adhoc

completed
2026-09-23T02:41:09.891301+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
375.2 s
total steps
430
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see a cluster of plush animals and several pens on the table, with two teal baskets behind them: I'll sort plush toys into the right basket and pens into the left. First, moving the right arm above the nearest plush toy to check alignment in the wrist camera.
move_to
right_x0.3000right_y0.2860right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0116, -0.0254, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1847 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.3744, 9.306, 1.7998, -0.0659, 0.1538, -0.0562, -0.8, -1.1556, 9.9077, 1.7363, -0.0952, 0.0904, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.286, "right_z": 0.15, "right_gripper": 1.0}, "note": "I see a cluster of plush animals and several pens on the table, with two teal baskets behind them: I'll sort plush toys into the right basket and pens into the left. First, moving the right arm above the nearest plush toy to check alignment in the wrist camera."})
tool
executing move_to over 24 steps (2.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe right wrist camera shows a teddy bear just beyond the jaws, slightly to the arm's left. Shifting 1.7 cm left and descending to 6 cm to prepare a grasp on the bear.
move_to
right_y0.3000right_z0.0600right_x0.3000
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]: [-0.0181, 0.8005, 0.6163, -0.3805, -0.0223, -0.0376, 0.9996, 1.0721, 1.6489, 1.0763, -0.3779, 0.8116, 0.7418, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0022 left_z=0.1837 left_yaw=0.0036 left_pitch=-0.003 left_roll=-0.0038 left_gripper=0.9996 right_x=0.2961 right_y=0.2834 right_z=0.1371 right_yaw=0.0248 right_pitch=-0.035 right_roll=-0.0274 right_gripper=0.9998 state[joint_eff]: [-0.1436, -1.2376, 7.159, 1.7118, -0.0171, -0.0122, -0.0122, 0.0479, -7.788, 8.6769, 1.1795, 0.5788, 0.1343, -0.0366] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.3, "right_z": 0.06, "right_x": 0.3}, "note": "The right wrist camera shows a teddy bear just beyond the jaws, slightly to the arm's left. Shifting 1.7 cm left and descending to 6 cm to prepare a grasp on the bear."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe bear is right at the jaws and the descent stopped on contact at z=0.07; closing the gripper to grasp the plush bear.
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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.074, 1.8275, 0.9943, -0.112, 0.804, 0.7464, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3036 right_y=0.3007 right_z=0.0704 right_yaw=0.029 right_pitch=-0.0376 right_roll=-0.0159 right_gripper=0.9998 state[joint_eff]: [-0.1983, -1.2786, 7.0632, 1.7118, -0.0464, -0.0757, -0.0122, 1.0598, -7.6376, 4.6838, 0.9499, 0.4322, 0.1001, -0.0171] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "The bear is right at the jaws and the descent stopped on contact at z=0.07; closing the gripper to grasp the plush bear."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteGripper settled at 0.13 (≈1.2 cm of fur pinched), so something is held; lifting to 25 cm to confirm the bear comes with it.
move_to
right_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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.0733, 1.8381, 0.989, -0.0772, 0.8001, 0.741, 0.1276] state[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3052 right_y=0.3039 right_z=0.0681 right_yaw=0.0339 right_pitch=-0.0309 right_roll=-0.0026 right_gripper=0.1276 state[joint_eff]: [-0.0752, -1.1282, 7.0496, 1.7314, -0.0513, -0.0757, -0.0122, -0.0342, -9.5248, 6.2427, 0.8913, 0.3297, 0.0073, 1.033] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "Gripper settled at 0.13 (\u22481.2 cm of fur pinched), so something is held; lifting to 25 cm to confirm the bear comes with it."})
tool
executing move_to over 12 steps (1.2s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe bear appears lifted and held in the right gripper; carrying it forward and left toward the right-hand basket (the plush-toy basket) at a safe 30 cm height.
move_to
right_x0.4500right_y0.2000right_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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.0733, 1.7012, 1.4868, -0.7395, 0.7715, 0.7372, 0.1293] state[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3057 right_y=0.3123 right_z=0.2199 right_yaw=0.0523 right_pitch=-0.0649 right_roll=-0.0174 right_gripper=0.1293 state[joint_eff]: [-0.0752, -0.9641, 7.0496, 1.7265, -0.0269, -0.0122, -0.0171, -0.253, -10.8103, 9.4291, 1.1893, 0.5153, -0.0269, 0.5006] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.2, "right_z": 0.3}, "note": "The bear appears lifted and held in the right gripper; carrying it forward and left toward the right-hand basket (the plush-toy basket) at a safe 30 cm height."})
tool
executing move_to over 12 steps (1.2s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteCarrying the bear; moving further forward to center it over the right basket before releasing.
move_to
right_x0.5200right_y0.1800right_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8043, 0.6159, -0.3809, -0.0219, -0.038, 0.9996, 0.572, 1.747, 1.771, -0.7624, 0.4332, 0.3096, 0.1314] state[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1824 left_yaw=0.0035 left_pitch=-0.0076 left_roll=-0.0042 left_gripper=0.9996 right_x=0.442 right_y=0.2007 right_z=0.2828 right_yaw=0.0348 right_pitch=-0.0978 right_roll=-0.0295 right_gripper=0.1314 state[joint_eff]: [-0.2256, -1.5795, 7.0632, 1.707, -0.0122, -0.0757, -0.0171, -0.335, -8.5812, 9.7162, 1.5507, 0.2271, -0.022, 0.2125] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.52, "right_y": 0.18, "right_z": 0.24}, "note": "Carrying the bear; moving further forward to center it over the right basket before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe bear is hanging directly over the right basket; opening the gripper to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8051, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.44, 1.9392, 1.792, -0.6594, 0.3321, 0.2195, 0.1329] state[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1819 left_yaw=0.0035 left_pitch=-0.0088 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5028 right_y=0.1771 right_z=0.2107 right_yaw=0.0282 right_pitch=-0.1932 right_roll=-0.0668 right_gripper=0.1329 state[joint_eff]: [-0.1162, -1.3333, 7.1179, 1.707, -0.022, -0.0464, -0.0171, -0.3897, -11.1248, 10.865, 1.8046, 0.2076, -0.0317, 0.149] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The bear is hanging directly over the right basket; opening the gripper to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe bear is now in the right basket. Next target is the gray plush toy in front of the left arm; lowering the left arm to 10 cm and shifting slightly right to line up on it.
move_to
left_x0.3000left_y-0.0400left_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]: [-0.0181, 0.8059, 0.6151, -0.3805, -0.0216, -0.038, 0.9996, 0.4374, 1.9575, 1.7908, -0.6605, 0.3202, 0.2096, 0.9952] state[eef_state]: left_x=0.2969 left_y=0.002 left_z=0.1817 left_yaw=0.0031 left_pitch=-0.0095 left_roll=-0.0044 left_gripper=0.9996 right_x=0.5041 right_y=0.1783 right_z=0.2002 right_yaw=0.039 right_pitch=-0.2159 right_roll=-0.0744 right_gripper=0.9952 state[joint_eff]: [-0.1026, -1.3744, 7.0632, 1.7021, -0.0464, -0.0611, -0.0073, -0.0205, -12.2051, 6.8581, 1.4725, 0.188, 0.0415, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.04, "left_z": 0.1}, "note": "The bear is now in the right basket. Next target is the gray plush toy in front of the left arm; lowering the left arm to 10 cm and shifting slightly right to line up on it."})
tool
executing move_to over 6 steps (0.6s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe left wrist view shows a yellow pen lying just right of the jaw column and a gray plush further left. Descending to table level over the pen to grasp it (pens go in the left basket).
move_to
left_x0.3100left_y-0.0550left_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]: [-0.2737, 0.9215, 0.347, -0.086, -0.2001, -0.1585, 0.9996, 0.4374, 1.9575, 1.7908, -0.6605, 0.3195, 0.2085, 0.9964] state[eef_state]: left_x=0.2904 left_y=-0.0414 left_z=0.0904 left_yaw=-0.0368 left_pitch=-0.0837 left_roll=0.0104 left_gripper=0.9996 right_x=0.504 right_y=0.1784 right_z=0.2001 right_yaw=0.0402 right_pitch=-0.2161 right_roll=-0.0747 right_gripper=0.9964 state[joint_eff]: [-0.1573, -2.1675, 6.9675, 1.873, -0.2466, -0.1197, -0.0171, -0.2393, -11.0017, 6.7624, 1.4725, 0.105, -0.0122, 0.105] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.055, "left_z": 0.005}, "note": "The left wrist view shows a yellow pen lying just right of the jaw column and a gray plush further left. Descending to table level over the pen to grasp it (pens go in the left basket)."})
tool
executing move_to over 6 steps (0.6s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteAt table level with the yellow pen centered between the open jaws; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3202, 1.441, 0.2192, 0.5442, -0.2356, -0.1719, 0.9996, 0.437, 1.9579, 1.7905, -0.6613, 0.3195, 0.205, 0.9965] state[eef_state]: left_x=0.3126 left_y=-0.0565 left_z=0.0126 left_yaw=-0.046 left_pitch=-0.0945 left_roll=0.0254 left_gripper=0.9996 right_x=0.504 right_y=0.1781 right_z=0.1997 right_yaw=0.0416 right_pitch=-0.2177 right_roll=-0.0778 right_gripper=0.9965 state[joint_eff]: [-0.1026, -4.9709, 2.7009, 1.3553, -0.1392, -0.0855, -0.0171, -0.0068, -11.0154, 6.7761, 1.4579, 0.1148, -0.0024, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "At table level with the yellow pen centered between the open jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteGripper settled at 0.14 (≈1.3 cm — the pen's diameter), so the pen is held; lifting and heading toward the left basket.
move_to
left_z0.2500left_x0.4000left_y-0.1500
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]: [-0.3195, 1.4528, 0.202, 0.5621, -0.2367, -0.1764, 0.1417, 0.437, 1.9579, 1.7905, -0.6605, 0.3195, 0.2016, 0.9965] state[eef_state]: left_x=0.3082 left_y=-0.0545 left_z=0.0069 left_yaw=-0.0416 left_pitch=-0.1049 left_roll=0.0255 left_gripper=0.1417 right_x=0.5041 right_y=0.1782 right_z=0.1998 right_yaw=0.0435 right_pitch=-0.2171 right_roll=-0.08 right_gripper=0.9965 state[joint_eff]: [-0.294, -4.9846, 5.9829, 1.4676, -0.149, 0.0269, 1.0232, -0.2256, -11.0017, 6.8034, 1.4237, 0.0806, -0.022, -0.0122] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25, "left_x": 0.4, "left_y": -0.15}, "note": "Gripper settled at 0.14 (\u22481.3 cm \u2014 the pen's diameter), so the pen is held; lifting and heading toward the left basket."})
tool
executing move_to over 16 steps (1.6s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe left basket is directly ahead in the wrist view with the pen dangling in the jaws; advancing over the basket's interior before releasing.
move_to
left_x0.4600left_y-0.1450left_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]: [-0.522, 1.4784, 1.3033, -0.5755, -0.379, -0.3382, 0.1474, 0.4374, 1.9579, 1.7905, -0.6605, 0.3195, 0.2012, 0.9965] state[eef_state]: left_x=0.3973 left_y=-0.149 left_z=0.2317 left_yaw=-0.0375 left_pitch=-0.1248 left_roll=0.0093 left_gripper=0.1474 right_x=0.504 right_y=0.1784 right_z=0.1998 right_yaw=0.0441 right_pitch=-0.2171 right_roll=-0.0803 right_gripper=0.9965 state[joint_eff]: [-0.4034, -7.1179, 9.1556, 1.5556, -0.2466, 0.1832, 1.0281, -0.0342, -10.7829, 6.7761, 1.4432, 0.0904, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.145, "left_z": 0.25}, "note": "The left basket is directly ahead in the wrist view with the pen dangling in the jaws; advancing over the basket's interior before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent notePen is over the left basket's interior; opening the gripper to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4263, 1.6855, 1.5158, -0.6628, -0.3279, -0.3218, 0.1522, 0.437, 1.9579, 1.7905, -0.6609, 0.3195, 0.2012, 0.9965] state[eef_state]: left_x=0.4453 left_y=-0.1358 left_z=0.2166 left_yaw=0.0141 left_pitch=-0.2147 left_roll=0.0258 left_gripper=0.1522 right_x=0.504 right_y=0.1782 right_z=0.1997 right_yaw=0.0437 right_pitch=-0.2175 right_roll=-0.0804 right_gripper=0.9965 state[joint_eff]: [0.2393, -9.1692, 10.4, 1.8193, 0.0562, 0.5104, 1.033, -0.1846, -10.988, 6.8171, 1.4676, 0.0611, -0.0513, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Pen is over the left basket's interior; opening the gripper to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent notePen delivered to the left basket and bear to the right. Pulling both arms back and up to get an unobstructed overhead view of the remaining objects.
move_to
left_x0.2500left_y0.0000left_z0.3000right_x0.2500right_y0.0000right_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]: [-0.421, 1.6947, 1.544, -0.6693, -0.3138, -0.3054, 0.9954, 0.4374, 1.9579, 1.7905, -0.6605, 0.3195, 0.2012, 0.9965] state[eef_state]: left_x=0.4494 left_y=-0.1375 left_z=0.2226 left_yaw=-0.0022 left_pitch=-0.2078 left_roll=0.0228 left_gripper=0.9954 right_x=0.504 right_y=0.1784 right_z=0.1998 right_yaw=0.0441 right_pitch=-0.2171 right_roll=-0.0803 right_gripper=0.9965 state[joint_eff]: [-0.4581, -9.0325, 9.935, 1.9219, -0.0806, 0.315, -0.1734, -0.0615, -10.906, 7.0085, 1.4237, 0.0757, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": 0.0, "left_z": 0.3, "right_x": 0.25, "right_y": 0.0, "right_z": 0.3}, "note": "Pen delivered to the left basket and bear to the right. Pulling both arms back and up to get an unobstructed overhead view of the remaining objects."})
tool
executing move_to over 20 steps (2.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteOverhead view shows the bear and another plush in the right basket, the pen in the left basket, and remaining: two pale pens near the right side plus three plush toys. Moving the right arm over the pens to pick one up.
move_to
right_x0.2800right_y0.1300right_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]: [-0.0708, 0.9653, 1.2942, -1.1011, -0.0944, -0.083, 0.9967, 0.0116, 0.9714, 1.2953, -1.0832, 0.0521, -0.0776, 0.9965] state[eef_state]: left_x=0.2593 left_y=0.0019 left_z=0.2935 left_yaw=0.0384 left_pitch=-0.2067 left_roll=0.0188 left_gripper=0.9967 right_x=0.2631 right_y=-0.0025 right_z=0.2953 right_yaw=0.0006 right_pitch=-0.2007 right_roll=-0.0803 right_gripper=0.9965 state[joint_eff]: [0.1983, -1.7162, 8.0068, 1.5751, 0.105, 0.149, 0.1294, -0.212, -1.5795, 8.7043, 1.5311, -0.0952, -0.1099, -0.0122] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.13, "right_z": 0.12}, "note": "Overhead view shows the bear and another plush in the right basket, the pen in the left basket, and remaining: two pale pens near the right side plus three plush toys. Moving the right arm over the pens to pick one up."})
tool
executing move_to over 12 steps (1.2s)
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 right wrist view shows a black marker lying almost exactly on the jaw column; descending to table level to grasp it.
move_to
right_x0.2850right_y0.1250right_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]: [-0.0696, 0.9726, 1.2938, -1.1282, -0.0822, -0.083, 0.9968, 0.7029, 1.1603, 0.7116, -0.5262, 0.4904, 0.4164, 0.9965] state[eef_state]: left_x=0.2558 left_y=0.0003 left_z=0.2868 left_yaw=0.0298 left_pitch=-0.2421 left_roll=0.0136 left_gripper=0.9968 right_x=0.2714 right_y=0.1256 right_z=0.115 right_yaw=0.0388 right_pitch=-0.2645 right_roll=-0.1214 right_gripper=0.9965 state[joint_eff]: [-0.4034, -1.8803, 5.8598, 1.7558, -0.232, -0.0464, 0.0024, 0.1983, -4.3419, 6.4752, 1.2479, 0.4615, 0.1441, -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": {"right_x": 0.285, "right_y": 0.125, "right_z": 0.005}, "note": "The right wrist view shows a black marker lying almost exactly on the jaw column; descending to table level to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteBlack marker sits between the open jaws; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0696, 0.9741, 1.2938, -1.1362, -0.0814, -0.086, 0.9968, 0.6651, 1.4471, 0.4561, 0.0284, 0.4671, 0.3866, 0.9965] state[eef_state]: left_x=0.2546 left_y=0.0002 left_z=0.2851 left_yaw=0.0311 left_pitch=-0.2516 left_roll=0.0119 left_gripper=0.9968 right_x=0.2845 right_y=0.1266 right_z=0.0151 right_yaw=0.0367 right_pitch=-0.2682 right_roll=-0.1188 right_gripper=0.9965 state[joint_eff]: [-0.1846, -1.4291, 5.8462, 1.6679, -0.0415, -0.0122, -0.0122, -0.6222, -2.7829, 3.1385, 0.6911, 0.105, -0.105, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Black marker sits between the open jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteMarker grasped (gripper 0.14). The left basket is beyond the right arm's y limit, so I'll relay: carrying the marker to the far-left edge of the right arm's range where the left arm can pick it up.
move_to
right_z0.1500right_x0.3000right_y0.3800
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]: [-0.0696, 0.9752, 1.2938, -1.137, -0.0814, -0.0864, 0.9968, 0.6651, 1.4567, 0.4454, 0.0387, 0.4603, 0.3817, 0.142] state[eef_state]: left_x=0.2547 left_y=0.0002 left_z=0.2847 left_yaw=0.0313 left_pitch=-0.2535 left_roll=0.0118 left_gripper=0.9968 right_x=0.2818 right_y=0.1259 right_z=0.0099 right_yaw=0.0429 right_pitch=-0.2799 right_roll=-0.1236 right_gripper=0.142 state[joint_eff]: [-0.0752, -1.4291, 6.0103, 1.4774, -0.0952, -0.0513, -0.0122, -0.212, -5.5316, 6.0103, 1.1453, 0.2808, 0.022, 1.0134] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_x": 0.3, "right_y": 0.38}, "note": "Marker grasped (gripper 0.14). The left basket is beyond the right arm's y limit, so I'll relay: carrying the marker to the far-left edge of the right arm's range where the left arm can pick it up."})
tool
executing move_to over 22 steps (2.2s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteHolding the marker between the two baskets; the left basket's near edge may just be within the right arm's y limit, so I'm moving to the limit above basket height to check before releasing.
move_to
right_x0.4500right_y0.4000right_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0696, 0.9752, 1.2938, -1.1374, -0.0814, -0.0864, 0.9968, 1.113, 2.0785, 1.8233, -0.9489, 0.646, 0.8371, 0.1462] state[eef_state]: left_x=0.2546 left_y=0.0002 left_z=0.2846 left_yaw=0.0314 left_pitch=-0.2539 left_roll=0.0118 left_gripper=0.9968 right_x=0.3026 right_y=0.3817 right_z=0.142 right_yaw=0.0693 right_pitch=-0.2856 right_roll=-0.1019 right_gripper=0.1462 state[joint_eff]: [-0.0205, -1.3333, 5.8325, 1.4725, -0.0952, -0.0611, -0.0122, 0.7316, -11.2068, 8.2393, 0.3834, 0.5788, 0.2222, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.4, "right_z": 0.28}, "note": "Holding the marker between the two baskets; the left basket's near edge may just be within the right arm's y limit, so I'm moving to the limit above basket height to check before releasing."})
tool
executing move_to over 12 steps (1.2s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe wrist view shows the marker hovering just right of the left basket's rim; nudging further left (y to the 0.40 limit) to get over the basket interior.
move_to
right_x0.4000right_y0.4000right_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]: [-0.0685, 0.9771, 1.2938, -1.1378, -0.0814, -0.0864, 0.9968, 0.8906, 2.5309, 2.8811, -1.4467, 0.5461, 0.598, 0.1462] state[eef_state]: left_x=0.2549 left_y=0.0005 left_z=0.2841 left_yaw=0.0326 left_pitch=-0.2562 left_roll=0.0121 left_gripper=0.9968 right_x=0.4124 right_y=0.3696 right_z=0.2073 right_yaw=0.0633 right_pitch=-0.3097 right_roll=-0.1186 right_gripper=0.1462 state[joint_eff]: [-0.2667, -1.5248, 5.8325, 1.4725, -0.0952, -0.0659, -0.0122, 0.3487, -16.1436, 7.0632, 0.9548, 0.3248, -0.0122, 1.0281] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.4, "right_z": 0.22}, "note": "The wrist view shows the marker hovering just right of the left basket's rim; nudging further left (y to the 0.40 limit) to get over the basket interior."})
tool
executing move_to over 3 steps (0.3s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteThe right arm cannot reach over the left basket (stalls at y≈0.37), so I'm setting the marker down on the table in the middle zone where the left arm can pick it up and finish the delivery.
move_to
right_x0.3500right_y0.3700right_z0.0200right_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]: [-0.0685, 0.9783, 1.2938, -1.1378, -0.0814, -0.0864, 0.9968, 0.8955, 2.5301, 2.8811, -1.4471, 0.5449, 0.5972, 0.1462] state[eef_state]: left_x=0.2551 left_y=0.0005 left_z=0.2838 left_yaw=0.0326 left_pitch=-0.2573 left_roll=0.0122 left_gripper=0.9968 right_x=0.4104 right_y=0.3717 right_z=0.2076 right_yaw=0.0695 right_pitch=-0.3102 right_roll=-0.1181 right_gripper=0.1462 state[joint_eff]: [-0.0615, -1.4564, 5.8188, 1.4676, -0.0757, -0.0269, -0.0122, 0.1983, -16.335, 6.9402, 0.8864, 0.3785, -0.0659, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.37, "right_z": 0.02, "right_gripper": 1.0}, "note": "The right arm cannot reach over the left basket (stalls at y\u22480.37), so I'm setting the marker down on the table in the middle zone where the left arm can pick it up and finish the delivery."})
tool
executing move_to over 13 steps (1.3s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteMarker is now parked on the table between the baskets. Retracting the right arm and bringing the left arm above the marker to pick it up.
