adhoc

completed
2026-09-23T03:10:18.418807+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
393.7 s
total steps
406
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two teal baskets at the far side, several plush toys and a few marker pens in the middle of the table. I will sort plushies into one basket and pens into the other, starting by hovering the left arm over the nearest grey plush toy.
move_to
left_x0.3000left_y-0.0900left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.028, 0.7986, 0.6136, -0.3798, -0.0227, -0.0227, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0128, -0.0257, 0.9998] state[eef_state]: left_x=0.2963 left_y=-0.0007 left_z=0.1832 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=-0.0005 right_pitch=-0.0 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.1709, -1.6479, 9.5932, 1.7656, -0.0171, 0.0269, -0.0611, -0.7316, -1.3607, 9.7983, 1.707, -0.0952, 0.1197, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.09, "left_z": 0.15, "left_gripper": 1}, "note": "I see two teal baskets at the far side, several plush toys and a few marker pens in the middle of the table. I will sort plushies into one basket and pens into the other, starting by hovering the left arm over the nearest grey plush toy."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteLeft wrist view shows the grey plush toy to the left of the jaw column, a yellow pen on the column and a brown teddy to the right. I am shifting left and down to line up on the grey plush for a grasp.
move_to
left_x0.3100left_y-0.0500left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5598, 0.9764, 0.5594, -0.2523, -0.4335, -0.3183, 0.9996, -0.0154, 0.7967, 0.6086, -0.3843, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.2966 left_y=-0.0941 left_z=0.1436 left_yaw=-0.0315 left_pitch=-0.0335 left_roll=0.0088 left_gripper=0.9996 right_x=0.2949 right_y=0.0012 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0122 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [0.253, -2.6188, 6.6803, 1.8291, -0.3687, -0.0708, -0.0562, -0.2803, -0.9778, 7.4188, 1.8291, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.05, "left_z": 0.1}, "note": "Left wrist view shows the grey plush toy to the left of the jaw column, a yellow pen on the column and a brown teddy to the right. I am shifting left and down to line up on the grey plush for a grasp."})
tool
executing move_to over 4 steps (0.4s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe grey plush fills the left half of the wrist view, so it lies to the arm's left; moving further +y and lowering toward it before closing.
move_to
left_x0.3200left_y-0.0050left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2939, 1.0138, 0.3798, -0.0135, -0.231, -0.1646, 0.9995, -0.0154, 0.7986, 0.6086, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.3061 left_y=-0.0467 left_z=0.0934 left_yaw=-0.0145 left_pitch=-0.0631 left_roll=0.0122 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0006 right_pitch=-0.0149 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.253, -2.5504, 6.8718, 1.7753, -0.0073, 0.1099, -0.0171, -0.3487, -1.2923, 7.0496, 1.7265, -0.0415, -0.0317, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.005, "left_z": 0.04}, "note": "The grey plush fills the left half of the wrist view, so it lies to the arm's left; moving further +y and lowering toward it before closing."})
tool
executing move_to over 4 steps (0.4s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe grey plush is centred on the jaw column in the wrist view; advancing 2 cm and closing the jaws to grasp its body.
move_to
left_x0.3500left_z0.0300left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0448, 1.2671, 0.2653, 0.4156, -0.0582, -0.0216, 0.9995, -0.0154, 0.8024, 0.6083, -0.3855, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.3293 left_y=-0.0009 left_z=0.0537 left_yaw=0.0123 left_pitch=-0.0205 left_roll=0.021 left_gripper=0.9995 right_x=0.2951 right_y=0.0012 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0195 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [0.294, -2.5915, 3.9453, 1.4286, 0.1734, 0.0269, -0.0122, -0.3487, -1.5385, 7.0496, 1.7509, -0.0073, -0.0464, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_z": 0.03, "left_gripper": 0.05}, "note": "The grey plush is centred on the jaw column in the wrist view; advancing 2 cm and closing the jaws to grasp its body."})
tool
executing move_to over 10 steps (1.0s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteJaws closed on the plush (reading 0.05, so something is held). Lifting to confirm the toy comes up with the gripper.
move_to
left_z0.1800
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]: [-0.0441, 1.4841, 0.2935, 0.7231, -0.0738, -0.0151, 0.0512, -0.0154, 0.8043, 0.6079, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.3642 left_y=0.0006 left_z=0.059 left_yaw=0.0231 left_pitch=0.0983 left_roll=0.0271 left_gripper=0.0512 right_x=0.2952 right_y=0.0011 right_z=0.1778 right_yaw=-0.0006 right_pitch=-0.0214 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.253, -2.865, 4.7658, 0.9206, 0.1245, -0.0562, 0.3443, -0.212, -1.4701, 7.0632, 1.707, -0.0366, -0.0415, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18}, "note": "Jaws closed on the plush (reading 0.05, so something is held). Lifting to confirm the toy comes up with the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteGripper holds something soft (reading 0.053). Carrying it high toward the left basket to check alignment before releasing.
move_to
left_x0.4500left_y-0.2400left_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]: [-0.0452, 1.1049, 0.5911, -0.0341, -0.078, -0.0219, 0.0529, -0.0154, 0.8082, 0.6075, -0.3855, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.355 left_y=0.0013 left_z=0.1516 left_yaw=0.0288 left_pitch=0.0182 left_roll=0.0288 left_gripper=0.0529 right_x=0.2954 right_y=0.0011 right_z=0.1765 right_yaw=-0.0004 right_pitch=-0.0259 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.1299, -4.7658, 10.0171, 1.9951, -0.0024, 0.0171, 0.1587, -0.2667, -1.6068, 7.0632, 1.7705, -0.0269, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.24, "left_z": 0.25}, "note": "Gripper holds something soft (reading 0.053). Carrying it high toward the left basket to check alignment before releasing."})
tool
executing move_to over 22 steps (2.2s)
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 noteWrist view confirms the grey plush is held right over the left basket; nudging forward over the basket interior and opening to drop it in.
move_to
left_x0.4700left_y-0.2450left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.691, 1.8008, 1.5745, -0.5182, -0.5976, -0.4423, 0.0545, -0.0151, 0.8101, 0.6075, -0.3855, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.4443 left_y=-0.2339 left_z=0.2263 left_yaw=0.0328 left_pitch=-0.0304 left_roll=0.0365 left_gripper=0.0545 right_x=0.2955 right_y=0.0013 right_z=0.176 right_yaw=-0.0002 right_pitch=-0.0279 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.3897, -10.3453, 9.9624, 1.5849, -0.2857, 0.3199, 0.1636, -0.1026, -1.4838, 7.0769, 1.6923, -0.0366, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.245, "left_z": 0.2, "left_gripper": 1}, "note": "Wrist view confirms the grey plush is held right over the left basket; nudging forward over the basket interior and opening to drop it in."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteReleased over the left basket but the wrist view shows fur still at the lower edge, so I am pulling the arm back and up to see whether the plush landed inside the basket.
move_to
left_x0.3000left_y-0.0500left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6773, 1.8969, 1.5818, -0.4736, -0.598, -0.4534, 0.9954, -0.0154, 0.8101, 0.6075, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.4608 left_y=-0.2384 left_z=0.1901 left_yaw=0.0541 left_pitch=-0.063 left_roll=0.0571 left_gripper=0.9954 right_x=0.2956 right_y=0.0011 right_z=0.1761 right_yaw=-0.0006 right_pitch=-0.0275 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.3214, -9.7162, 8.8274, 1.873, -0.105, 0.2222, -0.0269, -0.3487, -1.306, 7.1863, 1.7265, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.3}, "note": "Released over the left basket but the wrist view shows fur still at the lower edge, so I am pulling the arm back and up to see whether the plush landed inside the basket."})
tool
executing move_to over 17 steps (1.7s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe overhead view shows the grey plush landed just outside the baskets, against the left basket's right rim. Moving above it to re-grasp and drop it properly inside.
move_to
left_x0.4200left_y-0.2900left_z0.1800
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]: [-0.4129, 1.0672, 1.2331, -0.8448, -0.4202, -0.2768, 0.9967, -0.0151, 0.8127, 0.6075, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.3093 left_y=-0.0529 left_z=0.2978 left_yaw=0.0825 left_pitch=-0.0464 left_roll=0.0404 left_gripper=0.9967 right_x=0.2957 right_y=0.0013 right_z=0.1754 right_yaw=-0.0002 right_pitch=-0.0301 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.1573, -2.8923, 7.3504, 1.6972, -0.1538, 0.1148, 0.1294, -0.2393, -1.4838, 7.0359, 1.7314, -0.0122, -0.022, -0.0171] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.29, "left_z": 0.18}, "note": "The overhead view shows the grey plush landed just outside the baskets, against the left basket's right rim. Moving above it to re-grasp and drop it properly inside."})
tool
executing move_to over 22 steps (2.2s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteWrist camera shows the white/grey plush head just right of the jaw column, sitting between the baskets. Shifting right and descending to its body height before closing.
move_to
left_x0.4300left_y-0.3200left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8417, 1.9194, 1.5673, -0.5793, -0.7162, -0.6559, 0.9969, -0.0154, 0.8146, 0.6075, -0.3855, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.4104 left_y=-0.28 left_z=0.1689 left_yaw=0.0883 left_pitch=-0.0867 left_roll=0.0603 left_gripper=0.9969 right_x=0.2958 right_y=0.0011 right_z=0.1747 right_yaw=-0.0006 right_pitch=-0.0324 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.294, -10.0991, 9.0598, 1.4042, -0.398, 0.1587, 0.0024, -0.2667, -1.306, 7.241, 1.6874, -0.0464, -0.0317, -0.0171] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.32, "left_z": 0.05}, "note": "Wrist camera shows the white/grey plush head just right of the jaw column, sitting between the baskets. Shifting right and descending to its body height before closing."})
tool
executing move_to over 8 steps (0.8s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe plush fills the wrist view and the descent stopped on it; closing the jaws on its body.
move_to
left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8619, 2.1407, 1.5295, -0.2707, -0.7879, -0.7052, 0.9969, -0.0151, 0.8146, 0.6075, -0.3851, -0.0116, -0.0269, 0.9998] state[eef_state]: left_x=0.4371 left_y=-0.3119 left_z=0.0927 left_yaw=0.1383 left_pitch=-0.0111 left_roll=0.0114 left_gripper=0.9969 right_x=0.2959 right_y=0.0012 right_z=0.1748 right_yaw=-0.0005 right_pitch=-0.0321 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.7726, -6.8991, 5.8188, 0.5788, 0.5055, 0.3443, -0.0024, -0.0342, -1.388, 7.0085, 1.6874, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.05}, "note": "The plush fills the wrist view and the descent stopped on it; closing the jaws on its body."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteFirm grasp on the plush (gripper reads 0.41 ≈ 4 cm of fur). Carrying it deeper over the left basket than last time, since the earlier release dropped it short of the rim.
move_to
left_x0.5200left_y-0.2300left_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]: [-0.8665, 2.1448, 1.5314, -0.2367, -0.8124, -0.7158, 0.4063, -0.0154, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.4402 left_y=-0.3145 left_z=0.0979 left_yaw=0.1553 left_pitch=0.0214 left_roll=-0.0146 left_gripper=0.4063 right_x=0.2959 right_y=0.0011 right_z=0.1748 right_yaw=-0.0006 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.0342, -12.4376, 6.3658, 0.9744, -0.0952, 0.0757, 0.7448, -0.3624, -1.347, 7.0496, 1.7851, -0.022, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.23, "left_z": 0.22}, "note": "Firm grasp on the plush (gripper reads 0.41 \u2248 4 cm of fur). Carrying it deeper over the left basket than last time, since the earlier release dropped it short of the rim."})
tool
executing move_to over 8 steps (0.8s)
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 noteWrist view shows basket rims on both sides of the plush, meaning I'm hovering over the gap between the baskets; shifting left to centre over the left basket.
move_to
left_y-0.1300left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6151, 2.1166, 1.7741, -0.4923, -0.651, -0.5522, 0.4083, -0.0151, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.5125 left_y=-0.2267 left_z=0.1559 left_yaw=0.2096 left_pitch=-0.0664 left_roll=0.0369 left_gripper=0.4083 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.2393, -17.5658, 10.6188, 1.6337, -0.2662, 0.5104, 0.2027, -0.0889, -1.2103, 7.0085, 1.7167, -0.0171, -0.0464, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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_y": -0.13, "left_z": 0.2}, "note": "Wrist view shows basket rims on both sides of the plush, meaning I'm hovering over the gap between the baskets; shifting left to centre over the left basket."})
tool
executing move_to over 9 steps (0.9s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe plush now hangs over the left basket's interior; lowering slightly and opening to drop it in.
move_to
left_z0.1300left_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]: [-0.4332, 1.9495, 1.615, -0.5079, -0.5121, -0.4225, 0.4093, -0.0154, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.5079 left_y=-0.1356 left_z=0.1664 left_yaw=0.2213 left_pitch=-0.1452 left_roll=0.0676 left_gripper=0.4093 right_x=0.2959 right_y=0.0011 right_z=0.1748 right_yaw=-0.0006 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.3487, -14.3658, 6.9538, 1.8388, -0.3199, 0.1636, 0.0904, -0.2393, -1.3744, 7.0359, 1.7607, -0.0513, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13, "left_gripper": 1}, "note": "The plush now hangs over the left basket's interior; lowering slightly and opening to drop it in."})
tool
executing move_to over 6 steps (0.6s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteReleased; retracting the left arm to check from the overhead camera whether the plush landed inside the left basket.
move_to
left_x0.3000left_y-0.0500left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4351, 1.9583, 1.5105, -0.4118, -0.5083, -0.4274, 0.9951, -0.0151, 0.8146, 0.6075, -0.3855, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.503 left_y=-0.135 left_z=0.1345 left_yaw=0.2209 left_pitch=-0.1604 left_roll=0.0721 left_gripper=0.9951 right_x=0.2958 right_y=0.0013 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.0324 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0068, -9.7709, 6.5162, 1.5263, -0.3346, 0.0708, -0.0171, -0.1709, -1.1556, 7.1316, 1.7509, -0.0415, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.3}, "note": "Released; retracting the left arm to check from the overhead camera whether the plush landed inside the left basket."})
tool
executing move_to over 16 steps (1.6s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe plush ended up standing against the front-right rim of the left basket, not inside. Approaching it again to re-grasp, this time I will carry it further forward (larger x) before releasing.
move_to
left_x0.4600left_y-0.1350left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4755, 1.2217, 1.38, -1.0317, -0.5205, -0.4622, 0.9967, -0.0154, 0.8185, 0.6075, -0.3851, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.3136 left_y=-0.0586 left_z=0.2869 left_yaw=0.2097 left_pitch=-0.1642 left_roll=0.0619 left_gripper=0.9967 right_x=0.2961 right_y=0.0011 right_z=0.1738 right_yaw=-0.0004 right_pitch=-0.0359 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.5675, -4.7658, 8.4855, 1.2332, -0.4176, -0.0708, 0.1538, -0.0752, -1.7162, 7.159, 1.7167, -0.0513, -0.0757, -0.0122] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.135, "left_z": 0.15}, "note": "The plush ended up standing against the front-right rim of the left basket, not inside. Approaching it again to re-grasp, this time I will carry it further forward (larger x) before releasing."})
tool
executing move_to over 12 steps (1.2s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe plush fills the wrist view just right of the jaws; shifting slightly and closing on its body to re-grasp.
move_to
left_y-0.1500left_z0.1000left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4767, 1.7836, 1.3266, -0.5083, -0.5175, -0.4801, 0.9969, -0.0151, 0.8192, 0.6075, -0.3851, -0.0116, -0.0269, 0.9998] state[eef_state]: left_x=0.441 left_y=-0.1253 left_z=0.1321 left_yaw=0.228 left_pitch=-0.2356 left_roll=0.1068 left_gripper=0.9969 right_x=0.2961 right_y=0.0012 right_z=0.1736 right_yaw=-0.0005 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.4444, -9.7846, 9.6068, 1.2479, -0.3541, 0.0952, -0.0024, -0.0889, -1.4427, 7.0359, 1.7118, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.15, "left_z": 0.1, "left_gripper": 0.1}, "note": "The plush fills the wrist view just right of the jaws; shifting slightly and closing on its body to re-grasp."})
tool
executing move_to over 9 steps (0.9s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteJaws closed on the plush (reading 0.10). Lifting high and reaching further forward so the toy is over the basket's interior rather than its near rim.
move_to
left_x0.5500left_z0.2700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5335, 1.8503, 1.3121, -0.4404, -0.5392, -0.5362, 0.1045, -0.0154, 0.8211, 0.6075, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.442 left_y=-0.1516 left_z=0.1079 left_yaw=0.2194 left_pitch=-0.2307 left_roll=0.0894 left_gripper=0.1045 right_x=0.2963 right_y=0.0011 right_z=0.173 right_yaw=-0.0006 right_pitch=-0.0385 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1846, -8.3214, 5.7231, 1.2674, -0.3687, -0.022, -0.0659, -0.3487, -1.2376, 7.0496, 1.7216, -0.0122, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_z": 0.27}, "note": "Jaws closed on the plush (reading 0.10). Lifting high and reaching further forward so the toy is over the basket's interior rather than its near rim."})
tool
executing move_to over 11 steps (1.1s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe plush slipped out of the weak grip and is back on the table in front of the left basket; returning to it with the gripper open for a firmer grasp.
move_to
left_x0.4400left_y-0.1200left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4191, 2.4416, 2.7071, -1.2842, -0.4847, -0.4831, 0.1047, -0.0154, 0.8249, 0.6075, -0.387, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.5477 left_y=-0.1499 left_z=0.2116 left_yaw=0.273 left_pitch=-0.294 left_roll=0.1184 left_gripper=0.1047 right_x=0.2962 right_y=0.0011 right_z=0.1716 right_yaw=-0.0003 right_pitch=-0.0443 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.1573, -11.4256, 5.6, 0.6618, -0.1685, 0.4664, 0.0073, -0.3487, -1.4974, 7.0359, 1.7509, -0.022, -0.0415, -0.0171] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.12, "left_z": 0.09, "left_gripper": 1}, "note": "The plush slipped out of the weak grip and is back on the table in front of the left basket; returning to it with the gripper open for a firmer grasp."})
tool
executing move_to over 9 steps (0.9s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe previous move was clipped and the arm is still high and forward; the plush sits just below the basket's right rim in the wrist view. Re-commanding the approach down to grasp height.
move_to
left_x0.4600left_y-0.1300left_z0.0900
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]: [-0.482, 2.7441, 3.1359, -1.4994, -0.5007, -0.5732, 0.9951, -0.0154, 0.8276, 0.6075, -0.392, -0.0116, -0.0273, 0.9998] state[eef_state]: left_x=0.5438 left_y=-0.1847 left_z=0.162 left_yaw=0.2913 left_pitch=-0.3448 left_roll=0.1318 left_gripper=0.9951 right_x=0.2957 right_y=0.0011 right_z=0.1699 right_yaw=-0.0007 right_pitch=-0.0519 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.6496, -12.9162, 5.7778, 1.2869, -0.5201, 0.105, 0.0659, -0.2393, -1.5658, 7.0359, 1.7656, -0.0366, -0.0464, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.13, "left_z": 0.09}, "note": "The previous move was clipped and the arm is still high and forward; the plush sits just below the basket's right rim in the wrist view. Re-commanding the approach down to grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe arm is stalled at full extension near the basket, not tracking retraction; lifting straight up first to free it from the basket rim.
move_to
left_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]: [-0.4709, 2.7705, 3.1359, -1.5024, -0.4934, -0.5922, 0.9967, -0.0154, 0.8276, 0.6075, -0.3923, -0.0116, -0.0273, 0.9997] state[eef_state]: left_x=0.5459 left_y=-0.18 left_z=0.1467 left_yaw=0.316 left_pitch=-0.3689 left_roll=0.1365 left_gripper=0.9967 right_x=0.2956 right_y=0.0011 right_z=0.1698 right_yaw=-0.0007 right_pitch=-0.0523 right_roll=-0.001 right_gripper=0.9997 state[joint_eff]: [-0.7179, -13.3949, 5.6821, 1.0916, -0.3541, 0.0611, 0.1538, -0.3897, -1.4701, 7.159, 1.7216, -0.022, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3}, "note": "The arm is stalled at full extension near the basket, not tracking retraction; lifting straight up first to free it from the basket rim."})
tool
executing move_to over 10 steps (1.0s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteMotion is being heavily clamped at full extension; commanding a clear retract back and up to a comfortable pose before trying the plush again.
move_to
left_x0.3600left_y-0.1200left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.466, 2.6572, 3.0482, -1.5524, -0.4892, -0.5995, 0.9969, -0.0154, 0.8291, 0.6075, -0.3923, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.5277 left_y=-0.1685 left_z=0.1766 left_yaw=0.3292 left_pitch=-0.3882 left_roll=0.1477 left_gripper=0.9969 right_x=0.2957 right_y=0.0011 right_z=0.1694 right_yaw=-0.0005 right_pitch=-0.0538 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.3624, -15.8564, 6.2291, 0.8962, -0.3492, 0.1001, -0.0024, -0.335, -1.2923, 7.0222, 1.6923, -0.0269, -0.0024, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.12, "left_z": 0.25}, "note": "Motion is being heavily clamped at full extension; commanding a clear retract back and up to a comfortable pose before trying the plush again."})
tool
executing move_to over 13 steps (1.3s)
step 233
top_cam
camera top_cam step 233
left_cam
camera left_cam step 233
right_cam
camera right_cam step 233
assistant
agent noteClear view now: teal basket on the left, white basket on the right, four plush toys in the middle and three marker pens to the right. Approaching the grey dog plush that sits just in front of the left basket.
move_to
left_x0.4500left_y-0.1900left_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]: [-0.5625, 1.7638, 1.7771, -1.2835, -0.5121, -0.6968, 0.9969, -0.0151, 0.8314, 0.6067, -0.3927, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.3704 left_y=-0.127 left_z=0.2205 left_yaw=0.3386 left_pitch=-0.4354 left_roll=0.1925 left_gripper=0.9969 right_x=0.2957 right_y=0.0013 right_z=0.1683 right_yaw=0.0 right_pitch=-0.0572 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.2667, -13.4906, 9.4838, 0.9792, -0.5739, -0.0317, -0.0073, -0.1436, -1.6479, 7.1043, 1.7021, -0.0122, -0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.19, "left_z": 0.12}, "note": "Clear view now: teal basket on the left, white basket on the right, four plush toys in the middle and three marker pens to the right. Approaching the grey dog plush that sits just in front of the left basket."})
tool
executing move_to over 7 steps (0.7s)
step 240
top_cam
camera top_cam step 240
left_cam
camera left_cam step 240
assistant
agent noteA small brown teddy sits right on the jaw column in the wrist view; levelling the tool, descending onto it and closing to grasp it.
move_to
left_x0.4200left_y-0.1450left_z0.0500left_pitch0.0000left_roll0.0000left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5713, 1.8908, 1.7706, -1.2072, -0.5083, -0.712, 0.9969, -0.0151, 0.8326, 0.6067, -0.3927, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.3912 left_y=-0.145 left_z=0.1752 left_yaw=0.3588 left_pitch=-0.4714 left_roll=0.2315 left_gripper=0.9969 right_x=0.2957 right_y=0.0013 right_z=0.168 right_yaw=0.0 right_pitch=-0.0584 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.2667, -12.2188, 6.8444, 0.7643, -0.4029, -0.0122, -0.0122, -0.0752, -1.4154, 7.2, 1.6728, -0.0415, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.145, "left_z": 0.05, "left_pitch": 0, "left_roll": 0, "left_gripper": 0.05}, "note": "A small brown teddy sits right on the jaw column in the wrist view; levelling the tool, descending onto it and closing to grasp it."})
tool
executing move_to over 16 steps (1.6s)
step 256
assistant
agent noteThat close came up empty (0.05). Backing off to the cluster of brown teddy bears in the middle of the table to grasp one of them instead.
move_to
left_x0.3400left_y-0.2700left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.622, 1.8801, 0.9657, -0.0174, -0.7532, -0.7013, 0.0536, -0.0154, 0.836, 0.6067, -0.3923, -0.0116, -0.0273, 0.9998] state[eef_state]: left_x=0.4106 left_y=-0.1413 left_z=0.0465 left_yaw=0.3558 left_pitch=-0.0615 left_roll=0.0413 left_gripper=0.0536 right_x=0.296 right_y=0.0011 right_z=0.1671 right_yaw=-0.0007 right_pitch=-0.0614 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.8017, 5.4769, 1.3455, -0.4811, 0.0659, -0.0366, -0.3487, -1.7846, 6.9949, 1.746, -0.0317, -0.0806, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.27, "left_z": 0.12, "left_gripper": 1}, "note": "That close came up empty (0.05). Backing off to the cluster of brown teddy bears in the middle of the table to grasp one of them instead."})
tool
executing move_to over 12 steps (1.2s)
step 268
assistant
agent noteA brown teddy sits just below the jaw column in the wrist view; advancing 2 cm, dropping to table level and closing on it.
move_to
left_x0.3600left_z0.0300left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9985, 1.961, 1.4376, -0.7418, -0.8951, -1.1843, 0.9964, -0.0151, 0.8379, 0.6067, -0.3931, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.3446 left_y=-0.2738 left_z=0.1136 left_yaw=0.3308 left_pitch=-0.0745 left_roll=0.0084 left_gripper=0.9964 right_x=0.296 right_y=0.0013 right_z=0.1664 right_yaw=-0.0002 right_pitch=-0.0641 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1983, -9.4564, 7.747, 0.5006, -0.8034, -0.0024, -0.0269, -0.0615, -1.6205, 7.0359, 1.663, -0.0317, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_z": 0.03, "left_gripper": 0.05}, "note": "A brown teddy sits just below the jaw column in the wrist view; advancing 2 cm, dropping to table level and closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 278
assistant
agent noteLeft-arm closes keep coming up empty on the plush cluster, so I am switching to the right arm and the marker pens, which are easy to grasp; hovering over the pens before descending.
move_to
right_x0.3200right_y0.2000right_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]: [-0.9703, 2.0937, 1.3167, -0.4503, -0.8825, -1.1439, 0.0546, -0.0151, 0.8379, 0.6067, -0.3923, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.3584 left_y=-0.2756 left_z=0.0402 left_yaw=0.3303 left_pitch=-0.0765 left_roll=0.0012 left_gripper=0.0546 right_x=0.2961 right_y=0.0012 right_z=0.1666 right_yaw=0.0001 right_pitch=-0.0633 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.4034, -9.1282, 4.6838, 0.862, -0.4469, 0.0415, 0.1245, -0.212, -1.347, 6.9949, 1.7314, -0.0415, -0.0464, -0.0171] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.2, "right_z": 0.12}, "note": "Left-arm closes keep coming up empty on the plush cluster, so I am switching to the right arm and the marker pens, which are easy to grasp; hovering over the pens before descending."})
tool
executing move_to over 17 steps (1.7s)
step 295
assistant
agent noteRight wrist view shows the blue marker just left of the jaw column near the bottom edge; advancing 3 cm forward and down to table level to straddle the pen.
