc4VAmt0MBxggwNYsYO8a+P/M8s8cenwBeWo1KR2zc0GpOtXs69Dw8QkJzGCDfvK8kXdFOFA6tt/gEO1EeMoLUJWIcZPtk8qDyJHhdq0IuGI+fPPHvq7UvjVnvr3ANcA0YT2XGXKodOhD+cqYQracGqaq8e0IM1SVBAmKg/CPkcKLhQLvy6HVJ5QhdokJClAoOQaJ3Id9wsjdFdtMsnO3njDVqd8N8ncT4vysyqMma+oBJWW6bQuxMebINSFJivPBsyV8ZxiYbmldBMu2rrVfjzbDuWeXK1QQBTcdRCmHM7N49TSe2IqDiJ62rQBH7hWbHoLg5+5E/LSOcYWFq85XbGjevl1XyARaoGv/4eKClfgmssYfayZQ6jdiM+PpNodf54KFjVGVaD7CPc+xUIaVOnseqlus3e07nfE9kCC3cCFZ3jxMys41t2f661lAR/5Q1fz/SCt3PjO/+1yWK9eWSNgyHI7WXpTcVsbNXfbfCLeIU+slpeGovrXByNm6eMwZOkZgHF6eRWGsSMR0ke4ndScfP8ifJ/MKpLo5z7QmmwIV67qD8Dah2DMAOLtQ/v2xaPGiEtczyTP+5WyPu8apz4fqEA6OCkdruRiwVw9APpvnwT4Ch4lkBNdhpgtnwsuAdkzzsJuvjzQx5W3Ozi0R4BTpAEU+cs4/2YB/Y78hndm2hhDgRP6lsQzFn5UnTqxonxxy++tPYcGHs7VNd+chkRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NDRXBjuXbTjQhKVEP4KqLj",
      "input": {
        "note": "Both plush toys are now sitting inside the right basket. Pulling the right arm back and up to uncover the table so I can locate the remaining pens.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.1,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01NDRXBjuXbTjQhKVEP4KqLj",
      "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]: [-0.0952, 0.8955, 0.7254, -0.5091, -0.1577, -0.1574, 0.9969, 0.5888, 1.1168, 1.3773, -1.1255, 0.334, 0.3824, 0.9949]\nstate[eef_state]: left_x=0.2986 left_y=0.003 left_z=0.1823 left_yaw=0.1062 left_pitch=-0.1069 left_roll=-0.0102 left_gripper=0.9969 right_x=0.2624 right_y=0.1099 right_z=0.2901 right_yaw=0.0848 right_pitch=-0.2424 right_roll=0.0166 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -1.7709, 6.9538, 1.6532, -0.1343, -0.0611, -0.0073, 0.4991, -3.4256, 8.6906, 1.2723, 0.315, 0.0806, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c481bf6357a50d40ff28a1644544dc7d3ccc99ea66a2faf1083fa0c9c1d80f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a66a43dacb24d1a545f20e700b06233ca1f6f322eb4c959c7ca36614c85a1fce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ec5f1ca59c0e8439f22e89d6266eed88e4b9942693521ad609de19068c70c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 13.88 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]: [-0.0952, 0.8936, 0.7254, -0.5098, -0.1577, -0.1574, 0.9969, 0.4854, 1.623, 1.5013, -0.6727, 0.3023, 0.3283, 0.1001]\nstate[eef_state]: left_x=0.2984 left_y=0.003 left_z=0.1826 left_yaw=0.1062 left_pitch=-0.1057 left_roll=-0.0104 left_gripper=0.9969 right_x=0.4223 right_y=0.1674 right_z=0.2353 right_yaw=0.0439 right_pitch=-0.1895 right_roll=0.0312 right_gripper=0.1001\nstate[joint_eff]: [-0.1299, -1.9214, 6.9538, 1.6337, -0.105, -0.0757, -0.0122, -1.6615, -5.3538, 6.2701, 1.5995, 0.3443, -0.0806, 0.0659]",
      "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]: [-0.0952, 0.8948, 0.7254, -0.5095, -0.1574, -0.1574, 0.9969, 0.4889, 1.6493, 1.4712, -0.6697, 0.2859, 0.318, 0.9942]\nstate[eef_state]: left_x=0.2985 left_y=0.0029 left_z=0.1824 left_yaw=0.1059 left_pitch=-0.1065 left_roll=-0.0105 left_gripper=0.9969 right_x=0.4199 right_y=0.171 right_z=0.2113 right_yaw=0.0616 right_pitch=-0.2429 right_roll=0.0118 right_gripper=0.9942\nstate[joint_eff]: [-0.0615, -1.9487, 6.9128, 1.6337, -0.0757, -0.0513, -0.0122, -0.4991, -10.2632, 9.1556, 1.4237, 0.2125, 0.0611, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0952, 0.8955, 0.7254, -0.5091, -0.1577, -0.1574, 0.9969, 0.5888, 1.1168, 1.3773, -1.1255, 0.334, 0.3824, 0.9949]\nstate[eef_state]: left_x=0.2986 left_y=0.003 left_z=0.1823 left_yaw=0.1062 left_pitch=-0.1069 left_roll=-0.0102 left_gripper=0.9969 right_x=0.2624 right_y=0.1099 right_z=0.2901 right_yaw=0.0848 right_pitch=-0.2424 right_roll=0.0166 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -1.7709, 6.9538, 1.6532, -0.1343, -0.0611, -0.0073, 0.4991, -3.4256, 8.6906, 1.2723, 0.315, 0.0806, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c481bf6357a50d40ff28a1644544dc7d3ccc99ea66a2faf1083fa0c9c1d80f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a66a43dacb24d1a545f20e700b06233ca1f6f322eb4c959c7ca36614c85a1fce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ec5f1ca59c0e8439f22e89d6266eed88e4b9942693521ad609de19068c70c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W9RnANWF2qjBG8t9jPhtFe",
      "input": {
        "note": "Right wrist view reveals a small brown plush and two pens lying on the table in front of the right basket. Moving down over the two pens to line up a grasp.",
        "targets": {
          "right_x": 0.24,
          "right_y": 0.17,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01W9RnANWF2qjBG8t9jPhtFe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0952, 0.8955, 0.7254, -0.5091, -0.1574, -0.157, 0.9969, 0.8974, 1.1275, 0.7692, -0.6632, 0.4973, 0.6289, 0.995]\nstate[eef_state]: left_x=0.2986 left_y=0.0029 left_z=0.1822 left_yaw=0.1057 left_pitch=-0.1069 left_roll=-0.0101 left_gripper=0.9969 right_x=0.2345 right_y=0.1646 right_z=0.1287 right_yaw=0.1065 right_pitch=-0.2874 right_roll=-0.0173 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.8803, 6.9128, 1.6581, -0.0952, -0.0122, -0.0122, 0.3761, -3.1521, 6.7897, 1.2967, 0.4615, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e36e50870d33f5e2007e4ded788cf22cd704116112841f5dcf264f00c1e3ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f96814cceb7bad81bcc63be1bced9f1a7ad5e8d622a8986ff256cedebf1d7b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83d624c90bea9be8d34883fdf1061eba05978619920617b8acb56a5dc33d6cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 6.507 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]: [-0.0952, 0.8948, 0.7254, -0.5095, -0.1574, -0.1574, 0.9969, 0.4889, 1.6493, 1.4712, -0.6697, 0.2859, 0.318, 0.9942]\nstate[eef_state]: left_x=0.2985 left_y=0.0029 left_z=0.1824 left_yaw=0.1059 left_pitch=-0.1065 left_roll=-0.0105 left_gripper=0.9969 right_x=0.4199 right_y=0.171 right_z=0.2113 right_yaw=0.0616 right_pitch=-0.2429 right_roll=0.0118 right_gripper=0.9942\nstate[joint_eff]: [-0.0615, -1.9487, 6.9128, 1.6337, -0.0757, -0.0513, -0.0122, -0.4991, -10.2632, 9.1556, 1.4237, 0.2125, 0.0611, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0952, 0.8955, 0.7254, -0.5091, -0.1577, -0.1574, 0.9969, 0.5888, 1.1168, 1.3773, -1.1255, 0.334, 0.3824, 0.9949]\nstate[eef_state]: left_x=0.2986 left_y=0.003 left_z=0.1823 left_yaw=0.1062 left_pitch=-0.1069 left_roll=-0.0102 left_gripper=0.9969 right_x=0.2624 right_y=0.1099 right_z=0.2901 right_yaw=0.0848 right_pitch=-0.2424 right_roll=0.0166 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -1.7709, 6.9538, 1.6532, -0.1343, -0.0611, -0.0073, 0.4991, -3.4256, 8.6906, 1.2723, 0.315, 0.0806, 0.0562]",