move_to
right_x0.2500right_y0.0500right_z0.2500left_x0.3500left_y-0.2860left_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]: [-0.0685, 0.9802, 1.2938, -1.1378, -0.0818, -0.0864, 0.9968, 0.989, 2.2498, 1.6077, -0.5518, 0.5854, 0.7097, 0.996] state[eef_state]: left_x=0.2554 left_y=0.0006 left_z=0.2834 left_yaw=0.033 left_pitch=-0.2592 left_roll=0.0127 left_gripper=0.9968 right_x=0.3521 right_y=0.3643 right_z=0.0169 right_yaw=0.0506 right_pitch=-0.3358 right_roll=-0.1468 right_gripper=0.996 state[joint_eff]: [-0.1299, -0.9641, 5.8325, 1.5751, -0.1001, -0.0562, -0.0122, 0.5949, -13.7231, 9.0872, -0.022, -1.1355, -1.5849, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.05, "right_z": 0.25, "left_x": 0.35, "left_y": -0.286, "left_z": 0.12}, "note": "Marker is now parked on the table between the baskets. Retracting the right arm and bringing the left arm above the marker to pick it up."})
tool
executing move_to over 27 steps (2.7s)
step 257
top_cam
camera top_cam step 257
left_cam
camera left_cam step 257
right_cam
camera right_cam step 257
assistant
agent noteThe left wrist view shows the marker slightly right of the jaw column; shifting ~3 cm right and descending to table level over it.
move_to
left_x0.3550left_y-0.3100left_z0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9089, 1.8378, 1.3487, -0.654, -0.5739, -0.8135, 0.9969, 0.3954, 1.0309, 1.1755, -1.0885, 0.308, 0.1699, 0.9969] state[eef_state]: left_x=0.3395 left_y=-0.2738 left_z=0.1059 left_yaw=0.0406 left_pitch=-0.3096 left_roll=0.0504 left_gripper=0.9969 right_x=0.2573 right_y=0.0532 right_z=0.2402 right_yaw=0.0166 right_pitch=-0.3298 right_roll=-0.1389 right_gripper=0.9969 state[joint_eff]: [-0.3077, -9.6615, 9.1556, 1.1258, -0.5055, 0.0073, -0.0073, -0.1436, -2.4137, 8.6085, 1.2039, 0.1734, -0.0415, 0.0806] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.355, "left_y": -0.31, "left_z": 0.01}, "note": "The left wrist view shows the marker slightly right of the jaw column; shifting ~3 cm right and descending to table level over it."})
tool
executing move_to over 7 steps (0.7s)
step 264
top_cam
camera top_cam step 264
left_cam
camera left_cam step 264
right_cam
camera right_cam step 264
assistant
agent noteMarker now fills the wrist view centered on the jaw column at table level; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9291, 2.0956, 1.3293, -0.432, -0.5766, -0.8429, 0.9968, 0.3916, 1.0351, 1.1751, -1.0988, 0.2863, 0.1539, 0.997] state[eef_state]: left_x=0.3492 left_y=-0.3005 left_z=0.0107 left_yaw=0.0536 left_pitch=-0.3378 left_roll=0.0803 left_gripper=0.9968 right_x=0.2553 right_y=0.0553 right_z=0.2367 right_yaw=0.0383 right_pitch=-0.3512 right_roll=-0.1376 right_gripper=0.997 state[joint_eff]: [-0.5538, -11.0427, 6.3111, 1.072, -0.4225, -0.0122, -0.0171, 0.0889, -2.441, 6.2838, 1.4237, 0.3248, 0.1197, -0.0024] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Marker now fills the wrist view centered on the jaw column at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 274
assistant
agent noteMarker grasped (gripper 0.12); lifting and carrying it over the left basket, the same spot where the yellow pen was dropped.
move_to
left_x0.4500left_y-0.1450left_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.931, 2.1117, 1.3293, -0.4282, -0.577, -0.8494, 0.123, 0.3916, 1.0351, 1.1744, -1.0992, 0.2817, 0.1532, 0.997] state[eef_state]: left_x=0.3481 left_y=-0.3003 left_z=0.0042 left_yaw=0.0592 left_pitch=-0.3439 left_roll=0.087 left_gripper=0.123 right_x=0.255 right_y=0.056 right_z=0.2362 right_yaw=0.0425 right_pitch=-0.3536 right_roll=-0.1348 right_gripper=0.997 state[joint_eff]: [0.1436, -12.2325, 5.6137, 0.8523, -0.3492, 0.022, 1.0134, -0.1846, -1.9761, 6.4479, 1.3065, 0.105, -0.0513, -0.0122] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.145, "left_z": 0.26}, "note": "Marker grasped (gripper 0.12); lifting and carrying it over the left basket, the same spot where the yellow pen was dropped."})
tool
executing move_to over 17 steps (1.7s)
step 291
assistant
agent noteMarker is over the left basket (yellow pen visible inside); releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4576, 1.887, 1.985, -1.1149, -0.3618, -0.4458, 0.128, 0.3916, 1.0351, 1.1744, -1.0996, 0.2779, 0.1532, 0.997] state[eef_state]: left_x=0.4453 left_y=-0.1456 left_z=0.2466 left_yaw=0.1057 left_pitch=-0.36 left_roll=0.0575 left_gripper=0.128 right_x=0.2548 right_y=0.0566 right_z=0.236 right_yaw=0.0457 right_pitch=-0.3551 right_roll=-0.1318 right_gripper=0.997 state[joint_eff]: [0.1026, -8.5538, 7.9932, 1.3846, -0.2564, 0.4322, 1.0281, 0.0479, -2.0991, 6.1607, 1.2479, 0.1148, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Marker is over the left basket (yellow pen visible inside); releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 300
assistant
agent noteBoth pens are now in the left basket. Remaining: a brown dog plush in front of the left arm and a blue marker on the right. Moving the left arm over the dog plush.
move_to
left_x0.3000left_y-0.1800left_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]: [-0.4549, 1.8977, 1.9858, -1.1362, -0.358, -0.4625, 0.9954, 0.3916, 1.0382, 1.1744, -1.0992, 0.2752, 0.1532, 0.997] state[eef_state]: left_x=0.443 left_y=-0.1438 left_z=0.2394 left_yaw=0.1215 left_pitch=-0.3874 left_roll=0.0619 left_gripper=0.9954 right_x=0.2551 right_y=0.0573 right_z=0.2352 right_yaw=0.0477 right_pitch=-0.3583 right_roll=-0.1306 right_gripper=0.997 state[joint_eff]: [-0.5949, -10.5504, 6.1197, 1.3602, -0.2808, 0.1734, -0.1245, -0.2393, -2.3726, 6.188, 1.3065, 0.0855, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.18, "left_z": 0.12}, "note": "Both pens are now in the left basket. Remaining: a brown dog plush in front of the left arm and a blue marker on the right. Moving the left arm over the dog plush."})
tool
executing move_to over 11 steps (1.1s)
step 311
assistant
agent noteThe dog plush is centered between the jaws in the left wrist view; descending onto its back to grasp.
move_to
left_z0.0200left_x0.3050
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]: [-0.7853, 1.5551, 1.1145, -0.7937, -0.4786, -0.7563, 0.9967, 0.3916, 1.0412, 1.1736, -1.0992, 0.2752, 0.1528, 0.997] state[eef_state]: left_x=0.299 left_y=-0.1788 left_z=0.1117 left_yaw=0.1033 left_pitch=-0.438 left_roll=0.1071 left_gripper=0.9967 right_x=0.2554 right_y=0.0574 right_z=0.2342 right_yaw=0.0474 right_pitch=-0.3619 right_roll=-0.1322 right_gripper=0.997 state[joint_eff]: [-0.0752, -8.4991, 6.9538, 1.1648, -0.5104, -0.0708, 0.1148, -0.0068, -2.4547, 6.6667, 1.3407, 0.0952, -0.0708, -0.0122] camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02, "left_x": 0.305}, "note": "The dog plush is centered between the jaws in the left wrist view; descending onto its back to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 317
assistant
agent noteJaws are straddling the dog plush's back; closing to grasp it.
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]: [-0.7746, 1.6905, 0.9024, -0.4812, -0.4717, -0.7517, 0.9968, 0.3916, 1.0416, 1.1732, -1.0996, 0.2752, 0.1532, 0.997] state[eef_state]: left_x=0.2976 left_y=-0.1739 left_z=0.0257 left_yaw=0.1204 left_pitch=-0.4654 left_roll=0.1356 left_gripper=0.9968 right_x=0.2553 right_y=0.0574 right_z=0.2339 right_yaw=0.0471 right_pitch=-0.363 right_roll=-0.1324 right_gripper=0.997 state[joint_eff]: [0.1846, -6.4205, 5.012, 0.8425, -0.2271, 0.0366, -0.0122, -0.1983, -2.2359, 6.3385, 1.2625, 0.1001, -0.0415, -0.0122] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.05}, "note": "Jaws are straddling the dog plush's back; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 327
assistant
agent noteDog plush grasped (gripper 0.24). Trying to reach the near-left corner of the right-hand (plush) basket with the left arm at its y limit, to avoid a hand-off.
move_to
left_x0.4400left_y-0.3800left_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]: [-0.7746, 1.7084, 0.8917, -0.4778, -0.4713, -0.7532, 0.2451, 0.3916, 1.0416, 1.1732, -1.0996, 0.2752, 0.1528, 0.997] state[eef_state]: left_x=0.2942 left_y=-0.1707 left_z=0.0173 left_yaw=0.1311 left_pitch=-0.4812 left_roll=0.1566 left_gripper=0.2451 right_x=0.2553 right_y=0.0574 right_z=0.2339 right_yaw=0.0473 right_pitch=-0.363 right_roll=-0.1326 right_gripper=0.997 state[joint_eff]: [-0.0342, -8.7453, 6.3795, 0.7399, -0.3297, -0.0122, 1.0379, -0.1436, -2.2222, 6.147, 1.2821, 0.1001, -0.0757, -0.0122] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.38, "left_z": 0.3}, "note": "Dog plush grasped (gripper 0.24). Trying to reach the near-left corner of the right-hand (plush) basket with the left arm at its y limit, to avoid a hand-off."})
tool
executing move_to over 19 steps (1.9s)
step 346
assistant
agent noteThe arm stalled short of y=-0.38; retrying with less forward reach so the IK can swing further right toward the plush basket.
move_to
left_x0.3600left_y-0.3600left_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]: [-0.8345, 2.3768, 2.6034, -1.5936, -0.4641, -0.8425, 0.2466, 0.3916, 1.0435, 1.1732, -1.0992, 0.2752, 0.1532, 0.997] state[eef_state]: left_x=0.3848 left_y=-0.3014 left_z=0.1851 left_yaw=0.1529 left_pitch=-0.5211 left_roll=0.1691 left_gripper=0.2466 right_x=0.2556 right_y=0.0575 right_z=0.2335 right_yaw=0.0469 right_pitch=-0.3644 right_roll=-0.1329 right_gripper=0.997 state[joint_eff]: [-0.0752, -14.653, 9.0325, 0.862, -0.4957, 0.4811, 0.7057, -0.1846, -2.1265, 6.2427, 1.3211, 0.1245, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": 0.36, "left_y": -0.36, "left_z": 0.22}, "note": "The arm stalled short of y=-0.38; retrying with less forward reach so the IK can swing further right toward the plush basket."})
tool
executing move_to over 6 steps (0.6s)
step 352
assistant
agent noteThe left arm is at its rightmost reach, still short of the plush basket; setting the dog down here so the right arm can relay it into the basket.
move_to
left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9367, 2.3497, 2.4973, -1.5768, -0.4641, -0.9291, 0.2486, 0.3916, 1.0435, 1.1728, -1.0992, 0.2752, 0.1532, 0.997] state[eef_state]: left_x=0.3456 left_y=-0.3305 left_z=0.1697 left_yaw=0.1347 left_pitch=-0.5445 left_roll=0.1844 left_gripper=0.2486 right_x=0.2555 right_y=0.0575 right_z=0.2333 right_yaw=0.0468 right_pitch=-0.3648 right_roll=-0.133 right_gripper=0.997 state[joint_eff]: [0.294, -15.1453, 5.2444, 0.6129, -0.4322, -0.0562, 0.6862, -0.1983, -2.2359, 6.1744, 1.2821, 0.0513, -0.0024, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_gripper": 1.0}, "note": "The left arm is at its rightmost reach, still short of the plush basket; setting the dog down here so the right arm can relay it into the basket."})
tool
executing move_to over 9 steps (0.9s)
step 361
assistant
agent noteDog plush parked on the table between the baskets; retracting the left arm and bringing the right arm over it for the hand-off pick.
move_to
left_x0.2500left_y0.0000left_z0.3000right_x0.3400right_y0.3300right_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]: [-0.9356, 2.289, 1.8622, -1.0626, -0.4561, -0.9325, 0.9958, 0.3916, 1.0435, 1.1713, -1.0996, 0.2752, 0.1532, 0.997] state[eef_state]: left_x=0.3384 left_y=-0.322 left_z=0.0362 left_yaw=0.1684 left_pitch=-0.5792 left_roll=0.2413 left_gripper=0.9958 right_x=0.2553 right_y=0.0574 right_z=0.2327 right_yaw=0.0466 right_pitch=-0.3666 right_roll=-0.1337 right_gripper=0.997 state[joint_eff]: [-0.4171, -13.6274, 5.9282, 0.5641, -0.3443, -0.0073, -0.1734, -0.0615, -2.0034, 6.3932, 1.2527, 0.1001, -0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": 0.0, "left_z": 0.3, "right_x": 0.34, "right_y": 0.33, "right_z": 0.1}, "note": "Dog plush parked on the table between the baskets; retracting the left arm and bringing the right arm over it for the hand-off pick."})
tool
executing move_to over 29 steps (2.9s)
step 390
assistant
agent noteThe dog plush is just left of the right arm's jaw column; nudging left and descending onto it.
move_to
right_y0.3450right_z0.0300right_x0.3350
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]: [-0.2199, 1.3396, 1.6634, -1.5555, -0.2947, -0.2379, 0.9967, 0.9489, 2.0109, 1.5742, -0.7837, 0.5209, 0.6712, 0.997] state[eef_state]: left_x=0.258 left_y=-0.0014 left_z=0.2785 left_yaw=0.2162 left_pitch=-0.595 left_roll=0.2329 left_gripper=0.9967 right_x=0.3344 right_y=0.3218 right_z=0.092 right_yaw=0.0613 right_pitch=-0.403 right_roll=-0.1548 right_gripper=0.997 state[joint_eff]: [-0.5265, -5.094, 7.8974, 0.7155, -0.2222, 0.149, 0.0855, 0.5949, -10.5504, 8.6769, 0.8278, 0.5153, 0.232, -0.0122] camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.345, "right_z": 0.03, "right_x": 0.335}, "note": "The dog plush is just left of the right arm's jaw column; nudging left and descending onto it."})
tool
executing move_to over 4 steps (0.4s)
step 394
assistant
agent noteJaws are over the dog plush; closing to grasp for the transfer into the plush basket.
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]: [-0.2192, 1.3418, 1.6669, -1.5555, -0.2871, -0.2287, 0.9968, 0.9638, 2.1353, 1.5497, -0.6613, 0.5198, 0.6834, 0.997] state[eef_state]: left_x=0.2586 left_y=-0.0027 left_z=0.2786 left_yaw=0.204 left_pitch=-0.5981 left_roll=0.229 left_gripper=0.9968 right_x=0.337 right_y=0.3377 right_z=0.038 right_yaw=0.0609 right_pitch=-0.4192 right_roll=-0.1689 right_gripper=0.997 state[joint_eff]: [-0.2803, -3.9043, 4.9436, 0.8962, -0.2564, -0.0562, -0.0024, 1.0598, -11.5761, 5.4222, 0.7204, 0.3346, 0.1343, -0.0122] camera 'top_cam' (step 394): [image omitted: streamed camera frame] camera 'left_cam' (step 394): [image omitted: streamed camera frame] camera 'right_cam' (step 394): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Jaws are over the dog plush; closing to grasp for the transfer into the plush basket."})
tool
executing move_to over 10 steps (1.0s)
step 404
assistant
agent noteDog plush grasped; carrying it over the right-hand plush basket.
move_to
right_x0.5000right_y0.1900right_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2192, 1.3418, 1.6669, -1.5555, -0.2867, -0.2359, 0.9969, 0.9741, 2.1612, 1.5406, -0.6224, 0.5159, 0.6968, 0.1728] state[eef_state]: left_x=0.2586 left_y=-0.0027 left_z=0.2786 left_yaw=0.2081 left_pitch=-0.5974 left_roll=0.225 left_gripper=0.9969 right_x=0.335 right_y=0.3444 right_z=0.0259 right_yaw=0.0671 right_pitch=-0.4185 right_roll=-0.155 right_gripper=0.1728 state[joint_eff]: [-0.2803, -3.8632, 5.2308, 0.8523, -0.1636, 0.0562, -0.0073, 0.2393, -12.0547, 5.9419, 0.8425, 0.3541, 0.0415, 0.8327] camera 'top_cam' (step 404): [image omitted: streamed camera frame] camera 'left_cam' (step 404): [image omitted: streamed camera frame] camera 'right_cam' (step 404): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.19, "right_z": 0.26}, "note": "Dog plush grasped; carrying it over the right-hand plush basket."})
tool
executing move_to over 16 steps (1.6s)
step 420
assistant
agent noteThe dog plush is over the plush basket; releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2192, 1.3426, 1.6669, -1.5555, -0.2867, -0.2367, 0.9969, 0.4683, 2.3905, 2.751, -1.396, 0.3, 0.2058, 0.1735] state[eef_state]: left_x=0.2587 left_y=-0.0028 left_z=0.2784 left_yaw=0.2088 left_pitch=-0.598 left_roll=0.225 left_gripper=0.9969 right_x=0.5064 right_y=0.2016 right_z=0.2294 right_yaw=0.0623 right_pitch=-0.4142 right_roll=-0.1468 right_gripper=0.1735 state[joint_eff]: [-0.1436, -3.412, 5.2308, 0.8718, -0.1832, -0.0659, -0.0171, -0.5265, -12.4376, 6.6803, 0.3883, 0.1783, 0.0415, 0.7399] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 420): [image omitted: streamed camera frame] camera 'left_cam' (step 420): [image omitted: streamed camera frame] camera 'right_cam' (step 420): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The dog plush is over the plush basket; releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 429
assistant
agent noteSorted objects by type: pens/markers (yellow pen, black marker) into the left teal basket, plush toys (teddy bear, dog plush) into the right basket, which already held plush. One white plush at the far-left table edge and a blue marker remain unsorted (call budget exhausted).
done
hindsightKey geometry: in top_cam the left arm's base projects near image x≈20 and the right arm's near x≈200, with ≈2.8 px/cm horizontally in the working region; left_y = (20 - img_x)/2.8 cm and right_y = (200 - img_x)/2.8 cm worked well for first approaches, then refine with the wrist camera (jaw column x≈110). Critical reach fact for this sorting task: neither arm can reach the *far* basket. The left arm stalls around y≈-0.33 (well short of its -0.4 bound) and the right arm stalls around y≈0.37, so an object picked on one side that belongs in the other side's basket requires a hand-off: set it down on the table near the centre line (e.g. left frame y≈-0.32 / right frame y≈0.33) and re-grasp with the other arm. Budget ~7 calls per relayed object; plan arm/basket assignment up front to minimise relays. Grasping: plush toys grab reliably by pressing straight down until the descent stops and closing to 0.05 (settled reading 0.13-0.25). Pens lying on the table grasp fine at z≈0.005-0.015 with a full close, settling at ≈0.14 (=1.3 cm barrel). Settled gripper reading is a reliable grasp check.
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]: [-0.2192, 1.3445, 1.6669, -1.5551, -0.2867, -0.2363, 0.9969, 0.4709, 2.4401, 2.7502, -1.4155, 0.2855, 0.1947, 0.9959] state[eef_state]: left_x=0.2591 left_y=-0.0029 left_z=0.278 left_yaw=0.209 left_pitch=-0.5994 left_roll=0.2259 left_gripper=0.9969 right_x=0.5059 right_y=0.2057 right_z=0.2003 right_yaw=0.0709 right_pitch=-0.4844 right_roll=-0.1708 right_gripper=0.9959 state[joint_eff]: [-0.0205, -4.0547, 5.2444, 0.906, -0.2271, -0.0317, -0.0122, -0.3761, -17.2513, 5.5726, 1.3016, 0.2613, 0.0171, -0.1978] camera 'top_cam' (step 429): [image omitted: streamed camera frame] camera 'left_cam' (step 429): [image omitted: streamed camera frame] camera 'right_cam' (step 429): [image omitted: streamed camera frame]
assistant
done({"summary": "Sorted objects by type: pens/markers (yellow pen, black marker) into the left teal basket, plush toys (teddy bear, dog plush) into the right basket, which already held plush. One white plush at the far-left table edge and a blue marker remain unsorted (call budget exhausted).", "hindsight": "Key geometry: in top_cam the left arm's base projects near image x\u224820 and the right arm's near x\u2248200, with \u22482.8 px/cm horizontally in the working region; left_y = (20 - img_x)/2.8 cm and right_y = (200 - img_x)/2.8 cm worked well for first approaches, then refine with the wrist camera (jaw column x\u2248110).\n\nCritical reach fact for this sorting task: neither arm can reach the *far* basket. The left arm stalls around y\u2248-0.33 (well short of its -0.4 bound) and the right arm stalls around y\u22480.37, so an object picked on one side that belongs in the other side's basket requires a hand-off: set it down on the table near the centre line (e.g. left frame y\u2248-0.32 / right frame y\u22480.33) and re-grasp with the other arm. Budget ~7 calls per relayed object; plan arm/basket assignment up front to minimise relays.\n\nGrasping: plush toys grab reliably by pressing straight down until the descent stops and closing to 0.05 (settled reading 0.13-0.25). Pens lying on the table grasp fine at z\u22480.005-0.015 with a full close, settling at \u22480.14 (=1.3 cm barrel). Settled gripper reading is a reliable grasp check."})
tool
done: Sorted objects by type: pens/markers (yellow pen, black marker) into the left teal basket, plush toys (teddy bear, dog plush) into the right basket, which already held plush. One white plush at the far-left table edge and a blue marker remain unsorted (call budget exhausted).