move_to
right_x0.3500right_y0.1550right_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]: [-0.9043, 2.1002, 1.2922, -0.5339, -0.8833, -1.153, 0.0544, 0.7555, 1.4113, 0.7391, -0.2684, 0.7364, 0.5571, 0.999] state[eef_state]: left_x=0.3619 left_y=-0.2334 left_z=0.0269 left_yaw=0.4116 left_pitch=-0.1053 left_roll=0.1051 left_gripper=0.0544 right_x=0.3159 right_y=0.1395 right_z=0.1048 right_yaw=-0.149 right_pitch=-0.0876 right_roll=-0.1358 right_gripper=0.999 state[joint_eff]: [-5.3812, -10.947, 7.3231, 1.7705, -0.4615, 0.0562, -0.0415, 5.9282, -3.4667, 10.8513, 2.293, -0.9109, -0.4078, -0.0952] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.155, "right_z": 0.005}, "note": "Right wrist view shows the blue marker just left of the jaw column near the bottom edge; advancing 3 cm forward and down to table level to straddle the pen."})
tool
executing move_to over 7 steps (0.7s)
step 302
assistant
agent noteThe blue marker is centred between the jaw wedges at table level; closing the gripper on it.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8658, 2.112, 1.2785, -0.572, -0.8829, -1.1599, 0.0544, 0.7197, 1.7668, 0.6689, 0.2279, 0.7021, 0.519, 0.999] state[eef_state]: left_x=0.3626 left_y=-0.21 left_z=0.0176 left_yaw=0.4607 left_pitch=-0.1209 left_roll=0.1617 left_gripper=0.0544 right_x=0.3501 right_y=0.1599 right_z=0.0237 right_yaw=-0.138 right_pitch=-0.0658 right_roll=-0.0947 right_gripper=0.999 state[joint_eff]: [-3.3983, -11.3026, 6.2838, 1.072, -0.4615, 0.0269, -0.0171, -0.8547, -3.7265, 5.5316, 0.232, 0.4322, 0.0122, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "The blue marker is centred between the jaw wedges at table level; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 312
assistant
agent noteGripper reads 0.055 after closing on the pen; lifting to see whether the marker came up with the jaws.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8585, 2.1208, 1.2778, -0.5823, -0.8829, -1.1603, 0.0544, 0.7197, 1.784, 0.6682, 0.2516, 0.6941, 0.5159, 0.0546] state[eef_state]: left_x=0.3622 left_y=-0.2052 left_z=0.0139 left_yaw=0.4705 left_pitch=-0.1257 left_roll=0.1808 left_gripper=0.0544 right_x=0.3512 right_y=0.1623 right_z=0.0199 right_yaw=-0.1306 right_pitch=-0.0668 right_roll=-0.0888 right_gripper=0.0546 state[joint_eff]: [-0.9368, -11.2752, 5.2718, 0.5983, -0.5104, -0.0269, -0.0171, -0.2667, -8.7863, 4.8205, 1.1258, 0.3639, 0.0073, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper reads 0.055 after closing on the pen; lifting to see whether the marker came up with the jaws."})
tool
executing move_to over 12 steps (1.2s)
step 324
assistant
agent noteThe blue marker is hanging from the right gripper. Carrying it high over toward the right-hand basket, which will hold the pens.
move_to
right_x0.5000right_y0.3000right_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]: [-0.8585, 2.1208, 1.2778, -0.5724, -0.8829, -1.1606, 0.0544, 0.7158, 1.4715, 1.0821, -0.4866, 0.6796, 0.5091, 0.0545] state[eef_state]: left_x=0.3634 left_y=-0.2065 left_z=0.0142 left_yaw=0.4695 left_pitch=-0.1232 left_roll=0.1708 left_gripper=0.0544 right_x=0.3543 right_y=0.1658 right_z=0.1779 right_yaw=-0.1216 right_pitch=-0.0833 right_roll=-0.0958 right_gripper=0.0545 state[joint_eff]: [-0.3214, -10.6462, 5.3538, 0.4078, -0.4762, -0.0562, -0.0171, 0.1846, -8.6359, 9.2103, 1.2137, 0.442, 0.0317, -0.0269] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.3, "right_z": 0.25}, "note": "The blue marker is hanging from the right gripper. Carrying it high over toward the right-hand basket, which will hold the pens."})
tool
executing move_to over 12 steps (1.2s)
step 336
assistant
agent noteThe right wrist camera looks straight into the basket interior; lowering slightly and opening the jaws to drop the marker inside.
move_to
right_z0.2000right_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]: [-0.8589, 2.1208, 1.2778, -0.5621, -0.8829, -1.1606, 0.0544, 0.7208, 2.3734, 2.5095, -1.0149, 0.6758, 0.5091, 0.0545] state[eef_state]: left_x=0.3645 left_y=-0.2081 left_z=0.0145 left_yaw=0.4679 left_pitch=-0.1208 left_roll=0.1608 left_gripper=0.0544 right_x=0.5042 right_y=0.3006 right_z=0.2282 right_yaw=-0.1142 right_pitch=-0.0873 right_roll=-0.0959 right_gripper=0.0545 state[joint_eff]: [-0.1299, -10.4547, 5.1077, 0.3834, -0.5104, -0.0317, -0.0171, 0.4444, -11.2205, 5.1624, 0.0073, 0.3297, 0.0952, -0.0122] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_gripper": 1}, "note": "The right wrist camera looks straight into the basket interior; lowering slightly and opening the jaws to drop the marker inside."})
tool
executing move_to over 10 steps (1.0s)
step 346
assistant
agent noteThe right basket looks empty so the pen was lost in transit; meanwhile the left wrist camera shows a large grey plush directly ahead. Opening the left gripper and advancing onto that plush.
move_to
left_x0.4000left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8585, 2.1208, 1.2778, -0.5602, -0.8829, -1.1603, 0.0544, 0.7197, 2.3661, 2.2894, -0.8722, 0.6613, 0.5014, 0.9953] state[eef_state]: left_x=0.3648 left_y=-0.2082 left_z=0.0145 left_yaw=0.4679 left_pitch=-0.1203 left_roll=0.1592 left_gripper=0.0544 right_x=0.5049 right_y=0.303 right_z=0.1677 right_yaw=-0.1075 right_pitch=-0.1436 right_roll=-0.1463 right_gripper=0.9953 state[joint_eff]: [-0.212, -10.6325, 5.1077, 0.4957, -0.5006, -0.0562, -0.0171, -0.2393, -18.2085, 6.3932, 1.3651, 0.4567, -0.0366, -0.1832] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_z": 0.04, "left_gripper": 1}, "note": "The right basket looks empty so the pen was lost in transit; meanwhile the left wrist camera shows a large grey plush directly ahead. Opening the left gripper and advancing onto that plush."})
tool
executing move_to over 10 steps (1.0s)
step 356
assistant
agent noteThe grey plush fills the left wrist view between the jaws; advancing slightly and closing firmly to grasp its body.
move_to
left_x0.4200left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7952, 2.122, 1.3811, -0.5953, -0.8608, -1.0882, 0.9954, 0.7197, 2.3547, 2.2822, -0.8623, 0.6491, 0.5007, 0.9964] state[eef_state]: left_x=0.394 left_y=-0.2053 left_z=0.0358 left_yaw=0.4795 left_pitch=-0.1291 left_roll=0.1443 left_gripper=0.9954 right_x=0.5044 right_y=0.3049 right_z=0.1716 right_yaw=-0.0975 right_pitch=-0.1413 right_roll=-0.1296 right_gripper=0.9964 state[joint_eff]: [0.2803, -9.4701, 8.0342, 0.5592, -0.5592, 0.2613, -0.1148, -0.1709, -12.588, 7.159, 1.199, 0.3883, -0.0171, 0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_gripper": 0.05}, "note": "The grey plush fills the left wrist view between the jaws; advancing slightly and closing firmly to grasp its body."})
tool
executing move_to over 10 steps (1.0s)
step 366
assistant
agent noteJaws closed on the plush; lifting and carrying toward the left (teal) basket in one motion to save time.
move_to
left_x0.5000left_y-0.1000left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7555, 2.159, 1.4349, -0.5869, -0.8555, -1.0473, 0.0544, 0.7197, 2.3547, 2.2822, -0.8616, 0.6418, 0.5007, 0.9964] state[eef_state]: left_x=0.4123 left_y=-0.2002 left_z=0.0348 left_yaw=0.4927 left_pitch=-0.1295 left_roll=0.1502 left_gripper=0.0544 right_x=0.5042 right_y=0.3061 right_z=0.1711 right_yaw=-0.0925 right_pitch=-0.145 right_roll=-0.125 right_gripper=0.9964 state[joint_eff]: [0.6496, -9.7709, 8.0615, 0.7643, -0.4029, 0.2125, 0.1636, -0.0205, -13.7231, 6.5162, 1.3114, 0.3248, -0.0269, -0.0024] camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.1, "left_z": 0.25}, "note": "Jaws closed on the plush; lifting and carrying toward the left (teal) basket in one motion to save time."})
tool
executing move_to over 14 steps (1.4s)
step 380
assistant
agent noteEfforts are spiking and the plush is jammed against the jaws rather than held; retracting both arms to their home pose to leave the rig in a safe state.
move_to
left_x0.3000left_y-0.0200left_z0.2000left_gripper1.0000right_x0.3000right_y0.0200right_z0.2000right_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]: [-0.5743, 2.1597, 1.9713, -1.214, -0.7128, -0.6964, 0.0544, 0.6762, 2.2696, 2.3753, -0.5285, 0.6262, 0.5205, 0.9964] state[eef_state]: left_x=0.4446 left_y=-0.1458 left_z=0.1439 left_yaw=0.4645 left_pitch=-0.3485 left_roll=0.4299 left_gripper=0.0544 right_x=0.5475 right_y=0.3111 right_z=0.3123 right_yaw=-0.1452 right_pitch=0.2011 right_roll=0.2698 right_gripper=0.9964 state[joint_eff]: [10.5368, -18.9607, 17.0051, 2.4542, -0.6374, 0.3199, -0.022, 3.9863, -5.8188, -0.5402, -1.9805, 0.0562, -0.2125, -0.0073] camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.02, "left_z": 0.2, "left_gripper": 1, "right_x": 0.3, "right_y": 0.02, "right_z": 0.2, "right_gripper": 1}, "note": "Efforts are spiking and the plush is jammed against the jaws rather than held; retracting both arms to their home pose to leave the rig in a safe state."})
tool
executing move_to over 25 steps (2.5s)
step 405
assistant
agent noteI ran out of call budget without getting an object into a basket. Grasps on the soft plush toys kept slipping (gripper settling at ~0.05 = fur only) and my one solid plush grasp was released at the wrong depth, landing the toy outside the basket rim; the pen grasp also slipped during transport. Both arms are parked safely and the table is otherwise as found.
give_up
hindsightScene: two teal baskets at the far edge (left basket ≈ left_y −0.10 to −0.14, right basket ≈ right_y +0.30), plush toys in the middle (~x 0.33–0.45) and 3 marker pens on the right. Useful numbers I derived: in top_cam, left_y ≈ −0.135 − (px − 82)/250 (≈2.5 px/cm horizontally); the baskets' interiors sit at x ≈ 0.55–0.58, i.e. near the reach limit, so releasing at x ≈ 0.50 drops the object short onto the front rim. Near full extension (x > 0.52) the IK tracks very poorly and moves get heavily clamped — plan basket drops from a high, slightly retracted pose and verify in the wrist camera that the basket interior fills the *lower* half of the image before opening. Plush grasps: a settled gripper reading around 0.4 means real fur in the jaws; 0.05 means empty or a fur pinch, and such a weak pinch always drops the toy mid-carry. Grasp the plush's narrow neck/limb, close fully to ~0.02, and lift only 5 cm to verify. Pens lie radially and are easy to straddle at z ≈ 0.005, but a 0.05 close on a thin marker is not reliable — close fully and check the reading before lifting.
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]: [-0.4656, 1.4216, 1.2728, -1.1622, -0.6865, -0.5713, 0.9983, 0.1421, 0.7197, 0.4694, -0.0822, 0.1699, 0.3271, 0.9986] state[eef_state]: left_x=0.3065 left_y=-0.0247 left_z=0.1965 left_yaw=0.4698 left_pitch=-0.3469 left_roll=0.4171 left_gripper=0.9983 right_x=0.3054 right_y=0.0171 right_z=0.204 right_yaw=-0.1918 right_pitch=0.2116 right_roll=0.2774 right_gripper=0.9986 state[joint_eff]: [0.2803, -6.3385, 5.8188, 0.6813, -0.4274, 0.1001, -0.0317, -0.1709, -0.4308, 7.6376, 1.9756, -0.188, -0.1294, -0.1538] approver: 5 step(s) modified (delta_clamped ×5). 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
give_up({"reason": "I ran out of call budget without getting an object into a basket. Grasps on the soft plush toys kept slipping (gripper settling at ~0.05 = fur only) and my one solid plush grasp was released at the wrong depth, landing the toy outside the basket rim; the pen grasp also slipped during transport. Both arms are parked safely and the table is otherwise as found.", "hindsight": "Scene: two teal baskets at the far edge (left basket \u2248 left_y \u22120.10 to \u22120.14, right basket \u2248 right_y +0.30), plush toys in the middle (~x 0.33\u20130.45) and 3 marker pens on the right. Useful numbers I derived: in top_cam, left_y \u2248 \u22120.135 \u2212 (px \u2212 82)/250 (\u22482.5 px/cm horizontally); the baskets' interiors sit at x \u2248 0.55\u20130.58, i.e. near the reach limit, so releasing at x \u2248 0.50 drops the object short onto the front rim. Near full extension (x > 0.52) the IK tracks very poorly and moves get heavily clamped \u2014 plan basket drops from a high, slightly retracted pose and verify in the wrist camera that the basket interior fills the *lower* half of the image before opening. Plush grasps: a settled gripper reading around 0.4 means real fur in the jaws; 0.05 means empty or a fur pinch, and such a weak pinch always drops the toy mid-carry. Grasp the plush's narrow neck/limb, close fully to ~0.02, and lift only 5 cm to verify. Pens lie radially and are easy to straddle at z \u2248 0.005, but a 0.05 close on a thin marker is not reliable \u2014 close fully and check the reading before lifting."})
tool
give_up: I ran out of call budget without getting an object into a basket. Grasps on the soft plush toys kept slipping (gripper settling at ~0.05 = fur only) and my one solid plush grasp was released at the wrong depth, landing the toy outside the basket rim; the pen grasp also slipped during transport. Both arms are parked safely and the table is otherwise as found.
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 · 25.13 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.028, 0.7986, 0.6136, -0.3798, -0.0227, -0.0227, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0128, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=-0.0007 left_z=0.1832 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=-0.0005 right_pitch=-0.0 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -1.6479, 9.5932, 1.7656, -0.0171, 0.0269, -0.0611, -0.7316, -1.3607, 9.7983, 1.707, -0.0952, 0.1197, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1aaff03fe248249fef4f00c3a1efcc6183564e0a4de30f7ea61f27894302634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4003bed7273ad24425687b990003b1d4cb711aee890f3f440538402b23718e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3969d4af7f58d4fcef74059dea5f45976999522725941150c9a82418ff9be97b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 14.37 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]: [-0.028, 0.7986, 0.6136, -0.3798, -0.0227, -0.0227, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0128, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=-0.0007 left_z=0.1832 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=-0.0005 right_pitch=-0.0 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -1.6479, 9.5932, 1.7656, -0.0171, 0.0269, -0.0611, -0.7316, -1.3607, 9.7983, 1.707, -0.0952, 0.1197, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1aaff03fe248249fef4f00c3a1efcc6183564e0a4de30f7ea61f27894302634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4003bed7273ad24425687b990003b1d4cb711aee890f3f440538402b23718e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3969d4af7f58d4fcef74059dea5f45976999522725941150c9a82418ff9be97b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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91D+6OD6V+OENC14igw+artT0GLQDyEsWehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A8HPws97iHPpp5wmgUm6YC",
      "input": {
        "note": "I see two teal baskets at the far side, several plush toys and a few marker pens in the middle of the table. I will sort plushies into one basket and pens into the other, starting by hovering the left arm over the nearest grey plush toy.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": -0.09,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01A8HPws97iHPpp5wmgUm6YC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5598, 0.9764, 0.5594, -0.2523, -0.4335, -0.3183, 0.9996, -0.0154, 0.7967, 0.6086, -0.3843, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=-0.0941 left_z=0.1436 left_yaw=-0.0315 left_pitch=-0.0335 left_roll=0.0088 left_gripper=0.9996 right_x=0.2949 right_y=0.0012 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0122 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.6188, 6.6803, 1.8291, -0.3687, -0.0708, -0.0562, -0.2803, -0.9778, 7.4188, 1.8291, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00c3ecff1353070c35bd155fff0fdbb082ce06a6dfc7f4f2a3ba6d693970cd1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82b4f5511ba6af44852f11165127e15b36f684d9b6644f5824cec239c2701571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07a5eca762d3c32b54dd093ec7b031aeee51a270d1ec7bf6ffeeed43ee6e7da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 8.337 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]: [-0.028, 0.7986, 0.6136, -0.3798, -0.0227, -0.0227, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0128, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=-0.0007 left_z=0.1832 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=-0.0005 right_pitch=-0.0 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -1.6479, 9.5932, 1.7656, -0.0171, 0.0269, -0.0611, -0.7316, -1.3607, 9.7983, 1.707, -0.0952, 0.1197, -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]: [-0.5598, 0.9764, 0.5594, -0.2523, -0.4335, -0.3183, 0.9996, -0.0154, 0.7967, 0.6086, -0.3843, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=-0.0941 left_z=0.1436 left_yaw=-0.0315 left_pitch=-0.0335 left_roll=0.0088 left_gripper=0.9996 right_x=0.2949 right_y=0.0012 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0122 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.6188, 6.6803, 1.8291, -0.3687, -0.0708, -0.0562, -0.2803, -0.9778, 7.4188, 1.8291, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00c3ecff1353070c35bd155fff0fdbb082ce06a6dfc7f4f2a3ba6d693970cd1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82b4f5511ba6af44852f11165127e15b36f684d9b6644f5824cec239c2701571",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07a5eca762d3c32b54dd093ec7b031aeee51a270d1ec7bf6ffeeed43ee6e7da4",
        "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_01QxoXNEvtN9wqub3m1WUVBZ",
      "input": {
        "note": "Left wrist view shows the grey plush toy to the left of the jaw column, a yellow pen on the column and a brown teddy to the right. I am shifting left and down to line up on the grey plush for a grasp.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.05,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QxoXNEvtN9wqub3m1WUVBZ",
      "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]: [-0.2939, 1.0138, 0.3798, -0.0135, -0.231, -0.1646, 0.9995, -0.0154, 0.7986, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3061 left_y=-0.0467 left_z=0.0934 left_yaw=-0.0145 left_pitch=-0.0631 left_roll=0.0122 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0006 right_pitch=-0.0149 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.5504, 6.8718, 1.7753, -0.0073, 0.1099, -0.0171, -0.3487, -1.2923, 7.0496, 1.7265, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d136bc3151c3a17c55ebc2a8ca72cd4d6ab88495f62f07ce7d8b5f5764426052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c144a6d1d92c79b2adbb1505aacd21ffb55afcdc74d80c2e45d9224ac47eff3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58ed5bf2efed23a81fd60df1bdf551ff509107fbbccc521e6225a0c26a47ab37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 4.951 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]: [-0.028, 0.7986, 0.6136, -0.3798, -0.0227, -0.0227, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0128, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=-0.0007 left_z=0.1832 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=-0.0005 right_pitch=-0.0 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -1.6479, 9.5932, 1.7656, -0.0171, 0.0269, -0.0611, -0.7316, -1.3607, 9.7983, 1.707, -0.0952, 0.1197, -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]: [-0.5598, 0.9764, 0.5594, -0.2523, -0.4335, -0.3183, 0.9996, -0.0154, 0.7967, 0.6086, -0.3843, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=-0.0941 left_z=0.1436 left_yaw=-0.0315 left_pitch=-0.0335 left_roll=0.0088 left_gripper=0.9996 right_x=0.2949 right_y=0.0012 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0122 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.6188, 6.6803, 1.8291, -0.3687, -0.0708, -0.0562, -0.2803, -0.9778, 7.4188, 1.8291, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2939, 1.0138, 0.3798, -0.0135, -0.231, -0.1646, 0.9995, -0.0154, 0.7986, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3061 left_y=-0.0467 left_z=0.0934 left_yaw=-0.0145 left_pitch=-0.0631 left_roll=0.0122 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0006 right_pitch=-0.0149 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.5504, 6.8718, 1.7753, -0.0073, 0.1099, -0.0171, -0.3487, -1.2923, 7.0496, 1.7265, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d136bc3151c3a17c55ebc2a8ca72cd4d6ab88495f62f07ce7d8b5f5764426052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c144a6d1d92c79b2adbb1505aacd21ffb55afcdc74d80c2e45d9224ac47eff3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ed5bf2efed23a81fd60df1bdf551ff509107fbbccc521e6225a0c26a47ab37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AgKjgEIEhgCKkCW+ChKegHWfH1QxIPzw7bbP6hvyvb5o9Rgt0hh5qHcYCzG1zJUwTEeSlMVH1qKzjY2q/FmZNvVHFoftsubO2WyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmGzdUGEgxUTCntfh4+XmSxzrEaDP1mncVjlbepgqdbYCIwE7GQQzN9KL6OTkMpbJN4HzVWESobBozPYgpgNz/Q2G2EYrMda3yOV8b3TtntwWhAKoYH3qWnV9ZAa2gGWbaUxIxdCRO3CuLAhOhB+DoOGDDI+ZDL1DJL2/BluNOd+q/IbMkx7P0KnxEfv5nCkGI9bb2uewYzecIUbACz61XGTcq+nI1Ac26ha20T1jqEBx8eDjNlcnA/n3mMK4vQUH2H3TCvc54/wu00XFvQulL6lvPHdEsV9I7UGPeNSK1JVRxs6SHcfFcMeFQFOwBGNCCSTZ/nhL/f9U8IZq0e8ptfN+h9cpVoU396eKgAYRxXYy0WsYVpYYGKh0o4RPh9NHk1+IfpzAoWHoF7Z4xRri6LLgJ0wg43D9r7MG5RGhx+sCcE9+UdCqUll/o+UKjUYL+GUzTI7kTQ5lYGkzSCUyyXq6mZzRhc+nhZcTc80Sa4reSkEvdhRn0zro/q0Qg0R6NjJqdRHax08c0VLcWjSGnAaAM/VUbf5KK8pEOHpVuYtN48nsZJCv1Dlbso7xX7Ko8AeGojRpj7C+MuXDpz8AevuFfQSKbFZikqn5V3wnjGoLsFxP5P2tjwUMSp8QNnDWVWIt5XtAHpF6sGOkLY+EDMjkWFy5ODp6GubNDDMMfln98pz5GynGJ84y+TXWDeXbbcrFmZQOxHnNqeqZzdu+LsAgOjeVTizGDCsfMiFCyzvz+bmnHxxjVo+Sgn6+6ypGrdEAwwvRzLd/Sq6d8fOigKdupV5fwGlf+wOwfkE3JD/dyXS/nhdLqeMaHyxcKVYUKJ7L04kVqm3Qa5Hc0KTDQIAYbN077xprSWWXDF8MMavAbNjxH6rFSDLBfdqd1WLBmWwuNI/BGZvntbqQNIL93d1ue28Fcwzr5W568lcS+32RiX8loTA3m1trSgRu6s+aWuo3Cte6Nn0SX8S2f/W2+db2Zk7LBDh7EQqJWohDh/OGsfGeKuxsZRBt6UpfFzeiA4SUtB0y112V0sXHRlpYwu17rmKIvYG+/gxevQ0a67mN7IdT2P+g2Hskl4reACW8v58py2Qb6In6n0PrtLh6/+Hu3wzvGDKD1xH/Enfq3nxRZvLVfjS4W0HoTT7Iw2Bt3rmXj1ZLoz01zKp/BW59Thcj/ahV2eQqn57JZz7CWXXhKPBAbF5r+HL8Qu4guEDTVf8ggQmWEENwBC/jS2DNnC+vQUd78OZdbr7bbhkDKQ+vWwcyMZOiwQChchT8j16hPkgGQPLk54c4CJ41vmwGOMSN4h1PKHKTwmUbsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013hkH8fP2qK4NcsSLssMiv1",
      "input": {
        "note": "The grey plush fills the left half of the wrist view, so it lies to the arm's left; moving further +y and lowering toward it before closing.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.005,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013hkH8fP2qK4NcsSLssMiv1",