      "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]: [-0.0952, 0.8955, 0.7254, -0.5091, -0.1574, -0.157, 0.9969, 0.8974, 1.1275, 0.7692, -0.6632, 0.4973, 0.6289, 0.995]\nstate[eef_state]: left_x=0.2986 left_y=0.0029 left_z=0.1822 left_yaw=0.1057 left_pitch=-0.1069 left_roll=-0.0101 left_gripper=0.9969 right_x=0.2345 right_y=0.1646 right_z=0.1287 right_yaw=0.1065 right_pitch=-0.2874 right_roll=-0.0173 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.8803, 6.9128, 1.6581, -0.0952, -0.0122, -0.0122, 0.3761, -3.1521, 6.7897, 1.2967, 0.4615, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e36e50870d33f5e2007e4ded788cf22cd704116112841f5dcf264f00c1e3ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f96814cceb7bad81bcc63be1bced9f1a7ad5e8d622a8986ff256cedebf1d7b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83d624c90bea9be8d34883fdf1061eba05978619920617b8acb56a5dc33d6cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SocaqtuwkXb5ZpmKgEtPq7",
      "input": {
        "note": "Two markers lie side by side just to the arm's right of the jaw column. Shifting 2 cm right and descending to table level to close on both pens at once.",
        "targets": {
          "right_x": 0.245,
          "right_y": 0.145,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01SocaqtuwkXb5ZpmKgEtPq7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 0.8959, 0.7254, -0.5106, -0.1574, -0.1574, 0.9969, 0.7963, 1.3258, 0.3813, -0.0708, 0.4465, 0.5484, 0.995]\nstate[eef_state]: left_x=0.2984 left_y=0.0027 left_z=0.1818 left_yaw=0.1052 left_pitch=-0.1088 left_roll=-0.0101 left_gripper=0.9969 right_x=0.2402 right_y=0.1416 right_z=0.01 right_yaw=0.0879 right_pitch=-0.3134 right_roll=-0.0348 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -1.812, 7.1316, 1.7265, -0.0806, -0.0269, -0.0073, -0.5402, -1.9624, 3.535, 0.7937, 0.1343, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53bdd3dc54d8d0baa04065a3fc442530cd895fad925f9e33a6ef35693c189084",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:898ea9af501e5b15c9dd9eb61d1edac2a4444d7fe4698fa913590e210328a734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90d60c92b15bf73b3868aa4d7dd4b0cc7d4f3d6366b6a9bb4e70f43c6e9188c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 9.057 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]: [-0.0952, 0.8955, 0.7254, -0.5091, -0.1577, -0.1574, 0.9969, 0.5888, 1.1168, 1.3773, -1.1255, 0.334, 0.3824, 0.9949]\nstate[eef_state]: left_x=0.2986 left_y=0.003 left_z=0.1823 left_yaw=0.1062 left_pitch=-0.1069 left_roll=-0.0102 left_gripper=0.9969 right_x=0.2624 right_y=0.1099 right_z=0.2901 right_yaw=0.0848 right_pitch=-0.2424 right_roll=0.0166 right_gripper=0.9949\nstate[joint_eff]: [-0.2393, -1.7709, 6.9538, 1.6532, -0.1343, -0.0611, -0.0073, 0.4991, -3.4256, 8.6906, 1.2723, 0.315, 0.0806, 0.0562]",
      "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]: [-0.0952, 0.8955, 0.7254, -0.5091, -0.1574, -0.157, 0.9969, 0.8974, 1.1275, 0.7692, -0.6632, 0.4973, 0.6289, 0.995]\nstate[eef_state]: left_x=0.2986 left_y=0.0029 left_z=0.1822 left_yaw=0.1057 left_pitch=-0.1069 left_roll=-0.0101 left_gripper=0.9969 right_x=0.2345 right_y=0.1646 right_z=0.1287 right_yaw=0.1065 right_pitch=-0.2874 right_roll=-0.0173 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.8803, 6.9128, 1.6581, -0.0952, -0.0122, -0.0122, 0.3761, -3.1521, 6.7897, 1.2967, 0.4615, 0.0757, -0.0073]",
      "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]: [-0.0959, 0.8959, 0.7254, -0.5106, -0.1574, -0.1574, 0.9969, 0.7963, 1.3258, 0.3813, -0.0708, 0.4465, 0.5484, 0.995]\nstate[eef_state]: left_x=0.2984 left_y=0.0027 left_z=0.1818 left_yaw=0.1052 left_pitch=-0.1088 left_roll=-0.0101 left_gripper=0.9969 right_x=0.2402 right_y=0.1416 right_z=0.01 right_yaw=0.0879 right_pitch=-0.3134 right_roll=-0.0348 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -1.812, 7.1316, 1.7265, -0.0806, -0.0269, -0.0073, -0.5402, -1.9624, 3.535, 0.7937, 0.1343, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53bdd3dc54d8d0baa04065a3fc442530cd895fad925f9e33a6ef35693c189084",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:898ea9af501e5b15c9dd9eb61d1edac2a4444d7fe4698fa913590e210328a734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90d60c92b15bf73b3868aa4d7dd4b0cc7d4f3d6366b6a9bb4e70f43c6e9188c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8gYKjgEIEhgCKkAxZuhZ4PtO8bPho4U5nlHuPSVIm2WBY+b67xHRSanoU0ypHiCzTrJI7eRF+SGaVP9WM2anLGxBoz0RPPXmUVXWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfbKzNUGEgxXXNLuk6uvWJDt4KMaDBK0s7mffdqkcUQnqiIwZXNtWPZzT3VZlbSvfNtaTz0LarETCfXRVRl5fQz55v/Vij8DRSDkAE7AIbf9rxf6KpAFLUcCFjNq3WQqe0ctaXb02jPUoXXiNYJ0Rcp6S9JppeRbhBGQvS3l+lHCYwHTgjj0jl/M2VxxAzAAgVhkYmk92DV1KA62EKG4ZJ3pRouDD/eKL/rHH+5mUGQ+jIpr+OUzBcJAUhj959PHEjuBo0fpd1txGjh91KuhQaZ9IMTu9V16Wmo8St9Vi8fFRQ1J66k9G/jQbTkXS52S9TPc8IMsfvtkDcMuwY3Ai6yTMAOcFqhDnzl4e8mxuCIktPHeBzUXW8QN7ydlrx5wuGpwAofEt/AE1cuFIWpmfbz9GLJo/d7+Msw3DKd/AEt+keu+d1vlNbBaJORVE/c/AgZhUkQKDS6Et8xWomia+D/Wxs7EpPUz8709ceQ4gNfpTbdVqZe6Wng3LLyJo19DFQ5EmcLxDWQfpxwUhoZe3CSaWztv97Z5r6iLgm219zfyFz0/ziHo9Q+oZsXDU3q86DXHiAxqylntfxsY+QW3BjcUwRwoN2o6eeFu50Pu/WyGUvDxvBry8BrAL4RBtRWUCKKYhO4JzY8jKg1X0Nehoy58MDpGEyxkzr1FBbxS2ukI2pf9/JIc5IwkCQtYUa3snYwZT4RmnLYimduzuZCs8ukOUB0Ra4aVB6u6+tfPT6OyaWVlT2ebSE5/PxNVnNNzbfFI2dJzaBqNaqdB2TkDsSO4jNpl6u7wWXoXFUQHNs0MAmu+1l48+ZocCikwAO72pDlzagrQze9cGTpgkFZ5ODQX0QGQ/6M9VAQcWui9itz4A4BDvsuPub4ZBexz0VO2/dbi1dc92hHX4oNr1N5zQFbnMY0g7JBBV3M188JT34TwOHC9RvmqTm4H1PhprS7WHCAJ6DouRjLA03+MHq0DZuRZLRg9rNwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PX28qr2xGR67RTyGwk7MFR",
      "input": {
        "note": "Both markers are between the open jaws at table level; closing to grasp them.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PX28qr2xGR67RTyGwk7MFR",
      "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]: [-0.0952, 0.8967, 0.7254, -0.511, -0.1574, -0.157, 0.9969, 0.7925, 1.3323, 0.3676, -0.0402, 0.4416, 0.5457, 0.3199]\nstate[eef_state]: left_x=0.2984 left_y=0.0029 left_z=0.1816 left_yaw=0.1058 left_pitch=-0.1099 left_roll=-0.0095 left_gripper=0.9969 right_x=0.2405 right_y=0.1416 right_z=0.0075 right_yaw=0.0914 right_pitch=-0.3084 right_roll=-0.0262 right_gripper=0.3199\nstate[joint_eff]: [-0.2393, -1.7846, 7.1316, 1.6484, -0.0806, -0.0171, -0.0073, 0.253, -4.1504, 6.5573, 0.9255, 0.2027, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54dff0d9ea36fe826a5e8f5dce8c9e885b524e8ef35382c652a5f62a46ae79e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff49264850e5ba9cd3e4ea1199db016499531839bf6ae44ca716639c5da1221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd99f6c72c33c313bd6a5a1338821802c1ba659b2f64335872315147c8887840",
        "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 · 8.27 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]: [-0.0952, 0.8955, 0.7254, -0.5091, -0.1574, -0.157, 0.9969, 0.8974, 1.1275, 0.7692, -0.6632, 0.4973, 0.6289, 0.995]\nstate[eef_state]: left_x=0.2986 left_y=0.0029 left_z=0.1822 left_yaw=0.1057 left_pitch=-0.1069 left_roll=-0.0101 left_gripper=0.9969 right_x=0.2345 right_y=0.1646 right_z=0.1287 right_yaw=0.1065 right_pitch=-0.2874 right_roll=-0.0173 right_gripper=0.995\nstate[joint_eff]: [-0.1026, -1.8803, 6.9128, 1.6581, -0.0952, -0.0122, -0.0122, 0.3761, -3.1521, 6.7897, 1.2967, 0.4615, 0.0757, -0.0073]",