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 30.79 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]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1847 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.3744, 9.306, 1.7998, -0.0659, 0.1538, -0.0562, -0.8, -1.1556, 9.9077, 1.7363, -0.0952, 0.0904, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca2dd7bd88b66740d1a2676e567422aed44f6d401e4e772cb5d9c87335fccac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c3751ba461edc011c64fa072cc13078da6cc4070b64a367c75aa9b55ba8fcfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ade943808d5b5dede0fe72b55ed4cb9406fb1ed4b33bda8de78ca35a53b5334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.844 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]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1847 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.3744, 9.306, 1.7998, -0.0659, 0.1538, -0.0562, -0.8, -1.1556, 9.9077, 1.7363, -0.0952, 0.0904, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca2dd7bd88b66740d1a2676e567422aed44f6d401e4e772cb5d9c87335fccac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c3751ba461edc011c64fa072cc13078da6cc4070b64a367c75aa9b55ba8fcfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ade943808d5b5dede0fe72b55ed4cb9406fb1ed4b33bda8de78ca35a53b5334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
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      "signature": 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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E25UL8sMY9uwupknLPdYay",
      "input": {
        "note": "I see a cluster of plush animals and several pens on the table, with two teal baskets behind them: I'll sort plush toys into the right basket and pens into the left. First, moving the right arm above the nearest plush toy to check alignment in the wrist camera.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.286,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01E25UL8sMY9uwupknLPdYay",
      "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]: [-0.0181, 0.8005, 0.6163, -0.3805, -0.0223, -0.0376, 0.9996, 1.0721, 1.6489, 1.0763, -0.3779, 0.8116, 0.7418, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0022 left_z=0.1837 left_yaw=0.0036 left_pitch=-0.003 left_roll=-0.0038 left_gripper=0.9996 right_x=0.2961 right_y=0.2834 right_z=0.1371 right_yaw=0.0248 right_pitch=-0.035 right_roll=-0.0274 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.2376, 7.159, 1.7118, -0.0171, -0.0122, -0.0122, 0.0479, -7.788, 8.6769, 1.1795, 0.5788, 0.1343, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023b318708a52608750d33de9acea7a111dc866c5216d8742087928e5a312149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef6ee4789e0f2ac1e43d26311a139d66c8062a04b58715fcac4d4fc49cfe51ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a59ca4d2acccb2f04d43a4f0bab2267c90827c731fa73dfa6e1ca9f136fc479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1847 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.3744, 9.306, 1.7998, -0.0659, 0.1538, -0.0562, -0.8, -1.1556, 9.9077, 1.7363, -0.0952, 0.0904, -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]: [-0.0181, 0.8005, 0.6163, -0.3805, -0.0223, -0.0376, 0.9996, 1.0721, 1.6489, 1.0763, -0.3779, 0.8116, 0.7418, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0022 left_z=0.1837 left_yaw=0.0036 left_pitch=-0.003 left_roll=-0.0038 left_gripper=0.9996 right_x=0.2961 right_y=0.2834 right_z=0.1371 right_yaw=0.0248 right_pitch=-0.035 right_roll=-0.0274 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.2376, 7.159, 1.7118, -0.0171, -0.0122, -0.0122, 0.0479, -7.788, 8.6769, 1.1795, 0.5788, 0.1343, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023b318708a52608750d33de9acea7a111dc866c5216d8742087928e5a312149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef6ee4789e0f2ac1e43d26311a139d66c8062a04b58715fcac4d4fc49cfe51ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a59ca4d2acccb2f04d43a4f0bab2267c90827c731fa73dfa6e1ca9f136fc479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQoKjgEIEhgCKkBHow+Pj/lmyysapvzj7TfMwnaNQRi2UGFIhuuyGsIzjyNrw+VowMk5HxcqCL0Te3ZXNfbEe+gDMHx206/n2DY5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYf5zNUGEgxW3zuP965y/lUOqrgaDCH4BikyIzGWnTWCFiIwoiQ4eKTDG45OAbaqywVq3Kxcy1plAlKJXpO72aGkCQUHpHZta8aIlduF88M8OGAqKtsIuiMfQ4W/UsJNLeehNamlEGUuxey0wYcxxwGM/WDA9HTQEgpXbL4/TlgjNcB4BtNcQVAKqfCbwRyOp3dwtl35/376tWVo1y8jStrwlAHdk6iaFBtmYGgVWfVVJXQCojED/YmdkZvi7vdEDVj/C+MgScU3rRGZYp/IPPOPGir65FopTEw5OBz/woaxjIbKTVa/C8jyM6S2Ge7gZRArZ9XZtOI3DwWPugZE9gaSosnoRRKoYHwDumMi3QmLfu20e+xN2s5V4ZYzgow7j4Axs2SIiAMcwk8BWgv2hd8nLm2+hFbDrI4+2uRszWurY65BSirK4ZZJQZ5qfCleabNGXACtObt7L1tZeZnS4Tdmhi2DejpA83Mw5aOk7PffoOlV3zlP4Xvig00aID8XDLA3D1IE+ii+aW9/xyJPgXqn4V+SwurIv7FmR3XFUcTS1ybGUqGVC8xoYqEZAohlns9ADxOo5LBfjS55/UYmdLZqPYOEjOUl7nZF5RVSJYTzo3wRM2/HQS7yWHQew985PCdMoqQyvjiMpw2yajRz51YwW+j+muZ+HsR5lKz6Dxefc4JgigZ/X09C2tQYOZt5FRJfspyA4NDeEert6d40o5w8Lm7KabRef92MSDNRlvRGi3KhcDpkYxJ7qWcdBQDQe9Jr2mLcrqTFBbybu1TBWG3hjWBQPssXMJEPO7GFwcDxWsO12/r2N1HTGbxpElvljxqQ2Pq/n0NyQIpYazc1rHVHoEMiTfeeBYJVvDq0EQO4INqbuxSrX5Es+PZp8AVo22lMF5NdSkxBjHl84ki4e+dDVu/Z4oCBY4P6RUTfwUDy0/9sfIwteC7+/5Z8LUOefDvjQMxW+M8kb0TX5zumcDdjjh5V62/n2dp/lGpLq0ewjxRDgAKSNVDCpxe77OG1Mlcxxz7DVii4BaOchekvfQjYpUDMmuPGWBrhGpU/l6+Q0bWVLKCvo1R+I1Yt+D/rsdYDCUYqkZvaLnyl7H2PptMPzwHUn2pi58kqZsFgI+2bp682CevRgt3KN7JEmv1H2D+N+APiixDnqzFLGLhpCWaQuuxplpLsXLVDfz25fz7bdSiRtTS8ii/YmLJBFdD1M/7nZAaO+p/COhF7N3DyEKDDrDZN5hQOxoJE6NpLk5fctobTB46KLREE9qvXXg6AjD+gwZ0i2eat+FcPc80jjwV/dXsfawEh25T+V87ojK7hGW8uWws4zbLtqONuXi569l+FxR7fylM+YaYKwC42YfiNXx5UCrjkwV4Zzdwb6bK8SQR1JeMvEgOtxjzXrmGS804nWTczjdwshMxJxejT3RNPJhaR4BXj0ABKfIF+HieHJg64YpMWsWbWMgL2ioqaM8hDpIG4iWoVjJv/Xah/dwYC0Ntgetje+69EgY1h9HOMp1Ygh7LewoQvCNK4virwevOryGilbIDgf6oF8z6jloq2CBhEKzSd1GcRk+vrX1faTCavFomd9W1GiMSaRysgTjAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AGfo6FS5FwVATBUnoAfyew",
      "input": {
        "note": "The right wrist camera shows a teddy bear just beyond the jaws, slightly to the arm's left. Shifting 1.7 cm left and descending to 6 cm to prepare a grasp on the bear.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.3,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AGfo6FS5FwVATBUnoAfyew",
      "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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.074, 1.8275, 0.9943, -0.112, 0.804, 0.7464, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3036 right_y=0.3007 right_z=0.0704 right_yaw=0.029 right_pitch=-0.0376 right_roll=-0.0159 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.2786, 7.0632, 1.7118, -0.0464, -0.0757, -0.0122, 1.0598, -7.6376, 4.6838, 0.9499, 0.4322, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b07752fb008797f2579df7afd878ce38cbc8d08c1c69ac79200eedf7e4e7e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd9de333db197d2f48a198da17df4b935529147ed7c8f914f55308e09200ee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f0dc22d6eccbad0c6f40e838d4f49a2e0831f636eeb26984796485b29fc042b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 4.652 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]: [-0.0189, 0.7986, 0.617, -0.3801, -0.0223, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1847 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.3744, 9.306, 1.7998, -0.0659, 0.1538, -0.0562, -0.8, -1.1556, 9.9077, 1.7363, -0.0952, 0.0904, -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]: [-0.0181, 0.8005, 0.6163, -0.3805, -0.0223, -0.0376, 0.9996, 1.0721, 1.6489, 1.0763, -0.3779, 0.8116, 0.7418, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0022 left_z=0.1837 left_yaw=0.0036 left_pitch=-0.003 left_roll=-0.0038 left_gripper=0.9996 right_x=0.2961 right_y=0.2834 right_z=0.1371 right_yaw=0.0248 right_pitch=-0.035 right_roll=-0.0274 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.2376, 7.159, 1.7118, -0.0171, -0.0122, -0.0122, 0.0479, -7.788, 8.6769, 1.1795, 0.5788, 0.1343, -0.0366]",
      "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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.074, 1.8275, 0.9943, -0.112, 0.804, 0.7464, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3036 right_y=0.3007 right_z=0.0704 right_yaw=0.029 right_pitch=-0.0376 right_roll=-0.0159 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.2786, 7.0632, 1.7118, -0.0464, -0.0757, -0.0122, 1.0598, -7.6376, 4.6838, 0.9499, 0.4322, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b07752fb008797f2579df7afd878ce38cbc8d08c1c69ac79200eedf7e4e7e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd9de333db197d2f48a198da17df4b935529147ed7c8f914f55308e09200ee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f0dc22d6eccbad0c6f40e838d4f49a2e0831f636eeb26984796485b29fc042b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQMKjgEIEhgCKkA0ztumSJl+TUG+Fh76nsEFVIlkZQu6LR8A0N/3Grwio6T7UfK/kOttLTOYaWrodOM69ySa/U3RyUMUAl4bhV77Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYv5zNUGEgzMQ7fL6lycw+sazFUaDBKE8VPr4IBJ9v/laiIw8n1N+fGzVj7skm4CzkQ9cEuhhy9vV8P4KX9hAQ/wFhc2e4yLI9CpDgOagqQxYEeCKr8BBycsXUn93QgWcTy9H68JMrhfX/feJy4h0yZ+3vckOrOoBLk5NAKXtd8qDNbRXJQ/vz86gLzzeIoI7IsIyQ9rjqKrzAPYLhzzm0IyB9mSiSGy/AXQ70kAcBQ4LO9/yMgt9423+K3/2lcVhWR6in8Amqd1qWfVgTcme4A5R0X3afhv1K2mWp43drLRdu8yWfxztGs8H+nZTjqO0QXlVEaocsy2yEtWArw8bn8bOt1746N8JTfnjzLYTWw5yPe+kn0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018WfJR7u2XmnfKKYfjNNVGY",
      "input": {
        "note": "The bear is right at the jaws and the descent stopped on contact at z=0.07; closing the gripper to grasp the plush bear.",
        "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_018WfJR7u2XmnfKKYfjNNVGY",
      "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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.0733, 1.8381, 0.989, -0.0772, 0.8001, 0.741, 0.1276]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3052 right_y=0.3039 right_z=0.0681 right_yaw=0.0339 right_pitch=-0.0309 right_roll=-0.0026 right_gripper=0.1276\nstate[joint_eff]: [-0.0752, -1.1282, 7.0496, 1.7314, -0.0513, -0.0757, -0.0122, -0.0342, -9.5248, 6.2427, 0.8913, 0.3297, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6fd4beb194e3126f7c52dfd735b59811994204461f5ec91e2dd9aa7ded5a75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0693ebb250fc417fb2e3a202ae639b91c5def690537e58a1b954ac891c605de9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:836c3b32b8907346d978a4c7af5a0d03b89b2524f8d19ba0d5ca356c5a31f329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 7.159 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]: [-0.0181, 0.8005, 0.6163, -0.3805, -0.0223, -0.0376, 0.9996, 1.0721, 1.6489, 1.0763, -0.3779, 0.8116, 0.7418, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0022 left_z=0.1837 left_yaw=0.0036 left_pitch=-0.003 left_roll=-0.0038 left_gripper=0.9996 right_x=0.2961 right_y=0.2834 right_z=0.1371 right_yaw=0.0248 right_pitch=-0.035 right_roll=-0.0274 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.2376, 7.159, 1.7118, -0.0171, -0.0122, -0.0122, 0.0479, -7.788, 8.6769, 1.1795, 0.5788, 0.1343, -0.0366]",
      "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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.074, 1.8275, 0.9943, -0.112, 0.804, 0.7464, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3036 right_y=0.3007 right_z=0.0704 right_yaw=0.029 right_pitch=-0.0376 right_roll=-0.0159 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.2786, 7.0632, 1.7118, -0.0464, -0.0757, -0.0122, 1.0598, -7.6376, 4.6838, 0.9499, 0.4322, 0.1001, -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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.0733, 1.8381, 0.989, -0.0772, 0.8001, 0.741, 0.1276]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3052 right_y=0.3039 right_z=0.0681 right_yaw=0.0339 right_pitch=-0.0309 right_roll=-0.0026 right_gripper=0.1276\nstate[joint_eff]: [-0.0752, -1.1282, 7.0496, 1.7314, -0.0513, -0.0757, -0.0122, -0.0342, -9.5248, 6.2427, 0.8913, 0.3297, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6fd4beb194e3126f7c52dfd735b59811994204461f5ec91e2dd9aa7ded5a75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0693ebb250fc417fb2e3a202ae639b91c5def690537e58a1b954ac891c605de9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:836c3b32b8907346d978a4c7af5a0d03b89b2524f8d19ba0d5ca356c5a31f329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQQKjgEIEhgCKkAVkVmM8To5MW3iN6UvfUSK3CsefYUym89Y3q5Sc6CxOJThmTdPvnJUyrlWnqgPJtoI+UYa6Pxt2zMnkqxFNNgyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZr5zNUGEgyoXc8YspMY8JD6OuUaDDyNsdUDIJ7xQ+RJhiIwMA198qFOz88OY3TAIstG3m7gEoOAbDGFeFOWELOYIacyauVi1xFfsuTI5YTYus5HKqsC7GWtGrjOIDPrLERbzRoELXBIyhZ/KNQ5mocV3OcMPply14YLMb9oxTImW03ppRq7xQle2TYtdM0ZztO9Md/B4/dp7X2qhbLqfWHoeCIuBWxpSGLzNOqxp6QM95A3gnPwgRMBa+KmICJK/Ufpz1n/xW/MKFL7ahpTK43izlBvFAnMKh4GYs/T5mwEHSo8zK2tBPxRC/hPYQ2LsnMF0w6s9rYX7IaWJBF+CNljLBW20StuICb0pBt2V1XRnrXugxCoE3eAIgXs+CbthI3Xpr9lKUqSHsmYfYpYgMDw7M75L/ZQuGqYwOeyyAJ+HJMDJNGRJghdjb/1W65l/0QVijomDTP5pMrcAIrUFNR50F9/2YcEhQDSYKxIDUDlAmRwDqJ24j/UVG7L3zmxnuUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VUXLzsnjpdYHpyejkTyqYL",
      "input": {
        "note": "Gripper settled at 0.13 (≈1.2 cm of fur pinched), so something is held; lifting to 25 cm to confirm the bear comes with it.",
        "targets": {
          "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_01VUXLzsnjpdYHpyejkTyqYL",
      "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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.0733, 1.7012, 1.4868, -0.7395, 0.7715, 0.7372, 0.1293]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3057 right_y=0.3123 right_z=0.2199 right_yaw=0.0523 right_pitch=-0.0649 right_roll=-0.0174 right_gripper=0.1293\nstate[joint_eff]: [-0.0752, -0.9641, 7.0496, 1.7265, -0.0269, -0.0122, -0.0171, -0.253, -10.8103, 9.4291, 1.1893, 0.5153, -0.0269, 0.5006]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d263dc9a24e1848cb6a6f19b215d11cb4775a9a713773976de0ef0a4edab533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c7fb197c272ea19e20e0d2e55ee58a42a396cfb23246a81376de373cfa3684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f191fd8ba10ffafa565bd362b4b3921568b77bcb26ff37d2abe1bfff6f9f363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 8.155 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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.074, 1.8275, 0.9943, -0.112, 0.804, 0.7464, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3036 right_y=0.3007 right_z=0.0704 right_yaw=0.029 right_pitch=-0.0376 right_roll=-0.0159 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -1.2786, 7.0632, 1.7118, -0.0464, -0.0757, -0.0122, 1.0598, -7.6376, 4.6838, 0.9499, 0.4322, 0.1001, -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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.0733, 1.8381, 0.989, -0.0772, 0.8001, 0.741, 0.1276]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3052 right_y=0.3039 right_z=0.0681 right_yaw=0.0339 right_pitch=-0.0309 right_roll=-0.0026 right_gripper=0.1276\nstate[joint_eff]: [-0.0752, -1.1282, 7.0496, 1.7314, -0.0513, -0.0757, -0.0122, -0.0342, -9.5248, 6.2427, 0.8913, 0.3297, 0.0073, 1.033]",
      "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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.0733, 1.7012, 1.4868, -0.7395, 0.7715, 0.7372, 0.1293]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3057 right_y=0.3123 right_z=0.2199 right_yaw=0.0523 right_pitch=-0.0649 right_roll=-0.0174 right_gripper=0.1293\nstate[joint_eff]: [-0.0752, -0.9641, 7.0496, 1.7265, -0.0269, -0.0122, -0.0171, -0.253, -10.8103, 9.4291, 1.1893, 0.5153, -0.0269, 0.5006]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d263dc9a24e1848cb6a6f19b215d11cb4775a9a713773976de0ef0a4edab533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c7fb197c272ea19e20e0d2e55ee58a42a396cfb23246a81376de373cfa3684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f191fd8ba10ffafa565bd362b4b3921568b77bcb26ff37d2abe1bfff6f9f363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS+AUKjgEIEhgCKkAZmW3yvu+oUSFQdTCcjNnFFHHF1EBpWj53/9i6xb8m4st37X2es2XsUGP/dmP+BUOFZwbpHEYefMbNxfUQbgxNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaL5zNUGEgxlNGnbC0yaJcQvrFcaDIGAtkfSROebZakmxSIw2rAK0EQVSxscn3qW8bxpMqlrl8SXNjJjMsqlOnQ/hSNKSk5Jm2msKtZQc40vI6INKpYELhA/mxodpl6DwLoXdWSAdDO/L/5IwPRM6w+qBWMpmDY0JgaXu2g+1kp/KW/GPjTEppPOXDd93cJexWLrdHZK4/3FgeT1OeB/TA2BEiNQm3UAvCDOTiXCNl+vhyTdq1Y9Apa60ouv5cDuQELL5Nfu+oCZ5w40kgnv5P1bqrvyNueQvkLMHyjMvpsHxMF1cBvLjZdtkjrKBTa6tXX34WTgu2JDeOcFYquk6tDD2hrlrKfMr0vx2K+Xxo/+bqJG0KqVeYONIv58YA3MxRsBX8BDPhDpJ1JvD3vKffUoR/l0XqgRtyh6E+waNCjUbX2Lh78HSvb/1fZfelKYwTFxbQCT39yi30ZqqCROac0OMjoajvptbKN7ODQnAmYNlcFwnmieuZD9yelJ1RYGgRmZUjN7R2sHes6PQv9YJpvJlLQIdbZKfFBVytAU3X6evdKQ6gzDSMLjPZf4f+Cfmj7vFKcgBAkpekq43ovgTf6rDpqdddDAc9uHIm3hfMofMHZ9mPLwEwXN6Lh21B/7qjU2wwg6I/hv05IZhCeCvpc551z/7O+M5ZwVrhYubYrV143SXceaQqh4exfeKOg5vyRfRV4r3sZMqRb/anUQm8+8cOJlocinTFIl6/RXoBvEuTdcxSRqQwEUiIVlNwtk23BiNzvBQnpQ7p5PF8zhs+phgq68p3UcXB80q27zhiUocV0n5c0Ed1N3r3QuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FW1vuoFtd4t6Xp4SeV7S9C",
      "input": {
        "note": "The bear appears lifted and held in the right gripper; carrying it forward and left toward the right-hand basket (the plush-toy basket) at a safe 30 cm height.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.2,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01FW1vuoFtd4t6Xp4SeV7S9C",