      "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]: [-0.0448, 1.2671, 0.2653, 0.4156, -0.0582, -0.0216, 0.9995, -0.0154, 0.8024, 0.6083, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3293 left_y=-0.0009 left_z=0.0537 left_yaw=0.0123 left_pitch=-0.0205 left_roll=0.021 left_gripper=0.9995 right_x=0.2951 right_y=0.0012 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0195 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.294, -2.5915, 3.9453, 1.4286, 0.1734, 0.0269, -0.0122, -0.3487, -1.5385, 7.0496, 1.7509, -0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:646b28a0a4fc51ea8595b99535ad9a44399b8ebc96adcc587bf6dac17b3d1d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bea819ac3e98b6e35d606dc5952a714c41115185e0bef1e98e1ff0de52e6772e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24de6f59acc0fbe996250bbfb90bb2ac0a574293c31b3bccc4feb4896cf9fced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 10.11 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]: [-0.5598, 0.9764, 0.5594, -0.2523, -0.4335, -0.3183, 0.9996, -0.0154, 0.7967, 0.6086, -0.3843, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=-0.0941 left_z=0.1436 left_yaw=-0.0315 left_pitch=-0.0335 left_roll=0.0088 left_gripper=0.9996 right_x=0.2949 right_y=0.0012 right_z=0.1804 right_yaw=-0.0006 right_pitch=-0.0122 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.6188, 6.6803, 1.8291, -0.3687, -0.0708, -0.0562, -0.2803, -0.9778, 7.4188, 1.8291, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2939, 1.0138, 0.3798, -0.0135, -0.231, -0.1646, 0.9995, -0.0154, 0.7986, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3061 left_y=-0.0467 left_z=0.0934 left_yaw=-0.0145 left_pitch=-0.0631 left_roll=0.0122 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0006 right_pitch=-0.0149 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.5504, 6.8718, 1.7753, -0.0073, 0.1099, -0.0171, -0.3487, -1.2923, 7.0496, 1.7265, -0.0415, -0.0317, -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]: [-0.0448, 1.2671, 0.2653, 0.4156, -0.0582, -0.0216, 0.9995, -0.0154, 0.8024, 0.6083, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3293 left_y=-0.0009 left_z=0.0537 left_yaw=0.0123 left_pitch=-0.0205 left_roll=0.021 left_gripper=0.9995 right_x=0.2951 right_y=0.0012 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0195 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.294, -2.5915, 3.9453, 1.4286, 0.1734, 0.0269, -0.0122, -0.3487, -1.5385, 7.0496, 1.7509, -0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:646b28a0a4fc51ea8595b99535ad9a44399b8ebc96adcc587bf6dac17b3d1d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bea819ac3e98b6e35d606dc5952a714c41115185e0bef1e98e1ff0de52e6772e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24de6f59acc0fbe996250bbfb90bb2ac0a574293c31b3bccc4feb4896cf9fced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wUKjgEIEhgCKkA8Qf34u397tL6uuFFGImV6QCvvnq8CKFLJCAEaAq5vreqyqfD0ORgzHAHEMgR3I6z54zc7CybjjLRC05ITJ19dMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+GzdUGEgxPusNYXKgaldvLTGsaDHnJonmhOa4g+PNKfiIwLYZL3en30gh9pklu/0lsjCVQnuVrZa0dw0imJ+fND1TrKCdurhQ62Fy8LuxkaOdQKpEEDmaTyHgQ326sQ5uZlx+lL/MHgAF1LOBaNojdCyOUBD4gsBJqTmLGo8Q42p1F903bgcJMTeOi8SI3BmXw7QnhcyED0xfyrucsXGHml8Bf1e6JLkwG9ve6N1Yrlkr5cJz0EijRgX2Weq1wzhTIW05jVgogJFNnCaGgXRntSPOglbBYg3o3aqCsUUpNhTCA1eDYRXqMJuSYOZeYkwfzkyZuyD+EOYaEadJ2xwSwKphashKKOiNcwWYg5szFwhk8KftflQMGQwUzx9F7j6NKD70qyd871ZlUgVOcAEYuftspsF/VdnUKv1dhEUmfJsWWqrzMKS3IFb1nf4C1mlgp08mG8e9DUamOeozo/sQe0OopIjgXdq93dzBZZVJJxWhELeZy5c5u0HKGpQ0l2pny9YE/+N8ty8A9mwSHvoL2lgrLlDPCxo05bkU36dMGMGCkK9fixlt4TXu8ZSYm8GOHRK9ZohC1q9hYTpHnCT5waa+KaJQLpt5f6AvrNnXWe7y6V+Yo8rUcObBqSN5zAJVksqngUHYyILVCMavQSUNC58YHqIjV3DbuL13dhKvA4kJJYGHBxXaWXiC51yiA1iMtDG18Tf7871spufBC3BCS/fP+5Vyjd7D2l7wC6dtSxOgrCZQaHj6D37f3LZQPW/6x/r7LWhkDuYMw381CLSI9t3Mo+/g1B83myGLAXbxrrRUckDL3eBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G3VzRF8BhH3XdEF85PjMuH",
      "input": {
        "note": "The grey plush is centred on the jaw column in the wrist view; advancing 2 cm and closing the jaws to grasp its body.",
        "targets": {
          "left_gripper": 0.05,
          "left_x": 0.35,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01G3VzRF8BhH3XdEF85PjMuH",
      "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]: [-0.0441, 1.4841, 0.2935, 0.7231, -0.0738, -0.0151, 0.0512, -0.0154, 0.8043, 0.6079, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3642 left_y=0.0006 left_z=0.059 left_yaw=0.0231 left_pitch=0.0983 left_roll=0.0271 left_gripper=0.0512 right_x=0.2952 right_y=0.0011 right_z=0.1778 right_yaw=-0.0006 right_pitch=-0.0214 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.865, 4.7658, 0.9206, 0.1245, -0.0562, 0.3443, -0.212, -1.4701, 7.0632, 1.707, -0.0366, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfb55879fa06669c111cb58450563ae2b49c795ba73f7a27601b70cac206641e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0caf303f70cacd625742ae9b5ded2986acff5ccf7ce80df8f20d59095446ca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce602df1afe6860df1d7e29b5bb45bce76391d1eb027df3d436cc89b5eea05da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 13.93 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]: [-0.2939, 1.0138, 0.3798, -0.0135, -0.231, -0.1646, 0.9995, -0.0154, 0.7986, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3061 left_y=-0.0467 left_z=0.0934 left_yaw=-0.0145 left_pitch=-0.0631 left_roll=0.0122 left_gripper=0.9995 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0006 right_pitch=-0.0149 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.5504, 6.8718, 1.7753, -0.0073, 0.1099, -0.0171, -0.3487, -1.2923, 7.0496, 1.7265, -0.0415, -0.0317, -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]: [-0.0448, 1.2671, 0.2653, 0.4156, -0.0582, -0.0216, 0.9995, -0.0154, 0.8024, 0.6083, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3293 left_y=-0.0009 left_z=0.0537 left_yaw=0.0123 left_pitch=-0.0205 left_roll=0.021 left_gripper=0.9995 right_x=0.2951 right_y=0.0012 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0195 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.294, -2.5915, 3.9453, 1.4286, 0.1734, 0.0269, -0.0122, -0.3487, -1.5385, 7.0496, 1.7509, -0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0441, 1.4841, 0.2935, 0.7231, -0.0738, -0.0151, 0.0512, -0.0154, 0.8043, 0.6079, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3642 left_y=0.0006 left_z=0.059 left_yaw=0.0231 left_pitch=0.0983 left_roll=0.0271 left_gripper=0.0512 right_x=0.2952 right_y=0.0011 right_z=0.1778 right_yaw=-0.0006 right_pitch=-0.0214 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.865, 4.7658, 0.9206, 0.1245, -0.0562, 0.3443, -0.212, -1.4701, 7.0632, 1.707, -0.0366, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfb55879fa06669c111cb58450563ae2b49c795ba73f7a27601b70cac206641e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0caf303f70cacd625742ae9b5ded2986acff5ccf7ce80df8f20d59095446ca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce602df1afe6860df1d7e29b5bb45bce76391d1eb027df3d436cc89b5eea05da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgQKjgEIEhgCKkAtvTUOXsNk3OVGX625O+oOKbzZfURpVg2t7bifpMCA9ZOWelL4izbdplZIeHzEH56QUR/kxe4swgxtE8dQzzRlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+GzdUGEgyLRVAhqQQzXWBXOw0aDGx0jHXxCyQ9AkzwniIwRP11GQ/aic2cCTO41zsaOC+OfPh3OBoVvhQvh4RtHcUGxwK32FdsYEpQbiVJU+ZwKqQCFZZd3JbNI99T0LIwa6Rp87hoD3YWtsG3B5wajuefM9sS9eWsFk2241IQrAubmOSOSKvadxzcIPty11nCicSnflZhTvL2khy1CW06HErk2QwvB0rYMR1oCMf1dZqncH+QZQQ5m/nPFiuVyZXCL2pK8SZ/1Lt6DPqAIvGUvDMPUqgCl5809cxk5XHOZUzF067G1X/onI/3bIV7yi8l9Y0jwWHl+JlNtYK5yEc1frgJSSZn0V08KdSW0TNy37ivTXDHHqdcnIYgmClb6PGFRgFIGv7kwgL1SYpACPMxdCDIT5Zdei6O3OY90hrno7SfbhgHa6L963VMdgmkFNF3gRNerCYqzLqWs4xF1a90n7xPlZ8vZuus1tqt/spah28GWDQIuMvhMRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E1VE632LT4s5CqwBxbi32D",
      "input": {
        "note": "Jaws closed on the plush (reading 0.05, so something is held). Lifting to confirm the toy comes up with the gripper.",
        "targets": {
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01E1VE632LT4s5CqwBxbi32D",
      "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]: [-0.0452, 1.1049, 0.5911, -0.0341, -0.078, -0.0219, 0.0529, -0.0154, 0.8082, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.355 left_y=0.0013 left_z=0.1516 left_yaw=0.0288 left_pitch=0.0182 left_roll=0.0288 left_gripper=0.0529 right_x=0.2954 right_y=0.0011 right_z=0.1765 right_yaw=-0.0004 right_pitch=-0.0259 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.7658, 10.0171, 1.9951, -0.0024, 0.0171, 0.1587, -0.2667, -1.6068, 7.0632, 1.7705, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e0d8a52c5dc8a5a3ac1eb2739329afc9be41f6be219d564d1ecdf274ccc933",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a21fbdac97e3bd1991817a272ca3ce210472f6ee2ee19e13890b658c5e07c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9aaa4174df87699243eca377542c08bdb4276f83b34f4c72b118662b62326326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 5.541 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]: [-0.0448, 1.2671, 0.2653, 0.4156, -0.0582, -0.0216, 0.9995, -0.0154, 0.8024, 0.6083, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3293 left_y=-0.0009 left_z=0.0537 left_yaw=0.0123 left_pitch=-0.0205 left_roll=0.021 left_gripper=0.9995 right_x=0.2951 right_y=0.0012 right_z=0.1785 right_yaw=-0.0006 right_pitch=-0.0195 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.294, -2.5915, 3.9453, 1.4286, 0.1734, 0.0269, -0.0122, -0.3487, -1.5385, 7.0496, 1.7509, -0.0073, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0441, 1.4841, 0.2935, 0.7231, -0.0738, -0.0151, 0.0512, -0.0154, 0.8043, 0.6079, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3642 left_y=0.0006 left_z=0.059 left_yaw=0.0231 left_pitch=0.0983 left_roll=0.0271 left_gripper=0.0512 right_x=0.2952 right_y=0.0011 right_z=0.1778 right_yaw=-0.0006 right_pitch=-0.0214 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.865, 4.7658, 0.9206, 0.1245, -0.0562, 0.3443, -0.212, -1.4701, 7.0632, 1.707, -0.0366, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0452, 1.1049, 0.5911, -0.0341, -0.078, -0.0219, 0.0529, -0.0154, 0.8082, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.355 left_y=0.0013 left_z=0.1516 left_yaw=0.0288 left_pitch=0.0182 left_roll=0.0288 left_gripper=0.0529 right_x=0.2954 right_y=0.0011 right_z=0.1765 right_yaw=-0.0004 right_pitch=-0.0259 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.7658, 10.0171, 1.9951, -0.0024, 0.0171, 0.1587, -0.2667, -1.6068, 7.0632, 1.7705, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e0d8a52c5dc8a5a3ac1eb2739329afc9be41f6be219d564d1ecdf274ccc933",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a21fbdac97e3bd1991817a272ca3ce210472f6ee2ee19e13890b658c5e07c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aaa4174df87699243eca377542c08bdb4276f83b34f4c72b118662b62326326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018i1ukTjN4zN7cWtHZ5KRDp",
      "input": {
        "note": "Gripper holds something soft (reading 0.053). Carrying it high toward the left basket to check alignment before releasing.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.24,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_018i1ukTjN4zN7cWtHZ5KRDp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.691, 1.8008, 1.5745, -0.5182, -0.5976, -0.4423, 0.0545, -0.0151, 0.8101, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4443 left_y=-0.2339 left_z=0.2263 left_yaw=0.0328 left_pitch=-0.0304 left_roll=0.0365 left_gripper=0.0545 right_x=0.2955 right_y=0.0013 right_z=0.176 right_yaw=-0.0002 right_pitch=-0.0279 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.3453, 9.9624, 1.5849, -0.2857, 0.3199, 0.1636, -0.1026, -1.4838, 7.0769, 1.6923, -0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42f60ec8ab427e324ef19fe5b88e600d427cd3dd85b3da0cd0cd5f59f93f7fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:157c201ce8d9f2a286966a791767a7f7b46240b34d9657f6240d695389952170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8b2fb27e4486a9e7bdd13744c5a586339dd828f72a6fff0c6fc106b3136ccf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 6.328 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]: [-0.0441, 1.4841, 0.2935, 0.7231, -0.0738, -0.0151, 0.0512, -0.0154, 0.8043, 0.6079, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3642 left_y=0.0006 left_z=0.059 left_yaw=0.0231 left_pitch=0.0983 left_roll=0.0271 left_gripper=0.0512 right_x=0.2952 right_y=0.0011 right_z=0.1778 right_yaw=-0.0006 right_pitch=-0.0214 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.253, -2.865, 4.7658, 0.9206, 0.1245, -0.0562, 0.3443, -0.212, -1.4701, 7.0632, 1.707, -0.0366, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0452, 1.1049, 0.5911, -0.0341, -0.078, -0.0219, 0.0529, -0.0154, 0.8082, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.355 left_y=0.0013 left_z=0.1516 left_yaw=0.0288 left_pitch=0.0182 left_roll=0.0288 left_gripper=0.0529 right_x=0.2954 right_y=0.0011 right_z=0.1765 right_yaw=-0.0004 right_pitch=-0.0259 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.7658, 10.0171, 1.9951, -0.0024, 0.0171, 0.1587, -0.2667, -1.6068, 7.0632, 1.7705, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.691, 1.8008, 1.5745, -0.5182, -0.5976, -0.4423, 0.0545, -0.0151, 0.8101, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4443 left_y=-0.2339 left_z=0.2263 left_yaw=0.0328 left_pitch=-0.0304 left_roll=0.0365 left_gripper=0.0545 right_x=0.2955 right_y=0.0013 right_z=0.176 right_yaw=-0.0002 right_pitch=-0.0279 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.3453, 9.9624, 1.5849, -0.2857, 0.3199, 0.1636, -0.1026, -1.4838, 7.0769, 1.6923, -0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42f60ec8ab427e324ef19fe5b88e600d427cd3dd85b3da0cd0cd5f59f93f7fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:157c201ce8d9f2a286966a791767a7f7b46240b34d9657f6240d695389952170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b2fb27e4486a9e7bdd13744c5a586339dd828f72a6fff0c6fc106b3136ccf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QYKjgEIEhgCKkCrdI6oDnVRQ4qcuX+DglW66L5Bhz8pkdsQTq/S/M0+iihD1+PebFncK5bQJEWDl8ipY9n8D0mIj82lSeoEYn+ZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZOHzdUGEgzapmGdbvLvGEEofhcaDAsmEHaKspo97AAyDyIwVBZa6Dgr6GvS2hgtHPpAJCMiz4P0NDz1q0Qpbgzz90SN0aPlE0Bcjot/Jt5ZaC9UKpMFbIb2/wpYmWBj8b1m8QRo6QoNlOABSFwiof3JUJ6qDRBe37GT/V2spNl4SeEZirAtqAFtq7oaeOtjDvPotve0O+T3aNTW/YXY5Nd9MgAj8bAgnNuDPBukr5hn95pyz4GogUP3aaXzguzfOveLhWeSD7gcXl8uY4/MbR2eD80sHDN39e6ZRk28wYCn0obxxlDnAbdzCneh9smyZ+WahmzPnhFcVNM+oSJBgrXS3klCTO3fQFlHkyT/tcu6RGF6y5Afr1waQnSKgWspjP2d5aIeDoL+FtOhizG5tY/kEi4N7PpYa2i5MRysfWvVkStPbvreDU2DqCmB3kxdFCNoWJkX96P77OGIRLjgZwh+sWCZXoOS/wcgcE4m1UqCYcXMpIXphxTC63jU/7maWyQlsCGe2ltuwF2wNBd1Tr9+YfeTewJaPxl5MpMk/fTiAbhfv8YDVkOSsn0iFGD49TIYMfDmz0gcQKjLWU6KeMenDPqNS7j4SNCkWecjH3jZuIo6HZ0bjLxKBwP6fekty7Lm2bLlxFd+eD2nbB2tclOp9M/UpOJ7EexjjszYLduzZ+dng/pCl//+QTrnZgnmLyiTWFkFJ5bpd3g71NlT83aBO39YkDRFcuslrpQkj3xA09yUOUk/5r6ZF6M4oat64SA0S7VWoCcrChefL9YZg29Bhszi+IvekZUTIwfoAFt6ZpIkimlBS6sYMzWQ/ErBm958X6UrmD3EQBGnqqsNmOqywTo+29sJfiPK8mh/BWdLLLFurJQ4jp6WZCQ+g6In43zpIynUZgT09EgEsE0dFwYp3y2NvcxTEHmhCi4Cx075xOf4/LQzSSKh52PMQjxYvLcc+YLtdVB5LX04n/d4zQlZ8i8sm93jQvQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XkLK31t2aeMEJAb74S1xCX",
      "input": {
        "note": "Wrist view confirms the grey plush is held right over the left basket; nudging forward over the basket interior and opening to drop it in.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.47,
          "left_y": -0.245,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XkLK31t2aeMEJAb74S1xCX",
      "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]: [-0.6773, 1.8969, 1.5818, -0.4736, -0.598, -0.4534, 0.9954, -0.0154, 0.8101, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4608 left_y=-0.2384 left_z=0.1901 left_yaw=0.0541 left_pitch=-0.063 left_roll=0.0571 left_gripper=0.9954 right_x=0.2956 right_y=0.0011 right_z=0.1761 right_yaw=-0.0006 right_pitch=-0.0275 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -9.7162, 8.8274, 1.873, -0.105, 0.2222, -0.0269, -0.3487, -1.306, 7.1863, 1.7265, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b29586d4fdff9a44f0948a7f1a54c9b5a65dd5dacfde5d6ff6d1be4142bbcae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aee414c28f3d71c29f8f718eefc52b4e863f69c5912bf70bfebf0ac223c7ca3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f7ad157ebea5c172b373f154d833f142f1bafe665b6f15198c727ef589284e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 16.58 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]: [-0.0452, 1.1049, 0.5911, -0.0341, -0.078, -0.0219, 0.0529, -0.0154, 0.8082, 0.6075, -0.3855, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.355 left_y=0.0013 left_z=0.1516 left_yaw=0.0288 left_pitch=0.0182 left_roll=0.0288 left_gripper=0.0529 right_x=0.2954 right_y=0.0011 right_z=0.1765 right_yaw=-0.0004 right_pitch=-0.0259 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -4.7658, 10.0171, 1.9951, -0.0024, 0.0171, 0.1587, -0.2667, -1.6068, 7.0632, 1.7705, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.691, 1.8008, 1.5745, -0.5182, -0.5976, -0.4423, 0.0545, -0.0151, 0.8101, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4443 left_y=-0.2339 left_z=0.2263 left_yaw=0.0328 left_pitch=-0.0304 left_roll=0.0365 left_gripper=0.0545 right_x=0.2955 right_y=0.0013 right_z=0.176 right_yaw=-0.0002 right_pitch=-0.0279 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.3453, 9.9624, 1.5849, -0.2857, 0.3199, 0.1636, -0.1026, -1.4838, 7.0769, 1.6923, -0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6773, 1.8969, 1.5818, -0.4736, -0.598, -0.4534, 0.9954, -0.0154, 0.8101, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4608 left_y=-0.2384 left_z=0.1901 left_yaw=0.0541 left_pitch=-0.063 left_roll=0.0571 left_gripper=0.9954 right_x=0.2956 right_y=0.0011 right_z=0.1761 right_yaw=-0.0006 right_pitch=-0.0275 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -9.7162, 8.8274, 1.873, -0.105, 0.2222, -0.0269, -0.3487, -1.306, 7.1863, 1.7265, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b29586d4fdff9a44f0948a7f1a54c9b5a65dd5dacfde5d6ff6d1be4142bbcae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aee414c28f3d71c29f8f718eefc52b4e863f69c5912bf70bfebf0ac223c7ca3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f7ad157ebea5c172b373f154d833f142f1bafe665b6f15198c727ef589284e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISpAYKjgEIEhgCKkAfAX/3+NMkT26al2kgDnFjH3qEtPa2otQUYi+LoYFtvqbJb9agZR7igmRLeQPJcQmkqdnNONL4dhp/KgubfeNcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZqHzdUGEgyRRp50kfVXzNUUMhoaDGnO42gfQX1dPxfV3SIwLPCU5vRff7q4x2JY+wOAb7Bk8rjhZ15F6fsL1lmF8Yw6MNbNn0AMBWxruK7jECUwKsIERqpN6TSdU69oAHWfB+Hd5MtioS+5TUTo2c74/FyApk+DK9OKhyP6jgixLMa9SDFoJkkFZ4RZd0f8LD+49eCO+jwEa0R4Sak95DS8YOV6zwV/eyMLOA0IAi9LDQ0ihkEURYnZJOoSWFkaPTB6iBEZWDTZoJJyr6NCqUJQV7Ep9q/I2yQXBBbvPofJr68EaJlbZofg4c9fILGcnY/GGiHz4pZmlKgPZeyht2CYqLUqc96D53Ugc7M5bfYDHEyLkrNVm1HHbSwYh3X3+8+zr4xtVLBVVYZfT2g1QCH5BIGPM4tv9akR894VSbycsKU8oiDV71xglgPOxJGri5K2OSpbKQsbVpZmPrCocv0IZMT1YlvqFkHa/JpYF85tqY2rIW+QJONDHjv5qI7x/+LAnhxyDsFw9+lvz62hyru7g67mrPT3ENZeSeztUI85zNXn+gBWbHgqkD8C3U4X7EGMzcEmnhlLETiEcIzFKZcrXmHSjiP0TKBeF/eVy5nYCpCCyxqVZjmIChI0zquAUtlXjAK2ZyyKwhNWPRrvnLpUN/6C7aGoYLI6JXFAFPAfwUsVuVKhCcvtwGIUIh2LAJH9SW9afz2u7qhqPHJoHRyVcYTdlTlOcNWsJveiO5ncKKLI4XqHeQR9Z40OiZ3i6b5289FdxdSstrWEuiNYlqh1twrBfCq9Ouy0e2Y+LHg1NOeyBnEUPsMXXqMKiybw86XMsTx8AQh3yywj9p1vLS2hQpJqIzzpQPr0cwBp+0MFH8qw0l1oK6wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015YwUaCYu3sT3NTzhhhM2ER",
      "input": {
        "note": "Released over the left basket but the wrist view shows fur still at the lower edge, so I am pulling the arm back and up to see whether the plush landed inside the basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_015YwUaCYu3sT3NTzhhhM2ER",
      "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]: [-0.4129, 1.0672, 1.2331, -0.8448, -0.4202, -0.2768, 0.9967, -0.0151, 0.8127, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3093 left_y=-0.0529 left_z=0.2978 left_yaw=0.0825 left_pitch=-0.0464 left_roll=0.0404 left_gripper=0.9967 right_x=0.2957 right_y=0.0013 right_z=0.1754 right_yaw=-0.0002 right_pitch=-0.0301 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.8923, 7.3504, 1.6972, -0.1538, 0.1148, 0.1294, -0.2393, -1.4838, 7.0359, 1.7314, -0.0122, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:408bb97c77efeca64b875e180b04de35be6d64cb6cdbb989e1c534350f8b989e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:836e720a9fa508c55a51fcb3495ceacdd51f858158eefdecf328eb3de933df15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:277daa13140d99ab9efc707fa1a777151396abf2e152ad07bcde9512f109c1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 10.88 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]: [-0.691, 1.8008, 1.5745, -0.5182, -0.5976, -0.4423, 0.0545, -0.0151, 0.8101, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4443 left_y=-0.2339 left_z=0.2263 left_yaw=0.0328 left_pitch=-0.0304 left_roll=0.0365 left_gripper=0.0545 right_x=0.2955 right_y=0.0013 right_z=0.176 right_yaw=-0.0002 right_pitch=-0.0279 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -10.3453, 9.9624, 1.5849, -0.2857, 0.3199, 0.1636, -0.1026, -1.4838, 7.0769, 1.6923, -0.0366, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6773, 1.8969, 1.5818, -0.4736, -0.598, -0.4534, 0.9954, -0.0154, 0.8101, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4608 left_y=-0.2384 left_z=0.1901 left_yaw=0.0541 left_pitch=-0.063 left_roll=0.0571 left_gripper=0.9954 right_x=0.2956 right_y=0.0011 right_z=0.1761 right_yaw=-0.0006 right_pitch=-0.0275 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -9.7162, 8.8274, 1.873, -0.105, 0.2222, -0.0269, -0.3487, -1.306, 7.1863, 1.7265, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4129, 1.0672, 1.2331, -0.8448, -0.4202, -0.2768, 0.9967, -0.0151, 0.8127, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3093 left_y=-0.0529 left_z=0.2978 left_yaw=0.0825 left_pitch=-0.0464 left_roll=0.0404 left_gripper=0.9967 right_x=0.2957 right_y=0.0013 right_z=0.1754 right_yaw=-0.0002 right_pitch=-0.0301 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.8923, 7.3504, 1.6972, -0.1538, 0.1148, 0.1294, -0.2393, -1.4838, 7.0359, 1.7314, -0.0122, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:408bb97c77efeca64b875e180b04de35be6d64cb6cdbb989e1c534350f8b989e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:836e720a9fa508c55a51fcb3495ceacdd51f858158eefdecf328eb3de933df15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:277daa13140d99ab9efc707fa1a777151396abf2e152ad07bcde9512f109c1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FLPpzMdmJCmrnjmizwyn4H",
      "input": {