      "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]: [-0.0959, 0.8959, 0.7254, -0.5106, -0.1574, -0.1574, 0.9969, 0.7963, 1.3258, 0.3813, -0.0708, 0.4465, 0.5484, 0.995]\nstate[eef_state]: left_x=0.2984 left_y=0.0027 left_z=0.1818 left_yaw=0.1052 left_pitch=-0.1088 left_roll=-0.0101 left_gripper=0.9969 right_x=0.2402 right_y=0.1416 right_z=0.01 right_yaw=0.0879 right_pitch=-0.3134 right_roll=-0.0348 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -1.812, 7.1316, 1.7265, -0.0806, -0.0269, -0.0073, -0.5402, -1.9624, 3.535, 0.7937, 0.1343, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0952, 0.8967, 0.7254, -0.511, -0.1574, -0.157, 0.9969, 0.7925, 1.3323, 0.3676, -0.0402, 0.4416, 0.5457, 0.3199]\nstate[eef_state]: left_x=0.2984 left_y=0.0029 left_z=0.1816 left_yaw=0.1058 left_pitch=-0.1099 left_roll=-0.0095 left_gripper=0.9969 right_x=0.2405 right_y=0.1416 right_z=0.0075 right_yaw=0.0914 right_pitch=-0.3084 right_roll=-0.0262 right_gripper=0.3199\nstate[joint_eff]: [-0.2393, -1.7846, 7.1316, 1.6484, -0.0806, -0.0171, -0.0073, 0.253, -4.1504, 6.5573, 0.9255, 0.2027, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54dff0d9ea36fe826a5e8f5dce8c9e885b524e8ef35382c652a5f62a46ae79e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff49264850e5ba9cd3e4ea1199db016499531839bf6ae44ca716639c5da1221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd99f6c72c33c313bd6a5a1338821802c1ba659b2f64335872315147c8887840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AgKjgEIEhgCKkBjQsPoa1UwCWthdyhvGz4P28INszNkum2Momo1D3vjX1h2oWtJ+rhrkodsGWU+sB5ZRncoK5yISVyT0aQ804FuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYDLzNUGEgzIIj/BkXX8Z4DuzJUaDM/KQ7PyDo/EN6nbwSIwmlQHddeJ4QYpfk5HCG3u3o93OOf57Hhn65ecC+zfby0udtiYR1ziTbG/JtepdVV+KooH9Fa0Jd+7D113wKD8BSegObMk/wiKPSZPqi9puX/pwYAaxbbIlIpP0Ud/rM7Y8LxPyZJJxeIRP1o/zDsosBNV48LUpUjBxIhKr48QPTENT9wVlTnjY4hZcVNkLgHjIBfz/ZjoO+bC0LD/Z33tSGlr+2ZDD4Y8bipTGolegnnRIaXY2QXInnBOSpeUqFGPuE3WkrZk81KXYNSjbeRMEltkx/z4Q619QAZYVc6fXes20hKuMzSX4KpQ9kjqF4TqWJQBAyvPxOHQnC0mRvClsRm0ZGAf4qLSd1BDnLV9FH009Yu3oeQOvkwMqAZC+G2ArFgKsDtam7MXtkoZJaNP1kDAjjqjKs3p/NGASOu7W+5Pi0gAq36gPXBBRtEK3IszMt9lyvjBLHPVJH4FBTyAht30WgoX1y98IKENfpa86NIKe0fvMba2J7fM8NWBKZPLqd8GBsyyr1lYlUfUOI2TswotaLbUME/mrTGlqaBgzokViYSiNvvGFM3HKJjU+d96Lcd+YUL8gtXdoqDc5G3nYljwNJ/od+iZTm5nGMBq9skm5uDCNXFikdc9OfiNgxWh+2FnJZBBvAEB6weAcnQaxu1DMnS/0wNPL++XqkZDYeKew2Oxyu1yXsGTk+Br+UGRq23xlGftdgejjEKoC9M/9V/LxmAlvptJEyd+yqDPPcvv3jGxmEMfTS+lDLnVnH40pUJSqJUPSKofDFvo7mzTOXl5cnuUa+82dcGX4bsnwALiN90bw0l4AmEakXeMi6r1LZfkiA1jsvxLtUETvm9Yliwp73O0Ezh2rpNTsKBIXxPG2+MU7TVVthnEYpf086CLCxis2iQ/yWlP17mOMcXzJM84iEInRkmYx5vBXU3MPrAy8PUQCGkrITGc/VgsWqw4jYRRrjYOd6VJfH8UA3GkJhY8O/ZUfL5kVreywei6mXWAEnvDZABzZeWLwhNy1IZZ9gghO0PlByev+FgOwbOV+eT4bH+66oxagnxHR+Pfh/ZYBHb7yYzm4AhD6h0vAZYSJZ5OmPjplNJtZlvUhy5Z0Nb2RVM1MGAGElNeFodxsaHTn1TB5A2PNLJDXbWXMqnsHl7+oREljcNM9GaU9EB2x70+YA1Jtb4ISzsImTRXEWURmTSFs6Lzireajzy26gwKtnfdbywhWmJAz3dOwpveWudGrbUpOn3aYLZmEkXOWBHCReR1kYMstKxqZjE5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01To7qreUxkS1MqKr42n3ktc",
      "input": {
        "note": "Gripper settled at 0.32 (~3 cm) — both markers are held. Reaching across to the far edge of the LEFT basket (the pen basket) to see if I can drop them in directly at the arm's y limit.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.4,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01To7qreUxkS1MqKr42n3ktc",
      "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]: [-0.0952, 0.9031, 0.7254, -0.5121, -0.1574, -0.157, 0.9969, 0.889, 2.6141, 2.8288, -1.401, 0.4706, 0.6285, 0.3194]\nstate[eef_state]: left_x=0.2987 left_y=0.0029 left_z=0.1796 left_yaw=0.1059 left_pitch=-0.1174 left_roll=-0.008 left_gripper=0.9969 right_x=0.4123 right_y=0.3866 right_z=0.145 right_yaw=0.0727 right_pitch=-0.4191 right_roll=-0.1263 right_gripper=0.3194\nstate[joint_eff]: [0.0205, -2.2359, 6.9675, 1.6532, -0.0855, -0.0171, -0.0122, 0.3897, -22.2427, 12.7932, 0.5592, 0.6227, 0.0855, -0.0659]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9823b75c338cdfdab63e50d1a403e28a30b9ba2c7ba959d91ce68e35856b5c3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dddb9a821f6226f13b921d7f392edf96bc5ac3a10ceab70074644e904496c7a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74f711860ac1a286a0b753611d5fd2514ed02e74c84152103137fba6c44a6b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 10.55 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]: [-0.0959, 0.8959, 0.7254, -0.5106, -0.1574, -0.1574, 0.9969, 0.7963, 1.3258, 0.3813, -0.0708, 0.4465, 0.5484, 0.995]\nstate[eef_state]: left_x=0.2984 left_y=0.0027 left_z=0.1818 left_yaw=0.1052 left_pitch=-0.1088 left_roll=-0.0101 left_gripper=0.9969 right_x=0.2402 right_y=0.1416 right_z=0.01 right_yaw=0.0879 right_pitch=-0.3134 right_roll=-0.0348 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -1.812, 7.1316, 1.7265, -0.0806, -0.0269, -0.0073, -0.5402, -1.9624, 3.535, 0.7937, 0.1343, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0952, 0.8967, 0.7254, -0.511, -0.1574, -0.157, 0.9969, 0.7925, 1.3323, 0.3676, -0.0402, 0.4416, 0.5457, 0.3199]\nstate[eef_state]: left_x=0.2984 left_y=0.0029 left_z=0.1816 left_yaw=0.1058 left_pitch=-0.1099 left_roll=-0.0095 left_gripper=0.9969 right_x=0.2405 right_y=0.1416 right_z=0.0075 right_yaw=0.0914 right_pitch=-0.3084 right_roll=-0.0262 right_gripper=0.3199\nstate[joint_eff]: [-0.2393, -1.7846, 7.1316, 1.6484, -0.0806, -0.0171, -0.0073, 0.253, -4.1504, 6.5573, 0.9255, 0.2027, 0.0024, 1.033]",
      "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]: [-0.0952, 0.9031, 0.7254, -0.5121, -0.1574, -0.157, 0.9969, 0.889, 2.6141, 2.8288, -1.401, 0.4706, 0.6285, 0.3194]\nstate[eef_state]: left_x=0.2987 left_y=0.0029 left_z=0.1796 left_yaw=0.1059 left_pitch=-0.1174 left_roll=-0.008 left_gripper=0.9969 right_x=0.4123 right_y=0.3866 right_z=0.145 right_yaw=0.0727 right_pitch=-0.4191 right_roll=-0.1263 right_gripper=0.3194\nstate[joint_eff]: [0.0205, -2.2359, 6.9675, 1.6532, -0.0855, -0.0171, -0.0122, 0.3897, -22.2427, 12.7932, 0.5592, 0.6227, 