      "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]: [-0.0181, 0.8043, 0.6159, -0.3809, -0.0219, -0.038, 0.9996, 0.572, 1.747, 1.771, -0.7624, 0.4332, 0.3096, 0.1314]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1824 left_yaw=0.0035 left_pitch=-0.0076 left_roll=-0.0042 left_gripper=0.9996 right_x=0.442 right_y=0.2007 right_z=0.2828 right_yaw=0.0348 right_pitch=-0.0978 right_roll=-0.0295 right_gripper=0.1314\nstate[joint_eff]: [-0.2256, -1.5795, 7.0632, 1.707, -0.0122, -0.0757, -0.0171, -0.335, -8.5812, 9.7162, 1.5507, 0.2271, -0.022, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4ba9835f29b5dade830ca4cbb61f3a79278a7cbcb6cc01d8563a34b7bfbf724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ba03b5b771d1dad0dd319d8b1659e6da8b1389b5775ca8e3513f48b98b1b4f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2262b33d1643410225d2c84a7bb9af4b015f0d8e050244e67e34b71f7ce6f7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 3.515 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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.0733, 1.8381, 0.989, -0.0772, 0.8001, 0.741, 0.1276]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3052 right_y=0.3039 right_z=0.0681 right_yaw=0.0339 right_pitch=-0.0309 right_roll=-0.0026 right_gripper=0.1276\nstate[joint_eff]: [-0.0752, -1.1282, 7.0496, 1.7314, -0.0513, -0.0757, -0.0122, -0.0342, -9.5248, 6.2427, 0.8913, 0.3297, 0.0073, 1.033]",
      "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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.0733, 1.7012, 1.4868, -0.7395, 0.7715, 0.7372, 0.1293]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3057 right_y=0.3123 right_z=0.2199 right_yaw=0.0523 right_pitch=-0.0649 right_roll=-0.0174 right_gripper=0.1293\nstate[joint_eff]: [-0.0752, -0.9641, 7.0496, 1.7265, -0.0269, -0.0122, -0.0171, -0.253, -10.8103, 9.4291, 1.1893, 0.5153, -0.0269, 0.5006]",
      "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]: [-0.0181, 0.8043, 0.6159, -0.3809, -0.0219, -0.038, 0.9996, 0.572, 1.747, 1.771, -0.7624, 0.4332, 0.3096, 0.1314]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1824 left_yaw=0.0035 left_pitch=-0.0076 left_roll=-0.0042 left_gripper=0.9996 right_x=0.442 right_y=0.2007 right_z=0.2828 right_yaw=0.0348 right_pitch=-0.0978 right_roll=-0.0295 right_gripper=0.1314\nstate[joint_eff]: [-0.2256, -1.5795, 7.0632, 1.707, -0.0122, -0.0757, -0.0171, -0.335, -8.5812, 9.7162, 1.5507, 0.2271, -0.022, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4ba9835f29b5dade830ca4cbb61f3a79278a7cbcb6cc01d8563a34b7bfbf724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ba03b5b771d1dad0dd319d8b1659e6da8b1389b5775ca8e3513f48b98b1b4f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2262b33d1643410225d2c84a7bb9af4b015f0d8e050244e67e34b71f7ce6f7b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAkKjgEIEhgCKkAuD9H1ZMNYdyTqtk/8j4gALExWPXg0NhlEgSlqJYWEXstzAm4irPl1JB6HypOMlybpI7QvH3FGYMAHcN2m4pf5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaz5zNUGEgyOcTYwb/xLOTCPFikaDGdpTw7zXHRl2EbHriIwHz92RKVyxYkG18Wg/l5n6rzEtci/vABq8aJYgIsx1r2Y7C49daOKJaCl0TgKafTsKp4Hv6TC5apCE9zNn5ertV0eOrzXAfOTRfNpb2UYvWK76ppkeJs1xKxdORgKamXOjI7XvdO6Fzx/lZq7V3G66Y5zFQRf3ByecdNQgvzlS5K8onSYcS8WiE3112U/OiYCUzR3iWFshspqnW6wnUacUOxhInC4NETkd3KhzX1cJyR87xizsw/bG3qn7ieebcPrKPpK2w/fP4FU1IR13HpmElHp3n8XKRCdkWPK3n3D1JlDpG17ffDOPpnct/Oh+gp0ukuPYW67T4amwnYQ7QoUEg8+qlp0v4dvzIwq0NBlvlVFUYPvgyXF7NvBUTnMnkuu+/V1xBMhmTWcLFxph9YqntQU2cPOGPBzmzTkJ+TZIbYa59z7fHve4WMhG4C0CdFsNTAtojR/mrOxQ+lZxW0AKLVg5aa7BtuUEGqObGyVAyAfU1kVNqtvqAQ0aeMiXJXNdGWM4ICs9T85S0s++4sS/fDd5zCmNX2MWjBsBge8Mu6XWnTd4zkUiRh9X8VNr/UEXtYobmCuPtR3LxnB3ncGtGruOOXfsBQRzmBV6Sgi6vyC94t1iZ8rxAuQOqXb/EDcAkDmPo84irW/qy3C7tdSVSTRadrzYvooI0CNgXiLFKLQxYYVgobD71ylnZ36BF9sc9aiVQNSsfo8h7+8QY5yRdaZUH5hGs57jvpUGW2L6r9TO8STae6xoYCyEH3azpHxU2ke4YaU87/wgChgLIEK/NRWmsGpZgghieDa8XBVaMkNLJT3Wk7Nt/h+Y/P9VEluQ3ZD/se12qmd67e4AD+Ny/X4JuGuY74wZ7fn6r5cjtvW5PUDm4mDPW/ls5GzV/3zPvaFdDeB8HhUahxNoJz/iZba77DAeBnA7bLwEvxpye4QlYCXvFQsiRLREWJMX1BAJadvAvdAeBzb5DMOqdj8WYLEE0cMSZFU7UhM9VzJLX+x8kfThfWn4/r0W2NdIKyE6JXRqSB4tbzR6qVVuNY27tO2KpmP9r/Eudb9AA7l0TJVM8qMSp5dozQPoVCdyxhjXcADFhNMGji2xBpwxvJNJJmxw9rJw9SRs1H6vN1AXGo75TXqTDtYFSC+1gjYVvIPZxHwXqE/m2pAW1uTT3dMkIx3XsDG1ZTtttOmik/LlfJblkiX8KTY9TKsJGPMVzdNW2HXxB+X1vNTCKZmhAZr6VpFSOfdvURlB7nkUR5bgPdPY/1z1ztywaxlGX4NtqTCGjrq6iacMmeRw6eo198lxSMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tb2vu67HVB8S4c5dt9FGxJ",
      "input": {
        "note": "Carrying the bear; moving further forward to center it over the right basket before releasing.",
        "targets": {
          "right_x": 0.52,
          "right_y": 0.18,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Tb2vu67HVB8S4c5dt9FGxJ",
      "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]: [-0.0181, 0.8051, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.44, 1.9392, 1.792, -0.6594, 0.3321, 0.2195, 0.1329]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1819 left_yaw=0.0035 left_pitch=-0.0088 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5028 right_y=0.1771 right_z=0.2107 right_yaw=0.0282 right_pitch=-0.1932 right_roll=-0.0668 right_gripper=0.1329\nstate[joint_eff]: [-0.1162, -1.3333, 7.1179, 1.707, -0.022, -0.0464, -0.0171, -0.3897, -11.1248, 10.865, 1.8046, 0.2076, -0.0317, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f2d5a95c2ced34f7c10771f7a844d926c16c7f168eb99acb4f34e75a6b75063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:698f1d2e673e9007582967213408b84a21cbe5ad0e49aad0b96b80c03f82c983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eedddf5a5b4e7cd58f41d7d13fee5a6c936553e49bd320382d919350becfbd3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 25.01 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]: [-0.0181, 0.8005, 0.6159, -0.3805, -0.0219, -0.038, 0.9996, 1.0733, 1.7012, 1.4868, -0.7395, 0.7715, 0.7372, 0.1293]\nstate[eef_state]: left_x=0.2966 left_y=0.0021 left_z=0.1835 left_yaw=0.0035 left_pitch=-0.0034 left_roll=-0.0043 left_gripper=0.9996 right_x=0.3057 right_y=0.3123 right_z=0.2199 right_yaw=0.0523 right_pitch=-0.0649 right_roll=-0.0174 right_gripper=0.1293\nstate[joint_eff]: [-0.0752, -0.9641, 7.0496, 1.7265, -0.0269, -0.0122, -0.0171, -0.253, -10.8103, 9.4291, 1.1893, 0.5153, -0.0269, 0.5006]",
      "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]: [-0.0181, 0.8043, 0.6159, -0.3809, -0.0219, -0.038, 0.9996, 0.572, 1.747, 1.771, -0.7624, 0.4332, 0.3096, 0.1314]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1824 left_yaw=0.0035 left_pitch=-0.0076 left_roll=-0.0042 left_gripper=0.9996 right_x=0.442 right_y=0.2007 right_z=0.2828 right_yaw=0.0348 right_pitch=-0.0978 right_roll=-0.0295 right_gripper=0.1314\nstate[joint_eff]: [-0.2256, -1.5795, 7.0632, 1.707, -0.0122, -0.0757, -0.0171, -0.335, -8.5812, 9.7162, 1.5507, 0.2271, -0.022, 0.2125]",
      "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]: [-0.0181, 0.8051, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.44, 1.9392, 1.792, -0.6594, 0.3321, 0.2195, 0.1329]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1819 left_yaw=0.0035 left_pitch=-0.0088 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5028 right_y=0.1771 right_z=0.2107 right_yaw=0.0282 right_pitch=-0.1932 right_roll=-0.0668 right_gripper=0.1329\nstate[joint_eff]: [-0.1162, -1.3333, 7.1179, 1.707, -0.022, -0.0464, -0.0171, -0.3897, -11.1248, 10.865, 1.8046, 0.2076, -0.0317, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f2d5a95c2ced34f7c10771f7a844d926c16c7f168eb99acb4f34e75a6b75063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:698f1d2e673e9007582967213408b84a21cbe5ad0e49aad0b96b80c03f82c983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eedddf5a5b4e7cd58f41d7d13fee5a6c936553e49bd320382d919350becfbd3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAIKjgEIEhgCKkAlvpI8vIjGtVj/kOmXpV5cXNoDeQWQO/svLoTvtsW+XQgFyonz28/g8uIZEgyDmJLTQSAQJuYoIsSPj8EUQOrPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbD5zNUGEgwhr282bQ3wlzmgQfwaDLDmpwCxxNGDyEyVYiIw+DQxOgD2gUQXDGUiXmOgR2xlLPfe8LhWD1ekzgtt3fB2ST/sIw024rHdlQnejL12Kkfv0YKeox/mMWQ2NQd0KtOJ+kx9dDNPQ96nVF/JiPU/+8PuZsnWR57QEQGqMLQjb4djLkEgplPFZj4w7SDxkFwWG5fWzfns7RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Snq5KTy5KA5Q3jXNTBXjBG",
      "input": {
        "note": "The bear is hanging directly over the right basket; opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Snq5KTy5KA5Q3jXNTBXjBG",
      "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]: [-0.0181, 0.8059, 0.6151, -0.3805, -0.0216, -0.038, 0.9996, 0.4374, 1.9575, 1.7908, -0.6605, 0.3202, 0.2096, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.002 left_z=0.1817 left_yaw=0.0031 left_pitch=-0.0095 left_roll=-0.0044 left_gripper=0.9996 right_x=0.5041 right_y=0.1783 right_z=0.2002 right_yaw=0.039 right_pitch=-0.2159 right_roll=-0.0744 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.3744, 7.0632, 1.7021, -0.0464, -0.0611, -0.0073, -0.0205, -12.2051, 6.8581, 1.4725, 0.188, 0.0415, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:170b0c51dc217487ed3cf5aa2dbb9d35dbe35e26197de0c2bb153888ec3c415b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d1368ca135a61de71a03d01b545b35471676efe09bd639f4af164b51cb86a84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e96d5ac9a872fb6d3f9062f35d98986350aeeabcd525de02e11100bf3d87157f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 12.11 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]: [-0.0181, 0.8043, 0.6159, -0.3809, -0.0219, -0.038, 0.9996, 0.572, 1.747, 1.771, -0.7624, 0.4332, 0.3096, 0.1314]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1824 left_yaw=0.0035 left_pitch=-0.0076 left_roll=-0.0042 left_gripper=0.9996 right_x=0.442 right_y=0.2007 right_z=0.2828 right_yaw=0.0348 right_pitch=-0.0978 right_roll=-0.0295 right_gripper=0.1314\nstate[joint_eff]: [-0.2256, -1.5795, 7.0632, 1.707, -0.0122, -0.0757, -0.0171, -0.335, -8.5812, 9.7162, 1.5507, 0.2271, -0.022, 0.2125]",
      "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]: [-0.0181, 0.8051, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.44, 1.9392, 1.792, -0.6594, 0.3321, 0.2195, 0.1329]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1819 left_yaw=0.0035 left_pitch=-0.0088 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5028 right_y=0.1771 right_z=0.2107 right_yaw=0.0282 right_pitch=-0.1932 right_roll=-0.0668 right_gripper=0.1329\nstate[joint_eff]: [-0.1162, -1.3333, 7.1179, 1.707, -0.022, -0.0464, -0.0171, -0.3897, -11.1248, 10.865, 1.8046, 0.2076, -0.0317, 0.149]",
      "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]: [-0.0181, 0.8059, 0.6151, -0.3805, -0.0216, -0.038, 0.9996, 0.4374, 1.9575, 1.7908, -0.6605, 0.3202, 0.2096, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.002 left_z=0.1817 left_yaw=0.0031 left_pitch=-0.0095 left_roll=-0.0044 left_gripper=0.9996 right_x=0.5041 right_y=0.1783 right_z=0.2002 right_yaw=0.039 right_pitch=-0.2159 right_roll=-0.0744 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.3744, 7.0632, 1.7021, -0.0464, -0.0611, -0.0073, -0.0205, -12.2051, 6.8581, 1.4725, 0.188, 0.0415, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:170b0c51dc217487ed3cf5aa2dbb9d35dbe35e26197de0c2bb153888ec3c415b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d1368ca135a61de71a03d01b545b35471676efe09bd639f4af164b51cb86a84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e96d5ac9a872fb6d3f9062f35d98986350aeeabcd525de02e11100bf3d87157f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JLmyarRakQwXbsv5QVgStB",
      "input": {
        "note": "The bear is now in the right basket. Next target is the gray plush toy in front of the left arm; lowering the left arm to 10 cm and shifting slightly right to line up on it.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.04,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JLmyarRakQwXbsv5QVgStB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 0.9215, 0.347, -0.086, -0.2001, -0.1585, 0.9996, 0.4374, 1.9575, 1.7908, -0.6605, 0.3195, 0.2085, 0.9964]\nstate[eef_state]: left_x=0.2904 left_y=-0.0414 left_z=0.0904 left_yaw=-0.0368 left_pitch=-0.0837 left_roll=0.0104 left_gripper=0.9996 right_x=0.504 right_y=0.1784 right_z=0.2001 right_yaw=0.0402 right_pitch=-0.2161 right_roll=-0.0747 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -2.1675, 6.9675, 1.873, -0.2466, -0.1197, -0.0171, -0.2393, -11.0017, 6.7624, 1.4725, 0.105, -0.0122, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed8d3f08eb8ca709323f9a585cf88d2bd5b20432bdf9d5cc45ef0cd4ed4fac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:853dffb9746569b741972df2b301711bd473de11bae1f85687ac83ab333d58fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65c4102c0eb22379577a8a7ecd2b6a90d0f99c3f90a86e59accffb261a54a43e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 6.738 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]: [-0.0181, 0.8051, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.44, 1.9392, 1.792, -0.6594, 0.3321, 0.2195, 0.1329]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1819 left_yaw=0.0035 left_pitch=-0.0088 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5028 right_y=0.1771 right_z=0.2107 right_yaw=0.0282 right_pitch=-0.1932 right_roll=-0.0668 right_gripper=0.1329\nstate[joint_eff]: [-0.1162, -1.3333, 7.1179, 1.707, -0.022, -0.0464, -0.0171, -0.3897, -11.1248, 10.865, 1.8046, 0.2076, -0.0317, 0.149]",
      "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]: [-0.0181, 0.8059, 0.6151, -0.3805, -0.0216, -0.038, 0.9996, 0.4374, 1.9575, 1.7908, -0.6605, 0.3202, 0.2096, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.002 left_z=0.1817 left_yaw=0.0031 left_pitch=-0.0095 left_roll=-0.0044 left_gripper=0.9996 right_x=0.5041 right_y=0.1783 right_z=0.2002 right_yaw=0.039 right_pitch=-0.2159 right_roll=-0.0744 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.3744, 7.0632, 1.7021, -0.0464, -0.0611, -0.0073, -0.0205, -12.2051, 6.8581, 1.4725, 0.188, 0.0415, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 0.9215, 0.347, -0.086, -0.2001, -0.1585, 0.9996, 0.4374, 1.9575, 1.7908, -0.6605, 0.3195, 0.2085, 0.9964]\nstate[eef_state]: left_x=0.2904 left_y=-0.0414 left_z=0.0904 left_yaw=-0.0368 left_pitch=-0.0837 left_roll=0.0104 left_gripper=0.9996 right_x=0.504 right_y=0.1784 right_z=0.2001 right_yaw=0.0402 right_pitch=-0.2161 right_roll=-0.0747 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -2.1675, 6.9675, 1.873, -0.2466, -0.1197, -0.0171, -0.2393, -11.0017, 6.7624, 1.4725, 0.105, -0.0122, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed8d3f08eb8ca709323f9a585cf88d2bd5b20432bdf9d5cc45ef0cd4ed4fac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:853dffb9746569b741972df2b301711bd473de11bae1f85687ac83ab333d58fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65c4102c0eb22379577a8a7ecd2b6a90d0f99c3f90a86e59accffb261a54a43e",
        "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_01LMz4R8Pi7hKPomB5G51Csf",
      "input": {
        "note": "The left wrist view shows a yellow pen lying just right of the jaw column and a gray plush further left. Descending to table level over the pen to grasp it (pens go in the left basket).",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.055,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LMz4R8Pi7hKPomB5G51Csf",
      "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]: [-0.3202, 1.441, 0.2192, 0.5442, -0.2356, -0.1719, 0.9996, 0.437, 1.9579, 1.7905, -0.6613, 0.3195, 0.205, 0.9965]\nstate[eef_state]: left_x=0.3126 left_y=-0.0565 left_z=0.0126 left_yaw=-0.046 left_pitch=-0.0945 left_roll=0.0254 left_gripper=0.9996 right_x=0.504 right_y=0.1781 right_z=0.1997 right_yaw=0.0416 right_pitch=-0.2177 right_roll=-0.0778 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -4.9709, 2.7009, 1.3553, -0.1392, -0.0855, -0.0171, -0.0068, -11.0154, 6.7761, 1.4579, 0.1148, -0.0024, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8917a43b03febb429f14385ae8e053b0082d78716c5609b3b6201b71f9019795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ded6e9462fcf4b694643c002d51a2574ed0f62caa381536e7567c9f492804a0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ffa78184199c258406dbf0988d364a9732dcca4bfbb438d1f7011d645588ab6",
        "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 · 6.776 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]: [-0.0181, 0.8059, 0.6151, -0.3805, -0.0216, -0.038, 0.9996, 0.4374, 1.9575, 1.7908, -0.6605, 0.3202, 0.2096, 0.9952]\nstate[eef_state]: left_x=0.2969 left_y=0.002 left_z=0.1817 left_yaw=0.0031 left_pitch=-0.0095 left_roll=-0.0044 left_gripper=0.9996 right_x=0.5041 right_y=0.1783 right_z=0.2002 right_yaw=0.039 right_pitch=-0.2159 right_roll=-0.0744 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.3744, 7.0632, 1.7021, -0.0464, -0.0611, -0.0073, -0.0205, -12.2051, 6.8581, 1.4725, 0.188, 0.0415, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2737, 0.9215, 0.347, -0.086, -0.2001, -0.1585, 0.9996, 0.4374, 1.9575, 1.7908, -0.6605, 0.3195, 0.2085, 0.9964]\nstate[eef_state]: left_x=0.2904 left_y=-0.0414 left_z=0.0904 left_yaw=-0.0368 left_pitch=-0.0837 left_roll=0.0104 left_gripper=0.9996 right_x=0.504 right_y=0.1784 right_z=0.2001 right_yaw=0.0402 right_pitch=-0.2161 right_roll=-0.0747 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -2.1675, 6.9675, 1.873, -0.2466, -0.1197, -0.0171, -0.2393, -11.0017, 6.7624, 1.4725, 0.105, -0.0122, 0.105]",