        "note": "The overhead view shows the grey plush landed just outside the baskets, against the left basket's right rim. Moving above it to re-grasp and drop it properly inside.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.29,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01FLPpzMdmJCmrnjmizwyn4H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8417, 1.9194, 1.5673, -0.5793, -0.7162, -0.6559, 0.9969, -0.0154, 0.8146, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4104 left_y=-0.28 left_z=0.1689 left_yaw=0.0883 left_pitch=-0.0867 left_roll=0.0603 left_gripper=0.9969 right_x=0.2958 right_y=0.0011 right_z=0.1747 right_yaw=-0.0006 right_pitch=-0.0324 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.0991, 9.0598, 1.4042, -0.398, 0.1587, 0.0024, -0.2667, -1.306, 7.241, 1.6874, -0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:555d090813c53b15feccad6524befe9c93084f7452384d670668dd8d7d9e0f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32ac96d585e79c1c0ac66495a8299f085abb6cd32c5f3607d0015bdb601baa72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eab751d5609b899805178ccb1cbb2033e2c5d947bd01987e0c4d86b8447e5bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 2.579 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]: [-0.6773, 1.8969, 1.5818, -0.4736, -0.598, -0.4534, 0.9954, -0.0154, 0.8101, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4608 left_y=-0.2384 left_z=0.1901 left_yaw=0.0541 left_pitch=-0.063 left_roll=0.0571 left_gripper=0.9954 right_x=0.2956 right_y=0.0011 right_z=0.1761 right_yaw=-0.0006 right_pitch=-0.0275 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -9.7162, 8.8274, 1.873, -0.105, 0.2222, -0.0269, -0.3487, -1.306, 7.1863, 1.7265, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4129, 1.0672, 1.2331, -0.8448, -0.4202, -0.2768, 0.9967, -0.0151, 0.8127, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3093 left_y=-0.0529 left_z=0.2978 left_yaw=0.0825 left_pitch=-0.0464 left_roll=0.0404 left_gripper=0.9967 right_x=0.2957 right_y=0.0013 right_z=0.1754 right_yaw=-0.0002 right_pitch=-0.0301 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.8923, 7.3504, 1.6972, -0.1538, 0.1148, 0.1294, -0.2393, -1.4838, 7.0359, 1.7314, -0.0122, -0.022, -0.0171]",
      "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]: [-0.8417, 1.9194, 1.5673, -0.5793, -0.7162, -0.6559, 0.9969, -0.0154, 0.8146, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4104 left_y=-0.28 left_z=0.1689 left_yaw=0.0883 left_pitch=-0.0867 left_roll=0.0603 left_gripper=0.9969 right_x=0.2958 right_y=0.0011 right_z=0.1747 right_yaw=-0.0006 right_pitch=-0.0324 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.0991, 9.0598, 1.4042, -0.398, 0.1587, 0.0024, -0.2667, -1.306, 7.241, 1.6874, -0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:555d090813c53b15feccad6524befe9c93084f7452384d670668dd8d7d9e0f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32ac96d585e79c1c0ac66495a8299f085abb6cd32c5f3607d0015bdb601baa72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eab751d5609b899805178ccb1cbb2033e2c5d947bd01987e0c4d86b8447e5bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwUKjgEIEhgCKkDqjnEK2eutnKvOUdkmjwJWxoYCiHYo1tg2OpjQLF6tT21YADP8yPXp42GUlcDjQH+H/OqikOy4BcVJBr5HM5l/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbmHzdUGEgxHbu0QOu9Y/WOW5IoaDKPZaC280LOA+nVdoSIwAljDGxxw3gs3tHuP8S/AmgJJyZlK+lEEsrzAG8ZMXHpJ0iA5JLEEpEH61XyvmBBKKr0DPzzlOHW6jUKvRCTOdEdFVuQRSxTK0Uidt2noexS/3HlO1rT4b/BY5gvR75pYcWUQNvhedOSvJih/PHQwPJWhREppbe8vN5VRcyQ/xxSH09aUKskKrzSfp621NQ6bpzP9PIt4otkwviM1fijqQingtqugs+8+EI4vzYXiW6rjttHmSylCeU8EhRIJZGDp6wdHniS1W+zwtWOWgGIKMajKXe1VeGf1x4L9MSEVPfZAcZs72j3ODnluLEieqSKa1Qkidzks03r9E7WYcNl8C/Uu6eFeUIRQRhaN9kT/xEJ1qM8BVMYdXZogveytWHmwRAPx8gQ1RfqwWN9fCHLpqoa4Hbe3SQsVxp7auae5BFCU5UN2wn/HsgApTKxEbQinY2tUxEt7SFksrVWYKa49GSDyNoynhBBOiLBNV9BGoOBtiHTXKdk3Yhp+y3DPMu0a9ZROoZsCU878eNkULbYJIPqZCORoAcpIMpzyIk8nJr3lylnlkSSp0nPYT0Xv62lGuOXrsGrkXgVZvKerahcIWdfMROlkaDGVc9KBxfZwpvmQud8Dqf5EbAezPiON+1Ay6byKv2JTsqwE86Xid/1q0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KLfNyz4h74RXgvzrRB5Weg",
      "input": {
        "note": "Wrist camera shows the white/grey plush head just right of the jaw column, sitting between the baskets. Shifting right and descending to its body height before closing.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.32,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KLfNyz4h74RXgvzrRB5Weg",
      "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]: [-0.8619, 2.1407, 1.5295, -0.2707, -0.7879, -0.7052, 0.9969, -0.0151, 0.8146, 0.6075, -0.3851, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4371 left_y=-0.3119 left_z=0.0927 left_yaw=0.1383 left_pitch=-0.0111 left_roll=0.0114 left_gripper=0.9969 right_x=0.2959 right_y=0.0012 right_z=0.1748 right_yaw=-0.0005 right_pitch=-0.0321 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -6.8991, 5.8188, 0.5788, 0.5055, 0.3443, -0.0024, -0.0342, -1.388, 7.0085, 1.6874, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde66dfc579edd744a2c4f207f1b62347880aef55f938c38ef23b087e112f901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fecfece49af619173697da66c1dddbaaf886d49915bdad5b2323b987ed5be20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4d98f36f164c4d0c5f3578cfa70cb7d99395712bc5627a5faef726b072b1d49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 8.481 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]: [-0.4129, 1.0672, 1.2331, -0.8448, -0.4202, -0.2768, 0.9967, -0.0151, 0.8127, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3093 left_y=-0.0529 left_z=0.2978 left_yaw=0.0825 left_pitch=-0.0464 left_roll=0.0404 left_gripper=0.9967 right_x=0.2957 right_y=0.0013 right_z=0.1754 right_yaw=-0.0002 right_pitch=-0.0301 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -2.8923, 7.3504, 1.6972, -0.1538, 0.1148, 0.1294, -0.2393, -1.4838, 7.0359, 1.7314, -0.0122, -0.022, -0.0171]",
      "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]: [-0.8417, 1.9194, 1.5673, -0.5793, -0.7162, -0.6559, 0.9969, -0.0154, 0.8146, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4104 left_y=-0.28 left_z=0.1689 left_yaw=0.0883 left_pitch=-0.0867 left_roll=0.0603 left_gripper=0.9969 right_x=0.2958 right_y=0.0011 right_z=0.1747 right_yaw=-0.0006 right_pitch=-0.0324 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.0991, 9.0598, 1.4042, -0.398, 0.1587, 0.0024, -0.2667, -1.306, 7.241, 1.6874, -0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8619, 2.1407, 1.5295, -0.2707, -0.7879, -0.7052, 0.9969, -0.0151, 0.8146, 0.6075, -0.3851, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4371 left_y=-0.3119 left_z=0.0927 left_yaw=0.1383 left_pitch=-0.0111 left_roll=0.0114 left_gripper=0.9969 right_x=0.2959 right_y=0.0012 right_z=0.1748 right_yaw=-0.0005 right_pitch=-0.0321 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -6.8991, 5.8188, 0.5788, 0.5055, 0.3443, -0.0024, -0.0342, -1.388, 7.0085, 1.6874, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde66dfc579edd744a2c4f207f1b62347880aef55f938c38ef23b087e112f901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fecfece49af619173697da66c1dddbaaf886d49915bdad5b2323b987ed5be20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4d98f36f164c4d0c5f3578cfa70cb7d99395712bc5627a5faef726b072b1d49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wIKjgEIEhgCKkBBhLTfKPn2g5/vaCbEGV1pga4PFE5lBw29Y39QXlqpzKV6jsQz4i7QU6bZSSoJWzKo1QKk/QaUBypFlcLwN2f3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb2HzdUGEgylizKUrzHsdwt/GmYaDHmuG9MbtJEgHypMaCIwqho0JZ3hhFL+PdAv2eZ516pcv4+0+02Q6Ewz7HAta/wpvP+wPH/RrDvLbwmylb8/KpUBrW4x+KrBMTmJ6Dkld3CTVpOrFbgcX/gJ8hnhTNbys+Xlq4AN+bSGbMwHOO0y9f1XBTDy9s7b8sF7j04wGn/K+strYYxw4NkNqyl2MWp3F3BtHjLRc0wYwJWyXVHpIWrSvehi0jyKh2MYbKEucwAbDJihy3Y6hNgZIoV1+weBJDHC2Gm5slnwIdvT6F+tZVP999wKh6IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012hCdqQ5n8xxhtZvYBSUmCB",
      "input": {
        "note": "The plush fills the wrist view and the descent stopped on it; closing the jaws on its body.",
        "targets": {
          "left_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012hCdqQ5n8xxhtZvYBSUmCB",
      "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]: [-0.8665, 2.1448, 1.5314, -0.2367, -0.8124, -0.7158, 0.4063, -0.0154, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4402 left_y=-0.3145 left_z=0.0979 left_yaw=0.1553 left_pitch=0.0214 left_roll=-0.0146 left_gripper=0.4063 right_x=0.2959 right_y=0.0011 right_z=0.1748 right_yaw=-0.0006 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -12.4376, 6.3658, 0.9744, -0.0952, 0.0757, 0.7448, -0.3624, -1.347, 7.0496, 1.7851, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b911cc9fd15ace0de940e3cd643ce4f9901c2f0295dbbbafc1684ecaff36e0bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b04487f683bc64ddb17af3b08fda7f9e82bbefda27a4c3254145b55d34952610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87010e9dd82eae0453fe6edef1468f16c05e7907bb2aa736d200c3b2717d5508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 9.878 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]: [-0.8417, 1.9194, 1.5673, -0.5793, -0.7162, -0.6559, 0.9969, -0.0154, 0.8146, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4104 left_y=-0.28 left_z=0.1689 left_yaw=0.0883 left_pitch=-0.0867 left_roll=0.0603 left_gripper=0.9969 right_x=0.2958 right_y=0.0011 right_z=0.1747 right_yaw=-0.0006 right_pitch=-0.0324 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.0991, 9.0598, 1.4042, -0.398, 0.1587, 0.0024, -0.2667, -1.306, 7.241, 1.6874, -0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8619, 2.1407, 1.5295, -0.2707, -0.7879, -0.7052, 0.9969, -0.0151, 0.8146, 0.6075, -0.3851, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4371 left_y=-0.3119 left_z=0.0927 left_yaw=0.1383 left_pitch=-0.0111 left_roll=0.0114 left_gripper=0.9969 right_x=0.2959 right_y=0.0012 right_z=0.1748 right_yaw=-0.0005 right_pitch=-0.0321 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -6.8991, 5.8188, 0.5788, 0.5055, 0.3443, -0.0024, -0.0342, -1.388, 7.0085, 1.6874, -0.0317, -0.0513, -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]: [-0.8665, 2.1448, 1.5314, -0.2367, -0.8124, -0.7158, 0.4063, -0.0154, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4402 left_y=-0.3145 left_z=0.0979 left_yaw=0.1553 left_pitch=0.0214 left_roll=-0.0146 left_gripper=0.4063 right_x=0.2959 right_y=0.0011 right_z=0.1748 right_yaw=-0.0006 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -12.4376, 6.3658, 0.9744, -0.0952, 0.0757, 0.7448, -0.3624, -1.347, 7.0496, 1.7851, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b911cc9fd15ace0de940e3cd643ce4f9901c2f0295dbbbafc1684ecaff36e0bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b04487f683bc64ddb17af3b08fda7f9e82bbefda27a4c3254145b55d34952610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87010e9dd82eae0453fe6edef1468f16c05e7907bb2aa736d200c3b2717d5508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuggKjgEIEhgCKkAW6fOuayFzJQWZDem7IEZHege1cv0WASuZZCKgUf0wWsJFa92fgcXEm4Jqb/y+rzNzNvm09McREbLi0sRspewmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcWHzdUGEgwPl6kZBholLrBNwwsaDIt9LLjGbmWqTADh3iIwMLDIVUJ2pabDjwsXTeBdCuOSX+4rtlFyPeirf2dn/+SLgXVopl0AW8qTs3wCrzs3KtgGTVOP3uFj8P6wqv9c8MM+qRRJVtRrmSdGH6Nm9KuiOeKwQ1f90I8mWdGV2h//wVe9zgDLUvjxCbtDrlnWZQPCCLYVa//iJgvD/5Ag7qLyLxvaNeUVvJyFj+ULkk/RJ37X5sycFMOffXOhvobx4h/bhnuE0x2SQ47wsFhpNKrzfWlbgMxr2UEQ7XUpi5oXGLoi5Bo2+Ojt2hCAolxVNnd/UVvZ4lNvHBc+2RHnhZaveCD0wktaEEi410TOOdYdYkrzOhaRFWk2lrzXhgwc3DGYLJsZK0BKyh19CsW6ORaK92PNzj9TvIpx1G3GFAdHOcwkTXB/jbp5KSivTSBWxVbA+q2TtIcx37yzwQDyTAG+j0yPWrVatoP81RGEnyAl7MTpm5T2mTmIf5AHCNgGf5QFzMAI8vSu1D7+YErk1BvsFlBcphRMZCZq0Jd4+5+xEvx0FfHkEf4CSKMn3hjJWTNk4vquMmatTjF9Ya/r1BuY83e9YXrpKF7wfjpydczk1RTNU/FC6u/N/ksxzYDnNHwMvuQ1ypbgIpynrBmRr+bB6/EEDw//nQq+racb2+5LQbpO3XafmGi6saoLPnH4wwKm/FfWIh2bAWjfC6ymAfZKjVmyhViJZULoLZQyoFRrGBmyVLm0cxp0igRxl15fk2sPG1/MeojhHWKXwDp81GtsJUU07/mQ/8AT8PAYBmz1qLuODxVMFYT28dp2LZIQkLySJ1AAsUtJVndGPsxZpicn/+xU1qHPoCvHjEKpd/HbO4cGisuKtzRqRNe0UTCsm+OK+ZeFMrSvOvjGYBbaJaA4ooU1fhoGsVE81i1aMqX5sNraeltwy5q+b97DivaiN/7VFNX7GaNntHF9/tI+Sv9TZ0Bzy6WbC56P3xPgREX/18RJm1IwY7W1mOtrlkhNJX3cWYgvjdZVCeVmLF+LbMWENSGdX3uvW3FKvRUYtHHJea4yU8gJz0Zy++/0BOYJGgGKXDiAnQRZmtPQSmDQzugiZkohq1lBiPdnMIEpFkdgjM+uki+87lygTHM6QWKAAkskfrMcbaXqb8zSMB9cNOEmqiboYcvRVtl8DOYeCwvGxDPJDYCbu80r7rFf5iO6qUDWMdrGiiS18075j14ZFg2yuofT0/5SaAiUshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011pRhJ1QAdYAK2ntZCLECVv",
      "input": {
        "note": "Firm grasp on the plush (gripper reads 0.41 ≈ 4 cm of fur). Carrying it deeper over the left basket than last time, since the earlier release dropped it short of the rim.",
        "targets": {
          "left_x": 0.52,
          "left_y": -0.23,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_011pRhJ1QAdYAK2ntZCLECVv",
      "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]: [-0.6151, 2.1166, 1.7741, -0.4923, -0.651, -0.5522, 0.4083, -0.0151, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5125 left_y=-0.2267 left_z=0.1559 left_yaw=0.2096 left_pitch=-0.0664 left_roll=0.0369 left_gripper=0.4083 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -17.5658, 10.6188, 1.6337, -0.2662, 0.5104, 0.2027, -0.0889, -1.2103, 7.0085, 1.7167, -0.0171, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:858270efc3ef88ba70af9e3b1609fed51d4c3558ab529da5107081991709d808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:105f22082560f7b93290f3fbcd5c242e3bbf3c7ac155bb364f0e48b7423d912f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49b94088915803e6be7d14d65b1f51ff16729925767f89a589cb2a09bc42f14d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 2.246 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]: [-0.8619, 2.1407, 1.5295, -0.2707, -0.7879, -0.7052, 0.9969, -0.0151, 0.8146, 0.6075, -0.3851, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4371 left_y=-0.3119 left_z=0.0927 left_yaw=0.1383 left_pitch=-0.0111 left_roll=0.0114 left_gripper=0.9969 right_x=0.2959 right_y=0.0012 right_z=0.1748 right_yaw=-0.0005 right_pitch=-0.0321 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -6.8991, 5.8188, 0.5788, 0.5055, 0.3443, -0.0024, -0.0342, -1.388, 7.0085, 1.6874, -0.0317, -0.0513, -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]: [-0.8665, 2.1448, 1.5314, -0.2367, -0.8124, -0.7158, 0.4063, -0.0154, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4402 left_y=-0.3145 left_z=0.0979 left_yaw=0.1553 left_pitch=0.0214 left_roll=-0.0146 left_gripper=0.4063 right_x=0.2959 right_y=0.0011 right_z=0.1748 right_yaw=-0.0006 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -12.4376, 6.3658, 0.9744, -0.0952, 0.0757, 0.7448, -0.3624, -1.347, 7.0496, 1.7851, -0.022, -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 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]: [-0.6151, 2.1166, 1.7741, -0.4923, -0.651, -0.5522, 0.4083, -0.0151, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5125 left_y=-0.2267 left_z=0.1559 left_yaw=0.2096 left_pitch=-0.0664 left_roll=0.0369 left_gripper=0.4083 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -17.5658, 10.6188, 1.6337, -0.2662, 0.5104, 0.2027, -0.0889, -1.2103, 7.0085, 1.7167, -0.0171, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:858270efc3ef88ba70af9e3b1609fed51d4c3558ab529da5107081991709d808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:105f22082560f7b93290f3fbcd5c242e3bbf3c7ac155bb364f0e48b7423d912f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49b94088915803e6be7d14d65b1f51ff16729925767f89a589cb2a09bc42f14d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JdGnonQ9tDZiVkzh37Psar",
      "input": {
        "note": "Wrist view shows basket rims on both sides of the plush, meaning I'm hovering over the gap between the baskets; shifting left to centre over the left basket.",
        "targets": {
          "left_y": -0.13,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JdGnonQ9tDZiVkzh37Psar",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4332, 1.9495, 1.615, -0.5079, -0.5121, -0.4225, 0.4093, -0.0154, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5079 left_y=-0.1356 left_z=0.1664 left_yaw=0.2213 left_pitch=-0.1452 left_roll=0.0676 left_gripper=0.4093 right_x=0.2959 right_y=0.0011 right_z=0.1748 right_yaw=-0.0006 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -14.3658, 6.9538, 1.8388, -0.3199, 0.1636, 0.0904, -0.2393, -1.3744, 7.0359, 1.7607, -0.0513, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bf57af238f4743ebb7201da4dd7b0fec0ca8b257ba2f3c10bc3303d6c439b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd31ad9b4b01ca557ca85d5fa1eefc71d32bd15a70f758677969f0361da06bcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c4e3af49353eb3a55b044b472d69b127d078f0d7cde762d45bc75493ff66035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 6.05 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]: [-0.8665, 2.1448, 1.5314, -0.2367, -0.8124, -0.7158, 0.4063, -0.0154, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4402 left_y=-0.3145 left_z=0.0979 left_yaw=0.1553 left_pitch=0.0214 left_roll=-0.0146 left_gripper=0.4063 right_x=0.2959 right_y=0.0011 right_z=0.1748 right_yaw=-0.0006 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -12.4376, 6.3658, 0.9744, -0.0952, 0.0757, 0.7448, -0.3624, -1.347, 7.0496, 1.7851, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6151, 2.1166, 1.7741, -0.4923, -0.651, -0.5522, 0.4083, -0.0151, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5125 left_y=-0.2267 left_z=0.1559 left_yaw=0.2096 left_pitch=-0.0664 left_roll=0.0369 left_gripper=0.4083 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -17.5658, 10.6188, 1.6337, -0.2662, 0.5104, 0.2027, -0.0889, -1.2103, 7.0085, 1.7167, -0.0171, -0.0464, -0.0122]\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 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]: [-0.4332, 1.9495, 1.615, -0.5079, -0.5121, -0.4225, 0.4093, -0.0154, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5079 left_y=-0.1356 left_z=0.1664 left_yaw=0.2213 left_pitch=-0.1452 left_roll=0.0676 left_gripper=0.4093 right_x=0.2959 right_y=0.0011 right_z=0.1748 right_yaw=-0.0006 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -14.3658, 6.9538, 1.8388, -0.3199, 0.1636, 0.0904, -0.2393, -1.3744, 7.0359, 1.7607, -0.0513, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bf57af238f4743ebb7201da4dd7b0fec0ca8b257ba2f3c10bc3303d6c439b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd31ad9b4b01ca557ca85d5fa1eefc71d32bd15a70f758677969f0361da06bcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c4e3af49353eb3a55b044b472d69b127d078f0d7cde762d45bc75493ff66035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStgIKjgEIEhgCKkDc3xXuKflFn2pGlm84pz8NcfhOOYhT8ywVi7ChKpds2smRBxq8Dlf4fM56tfJ0gd0sMB/qcBG3oUlhBBRIdZOtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdSHzdUGEgwd7vLYxcUCYa3jbmgaDF/tu2L2wEKbrONE5iIwcVvC1ejY9YkNDwH8IHC3pm5Za1k49T+6NY4v8YW0IIj0EONWf0swxVc+2yiND8EUKlV7DJBzOO7PZB/noyvGy7eUzK3KRdk+N4GwjxSls2pM/01egkuNb7Oc/DpGM6WCS1T8go2yLiwDgiws4xb5Uaahw23ZxriX88049OZcSvsHRvPDcMS3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01URM7K8AMmd2QrYSaaEKsf1",
      "input": {
        "note": "The plush now hangs over the left basket's interior; lowering slightly and opening to drop it in.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01URM7K8AMmd2QrYSaaEKsf1",
      "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]: [-0.4351, 1.9583, 1.5105, -0.4118, -0.5083, -0.4274, 0.9951, -0.0151, 0.8146, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.503 left_y=-0.135 left_z=0.1345 left_yaw=0.2209 left_pitch=-0.1604 left_roll=0.0721 left_gripper=0.9951 right_x=0.2958 right_y=0.0013 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.0324 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.7709, 6.5162, 1.5263, -0.3346, 0.0708, -0.0171, -0.1709, -1.1556, 7.1316, 1.7509, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4dadf78a58bd046f2669f194f4a07e30fa599020c5e623c7125fb45d110b32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7a907dfc8fa87e9e38bf23fe281846db161c5265a154217bc5206896e65ce15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51180bc684e99e43aac3da511f28e8f37dbf65c6b4e0fda1955eae2e4f1c8f5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 19.84 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]: [-0.6151, 2.1166, 1.7741, -0.4923, -0.651, -0.5522, 0.4083, -0.0151, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5125 left_y=-0.2267 left_z=0.1559 left_yaw=0.2096 left_pitch=-0.0664 left_roll=0.0369 left_gripper=0.4083 right_x=0.2959 right_y=0.0013 right_z=0.1748 right_yaw=-0.0002 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -17.5658, 10.6188, 1.6337, -0.2662, 0.5104, 0.2027, -0.0889, -1.2103, 7.0085, 1.7167, -0.0171, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.4332, 1.9495, 1.615, -0.5079, -0.5121, -0.4225, 0.4093, -0.0154, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5079 left_y=-0.1356 left_z=0.1664 left_yaw=0.2213 left_pitch=-0.1452 left_roll=0.0676 left_gripper=0.4093 right_x=0.2959 right_y=0.0011 right_z=0.1748 right_yaw=-0.0006 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -14.3658, 6.9538, 1.8388, -0.3199, 0.1636, 0.0904, -0.2393, -1.3744, 7.0359, 1.7607, -0.0513, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4351, 1.9583, 1.5105, -0.4118, -0.5083, -0.4274, 0.9951, -0.0151, 0.8146, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.503 left_y=-0.135 left_z=0.1345 left_yaw=0.2209 left_pitch=-0.1604 left_roll=0.0721 left_gripper=0.9951 right_x=0.2958 right_y=0.0013 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.0324 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.7709, 6.5162, 1.5263, -0.3346, 0.0708, -0.0171, -0.1709, -1.1556, 7.1316, 1.7509, -0.0415, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4dadf78a58bd046f2669f194f4a07e30fa599020c5e623c7125fb45d110b32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7a907dfc8fa87e9e38bf23fe281846db161c5265a154217bc5206896e65ce15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51180bc684e99e43aac3da511f28e8f37dbf65c6b4e0fda1955eae2e4f1c8f5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISogYKjgEIEhgCKkCYtMjqjlqJuUXVIGop+BvqYlacU+mba1svpyr7iUEIXa55FTpP0Z0A7SUuW47HBjgDf3DKIcBvz5cEhao6Sb9tMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdqHzdUGEgxhAuqri5rEnbG08+YaDGLp2gVDfGjl6u9nqyIwoAwCCv9Bscs9M0NWfaNBVLfsH6x2qOI2yiUsP9+0h/MWgcTGU7QpE80lAudJpUb0KsAEZZU9bP6jwcwGfiCOkGY4oejs3SFhPq/Qy26F1OkW2E4cjVNkeCq++tVucZ0+adCNzXZyxVzP4jVXGvv5+ujp7UF0ZBQqCQcEjzxNZone7iKcFLQC0F5klSQno4Bwh1/ta/TSAygljQj2+P47nw6/ehaZ4WSHMyeP/zqoQIbfTefBODDAwTG6wn1l8PiBBI+W3s7Ear4vgAbdGjG59+ACUzHTBzYTgBSdgoUmewurMJ+9I3T/ekJ3TuiMagE2uwaY9InnlECKQgXRvicfq/npk931rFmIUEg1BP3cMTUBZj+l468kv32TxF1XbnNax3J1c8sj6tJDaEuCNQfCkFitLVDUKCR5LohBWNdvCSf0M+DZV8bsjzg3vNEa9Lql1ACYARDmiMb5nHFZvwJfYo7uBja91cN4V9fE1jEO5SM6aXd5OugpKS1ut+uCQcRBNQhSjnLaW7U1Zvsru3sLD98o4NGIDwDayeerk+EEiYJjZd9yvhSiSh8ucS0Y9biG8HmqxBcDIX8RceMheRIdEeXBqRVaiP0fmBwyyr+VAGIfe/ABrxMF/E0mqg0DQZrF2t++l6VPxU1A5bhc0OMi6etFXvZDagE/3ZYaZwe1ansmfVRWiS7kVHzV+vwQLWPDvh6WPi7Oo6o3NKCs3eyNlbWWIYluHz0mZwrOYh7f7z1Z06uTfbG3F9GcUo+5XQ5d/6pb8Zyj5/ekXwjRC5N4+VFVYc0UE/F28hBo3b62VLbxQTpP3zSSpN1s6tKkFubcZCGqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017nsCD41qMyoZSjPBeA6MPZ",