0.0855, -0.0659]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9823b75c338cdfdab63e50d1a403e28a30b9ba2c7ba959d91ce68e35856b5c3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dddb9a821f6226f13b921d7f392edf96bc5ac3a10ceab70074644e904496c7a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74f711860ac1a286a0b753611d5fd2514ed02e74c84152103137fba6c44a6b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuggKjgEIEhgCKkDIkyytBhsPkvn4+TaAyGJO3FUrgFrwJxnKydKcf4ygyRmL+e0p3JthL1faENj7wWyelXzBOLJ8SU50XBASZlrUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYrLzNUGEgwVNCLfFKoBVzjVRPQaDHv7gc1z9fd3eFTPKiIwQzmbZiNFAC7dQdsjjqEx335z+OuCTbhXEE5/xYvVBXKhrV0/ZUBekpED7g+5b8ANKtgGVQWNgxujO3CsxbIo9yDSTe5iqokEfnqz1wlc5LgIBSFS7wjSesYiZJD1XxqU4tV3+oxyDMt0NIqU1EtfTo83udFSvTio+VAqKnI9KFtjbWRP/px7cM2xFk+I4V0l+NlQYGdzILml5v8O88Re62aOZNHg9tKji7M5H7SidlMghU4CVaEVWpyV8L66ALJonIvnqAeiD2ojy4sGY1RL79n8YPdk6jZMvJt14gJsQsiTcuDttPvcJIEDzaeX0aRvFhMPw3ciPTVCklLkR/5M0Vx7eQx7ajAQJrW+n3HZWN3fXokIELRPM0GYuTrUeCLdY4c8f3n2qwUhduFCk+i/sc6OgrDf7awlOeYmAYgCvzuSj+MPqE+WXhcs+G1fwBHoGt3BTt++vN4G42fB2VlvBhXyqUcIQ6MgyPLH1MSLHwBoCj4w3K267pIIvSdBfp5I3chbmBuw6Lh0Zh1IdcRdtjaxq1/RTQkaNsn75x+Lo73zDBTGOMTa4y1yhDcjvG4Vqt79GOjMtb7FYA/mc9WV+lyg8fh7hiIUJEABATyvUDxIXWYQwQ33/mOLbYuAJO3Kqh7P7OSOJM0SFdzZt3DzdyigruhIyz9dFLQV9UOV9hpYrqz54ZMW/+GBqVAyxB6hnnjVf5+crheF65RSrOPNEzKeJGoj6Jpccntcr8eI0T9vwoXsPtw7bVbg7oOHT6o0PEgAankcN0nIuVcGwpdcAbCO+oMHGXPFZegfT87FlpPqCVDyXa9TKjcgFp8FNJLsieuWf0UquphuPRjPoNxUDuB4empXOzCsakdhyPO0FuZI6Z09zyaAfviCglQDN4nu36DZftGzm0L6POYDEl8CGJZylAjkwon0Y6ROsb7Qc1V3XeXVbkwC/ryUDQUfNpmgo2VALdc9qfbILfGNfUVyjj2bv5s5IF44vjr3oBQNYIrm9sZ9P36FlDU4tBd4wtgHH+gw3xBUrFpOY0F6cPU34zTOWQ3g5k4yi+X/kkZSBQVjSKa2nEBfI89PScPCDC/lxK9LWDVmF/k9C8O8b5xar3TFm7vE4C9U/0zUk3D+2k+WozgzaUZhMwnz/9+rf06WYW6NjPWFryPxvurxm7oamOwd2QrXuOgAB8tgZRdvN9885PBC7wjaZdOsChgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TxHmn3jgtRSNgcop7EJQxy",
      "input": {
        "note": "The right arm is stretched to its y limit with the jaws just over the left basket's interior; opening to drop both markers into the pen basket.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TxHmn3jgtRSNgcop7EJQxy",
      "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]: [-0.0959, 0.9031, 0.7254, -0.5114, -0.1574, -0.157, 0.9969, 0.8883, 2.6537, 2.9574, -1.5318, 0.4603, 0.617, 0.995]\nstate[eef_state]: left_x=0.2988 left_y=0.0027 left_z=0.1797 left_yaw=0.1052 left_pitch=-0.1166 left_roll=-0.0081 left_gripper=0.9969 right_x=0.4023 right_y=0.3762 right_z=0.1513 right_yaw=0.071 right_pitch=-0.4557 right_roll=-0.1596 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.9214, 6.9265, 1.6288, -0.0952, -0.0171, -0.0122, -0.2393, -15.5829, 6.1744, 0.5739, 0.3297, -0.0171, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:983768d23bd897f9abf304f0d1cdcce542bae6aa4e8013bbef2799b695631b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84eacc591d09db5b8989d3a5a9cc518ac475e9c4beb12d80508da25c4193bf2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:704426bff3cf29d9e391a6cde1d61b350c55cac2165575d50d040c22c1bcc38b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 22.94 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]: [-0.0952, 0.8967, 0.7254, -0.511, -0.1574, -0.157, 0.9969, 0.7925, 1.3323, 0.3676, -0.0402, 0.4416, 0.5457, 0.3199]\nstate[eef_state]: left_x=0.2984 left_y=0.0029 left_z=0.1816 left_yaw=0.1058 left_pitch=-0.1099 left_roll=-0.0095 left_gripper=0.9969 right_x=0.2405 right_y=0.1416 right_z=0.0075 right_yaw=0.0914 right_pitch=-0.3084 right_roll=-0.0262 right_gripper=0.3199\nstate[joint_eff]: [-0.2393, -1.7846, 7.1316, 1.6484, -0.0806, -0.0171, -0.0073, 0.253, -4.1504, 6.5573, 0.9255, 0.2027, 0.0024, 1.033]",
      "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]: [-0.0952, 0.9031, 0.7254, -0.5121, -0.1574, -0.157, 0.9969, 0.889, 2.6141, 2.8288, -1.401, 0.4706, 0.6285, 0.3194]\nstate[eef_state]: left_x=0.2987 left_y=0.0029 left_z=0.1796 left_yaw=0.1059 left_pitch=-0.1174 left_roll=-0.008 left_gripper=0.9969 right_x=0.4123 right_y=0.3866 right_z=0.145 right_yaw=0.0727 right_pitch=-0.4191 right_roll=-0.1263 right_gripper=0.3194\nstate[joint_eff]: [0.0205, -2.2359, 6.9675, 1.6532, -0.0855, -0.0171, -0.0122, 0.3897, -22.2427, 12.7932, 0.5592, 0.6227, 0.0855, -0.0659]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0959, 0.9031, 0.7254, -0.5114, -0.1574, -0.157, 0.9969, 0.8883, 2.6537, 2.9574, -1.5318, 0.4603, 0.617, 0.995]\nstate[eef_state]: left_x=0.2988 left_y=0.0027 left_z=0.1797 left_yaw=0.1052 left_pitch=-0.1166 left_roll=-0.0081 left_gripper=0.9969 right_x=0.4023 right_y=0.3762 right_z=0.1513 right_yaw=0.071 right_pitch=-0.4557 right_roll=-0.1596 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.9214, 6.9265, 1.6288, -0.0952, -0.0171, -0.0122, -0.2393, -15.5829, 6.1744, 0.5739, 0.3297, -0.0171, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:983768d23bd897f9abf304f0d1cdcce542bae6aa4e8013bbef2799b695631b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84eacc591d09db5b8989d3a5a9cc518ac475e9c4beb12d80508da25c4193bf2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704426bff3cf29d9e391a6cde1d61b350c55cac2165575d50d040c22c1bcc38b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BDjLWhpVAfuurHV5kVoMBW",
      "input": {
        "note": "Markers released over the left (pen) basket. Retracting the right arm to uncover the view and moving the left arm toward the yellow pen lying near the front-left of the table.",
        "targets": {
          "left_x": 0.22,
          "left_y": -0.1,
          "left_z": 0.12,
          "right_x": 0.28,
          "right_y": 0.12,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01BDjLWhpVAfuurHV5kVoMBW",
      "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]: [-0.955, 0.8928, 0.5587, -0.6689, -0.7124, -0.8341, 0.9969, 0.6003, 1.4223, 1.6444, -1.3243, 0.3519, 0.345, 0.9963]\nstate[eef_state]: left_x=0.2214 left_y=-0.1068 left_z=0.1223 left_yaw=0.0615 left_pitch=-0.1296 left_roll=-0.0142 left_gripper=0.9969 right_x=0.2908 right_y=0.1296 right_z=0.2752 right_yaw=0.0605 right_pitch=-0.4422 right_roll=-0.1471 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.306, 5.7641, 1.0183, -0.569, -0.0855, -0.0122, -0.2256, -6.2154, 5.8735, 0.9451, 0.0513, -0.0415, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95203b8bcee39e028a7765a650d4df4f7695b2e90c7248505e22fdcd8e42ecd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dc26240677e137f7655fd4d51879a15dc49693e35b4b08565c0055788f469a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:015f6fd3e3d131310aa7a86a93007bd4462899c3ce7cd8041b38f067746311aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 6.08 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]: [-0.0952, 0.9031, 0.7254, -0.5121, -0.1574, -0.157, 0.9969, 0.889, 2.6141, 2.8288, -1.401, 0.4706, 0.6285, 0.3194]\nstate[eef_state]: left_x=0.2987 left_y=0.0029 left_z=0.1796 left_yaw=0.1059 left_pitch=-0.1174 left_roll=-0.008 left_gripper=0.9969 right_x=0.4123 right_y=0.3866 right_z=0.145 right_yaw=0.0727 right_pitch=-0.4191 right_roll=-0.1263 right_gripper=0.3194\nstate[joint_eff]: [0.0205, -2.2359, 6.9675, 1.6532, -0.0855, -0.0171, -0.0122, 0.3897, -22.2427, 12.7932, 0.5592, 0.6227, 0.0855, -0.0659]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0959, 0.9031, 0.7254, -0.5114, -0.1574, -0.157, 0.9969, 0.8883, 2.6537, 2.9574, -1.5318, 0.4603, 0.617, 0.995]\nstate[eef_state]: left_x=0.2988 left_y=0.0027 left_z=0.1797 left_yaw=0.1052 left_pitch=-0.1166 left_roll=-0.0081 left_gripper=0.9969 right_x=0.4023 right_y=0.3762 right_z=0.1513 right_yaw=0.071 right_pitch=-0.4557 right_roll=-0.1596 