      "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]: [-0.3202, 1.441, 0.2192, 0.5442, -0.2356, -0.1719, 0.9996, 0.437, 1.9579, 1.7905, -0.6613, 0.3195, 0.205, 0.9965]\nstate[eef_state]: left_x=0.3126 left_y=-0.0565 left_z=0.0126 left_yaw=-0.046 left_pitch=-0.0945 left_roll=0.0254 left_gripper=0.9996 right_x=0.504 right_y=0.1781 right_z=0.1997 right_yaw=0.0416 right_pitch=-0.2177 right_roll=-0.0778 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -4.9709, 2.7009, 1.3553, -0.1392, -0.0855, -0.0171, -0.0068, -11.0154, 6.7761, 1.4579, 0.1148, -0.0024, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8917a43b03febb429f14385ae8e053b0082d78716c5609b3b6201b71f9019795",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ded6e9462fcf4b694643c002d51a2574ed0f62caa381536e7567c9f492804a0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ffa78184199c258406dbf0988d364a9732dcca4bfbb438d1f7011d645588ab6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgQYKjgEIEhgCKkC9T/cnmyYTynhlVSOQ625/lh7gGl+w/M+A52KsolOxBwi4WjRkt9JAQxA/8TqWKKeroM4eJf1sscZ/+tlsjvUEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd75zNUGEgzkF5UqtDk0RJFLQ+saDBQX7nFm0AJpsiwTLyIw3IQZyi1NJIFtdjuxSinD3YGcMVADxCQZ7GJxHxlfQvs/rcZjYb1AwpDI1JqtmbtTKp8EgmDqp1WdSESBu2lm20jGOANnzzDumfAnbaCn5zfPXqyERjfWuCjCfTXb+E/ixlyWfH5UpHfAsc70h7NBDO1fM5h5abKc/OEw++yVFfcmvTfymoEZAgo6OFw/5mTQd2mx12DhoQXZ5XST0dUFlSmN0CRSrMxONnwiYlog5AI8iwcjzOPrNommZCEC1KqfKt3yXBKhjP8gt+HRMVAB0WxoyfbqYgy3qqQYMHn+va0L7VYiwmVomCiD69Najk/mofEriUhT1xz5PrXjgq1opcGmh2YS6YH5SJD0PuSb9j2YYh2jCtE2Xk1NPDkzsagEoUexRoNHOzydy5Fn/pZKswb9pYBloXoWFLNbKnDRUKBCNny3s3g9NOzjFH6HfclaVVlUhvWSazSVYfSYPMXBwlLIQtMIDxbDuXX8RRKxocMiKA+ra7F5XkEH8UaBZnowCWBfuCqc8WFMwelwk7tr/1M3+NF0kB34fUL+/9dAjI3WxiXCUeO9AS7ceQn2fJWVm+MDQeNO4YYRwysVkFkLvL7BWtFJSEiV4iJ5LSwhNzdOaehcMVq3LEgnPhvB+cd0D2DRrNQhOOmwXQuHNiXs7rfq8hjBHxYJ/9WbzIO/D44iKudwDGjmKBAkLQ15P8XgVx0TKFC+Wzabsv+MClgMidUhe+ArqLre/eu4RrlwmIzTA+PRVjAZQkdLeqs9wMV8ZkyX7bMWQ8Wk4UNa096hOEaRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H7Pw6x9FrxRavVtKFf7Kok",
      "input": {
        "note": "At table level with the yellow pen centered between the open jaws; closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01H7Pw6x9FrxRavVtKFf7Kok",
      "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]: [-0.3195, 1.4528, 0.202, 0.5621, -0.2367, -0.1764, 0.1417, 0.437, 1.9579, 1.7905, -0.6605, 0.3195, 0.2016, 0.9965]\nstate[eef_state]: left_x=0.3082 left_y=-0.0545 left_z=0.0069 left_yaw=-0.0416 left_pitch=-0.1049 left_roll=0.0255 left_gripper=0.1417 right_x=0.5041 right_y=0.1782 right_z=0.1998 right_yaw=0.0435 right_pitch=-0.2171 right_roll=-0.08 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -4.9846, 5.9829, 1.4676, -0.149, 0.0269, 1.0232, -0.2256, -11.0017, 6.8034, 1.4237, 0.0806, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0e0d9526d482f76e65aec44a99fd87de52589cd85c36d0c5d6ad09d457fdb98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e97232c4b4fc8820ed0add31cae5b52d02c0365b60c2fc202b83bfe0df739a45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6336a2860c6a8f0bf11f421d18ac51c79515b14f16fe3f49cf94cccd755c0045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 4.946 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]: [-0.2737, 0.9215, 0.347, -0.086, -0.2001, -0.1585, 0.9996, 0.4374, 1.9575, 1.7908, -0.6605, 0.3195, 0.2085, 0.9964]\nstate[eef_state]: left_x=0.2904 left_y=-0.0414 left_z=0.0904 left_yaw=-0.0368 left_pitch=-0.0837 left_roll=0.0104 left_gripper=0.9996 right_x=0.504 right_y=0.1784 right_z=0.2001 right_yaw=0.0402 right_pitch=-0.2161 right_roll=-0.0747 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -2.1675, 6.9675, 1.873, -0.2466, -0.1197, -0.0171, -0.2393, -11.0017, 6.7624, 1.4725, 0.105, -0.0122, 0.105]",
      "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]: [-0.3202, 1.441, 0.2192, 0.5442, -0.2356, -0.1719, 0.9996, 0.437, 1.9579, 1.7905, -0.6613, 0.3195, 0.205, 0.9965]\nstate[eef_state]: left_x=0.3126 left_y=-0.0565 left_z=0.0126 left_yaw=-0.046 left_pitch=-0.0945 left_roll=0.0254 left_gripper=0.9996 right_x=0.504 right_y=0.1781 right_z=0.1997 right_yaw=0.0416 right_pitch=-0.2177 right_roll=-0.0778 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -4.9709, 2.7009, 1.3553, -0.1392, -0.0855, -0.0171, -0.0068, -11.0154, 6.7761, 1.4579, 0.1148, -0.0024, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3195, 1.4528, 0.202, 0.5621, -0.2367, -0.1764, 0.1417, 0.437, 1.9579, 1.7905, -0.6605, 0.3195, 0.2016, 0.9965]\nstate[eef_state]: left_x=0.3082 left_y=-0.0545 left_z=0.0069 left_yaw=-0.0416 left_pitch=-0.1049 left_roll=0.0255 left_gripper=0.1417 right_x=0.5041 right_y=0.1782 right_z=0.1998 right_yaw=0.0435 right_pitch=-0.2171 right_roll=-0.08 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -4.9846, 5.9829, 1.4676, -0.149, 0.0269, 1.0232, -0.2256, -11.0017, 6.8034, 1.4237, 0.0806, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0e0d9526d482f76e65aec44a99fd87de52589cd85c36d0c5d6ad09d457fdb98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e97232c4b4fc8820ed0add31cae5b52d02c0365b60c2fc202b83bfe0df739a45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6336a2860c6a8f0bf11f421d18ac51c79515b14f16fe3f49cf94cccd755c0045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQYKjgEIEhgCKkCyO0csJClCm/V3x1XUC0kLgQvmgJVXTSAhvnPa+CcTT6OWNGHCq8ubgwa+opv/4H2oRRlhkgi6AU4hrDJdcMi6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeX5zNUGEgx/T1ApksLE9QPDW1gaDEbK7b7ngcHgECO9qiIw/cUubOi1Q2SsjkoxJ9rWVOj95HrubyW9cxHGJ9Q3RTB6lk5ciDFuP510JwKaEQ1yKq8EmnV1Yzl9tVUdgDmSXraXkn3uolHWD7iOqCuVIh5sirV1F9J5F9w0L+YK4bTUnFoWpql3zDfzj4ez424/sDSGjaROzPy+WbkeFTJJV4xtCAmtLNui9JUaxwnM51IXOvAipd7qy2aUSElo6KF9wzHaSWlIBwcirGjU3L/tLujnZowvYKmTwZraz2AhIN3Kau6rXeIVffudV3w9mYroU4ENTkf1IBL/Lo0myDOmx9J54l6w6fKzYd0ukd42UAs5kU5vwsrrwxue4V+0un5SFa3SywntqUlGGKaV3VBnuGUFy+DvMx1GU1r0P9pRP/nkstx4RkK2DFHwO9dTNrHabscEnwXICTyB7ETr/OIdbzxL/bOUvDdjJVy+5hHqqft9Fvyx+HvSw9FtaIUTOO5CFTEi+EGYkNBbqpLigUHh0dpzf++qNLcUT237H8B8g7KJeuFqY7tumDDeDCvnySNu3t1HCc4jpiX7AvYcD1CfVQF5NOhALAVm9+/P1Z0e+Xod5bsnP+PDXz6my2ffg20G6FeOUI0IEDGS5J/x2znjYOt+DEUb9/OoWS6IDLf5STIEUFzhO33jNtjUhjGuvAnF0sDmOC8fMvL0q3HRh37Sg3Bcw3NvWaKrsF/DmZtfqUOpCL4I3GSJGgz9cNB8Og/SSwORZPdxvTtfDWOn5s+LDXNsrulxlSZLGLkHIKjb9DkF9VBRsRV3eI3++11VXgEazbL1Aj7cuziyN+1e62/EQ4fCkhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TnB9PstrcR8AsQcRmSjh98",
      "input": {
        "note": "Gripper settled at 0.14 (≈1.3 cm — the pen's diameter), so the pen is held; lifting and heading toward the left basket.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.15,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01TnB9PstrcR8AsQcRmSjh98",
      "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]: [-0.522, 1.4784, 1.3033, -0.5755, -0.379, -0.3382, 0.1474, 0.4374, 1.9579, 1.7905, -0.6605, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.3973 left_y=-0.149 left_z=0.2317 left_yaw=-0.0375 left_pitch=-0.1248 left_roll=0.0093 left_gripper=0.1474 right_x=0.504 right_y=0.1784 right_z=0.1998 right_yaw=0.0441 right_pitch=-0.2171 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -7.1179, 9.1556, 1.5556, -0.2466, 0.1832, 1.0281, -0.0342, -10.7829, 6.7761, 1.4432, 0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9ace3c10caca4aeed12620c61856d3e79886556103843ce76bc5f3509f81443",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c527cc93f65d80cf63b1365db60761c9195fe4038e91eccc650976d64cad34f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ae368efb4d2a5af2b916d4f3e7c6d82e1f7e025f0f8a501cc6e6cf730583e7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.302 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]: [-0.3202, 1.441, 0.2192, 0.5442, -0.2356, -0.1719, 0.9996, 0.437, 1.9579, 1.7905, -0.6613, 0.3195, 0.205, 0.9965]\nstate[eef_state]: left_x=0.3126 left_y=-0.0565 left_z=0.0126 left_yaw=-0.046 left_pitch=-0.0945 left_roll=0.0254 left_gripper=0.9996 right_x=0.504 right_y=0.1781 right_z=0.1997 right_yaw=0.0416 right_pitch=-0.2177 right_roll=-0.0778 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -4.9709, 2.7009, 1.3553, -0.1392, -0.0855, -0.0171, -0.0068, -11.0154, 6.7761, 1.4579, 0.1148, -0.0024, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3195, 1.4528, 0.202, 0.5621, -0.2367, -0.1764, 0.1417, 0.437, 1.9579, 1.7905, -0.6605, 0.3195, 0.2016, 0.9965]\nstate[eef_state]: left_x=0.3082 left_y=-0.0545 left_z=0.0069 left_yaw=-0.0416 left_pitch=-0.1049 left_roll=0.0255 left_gripper=0.1417 right_x=0.5041 right_y=0.1782 right_z=0.1998 right_yaw=0.0435 right_pitch=-0.2171 right_roll=-0.08 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -4.9846, 5.9829, 1.4676, -0.149, 0.0269, 1.0232, -0.2256, -11.0017, 6.8034, 1.4237, 0.0806, -0.022, -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]: [-0.522, 1.4784, 1.3033, -0.5755, -0.379, -0.3382, 0.1474, 0.4374, 1.9579, 1.7905, -0.6605, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.3973 left_y=-0.149 left_z=0.2317 left_yaw=-0.0375 left_pitch=-0.1248 left_roll=0.0093 left_gripper=0.1474 right_x=0.504 right_y=0.1784 right_z=0.1998 right_yaw=0.0441 right_pitch=-0.2171 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -7.1179, 9.1556, 1.5556, -0.2466, 0.1832, 1.0281, -0.0342, -10.7829, 6.7761, 1.4432, 0.0904, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9ace3c10caca4aeed12620c61856d3e79886556103843ce76bc5f3509f81443",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c527cc93f65d80cf63b1365db60761c9195fe4038e91eccc650976d64cad34f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ae368efb4d2a5af2b916d4f3e7c6d82e1f7e025f0f8a501cc6e6cf730583e7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStgQKjgEIEhgCKkBJW6zlMWOGXMCbjGARQ65BF+8HV7NVbaw7HcYJl6tNNvAWVcjcV4llv0ohfQNkU9l6GnQYGddH4F0LmYb9sAbJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAez5zNUGEgwE6pjYcDnck0aEVMcaDGqIDyF0dq/GcpJrUyIwh9KXeVCvTGJJd+NFnJlvVkRUkwwixVkIMQmwInxfKHnlpbwcHkL9FBLaiqrGiCOIKtQCu4NLvINbchS87DCIpCcNZCE05vr3x+IS8wGaUcIjDaVZ+oUiIJR95PnPYLpRiOwMVPGk42AiOic2zld3gsPecm12RQbpB7bJLSN6oSpVz4lz35jNoT98BuiphD29cBYq8UABxB0rp6Wa1piZ9yTDnbQgymAOPPym1lvOmOrT79n9FB65WutuSe7qguAS/0b8zPdXJIahkZl4kpLRj+TP0zRA9RQB4JesZ2vlaROVUBzvqG7Ce1NzCQhOQoQme/9FpvrX3gcsx9OL4FSUM7JIjIZtChAUFME3c9yGpJUdtxC3Dkw+zgtqd4TPe2q531Glup28/9W1eBQ1tkofklPMen/4/YZQ4hdSQKUWhjXKBnlMJpwRi/FwefQkkG1GLkt4/7VsaL8Eou+eF0Zu4wIHgsok9uq1dtvhTGkdtxym9K7dzK8g/LTsLGoWdhNNEUiqbLejvRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HcoSrTkGeMhJBbT4X1Yyjb",
      "input": {
        "note": "The left basket is directly ahead in the wrist view with the pen dangling in the jaws; advancing over the basket's interior before releasing.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.145,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HcoSrTkGeMhJBbT4X1Yyjb",
      "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]: [-0.4263, 1.6855, 1.5158, -0.6628, -0.3279, -0.3218, 0.1522, 0.437, 1.9579, 1.7905, -0.6609, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.4453 left_y=-0.1358 left_z=0.2166 left_yaw=0.0141 left_pitch=-0.2147 left_roll=0.0258 left_gripper=0.1522 right_x=0.504 right_y=0.1782 right_z=0.1997 right_yaw=0.0437 right_pitch=-0.2175 right_roll=-0.0804 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -9.1692, 10.4, 1.8193, 0.0562, 0.5104, 1.033, -0.1846, -10.988, 6.8171, 1.4676, 0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b2583033b9614520cb8c53cae150388f67897a874b0d0c2db37ccae572a8d9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d650d9e424b997b2a4351ef6bfb3c06e5eed74ec634c7d78f6e78c3645f2a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f7f555fb81c8d989aeced0ee78d392b016012b11d990642350a9d017cf87ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 7.741 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]: [-0.3195, 1.4528, 0.202, 0.5621, -0.2367, -0.1764, 0.1417, 0.437, 1.9579, 1.7905, -0.6605, 0.3195, 0.2016, 0.9965]\nstate[eef_state]: left_x=0.3082 left_y=-0.0545 left_z=0.0069 left_yaw=-0.0416 left_pitch=-0.1049 left_roll=0.0255 left_gripper=0.1417 right_x=0.5041 right_y=0.1782 right_z=0.1998 right_yaw=0.0435 right_pitch=-0.2171 right_roll=-0.08 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -4.9846, 5.9829, 1.4676, -0.149, 0.0269, 1.0232, -0.2256, -11.0017, 6.8034, 1.4237, 0.0806, -0.022, -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]: [-0.522, 1.4784, 1.3033, -0.5755, -0.379, -0.3382, 0.1474, 0.4374, 1.9579, 1.7905, -0.6605, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.3973 left_y=-0.149 left_z=0.2317 left_yaw=-0.0375 left_pitch=-0.1248 left_roll=0.0093 left_gripper=0.1474 right_x=0.504 right_y=0.1784 right_z=0.1998 right_yaw=0.0441 right_pitch=-0.2171 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -7.1179, 9.1556, 1.5556, -0.2466, 0.1832, 1.0281, -0.0342, -10.7829, 6.7761, 1.4432, 0.0904, -0.022, -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]: [-0.4263, 1.6855, 1.5158, -0.6628, -0.3279, -0.3218, 0.1522, 0.437, 1.9579, 1.7905, -0.6609, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.4453 left_y=-0.1358 left_z=0.2166 left_yaw=0.0141 left_pitch=-0.2147 left_roll=0.0258 left_gripper=0.1522 right_x=0.504 right_y=0.1782 right_z=0.1997 right_yaw=0.0437 right_pitch=-0.2175 right_roll=-0.0804 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -9.1692, 10.4, 1.8193, 0.0562, 0.5104, 1.033, -0.1846, -10.988, 6.8171, 1.4676, 0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b2583033b9614520cb8c53cae150388f67897a874b0d0c2db37ccae572a8d9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d650d9e424b997b2a4351ef6bfb3c06e5eed74ec634c7d78f6e78c3645f2a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f7f555fb81c8d989aeced0ee78d392b016012b11d990642350a9d017cf87ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011rkAPjLafycJUKroPbrMgZ",
      "input": {
        "note": "Pen is over the left basket's interior; opening the gripper to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011rkAPjLafycJUKroPbrMgZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.421, 1.6947, 1.544, -0.6693, -0.3138, -0.3054, 0.9954, 0.4374, 1.9579, 1.7905, -0.6605, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.4494 left_y=-0.1375 left_z=0.2226 left_yaw=-0.0022 left_pitch=-0.2078 left_roll=0.0228 left_gripper=0.9954 right_x=0.504 right_y=0.1784 right_z=0.1998 right_yaw=0.0441 right_pitch=-0.2171 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -9.0325, 9.935, 1.9219, -0.0806, 0.315, -0.1734, -0.0615, -10.906, 7.0085, 1.4237, 0.0757, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a3c12171409dffd6bb4c5432d36e6eef81455389f1085bab5206020e55609c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a69ecaf001e72ddb3bb572184deb5db612f060dcda28966468133fa99697207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4afcd56d32978990f12b4e0afb7db9e164b2aaf869e39d4280fb793531408219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 15.1 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]: [-0.522, 1.4784, 1.3033, -0.5755, -0.379, -0.3382, 0.1474, 0.4374, 1.9579, 1.7905, -0.6605, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.3973 left_y=-0.149 left_z=0.2317 left_yaw=-0.0375 left_pitch=-0.1248 left_roll=0.0093 left_gripper=0.1474 right_x=0.504 right_y=0.1784 right_z=0.1998 right_yaw=0.0441 right_pitch=-0.2171 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -7.1179, 9.1556, 1.5556, -0.2466, 0.1832, 1.0281, -0.0342, -10.7829, 6.7761, 1.4432, 0.0904, -0.022, -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]: [-0.4263, 1.6855, 1.5158, -0.6628, -0.3279, -0.3218, 0.1522, 0.437, 1.9579, 1.7905, -0.6609, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.4453 left_y=-0.1358 left_z=0.2166 left_yaw=0.0141 left_pitch=-0.2147 left_roll=0.0258 left_gripper=0.1522 right_x=0.504 right_y=0.1782 right_z=0.1997 right_yaw=0.0437 right_pitch=-0.2175 right_roll=-0.0804 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -9.1692, 10.4, 1.8193, 0.0562, 0.5104, 1.033, -0.1846, -10.988, 6.8171, 1.4676, 0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.421, 1.6947, 1.544, -0.6693, -0.3138, -0.3054, 0.9954, 0.4374, 1.9579, 1.7905, -0.6605, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.4494 left_y=-0.1375 left_z=0.2226 left_yaw=-0.0022 left_pitch=-0.2078 left_roll=0.0228 left_gripper=0.9954 right_x=0.504 right_y=0.1784 right_z=0.1998 right_yaw=0.0441 right_pitch=-0.2171 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -9.0325, 9.935, 1.9219, -0.0806, 0.315, -0.1734, -0.0615, -10.906, 7.0085, 1.4237, 0.0757, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a3c12171409dffd6bb4c5432d36e6eef81455389f1085bab5206020e55609c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a69ecaf001e72ddb3bb572184deb5db612f060dcda28966468133fa99697207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4afcd56d32978990f12b4e0afb7db9e164b2aaf869e39d4280fb793531408219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISygcKjgEIEhgCKkDmjg1R7C5JXoutSjQItY0bbaru7bgZkaHbBk52qs+OQ6jfwtWfKHlsOK+kEeSeV/4ho6cMyjeTnzeC0QYkIDjmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfj5zNUGEgxlQxsgEFyDA5Q8smkaDIzUigqtreeEry636iIwJRxeSjxSLmKieDq5ZieQFRRH9xyMsv58ioPZBjW/QT1EcmYjR8kN8xrK6dVXipWzKugF6HJtMmoGGtSQLqLNlTd1RGOtQSibV85pO7jOnzKTTttgB+dAamBdNrts7BUtEJUHJy0pQAMmvE5EenhDkHZqTjwx9mvxhR/oqiLZv4J0+ZN8xqTyGPlJv/OrU4t3ucDNhMzPdJkCe/V3rrJoXoynKCFN3yEhDL+FuiEJgdhBrN/aDZXFIh7taOjzXyJLeLJq2bO1zquCQu6xr1ywsdKfBZoYjF2XfsHxdTI3F9h0kNTL2eT6M2C0z3zOKCVKFOPdYqGr9BqgX2RBlSrOwNy0BaiiJMlSihqpQXiGfKNmCOQCd5Q0Nxne3an/Nq5uhWDobWw4Hm82jSHiyiheoHYAqnhIEQqdEYdip9/uhs3ESr39sVyiC/Q6AqIt87BjIIQqz1grkCA4/pyPTmWZTs0igrZRsEnOHHEEr1zqhekIKskhtlSBZoRM/dqo2BqQ5FaCEpftMacj4rueZQHMyYV3ftO8Xls7TLkjZlB/q1WWurfsE20fTvazKpdi9yi3UyIfQDVA33+EY3WfbO89ZZMhMsDspYwDXUx2/MNXl/M4VdukBpnUXAdv5bkQpiFQfE5yeaKGBx9onppLvIwIEABkITkphWeBMhW82ldJOyaKeq0wevH7wDW8+YGQTFKDkZOiNbUEq7AMPPAK9vhXlaFMdYLh4A41XWNcUN6w1q2j+wctECKKEPQ8shLLzs6bV8hP2Do+LsLfTEDVjWjQ9JORM/NZAFo4dqvpuuR228pRNTstqdgrWSLzYslhuUv1s4f3yAknXvyrW/evuzN4WCbTuFfmrkl5uDMg3bPgi0d4Zknw/pr2iwsCvjZGxusiLjYGk26uZQ0mdAJHi8a45YlKNuqytie1wPSp4Iyl0WYqk1+ZwasMfi1pbUvPu9SnBKLA8IPt5bz1kiLDxpxUKUkFoH9UrurA/PO6H9ZkCD/1AY0MJ2HLCR9CxxURs0C07xYMh6dGFwkH0tR5rkRZIovoi8TEZIx+o16lGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011WvEfGqDRTpiKqhi41ZREG",