      "input": {
        "note": "Released; retracting the left arm to check from the overhead camera whether the plush landed inside the left basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_017nsCD41qMyoZSjPBeA6MPZ",
      "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]: [-0.4755, 1.2217, 1.38, -1.0317, -0.5205, -0.4622, 0.9967, -0.0154, 0.8185, 0.6075, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3136 left_y=-0.0586 left_z=0.2869 left_yaw=0.2097 left_pitch=-0.1642 left_roll=0.0619 left_gripper=0.9967 right_x=0.2961 right_y=0.0011 right_z=0.1738 right_yaw=-0.0004 right_pitch=-0.0359 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -4.7658, 8.4855, 1.2332, -0.4176, -0.0708, 0.1538, -0.0752, -1.7162, 7.159, 1.7167, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11098e0dbef15c878f6932fb23a85a91a22f34bc62eae2fe5deebb90d3b1c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40ba745f7b4130fd6dd71c7ca78dfca92be1e025a8003fd616d767baf5a3a26a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c260bd37a164dfc6c94b7f26a71a0f8879fd7b34474087b75cd439549505e28e",
        "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 · 4.281 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]: [-0.4332, 1.9495, 1.615, -0.5079, -0.5121, -0.4225, 0.4093, -0.0154, 0.8146, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5079 left_y=-0.1356 left_z=0.1664 left_yaw=0.2213 left_pitch=-0.1452 left_roll=0.0676 left_gripper=0.4093 right_x=0.2959 right_y=0.0011 right_z=0.1748 right_yaw=-0.0006 right_pitch=-0.032 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -14.3658, 6.9538, 1.8388, -0.3199, 0.1636, 0.0904, -0.2393, -1.3744, 7.0359, 1.7607, -0.0513, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4351, 1.9583, 1.5105, -0.4118, -0.5083, -0.4274, 0.9951, -0.0151, 0.8146, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.503 left_y=-0.135 left_z=0.1345 left_yaw=0.2209 left_pitch=-0.1604 left_roll=0.0721 left_gripper=0.9951 right_x=0.2958 right_y=0.0013 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.0324 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.7709, 6.5162, 1.5263, -0.3346, 0.0708, -0.0171, -0.1709, -1.1556, 7.1316, 1.7509, -0.0415, -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]: [-0.4755, 1.2217, 1.38, -1.0317, -0.5205, -0.4622, 0.9967, -0.0154, 0.8185, 0.6075, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3136 left_y=-0.0586 left_z=0.2869 left_yaw=0.2097 left_pitch=-0.1642 left_roll=0.0619 left_gripper=0.9967 right_x=0.2961 right_y=0.0011 right_z=0.1738 right_yaw=-0.0004 right_pitch=-0.0359 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -4.7658, 8.4855, 1.2332, -0.4176, -0.0708, 0.1538, -0.0752, -1.7162, 7.159, 1.7167, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11098e0dbef15c878f6932fb23a85a91a22f34bc62eae2fe5deebb90d3b1c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40ba745f7b4130fd6dd71c7ca78dfca92be1e025a8003fd616d767baf5a3a26a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c260bd37a164dfc6c94b7f26a71a0f8879fd7b34474087b75cd439549505e28e",
        "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_01DPCDxsDfmuH7B6MNn7jiNn",
      "input": {
        "note": "The plush ended up standing against the front-right rim of the left basket, not inside. Approaching it again to re-grasp, this time I will carry it further forward (larger x) before releasing.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.135,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01DPCDxsDfmuH7B6MNn7jiNn",
      "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]: [-0.4767, 1.7836, 1.3266, -0.5083, -0.5175, -0.4801, 0.9969, -0.0151, 0.8192, 0.6075, -0.3851, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.441 left_y=-0.1253 left_z=0.1321 left_yaw=0.228 left_pitch=-0.2356 left_roll=0.1068 left_gripper=0.9969 right_x=0.2961 right_y=0.0012 right_z=0.1736 right_yaw=-0.0005 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -9.7846, 9.6068, 1.2479, -0.3541, 0.0952, -0.0024, -0.0889, -1.4427, 7.0359, 1.7118, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8f5f476a9d00c7ea92a733d513ed8683cce90fccdc70e3f2d8391b5d4944e3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f46102abb025fa2a3e804f6bf88ad66b137a7fc49fa6c1e88496ad1c5307386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e014b5cd4043c42d5f969a4d3fd297cb2edb6fc86126dc6dea41519bf4bbf1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.527 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4351, 1.9583, 1.5105, -0.4118, -0.5083, -0.4274, 0.9951, -0.0151, 0.8146, 0.6075, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.503 left_y=-0.135 left_z=0.1345 left_yaw=0.2209 left_pitch=-0.1604 left_roll=0.0721 left_gripper=0.9951 right_x=0.2958 right_y=0.0013 right_z=0.1747 right_yaw=-0.0002 right_pitch=-0.0324 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -9.7709, 6.5162, 1.5263, -0.3346, 0.0708, -0.0171, -0.1709, -1.1556, 7.1316, 1.7509, -0.0415, -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]: [-0.4755, 1.2217, 1.38, -1.0317, -0.5205, -0.4622, 0.9967, -0.0154, 0.8185, 0.6075, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3136 left_y=-0.0586 left_z=0.2869 left_yaw=0.2097 left_pitch=-0.1642 left_roll=0.0619 left_gripper=0.9967 right_x=0.2961 right_y=0.0011 right_z=0.1738 right_yaw=-0.0004 right_pitch=-0.0359 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -4.7658, 8.4855, 1.2332, -0.4176, -0.0708, 0.1538, -0.0752, -1.7162, 7.159, 1.7167, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4767, 1.7836, 1.3266, -0.5083, -0.5175, -0.4801, 0.9969, -0.0151, 0.8192, 0.6075, -0.3851, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.441 left_y=-0.1253 left_z=0.1321 left_yaw=0.228 left_pitch=-0.2356 left_roll=0.1068 left_gripper=0.9969 right_x=0.2961 right_y=0.0012 right_z=0.1736 right_yaw=-0.0005 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -9.7846, 9.6068, 1.2479, -0.3541, 0.0952, -0.0024, -0.0889, -1.4427, 7.0359, 1.7118, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8f5f476a9d00c7ea92a733d513ed8683cce90fccdc70e3f2d8391b5d4944e3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f46102abb025fa2a3e804f6bf88ad66b137a7fc49fa6c1e88496ad1c5307386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e014b5cd4043c42d5f969a4d3fd297cb2edb6fc86126dc6dea41519bf4bbf1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwQKjgEIEhgCKkCNTQ5sGmUPr+STWSN+jqLGI9jBzuJjjpxWldcj8YDoq4m3otRKwUcDXkamNawuRLxQkJK9V2uyduRllk/CcNgiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfWHzdUGEgzl5xQy7m7zmmpgYaMaDBy/NlrL0WnrfaOMiSIw035thBRAVUffwzcmIcsM4mx4SHCF1qbxrNcC5l9dC26g8R4Mh5UjsGAhya1ZZqyYKuECsWnc/lXuXraaj27tvns4dT5iqlBgHc8KSeKxefEcOjAdNwU6tzyY/Bqfp5D4W2zEOlkyb3u8t76vvf7QUjtLUyfZ4yVBgqrk6K7CHWYVXOVcRLxFXFCQHB0cxTchwF4pk3fJw1hgwMNSd+0Y8tYevPIarfFwVFsDn78A8OM5wQpylfsOCbg107KJNpK9iuo2WUxW3jYgWYdQN0UtCm+uOls5puS2x2UXLHNwLtxGj+Z5EC7EtkmvG+eMe4EqjrJOl++yaozJzZppLwH4KWjypnea0to7J1hDrw1RQ23NsL5V7buGhB/HyL9IUgmuDFSisggVN0s7wAaHPHbEwTaSrocNE17NJ5p3WHV2QuLtNSidNXJCC+i8Yvh5HslZJ+BnxtnrMlnXviuqKpwCFN6GMp0t63Q3YxtS/VYjeUMbKRYfucB3gXMVwMDmlCUWskmV/7PhryOpvGMRppuF7R3DeUYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AAmL3QKPEQesAP61Gf62PE",
      "input": {
        "note": "The plush fills the wrist view just right of the jaws; shifting slightly and closing on its body to re-grasp.",
        "targets": {
          "left_gripper": 0.1,
          "left_y": -0.15,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01AAmL3QKPEQesAP61Gf62PE",
      "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]: [-0.5335, 1.8503, 1.3121, -0.4404, -0.5392, -0.5362, 0.1045, -0.0154, 0.8211, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.1516 left_z=0.1079 left_yaw=0.2194 left_pitch=-0.2307 left_roll=0.0894 left_gripper=0.1045 right_x=0.2963 right_y=0.0011 right_z=0.173 right_yaw=-0.0006 right_pitch=-0.0385 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.3214, 5.7231, 1.2674, -0.3687, -0.022, -0.0659, -0.3487, -1.2376, 7.0496, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:563142fe525e5961cb4f7ad848446e0e2296c7333ea9343e8cd2f005734fc8d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4e83176903433e6d7cc3a130037fa0165fd7beb536ea165a6c6435041c8bf3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7568b21b03f10f6a3677dbc6b3604d0da4aa8d9a48bbbc435c83ba29c0ad7202",
        "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 · 7.972 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4755, 1.2217, 1.38, -1.0317, -0.5205, -0.4622, 0.9967, -0.0154, 0.8185, 0.6075, -0.3851, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3136 left_y=-0.0586 left_z=0.2869 left_yaw=0.2097 left_pitch=-0.1642 left_roll=0.0619 left_gripper=0.9967 right_x=0.2961 right_y=0.0011 right_z=0.1738 right_yaw=-0.0004 right_pitch=-0.0359 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -4.7658, 8.4855, 1.2332, -0.4176, -0.0708, 0.1538, -0.0752, -1.7162, 7.159, 1.7167, -0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4767, 1.7836, 1.3266, -0.5083, -0.5175, -0.4801, 0.9969, -0.0151, 0.8192, 0.6075, -0.3851, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.441 left_y=-0.1253 left_z=0.1321 left_yaw=0.228 left_pitch=-0.2356 left_roll=0.1068 left_gripper=0.9969 right_x=0.2961 right_y=0.0012 right_z=0.1736 right_yaw=-0.0005 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -9.7846, 9.6068, 1.2479, -0.3541, 0.0952, -0.0024, -0.0889, -1.4427, 7.0359, 1.7118, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5335, 1.8503, 1.3121, -0.4404, -0.5392, -0.5362, 0.1045, -0.0154, 0.8211, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.1516 left_z=0.1079 left_yaw=0.2194 left_pitch=-0.2307 left_roll=0.0894 left_gripper=0.1045 right_x=0.2963 right_y=0.0011 right_z=0.173 right_yaw=-0.0006 right_pitch=-0.0385 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.3214, 5.7231, 1.2674, -0.3687, -0.022, -0.0659, -0.3487, -1.2376, 7.0496, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:563142fe525e5961cb4f7ad848446e0e2296c7333ea9343e8cd2f005734fc8d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4e83176903433e6d7cc3a130037fa0165fd7beb536ea165a6c6435041c8bf3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7568b21b03f10f6a3677dbc6b3604d0da4aa8d9a48bbbc435c83ba29c0ad7202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwYKjgEIEhgCKkA11dHfCEJDVD7g7qahnU2B0OE9Y5loHENibeCh9wKeREXUIwKmWwZtqpCammLfkfZfJoJBpqygiuqOz8BIE+ydMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyHzdUGEgyGJ+nmBATzkNUMMbsaDCWIZvGKYPysPc1RpCIwUBGkl7qQwByo9ShSc4G7QX3uwou18ZAzkONe441tVXcggegOopSs/EFaL/sLgdlhKt0EZSdOo10yiXyJbQ5ZNoMXkxTuOTqCEiQ59qBsZ4Z88cvoPYktmyGilqpTgYulb/2At5+blf7y6fZAD8AB6SDNKZrGqm8PjZ64ZmT64C/BAIJXOIz9nzzou1U7JA+PLr3EDJMjPkwPzcSNoybCOatEUlhhDTAzpMegmhxT9hEmRPuiW1Jbk90zYbWkQup8/KrF7Zc/eWLu8kzvSgHViA6VhWabse/UIa5YVJJecio9TNTLA3sVC7HJMOcHxMYVKrzaCv9y9Nj2FkGQWo/EZMPDDvUyFqRi1w+vuBGWQJzORSVtRdnvGjP7Wb2j66HnOEGd845fu3AC9uxdhA9T85XSrIRINLNmgnS3HczzU/LuEFsNk8ivJPfAGUyV7mvrFX590CPITM70zYGuAaBripEObuLXbljK8IfRQkJEwIYqrXKWTPKoeKQFTD4KLdexVwbeq0IGvEz4WncO+PrDxBhN+/3cpzn/xmVKiFRsZtz9omdEvHmxMT8VvinIfL21GhGYA4modOaaHHYk9/ugopqB+zgwvrdTsYduemkozFBmeFKUsRTICE4mP5mb/NbTgEw8NtScoTOtyI6kkfZxT+Lxc0Wps5+LG93eGgC6hzYiu52+50fyzp8nsjR4pLTaKFz1rrNpmgHKnPOnKnHksIvXyh+HmgGjdq1e1xXPTWuBanUFRdlmWk1trZI2xbxsPgpLwqqzYPVuYS0j4qs5bwZb0j1j0LFWCCiaAChdfT7dUE93KMjVEnIcIwaBuXDnDLyXpEcaqQdeSOlcjqEzNBsQ4+m5h/My0rRzuDuyjHEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gd4Kr5t8p7T21eAb36PNQ1",
      "input": {
        "note": "Jaws closed on the plush (reading 0.10). Lifting high and reaching further forward so the toy is over the basket's interior rather than its near rim.",
        "targets": {
          "left_x": 0.55,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Gd4Kr5t8p7T21eAb36PNQ1",
      "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]: [-0.4191, 2.4416, 2.7071, -1.2842, -0.4847, -0.4831, 0.1047, -0.0154, 0.8249, 0.6075, -0.387, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5477 left_y=-0.1499 left_z=0.2116 left_yaw=0.273 left_pitch=-0.294 left_roll=0.1184 left_gripper=0.1047 right_x=0.2962 right_y=0.0011 right_z=0.1716 right_yaw=-0.0003 right_pitch=-0.0443 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -11.4256, 5.6, 0.6618, -0.1685, 0.4664, 0.0073, -0.3487, -1.4974, 7.0359, 1.7509, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e8a9a6c2c91347a3a4054e8b71ccf4e7d5c70a1a81874307e413aba61d2f74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09a63a3da21001d8006a8f8a14ddedce07058c76991536d0400ae3ba1d147a5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6af10ccbb5e34e4091d1709789bafbd7f373abd68a8e79e59c6133421702c4d",
        "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 · 6.666 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]: [-0.4767, 1.7836, 1.3266, -0.5083, -0.5175, -0.4801, 0.9969, -0.0151, 0.8192, 0.6075, -0.3851, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.441 left_y=-0.1253 left_z=0.1321 left_yaw=0.228 left_pitch=-0.2356 left_roll=0.1068 left_gripper=0.9969 right_x=0.2961 right_y=0.0012 right_z=0.1736 right_yaw=-0.0005 right_pitch=-0.0366 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -9.7846, 9.6068, 1.2479, -0.3541, 0.0952, -0.0024, -0.0889, -1.4427, 7.0359, 1.7118, -0.0415, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5335, 1.8503, 1.3121, -0.4404, -0.5392, -0.5362, 0.1045, -0.0154, 0.8211, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.1516 left_z=0.1079 left_yaw=0.2194 left_pitch=-0.2307 left_roll=0.0894 left_gripper=0.1045 right_x=0.2963 right_y=0.0011 right_z=0.173 right_yaw=-0.0006 right_pitch=-0.0385 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.3214, 5.7231, 1.2674, -0.3687, -0.022, -0.0659, -0.3487, -1.2376, 7.0496, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4191, 2.4416, 2.7071, -1.2842, -0.4847, -0.4831, 0.1047, -0.0154, 0.8249, 0.6075, -0.387, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5477 left_y=-0.1499 left_z=0.2116 left_yaw=0.273 left_pitch=-0.294 left_roll=0.1184 left_gripper=0.1047 right_x=0.2962 right_y=0.0011 right_z=0.1716 right_yaw=-0.0003 right_pitch=-0.0443 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -11.4256, 5.6, 0.6618, -0.1685, 0.4664, 0.0073, -0.3487, -1.4974, 7.0359, 1.7509, -0.022, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e8a9a6c2c91347a3a4054e8b71ccf4e7d5c70a1a81874307e413aba61d2f74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09a63a3da21001d8006a8f8a14ddedce07058c76991536d0400ae3ba1d147a5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6af10ccbb5e34e4091d1709789bafbd7f373abd68a8e79e59c6133421702c4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwkKjgEIEhgCKkATJQybjj7HrZ8BtZ0bcVMUW5nZ2myDo6uUah3ugFJT1SrgcOW9NacmzBZr8AOizgxeHbb02gK643JXQyiWWLaeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYWIzdUGEgy4WgsMqs0hXj7qBB0aDNr/RGvcY+N5LmmRgiIw5P8IVvHjG/KcoE9dt0y2mmKX2H0DP1X36qy5M+Hp/Cx7eC6UU4CVGe6HsWZs4VoAKrkHQAMiJb9RYzhjgDrGKJE5Bc76iZGDlaLDGx8bR+b9TffN/6WETVShXNBPaLimOVmZ6t39EnksC5BoPhhdSIW2zqo7UISkJPq5doj6m+afJNZGSKC/C/YxaZsw57kwFOo0If8/SNwJV5Vy5ZQWO3oEkdfmOtE8lJsXl5gJLij/mXB3ylCyunyffCG7SOK3vu9TSZY9EZPTEV7OLtOfHOx49gOHAuah2SfKcQQsfFnitnRzIoxcsuaMw2D32uxcAdBUFUf3db6kvde3YrKdUzCzDY49qadq/BS9ZbO02emBj/Yc7ZZrRYvHAajAMXvKDggI6AQt2A7ua/iIcunD6NVEzYaWpq51GfL3LqF4HUTE7AxhsGosv/2JUB038M+JSdvid5NrLL9u5oLH6RCpeJmJXHG5BfKfmCdiiQ4/i7Nba6aPqkB9+yrbeO55Gx5aCszH/ezi4XYsrxK5Rm/ajwZbq+iHAID3A7tILowuBNrOtYx9fJV6Wzg79FDkaQG3InZHR/zRbwYXBsKCYk6Z1XMWtXA+VDfJOJxM4V8Sa31CipZy/yB4NsX0kw1Uwsjw+Up46V8/psQ1Slo9/hSFCVk5o3acD9A8dXXEBI2OfSFzY2MeD9uqUSIzqSw7OF9O/J9VnF5ifF8ag9wXbl7oR9HLbeH6DuPI7GninSl1Eh+ROwlYqPcAFl4cXhOnFtlTn0F0uYQWMjydFVi6AArRUXkReC5VwMCQgUNKIIuIRik/gaq8kjsbBkhSj4KmD3eLXgm66QWBxt9jvuF0FnbjaG/IGg8d4Btnhgtr6Jf65Vs16dm4D4DDY/McLikYeYAs2SCUARTSETrn464Bwt5bcYumEhqBG25v3AnFRkjybi+a6T4Fh3fQ4H6s9E3h8bnU8G4YpR3aqLVVLIo4szfYf7veXVQWGIg1x3JoGWJZkOGWBPzaK1zI6hpcPcEJaB0/3Hx5wvPgdUknNf5nJOvwN9KGZeaU+FTUyQt2LAF7kIju7coG3FPpLWHWeGuhggj+vD1wFM3HcIr87qjaXRiZB1YlNMJOlOCrFW4H087TcMkZAPUbmH0z+LcT58DgMS3vkGD9y9zTjPa8ox7mPp2tj4tjKTnHpfoFUrUsG0llA7MzqhQ/fsQEEJjXfJSopCojQCkBHUhXA06VmTy7cmJV+zKuJjb0UrA2mNhDHEWfF48PhICqLJAunQviu5AIjMuwh6q0FwXpkZ9BkoFbVTdGi6YLH1HyX5TML2XEA9ljQJZI3SpTDDS0KFjIg7kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016zSUTRBJoAmNjFP5aVKT9A",
      "input": {
        "note": "The plush slipped out of the weak grip and is back on the table in front of the left basket; returning to it with the gripper open for a firmer grasp.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.44,
          "left_y": -0.12,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016zSUTRBJoAmNjFP5aVKT9A",
      "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]: [-0.482, 2.7441, 3.1359, -1.4994, -0.5007, -0.5732, 0.9951, -0.0154, 0.8276, 0.6075, -0.392, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5438 left_y=-0.1847 left_z=0.162 left_yaw=0.2913 left_pitch=-0.3448 left_roll=0.1318 left_gripper=0.9951 right_x=0.2957 right_y=0.0011 right_z=0.1699 right_yaw=-0.0007 right_pitch=-0.0519 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -12.9162, 5.7778, 1.2869, -0.5201, 0.105, 0.0659, -0.2393, -1.5658, 7.0359, 1.7656, -0.0366, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7a3ef1b0e0843238e1a7ea36edcf9b82a088e304a4260f4827d0320e05f2a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8521248f07790b78b5ebc7643d320a0343e5370babdd7d82737e82ec20c68700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb1ed359c11b0e81e57bb4dcb9587dc1397afdbbcd3da6dabfe600417e326ea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.351 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]: [-0.5335, 1.8503, 1.3121, -0.4404, -0.5392, -0.5362, 0.1045, -0.0154, 0.8211, 0.6075, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.442 left_y=-0.1516 left_z=0.1079 left_yaw=0.2194 left_pitch=-0.2307 left_roll=0.0894 left_gripper=0.1045 right_x=0.2963 right_y=0.0011 right_z=0.173 right_yaw=-0.0006 right_pitch=-0.0385 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.3214, 5.7231, 1.2674, -0.3687, -0.022, -0.0659, -0.3487, -1.2376, 7.0496, 1.7216, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4191, 2.4416, 2.7071, -1.2842, -0.4847, -0.4831, 0.1047, -0.0154, 0.8249, 0.6075, -0.387, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5477 left_y=-0.1499 left_z=0.2116 left_yaw=0.273 left_pitch=-0.294 left_roll=0.1184 left_gripper=0.1047 right_x=0.2962 right_y=0.0011 right_z=0.1716 right_yaw=-0.0003 right_pitch=-0.0443 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -11.4256, 5.6, 0.6618, -0.1685, 0.4664, 0.0073, -0.3487, -1.4974, 7.0359, 1.7509, -0.022, -0.0415, -0.0171]",
      "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]: [-0.482, 2.7441, 3.1359, -1.4994, -0.5007, -0.5732, 0.9951, -0.0154, 0.8276, 0.6075, -0.392, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5438 left_y=-0.1847 left_z=0.162 left_yaw=0.2913 left_pitch=-0.3448 left_roll=0.1318 left_gripper=0.9951 right_x=0.2957 right_y=0.0011 right_z=0.1699 right_yaw=-0.0007 right_pitch=-0.0519 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -12.9162, 5.7778, 1.2869, -0.5201, 0.105, 0.0659, -0.2393, -1.5658, 7.0359, 1.7656, -0.0366, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7a3ef1b0e0843238e1a7ea36edcf9b82a088e304a4260f4827d0320e05f2a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8521248f07790b78b5ebc7643d320a0343e5370babdd7d82737e82ec20c68700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb1ed359c11b0e81e57bb4dcb9587dc1397afdbbcd3da6dabfe600417e326ea3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQUKjgEIEhgCKkD7NmHtEjp9opOgD5jvu9TysRir+7hkv41SLVHYNceIXhx6Eg9Oz5iM0B1rd9Wc8AdX1yFactBoI3IfUrU4A5RUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2IzdUGEgyWLEx9C3V5nz8wjk0aDG5HxM+op5R+d+JyfSIwd6UKyp9pr6ZFvlB6BEWHLJx7PRiIX1nZLcluXa3WKhUCPuZJm5seS8P7V4c8XGseKrcDUCXgF+C0Kq1Q6nwE9aBDf1ttaiKRTL1lOroj+AsuVU1V+m7J4VYCwWVCsAOosIZbmH7uFVoPp3RNtvn66iH2R7OKaM34dQ9RBR2Q89c/enXAloGRE9GpUiTLS/7p1R3lOIG/10e7Rxw7Npnvdv4CPJemFDUcLHdV3vnt7dpFBk04eoxKtfPOB6Ublz2JHT5RO0Mmz7Q8c5aMqD85xWsMBdo4VRu6zWEgHoNRd+h2N5xKhDfPq04Lonb65DJHF0McnRTSNdjU0fwWow+iDvQhsqd17MTohs4JePNFG+a84oOVu+Lp/FHhk7e00n+SpGcmT0glpXYUPI4kmJ8YhqSNVfcZWxY4j5unDt5qvcD7WNBPXnbIWbIEIzfXd0ABMV6cMZLDeQrHbNtQRO0w1xBZZZ6nv1yTes+cmzEQRA+8X0U7ZvdtOfWwJHPYLyIYRPzhMcqeP2svR7f4mmfAgsIwS9dc09kKkp9cOg2XMUA3IFr/t9oZwabkyrsW5OFsck9ZfKQIZ475347f5g6OAQt5EaLZmW5iObUuDMmdjzeLqdhDYjvHCMid0dHv8LOltszLleT3STNUwRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N5oza8iW7Dc1JcGMCSVamy",
      "input": {
        "note": "The previous move was clipped and the arm is still high and forward; the plush sits just below the basket's right rim in the wrist view. Re-commanding the approach down to grasp height.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.13,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01N5oza8iW7Dc1JcGMCSVamy",
      "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]: [-0.4709, 2.7705, 3.1359, -1.5024, -0.4934, -0.5922, 0.9967, -0.0154, 0.8276, 0.6075, -0.3923, -0.0116, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.5459 left_y=-0.18 left_z=0.1467 left_yaw=0.316 left_pitch=-0.3689 left_roll=0.1365 left_gripper=0.9967 right_x=0.2956 right_y=0.0011 right_z=0.1698 right_yaw=-0.0007 right_pitch=-0.0523 right_roll=-0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.7179, -13.3949, 5.6821, 1.0916, -0.3541, 0.0611, 0.1538, -0.3897, -1.4701, 7.159, 1.7216, -0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75abad9fa3a620cf06d338e2ce792158fb8fb42507da5c81fe756a3dd53e113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3700b003313d802d7effd2933477fcb18f2a696ff3b911674d6a3975acb01764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f71315cddc28ced105c59c5733afb78b885d4bdbf97b8c97fc281e9c1ec5720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 11.19 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]: [-0.4191, 2.4416, 2.7071, -1.2842, -0.4847, -0.4831, 0.1047, -0.0154, 0.8249, 0.6075, -0.387, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5477 left_y=-0.1499 left_z=0.2116 left_yaw=0.273 left_pitch=-0.294 left_roll=0.1184 left_gripper=0.1047 right_x=0.2962 right_y=0.0011 right_z=0.1716 right_yaw=-0.0003 right_pitch=-0.0443 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -11.4256, 5.6, 0.6618, -0.1685, 0.4664, 0.0073, -0.3487, -1.4974, 7.0359, 1.7509, -0.022, -0.0415, -0.0171]",