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.9214, 6.9265, 1.6288, -0.0952, -0.0171, -0.0122, -0.2393, -15.5829, 6.1744, 0.5739, 0.3297, -0.0171, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.955, 0.8928, 0.5587, -0.6689, -0.7124, -0.8341, 0.9969, 0.6003, 1.4223, 1.6444, -1.3243, 0.3519, 0.345, 0.9963]\nstate[eef_state]: left_x=0.2214 left_y=-0.1068 left_z=0.1223 left_yaw=0.0615 left_pitch=-0.1296 left_roll=-0.0142 left_gripper=0.9969 right_x=0.2908 right_y=0.1296 right_z=0.2752 right_yaw=0.0605 right_pitch=-0.4422 right_roll=-0.1471 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.306, 5.7641, 1.0183, -0.569, -0.0855, -0.0122, -0.2256, -6.2154, 5.8735, 0.9451, 0.0513, -0.0415, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95203b8bcee39e028a7765a650d4df4f7695b2e90c7248505e22fdcd8e42ecd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dc26240677e137f7655fd4d51879a15dc49693e35b4b08565c0055788f469a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:015f6fd3e3d131310aa7a86a93007bd4462899c3ce7cd8041b38f067746311aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013SmfGj7qg1s2GKrnGedFbF",
      "input": {
        "note": "The markers bounced back out onto the table in front of the right basket; a brown plush dog also remains. Going for the brown plush first — moving above it for a grasp.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.23,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_013SmfGj7qg1s2GKrnGedFbF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9588, 0.9012, 0.5568, -0.6838, -0.7105, -0.8459, 0.9969, 0.8871, 1.5867, 1.2045, -0.8619, 0.445, 0.6079, 0.9964]\nstate[eef_state]: left_x=0.2192 left_y=-0.1055 left_z=0.1182 left_yaw=0.0659 left_pitch=-0.1442 left_roll=-0.0025 left_gripper=0.9969 right_x=0.2756 right_y=0.2236 right_z=0.123 right_yaw=0.0794 right_pitch=-0.478 right_roll=-0.1669 right_gripper=0.9964\nstate[joint_eff]: [0.1846, -1.9624, 6.8308, 1.243, -0.4225, 0.0366, -0.0122, 0.4308, -6.8855, 6.4205, 0.7595, 0.5006, 0.1343, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de160b63308bd371143a587ee657ad65a817a6c4ae09fa8bfe2fb1b36ff64c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:920028a0ceb7e518a118fea12cc7bdd8cdbe2e94cee53fbef3bb67b32dfbade9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29554fc131c4e0ff13dd914c0a887003e7f6087241b5f8a0e49faaf7bd4cc817",
        "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 · 3.091 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]: [-0.0959, 0.9031, 0.7254, -0.5114, -0.1574, -0.157, 0.9969, 0.8883, 2.6537, 2.9574, -1.5318, 0.4603, 0.617, 0.995]\nstate[eef_state]: left_x=0.2988 left_y=0.0027 left_z=0.1797 left_yaw=0.1052 left_pitch=-0.1166 left_roll=-0.0081 left_gripper=0.9969 right_x=0.4023 right_y=0.3762 right_z=0.1513 right_yaw=0.071 right_pitch=-0.4557 right_roll=-0.1596 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.9214, 6.9265, 1.6288, -0.0952, -0.0171, -0.0122, -0.2393, -15.5829, 6.1744, 0.5739, 0.3297, -0.0171, -0.1636]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.955, 0.8928, 0.5587, -0.6689, -0.7124, -0.8341, 0.9969, 0.6003, 1.4223, 1.6444, -1.3243, 0.3519, 0.345, 0.9963]\nstate[eef_state]: left_x=0.2214 left_y=-0.1068 left_z=0.1223 left_yaw=0.0615 left_pitch=-0.1296 left_roll=-0.0142 left_gripper=0.9969 right_x=0.2908 right_y=0.1296 right_z=0.2752 right_yaw=0.0605 right_pitch=-0.4422 right_roll=-0.1471 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.306, 5.7641, 1.0183, -0.569, -0.0855, -0.0122, -0.2256, -6.2154, 5.8735, 0.9451, 0.0513, -0.0415, 0.1197]",
      "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]: [-0.9588, 0.9012, 0.5568, -0.6838, -0.7105, -0.8459, 0.9969, 0.8871, 1.5867, 1.2045, -0.8619, 0.445, 0.6079, 0.9964]\nstate[eef_state]: left_x=0.2192 left_y=-0.1055 left_z=0.1182 left_yaw=0.0659 left_pitch=-0.1442 left_roll=-0.0025 left_gripper=0.9969 right_x=0.2756 right_y=0.2236 right_z=0.123 right_yaw=0.0794 right_pitch=-0.478 right_roll=-0.1669 right_gripper=0.9964\nstate[joint_eff]: [0.1846, -1.9624, 6.8308, 1.243, -0.4225, 0.0366, -0.0122, 0.4308, -6.8855, 6.4205, 0.7595, 0.5006, 0.1343, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de160b63308bd371143a587ee657ad65a817a6c4ae09fa8bfe2fb1b36ff64c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:920028a0ceb7e518a118fea12cc7bdd8cdbe2e94cee53fbef3bb67b32dfbade9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29554fc131c4e0ff13dd914c0a887003e7f6087241b5f8a0e49faaf7bd4cc817",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AQKjgEIEhgCKkCgms3e9IW3J8K8Yd5aEJ8rNVchG6Hny1E7HsdvHUMwrmlT8wqsf5sRJvhFLbF1c5Q/ZnMMHg0CbY8+kA/MIpbrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbbLzNUGEgxzjTPfcqKYWx6Lc90aDO8YOaNMO2W8tPN/FyIw8OoHQqnQH5VA7u9/EduF2SPT+CB+DSGR0r+8OUcLA4yYaTH5Avwe/m5xjENV0f6rKoID9sb1g6/B4TuJkEKnrBL5cCqHOFdNZL5EJkV+gHnNODqKUeUu2yb1Jx07GdUTM/1SvNvvO/WAuDLWf2pfrNLBsBvAWdwisM8RK6w/OcSF5c576zQ6Ytosf1HDxG77RhQLRh7WDOE3wqw4I136vQVxJF3bqerqUnmA0hI2b9MYSSuxUzF1MXdzYpKVmo6llyC2vk8BZJLq26LMu5/GdwjiGw8jnF04SS6fosGbahi+lv0wgKavSi3BaJPLvviAf5E1j4uecCXt3cj9dWQ8BxAOU7QpkH+R8ErH7mg7CaFkuKyPKq+koqC7Xi3biT1totTCCzTB1wwv1vD/hh+hAvOUnjcEIopTPI17WDI71b5tvLHK4h9D26oyUsqOFKdElV6DArNzPj3UvSHK1R+hVUOjFMChJBOZw3uM9EXTIW8BZ/BfqHQ0dE8vdqLYRTj+IG3dIKO6Ge2AoEDksQ39DAfnJ0Gsn/mBV9eTmCCcSOZEG4NjVncvDe3H/a7W3844b5gsr90YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FJvVeSL8SLSoFakvybErKc",
      "input": {
        "note": "Brown plush sits about 4 cm to the arm's left of the jaw column and slightly further out; moving over it and down to the table.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.265,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FJvVeSL8SLSoFakvybErKc",
      "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]: [-0.9588, 0.902, 0.5568, -0.688, -0.7067, -0.8463, 0.9969, 0.8989, 1.8874, 1.1175, -0.5148, 0.4389, 0.6212, 0.9965]\nstate[eef_state]: left_x=0.2185 left_y=-0.1054 left_z=0.1172 left_yaw=0.0645 left_pitch=-0.1495 left_roll=-0.0003 left_gripper=0.9969 right_x=0.2954 right_y=0.2566 right_z=0.015 right_yaw=0.0714 right_pitch=-0.5086 right_roll=-0.1883 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.5111, 6.8034, 1.1306, -0.4029, -0.0073, -0.0073, 0.8684, -8.4991, 5.1897, 0.8278, 0.2906, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb41bed6bd569fbd0aaf623a097e89cc46064e9ff723ea5b6b66dd9c754a76a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64801085d9169aed36249694d36f80bb9add5b88e0b5ecaf40e6c5f29eaace30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b711aebdbf593c26306fa2d63970822c1ec703f1402dd5d87a129c303361a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 7.583 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]: [-0.955, 0.8928, 0.5587, -0.6689, -0.7124, -0.8341, 0.9969, 0.6003, 1.4223, 1.6444, -1.3243, 0.3519, 0.345, 0.9963]\nstate[eef_state]: left_x=0.2214 left_y=-0.1068 left_z=0.1223 left_yaw=0.0615 left_pitch=-0.1296 left_roll=-0.0142 left_gripper=0.9969 right_x=0.2908 right_y=0.1296 right_z=0.2752 right_yaw=0.0605 right_pitch=-0.4422 right_roll=-0.1471 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.306, 5.7641, 1.0183, -0.569, -0.0855, -0.0122, -0.2256, -6.2154, 5.8735, 0.9451, 0.0513, -0.0415, 0.1197]",