      "input": {
        "note": "Pen delivered to the left basket and bear to the right. Pulling both arms back and up to get an unobstructed overhead view of the remaining objects.",
        "targets": {
          "left_x": 0.25,
          "left_y": 0.0,
          "left_z": 0.3,
          "right_x": 0.25,
          "right_y": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_011WvEfGqDRTpiKqhi41ZREG",
      "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]: [-0.0708, 0.9653, 1.2942, -1.1011, -0.0944, -0.083, 0.9967, 0.0116, 0.9714, 1.2953, -1.0832, 0.0521, -0.0776, 0.9965]\nstate[eef_state]: left_x=0.2593 left_y=0.0019 left_z=0.2935 left_yaw=0.0384 left_pitch=-0.2067 left_roll=0.0188 left_gripper=0.9967 right_x=0.2631 right_y=-0.0025 right_z=0.2953 right_yaw=0.0006 right_pitch=-0.2007 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -1.7162, 8.0068, 1.5751, 0.105, 0.149, 0.1294, -0.212, -1.5795, 8.7043, 1.5311, -0.0952, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2b74cf7de8ff39cefc69b2f4cc8bfd9b6353dc72ae71c62342cb7ba01114261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd590b1448d5fb05fdc6985784e9e928b8f33ce21168a96268a819c4cc7b654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c164f6ffd5ece3ddd9274ae309ff67accd64e58949a6e8d99e617a5c2e583f0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.469 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]: [-0.4263, 1.6855, 1.5158, -0.6628, -0.3279, -0.3218, 0.1522, 0.437, 1.9579, 1.7905, -0.6609, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.4453 left_y=-0.1358 left_z=0.2166 left_yaw=0.0141 left_pitch=-0.2147 left_roll=0.0258 left_gripper=0.1522 right_x=0.504 right_y=0.1782 right_z=0.1997 right_yaw=0.0437 right_pitch=-0.2175 right_roll=-0.0804 right_gripper=0.9965\nstate[joint_eff]: [0.2393, -9.1692, 10.4, 1.8193, 0.0562, 0.5104, 1.033, -0.1846, -10.988, 6.8171, 1.4676, 0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.421, 1.6947, 1.544, -0.6693, -0.3138, -0.3054, 0.9954, 0.4374, 1.9579, 1.7905, -0.6605, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.4494 left_y=-0.1375 left_z=0.2226 left_yaw=-0.0022 left_pitch=-0.2078 left_roll=0.0228 left_gripper=0.9954 right_x=0.504 right_y=0.1784 right_z=0.1998 right_yaw=0.0441 right_pitch=-0.2171 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -9.0325, 9.935, 1.9219, -0.0806, 0.315, -0.1734, -0.0615, -10.906, 7.0085, 1.4237, 0.0757, -0.0073, -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 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]: [-0.0708, 0.9653, 1.2942, -1.1011, -0.0944, -0.083, 0.9967, 0.0116, 0.9714, 1.2953, -1.0832, 0.0521, -0.0776, 0.9965]\nstate[eef_state]: left_x=0.2593 left_y=0.0019 left_z=0.2935 left_yaw=0.0384 left_pitch=-0.2067 left_roll=0.0188 left_gripper=0.9967 right_x=0.2631 right_y=-0.0025 right_z=0.2953 right_yaw=0.0006 right_pitch=-0.2007 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -1.7162, 8.0068, 1.5751, 0.105, 0.149, 0.1294, -0.212, -1.5795, 8.7043, 1.5311, -0.0952, -0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2b74cf7de8ff39cefc69b2f4cc8bfd9b6353dc72ae71c62342cb7ba01114261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd590b1448d5fb05fdc6985784e9e928b8f33ce21168a96268a819c4cc7b654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c164f6ffd5ece3ddd9274ae309ff67accd64e58949a6e8d99e617a5c2e583f0f",
        "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_01Av71n5p9igSaWVA1LL7cKJ",
      "input": {
        "note": "Overhead view shows the bear and another plush in the right basket, the pen in the left basket, and remaining: two pale pens near the right side plus three plush toys. Moving the right arm over the pens to pick one up.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.13,
          "right_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_01Av71n5p9igSaWVA1LL7cKJ",
      "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]: [-0.0696, 0.9726, 1.2938, -1.1282, -0.0822, -0.083, 0.9968, 0.7029, 1.1603, 0.7116, -0.5262, 0.4904, 0.4164, 0.9965]\nstate[eef_state]: left_x=0.2558 left_y=0.0003 left_z=0.2868 left_yaw=0.0298 left_pitch=-0.2421 left_roll=0.0136 left_gripper=0.9968 right_x=0.2714 right_y=0.1256 right_z=0.115 right_yaw=0.0388 right_pitch=-0.2645 right_roll=-0.1214 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -1.8803, 5.8598, 1.7558, -0.232, -0.0464, 0.0024, 0.1983, -4.3419, 6.4752, 1.2479, 0.4615, 0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:776d0d40d5d430008ad5ece00ff0ad5065ae1689fd98b30a5a2cc52f30de476f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab9bbbfee58884d08a50c55d0d38721687c1ffe93bab6b693e4e673e10fb6104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:798b8fdfe297acc9d5a6a90ea68fab99588c65a8fa4779341cdb82dcd36d9380",
        "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 · 4.134 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]: [-0.421, 1.6947, 1.544, -0.6693, -0.3138, -0.3054, 0.9954, 0.4374, 1.9579, 1.7905, -0.6605, 0.3195, 0.2012, 0.9965]\nstate[eef_state]: left_x=0.4494 left_y=-0.1375 left_z=0.2226 left_yaw=-0.0022 left_pitch=-0.2078 left_roll=0.0228 left_gripper=0.9954 right_x=0.504 right_y=0.1784 right_z=0.1998 right_yaw=0.0441 right_pitch=-0.2171 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [-0.4581, -9.0325, 9.935, 1.9219, -0.0806, 0.315, -0.1734, -0.0615, -10.906, 7.0085, 1.4237, 0.0757, -0.0073, -0.0122]\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]: [-0.0708, 0.9653, 1.2942, -1.1011, -0.0944, -0.083, 0.9967, 0.0116, 0.9714, 1.2953, -1.0832, 0.0521, -0.0776, 0.9965]\nstate[eef_state]: left_x=0.2593 left_y=0.0019 left_z=0.2935 left_yaw=0.0384 left_pitch=-0.2067 left_roll=0.0188 left_gripper=0.9967 right_x=0.2631 right_y=-0.0025 right_z=0.2953 right_yaw=0.0006 right_pitch=-0.2007 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -1.7162, 8.0068, 1.5751, 0.105, 0.149, 0.1294, -0.212, -1.5795, 8.7043, 1.5311, -0.0952, -0.1099, -0.0122]",
      "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]: [-0.0696, 0.9726, 1.2938, -1.1282, -0.0822, -0.083, 0.9968, 0.7029, 1.1603, 0.7116, -0.5262, 0.4904, 0.4164, 0.9965]\nstate[eef_state]: left_x=0.2558 left_y=0.0003 left_z=0.2868 left_yaw=0.0298 left_pitch=-0.2421 left_roll=0.0136 left_gripper=0.9968 right_x=0.2714 right_y=0.1256 right_z=0.115 right_yaw=0.0388 right_pitch=-0.2645 right_roll=-0.1214 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -1.8803, 5.8598, 1.7558, -0.232, -0.0464, 0.0024, 0.1983, -4.3419, 6.4752, 1.2479, 0.4615, 0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:776d0d40d5d430008ad5ece00ff0ad5065ae1689fd98b30a5a2cc52f30de476f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab9bbbfee58884d08a50c55d0d38721687c1ffe93bab6b693e4e673e10fb6104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:798b8fdfe297acc9d5a6a90ea68fab99588c65a8fa4779341cdb82dcd36d9380",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgUKjgEIEhgCKkCWKUS9MKFUmjRywssO3PuuvR+lpRU3yAmfOh/oAQstIEe9bgcBbWpKcmO1rD49OBCNJyA/BqQYcA79o1hOVuJmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZD6zNUGEgwZXMrwJGstGBuxIIcaDNYE0lx9YS5q4pd2fyIw9YvTzkWwKqVHgkSzEA5B1juIvDGX4V3omnKKyEIWDb4ER/+JGFKOyRCB4M3c/Rv1KqwDLRLG8fnDZAyOvKicvMsrRsPKooJitR6t6uSSo96WAifngdUdjSWMiyv78SmQDofw4/roLQd9JXLiJOoN1J+GAkqqlEuS+sfb+c+tccHUwDMbsGAAbwwX7lo+HwAo6iDCjGCwa2QKGhidjdUTniTLbk2MrAqN4k86KhWVFydiN9oDeuRR6RmUt4lTTTbLdlGSwMbhxoc8FGI/5L76eP3UETDhu+xzX+GcRcKWt6UuMh8vJF9B1y6q41yzHlf57fJNV0nwupgnPYaIWVwEvbcZFaN12ONUuTM6R/fY/GnNXFp0k6CaXg8d1VxddDb2vjYfXbsz0NT6CxbYrEX6uHmmyx4nDCRGqJtQQujIvcUVIbcbHUGDZdESmyRN/zNRgeh5WPokH7EhzbXef9KXLQoWAawzVO6aznunZeVmPhfFK4GKKfFjr5NhqfzshftLZnWUZlFl1IXnpt/n21c2xMUf/DLNlqzWbrbrSTq/NzWuG65tD7JqISL2kKoO0ONPrBRZwglHoqJbmalhXR+SFWrLZwTr+FTj6NsHikjmiexih+FvmVq7TwBDkaq6xH4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PXsxRGy1eN1EBNxqam8xjs",
      "input": {
        "note": "The right wrist view shows a black marker lying almost exactly on the jaw column; descending to table level to grasp it.",
        "targets": {
          "right_x": 0.285,
          "right_y": 0.125,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PXsxRGy1eN1EBNxqam8xjs",
      "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]: [-0.0696, 0.9741, 1.2938, -1.1362, -0.0814, -0.086, 0.9968, 0.6651, 1.4471, 0.4561, 0.0284, 0.4671, 0.3866, 0.9965]\nstate[eef_state]: left_x=0.2546 left_y=0.0002 left_z=0.2851 left_yaw=0.0311 left_pitch=-0.2516 left_roll=0.0119 left_gripper=0.9968 right_x=0.2845 right_y=0.1266 right_z=0.0151 right_yaw=0.0367 right_pitch=-0.2682 right_roll=-0.1188 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.4291, 5.8462, 1.6679, -0.0415, -0.0122, -0.0122, -0.6222, -2.7829, 3.1385, 0.6911, 0.105, -0.105, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:631689c9855479c2eac6c21c181ca7fc28b6bcc75baf98dcb2e4d8c5653c0bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc039005b3f5e1557e56137ffe53e08d5f45ecaf9a57863eacbce394ad8f11c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f24191d5b4145f7ef06b6ca21fb8aea70471179cfe25a8669b241aa63f3853b3",
        "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 · 18.54 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]: [-0.0708, 0.9653, 1.2942, -1.1011, -0.0944, -0.083, 0.9967, 0.0116, 0.9714, 1.2953, -1.0832, 0.0521, -0.0776, 0.9965]\nstate[eef_state]: left_x=0.2593 left_y=0.0019 left_z=0.2935 left_yaw=0.0384 left_pitch=-0.2067 left_roll=0.0188 left_gripper=0.9967 right_x=0.2631 right_y=-0.0025 right_z=0.2953 right_yaw=0.0006 right_pitch=-0.2007 right_roll=-0.0803 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -1.7162, 8.0068, 1.5751, 0.105, 0.149, 0.1294, -0.212, -1.5795, 8.7043, 1.5311, -0.0952, -0.1099, -0.0122]",
      "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]: [-0.0696, 0.9726, 1.2938, -1.1282, -0.0822, -0.083, 0.9968, 0.7029, 1.1603, 0.7116, -0.5262, 0.4904, 0.4164, 0.9965]\nstate[eef_state]: left_x=0.2558 left_y=0.0003 left_z=0.2868 left_yaw=0.0298 left_pitch=-0.2421 left_roll=0.0136 left_gripper=0.9968 right_x=0.2714 right_y=0.1256 right_z=0.115 right_yaw=0.0388 right_pitch=-0.2645 right_roll=-0.1214 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -1.8803, 5.8598, 1.7558, -0.232, -0.0464, 0.0024, 0.1983, -4.3419, 6.4752, 1.2479, 0.4615, 0.1441, -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]: [-0.0696, 0.9741, 1.2938, -1.1362, -0.0814, -0.086, 0.9968, 0.6651, 1.4471, 0.4561, 0.0284, 0.4671, 0.3866, 0.9965]\nstate[eef_state]: left_x=0.2546 left_y=0.0002 left_z=0.2851 left_yaw=0.0311 left_pitch=-0.2516 left_roll=0.0119 left_gripper=0.9968 right_x=0.2845 right_y=0.1266 right_z=0.0151 right_yaw=0.0367 right_pitch=-0.2682 right_roll=-0.1188 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.4291, 5.8462, 1.6679, -0.0415, -0.0122, -0.0122, -0.6222, -2.7829, 3.1385, 0.6911, 0.105, -0.105, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:631689c9855479c2eac6c21c181ca7fc28b6bcc75baf98dcb2e4d8c5653c0bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc039005b3f5e1557e56137ffe53e08d5f45ecaf9a57863eacbce394ad8f11c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24191d5b4145f7ef06b6ca21fb8aea70471179cfe25a8669b241aa63f3853b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwMKjgEIEhgCKkC4s8em+AxhjyDQ6Tz1s5w61Z4ycnWgsqHGPjVVto3zWiPqPtqMCgo+NCYWIcPIOckVjCeBUZP4A9asNq0l3MzaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZX6zNUGEgxQQOhQW4frABwYiY8aDEMiGqfR9JZZ80B25CIwb/cZpbjyLBgG/x6d65gfsvdTmVVz9M1hgOuoxgwzqywN2XjojfumIxelGRKGn/LnKr0Bn5s6OZFNOleOXcbs/H7pmVL+jgXYahJGKLRrxbWD5v3oEeDOnsDwMlogaZWcnnpAksy5OxpbpF03GNsrNI3dVGh64LIYCAI177zNXMTPIXEHqDxzlqfYRUXP7Co7foHZV4dcWth31zz6+cv5tKlABBVtIXNyIRuHcfJnUAgj2Z/vTP/7OuPJa2GiaT5rhQ9dUj+GofSsMowzxDgnLE39YPRiHFIEtdoBkMr8BbAK4Gn84JWm3a6HWvyMTmcuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UZvTETEeNwCXGDonj6Tw17",
      "input": {
        "note": "Black marker sits between the open jaws; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UZvTETEeNwCXGDonj6Tw17",
      "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]: [-0.0696, 0.9752, 1.2938, -1.137, -0.0814, -0.0864, 0.9968, 0.6651, 1.4567, 0.4454, 0.0387, 0.4603, 0.3817, 0.142]\nstate[eef_state]: left_x=0.2547 left_y=0.0002 left_z=0.2847 left_yaw=0.0313 left_pitch=-0.2535 left_roll=0.0118 left_gripper=0.9968 right_x=0.2818 right_y=0.1259 right_z=0.0099 right_yaw=0.0429 right_pitch=-0.2799 right_roll=-0.1236 right_gripper=0.142\nstate[joint_eff]: [-0.0752, -1.4291, 6.0103, 1.4774, -0.0952, -0.0513, -0.0122, -0.212, -5.5316, 6.0103, 1.1453, 0.2808, 0.022, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afd113e6adffe473a0c01e7fa1a70beecc413d41674d54205f30939e8a2f6584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b039faa75a8ef081d20c771463ee4e89dd82ac9b6bbc2b0adaa047175b2f830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:977c847dd589c1395f013b450c80f4b43e6dd2920ab063ac5e7f83bf69fc6021",
        "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 · 9.95 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]: [-0.0696, 0.9726, 1.2938, -1.1282, -0.0822, -0.083, 0.9968, 0.7029, 1.1603, 0.7116, -0.5262, 0.4904, 0.4164, 0.9965]\nstate[eef_state]: left_x=0.2558 left_y=0.0003 left_z=0.2868 left_yaw=0.0298 left_pitch=-0.2421 left_roll=0.0136 left_gripper=0.9968 right_x=0.2714 right_y=0.1256 right_z=0.115 right_yaw=0.0388 right_pitch=-0.2645 right_roll=-0.1214 right_gripper=0.9965\nstate[joint_eff]: [-0.4034, -1.8803, 5.8598, 1.7558, -0.232, -0.0464, 0.0024, 0.1983, -4.3419, 6.4752, 1.2479, 0.4615, 0.1441, -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]: [-0.0696, 0.9741, 1.2938, -1.1362, -0.0814, -0.086, 0.9968, 0.6651, 1.4471, 0.4561, 0.0284, 0.4671, 0.3866, 0.9965]\nstate[eef_state]: left_x=0.2546 left_y=0.0002 left_z=0.2851 left_yaw=0.0311 left_pitch=-0.2516 left_roll=0.0119 left_gripper=0.9968 right_x=0.2845 right_y=0.1266 right_z=0.0151 right_yaw=0.0367 right_pitch=-0.2682 right_roll=-0.1188 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.4291, 5.8462, 1.6679, -0.0415, -0.0122, -0.0122, -0.6222, -2.7829, 3.1385, 0.6911, 0.105, -0.105, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0696, 0.9752, 1.2938, -1.137, -0.0814, -0.0864, 0.9968, 0.6651, 1.4567, 0.4454, 0.0387, 0.4603, 0.3817, 0.142]\nstate[eef_state]: left_x=0.2547 left_y=0.0002 left_z=0.2847 left_yaw=0.0313 left_pitch=-0.2535 left_roll=0.0118 left_gripper=0.9968 right_x=0.2818 right_y=0.1259 right_z=0.0099 right_yaw=0.0429 right_pitch=-0.2799 right_roll=-0.1236 right_gripper=0.142\nstate[joint_eff]: [-0.0752, -1.4291, 6.0103, 1.4774, -0.0952, -0.0513, -0.0122, -0.212, -5.5316, 6.0103, 1.1453, 0.2808, 0.022, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afd113e6adffe473a0c01e7fa1a70beecc413d41674d54205f30939e8a2f6584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b039faa75a8ef081d20c771463ee4e89dd82ac9b6bbc2b0adaa047175b2f830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:977c847dd589c1395f013b450c80f4b43e6dd2920ab063ac5e7f83bf69fc6021",
        "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_01UU6DxKNPwmZeLVBzmF6V4R",
      "input": {
        "note": "Marker grasped (gripper 0.14). The left basket is beyond the right arm's y limit, so I'll relay: carrying the marker to the far-left edge of the right arm's range where the left arm can pick it up.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.38,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01UU6DxKNPwmZeLVBzmF6V4R",
      "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]: [-0.0696, 0.9752, 1.2938, -1.1374, -0.0814, -0.0864, 0.9968, 1.113, 2.0785, 1.8233, -0.9489, 0.646, 0.8371, 0.1462]\nstate[eef_state]: left_x=0.2546 left_y=0.0002 left_z=0.2846 left_yaw=0.0314 left_pitch=-0.2539 left_roll=0.0118 left_gripper=0.9968 right_x=0.3026 right_y=0.3817 right_z=0.142 right_yaw=0.0693 right_pitch=-0.2856 right_roll=-0.1019 right_gripper=0.1462\nstate[joint_eff]: [-0.0205, -1.3333, 5.8325, 1.4725, -0.0952, -0.0611, -0.0122, 0.7316, -11.2068, 8.2393, 0.3834, 0.5788, 0.2222, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc26d114687ae9651dfe1daa8130f614df0b3aa2176a7d7213414000cde43d61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e341bd0053b99bf9a709476b4a8ad5cbe9086d2c5c9db5fe5464da2e529c4ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:500a48c75c70dc74c1f042c2c22b65fca42d0b5a20f9c4975aea889ab6838266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 7.861 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]: [-0.0696, 0.9741, 1.2938, -1.1362, -0.0814, -0.086, 0.9968, 0.6651, 1.4471, 0.4561, 0.0284, 0.4671, 0.3866, 0.9965]\nstate[eef_state]: left_x=0.2546 left_y=0.0002 left_z=0.2851 left_yaw=0.0311 left_pitch=-0.2516 left_roll=0.0119 left_gripper=0.9968 right_x=0.2845 right_y=0.1266 right_z=0.0151 right_yaw=0.0367 right_pitch=-0.2682 right_roll=-0.1188 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.4291, 5.8462, 1.6679, -0.0415, -0.0122, -0.0122, -0.6222, -2.7829, 3.1385, 0.6911, 0.105, -0.105, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0696, 0.9752, 1.2938, -1.137, -0.0814, -0.0864, 0.9968, 0.6651, 1.4567, 0.4454, 0.0387, 0.4603, 0.3817, 0.142]\nstate[eef_state]: left_x=0.2547 left_y=0.0002 left_z=0.2847 left_yaw=0.0313 left_pitch=-0.2535 left_roll=0.0118 left_gripper=0.9968 right_x=0.2818 right_y=0.1259 right_z=0.0099 right_yaw=0.0429 right_pitch=-0.2799 right_roll=-0.1236 right_gripper=0.142\nstate[joint_eff]: [-0.0752, -1.4291, 6.0103, 1.4774, -0.0952, -0.0513, -0.0122, -0.212, -5.5316, 6.0103, 1.1453, 0.2808, 0.022, 1.0134]",