      "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]: [-0.482, 2.7441, 3.1359, -1.4994, -0.5007, -0.5732, 0.9951, -0.0154, 0.8276, 0.6075, -0.392, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5438 left_y=-0.1847 left_z=0.162 left_yaw=0.2913 left_pitch=-0.3448 left_roll=0.1318 left_gripper=0.9951 right_x=0.2957 right_y=0.0011 right_z=0.1699 right_yaw=-0.0007 right_pitch=-0.0519 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -12.9162, 5.7778, 1.2869, -0.5201, 0.105, 0.0659, -0.2393, -1.5658, 7.0359, 1.7656, -0.0366, -0.0464, -0.0171]\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 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]: [-0.4709, 2.7705, 3.1359, -1.5024, -0.4934, -0.5922, 0.9967, -0.0154, 0.8276, 0.6075, -0.3923, -0.0116, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.5459 left_y=-0.18 left_z=0.1467 left_yaw=0.316 left_pitch=-0.3689 left_roll=0.1365 left_gripper=0.9967 right_x=0.2956 right_y=0.0011 right_z=0.1698 right_yaw=-0.0007 right_pitch=-0.0523 right_roll=-0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.7179, -13.3949, 5.6821, 1.0916, -0.3541, 0.0611, 0.1538, -0.3897, -1.4701, 7.159, 1.7216, -0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75abad9fa3a620cf06d338e2ce792158fb8fb42507da5c81fe756a3dd53e113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3700b003313d802d7effd2933477fcb18f2a696ff3b911674d6a3975acb01764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f71315cddc28ced105c59c5733afb78b885d4bdbf97b8c97fc281e9c1ec5720",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAUKjgEIEhgCKkDZBeWLgYKwjfBDtnzVyMKWw3u9nVLE79jeWDFzIPZJVdorqaSe+2lyRrQ8FHpXfdFFQc/5GEygYhqePM9ydYr0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKIzdUGEgwWCJByVRfhoHilpNQaDGAMl4EpuKtoVp6XkyIwk54d+CZUuETJepU4a/kyYlXU8L+DI+lbyKREKPHlSr7/p8ER4m7l+7YLQuZCcCQLKtIDfNKRrf5UMHybPtfwY68fGb2LlI1l5s9Be6MIU//7U/r201RD4IhIjg/hiOSxtLTVlvNxCftFx0PAnLMyLbLqu5uD1sz7ucUzy8E6FVQyMzZuyR9u0It+zlFOQbDKMbP90ndGadA20l7X2O2jPrH5QBRKAX9KI5avAf0JzyYErttKQuqWyslvOT1d7nrHdTNPV33QhQa3ZBdCgeLvsQWFXCEjMKBbCCdafG1tc+e5OeJgpfpmB9yyZJo7OrJnsXl93DJW+c7cl4r5NBH9HD+nl2UmGLz5kLdv5L0j/Iuyrzqcie/oJCy/X7zeXmmfLOtEbqfoxXeOQg7pLsEwPAKbZoIzmDOxeGBEcWSGWM3f83bji1XJUUxp3kZXCVzpCXaFyo/E3jbtA9YqfAfWF2x+nF0sJ6gQxXhiGDMr6bB13Uxk+t9JYJrRW0GDD8LniNjDhkDQkU1aq/C9EWTAFXF9ZBBbol7q/4vaqrdX/KPp1aBMPQK4ozC1ecHzyH5nOMY0olb5mmZG0dh1eYLgNxl7EHl+Tr2AcbZnM3UEs+gL/pXBdVjqPEmJpgzVpEniJbeiG8+XHzvJ652tcq1qKO2EWhAPeQIsbrfujmbNilidhanQHRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0192jjZhj9DdSFWooJFNevS7",
      "input": {
        "note": "The arm is stalled at full extension near the basket, not tracking retraction; lifting straight up first to free it from the basket rim.",
        "targets": {
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0192jjZhj9DdSFWooJFNevS7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 2.6572, 3.0482, -1.5524, -0.4892, -0.5995, 0.9969, -0.0154, 0.8291, 0.6075, -0.3923, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5277 left_y=-0.1685 left_z=0.1766 left_yaw=0.3292 left_pitch=-0.3882 left_roll=0.1477 left_gripper=0.9969 right_x=0.2957 right_y=0.0011 right_z=0.1694 right_yaw=-0.0005 right_pitch=-0.0538 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -15.8564, 6.2291, 0.8962, -0.3492, 0.1001, -0.0024, -0.335, -1.2923, 7.0222, 1.6923, -0.0269, -0.0024, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1259158ad622b76c3502107be5025a21daa506c6b2f246150bda32c49154ff6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2da87961be077f672ca26c7f1f96e05bbedac86b91b3feeb16f9b31876bd144a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d42ac942cc4eb14383c990b398d7b4765501e3e566ac6f0ca97bae3435a128e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 11.62 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]: [-0.482, 2.7441, 3.1359, -1.4994, -0.5007, -0.5732, 0.9951, -0.0154, 0.8276, 0.6075, -0.392, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5438 left_y=-0.1847 left_z=0.162 left_yaw=0.2913 left_pitch=-0.3448 left_roll=0.1318 left_gripper=0.9951 right_x=0.2957 right_y=0.0011 right_z=0.1699 right_yaw=-0.0007 right_pitch=-0.0519 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -12.9162, 5.7778, 1.2869, -0.5201, 0.105, 0.0659, -0.2393, -1.5658, 7.0359, 1.7656, -0.0366, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.4709, 2.7705, 3.1359, -1.5024, -0.4934, -0.5922, 0.9967, -0.0154, 0.8276, 0.6075, -0.3923, -0.0116, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.5459 left_y=-0.18 left_z=0.1467 left_yaw=0.316 left_pitch=-0.3689 left_roll=0.1365 left_gripper=0.9967 right_x=0.2956 right_y=0.0011 right_z=0.1698 right_yaw=-0.0007 right_pitch=-0.0523 right_roll=-0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.7179, -13.3949, 5.6821, 1.0916, -0.3541, 0.0611, 0.1538, -0.3897, -1.4701, 7.159, 1.7216, -0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.466, 2.6572, 3.0482, -1.5524, -0.4892, -0.5995, 0.9969, -0.0154, 0.8291, 0.6075, -0.3923, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5277 left_y=-0.1685 left_z=0.1766 left_yaw=0.3292 left_pitch=-0.3882 left_roll=0.1477 left_gripper=0.9969 right_x=0.2957 right_y=0.0011 right_z=0.1694 right_yaw=-0.0005 right_pitch=-0.0538 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -15.8564, 6.2291, 0.8962, -0.3492, 0.1001, -0.0024, -0.335, -1.2923, 7.0222, 1.6923, -0.0269, -0.0024, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1259158ad622b76c3502107be5025a21daa506c6b2f246150bda32c49154ff6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2da87961be077f672ca26c7f1f96e05bbedac86b91b3feeb16f9b31876bd144a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d42ac942cc4eb14383c990b398d7b4765501e3e566ac6f0ca97bae3435a128e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjAkKjgEIEhgCKkD3ishW6zs+wPvucYEG0Dp+BcPxvObJBjkN4aYoy25bTP9PmlkoMugGPe5Oy/1q9MXsL7y1RDOwgohQIu7liQZAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ6IzdUGEgznaQsz1IpYEdiDIPsaDEoqSFprj/MTuxnAliIwylMjfy5pUzpX5aVWpULxgUj2qv/2xSkzApyaVBIjNjRvElrXHUWkCv6feM8N5/qAKqoHPDk1Jl6Q3Cypo01aGCcbqJwA1YRjK/qVuvx2uRF4Fr0Ahux3JireI+F8N4Y1fpyZTU94JI1A6Z3ISlVm8W6ttWCwQ62IozfudBwo76oGexJDgNS7DpWPIsIcjvt8NMACwnuYXgWnsfZJVC5bsZjn0qtspv9R2v4RNSSfxRrTRWtXoDlA8orTJ9IkOVQs1yvDorsX3MIMoSXMjgHfCU8Lu3wLycmERhfekOdy2AIkzzYgd2MSwxKHTJ3zJUYSK3cc0ZgZjUWg6s4RMXc1FtV85fLo11T9ak0JhLmErrH27ES6a0A8zSzH2M3PPrNVIFWjAk2YmXrlnPC3WMtyhq2J4qj4WDCUzz972jXHROpaRO+oL3e1GToWfOoDtcd66trUm7dA17P+4y1wjKCWbiM2C9yZV4wuqwo/gkWDbQ2I08kjT2yYVKWjUfWj+1Ef/9bb8bfLgz+jN0ltWxxaNpZa+AR/hzd+v1l9ZYA/JFMv/tIrg3xAWemayui/80iQa+z66kJzTk4dzwAkDxQPSf/uliJhvF+f0INB+Hft0Ts1CU8voJvsErAh/jDFBXPVWZ5jUY85bJZXRCc4LIjE8BvS74naNLXJNr0WPcioZYazcQsmJucrBCyWPsfZJSWcs8dRdH+Jnx0FBS2h4UDCMVRns7QJH09HyXHEil/9qaVb3phoynRf7gKqdFgNuQlZENw70d3nJEvTagYhvIjmnd/ZuSdlOjOHUeubockDz7TlZl9FPtrmKi3DBVAas/zII8vcJMQrR5+h7ChMmSx5EqyumeBOremvBoOYE5Y30YKqs4nuoG+9FVJdMJiw7aUKkKZ+lH3fK+STmwwls0QmdGyUjsFqti7rJS0jR0+05wRzvwPH8rJ3AHDaH4yRMQSLYlKOHR+812a4xHux9cFGMpKtXWUUFwTQRAZZaQTMcgzguKCKuAoaYWAccjPDGBYQb53H92B4F8Ga+1D0SHZZyIvK1yTebteeNPEbLUNhiduqERz3YM/EcUZsQglxeWTrcjl66nDjHUR/uHnwMqEbTx6My3jwB+HH3Vf5lD17j9RceTKBB3ljy00khpCHRTwcU/agIq6tsCug3BreX2Lrnb8OHEk+WaLlKYkt5SDlJiU5E5DvjTrtZlf42oQ6FhYvs/wtoOXuUyir3xVFQbfUXyz0bqNAyEt8ugZAB0vq1e0QXiu5WBoE8vdHo2CWFr9WEAA8oVTcIbs5sxWMh3ckXmYT1jNK1VLinUK5O6EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SSurQ2kyUqMcjRueDKy25S",
      "input": {
        "note": "Motion is being heavily clamped at full extension; commanding a clear retract back and up to a comfortable pose before trying the plush again.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.12,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01SSurQ2kyUqMcjRueDKy25S",
      "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]: [-0.5625, 1.7638, 1.7771, -1.2835, -0.5121, -0.6968, 0.9969, -0.0151, 0.8314, 0.6067, -0.3927, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3704 left_y=-0.127 left_z=0.2205 left_yaw=0.3386 left_pitch=-0.4354 left_roll=0.1925 left_gripper=0.9969 right_x=0.2957 right_y=0.0013 right_z=0.1683 right_yaw=0.0 right_pitch=-0.0572 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -13.4906, 9.4838, 0.9792, -0.5739, -0.0317, -0.0073, -0.1436, -1.6479, 7.1043, 1.7021, -0.0122, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:120c9fab946cbb1ae0b5b58337c1e6204e281cf054531b05a782bcda6a63fcf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490952946e73bc65aa3a6a6eae3dc0425199c9c1c60243cc6bb4923d536cd8a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8099a719a51965ec3bbc446b9cddbff471e4404f0ef54cf64efa41099fa0c61c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 6.049 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]: [-0.4709, 2.7705, 3.1359, -1.5024, -0.4934, -0.5922, 0.9967, -0.0154, 0.8276, 0.6075, -0.3923, -0.0116, -0.0273, 0.9997]\nstate[eef_state]: left_x=0.5459 left_y=-0.18 left_z=0.1467 left_yaw=0.316 left_pitch=-0.3689 left_roll=0.1365 left_gripper=0.9967 right_x=0.2956 right_y=0.0011 right_z=0.1698 right_yaw=-0.0007 right_pitch=-0.0523 right_roll=-0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.7179, -13.3949, 5.6821, 1.0916, -0.3541, 0.0611, 0.1538, -0.3897, -1.4701, 7.159, 1.7216, -0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 2.6572, 3.0482, -1.5524, -0.4892, -0.5995, 0.9969, -0.0154, 0.8291, 0.6075, -0.3923, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5277 left_y=-0.1685 left_z=0.1766 left_yaw=0.3292 left_pitch=-0.3882 left_roll=0.1477 left_gripper=0.9969 right_x=0.2957 right_y=0.0011 right_z=0.1694 right_yaw=-0.0005 right_pitch=-0.0538 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -15.8564, 6.2291, 0.8962, -0.3492, 0.1001, -0.0024, -0.335, -1.2923, 7.0222, 1.6923, -0.0269, -0.0024, -0.0073]\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 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]: [-0.5625, 1.7638, 1.7771, -1.2835, -0.5121, -0.6968, 0.9969, -0.0151, 0.8314, 0.6067, -0.3927, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3704 left_y=-0.127 left_z=0.2205 left_yaw=0.3386 left_pitch=-0.4354 left_roll=0.1925 left_gripper=0.9969 right_x=0.2957 right_y=0.0013 right_z=0.1683 right_yaw=0.0 right_pitch=-0.0572 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -13.4906, 9.4838, 0.9792, -0.5739, -0.0317, -0.0073, -0.1436, -1.6479, 7.1043, 1.7021, -0.0122, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:120c9fab946cbb1ae0b5b58337c1e6204e281cf054531b05a782bcda6a63fcf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490952946e73bc65aa3a6a6eae3dc0425199c9c1c60243cc6bb4923d536cd8a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8099a719a51965ec3bbc446b9cddbff471e4404f0ef54cf64efa41099fa0c61c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISwg0KjgEIEhgCKkDF9eXZHTUJr+kKre++myrIiw/DMxvsWiIdlbDqAzaeMRRSTodVosF1t/sqVkaFp/5iRDgWEzmR6ZQQ/ISpiiyWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAayIzdUGEgyrKu6bHCI+ac3p1jYaDGYYOcxA4s3GvqSlMSIwjIXNNmqfMUYPMsvGoK1dTE8zwGrAni3CpjU+swA9/wkGZlbcaCZVpKUvTFhvZ9RTKuALQPtEnO+pjiRR/7CizNa3RW0FQs5v2dWn6t37A8pISRsBLTSgEpEJWpo29xmBBhDdXm/LGtOfaK5g9aeEUYJ1OerpkaUMSwSVD5kTeM7+mtXMJK4CNLWHtt4OKHoArce8DDbRmNBUWLr/L/ZDxi9lYuzv5K5AxDYttvCG97gWV3ccrkjbUHGXrupwe8pFUxyo71+TPTqPTviVprBnk/ECjKh1+BGg+ok79jXzLYNhM1yC+hftjvcUMIwuOzaSu2hsAC/VjXTuc7EsIMVGRY34s3YkmzdOpqhZgMJ3XbByidNfjaOCWmatUdCgVTeVDWMA2DOJ3iWXiPg3VQYuIrQ6OU+XLgks4VZzW6c550X/GSwGr9tVpvk3dywMF6+XrlLPdTYD58NPHB+3vECU73MHWEUeAVOsGt/wqH8TP07ytkWRjArZJMQHf/3YStNwv7I7rwNONYZSbFK4tuSInn+ubxbFfnPhdvQ+JIuLD/ZGwNRBh8TcuTFGPhux2Ntl9xtMir+dhMbaUM3kpxwGJqpu8VYVObVi0nkGL0TkhlpYYgLGa+f8LqD5RkhmCjwbgL4yceGNqxbwRPW/r0vf2VJbX3L5ZXXOSijv6BgWWuLK72kPKo4+A8cffyBxOFuISb/ZdG0ssZq48nFEh3xzlr+M6f44qFec9S2CmHAyPRbKxD+eRFzLJhyCiXDusWoTAtzsXeRvW2EhM0Fa2YBfQmbGYJ8NFNYWpCsK78wAayupmznAfLHcbMN+JVaA02JR5flPbSXX7TLusYh+8GIgBuYdOcYmNW9IgKvdvbhLH5lmVmvFlwcXX9Tq31jpI07XQeh3e3KMF9B03BmskqXZKduu2k9iOozCldChZG/2iujQ1G3aUWzMXfidC3gGiAxHqLXMNEDt33sFjCV45l7iPShMuAkw4yoDm6FfgFHEGtxvkWBr26MQdcJux9vSwSAdipaa2VvT+awL+Gs0FD63wa6LjZCeR1DfmKUTEQKC/Xf9PcXW6r3St3srEwFfzRuIKyGbpVyYQAdclqvOyGg84rPxEBkzj48E1oeaoKc2Y8+2WFL7i1mlrJyB0R1QMpo5ExNpWAYgQCzi6u12g8AThCCYO6srAzvSBENP54M2xUXzY45Q1KzX9l0jbpvZQMvRkF8T1fmC8SsNEwcWLPfsElBrh2Z+B3QvgUwfQltJds0LJ07kfAhKeTCQcoWwPnI9njHyNruh5Fej13MPwWtMBVlMzQFq8Am0tJUVNEUpwi+xmYV9tiy4THfk78YFtpVbEMsrTlGNkPgGOqaZEvKL2ZyOORouNWiVvAoC21Psv2N6Cw5wUaM1TL15ozWkpxPSpuyW9VbXlhFCF/UEPPe1eNYnxmxYRVRrne6FEuZ7grl3kNb0THvLq6X0scxJ1FRKkdprovgkHEW4w1b0mTKi4UpCF/S2A4piigc/FY8QQzZo0J0PL2s9jE9207gflMGCzaqViycC42StD6Ko0Ln35I4hBJdgJmUL6PbqixrToZMePNUH0sWh4xowD5CoIkaUgsiz4oWFdCRQyOuGp6Nj8alhHqQdkVHNW3ObhdOML5POtKB9AwK1XYiqipFD9EN3x5yGSSmIEDjsZnn5j/IrpTr5I+j1u3kEBTp1CfM6LefPgnT11PbaFoo1tEuBfqF7wKf9XQjTcbvpvbtwy8IE3qU1aUNaMnXfj5GfxtIL0U3lmvX6zProrw4bXvx3tAkd6pvIPkamaH6kcxhn2BTvgVhNWzyQ+kP452OIKQzUlKHqNV7RhHwyJkaCSVsvcsFLbt5AzTZbtcwmzr7wvX2Hct8uR4orstnrQAZtT04fHT8BcD5YEaUhg1lJpMTv8GFBjj1CkRNiHV115ix7VkYu17yg5nv8OogW10Xk/dm52ZlmHKLHVFI0DF5M1nZMnFDVqjOH8kviE/vBoGUXFCxLzSUKXlRS+/EpLljZJBS3bGaAVksRrEuHKOJ6scus+9SXKrcZgmvjP/6j6DBnbjHUulNaExgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0188ioFcorcTMc1MNQDECiQu",
      "input": {
        "note": "Clear view now: teal basket on the left, white basket on the right, four plush toys in the middle and three marker pens to the right. Approaching the grey dog plush that sits just in front of the left basket.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.19,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0188ioFcorcTMc1MNQDECiQu",
      "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]: [-0.5713, 1.8908, 1.7706, -1.2072, -0.5083, -0.712, 0.9969, -0.0151, 0.8326, 0.6067, -0.3927, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3912 left_y=-0.145 left_z=0.1752 left_yaw=0.3588 left_pitch=-0.4714 left_roll=0.2315 left_gripper=0.9969 right_x=0.2957 right_y=0.0013 right_z=0.168 right_yaw=0.0 right_pitch=-0.0584 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.2188, 6.8444, 0.7643, -0.4029, -0.0122, -0.0122, -0.0752, -1.4154, 7.2, 1.6728, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:269cfe71180fdb4decd03c91b3c5ebae955394015157250938ec90afb8fe8765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e8d17e221b76e3f4d75e96c88df11f63bfedb13543f406efcd28c999ab7e958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e75d37491e17f35a390ef3c4a3574f2b626d879d060a6000e1eeb1ec0cd3d28",
        "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 · 10.56 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]: [-0.466, 2.6572, 3.0482, -1.5524, -0.4892, -0.5995, 0.9969, -0.0154, 0.8291, 0.6075, -0.3923, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5277 left_y=-0.1685 left_z=0.1766 left_yaw=0.3292 left_pitch=-0.3882 left_roll=0.1477 left_gripper=0.9969 right_x=0.2957 right_y=0.0011 right_z=0.1694 right_yaw=-0.0005 right_pitch=-0.0538 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -15.8564, 6.2291, 0.8962, -0.3492, 0.1001, -0.0024, -0.335, -1.2923, 7.0222, 1.6923, -0.0269, -0.0024, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.5625, 1.7638, 1.7771, -1.2835, -0.5121, -0.6968, 0.9969, -0.0151, 0.8314, 0.6067, -0.3927, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3704 left_y=-0.127 left_z=0.2205 left_yaw=0.3386 left_pitch=-0.4354 left_roll=0.1925 left_gripper=0.9969 right_x=0.2957 right_y=0.0013 right_z=0.1683 right_yaw=0.0 right_pitch=-0.0572 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -13.4906, 9.4838, 0.9792, -0.5739, -0.0317, -0.0073, -0.1436, -1.6479, 7.1043, 1.7021, -0.0122, -0.0269, -0.0122]\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 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]: [-0.5713, 1.8908, 1.7706, -1.2072, -0.5083, -0.712, 0.9969, -0.0151, 0.8326, 0.6067, -0.3927, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3912 left_y=-0.145 left_z=0.1752 left_yaw=0.3588 left_pitch=-0.4714 left_roll=0.2315 left_gripper=0.9969 right_x=0.2957 right_y=0.0013 right_z=0.168 right_yaw=0.0 right_pitch=-0.0584 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.2188, 6.8444, 0.7643, -0.4029, -0.0122, -0.0122, -0.0752, -1.4154, 7.2, 1.6728, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:269cfe71180fdb4decd03c91b3c5ebae955394015157250938ec90afb8fe8765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e8d17e221b76e3f4d75e96c88df11f63bfedb13543f406efcd28c999ab7e958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e75d37491e17f35a390ef3c4a3574f2b626d879d060a6000e1eeb1ec0cd3d28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswYKjgEIEhgCKkChnm81qxs2Mru9z2LdmVqtrKYmT901h722hAai8qo6XK2TBUIgPrG4WCfhoKhqXcUQfLNBRgHE3yE//jCw3tr4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKIzdUGEgwmX8Wi1ZZDqgD/7S0aDJjv/GQ6l5hwF5hoISIwdKPmNXK27Po869R4gUpF+/Cm7g19mVof7ifrUPEc90Cl6/XTdRteK3nmLpbwZHtNKtEEZOajtnMT18JVETbTEucQhZbS7YZCY7y3y/v3Tqv1XLw+Os+ACRd/tN75dKRu4twCuk5b9FHW3oeaUzyhMCf8AMXZx9pkPHxUUAWf7sbogpwCX8EpcUhjD/0tJ6sfzGoPF6y8+9NrZgrXsg55yOqdLq8aPzu3x0OLqtgifcR9JpVCWrnQ7PeCHkV0PzoZzWnEiK8+l7yieDBNy5Awyr3p3i7OCM8J+8iXTSJ2QRfWE66JPkgQhSrgptYG82TvJfyUstfjaS3wbc5uPYSStgQaFGoF+gLtcZlpQ5Gd2IGRunugmT7v38igFlDgP7rY6V49JFG0bn5jzBGhp4w83vlIwv2khZshplxm7XS+Bw5J1zGzmbdtzc05J0Ep1SDavoYjRVXNuMxlqIheyrx3Hk/E0QIKD088ieopHWSYXktuSyN52p9xyBHC+Phx/y44xoUUmAXVx5xQihdjdopV42NTSH+bbEV2RXl8TeQnofB+Xx1QSmE345lQN3XSUzLqieUWWwJCawqnHhIOe6N8PcvwMCOTndvH/ZV5e+fAG4uponljXqUScJoZijpW6VFeJZQFDYAoc0OLrBmTjx+vfg4fJEHD06UYoqiC0xHAQuU/u+9dBF12eHD66RqKpoR/yuNDUIQY+rVd2Acr2Nu5jbXCLNvneJzSgmV7Xt5alj4sApdlKqhYWMgAeHcuq27pbXRw7unkhY3ReMBSt1Y4Z+9PMiA3CqfdAt5heWLi7gkW88RNcqfFNghpStYntfWXvZnntjeDzduR3CFNcRPFwdHV9TUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RrMqZDqSUb5YYU8YsTDuBY",
      "input": {
        "note": "A small brown teddy sits right on the jaw column in the wrist view; levelling the tool, descending onto it and closing to grasp it.",
        "targets": {
          "left_gripper": 0.05,
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.42,
          "left_y": -0.145,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01RrMqZDqSUb5YYU8YsTDuBY",
      "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]: [-0.622, 1.8801, 0.9657, -0.0174, -0.7532, -0.7013, 0.0536, -0.0154, 0.836, 0.6067, -0.3923, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4106 left_y=-0.1413 left_z=0.0465 left_yaw=0.3558 left_pitch=-0.0615 left_roll=0.0413 left_gripper=0.0536 right_x=0.296 right_y=0.0011 right_z=0.1671 right_yaw=-0.0007 right_pitch=-0.0614 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.8017, 5.4769, 1.3455, -0.4811, 0.0659, -0.0366, -0.3487, -1.7846, 6.9949, 1.746, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bce1258d5c537d33be6c126503c6800c30ca4a1eb58e5b43b4db187ea6cf825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ecb93276e49ad9636d9d95645bc842dbf661594347b6cfe52ecd69a13061786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f9f9be1741b35f6fb9c48618dac7c957e57920f931b5d80522e1b63d31c3389",
        "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 · 6.022 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]: [-0.5625, 1.7638, 1.7771, -1.2835, -0.5121, -0.6968, 0.9969, -0.0151, 0.8314, 0.6067, -0.3927, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3704 left_y=-0.127 left_z=0.2205 left_yaw=0.3386 left_pitch=-0.4354 left_roll=0.1925 left_gripper=0.9969 right_x=0.2957 right_y=0.0013 right_z=0.1683 right_yaw=0.0 right_pitch=-0.0572 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -13.4906, 9.4838, 0.9792, -0.5739, -0.0317, -0.0073, -0.1436, -1.6479, 7.1043, 1.7021, -0.0122, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.5713, 1.8908, 1.7706, -1.2072, -0.5083, -0.712, 0.9969, -0.0151, 0.8326, 0.6067, -0.3927, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3912 left_y=-0.145 left_z=0.1752 left_yaw=0.3588 left_pitch=-0.4714 left_roll=0.2315 left_gripper=0.9969 right_x=0.2957 right_y=0.0013 right_z=0.168 right_yaw=0.0 right_pitch=-0.0584 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.2188, 6.8444, 0.7643, -0.4029, -0.0122, -0.0122, -0.0752, -1.4154, 7.2, 1.6728, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.622, 1.8801, 0.9657, -0.0174, -0.7532, -0.7013, 0.0536, -0.0154, 0.836, 0.6067, -0.3923, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4106 left_y=-0.1413 left_z=0.0465 left_yaw=0.3558 left_pitch=-0.0615 left_roll=0.0413 left_gripper=0.0536 right_x=0.296 right_y=0.0011 right_z=0.1671 right_yaw=-0.0007 right_pitch=-0.0614 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.8017, 5.4769, 1.3455, -0.4811, 0.0659, -0.0366, -0.3487, -1.7846, 6.9949, 1.746, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bce1258d5c537d33be6c126503c6800c30ca4a1eb58e5b43b4db187ea6cf825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ecb93276e49ad9636d9d95645bc842dbf661594347b6cfe52ecd69a13061786",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f9f9be1741b35f6fb9c48618dac7c957e57920f931b5d80522e1b63d31c3389",
        "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_01CRvThAPGeLHGmniNqGfnM5",
      "input": {
        "note": "That close came up empty (0.05). Backing off to the cluster of brown teddy bears in the middle of the table to grasp one of them instead.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.34,
          "left_y": -0.27,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01CRvThAPGeLHGmniNqGfnM5",