      "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]: [-0.9588, 0.9012, 0.5568, -0.6838, -0.7105, -0.8459, 0.9969, 0.8871, 1.5867, 1.2045, -0.8619, 0.445, 0.6079, 0.9964]\nstate[eef_state]: left_x=0.2192 left_y=-0.1055 left_z=0.1182 left_yaw=0.0659 left_pitch=-0.1442 left_roll=-0.0025 left_gripper=0.9969 right_x=0.2756 right_y=0.2236 right_z=0.123 right_yaw=0.0794 right_pitch=-0.478 right_roll=-0.1669 right_gripper=0.9964\nstate[joint_eff]: [0.1846, -1.9624, 6.8308, 1.243, -0.4225, 0.0366, -0.0122, 0.4308, -6.8855, 6.4205, 0.7595, 0.5006, 0.1343, 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]: [-0.9588, 0.902, 0.5568, -0.688, -0.7067, -0.8463, 0.9969, 0.8989, 1.8874, 1.1175, -0.5148, 0.4389, 0.6212, 0.9965]\nstate[eef_state]: left_x=0.2185 left_y=-0.1054 left_z=0.1172 left_yaw=0.0645 left_pitch=-0.1495 left_roll=-0.0003 left_gripper=0.9969 right_x=0.2954 right_y=0.2566 right_z=0.015 right_yaw=0.0714 right_pitch=-0.5086 right_roll=-0.1883 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.5111, 6.8034, 1.1306, -0.4029, -0.0073, -0.0073, 0.8684, -8.4991, 5.1897, 0.8278, 0.2906, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb41bed6bd569fbd0aaf623a097e89cc46064e9ff723ea5b6b66dd9c754a76a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64801085d9169aed36249694d36f80bb9add5b88e0b5ecaf40e6c5f29eaace30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b711aebdbf593c26306fa2d63970822c1ec703f1402dd5d87a129c303361a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQIKjgEIEhgCKkCwb72VstwHbOVTFIdgGhGjCoEvZYPriwToxu2JXrC4Xrtr9VouHit70vaMXvtgjBxaSfV9J58gUvys/MjPVIfdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbrLzNUGEgwLWqVgyNQQw2fj1CAaDIeN029Pv5+0c/PoVCIwFbPbjvVbGwjbi8kiBrpNf8BzJ+Ex4mmHY31g4r9P+HnHJr2vwtk7m5sMXQE0DDgyKkCPbnBq/KmJl2nXekzHQB6q5j5mVg908BCw7HiZUIeH6F+dEFcT3rRFBbkONqLHn5XtKQQ2Ye7D53e2mgEG7mp+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012bqYgS7oygZAGrme19CKVw",
      "input": {
        "note": "Jaws are down at table level with the brown plush filling the wrist view; closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012bqYgS7oygZAGrme19CKVw",
      "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]: [-0.9588, 0.9031, 0.5568, -0.688, -0.7063, -0.8463, 0.9969, 0.9012, 1.8961, 1.1172, -0.4892, 0.4454, 0.6136, 0.2133]\nstate[eef_state]: left_x=0.2185 left_y=-0.1055 left_z=0.117 left_yaw=0.0644 left_pitch=-0.1504 left_roll=0.0005 left_gripper=0.9969 right_x=0.2984 right_y=0.2601 right_z=0.0138 right_yaw=0.0806 right_pitch=-0.4937 right_roll=-0.1837 right_gripper=0.2133\nstate[joint_eff]: [-0.1983, -1.5521, 6.8444, 1.1453, -0.3883, -0.0171, -0.0073, -0.253, -9.853, 5.5043, 0.5543, 0.1343, 0.0464, 0.9597]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa7f09d69813abf5ea208b60f6ff36dc9628a8b3d3c898df95b7a18563dd932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07f15f3af5e66b331bcda3d9e03fd9520e157a06e8cc68007921badd2041901a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00db0aa6a3607137a40e21a3b1aff6e0a654f9bc2b5924daf6274a8598fa0e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 3.65 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]: [-0.9588, 0.9012, 0.5568, -0.6838, -0.7105, -0.8459, 0.9969, 0.8871, 1.5867, 1.2045, -0.8619, 0.445, 0.6079, 0.9964]\nstate[eef_state]: left_x=0.2192 left_y=-0.1055 left_z=0.1182 left_yaw=0.0659 left_pitch=-0.1442 left_roll=-0.0025 left_gripper=0.9969 right_x=0.2756 right_y=0.2236 right_z=0.123 right_yaw=0.0794 right_pitch=-0.478 right_roll=-0.1669 right_gripper=0.9964\nstate[joint_eff]: [0.1846, -1.9624, 6.8308, 1.243, -0.4225, 0.0366, -0.0122, 0.4308, -6.8855, 6.4205, 0.7595, 0.5006, 0.1343, 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]: [-0.9588, 0.902, 0.5568, -0.688, -0.7067, -0.8463, 0.9969, 0.8989, 1.8874, 1.1175, -0.5148, 0.4389, 0.6212, 0.9965]\nstate[eef_state]: left_x=0.2185 left_y=-0.1054 left_z=0.1172 left_yaw=0.0645 left_pitch=-0.1495 left_roll=-0.0003 left_gripper=0.9969 right_x=0.2954 right_y=0.2566 right_z=0.015 right_yaw=0.0714 right_pitch=-0.5086 right_roll=-0.1883 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.5111, 6.8034, 1.1306, -0.4029, -0.0073, -0.0073, 0.8684, -8.4991, 5.1897, 0.8278, 0.2906, 0.0464, -0.0073]",
      "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]: [-0.9588, 0.9031, 0.5568, -0.688, -0.7063, -0.8463, 0.9969, 0.9012, 1.8961, 1.1172, -0.4892, 0.4454, 0.6136, 0.2133]\nstate[eef_state]: left_x=0.2185 left_y=-0.1055 left_z=0.117 left_yaw=0.0644 left_pitch=-0.1504 left_roll=0.0005 left_gripper=0.9969 right_x=0.2984 right_y=0.2601 right_z=0.0138 right_yaw=0.0806 right_pitch=-0.4937 right_roll=-0.1837 right_gripper=0.2133\nstate[joint_eff]: [-0.1983, -1.5521, 6.8444, 1.1453, -0.3883, -0.0171, -0.0073, -0.253, -9.853, 5.5043, 0.5543, 0.1343, 0.0464, 0.9597]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa7f09d69813abf5ea208b60f6ff36dc9628a8b3d3c898df95b7a18563dd932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07f15f3af5e66b331bcda3d9e03fd9520e157a06e8cc68007921badd2041901a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00db0aa6a3607137a40e21a3b1aff6e0a654f9bc2b5924daf6274a8598fa0e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QUKjgEIEhgCKkA7SVLIq4899VYalBLx+9ifpzCZU6d72Xw36zGOqKvzkPCtcT06XwQoewbiKYTEoMX7aTGVcHw7YL5s/V8Rd4bRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcLLzNUGEgxpls5AIaRCy0QEDWYaDIbIDKb4KOZ0zniPJSIwjPOpPNNfNCz+zChXa6O5sBMMfiJpnu+l63NV4nCQXFCO4aXci03aLF7CpS6mvmxtKvsD4hDp7Qza5OFnVnJAc0WNWbUZWUJA+R/mIX8/7TqXWuhMb0RUdkAriOOGjuagvcMS1EAbs+oowFreSn6kV8hL9kWgi4K2dQDjRMTJU4DXpmD5aAQv+gbkH0X6oO3UlQgB4GBMFHRxYZjH1EVC5V3d1Fox4D25ZGx3v79rjnC+aB/dXFfI49SGrHw3C0edIxlgvpIGO/2Xsw/57G8rlYekGFnEQfh4S3Cai70HKEacbnoqKruBFDQ3y4eJC89Y5XZjJiiSE6J/5AERwBM2dtQEFXGnY+7P2Y0lwp5dOt+swf2ka6N0tCWCQZvEKUtbO1i+osCXK9oLYGimqwE9oSgdgvzW0MiacbVs6c8vuccHmhv0Fiy4HesBZ6Eec+GTX97zJzBeywGcdHSChH/CDkQVuZWpVO/nNFJakJY1zeW29CMC5tjDmpXPqJfT0PIABEdm4kzMhteE0oYNwL6M0r2O16rk5UZH0TFjgxtfjIP3NWgisVKPCLY1xqGRCBeTc3WSF6+KiUrEtfc4xMoLlRmOVX7qrDpkM9fCK3ih/WbgUlx2O6RvFsCvNLghhK94FpZcDpObM4Sklsck/PvQ6j3lrzvQTQb1XNAlHFntSmxprM4PFegV0jmL2BmnhQx+fmslzg8n4R6S0QXBzNaTzeboUsGn/mzrWCDQ1zFeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HY8EsFrbVEAuQzJnFWujmr",
      "input": {
        "note": "Brown plush grasped (0.21 ≈ 2 cm). Carrying it over to the right basket with the other plush toys.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.17,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01HY8EsFrbVEAuQzJnFWujmr",