      "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]: [-0.0696, 0.9752, 1.2938, -1.1374, -0.0814, -0.0864, 0.9968, 1.113, 2.0785, 1.8233, -0.9489, 0.646, 0.8371, 0.1462]\nstate[eef_state]: left_x=0.2546 left_y=0.0002 left_z=0.2846 left_yaw=0.0314 left_pitch=-0.2539 left_roll=0.0118 left_gripper=0.9968 right_x=0.3026 right_y=0.3817 right_z=0.142 right_yaw=0.0693 right_pitch=-0.2856 right_roll=-0.1019 right_gripper=0.1462\nstate[joint_eff]: [-0.0205, -1.3333, 5.8325, 1.4725, -0.0952, -0.0611, -0.0122, 0.7316, -11.2068, 8.2393, 0.3834, 0.5788, 0.2222, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc26d114687ae9651dfe1daa8130f614df0b3aa2176a7d7213414000cde43d61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e341bd0053b99bf9a709476b4a8ad5cbe9086d2c5c9db5fe5464da2e529c4ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:500a48c75c70dc74c1f042c2c22b65fca42d0b5a20f9c4975aea889ab6838266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISywoKjgEIEhgCKkBzSl8sItDjpWmcWMZzifQHBTcpjBydeJftkVj/2TFWu9DhK5koBYm4UY4hb0Auhqniq9XE5YVTEg5f48rv+HVYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbT6zNUGEgxLuSQUO7qhhm+dIToaDGqmAAX36BrcOP5j6CIwzv3ByjYgW7UNl72D5IUj21mCtyTtlIEpNN6wtCM3HVFvl+k6Be1AJWVyYhbWOfBkKukIND+//m3TUVcfZQTN3fzdiUaCSoByDcW0H/z25T+dQlF22F+y12xy6D2TnTGIwyg+69/yZ+l+169LUSBOwnuKjmWLYfCxsWJKxxlt4gmGru4EAWkXUpBlBqYzW8JJZBji89rL34Yk8OA86mY4jy0QSvM4mW0LLrWygSVacSOjAryiGncYgIL92NCek0WxToDBwtPzh0AYxmw47djaBxmOA+EEBXG2FGLmikBWC5hLXQyWUD45OUifLCygqEH9Otg9n3vl2pLSikkxpcMpmnG84jjX84RxuOVAK5V1yVK++oWc+ssS7gXeP9nvcJhlYlPeZ4eYk6oW5zEOt7qD/B+B/OBETQnLU1wp0X+9OSiH03wVp99h1nMhZHesfDG/viVeL9ppVuducEt1iQi5Fvq5hOAayZFeBdQgjPt9GkARblowmsDizaQ1khb8NvDFoHqadcVbKSF7WHhMSEfS7dZiq98ZPJ9gtq0krH5gSdp+MKakMyiAm7A50ZSSoZsN1RIS01pLUPm3Of1nFMVEkawYepS4oRazg2hHQdABYMeFvegUrr77JEiP3RmX9UeO8XBz8q6HXhKlttbtgn4S3kIwO6op71apQNh9Q4pjJBB0o5bucNvqxZOtaKlpFiWYfvHlQHXMc3M0lKvXiLw5+HFws14TMQoEc/8n2+pvm//agq7cI2uzdTHhxzXx6gX+TbhWnllTTlxvdZS4rS1RNfR6RUKzGSzvDdsv6Ll0qAHRwUjfeeYjukFcc19ZPoH73Rjc8pMVHCWW04L25T3Eg35WkUeaRnJVYAuDuHCti8G/qO3XlGvzT0uWcwT9Ue4ttuzu+ZuDg6R5hi30o1yOf7XeuhL0nGVO5IU55j+oQra/RYAfXEjjPpbIq0q3pp+1i5Y4tq3BmVgfK6uvNeigej4oM/t1FTaI4kGTyyAWLeRoZLOyUVT9BrYIPmZ0Pz4iuiFM+BkaRfnJAd5pCRZAjOgaXeBI0mmYX8cLsvldsa+jlInGS9Z+gSrLT/yjPYdO44r5VDl04u+4B7xfCW9Pvb5K/q29Uyr+TeEsOgBgxqZbvuYOcE39w+C7Wu25ikzHcmGgnlWrexHw5PuVNbDb+EB7wRoy4hN+lbo2wnvHsauSJ7wy2fapLTkUpIPqTPyANiYjAWIfYME66paDDULq2UOPHnXHYfA5f+jrUXJXbR2jJCdl58ESYEP5s93Clep9/duEZG/YZVBbdsu6Ujzr3bsRxRRoAiJodtTl0stODFtJYWTlBLAUoq5OKqoGbcforSqHCL1Ou9Tg+9T7Ej4Fk+ZEQkLwaOimIQiuX8h4HOAe+IWo/1sDuMeQDuSHjRnBh+B3/6q0/uwYpto44Bdfr844r8eCSkErmYu92eT+r/O0u3vQ0fORxrRBSNmkYDmDMcJG3Qq0OiEuhB15zTm6ZGNqGZaarlN4AyV9eGaOasHsVKFdynasaLpsSD0t9MjcGkEOmQxIAWo/9UmijxN4q3DF30LVqflprmpxEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M3wChJod5B4wiPHisvwasx",
      "input": {
        "note": "Holding the marker between the two baskets; the left basket's near edge may just be within the right arm's y limit, so I'm moving to the limit above basket height to check before releasing.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.4,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01M3wChJod5B4wiPHisvwasx",
      "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]: [-0.0685, 0.9771, 1.2938, -1.1378, -0.0814, -0.0864, 0.9968, 0.8906, 2.5309, 2.8811, -1.4467, 0.5461, 0.598, 0.1462]\nstate[eef_state]: left_x=0.2549 left_y=0.0005 left_z=0.2841 left_yaw=0.0326 left_pitch=-0.2562 left_roll=0.0121 left_gripper=0.9968 right_x=0.4124 right_y=0.3696 right_z=0.2073 right_yaw=0.0633 right_pitch=-0.3097 right_roll=-0.1186 right_gripper=0.1462\nstate[joint_eff]: [-0.2667, -1.5248, 5.8325, 1.4725, -0.0952, -0.0659, -0.0122, 0.3487, -16.1436, 7.0632, 0.9548, 0.3248, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d609dd4439b27625ae4c4bd2e8c703928ee4bba558c7d7e9239e265929e4377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e00c818b00e2ec8f8250dfacdabc1e3078057f84e5e4d39c8a3f14a3cbef10be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6db566fbbd4f291cee007a3f059521a46c85793c3997e28ac1e033c752f4530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 6.749 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]: [-0.0696, 0.9752, 1.2938, -1.137, -0.0814, -0.0864, 0.9968, 0.6651, 1.4567, 0.4454, 0.0387, 0.4603, 0.3817, 0.142]\nstate[eef_state]: left_x=0.2547 left_y=0.0002 left_z=0.2847 left_yaw=0.0313 left_pitch=-0.2535 left_roll=0.0118 left_gripper=0.9968 right_x=0.2818 right_y=0.1259 right_z=0.0099 right_yaw=0.0429 right_pitch=-0.2799 right_roll=-0.1236 right_gripper=0.142\nstate[joint_eff]: [-0.0752, -1.4291, 6.0103, 1.4774, -0.0952, -0.0513, -0.0122, -0.212, -5.5316, 6.0103, 1.1453, 0.2808, 0.022, 1.0134]",
      "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]: [-0.0696, 0.9752, 1.2938, -1.1374, -0.0814, -0.0864, 0.9968, 1.113, 2.0785, 1.8233, -0.9489, 0.646, 0.8371, 0.1462]\nstate[eef_state]: left_x=0.2546 left_y=0.0002 left_z=0.2846 left_yaw=0.0314 left_pitch=-0.2539 left_roll=0.0118 left_gripper=0.9968 right_x=0.3026 right_y=0.3817 right_z=0.142 right_yaw=0.0693 right_pitch=-0.2856 right_roll=-0.1019 right_gripper=0.1462\nstate[joint_eff]: [-0.0205, -1.3333, 5.8325, 1.4725, -0.0952, -0.0611, -0.0122, 0.7316, -11.2068, 8.2393, 0.3834, 0.5788, 0.2222, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0685, 0.9771, 1.2938, -1.1378, -0.0814, -0.0864, 0.9968, 0.8906, 2.5309, 2.8811, -1.4467, 0.5461, 0.598, 0.1462]\nstate[eef_state]: left_x=0.2549 left_y=0.0005 left_z=0.2841 left_yaw=0.0326 left_pitch=-0.2562 left_roll=0.0121 left_gripper=0.9968 right_x=0.4124 right_y=0.3696 right_z=0.2073 right_yaw=0.0633 right_pitch=-0.3097 right_roll=-0.1186 right_gripper=0.1462\nstate[joint_eff]: [-0.2667, -1.5248, 5.8325, 1.4725, -0.0952, -0.0659, -0.0122, 0.3487, -16.1436, 7.0632, 0.9548, 0.3248, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d609dd4439b27625ae4c4bd2e8c703928ee4bba558c7d7e9239e265929e4377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e00c818b00e2ec8f8250dfacdabc1e3078057f84e5e4d39c8a3f14a3cbef10be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6db566fbbd4f291cee007a3f059521a46c85793c3997e28ac1e033c752f4530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQYKjgEIEhgCKkC2Qlug856+LZ0PTF70B/cjDIK+9ilhHrqKMVVI4Asnh3IIr6vLhM5c2Fjnl9FKNid/cims5EolH/ZKgZRcfJgKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb36zNUGEgz7JDf3lwYEip4H3HIaDIoTIOyQO0PpbtSJoiIwqEte+IKn6HSw9Qh3bSUdpNiQCYWfB6o6npUllAQ6C0ZNPB4Qvh4iFKppAG2JErQDKt8Eqkb/ZOcZWZisHh4nVECHLcwdpvdf57bBRFGrz4Rsbhn7YosuJYlAnv/1GmxYuHWtHCoHVcoeQAb7j3hQ5SoRlcD80iPj+mqvmW/NSbaKnz0h562Rc2nYW0Us6/VNojJ/LO93wwvsWzYP05vE2d9+OTtmYuABg8c3a5PqRD7DZMmf4afX4cGLKoVZR1GqW3x4ka9LEr9CZq/MdKn7biLyp9+kcKZa1euN2DwqLO1baOIEvrXTBaIj0TfpuzNoWKfGYlMpsQV2jEZz8glviBHrlSiWB2DwrqxnbC6BZxmukoo5PQBkFYIeKIkM9SANFjHv8jYHc0g1lSZD6HjB88DKTN1SYxXd8uHxHCquP4Sn5SBwALz3OKFic+xbEjL7u/hwJvOc6LuylCHWptEbNGQLYRfDTYWPBJ1IbPIsBAcGUc/HcV3GopY9DvKkzTRykGKbdvvxG1DBitpi2wd7TfFfUn+2s/2o75D5W5G1MWEuXgNglz5wWofLtBEzKnNKufKpcwfo15YvD/9EXzsw90G81VGwMlmJmDI66CAk8aOOzn6hJSM0EE5DHblqZho76nmcj98i5pk8MHMAhLnk8kSi2+Hm8gc3ZNq8t9c5NEJaHsTlnMuCY0ck0p3YyKpIo3gFEpYhw42Achyg4ZAheQygUMEmBq0j/vkkqLGdqgSUSwdD5Ea1XbJx/rcpztghRaV/WMNDNa5DyUYqTM/0SfcXK77EtbCfcbl5LJhpZ/6BExrrtIHUsZFQdAk/4FCErZlanpD4BXb/c+KtrvsnhFKePoI8RzbCbThTHJBOf1kcyhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QSH52V7N7DSQKsgMv9fnZd",
      "input": {
        "note": "The wrist view shows the marker hovering just right of the left basket's rim; nudging further left (y to the 0.40 limit) to get over the basket interior.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.4,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QSH52V7N7DSQKsgMv9fnZd",
      "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]: [-0.0685, 0.9783, 1.2938, -1.1378, -0.0814, -0.0864, 0.9968, 0.8955, 2.5301, 2.8811, -1.4471, 0.5449, 0.5972, 0.1462]\nstate[eef_state]: left_x=0.2551 left_y=0.0005 left_z=0.2838 left_yaw=0.0326 left_pitch=-0.2573 left_roll=0.0122 left_gripper=0.9968 right_x=0.4104 right_y=0.3717 right_z=0.2076 right_yaw=0.0695 right_pitch=-0.3102 right_roll=-0.1181 right_gripper=0.1462\nstate[joint_eff]: [-0.0615, -1.4564, 5.8188, 1.4676, -0.0757, -0.0269, -0.0122, 0.1983, -16.335, 6.9402, 0.8864, 0.3785, -0.0659, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a096ec710e2d8069ad171d697fbc196a1bd9bf26fb294a0f6fbcc7a379eb840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:729311e385aa92218585d487aa29d3dfc84119b01e2e77428e47a4073b450445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fed2bbbf581db419be5f3138eafe096d243e069c9974cbfa88051dbd9d5aa23d",
        "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 · 7.551 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]: [-0.0696, 0.9752, 1.2938, -1.1374, -0.0814, -0.0864, 0.9968, 1.113, 2.0785, 1.8233, -0.9489, 0.646, 0.8371, 0.1462]\nstate[eef_state]: left_x=0.2546 left_y=0.0002 left_z=0.2846 left_yaw=0.0314 left_pitch=-0.2539 left_roll=0.0118 left_gripper=0.9968 right_x=0.3026 right_y=0.3817 right_z=0.142 right_yaw=0.0693 right_pitch=-0.2856 right_roll=-0.1019 right_gripper=0.1462\nstate[joint_eff]: [-0.0205, -1.3333, 5.8325, 1.4725, -0.0952, -0.0611, -0.0122, 0.7316, -11.2068, 8.2393, 0.3834, 0.5788, 0.2222, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0685, 0.9771, 1.2938, -1.1378, -0.0814, -0.0864, 0.9968, 0.8906, 2.5309, 2.8811, -1.4467, 0.5461, 0.598, 0.1462]\nstate[eef_state]: left_x=0.2549 left_y=0.0005 left_z=0.2841 left_yaw=0.0326 left_pitch=-0.2562 left_roll=0.0121 left_gripper=0.9968 right_x=0.4124 right_y=0.3696 right_z=0.2073 right_yaw=0.0633 right_pitch=-0.3097 right_roll=-0.1186 right_gripper=0.1462\nstate[joint_eff]: [-0.2667, -1.5248, 5.8325, 1.4725, -0.0952, -0.0659, -0.0122, 0.3487, -16.1436, 7.0632, 0.9548, 0.3248, -0.0122, 1.0281]",
      "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]: [-0.0685, 0.9783, 1.2938, -1.1378, -0.0814, -0.0864, 0.9968, 0.8955, 2.5301, 2.8811, -1.4471, 0.5449, 0.5972, 0.1462]\nstate[eef_state]: left_x=0.2551 left_y=0.0005 left_z=0.2838 left_yaw=0.0326 left_pitch=-0.2573 left_roll=0.0122 left_gripper=0.9968 right_x=0.4104 right_y=0.3717 right_z=0.2076 right_yaw=0.0695 right_pitch=-0.3102 right_roll=-0.1181 right_gripper=0.1462\nstate[joint_eff]: [-0.0615, -1.4564, 5.8188, 1.4676, -0.0757, -0.0269, -0.0122, 0.1983, -16.335, 6.9402, 0.8864, 0.3785, -0.0659, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a096ec710e2d8069ad171d697fbc196a1bd9bf26fb294a0f6fbcc7a379eb840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:729311e385aa92218585d487aa29d3dfc84119b01e2e77428e47a4073b450445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed2bbbf581db419be5f3138eafe096d243e069c9974cbfa88051dbd9d5aa23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISrQYKjgEIEhgCKkD/KBQHXhfSiTz9M5PubbSnxRvpWFeuVmIt24UE4eOOMs2at7rKf45qUk+xuObGFVjPGW8rdIOL2zWPTglu2DoVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcT6zNUGEgxxZGjNt81pWNr3ZIcaDLolZYkwJtBvL4EEQiIwdwos8LpUg0fyeg/vjQFsdWxzGUEeIGFyPQ7ZGFw+So6KHuvHYWNmZXyjJkXwlXHZKssEegKt0DaqTHUXY8vxGUJ1YjrokkbHAMIdb5WYmUnTaKmXR4BjvjCKgVkqxNgCGSi7xCue7uAJ8CRtAEL6cJEvl+xzxnGji/aym98huOsRliHDc7OGjOCj7FT6L0ZDxhwKn2SXTR8iBS0DPUrJwa3940xXbgNgTrjJAD/qeSnnBiwdrPY4S6JMfyK6uujoWPb+l3SNAWNywDAuR0w/G5q3yWskh1XavZdqL6pIOHVjtr2Op0QwWZ9cELG7dTalGtDaAIeXKo9TuYKCgLJ+uS9kOGeawn8Kzdfk67SafHIIGSNqvlahHMEnPo32aaOi1NecJesBtWP3qFKnSRHHlFvPVd3lfKijfcQrLxPCF6fdJ4GPUoZyGBrCEBLOFwVOMj/I/il1TpXVDJHX4p/romdrLD320TtSd8nWa7CEaboR8dATtPA6TsPvfwZrK7dDliSUk+HgWYW1XNlkQVsCSyUC8oxXYksEdwtFjSOQESQwOV3mB5eZ4A+3WLVdAsq3R9QR2kSTSAYkYhbmhEgMYY1IFX4r8TGpxrxjxpqKxeIKx/RNRcgZ7KGP+z7xpZug3kSFAP5fpVaLo8nQZSl0OfT4k1nNstyiHOuHP1DTb/ckn7oyBMdRsWtY41uv48rAOR0oZgS1BWYZdiX74IL07Ko5g5o4eiOg6+GfhUmkCkrXhGMkjpIyCgHSDgI5GxxsjLS8Fx2gZekGXRY4NaDERAVpLfmHtiRepWPokKABT4PwHA5mnGABuLMy6GlyVpb8F3lx4r7/Xl8jTnqARDkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016YUX6JNWDe4CQWH86pPBpg",
      "input": {
        "note": "The right arm cannot reach over the left basket (stalls at y≈0.37), so I'm setting the marker down on the table in the middle zone where the left arm can pick it up and finish the delivery.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.37,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_016YUX6JNWDe4CQWH86pPBpg",
      "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]: [-0.0685, 0.9802, 1.2938, -1.1378, -0.0818, -0.0864, 0.9968, 0.989, 2.2498, 1.6077, -0.5518, 0.5854, 0.7097, 0.996]\nstate[eef_state]: left_x=0.2554 left_y=0.0006 left_z=0.2834 left_yaw=0.033 left_pitch=-0.2592 left_roll=0.0127 left_gripper=0.9968 right_x=0.3521 right_y=0.3643 right_z=0.0169 right_yaw=0.0506 right_pitch=-0.3358 right_roll=-0.1468 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -0.9641, 5.8325, 1.5751, -0.1001, -0.0562, -0.0122, 0.5949, -13.7231, 9.0872, -0.022, -1.1355, -1.5849, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e95658a18cf6958cdb076efa91aa9087209a979ad364c0c733779ada048827e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8bd2d8dbaf7eaf24e4f43d4e8c4bec5c009f1f33171736842472d1af1a3a5f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:402ed19d42172a939c5ef31d5f4b573500887afbd6fda3393cd623cc49067510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 7.942 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]: [-0.0685, 0.9771, 1.2938, -1.1378, -0.0814, -0.0864, 0.9968, 0.8906, 2.5309, 2.8811, -1.4467, 0.5461, 0.598, 0.1462]\nstate[eef_state]: left_x=0.2549 left_y=0.0005 left_z=0.2841 left_yaw=0.0326 left_pitch=-0.2562 left_roll=0.0121 left_gripper=0.9968 right_x=0.4124 right_y=0.3696 right_z=0.2073 right_yaw=0.0633 right_pitch=-0.3097 right_roll=-0.1186 right_gripper=0.1462\nstate[joint_eff]: [-0.2667, -1.5248, 5.8325, 1.4725, -0.0952, -0.0659, -0.0122, 0.3487, -16.1436, 7.0632, 0.9548, 0.3248, -0.0122, 1.0281]",
      "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]: [-0.0685, 0.9783, 1.2938, -1.1378, -0.0814, -0.0864, 0.9968, 0.8955, 2.5301, 2.8811, -1.4471, 0.5449, 0.5972, 0.1462]\nstate[eef_state]: left_x=0.2551 left_y=0.0005 left_z=0.2838 left_yaw=0.0326 left_pitch=-0.2573 left_roll=0.0122 left_gripper=0.9968 right_x=0.4104 right_y=0.3717 right_z=0.2076 right_yaw=0.0695 right_pitch=-0.3102 right_roll=-0.1181 right_gripper=0.1462\nstate[joint_eff]: [-0.0615, -1.4564, 5.8188, 1.4676, -0.0757, -0.0269, -0.0122, 0.1983, -16.335, 6.9402, 0.8864, 0.3785, -0.0659, 1.0281]\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]: [-0.0685, 0.9802, 1.2938, -1.1378, -0.0818, -0.0864, 0.9968, 0.989, 2.2498, 1.6077, -0.5518, 0.5854, 0.7097, 0.996]\nstate[eef_state]: left_x=0.2554 left_y=0.0006 left_z=0.2834 left_yaw=0.033 left_pitch=-0.2592 left_roll=0.0127 left_gripper=0.9968 right_x=0.3521 right_y=0.3643 right_z=0.0169 right_yaw=0.0506 right_pitch=-0.3358 right_roll=-0.1468 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -0.9641, 5.8325, 1.5751, -0.1001, -0.0562, -0.0122, 0.5949, -13.7231, 9.0872, -0.022, -1.1355, -1.5849, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e95658a18cf6958cdb076efa91aa9087209a979ad364c0c733779ada048827e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8bd2d8dbaf7eaf24e4f43d4e8c4bec5c009f1f33171736842472d1af1a3a5f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:402ed19d42172a939c5ef31d5f4b573500887afbd6fda3393cd623cc49067510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6AYKjgEIEhgCKkBjUi3SggcAYWCZLdzNC455d5FhjAYfWxlXeSnvIxgzON2Sd24Fdfb+FdfbhOlw6QQaov5b8OptFmlG05/GPVrqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc36zNUGEgwWzMnpD5W2aVwwO3waDID1eBzp6VDRxk/uWSIwkK9XZM5fxnDWIrKMBBTZKfj646ffQT6a9oGgZWf+Gch8GiFI/QOKKqqGg3vl8gZpKoYFY1AxW9IOHYrKCaffeht3h4srK71g1iNULTdnhI0Z1iBL7HyfyvJ4xJizLtJ0AD7Ti/S+U79IChVMFxThlgzT2sCdkIAGoX683B7RTkwgyClWQFw/d+VU+ptvru9t+LyvLECHKfOqIB1mIySEOJGvjFSirenxj+F7CT46ZhgYiOja1SbbhHtyTiiCHiArNt/PtLTYCmHVp55kiYscaP+WcUAfK7tRQY9AOMfU7ACn2Bwt3Skkvlm+cV/i4BatBGJQzwzJi2R0aRttkXpZ4vwPhGZIFE7QEjS+1Bn5fQ/41LH86Qi+3ns4L7uOYceLF4bNMrt3Am+nzgPpGM1wWgyKheLViFGACzaEq/2YXjdPryEL2VfDFEdZq2P04/9X5so3PIzS1p7LGeKK5HrAtLw0FoySmRTlHemvhdTTYKCVVVNgOQ4N0Np4GPg4tRZqLSH6UexI33m8lxVtImXu56MKpZE0C6NStGECzaK0t9XEYGZlpqXwFniZox71n3KcrlfCdD5UGSap37PWLM8ff4GPq8pe6hnnz6dGcFuDjSFE8lhBMzNWfBwOAQ49IrxjGtq561ZNTYm77RZV6fP5HvNMY+5zAQnd9ECYRwmvRosLawKk2x3CGafA0NpMbVpdJ2Mz1oANVtYC608qjWlGmAHUsudhFo0V9dHAGiIjpIDvpYEYph7onbCvkqsufoLO83j5+5nugRhY//0ctDJY+GvPyBOAG9ymhR3I75+k2NfP/YW+gg5Sp8tmpv8TDtL5aqxqu4n0QoK4H6LIkhZnhDbJYOTp5m6Z3haJtuclKJaY/GZG0mldAc80fPw2r8nq7Sxfe6m20WE5ETvLg1abSRykGi3JF576XBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NeVZuVtWnfbxX7XChfUxYQ",
      "input": {
        "note": "Marker is now parked on the table between the baskets. Retracting the right arm and bringing the left arm above the marker to pick it up.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.286,
          "left_z": 0.12,
          "right_x": 0.25,
          "right_y": 0.05,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01NeVZuVtWnfbxX7XChfUxYQ",