      "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]: [-0.9985, 1.961, 1.4376, -0.7418, -0.8951, -1.1843, 0.9964, -0.0151, 0.8379, 0.6067, -0.3931, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3446 left_y=-0.2738 left_z=0.1136 left_yaw=0.3308 left_pitch=-0.0745 left_roll=0.0084 left_gripper=0.9964 right_x=0.296 right_y=0.0013 right_z=0.1664 right_yaw=-0.0002 right_pitch=-0.0641 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.4564, 7.747, 0.5006, -0.8034, -0.0024, -0.0269, -0.0615, -1.6205, 7.0359, 1.663, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:973948da2e0df9812a5d939aa6c23016bccb9079ddd55b2a66d2b779a5c63ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7e830d8928cc6e1b22e45ffd40b38b3eb5c06fa4cf580d9fd065df9cb0d3f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2a877f3ec934021fdc8940f75baf302e71fdb562f4a8efa7cba2abf138987e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 11.35 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]: [-0.5713, 1.8908, 1.7706, -1.2072, -0.5083, -0.712, 0.9969, -0.0151, 0.8326, 0.6067, -0.3927, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3912 left_y=-0.145 left_z=0.1752 left_yaw=0.3588 left_pitch=-0.4714 left_roll=0.2315 left_gripper=0.9969 right_x=0.2957 right_y=0.0013 right_z=0.168 right_yaw=0.0 right_pitch=-0.0584 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.2188, 6.8444, 0.7643, -0.4029, -0.0122, -0.0122, -0.0752, -1.4154, 7.2, 1.6728, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.622, 1.8801, 0.9657, -0.0174, -0.7532, -0.7013, 0.0536, -0.0154, 0.836, 0.6067, -0.3923, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4106 left_y=-0.1413 left_z=0.0465 left_yaw=0.3558 left_pitch=-0.0615 left_roll=0.0413 left_gripper=0.0536 right_x=0.296 right_y=0.0011 right_z=0.1671 right_yaw=-0.0007 right_pitch=-0.0614 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.8017, 5.4769, 1.3455, -0.4811, 0.0659, -0.0366, -0.3487, -1.7846, 6.9949, 1.746, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9985, 1.961, 1.4376, -0.7418, -0.8951, -1.1843, 0.9964, -0.0151, 0.8379, 0.6067, -0.3931, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3446 left_y=-0.2738 left_z=0.1136 left_yaw=0.3308 left_pitch=-0.0745 left_roll=0.0084 left_gripper=0.9964 right_x=0.296 right_y=0.0013 right_z=0.1664 right_yaw=-0.0002 right_pitch=-0.0641 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.4564, 7.747, 0.5006, -0.8034, -0.0024, -0.0269, -0.0615, -1.6205, 7.0359, 1.663, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:973948da2e0df9812a5d939aa6c23016bccb9079ddd55b2a66d2b779a5c63ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7e830d8928cc6e1b22e45ffd40b38b3eb5c06fa4cf580d9fd065df9cb0d3f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a877f3ec934021fdc8940f75baf302e71fdb562f4a8efa7cba2abf138987e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AYKjgEIEhgCKkBx6u98ulUdc7PRoKeapAvi/hR3vEciZHQSqLM4k535BHw+uCi6ahjocZdLdQXe9QrOqaEI2ztDvjrvCh0p3MLBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcaIzdUGEgyeThzCXRKtzR6GPdMaDFCO7uKKTit0rkZwBiIwrHPoywkhmsg4T1rcJW53vt95YIavfAvY3tj+Id260olLd7xvtVBXMEfpjZ8oNe5zKooFrJHrVoPGZD2sjI/X5MQwAxveH5oU+rzl3L5LhYe7m7iXZCeunJ8Wtv99S5FNDigaUak2IlwzoGnw9Tqw2EyOacmsJ5Xqs10ylC1TuO/3/b99S62Eg5yC8frBloYFgASFHFtQm3tKsdHQ1ZbWglPMP5TW7w+dj9PQ4Twfcutv0lhOxw6ThOcQ62rUx6GNQPsKxt6BpfZDp9ZM+nX03KHYcuKCsGXIUM9zxbr9bMKJf21WOQ2Jf93oGcdsl7NbE9FQY7ow7rrK/olahddGdB+yCm+KkCxLYQdHukZfHW1WhcaQ4HuZJxAJnSrThlo41ucbgQDCI1YHZ9CfG5qenlbVtnbYc0mJOaqG9tHw06c74YdaNcbXSbMp2uLcntin2+z4ZZZTftUR6h3fVRahFz251rs+zJK5Y3bc5HldENdRnSo0L90koXF8TWAB4HL6EpMtoV29+wnbWLeTqAB639X3WA9qK9bj0BCzcbvBkp9InPfvu5Ip74eLxpt/MEHdScpkYGzZdx/NSNVnJavE33nGWRqj4iXqu8uTMtZvisp/z3nF1KB2woOT4hwU5wbhnzZrDg6J+UBhQIKz/s/eyrQZmOyog2z/u/KF6JoXImOH7++1UcZUOIX/cg1Ynn2vijGVK7X8oqzHmCsaky81WaXMNi1bW1O977bdXiJezf5niZdLMqB3MCUHS20l9b0ngJJCwUth0LGPID521OS+bKdLXxIyY/bY9zSuBIz3FKz+Mc9ht08ebMH8aDo8BRWHSLYi3UcdAd3t/L0LjFlmjKw5QfXIIHhLC8PbtU1wIBNvWZbiN0Z0EylniJJuBg796SzR63BuTlvFaVQDhJunAm1z3qttW2r7FbOYcx8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VeWvXBznQ9jNGa97vT9YbD",
      "input": {
        "note": "A brown teddy sits just below the jaw column in the wrist view; advancing 2 cm, dropping to table level and closing on it.",
        "targets": {
          "left_gripper": 0.05,
          "left_x": 0.36,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VeWvXBznQ9jNGa97vT9YbD",
      "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]: [-0.9703, 2.0937, 1.3167, -0.4503, -0.8825, -1.1439, 0.0546, -0.0151, 0.8379, 0.6067, -0.3923, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3584 left_y=-0.2756 left_z=0.0402 left_yaw=0.3303 left_pitch=-0.0765 left_roll=0.0012 left_gripper=0.0546 right_x=0.2961 right_y=0.0012 right_z=0.1666 right_yaw=0.0001 right_pitch=-0.0633 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -9.1282, 4.6838, 0.862, -0.4469, 0.0415, 0.1245, -0.212, -1.347, 6.9949, 1.7314, -0.0415, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:068d48da956ffbb80f2e66a34a349e42a0b1bc51f83c6c46e4d5b7dc74b11621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c707231fe37c8a7aa354d4a845b52935fbfe617ac9ebfd44e3a31cdb403e4ba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1d024a4ccf5d05f17534b9d1e99bb7881150a01adb03aad84daa946fec983a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 9.489 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]: [-0.622, 1.8801, 0.9657, -0.0174, -0.7532, -0.7013, 0.0536, -0.0154, 0.836, 0.6067, -0.3923, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4106 left_y=-0.1413 left_z=0.0465 left_yaw=0.3558 left_pitch=-0.0615 left_roll=0.0413 left_gripper=0.0536 right_x=0.296 right_y=0.0011 right_z=0.1671 right_yaw=-0.0007 right_pitch=-0.0614 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.8017, 5.4769, 1.3455, -0.4811, 0.0659, -0.0366, -0.3487, -1.7846, 6.9949, 1.746, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.9985, 1.961, 1.4376, -0.7418, -0.8951, -1.1843, 0.9964, -0.0151, 0.8379, 0.6067, -0.3931, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3446 left_y=-0.2738 left_z=0.1136 left_yaw=0.3308 left_pitch=-0.0745 left_roll=0.0084 left_gripper=0.9964 right_x=0.296 right_y=0.0013 right_z=0.1664 right_yaw=-0.0002 right_pitch=-0.0641 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.4564, 7.747, 0.5006, -0.8034, -0.0024, -0.0269, -0.0615, -1.6205, 7.0359, 1.663, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9703, 2.0937, 1.3167, -0.4503, -0.8825, -1.1439, 0.0546, -0.0151, 0.8379, 0.6067, -0.3923, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3584 left_y=-0.2756 left_z=0.0402 left_yaw=0.3303 left_pitch=-0.0765 left_roll=0.0012 left_gripper=0.0546 right_x=0.2961 right_y=0.0012 right_z=0.1666 right_yaw=0.0001 right_pitch=-0.0633 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -9.1282, 4.6838, 0.862, -0.4469, 0.0415, 0.1245, -0.212, -1.347, 6.9949, 1.7314, -0.0415, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:068d48da956ffbb80f2e66a34a349e42a0b1bc51f83c6c46e4d5b7dc74b11621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c707231fe37c8a7aa354d4a845b52935fbfe617ac9ebfd44e3a31cdb403e4ba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d024a4ccf5d05f17534b9d1e99bb7881150a01adb03aad84daa946fec983a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BmTGiW6fxJUkCqUEWcvBAD",
      "input": {
        "note": "Left-arm closes keep coming up empty on the plush cluster, so I am switching to the right arm and the marker pens, which are easy to grasp; hovering over the pens before descending.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.2,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01BmTGiW6fxJUkCqUEWcvBAD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9043, 2.1002, 1.2922, -0.5339, -0.8833, -1.153, 0.0544, 0.7555, 1.4113, 0.7391, -0.2684, 0.7364, 0.5571, 0.999]\nstate[eef_state]: left_x=0.3619 left_y=-0.2334 left_z=0.0269 left_yaw=0.4116 left_pitch=-0.1053 left_roll=0.1051 left_gripper=0.0544 right_x=0.3159 right_y=0.1395 right_z=0.1048 right_yaw=-0.149 right_pitch=-0.0876 right_roll=-0.1358 right_gripper=0.999\nstate[joint_eff]: [-5.3812, -10.947, 7.3231, 1.7705, -0.4615, 0.0562, -0.0415, 5.9282, -3.4667, 10.8513, 2.293, -0.9109, -0.4078, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:722a932bd2bd473cf8cb01137a52212869bc14ae6b65e6d926afdf9c60b28853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff6bfe6f62d28af6c7bdf80b802668c3afb8879f6023003131d643063cf99ff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7e8e8d3dc6834a50bcdab439544bc76bab94920e7fd7019923a7de725e2efa6",
        "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 · 2.888 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]: [-0.9985, 1.961, 1.4376, -0.7418, -0.8951, -1.1843, 0.9964, -0.0151, 0.8379, 0.6067, -0.3931, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3446 left_y=-0.2738 left_z=0.1136 left_yaw=0.3308 left_pitch=-0.0745 left_roll=0.0084 left_gripper=0.9964 right_x=0.296 right_y=0.0013 right_z=0.1664 right_yaw=-0.0002 right_pitch=-0.0641 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -9.4564, 7.747, 0.5006, -0.8034, -0.0024, -0.0269, -0.0615, -1.6205, 7.0359, 1.663, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9703, 2.0937, 1.3167, -0.4503, -0.8825, -1.1439, 0.0546, -0.0151, 0.8379, 0.6067, -0.3923, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3584 left_y=-0.2756 left_z=0.0402 left_yaw=0.3303 left_pitch=-0.0765 left_roll=0.0012 left_gripper=0.0546 right_x=0.2961 right_y=0.0012 right_z=0.1666 right_yaw=0.0001 right_pitch=-0.0633 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -9.1282, 4.6838, 0.862, -0.4469, 0.0415, 0.1245, -0.212, -1.347, 6.9949, 1.7314, -0.0415, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9043, 2.1002, 1.2922, -0.5339, -0.8833, -1.153, 0.0544, 0.7555, 1.4113, 0.7391, -0.2684, 0.7364, 0.5571, 0.999]\nstate[eef_state]: left_x=0.3619 left_y=-0.2334 left_z=0.0269 left_yaw=0.4116 left_pitch=-0.1053 left_roll=0.1051 left_gripper=0.0544 right_x=0.3159 right_y=0.1395 right_z=0.1048 right_yaw=-0.149 right_pitch=-0.0876 right_roll=-0.1358 right_gripper=0.999\nstate[joint_eff]: [-5.3812, -10.947, 7.3231, 1.7705, -0.4615, 0.0562, -0.0415, 5.9282, -3.4667, 10.8513, 2.293, -0.9109, -0.4078, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:722a932bd2bd473cf8cb01137a52212869bc14ae6b65e6d926afdf9c60b28853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff6bfe6f62d28af6c7bdf80b802668c3afb8879f6023003131d643063cf99ff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7e8e8d3dc6834a50bcdab439544bc76bab94920e7fd7019923a7de725e2efa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AYKjgEIEhgCKkASZGrX/IrA1JDHKrra2DiFgsKzDC+4z62W7Ei7h5HVLqcFwyDXY8iY5HdgUym2l3+emEyODDdQNxuXzaAClp+ZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2IzdUGEgy1qwk3sfaMBbO1V3waDDg0kIQWTH9g9eQ49CIwCqzpvClwKDcCMg/mbpKbpNpL+Muo3NP5lbldXEDpF/ogZ8gk4lcCndD0bjVyhlttKo4F+opM1yq50W6KMZ+fVSvgOvrWU6SoieFSrCrtQpW8clBiYT5xmYhPvS+UGhXkl/lJHs2nCpbfth/RuNR5hs2dFE26ynHR1ETpIvzV893kFYb5mxSlpgIFYUq/pPgt8MWUucBIANmAcJAp/nJLq7f81NUp+z+59Q5ovlfP+2sfshmDxBnNzcjsDNxKr1X3XKQiOl1MCtkgF52a50amXQ29vmwJ6l+ck1crbwZu3VI8Z1SAa/9EVbIEwdAIlGUhHw0c09BfUw2dT1OikBIvGDE+NobIa3otqfx/KND1SXpu6fgZvaGGmj/OxQSdj8BqYqTWgipkeWSDP5rtLKo6ayM5hWW69pudvqAU4DeN4hHbOtnpqaLsHBjQvAEd/ttIRkXWVy7tVKJZjOAXBYl2o5oNrVZaEZOg6QCZ946kcvAl3m0JDuKMCaTzvf1lcfghhwEVTO3lmSg254DNdmyZkOVAbkyPojYZWrT1HzX5CMrukp7UemN4VZ3QShUlNXvk4Q7myHj6HaMJK3b/kcZwFLZA0SBrOudS43ACxWHyHXoMfK4lbZ122Sx6yu4MCOWan0n3PjysmUdaAzcR0WjnNulOFz+0NGKAyrg2DLWKN2ja1nz4uyswzSwmYvl4Ssd4MNE3mkyrQ9BrUw3zsMcP/JrbfdQ+VGeE2+CsNxDHSx9MgQQ0VQNX3Vm2lAHG47SNe1YcCC2HpRk3/g2mRetyJKsn9SIBqKtNeK9Xs+lIRMLpREfOmVMBEAqW6X8TK0LcOtE8JxySBnW7MF6NkITMJJkVr4mFmCVHTbqAhrozgui0pAZhAdbU6z3cJhzVynn9lNKw8J5ztgRBfu7PQeltvYiZX7l+rFAwrZdcredQUtgJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HtgDMe7qTAKwp9ZxPEvGMW",
      "input": {
        "note": "Right wrist view shows the blue marker just left of the jaw column near the bottom edge; advancing 3 cm forward and down to table level to straddle the pen.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.155,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HtgDMe7qTAKwp9ZxPEvGMW",
      "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]: [-0.8658, 2.112, 1.2785, -0.572, -0.8829, -1.1599, 0.0544, 0.7197, 1.7668, 0.6689, 0.2279, 0.7021, 0.519, 0.999]\nstate[eef_state]: left_x=0.3626 left_y=-0.21 left_z=0.0176 left_yaw=0.4607 left_pitch=-0.1209 left_roll=0.1617 left_gripper=0.0544 right_x=0.3501 right_y=0.1599 right_z=0.0237 right_yaw=-0.138 right_pitch=-0.0658 right_roll=-0.0947 right_gripper=0.999\nstate[joint_eff]: [-3.3983, -11.3026, 6.2838, 1.072, -0.4615, 0.0269, -0.0171, -0.8547, -3.7265, 5.5316, 0.232, 0.4322, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0318e0dcab5a602351d4d6e358c795dee364af86c2232a154201128159883630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ec31b9b9aaf14e2807066d912950e9d202187eb44b79a3eb7b658007d8ba225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a16161304a69584a8ffe2d799b22cded522a52290d2a0da56ea021f8dea41d24",
        "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 · 7.871 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]: [-0.9703, 2.0937, 1.3167, -0.4503, -0.8825, -1.1439, 0.0546, -0.0151, 0.8379, 0.6067, -0.3923, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.3584 left_y=-0.2756 left_z=0.0402 left_yaw=0.3303 left_pitch=-0.0765 left_roll=0.0012 left_gripper=0.0546 right_x=0.2961 right_y=0.0012 right_z=0.1666 right_yaw=0.0001 right_pitch=-0.0633 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -9.1282, 4.6838, 0.862, -0.4469, 0.0415, 0.1245, -0.212, -1.347, 6.9949, 1.7314, -0.0415, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9043, 2.1002, 1.2922, -0.5339, -0.8833, -1.153, 0.0544, 0.7555, 1.4113, 0.7391, -0.2684, 0.7364, 0.5571, 0.999]\nstate[eef_state]: left_x=0.3619 left_y=-0.2334 left_z=0.0269 left_yaw=0.4116 left_pitch=-0.1053 left_roll=0.1051 left_gripper=0.0544 right_x=0.3159 right_y=0.1395 right_z=0.1048 right_yaw=-0.149 right_pitch=-0.0876 right_roll=-0.1358 right_gripper=0.999\nstate[joint_eff]: [-5.3812, -10.947, 7.3231, 1.7705, -0.4615, 0.0562, -0.0415, 5.9282, -3.4667, 10.8513, 2.293, -0.9109, -0.4078, -0.0952]",
      "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]: [-0.8658, 2.112, 1.2785, -0.572, -0.8829, -1.1599, 0.0544, 0.7197, 1.7668, 0.6689, 0.2279, 0.7021, 0.519, 0.999]\nstate[eef_state]: left_x=0.3626 left_y=-0.21 left_z=0.0176 left_yaw=0.4607 left_pitch=-0.1209 left_roll=0.1617 left_gripper=0.0544 right_x=0.3501 right_y=0.1599 right_z=0.0237 right_yaw=-0.138 right_pitch=-0.0658 right_roll=-0.0947 right_gripper=0.999\nstate[joint_eff]: [-3.3983, -11.3026, 6.2838, 1.072, -0.4615, 0.0269, -0.0171, -0.8547, -3.7265, 5.5316, 0.232, 0.4322, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0318e0dcab5a602351d4d6e358c795dee364af86c2232a154201128159883630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ec31b9b9aaf14e2807066d912950e9d202187eb44b79a3eb7b658007d8ba225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a16161304a69584a8ffe2d799b22cded522a52290d2a0da56ea021f8dea41d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+AIKjgEIEhgCKkB3r77jFnJU3iH3JcILjqMng/YgSdTruzBzX4R8OmMF1jlzMEWJd/DRCau3mPM0T8xqPhiggmwzEU/R+IPnxaMUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeGIzdUGEgxUjVDJva50kSQX6LwaDG3Gfq02iemoYbInJSIwTZxrtMK3WOsubM0GIDwVbp4ZUYJpgjV6Gy291EEmtNq5NB8WJWyuRmy1/rB/iaoTKpYBQLMEmJSUTsp7WWXA38Eq9KnBfwhksMNkMpaTeGhQ6ZcUjiuz185Co69DHd4tPSMEzu8tIgCbBV5rYExBW6Bi9X7wwGLbcvNDe/IuAYTbUwJlvraD2lW6Ytp3nTN8a6/aTvnK+WXJZAQ/rlu1/Dg0uwqY1MrFP9fF3TTQVLvvJyrDfh6dxwSmdhMJOlWltPOKIXKboe+2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015uuhxPctBMNfPKJgRhhHJB",
      "input": {
        "note": "The blue marker is centred between the jaw wedges at table level; closing the gripper on it.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015uuhxPctBMNfPKJgRhhHJB",
      "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]: [-0.8585, 2.1208, 1.2778, -0.5823, -0.8829, -1.1603, 0.0544, 0.7197, 1.784, 0.6682, 0.2516, 0.6941, 0.5159, 0.0546]\nstate[eef_state]: left_x=0.3622 left_y=-0.2052 left_z=0.0139 left_yaw=0.4705 left_pitch=-0.1257 left_roll=0.1808 left_gripper=0.0544 right_x=0.3512 right_y=0.1623 right_z=0.0199 right_yaw=-0.1306 right_pitch=-0.0668 right_roll=-0.0888 right_gripper=0.0546\nstate[joint_eff]: [-0.9368, -11.2752, 5.2718, 0.5983, -0.5104, -0.0269, -0.0171, -0.2667, -8.7863, 4.8205, 1.1258, 0.3639, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3198d51b47c8d0764943eab5282f3325f43d557e18e09982912f211466352c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b57d864ae3cda86c3096b7b27f1d321247814e55d9ce14710fc5b8834cd8199",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd256300dc3ab851c87f1f06739599427a55827df54e2d92cfe2c4b3fc4c7795",
        "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 · 7.413 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]: [-0.9043, 2.1002, 1.2922, -0.5339, -0.8833, -1.153, 0.0544, 0.7555, 1.4113, 0.7391, -0.2684, 0.7364, 0.5571, 0.999]\nstate[eef_state]: left_x=0.3619 left_y=-0.2334 left_z=0.0269 left_yaw=0.4116 left_pitch=-0.1053 left_roll=0.1051 left_gripper=0.0544 right_x=0.3159 right_y=0.1395 right_z=0.1048 right_yaw=-0.149 right_pitch=-0.0876 right_roll=-0.1358 right_gripper=0.999\nstate[joint_eff]: [-5.3812, -10.947, 7.3231, 1.7705, -0.4615, 0.0562, -0.0415, 5.9282, -3.4667, 10.8513, 2.293, -0.9109, -0.4078, -0.0952]",
      "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]: [-0.8658, 2.112, 1.2785, -0.572, -0.8829, -1.1599, 0.0544, 0.7197, 1.7668, 0.6689, 0.2279, 0.7021, 0.519, 0.999]\nstate[eef_state]: left_x=0.3626 left_y=-0.21 left_z=0.0176 left_yaw=0.4607 left_pitch=-0.1209 left_roll=0.1617 left_gripper=0.0544 right_x=0.3501 right_y=0.1599 right_z=0.0237 right_yaw=-0.138 right_pitch=-0.0658 right_roll=-0.0947 right_gripper=0.999\nstate[joint_eff]: [-3.3983, -11.3026, 6.2838, 1.072, -0.4615, 0.0269, -0.0171, -0.8547, -3.7265, 5.5316, 0.232, 0.4322, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8585, 2.1208, 1.2778, -0.5823, -0.8829, -1.1603, 0.0544, 0.7197, 1.784, 0.6682, 0.2516, 0.6941, 0.5159, 0.0546]\nstate[eef_state]: left_x=0.3622 left_y=-0.2052 left_z=0.0139 left_yaw=0.4705 left_pitch=-0.1257 left_roll=0.1808 left_gripper=0.0544 right_x=0.3512 right_y=0.1623 right_z=0.0199 right_yaw=-0.1306 right_pitch=-0.0668 right_roll=-0.0888 right_gripper=0.0546\nstate[joint_eff]: [-0.9368, -11.2752, 5.2718, 0.5983, -0.5104, -0.0269, -0.0171, -0.2667, -8.7863, 4.8205, 1.1258, 0.3639, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3198d51b47c8d0764943eab5282f3325f43d557e18e09982912f211466352c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b57d864ae3cda86c3096b7b27f1d321247814e55d9ce14710fc5b8834cd8199",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd256300dc3ab851c87f1f06739599427a55827df54e2d92cfe2c4b3fc4c7795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8QUKjgEIEhgCKkAmffNrJZ1Oh8gvsRKmYOyGX5wIo1NyR8DcnK6SbFRIrJVbsyHiZR/nF68gopNJFwIsa6Oq+Aa4py3IXhRuxzoFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeqIzdUGEgzML/5KkQdFIfZcwyUaDETCGcjuUNKSIa626SIwweJNzuJ/bCeeu4zMZpL8Fn7OfueFQyiUjRVQ6IYaAtqSIQmXBbNg/3vj4OSuV7gZKo8EnSUQkcNMf5Z1zWEFLZAT0vashPLBdPspzR1Ll+pLJdPWcRsRTDVHZISk0nS0G6ar7SxDBrLdFz0tG5kbLqD2La5L+ZJbWEiXiNWNZNlHqx46f/iJxjrVX0SrTeBagd6itpOjagTQFA5lHj/pTMio756JRCluP2U1SPu56sg8wwSKn1dzhCrM4n4yuNO9bzxwL4N46hTqXSvdKeVwXHfpltIKSudJz8h98ZGNf6W2smIHYGbAvLxU48iTbCz1ueIgqYObCrsu4bY7uOhBtsmkRAGKvoyr5A+tOwR4DmVvWZHgCAlJvU4aZN31dXtpvKsFXy4xXGaSYuJVgbv7XlvaofBlFmHT+PdCKhQ7JVSumHZk83IYnyEpuoZEVLwufg7JjnF9YccWtgIuIJnorHnijkcaFxWiq0fgEnINfn0ctUOG+x+zAmGFrxPsd+So4iJ2dpSHj7xnwtz+wHBzAbYC0S59U8ZdViR+fCT2+xdkSKPHcdiuEvCwd805XQs1JT1RCGzAJ9bqLZ5fGwbAQunA4PNPfMFhZbGAU9P/rsoa/vvtfcCbhknbuKMSoqhVL5hvFm+IetXaB4NaHpCMXy3lIz67286mTBiJPSGFUHEcqfovsIabUCkVRMFSEN0oQcHbDm4BcVw3X7senE5APxa1x71R9l65WpkBBQKzZxPLVkDyk0nhQhVBOevs0+pIjTgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NtVvz9ySk6Kurhgc4RXwdF",
      "input": {
        "note": "Gripper reads 0.055 after closing on the pen; lifting to see whether the marker came up with the jaws.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01NtVvz9ySk6Kurhgc4RXwdF",
      "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]: [-0.8585, 2.1208, 1.2778, -0.5724, -0.8829, -1.1606, 0.0544, 0.7158, 1.4715, 1.0821, -0.4866, 0.6796, 0.5091, 0.0545]\nstate[eef_state]: left_x=0.3634 left_y=-0.2065 left_z=0.0142 left_yaw=0.4695 left_pitch=-0.1232 left_roll=0.1708 left_gripper=0.0544 right_x=0.3543 right_y=0.1658 right_z=0.1779 right_yaw=-0.1216 right_pitch=-0.0833 right_roll=-0.0958 right_gripper=0.0545\nstate[joint_eff]: [-0.3214, -10.6462, 5.3538, 0.4078, -0.4762, -0.0562, -0.0171, 0.1846, -8.6359, 9.2103, 1.2137, 0.442, 0.0317, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f27655e2449b1548100686de6450150fb16caf6016dab1c8b3d26d5452be979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2479bd0d6f7f3f34e9c0c8c1e237a1dc2d3db87ba28febc52b630d225fcb05c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d5fef7e34a342509b336ca1487c140050b4bcea9c07479858456a14fba968dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 5.841 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]: [-0.8658, 2.112, 1.2785, -0.572, -0.8829, -1.1599, 0.0544, 0.7197, 1.7668, 0.6689, 0.2279, 0.7021, 0.519, 0.999]\nstate[eef_state]: left_x=0.3626 left_y=-0.21 left_z=0.0176 left_yaw=0.4607 left_pitch=-0.1209 left_roll=0.1617 left_gripper=0.0544 right_x=0.3501 right_y=0.1599 right_z=0.0237 right_yaw=-0.138 right_pitch=-0.0658 right_roll=-0.0947 right_gripper=0.999\nstate[joint_eff]: [-3.3983, -11.3026, 6.2838, 1.072, -0.4615, 0.0269, -0.0171, -0.8547, -3.7265, 5.5316, 0.232, 0.4322, 0.0122, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8585, 2.1208, 1.2778, -0.5823, -0.8829, -1.1603, 0.0544, 0.7197, 1.784, 0.6682, 0.2516, 0.6941, 0.5159, 0.0546]\nstate[eef_state]: left_x=0.3622 left_y=-0.2052 left_z=0.0139 left_yaw=0.4705 left_pitch=-0.1257 left_roll=0.1808 left_gripper=0.0544 right_x=0.3512 right_y=0.1623 right_z=0.0199 right_yaw=-0.1306 right_pitch=-0.0668 right_roll=-0.0888 right_gripper=0.0546\nstate[joint_eff]: [-0.9368, -11.2752, 5.2718, 0.5983, -0.5104, -0.0269, -0.0171, -0.2667, -8.7863, 4.8205, 1.1258, 0.3639, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8585, 2.1208, 1.2778, -0.5724, -0.8829, -1.1606, 0.0544, 0.7158, 1.4715, 1.0821, -0.4866, 0.6796, 0.5091, 0.0545]\nstate[eef_state]: left_x=0.3634 left_y=-0.2065 left_z=0.0142 left_yaw=0.4695 left_pitch=-0.1232 left_roll=0.1708 left_gripper=0.0544 right_x=0.3543 right_y=0.1658 right_z=0.1779 right_yaw=-0.1216 right_pitch=-0.0833 right_roll=-0.0958 right_gripper=0.0545\nstate[joint_eff]: [-0.3214, -10.6462, 5.3538, 0.4078, -0.4762, -0.0562, -0.0171, 0.1846, -8.6359, 9.2103, 1.2137, 0.442, 0.0317, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f27655e2449b1548100686de6450150fb16caf6016dab1c8b3d26d5452be979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2479bd0d6f7f3f34e9c0c8c1e237a1dc2d3db87ba28febc52b630d225fcb05c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d5fef7e34a342509b336ca1487c140050b4bcea9c07479858456a14fba968dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0ggKjgEIEhgCKkBcCug517WV9+9u2A0b7usDqQZyDWv/iTSH2KGuVtTl3rEQv3sOSo4LenrIGRl8bSlma5xaocPY93PPs7fApLcrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfKIzdUGEgykbdmggpIK+Whxu6gaDIdKPOJAAgtUAG1hCiIwun72ajDAltN+Z4bVhMDbVBebOnbUi0QqvbI6hBxItrHoCstwcSHuKFnjtG+jN5TdKvAGsjXFD1eleej9bgZNrpknjT7BdcwCTpJwWy8COICUELVwsZ7HXutPtwsxXQyt6E95ut6LhlkfFmBwewCJdqme5xcuUF7tKXdJOlCSw643cwX3RbKhS9s+VL5M2pZsZSadC3RyPMp72GU8Kj6l7tQGjkNztBFUelpHmCNvVTOba6LWy7MEguqWKxrR08lrUu3KrDXAFA0+ai3924VDKhAcTlFggp5cmpm+bE0olp7onfJqaCdthkuHUmqcMuBWoMb3Wnj/00G8+lEHomHIKpLIzSJYVi06H8ZVkkTFBZp6f2gJq366VjraQQf5pzNSR94RpbDtM6JUj0tZnFPazdn+PiRTTlm3+UU+VET17GCegHopIbxBPGvvf+upcwBQuh30lXb/JJb0yZDIIf1OlA1iWTsTjz1J39Q1Zgu0R+94CGuS71FDVwPfgIlZf+ojrfyjCQOGKrcoMrtzDswqpE7a1/PBLuRvwY8zQSi2ob/QKFOfwgGNqkK9tC7VWnklgvEfe0Ldjr9SM5CtSP+IzMeyZNrBV4KaZi6AN+o57wurIRvF4Cq7hvytB3r3AUsVwH5gcGweMoFaZ0LSw/mFNRqlELoQolsGVfpVkJQCjayvUuUlb60sFkho3HucMd+k+5sN7MPXjaJooEzR/MiB8n0QzfcN9wz6c6e99Vh6uakA60pP07JvuLpHAD9RdDojkU5cn8yXR8j0eNyIxOZVuqVJPJmTPFOop4md9e/RX/i1sA0L6yZORrAbuvLkg3di7ejtE5xpLTecoITL1aCm1C4fJIKBhCmluLJkNFGU4qX6HYcBzCfLyMlA+l6EEzNeevBw4QJNlJWSrx32SOYXThjL9h1+gbKAGnNncgPA6mVhkzUSncsEYDe9DnajkywhvSj05oDUv+Y+QRrUQHhinVGsOlsgivhNNNqnmX0sB2aSi5n2/TAJFZ8bZaNbJEDzipxw9/1qOOrYQMRb0mSBau0R0TGs79RI5p5HTvbTo5vrgQ7sUz4g+8nV+LRAHkFLvia+neSiAHFTXDPHo/MhvqoQp7PIkj6Rs8LyxWjQrTv8p2fT6RmcGapLnEBXfoHgk5p7LgRRi2AYvuNgN8/sywq3lALkpJfa1G3wWq6BuhK4prb93Fn2zDP4P2s1NbpSiziL5udNMhrPrPy8ZiASyf7xchgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ANCMAANzqxritX4ZFkgJ3j",