      "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]: [-0.9588, 0.9031, 0.5568, -0.6884, -0.7029, -0.8467, 0.9969, 0.4904, 1.9564, 2.0708, -1.1969, 0.2913, 0.2119, 0.2168]\nstate[eef_state]: left_x=0.2182 left_y=-0.1059 left_z=0.1166 left_yaw=0.0627 left_pitch=-0.1531 left_roll=-0.001 left_gripper=0.9969 right_x=0.4351 right_y=0.1789 right_z=0.233 right_yaw=0.0838 right_pitch=-0.46 right_roll=-0.1628 right_gripper=0.2168\nstate[joint_eff]: [-0.1436, -1.4564, 6.5436, 1.1404, -0.3785, -0.0366, -0.0073, -0.3897, -10.0171, 7.8564, 0.5397, 0.1001, 0.0513, 0.6618]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd7cb5036fac0ecb09436fac710ca405131a18e1163353db7c74a7bbfde2891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b577610062d3cbf3f13260797d6f2b2ca284c73be6628d59c0bf898e174088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fb7feacf59da74a5529b80e77699e96d5749f86763a01a8fe4b8d4a83abca0d",
        "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 · 13.98 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]: [-0.9588, 0.902, 0.5568, -0.688, -0.7067, -0.8463, 0.9969, 0.8989, 1.8874, 1.1175, -0.5148, 0.4389, 0.6212, 0.9965]\nstate[eef_state]: left_x=0.2185 left_y=-0.1054 left_z=0.1172 left_yaw=0.0645 left_pitch=-0.1495 left_roll=-0.0003 left_gripper=0.9969 right_x=0.2954 right_y=0.2566 right_z=0.015 right_yaw=0.0714 right_pitch=-0.5086 right_roll=-0.1883 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.5111, 6.8034, 1.1306, -0.4029, -0.0073, -0.0073, 0.8684, -8.4991, 5.1897, 0.8278, 0.2906, 0.0464, -0.0073]",
      "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]: [-0.9588, 0.9031, 0.5568, -0.688, -0.7063, -0.8463, 0.9969, 0.9012, 1.8961, 1.1172, -0.4892, 0.4454, 0.6136, 0.2133]\nstate[eef_state]: left_x=0.2185 left_y=-0.1055 left_z=0.117 left_yaw=0.0644 left_pitch=-0.1504 left_roll=0.0005 left_gripper=0.9969 right_x=0.2984 right_y=0.2601 right_z=0.0138 right_yaw=0.0806 right_pitch=-0.4937 right_roll=-0.1837 right_gripper=0.2133\nstate[joint_eff]: [-0.1983, -1.5521, 6.8444, 1.1453, -0.3883, -0.0171, -0.0073, -0.253, -9.853, 5.5043, 0.5543, 0.1343, 0.0464, 0.9597]",
      "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]: [-0.9588, 0.9031, 0.5568, -0.6884, -0.7029, -0.8467, 0.9969, 0.4904, 1.9564, 2.0708, -1.1969, 0.2913, 0.2119, 0.2168]\nstate[eef_state]: left_x=0.2182 left_y=-0.1059 left_z=0.1166 left_yaw=0.0627 left_pitch=-0.1531 left_roll=-0.001 left_gripper=0.9969 right_x=0.4351 right_y=0.1789 right_z=0.233 right_yaw=0.0838 right_pitch=-0.46 right_roll=-0.1628 right_gripper=0.2168\nstate[joint_eff]: [-0.1436, -1.4564, 6.5436, 1.1404, -0.3785, -0.0366, -0.0073, -0.3897, -10.0171, 7.8564, 0.5397, 0.1001, 0.0513, 0.6618]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd7cb5036fac0ecb09436fac710ca405131a18e1163353db7c74a7bbfde2891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b577610062d3cbf3f13260797d6f2b2ca284c73be6628d59c0bf898e174088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 387):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb7feacf59da74a5529b80e77699e96d5749f86763a01a8fe4b8d4a83abca0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowMKjgEIEhgCKkCCtAK+3LM3stI0ajfsW2a41JFjXNChUuLOT20N0gUT8jgIwiVbuqQD/x5mGQQGVwNIbY8jWl85Q39rg5L6Uw/uMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcjLzNUGEgzm6xPGqsJdafJFbHgaDC0hQs8qk3Nhq2P0PSIw1I8zm2BmpUk0M4fkgOUf7D/JOSfQp/k4/WcfSwv+TVRghkSY6qcQckCxwEjmrPYiKsEBq1C6fyLIHmd6565LLD2af5u8PX8Lp5zO71x6udqaSkXIlcul1bkdLOBzTiptHt6cNZtUTXvGahs4rl6whpHqdJN16NM8/M9/nivp7sg+M8MAlql1e0Zf2z/W9pCbsXgsQSLzV/UDVIfCu6e+e5X5559yHdDAFALG/6bJSNS4ZwydZQA+9onW92VvYhh9TXZAmznop8i1eXS6CLWHh8ky2m+iUMnBWO9JKYEYep6RZZr5mKXwSa5Uq7OPPY42VL0mtxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CU6KL1fhruBCKg5ZRsCBFs",
      "input": {
        "note": "Brown plush is positioned over the right basket next to the other toys; opening to release it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01CU6KL1fhruBCKg5ZRsCBFs",
      "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]: [-0.9588, 0.9035, 0.5568, -0.6884, -0.7025, -0.8467, 0.9969, 0.485, 1.9694, 2.0689, -1.2098, 0.2779, 0.202, 0.9948]\nstate[eef_state]: left_x=0.2181 left_y=-0.1059 left_z=0.1165 left_yaw=0.0625 left_pitch=-0.1536 left_roll=-0.0008 left_gripper=0.9969 right_x=0.4339 right_y=0.178 right_z=0.2245 right_yaw=0.0905 right_pitch=-0.4912 right_roll=-0.1684 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.2103, 6.653, 1.1209, -0.3785, -0.0073, -0.0122, 0.4308, -11.3983, 6.2974, 1.1697, 0.2613, 0.0073, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b78a897daff5ff2757af81a0214d71673949ec53ad7ce1df234ac9ed2817c7d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82fe2ec61328c71a4d4d6f748981c8b9643b55f8aed9ab6c6e9b46930a1889ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6aa64104e11f23cfd75475793a848210b9608555e1f88d7b0d42fb78f7990c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /messages · status 200 · 14.1 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]: [-0.9588, 0.9031, 0.5568, -0.688, -0.7063, -0.8463, 0.9969, 0.9012, 1.8961, 1.1172, -0.4892, 0.4454, 0.6136, 0.2133]\nstate[eef_state]: left_x=0.2185 left_y=-0.1055 left_z=0.117 left_yaw=0.0644 left_pitch=-0.1504 left_roll=0.0005 left_gripper=0.9969 right_x=0.2984 right_y=0.2601 right_z=0.0138 right_yaw=0.0806 right_pitch=-0.4937 right_roll=-0.1837 right_gripper=0.2133\nstate[joint_eff]: [-0.1983, -1.5521, 6.8444, 1.1453, -0.3883, -0.0171, -0.0073, -0.253, -9.853, 5.5043, 0.5543, 0.1343, 0.0464, 0.9597]",
      "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]: [-0.9588, 0.9031, 0.5568, -0.6884, -0.7029, -0.8467, 0.9969, 0.4904, 1.9564, 2.0708, -1.1969, 0.2913, 0.2119, 0.2168]\nstate[eef_state]: left_x=0.2182 left_y=-0.1059 left_z=0.1166 left_yaw=0.0627 left_pitch=-0.1531 left_roll=-0.001 left_gripper=0.9969 right_x=0.4351 right_y=0.1789 right_z=0.233 right_yaw=0.0838 right_pitch=-0.46 right_roll=-0.1628 right_gripper=0.2168\nstate[joint_eff]: [-0.1436, -1.4564, 6.5436, 1.1404, -0.3785, -0.0366, -0.0073, -0.3897, -10.0171, 7.8564, 0.5397, 0.1001, 0.0513, 0.6618]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9588, 0.9035, 0.5568, -0.6884, -0.7025, -0.8467, 0.9969, 0.485, 1.9694, 2.0689, -1.2098, 0.2779, 0.202, 0.9948]\nstate[eef_state]: left_x=0.2181 left_y=-0.1059 left_z=0.1165 left_yaw=0.0625 left_pitch=-0.1536 left_roll=-0.0008 left_gripper=0.9969 right_x=0.4339 right_y=0.178 right_z=0.2245 right_yaw=0.0905 right_pitch=-0.4912 right_roll=-0.1684 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.2103, 6.653, 1.1209, -0.3785, -0.0073, -0.0122, 0.4308, -11.3983, 6.2974, 1.1697, 0.2613, 0.0073, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 395):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b78a897daff5ff2757af81a0214d71673949ec53ad7ce1df234ac9ed2817c7d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 395):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82fe2ec61328c71a4d4d6f748981c8b9643b55f8aed9ab6c6e9b46930a1889ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 395):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa64104e11f23cfd75475793a848210b9608555e1f88d7b0d42fb78f7990c97",
        "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_018rQeA4nS8FsLh9kZMf7gp9",
      "input": {
        "note": "Three plush toys are now in the right basket. Last item within reach is the yellow pen near the front-left, lying sideways; moving the left arm over it and rotating the wrist 90° so the jaws close across the pen.",
        "targets": {
          "left_x": 0.17,
          "left_y": -0.145,
          "left_yaw": 1.57,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018rQeA4nS8FsLh9kZMf7gp9",
      "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]: [-0.4488, 1.8072, 0.9817, -1.1049, -0.7547, -2.0495, 0.9969, 0.4839, 1.9732, 2.067, -1.2079, 0.2752, 0.1978, 0.9963]\nstate[eef_state]: left_x=0.2539 left_y=0.016 left_z=0.0435 left_yaw=1.4503 left_pitch=-0.1885 left_roll=0.0303 left_gripper=0.9969 right_x=0.4345 right_y=0.1782 right_z=0.2223 right_yaw=0.0934 right_pitch=-0.496 right_roll=-0.1699 right_gripper=0.9963\nstate[joint_eff]: [-1.7846, -8.1299, 3.8359, -0.398, -0.3297, -0.4811, -0.0073, 0.0205, -10.6735, 6.2017, 1.1209, 0.1978, -0.022, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bfff69397b996db892041295cf17b32b8d136222777a2e6bff652f6d20c62f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8d729b5be8ba0ce97d694bff27f757d76a8ff284422fa73a503ef9287ac3ebb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04fdb700cf9094637cc4b01f568ce708ed8637fda4f95525ccb1bd4ddfda919b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 17.69 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]: [-0.9588, 0.9031, 0.5568, -0.6884, -0.7029, -0.8467, 0.9969, 0.4904, 1.9564, 2.0708, -1.1969, 0.2913, 0.2119, 0.2168]\nstate[eef_state]: left_x=0.2182 left_y=-0.1059 left_z=0.1166 left_yaw=0.0627 left_pitch=-0.1531 left_roll=-0.001 left_gripper=0.9969 right_x=0.4351 right_y=0.1789 right_z=0.233 right_yaw=0.0838 right_pitch=-0.46 right_roll=-0.1628 right_gripper=0.2168\nstate[joint_eff]: [-0.1436, -1.4564, 6.5436, 1.1404, -0.3785, -0.0366, -0.0073, -0.3897, -10.0171, 7.8564, 0.5397, 0.1001, 0.0513, 0.6618]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9588, 0.9035, 0.5568, -0.6884, -0.7025, -0.8467, 0.9969, 0.485, 1.9694, 2.0689, -1.2098, 0.2779, 0.202, 0.9948]\nstate[eef_state]: left_x=0.2181 left_y=-0.1059 left_z=0.1165 left_yaw=0.0625 left_pitch=-0.1536 left_roll=-0.0008 left_gripper=0.9969 right_x=0.4339 right_y=0.178 right_z=0.2245 right_yaw=0.0905 right_pitch=-0.4912 right_roll=-0.1684 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.2103, 6.653, 1.1209, -0.3785, -0.0073, -0.0122, 0.4308, -11.3983, 6.2974, 1.1697, 0.2613, 0.0073, -0.1929]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4488, 1.8072, 0.9817, -1.1049, -0.7547, -2.0495, 0.9969, 0.4839, 1.9732, 2.067, -1.2079, 0.2752, 0.1978, 0.9963]\nstate[eef_state]: left_x=0.2539 left_y=0.016 left_z=0.0435 left_yaw=1.4503 left_pitch=-0.1885 left_roll=0.0303 left_gripper=0.9969 right_x=0.4345 right_y=0.1782 right_z=0.2223 right_yaw=0.0934 right_pitch=-0.496 right_roll=-0.1699 right_gripper=0.9963\nstate[joint_eff]: [-1.7846, -8.1299, 3.8359, -0.398, -0.3297, -0.4811, -0.0073, 0.0205, -10.6735, 6.2017, 1.1209, 0.1978, -0.022, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bfff69397b996db892041295cf17b32b8d136222777a2e6bff652f6d20c62f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8d729b5be8ba0ce97d694bff27f757d76a8ff284422fa73a503ef9287ac3ebb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04fdb700cf9094637cc4b01f568ce708ed8637fda4f95525ccb1bd4ddfda919b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIShQoKjgEIEhgCKkCFei+DcyZQyqGqnGfKMkb2PjI9wI8Ga2W+U72ZPsmQumYUNslC6L+6fxJTyqPb545J0GEeoQr8j1fF8iJW28c/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeXLzNUGEgz9JOCBl8u8lguJvTAaDCd7QKdz7WsN+q2rfyIwj7aMO6MAKEquXOFaT77uXudIRFRdM3QRNdgaMUF9zYl1pI+LdsH/uR1yZTZc63zNKqMINwQ7mhYtU1c9i5+t1GeiV6ot/UL0E9aGAsOJl6K52NXTMtYi2kp5Q4n+RSQJ4aoBBqOaKdaEKRKnwnd1Nro2GKOVQpr5WrEF5Hedh/4vDKTWkPfyC57SI28axlltXpv8p3NvblY5nKlVGmZfVrR3+mkgkoL4+6e1y1wDF21h31v34La6qZCp2JL1ChkGwloUNJSfmQWcKAgMoh2nKHdNwLShebv/LzF05C8rusTA/RxQltw7zj29ztyzBbDkSt3y45O/Q9kQDjJqptCWlcJDtQtQoAapbRCJw/qwsb8D70AjxC71xIhSpNzXFNkMlSZWjof8VIYtfCECLPsWnKt5aFFqEIrb4Hpix801qFfbwV5gewGlHJMJrjKBFmAd0e7KwPcE8wNtR3EGFv1jGzAW4aWMsVd4DOjQPD5Punohemv2LH2RNCHMoLI0DOkmxM9bpD+OD5GEj2i3MOAe0kxXHs3l8I+ZGQEtIHLhSdy62S8ftU+PPQAXW5z/XH9DIx1Ye3BWFD9CKhfQWZQ5KfJWryxaK58qBLtAFOqa/6GcRtCLNMrM8ji8gAx9SDuso201/rW8LpYNI9wXuw42Q1AupbJrcDJQcw0b58Bp7sWs4gpnQc3apJa8cUxboQcWTSVI9Pnz2CCXl1prQ3C+4gIFysOLMi3kSxkpAuL0FztvloT4UPjwOrq24HO1WjXTD5zhQvWj3j+Thb8BLNOSdcnNEQQMxqqCiQv6nLDA+8TZeEQy09Y0Z1Vg7Cc3ZgH3l+f7N4p2OTkIUpoFr1Xrh3C+odpCxsmzTpndJo9XPuWGYKUOWGni7YJNsXu39uxFwfA1WlS0CgxLbZ4GQc2juqgDbDs1sT7UDfW+co8upM2pjEIxYoz+vvHd9PdN3B5rdAgVarYn0U+psb5Ltn5Nsa2N0CvyuDpyaRk3tjwZY/hHCxpn3sGs4q517eB3W+GVo++lqbYcP7eKStGW0v988+qrVcJrvr6LdcMeOsZJGVXdtzcJaTMJnDsAoz2HtJgGLXO219YfjPQ/c5Ehp7OZI/jAHJ5jRDnTSF/5fU+MCysQmF7e+nZGwbPMiXARf5FmBgqRdBK6BH3K5i8xyhqoGqff2ZoFdZngGkqzu4TSNbFYexDfF5h+4z1N+a3+C2PU3gTmYDcYbRhtoXEV83OGjTbwd6mwZccJKmvDP4YKqJVbCj4P24M+hRhR/HhuA0UfoEzbMF5LFU85alhiayHEXsomX6Pq/A7crxR6SPpEPm/GF6aMvs2z284EcaPrnEbA8a94B2Q+9ugXSAk8oKGpRNGNTTLy7aKdWETs3hvwpXHnkv36bjVoYplbvHh6VvNGRR46RFrEkKsXpwKAqUbdUAoSOZ/Ip0Y+kdvcIL1+HXalMKqqFmtnngQJJWPhkAXhqFKBWCqyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0134dFnNgE7XrHw9cAATVJi3",
      "input": {
        "note": "The yawed target was unreachable, so returning the wrist to yaw 0; the yellow pen is short enough to grasp without rotating. Moving down onto it.",
        "targets": {
          "left_x": 0.17,
          "left_y": -0.145,
          "left_yaw": 0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_0134dFnNgE7XrHw9cAATVJi3",
      "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]: [-0.7689, 1.5894, 0.7151, -0.9016, -0.7864, -1.8469, 0.9969, 0.4839, 1.9751, 2.0666, -1.2068, 0.2745, 0.1974, 0.9964]\nstate[eef_state]: left_x=0.2247 left_y=-0.0384 left_z=0.036 left_yaw=0.9799 left_pitch=-0.2016 left_roll=0.02 left_gripper=0.9969 right_x=0.4348 right_y=0.1785 right_z=0.2214 right_yaw=0.0941 right_pitch=-0.4973 right_roll=-0.1699 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -5.2855, 4.7385, -0.1392, -0.5836, 0.1099, -0.0122, -0.2667, -10.5368, 6.0923, 1.0232, 0.0708, -0.0659, 0.0024]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:716b6dda1e9701885865e29bd133096c1033c826aa878b6802bdd1c77cffb895",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b418f21e96497b44bc3fc37e5ce52ae10af3da8e0ba470b238e80dc0d053278",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6fd9ed891a85dc42f0de3b1ae9cc4ac3a91d44fae4dfaea086a0df184ec3dc68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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