      "input": {
        "note": "The blue marker is hanging from the right gripper. Carrying it high over toward the right-hand basket, which will hold the pens.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.3,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01ANCMAANzqxritX4ZFkgJ3j",
      "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]: [-0.8589, 2.1208, 1.2778, -0.5621, -0.8829, -1.1606, 0.0544, 0.7208, 2.3734, 2.5095, -1.0149, 0.6758, 0.5091, 0.0545]\nstate[eef_state]: left_x=0.3645 left_y=-0.2081 left_z=0.0145 left_yaw=0.4679 left_pitch=-0.1208 left_roll=0.1608 left_gripper=0.0544 right_x=0.5042 right_y=0.3006 right_z=0.2282 right_yaw=-0.1142 right_pitch=-0.0873 right_roll=-0.0959 right_gripper=0.0545\nstate[joint_eff]: [-0.1299, -10.4547, 5.1077, 0.3834, -0.5104, -0.0317, -0.0171, 0.4444, -11.2205, 5.1624, 0.0073, 0.3297, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bd0c4fb027435971ab2f0b7c8f2a2aed1ca1badeb2701426f10abc196a21872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d03beaf1d9dd07cad868985f284f27f1d9165d4bde81b8275f65a02ede652f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f7188aa1d317d98d28a2ea3c880c1d58f98f3661ef686c69001f6bfce18ca2e",
        "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 · 12.11 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]: [-0.8585, 2.1208, 1.2778, -0.5823, -0.8829, -1.1603, 0.0544, 0.7197, 1.784, 0.6682, 0.2516, 0.6941, 0.5159, 0.0546]\nstate[eef_state]: left_x=0.3622 left_y=-0.2052 left_z=0.0139 left_yaw=0.4705 left_pitch=-0.1257 left_roll=0.1808 left_gripper=0.0544 right_x=0.3512 right_y=0.1623 right_z=0.0199 right_yaw=-0.1306 right_pitch=-0.0668 right_roll=-0.0888 right_gripper=0.0546\nstate[joint_eff]: [-0.9368, -11.2752, 5.2718, 0.5983, -0.5104, -0.0269, -0.0171, -0.2667, -8.7863, 4.8205, 1.1258, 0.3639, 0.0073, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8585, 2.1208, 1.2778, -0.5724, -0.8829, -1.1606, 0.0544, 0.7158, 1.4715, 1.0821, -0.4866, 0.6796, 0.5091, 0.0545]\nstate[eef_state]: left_x=0.3634 left_y=-0.2065 left_z=0.0142 left_yaw=0.4695 left_pitch=-0.1232 left_roll=0.1708 left_gripper=0.0544 right_x=0.3543 right_y=0.1658 right_z=0.1779 right_yaw=-0.1216 right_pitch=-0.0833 right_roll=-0.0958 right_gripper=0.0545\nstate[joint_eff]: [-0.3214, -10.6462, 5.3538, 0.4078, -0.4762, -0.0562, -0.0171, 0.1846, -8.6359, 9.2103, 1.2137, 0.442, 0.0317, -0.0269]",
      "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]: [-0.8589, 2.1208, 1.2778, -0.5621, -0.8829, -1.1606, 0.0544, 0.7208, 2.3734, 2.5095, -1.0149, 0.6758, 0.5091, 0.0545]\nstate[eef_state]: left_x=0.3645 left_y=-0.2081 left_z=0.0145 left_yaw=0.4679 left_pitch=-0.1208 left_roll=0.1608 left_gripper=0.0544 right_x=0.5042 right_y=0.3006 right_z=0.2282 right_yaw=-0.1142 right_pitch=-0.0873 right_roll=-0.0959 right_gripper=0.0545\nstate[joint_eff]: [-0.1299, -10.4547, 5.1077, 0.3834, -0.5104, -0.0317, -0.0171, 0.4444, -11.2205, 5.1624, 0.0073, 0.3297, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bd0c4fb027435971ab2f0b7c8f2a2aed1ca1badeb2701426f10abc196a21872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d03beaf1d9dd07cad868985f284f27f1d9165d4bde81b8275f65a02ede652f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f7188aa1d317d98d28a2ea3c880c1d58f98f3661ef686c69001f6bfce18ca2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQYKjgEIEhgCKkDoFq/+PSJX5QnWilvF5ZK+qCgIi3gy11Z6C8WM54HsKL/3WyOplisf3juEnGLnVn9L8MhkRdldCyM01dQkbyXcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfmIzdUGEgwCqlHMnZ8BGTk7kvkaDEutXu4rv5Vae8q5nyIwGSJtxFtYZTVI4nR8kj4UmKAq+faVB/ypXJ0d67m6wcLqfgL/X6jS8wyCixhjChohKuMEjJoFKN/6TMBqxO2ncq3ZOK38zx7w51jifHYiUeNxgHj/lBz00uFEHlWMxrwN/Ots9pjAd4i+Dt6iczA4uH2sVF2N4AudBYggB5Z3FanFE+ILqtnEZd/84VluTcD8ciefU4frOv7JaVlJWWi0/87YXi/TM6xRPchLYtzN77x41L81DPj4wIO9PbdV6XeN/47okdkNaSxjI1GRLmWX5NC1+xn5ZoR1+z7P/uo6Dtct7Oe6cgzCLWImul3C7DCzNAkGngGn6RjuueOtLm1yvl//yhlN0IYMf6F87YO0yL+iL+Mc7d/MHsp6H2x16bphoDt787/Os/Vf7d4Z35hPbhdYaheiRtp0rOpN2kdHqZzRTRHt3f3TGCWABPOQ9rs8uh7ovm7PYot1qS7c62ds/1whqQp1uhSLr7m8uPjEdYpE049nD/GC7bVvtI15PorxrHS0DbDg9aFCuHvKVhzZFpYynBFvTEk9ST/Q9spaJvEVHOLRwR4Wq9PHSMw68t84Mud8ogroHrUrigDIt36iUmrtS8UIkzdS3zTikxZbpljmcFK4RgTQQJMp/NQt11LjO8PxbwUFTJJKi7NhHgt8oFEZADCgqqcHhV/hLJKP9lYKZ5Z2xaU/6oOsirM1bghYV2VFkLxCjTrGmnyTJ9Gn9YzDdYpSfILWT8IJHQ+pek46j2vtHdV+6I7mAeH9cWSzbtqwWHr7glYlkO4HoC64ViDYawgh8zj0KA4bWcOAL4veDAxPsWkWgA4S6LH+qIuMTXkDtd1o5dSRViXL8sZfJ5OPDnrJ3nz2ydIEb6s6BmDElloQw3QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UtEyXaGqaBz5VJfgdSj7oe",
      "input": {
        "note": "The right wrist camera looks straight into the basket interior; lowering slightly and opening the jaws to drop the marker inside.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UtEyXaGqaBz5VJfgdSj7oe",
      "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]: [-0.8585, 2.1208, 1.2778, -0.5602, -0.8829, -1.1603, 0.0544, 0.7197, 2.3661, 2.2894, -0.8722, 0.6613, 0.5014, 0.9953]\nstate[eef_state]: left_x=0.3648 left_y=-0.2082 left_z=0.0145 left_yaw=0.4679 left_pitch=-0.1203 left_roll=0.1592 left_gripper=0.0544 right_x=0.5049 right_y=0.303 right_z=0.1677 right_yaw=-0.1075 right_pitch=-0.1436 right_roll=-0.1463 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -10.6325, 5.1077, 0.4957, -0.5006, -0.0562, -0.0171, -0.2393, -18.2085, 6.3932, 1.3651, 0.4567, -0.0366, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de08ba720eed5ba8f4768b22aeb11c698b5179a3c53a15e9de76157d038e4950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c4aa02d043c3eca6146b89064a71b230dad12319b97306728e3bd4fb925378",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfb2fd48fb0454bcafe352b26c5c0b2fcb9c44a2257485cfa8b1f6ba81e87ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 3.171 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]: [-0.8585, 2.1208, 1.2778, -0.5724, -0.8829, -1.1606, 0.0544, 0.7158, 1.4715, 1.0821, -0.4866, 0.6796, 0.5091, 0.0545]\nstate[eef_state]: left_x=0.3634 left_y=-0.2065 left_z=0.0142 left_yaw=0.4695 left_pitch=-0.1232 left_roll=0.1708 left_gripper=0.0544 right_x=0.3543 right_y=0.1658 right_z=0.1779 right_yaw=-0.1216 right_pitch=-0.0833 right_roll=-0.0958 right_gripper=0.0545\nstate[joint_eff]: [-0.3214, -10.6462, 5.3538, 0.4078, -0.4762, -0.0562, -0.0171, 0.1846, -8.6359, 9.2103, 1.2137, 0.442, 0.0317, -0.0269]",
      "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]: [-0.8589, 2.1208, 1.2778, -0.5621, -0.8829, -1.1606, 0.0544, 0.7208, 2.3734, 2.5095, -1.0149, 0.6758, 0.5091, 0.0545]\nstate[eef_state]: left_x=0.3645 left_y=-0.2081 left_z=0.0145 left_yaw=0.4679 left_pitch=-0.1208 left_roll=0.1608 left_gripper=0.0544 right_x=0.5042 right_y=0.3006 right_z=0.2282 right_yaw=-0.1142 right_pitch=-0.0873 right_roll=-0.0959 right_gripper=0.0545\nstate[joint_eff]: [-0.1299, -10.4547, 5.1077, 0.3834, -0.5104, -0.0317, -0.0171, 0.4444, -11.2205, 5.1624, 0.0073, 0.3297, 0.0952, -0.0122]",
      "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]: [-0.8585, 2.1208, 1.2778, -0.5602, -0.8829, -1.1603, 0.0544, 0.7197, 2.3661, 2.2894, -0.8722, 0.6613, 0.5014, 0.9953]\nstate[eef_state]: left_x=0.3648 left_y=-0.2082 left_z=0.0145 left_yaw=0.4679 left_pitch=-0.1203 left_roll=0.1592 left_gripper=0.0544 right_x=0.5049 right_y=0.303 right_z=0.1677 right_yaw=-0.1075 right_pitch=-0.1436 right_roll=-0.1463 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -10.6325, 5.1077, 0.4957, -0.5006, -0.0562, -0.0171, -0.2393, -18.2085, 6.3932, 1.3651, 0.4567, -0.0366, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de08ba720eed5ba8f4768b22aeb11c698b5179a3c53a15e9de76157d038e4950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c4aa02d043c3eca6146b89064a71b230dad12319b97306728e3bd4fb925378",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfb2fd48fb0454bcafe352b26c5c0b2fcb9c44a2257485cfa8b1f6ba81e87ebe",
        "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_01MxHxQEehxJ4qZDzu2aSH6T",
      "input": {
        "note": "The right basket looks empty so the pen was lost in transit; meanwhile the left wrist camera shows a large grey plush directly ahead. Opening the left gripper and advancing onto that plush.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "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_01MxHxQEehxJ4qZDzu2aSH6T",
      "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]: [-0.7952, 2.122, 1.3811, -0.5953, -0.8608, -1.0882, 0.9954, 0.7197, 2.3547, 2.2822, -0.8623, 0.6491, 0.5007, 0.9964]\nstate[eef_state]: left_x=0.394 left_y=-0.2053 left_z=0.0358 left_yaw=0.4795 left_pitch=-0.1291 left_roll=0.1443 left_gripper=0.9954 right_x=0.5044 right_y=0.3049 right_z=0.1716 right_yaw=-0.0975 right_pitch=-0.1413 right_roll=-0.1296 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -9.4701, 8.0342, 0.5592, -0.5592, 0.2613, -0.1148, -0.1709, -12.588, 7.159, 1.199, 0.3883, -0.0171, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64b2ef7798a6f02f48dfb1882f2ca4370fdf24bd044b59614f4d40d677e0f344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65415bfcbf3ba22a5b8cc8013ec857d63f6dbad106153f33249dd21cff36a65d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3182de1746b98ac0d73e01cb1406b8befc4e839c2cf18588db853dfaae66c3d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 5.473 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]: [-0.8589, 2.1208, 1.2778, -0.5621, -0.8829, -1.1606, 0.0544, 0.7208, 2.3734, 2.5095, -1.0149, 0.6758, 0.5091, 0.0545]\nstate[eef_state]: left_x=0.3645 left_y=-0.2081 left_z=0.0145 left_yaw=0.4679 left_pitch=-0.1208 left_roll=0.1608 left_gripper=0.0544 right_x=0.5042 right_y=0.3006 right_z=0.2282 right_yaw=-0.1142 right_pitch=-0.0873 right_roll=-0.0959 right_gripper=0.0545\nstate[joint_eff]: [-0.1299, -10.4547, 5.1077, 0.3834, -0.5104, -0.0317, -0.0171, 0.4444, -11.2205, 5.1624, 0.0073, 0.3297, 0.0952, -0.0122]",
      "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]: [-0.8585, 2.1208, 1.2778, -0.5602, -0.8829, -1.1603, 0.0544, 0.7197, 2.3661, 2.2894, -0.8722, 0.6613, 0.5014, 0.9953]\nstate[eef_state]: left_x=0.3648 left_y=-0.2082 left_z=0.0145 left_yaw=0.4679 left_pitch=-0.1203 left_roll=0.1592 left_gripper=0.0544 right_x=0.5049 right_y=0.303 right_z=0.1677 right_yaw=-0.1075 right_pitch=-0.1436 right_roll=-0.1463 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -10.6325, 5.1077, 0.4957, -0.5006, -0.0562, -0.0171, -0.2393, -18.2085, 6.3932, 1.3651, 0.4567, -0.0366, -0.1832]",
      "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]: [-0.7952, 2.122, 1.3811, -0.5953, -0.8608, -1.0882, 0.9954, 0.7197, 2.3547, 2.2822, -0.8623, 0.6491, 0.5007, 0.9964]\nstate[eef_state]: left_x=0.394 left_y=-0.2053 left_z=0.0358 left_yaw=0.4795 left_pitch=-0.1291 left_roll=0.1443 left_gripper=0.9954 right_x=0.5044 right_y=0.3049 right_z=0.1716 right_yaw=-0.0975 right_pitch=-0.1413 right_roll=-0.1296 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -9.4701, 8.0342, 0.5592, -0.5592, 0.2613, -0.1148, -0.1709, -12.588, 7.159, 1.199, 0.3883, -0.0171, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64b2ef7798a6f02f48dfb1882f2ca4370fdf24bd044b59614f4d40d677e0f344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65415bfcbf3ba22a5b8cc8013ec857d63f6dbad106153f33249dd21cff36a65d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3182de1746b98ac0d73e01cb1406b8befc4e839c2cf18588db853dfaae66c3d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wIKjgEIEhgCKkD1MQwRRD7vfr8XavfGxvbErRERLrcMDZIsXb6Sr5QQ7noog3jpeE8T1JcTw6Zpaf9Biy/FKt0V1ZrlxdKWnQogMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYqJzdUGEgwvB6ukOKEQAMxhfugaDO6iyCOZXJALLVM0LCIwCinMwLCNxHiiEvouIXbFDNWNTPGt15V8kt0Db70ZQuAYd3f3QQbj546CuBLuhs0YKoEBfgYX0xHXJbPIDVzQITsX2GeWHTaKGQSNg1lUAOm+UWhXmQ7HsZh4HrVYtGfnDGisD355hURoUJvzUk/f1HXI+Ppyhi3PknQqQGnNMqsY4sCFWePdOwPSWw2zg36UzifJBeZdHOsFq9SBM26hWtf3GwCnErieej74YRX7JAc0WjsTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CfMHHXwpevE7Zdy65Mu37M",
      "input": {
        "note": "The grey plush fills the left wrist view between the jaws; advancing slightly and closing firmly to grasp its body.",
        "targets": {
          "left_gripper": 0.05,
          "left_x": 0.42
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CfMHHXwpevE7Zdy65Mu37M",
      "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]: [-0.7555, 2.159, 1.4349, -0.5869, -0.8555, -1.0473, 0.0544, 0.7197, 2.3547, 2.2822, -0.8616, 0.6418, 0.5007, 0.9964]\nstate[eef_state]: left_x=0.4123 left_y=-0.2002 left_z=0.0348 left_yaw=0.4927 left_pitch=-0.1295 left_roll=0.1502 left_gripper=0.0544 right_x=0.5042 right_y=0.3061 right_z=0.1711 right_yaw=-0.0925 right_pitch=-0.145 right_roll=-0.125 right_gripper=0.9964\nstate[joint_eff]: [0.6496, -9.7709, 8.0615, 0.7643, -0.4029, 0.2125, 0.1636, -0.0205, -13.7231, 6.5162, 1.3114, 0.3248, -0.0269, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26f44a0dd7188d7e08e7f8c6f03b456a2368aa4064d4ab88fc5dd00ec255eb84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d0dbbaefe6842fdc1faf374539ca82046d3b21a5b4b049fc304909dc8ff9661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e6df1ece63a63edcbb92bb793bf2132cf7df541648abba0e8a393b8923fdba4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 8.58 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8585, 2.1208, 1.2778, -0.5602, -0.8829, -1.1603, 0.0544, 0.7197, 2.3661, 2.2894, -0.8722, 0.6613, 0.5014, 0.9953]\nstate[eef_state]: left_x=0.3648 left_y=-0.2082 left_z=0.0145 left_yaw=0.4679 left_pitch=-0.1203 left_roll=0.1592 left_gripper=0.0544 right_x=0.5049 right_y=0.303 right_z=0.1677 right_yaw=-0.1075 right_pitch=-0.1436 right_roll=-0.1463 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -10.6325, 5.1077, 0.4957, -0.5006, -0.0562, -0.0171, -0.2393, -18.2085, 6.3932, 1.3651, 0.4567, -0.0366, -0.1832]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7952, 2.122, 1.3811, -0.5953, -0.8608, -1.0882, 0.9954, 0.7197, 2.3547, 2.2822, -0.8623, 0.6491, 0.5007, 0.9964]\nstate[eef_state]: left_x=0.394 left_y=-0.2053 left_z=0.0358 left_yaw=0.4795 left_pitch=-0.1291 left_roll=0.1443 left_gripper=0.9954 right_x=0.5044 right_y=0.3049 right_z=0.1716 right_yaw=-0.0975 right_pitch=-0.1413 right_roll=-0.1296 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -9.4701, 8.0342, 0.5592, -0.5592, 0.2613, -0.1148, -0.1709, -12.588, 7.159, 1.199, 0.3883, -0.0171, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7555, 2.159, 1.4349, -0.5869, -0.8555, -1.0473, 0.0544, 0.7197, 2.3547, 2.2822, -0.8616, 0.6418, 0.5007, 0.9964]\nstate[eef_state]: left_x=0.4123 left_y=-0.2002 left_z=0.0348 left_yaw=0.4927 left_pitch=-0.1295 left_roll=0.1502 left_gripper=0.0544 right_x=0.5042 right_y=0.3061 right_z=0.1711 right_yaw=-0.0925 right_pitch=-0.145 right_roll=-0.125 right_gripper=0.9964\nstate[joint_eff]: [0.6496, -9.7709, 8.0615, 0.7643, -0.4029, 0.2125, 0.1636, -0.0205, -13.7231, 6.5162, 1.3114, 0.3248, -0.0269, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26f44a0dd7188d7e08e7f8c6f03b456a2368aa4064d4ab88fc5dd00ec255eb84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d0dbbaefe6842fdc1faf374539ca82046d3b21a5b4b049fc304909dc8ff9661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e6df1ece63a63edcbb92bb793bf2132cf7df541648abba0e8a393b8923fdba4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISrQUKjgEIEhgCKkAbqaAyt2df+U5QNp/OHjeZZea54zLnZJFLaufPx9fWIVdd7yuuQ7JsyORSNG/39Ibu7biky5T5oC8eDALv/bkdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZCJzdUGEgzmiuSVQFhocYNZPwAaDDl0fDnkyffQYBI+xyIwded1WwRJ3llP+pb2yFN4HHKtxWqUiTUa2UqEwirxcTuR3B4zrR4HXOJ0lf5xOvgQKssDzj6RdlFgsaWBJaD32nzwgt+XjjNSWFyW3vgMvNXoKjXBc35meC9YnlPiQXwe/MWLL2uDsUVhrcoozjDyvoB63ZfKeFLfV3xZVhgA2UH846L9kP44jYgoodDUl9p1ZnWjKw8hlRRZ6bhh+XdZPR4H3UOaGVbmuRbsPc6CljJyLG/LhXWEmeE+qo+3SLR76z/dlVlyDcx6j5qaw9vB1BGGkMRLwGdRnfryMeCo+hwUlS01Dx1tbWKJrLqqlHPpGKjWbWowcXbHztTMbv+WVl62sPqfna1Tor5J1AhRe7HvVgrhZwYfKhc42Vb4p67CJBoPMGQHAozmLYDz65DTOKz8NrffOoqOK8xS9DpOZVQ+uiXBIDoEipAQt3jHFYOPvVQofkiiGLmeoUYtKQz+Djv13/oKpS+QJ+gXs84JVe1HGFh25a+rggWBr4wsrV6kjOV5Ohr8jh4ooIYecLU1xv+oUai/40QA50F28mRnLPjtAVd9SgOJyffVBQX5Eckrgk6fAP+zc038RZlOXVg3kutIkSqj20f0dxeA6jaO81VJXcYgXDF1masFGNtBHuGOBvSiN7VUqnqyrOvmyq/566Bl8eMsEC+pQ4V2TMQSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XeqCuR7iqGe8SFuSj3ZnzY",
      "input": {
        "note": "Jaws closed on the plush; lifting and carrying toward the left (teal) basket in one motion to save time.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.1,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01XeqCuR7iqGe8SFuSj3ZnzY",
      "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]: [-0.5743, 2.1597, 1.9713, -1.214, -0.7128, -0.6964, 0.0544, 0.6762, 2.2696, 2.3753, -0.5285, 0.6262, 0.5205, 0.9964]\nstate[eef_state]: left_x=0.4446 left_y=-0.1458 left_z=0.1439 left_yaw=0.4645 left_pitch=-0.3485 left_roll=0.4299 left_gripper=0.0544 right_x=0.5475 right_y=0.3111 right_z=0.3123 right_yaw=-0.1452 right_pitch=0.2011 right_roll=0.2698 right_gripper=0.9964\nstate[joint_eff]: [10.5368, -18.9607, 17.0051, 2.4542, -0.6374, 0.3199, -0.022, 3.9863, -5.8188, -0.5402, -1.9805, 0.0562, -0.2125, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afcf0eebbe78156a832e3fe8e8045e0885bf3c4aaf678661ebc105ccf3013e63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54a9a0b339efb94ccb56a994ec38a9f5b1e02facd8de560b8ec17993ce36b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3822278e21ccf3e5d3bf6b56c50b18f8f3939aee3577700bcb0990cfcbccb8a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 10.78 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7952, 2.122, 1.3811, -0.5953, -0.8608, -1.0882, 0.9954, 0.7197, 2.3547, 2.2822, -0.8623, 0.6491, 0.5007, 0.9964]\nstate[eef_state]: left_x=0.394 left_y=-0.2053 left_z=0.0358 left_yaw=0.4795 left_pitch=-0.1291 left_roll=0.1443 left_gripper=0.9954 right_x=0.5044 right_y=0.3049 right_z=0.1716 right_yaw=-0.0975 right_pitch=-0.1413 right_roll=-0.1296 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -9.4701, 8.0342, 0.5592, -0.5592, 0.2613, -0.1148, -0.1709, -12.588, 7.159, 1.199, 0.3883, -0.0171, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7555, 2.159, 1.4349, -0.5869, -0.8555, -1.0473, 0.0544, 0.7197, 2.3547, 2.2822, -0.8616, 0.6418, 0.5007, 0.9964]\nstate[eef_state]: left_x=0.4123 left_y=-0.2002 left_z=0.0348 left_yaw=0.4927 left_pitch=-0.1295 left_roll=0.1502 left_gripper=0.0544 right_x=0.5042 right_y=0.3061 right_z=0.1711 right_yaw=-0.0925 right_pitch=-0.145 right_roll=-0.125 right_gripper=0.9964\nstate[joint_eff]: [0.6496, -9.7709, 8.0615, 0.7643, -0.4029, 0.2125, 0.1636, -0.0205, -13.7231, 6.5162, 1.3114, 0.3248, -0.0269, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5743, 2.1597, 1.9713, -1.214, -0.7128, -0.6964, 0.0544, 0.6762, 2.2696, 2.3753, -0.5285, 0.6262, 0.5205, 0.9964]\nstate[eef_state]: left_x=0.4446 left_y=-0.1458 left_z=0.1439 left_yaw=0.4645 left_pitch=-0.3485 left_roll=0.4299 left_gripper=0.0544 right_x=0.5475 right_y=0.3111 right_z=0.3123 right_yaw=-0.1452 right_pitch=0.2011 right_roll=0.2698 right_gripper=0.9964\nstate[joint_eff]: [10.5368, -18.9607, 17.0051, 2.4542, -0.6374, 0.3199, -0.022, 3.9863, -5.8188, -0.5402, -1.9805, 0.0562, -0.2125, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afcf0eebbe78156a832e3fe8e8045e0885bf3c4aaf678661ebc105ccf3013e63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54a9a0b339efb94ccb56a994ec38a9f5b1e02facd8de560b8ec17993ce36b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3822278e21ccf3e5d3bf6b56c50b18f8f3939aee3577700bcb0990cfcbccb8a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISsgkKjgEIEhgCKkBz1fp466L+xEnFOR9HMDS1xYZxOi6FI+FrNArqN/Y2cq5NCm4A2qyvW47IEdrOHuN2WUQxlDkWlEA3Inz2pdLdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZqJzdUGEgwAiNUpK65dF674ZT8aDOvZkXolG5eaPv3uOSIwlAk/dwVSCmeXoBc7RIRuzTy14PwZTHfiNsRoMBfMZujF8tW1cwWyOWQ4+0dojtQ4KtAHEga7zPrZf4txG19fd9UYjzAa3wUnvOai8iNA97yI0ElN9a6WeoBAhMIcmlAKyFn2W3VjaQ7fFzZdBSIIXkwylNkqyPNu2r4HQI1stFIH3xAvJkCDPXBgiQDIFCohjVNcE7HfQOV8g/99esb764/4CrVmYJob1jgoYs6NtYYweE7YTifxFI7pwszd35iPEKxv3pk7r9YqF8Qyc7+QHxp3gFYaNL/Q8XE1tPlE5salya76saYcLqPDpom+QZLyNOMJXWXYRwC4eyNARu7AxXgRG5Sewi/4hzUjhwT5rqlyGqxGpMkP+AwXd26Quc7o0bp+upZ+/8Y8Zrl0JWYE5t8hGO4pQdfwQHlIQ34ZigU19m4blUa6FDD0kKNT7Ct1ud29QKwwxDHjbh49eG7HfXbHlX7PY9TiYjV3NlVS3kGyVTebRWkyiqjaZoSC3Sw3XxlXvTwN9X/9r+XC1j1ex/LKsl4Ga7yYP5YEU3UbBCgdFakM9R99rrCch+HRezXoC5H61LYwlCXsR206iz3jBkcDl1Jma0jDVr03WoBITJ8voUypV/tpk72SOY//WaqLPznCy6nD0+TQdHxdk44Mzmtj0r08Qj9ceUjdHSut4tzXw3Z1uthhixh3zvXfYzffr319tfvQ2fb9T2GIm2EpsKpLaHlKZBknnJXx9SJqb97QyOeAyTh9Gt+FeDrWsBXG3PkqqOuwRoawg7FFY9a3G5eoHTI4zzuEl++ZQZvBdnnvjd1u4tTWTgz3s+l5QNN+GmJ8y8akfGbzx7Zs2ZeJS1MzDjsR4zs46l/mlXB9NAcPRIkT3gIOl28p32uGtE2gtq1d3Ol24iS2eid5X/N4+FrDz3AswDbcpSBFv8gO4Q4DM+PFHr/ZuvVMlrVR2KCBu6EgvxOGUjUO/MWapZMF9occcWaQqWMJwAFYy1ImGXTK6PeubFHFup2mOdH+tgBmz71UQkz8QcO2734aGl8n02RNL2BhPSX+K+Y7xbcIqT8HpL/sWVfPLjWtxU6yQz7+BmEw022JOQG394mlWXZJETGz2bonqt8bhnDT3Hetgoq+9ox2wSrgqgQZ5XIPL/xq8CmY25tVp//9KkxyFBBVgzhfB6qJ/6DWwpYZtYQ3NAB6nSDhC6x7NZ0XTUDv8ln6RxtsxnlKACdtZUxC8zy6GPG8RPq8+u//7v3uo+Bh9NAQ/v/6R2MBWbWxYO+8y/VDlQrgnaUHeZ9iAdgNYaGN1/aWHkZ1QIt/TwoQqidXpsqOYK4OYAlU7Z/QY8t0MODB+29BwXrQUTTeRlpdCaBJiMQvshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ZvTPUf9KCdEtKhGEEVVE5",
      "input": {
        "note": "Efforts are spiking and the plush is jammed against the jaws rather than held; retracting both arms to their home pose to leave the rig in a safe state.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": -0.02,
          "left_z": 0.2,
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.02,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_016ZvTPUf9KCdEtKhGEEVVE5",
      "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]: [-0.4656, 1.4216, 1.2728, -1.1622, -0.6865, -0.5713, 0.9983, 0.1421, 0.7197, 0.4694, -0.0822, 0.1699, 0.3271, 0.9986]\nstate[eef_state]: left_x=0.3065 left_y=-0.0247 left_z=0.1965 left_yaw=0.4698 left_pitch=-0.3469 left_roll=0.4171 left_gripper=0.9983 right_x=0.3054 right_y=0.0171 right_z=0.204 right_yaw=-0.1918 right_pitch=0.2116 right_roll=0.2774 right_gripper=0.9986\nstate[joint_eff]: [0.2803, -6.3385, 5.8188, 0.6813, -0.4274, 0.1001, -0.0317, -0.1709, -0.4308, 7.6376, 1.9756, -0.188, -0.1294, -0.1538]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd53a89dc86537430cc227d2a8de01e07f10df4d05cf95860c234f7b420fd97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bad8e6e93182b3f68f6818b2a8d2affbfb3e52cfccd004603e924ad63d80057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c1916805ba7df2a82705fe535952340297bcfbcb149b03ddca5038cbf75a3f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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