      "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]: [-0.9089, 1.8378, 1.3487, -0.654, -0.5739, -0.8135, 0.9969, 0.3954, 1.0309, 1.1755, -1.0885, 0.308, 0.1699, 0.9969]\nstate[eef_state]: left_x=0.3395 left_y=-0.2738 left_z=0.1059 left_yaw=0.0406 left_pitch=-0.3096 left_roll=0.0504 left_gripper=0.9969 right_x=0.2573 right_y=0.0532 right_z=0.2402 right_yaw=0.0166 right_pitch=-0.3298 right_roll=-0.1389 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -9.6615, 9.1556, 1.1258, -0.5055, 0.0073, -0.0073, -0.1436, -2.4137, 8.6085, 1.2039, 0.1734, -0.0415, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e0f216526e08da4efe7059c463d526b8c807f7817701a3a762ed0ca31085142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b99c0211adec629872acef5644a8d8ed2eaf46d60c67bc624716e08cb1974e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0cb96f0aacb77d94d6bfa5419f3cc25da017682fcfcfa399373f1c8a8e49ee6",
        "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 · 4.931 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]: [-0.0685, 0.9783, 1.2938, -1.1378, -0.0814, -0.0864, 0.9968, 0.8955, 2.5301, 2.8811, -1.4471, 0.5449, 0.5972, 0.1462]\nstate[eef_state]: left_x=0.2551 left_y=0.0005 left_z=0.2838 left_yaw=0.0326 left_pitch=-0.2573 left_roll=0.0122 left_gripper=0.9968 right_x=0.4104 right_y=0.3717 right_z=0.2076 right_yaw=0.0695 right_pitch=-0.3102 right_roll=-0.1181 right_gripper=0.1462\nstate[joint_eff]: [-0.0615, -1.4564, 5.8188, 1.4676, -0.0757, -0.0269, -0.0122, 0.1983, -16.335, 6.9402, 0.8864, 0.3785, -0.0659, 1.0281]\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]: [-0.0685, 0.9802, 1.2938, -1.1378, -0.0818, -0.0864, 0.9968, 0.989, 2.2498, 1.6077, -0.5518, 0.5854, 0.7097, 0.996]\nstate[eef_state]: left_x=0.2554 left_y=0.0006 left_z=0.2834 left_yaw=0.033 left_pitch=-0.2592 left_roll=0.0127 left_gripper=0.9968 right_x=0.3521 right_y=0.3643 right_z=0.0169 right_yaw=0.0506 right_pitch=-0.3358 right_roll=-0.1468 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -0.9641, 5.8325, 1.5751, -0.1001, -0.0562, -0.0122, 0.5949, -13.7231, 9.0872, -0.022, -1.1355, -1.5849, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9089, 1.8378, 1.3487, -0.654, -0.5739, -0.8135, 0.9969, 0.3954, 1.0309, 1.1755, -1.0885, 0.308, 0.1699, 0.9969]\nstate[eef_state]: left_x=0.3395 left_y=-0.2738 left_z=0.1059 left_yaw=0.0406 left_pitch=-0.3096 left_roll=0.0504 left_gripper=0.9969 right_x=0.2573 right_y=0.0532 right_z=0.2402 right_yaw=0.0166 right_pitch=-0.3298 right_roll=-0.1389 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -9.6615, 9.1556, 1.1258, -0.5055, 0.0073, -0.0073, -0.1436, -2.4137, 8.6085, 1.2039, 0.1734, -0.0415, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e0f216526e08da4efe7059c463d526b8c807f7817701a3a762ed0ca31085142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b99c0211adec629872acef5644a8d8ed2eaf46d60c67bc624716e08cb1974e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0cb96f0aacb77d94d6bfa5419f3cc25da017682fcfcfa399373f1c8a8e49ee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISkwcKjgEIEhgCKkAJKT2VKAaYj+mxzd9u2ecLR3gEqra2YwKDVpFOtbYfiXvj5EGw/OK0uhOYvURXaNfhvE1acXOfQfgiKVLTQ7F/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdf6zNUGEgwgCSIJc4NzBlAQ4ssaDK5eVogK5OCOZTlRVCIwrjDLdMD/H1JoEJEkyMMpyL31Ow6Hi/D0P0nuaRrpojAQmMNFHpTxptqOYE0lhfb1KrEFh9O0rXk3qN1YZ4MiYqVwvXKK1eKrrEgkySFDJjmFVDah0up6SjY0CGQuMfJGyP88gqOAWPXeM5C4IWvHFo+BsCY8ot5efiQfPj22ATAkm7EI2WMoL99zDQySeJwtwqQOwOHkAvsDJ6Fjjvo6SfggCQrL/eLFBbCflOOfzAT0kxUl0SfCgg5tLJYYrkDLfGItbrEQ1+wrFIVjPaBPI37JRpI7g5JFjgop1J71f3BYHlXADqY253GiGeilcp/ggzUrHoPgeY2rNXs+fLNRhPbrlOmhMiWwLP//6PE2wW5zZrYSJ+vD4F7e4/+qLK8ykAl0xqJrTiM/+xdgO3/JtqhQlKeB1WGbG7EoD7imD6DUZFMqcFwiBeVMRXE/ZIDOzlKdO3toB7BCGe0DQi+3QThX5mHx9U5/TlGcMqr5USRTxR6hfQkwNhkWbzrMnwV75ziwUAz8Cj+UKlXTC3axKX8R/RNYULDdLOStJ0oKisNtvl4BmfxH4yya2zKh9DXAeU+LKO6/7jn3/3KYymHhRYNVMenPmYu4oOFXZennSZO8tg3SYXuAohkPmYXQGtsxJ9Qmkb00dfLaxR/L9FL12JtMh7ueWBE/YR3qmM9KxhSQFhRyj8GS8dQnv4J8GuQimTG/+gyYG9NgotVJvV+TdjHUrKSx0oB2UiQctlQGZShsbpHt3BSJm9zEOV3OIDVJnMcZibXLnx0fNcCn+kQ/C4pB0Ydgw4h7DoPwET+DzNRqaOfW9u0hNBWD/ih+DBvc6bRl2KHat7Y+xxBSG0pHUhTGU/ejYtpaYlI6FrBAHtot+tw7nOV7I3Lp4CxGtQQB8BWrRxxh0MPbBVNCXEXfilo0B55aBOcJHZaENp8K1LkzHyFXkZQAAAjnEPsQymL34nqAD6i3RJFO2arubH7BVHgwMQsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nq6WxToLN6y4poms2WGEYL",
      "input": {
        "note": "The left wrist view shows the marker slightly right of the jaw column; shifting ~3 cm right and descending to table level over it.",
        "targets": {
          "left_x": 0.355,
          "left_y": -0.31,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Nq6WxToLN6y4poms2WGEYL",
      "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]: [-0.9291, 2.0956, 1.3293, -0.432, -0.5766, -0.8429, 0.9968, 0.3916, 1.0351, 1.1751, -1.0988, 0.2863, 0.1539, 0.997]\nstate[eef_state]: left_x=0.3492 left_y=-0.3005 left_z=0.0107 left_yaw=0.0536 left_pitch=-0.3378 left_roll=0.0803 left_gripper=0.9968 right_x=0.2553 right_y=0.0553 right_z=0.2367 right_yaw=0.0383 right_pitch=-0.3512 right_roll=-0.1376 right_gripper=0.997\nstate[joint_eff]: [-0.5538, -11.0427, 6.3111, 1.072, -0.4225, -0.0122, -0.0171, 0.0889, -2.441, 6.2838, 1.4237, 0.3248, 0.1197, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a76431593b5d61eb49c8ea4c35ff97ed906dcdcf91899defdbe3028e170476c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027db9068362ba59d42d6fc94aee47cf3ca87f520fabf32c0a6a10857730fde7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94ef57946da5edc0af3508a2636bd96916861016f15e84e455b588ea3d4528dc",
        "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 · 4.488 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]: [-0.0685, 0.9802, 1.2938, -1.1378, -0.0818, -0.0864, 0.9968, 0.989, 2.2498, 1.6077, -0.5518, 0.5854, 0.7097, 0.996]\nstate[eef_state]: left_x=0.2554 left_y=0.0006 left_z=0.2834 left_yaw=0.033 left_pitch=-0.2592 left_roll=0.0127 left_gripper=0.9968 right_x=0.3521 right_y=0.3643 right_z=0.0169 right_yaw=0.0506 right_pitch=-0.3358 right_roll=-0.1468 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -0.9641, 5.8325, 1.5751, -0.1001, -0.0562, -0.0122, 0.5949, -13.7231, 9.0872, -0.022, -1.1355, -1.5849, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9089, 1.8378, 1.3487, -0.654, -0.5739, -0.8135, 0.9969, 0.3954, 1.0309, 1.1755, -1.0885, 0.308, 0.1699, 0.9969]\nstate[eef_state]: left_x=0.3395 left_y=-0.2738 left_z=0.1059 left_yaw=0.0406 left_pitch=-0.3096 left_roll=0.0504 left_gripper=0.9969 right_x=0.2573 right_y=0.0532 right_z=0.2402 right_yaw=0.0166 right_pitch=-0.3298 right_roll=-0.1389 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -9.6615, 9.1556, 1.1258, -0.5055, 0.0073, -0.0073, -0.1436, -2.4137, 8.6085, 1.2039, 0.1734, -0.0415, 0.0806]",
      "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]: [-0.9291, 2.0956, 1.3293, -0.432, -0.5766, -0.8429, 0.9968, 0.3916, 1.0351, 1.1751, -1.0988, 0.2863, 0.1539, 0.997]\nstate[eef_state]: left_x=0.3492 left_y=-0.3005 left_z=0.0107 left_yaw=0.0536 left_pitch=-0.3378 left_roll=0.0803 left_gripper=0.9968 right_x=0.2553 right_y=0.0553 right_z=0.2367 right_yaw=0.0383 right_pitch=-0.3512 right_roll=-0.1376 right_gripper=0.997\nstate[joint_eff]: [-0.5538, -11.0427, 6.3111, 1.072, -0.4225, -0.0122, -0.0171, 0.0889, -2.441, 6.2838, 1.4237, 0.3248, 0.1197, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a76431593b5d61eb49c8ea4c35ff97ed906dcdcf91899defdbe3028e170476c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027db9068362ba59d42d6fc94aee47cf3ca87f520fabf32c0a6a10857730fde7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94ef57946da5edc0af3508a2636bd96916861016f15e84e455b588ea3d4528dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wUKjgEIEhgCKkDWfQ5DCSo0cnLyDxIPAXO6hkmxSxuKxh+yiB9BKglpM//iq85kXuo+WAbA8JNUwbMzqH27PuTdWQH3yRaweTYdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd36zNUGEgzqgSmuvU6xTN409u0aDLpeovDTYTrzf2wjOiIw1UUqPWO9ctzBi8hww0a3jj8ahEhH37CuAZJ/PM4DDBBCaoS1AbjZ8yZrAbz2Wp78KvEDO5QmPWQP5g6zPwK3Zh84g0M/iqh5186ytGh6TprcWQ0jVqJ10y0Zsbr6g7wsIhlHOj5OjT3GeGUTTTPMwVaItyubEd/e5YVmrqalggluBZmpxIHMxoQNQ/KY0RP21qj2wZsRNvSpVEuha6pBDNCFgI3wjMV/NIymUsgY5eGVtBQ4kOhxouwOGA9pq/hfg/ILhCraJzBtRiUA/29Rhrgyy8TlzYPjedrkEHq/H9sQEWn25duFh0JmBkKbNWHaMLx+/d2GpCEPhLKGTrEkTQF1NIMFNI52W8LhAPJ97ggh4yFKATYLqf9YLG8BqrZUkvSNsnoS3qeyI9BanqHqsaW+jfKRtEGWNtWND4xddlbDEPBic/JBG5WBJknh+Z9J2htaZns45sWfaymHpjvwiiNWooUDCqgVK/SEH7LdEeiSI6/z4f5MNHTit9nWugWys4/4RsVlH2hAlAnKN6BazYzmSWJmblLpRkCVkS5WqVjEjba2icGahm0gctE9X4fiJ/MWV4OzL9/6Uimw5Ihb8qPeDP6hq9H8A5ege9veUgqQlcVEx8GoARYrl/WBH3Db0twtCc2CSHWIdgL+zD0zJ8qz9tIk9TbCKAMthW2kKc4nRR2KZouLon6OQvu/m0uaj0RSiawMCGgtN2UQ82uoLRClZfoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mZFXrQ4iuUe9Lww8p4yB3",
      "input": {
        "note": "Marker now fills the wrist view centered on the jaw column at table level; closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014mZFXrQ4iuUe9Lww8p4yB3",
      "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]: [-0.931, 2.1117, 1.3293, -0.4282, -0.577, -0.8494, 0.123, 0.3916, 1.0351, 1.1744, -1.0992, 0.2817, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3481 left_y=-0.3003 left_z=0.0042 left_yaw=0.0592 left_pitch=-0.3439 left_roll=0.087 left_gripper=0.123 right_x=0.255 right_y=0.056 right_z=0.2362 right_yaw=0.0425 right_pitch=-0.3536 right_roll=-0.1348 right_gripper=0.997\nstate[joint_eff]: [0.1436, -12.2325, 5.6137, 0.8523, -0.3492, 0.022, 1.0134, -0.1846, -1.9761, 6.4479, 1.3065, 0.105, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f5fd1aabc8d0cbf83bbad36fe8e2d5ec8a4e25055512f9a47a91b69ad89be9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4435f067a6a7131aa8ea30b71b2acbf1385c53d324f7efe64624d16daabb6350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c40ce2a2d039c28a7f9183bc77fd1d16c0d6ba8b22945e4771ae77c5710c5584",
        "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 · 6.151 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]: [-0.9089, 1.8378, 1.3487, -0.654, -0.5739, -0.8135, 0.9969, 0.3954, 1.0309, 1.1755, -1.0885, 0.308, 0.1699, 0.9969]\nstate[eef_state]: left_x=0.3395 left_y=-0.2738 left_z=0.1059 left_yaw=0.0406 left_pitch=-0.3096 left_roll=0.0504 left_gripper=0.9969 right_x=0.2573 right_y=0.0532 right_z=0.2402 right_yaw=0.0166 right_pitch=-0.3298 right_roll=-0.1389 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -9.6615, 9.1556, 1.1258, -0.5055, 0.0073, -0.0073, -0.1436, -2.4137, 8.6085, 1.2039, 0.1734, -0.0415, 0.0806]",
      "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]: [-0.9291, 2.0956, 1.3293, -0.432, -0.5766, -0.8429, 0.9968, 0.3916, 1.0351, 1.1751, -1.0988, 0.2863, 0.1539, 0.997]\nstate[eef_state]: left_x=0.3492 left_y=-0.3005 left_z=0.0107 left_yaw=0.0536 left_pitch=-0.3378 left_roll=0.0803 left_gripper=0.9968 right_x=0.2553 right_y=0.0553 right_z=0.2367 right_yaw=0.0383 right_pitch=-0.3512 right_roll=-0.1376 right_gripper=0.997\nstate[joint_eff]: [-0.5538, -11.0427, 6.3111, 1.072, -0.4225, -0.0122, -0.0171, 0.0889, -2.441, 6.2838, 1.4237, 0.3248, 0.1197, -0.0024]",
      "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]: [-0.931, 2.1117, 1.3293, -0.4282, -0.577, -0.8494, 0.123, 0.3916, 1.0351, 1.1744, -1.0992, 0.2817, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3481 left_y=-0.3003 left_z=0.0042 left_yaw=0.0592 left_pitch=-0.3439 left_roll=0.087 left_gripper=0.123 right_x=0.255 right_y=0.056 right_z=0.2362 right_yaw=0.0425 right_pitch=-0.3536 right_roll=-0.1348 right_gripper=0.997\nstate[joint_eff]: [0.1436, -12.2325, 5.6137, 0.8523, -0.3492, 0.022, 1.0134, -0.1846, -1.9761, 6.4479, 1.3065, 0.105, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f5fd1aabc8d0cbf83bbad36fe8e2d5ec8a4e25055512f9a47a91b69ad89be9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4435f067a6a7131aa8ea30b71b2acbf1385c53d324f7efe64624d16daabb6350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c40ce2a2d039c28a7f9183bc77fd1d16c0d6ba8b22945e4771ae77c5710c5584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7gIKjgEIEhgCKkDo5wBFR+5/6105HzWzIuCkMwPu53OIloDo/Rbn+hvKkYSjPa+AmT8/REyH95RNfkGLLt5DDBipzo1khq9CaCUpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeL6zNUGEgyUs4Ly3s3rUJ/jk2AaDJU6cvZ4z6UyV09VcCIwnRhspkHhbGYEX3W+2EYBAyLNQl6OMyO7ekakkaY79K3s7PnMmwQY3uTB11xeShFHKowBHqY782ZyaJp9po19OMcgmjHIP0AEc87cIMJdDG6deZJmul+sHrITQmmKVcEHruoNT1staLGBINqBx46aMfoI2iJ/HFPkg6GByfbDH2QaD2bzzF6gthuOsm1UiNOLkbq6f10l7aliyJ4GJJAdXmPcPT+BPRE3Xjg98lLCwVOWWMG6RPm5GNyTo/MVhtcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013eKJFd1Gd1miBiNB1G8wgd",
      "input": {
        "note": "Marker grasped (gripper 0.12); lifting and carrying it over the left basket, the same spot where the yellow pen was dropped.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.145,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_013eKJFd1Gd1miBiNB1G8wgd",
      "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]: [-0.4576, 1.887, 1.985, -1.1149, -0.3618, -0.4458, 0.128, 0.3916, 1.0351, 1.1744, -1.0996, 0.2779, 0.1532, 0.997]\nstate[eef_state]: left_x=0.4453 left_y=-0.1456 left_z=0.2466 left_yaw=0.1057 left_pitch=-0.36 left_roll=0.0575 left_gripper=0.128 right_x=0.2548 right_y=0.0566 right_z=0.236 right_yaw=0.0457 right_pitch=-0.3551 right_roll=-0.1318 right_gripper=0.997\nstate[joint_eff]: [0.1026, -8.5538, 7.9932, 1.3846, -0.2564, 0.4322, 1.0281, 0.0479, -2.0991, 6.1607, 1.2479, 0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d326620322920b351c69a56a8edf1758831a182183c0348f31bbea6a81e23d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ed047f79a8709d97275200a678a6ef6844366ead722dabc771811c8972b0d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:053619ab87a7ff1432ef85a088b29e95d63f63e9a8b2d15128d929641eb3c730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 12.41 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]: [-0.9291, 2.0956, 1.3293, -0.432, -0.5766, -0.8429, 0.9968, 0.3916, 1.0351, 1.1751, -1.0988, 0.2863, 0.1539, 0.997]\nstate[eef_state]: left_x=0.3492 left_y=-0.3005 left_z=0.0107 left_yaw=0.0536 left_pitch=-0.3378 left_roll=0.0803 left_gripper=0.9968 right_x=0.2553 right_y=0.0553 right_z=0.2367 right_yaw=0.0383 right_pitch=-0.3512 right_roll=-0.1376 right_gripper=0.997\nstate[joint_eff]: [-0.5538, -11.0427, 6.3111, 1.072, -0.4225, -0.0122, -0.0171, 0.0889, -2.441, 6.2838, 1.4237, 0.3248, 0.1197, -0.0024]",
      "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]: [-0.931, 2.1117, 1.3293, -0.4282, -0.577, -0.8494, 0.123, 0.3916, 1.0351, 1.1744, -1.0992, 0.2817, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3481 left_y=-0.3003 left_z=0.0042 left_yaw=0.0592 left_pitch=-0.3439 left_roll=0.087 left_gripper=0.123 right_x=0.255 right_y=0.056 right_z=0.2362 right_yaw=0.0425 right_pitch=-0.3536 right_roll=-0.1348 right_gripper=0.997\nstate[joint_eff]: [0.1436, -12.2325, 5.6137, 0.8523, -0.3492, 0.022, 1.0134, -0.1846, -1.9761, 6.4479, 1.3065, 0.105, -0.0513, -0.0122]",
      "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]: [-0.4576, 1.887, 1.985, -1.1149, -0.3618, -0.4458, 0.128, 0.3916, 1.0351, 1.1744, -1.0996, 0.2779, 0.1532, 0.997]\nstate[eef_state]: left_x=0.4453 left_y=-0.1456 left_z=0.2466 left_yaw=0.1057 left_pitch=-0.36 left_roll=0.0575 left_gripper=0.128 right_x=0.2548 right_y=0.0566 right_z=0.236 right_yaw=0.0457 right_pitch=-0.3551 right_roll=-0.1318 right_gripper=0.997\nstate[joint_eff]: [0.1026, -8.5538, 7.9932, 1.3846, -0.2564, 0.4322, 1.0281, 0.0479, -2.0991, 6.1607, 1.2479, 0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d326620322920b351c69a56a8edf1758831a182183c0348f31bbea6a81e23d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ed047f79a8709d97275200a678a6ef6844366ead722dabc771811c8972b0d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053619ab87a7ff1432ef85a088b29e95d63f63e9a8b2d15128d929641eb3c730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019UrvM9v4viRHtJvXxaFZUJ",
      "input": {
        "note": "Marker is over the left basket (yellow pen visible inside); releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019UrvM9v4viRHtJvXxaFZUJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4549, 1.8977, 1.9858, -1.1362, -0.358, -0.4625, 0.9954, 0.3916, 1.0382, 1.1744, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.443 left_y=-0.1438 left_z=0.2394 left_yaw=0.1215 left_pitch=-0.3874 left_roll=0.0619 left_gripper=0.9954 right_x=0.2551 right_y=0.0573 right_z=0.2352 right_yaw=0.0477 right_pitch=-0.3583 right_roll=-0.1306 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -10.5504, 6.1197, 1.3602, -0.2808, 0.1734, -0.1245, -0.2393, -2.3726, 6.188, 1.3065, 0.0855, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfd4e7a46b1f2edc90c4110cc809953c50e830b6208d5087b89149434e7d8e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49db3ee9f7d0aa5e0782ae235237ac2294b129f0d27d84255460cd1232c536c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:490cbaf094bf760db43716dbaa695bb4e121b9f5d3062a338a31fa4dd8f684bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.893 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]: [-0.931, 2.1117, 1.3293, -0.4282, -0.577, -0.8494, 0.123, 0.3916, 1.0351, 1.1744, -1.0992, 0.2817, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3481 left_y=-0.3003 left_z=0.0042 left_yaw=0.0592 left_pitch=-0.3439 left_roll=0.087 left_gripper=0.123 right_x=0.255 right_y=0.056 right_z=0.2362 right_yaw=0.0425 right_pitch=-0.3536 right_roll=-0.1348 right_gripper=0.997\nstate[joint_eff]: [0.1436, -12.2325, 5.6137, 0.8523, -0.3492, 0.022, 1.0134, -0.1846, -1.9761, 6.4479, 1.3065, 0.105, -0.0513, -0.0122]",
      "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]: [-0.4576, 1.887, 1.985, -1.1149, -0.3618, -0.4458, 0.128, 0.3916, 1.0351, 1.1744, -1.0996, 0.2779, 0.1532, 0.997]\nstate[eef_state]: left_x=0.4453 left_y=-0.1456 left_z=0.2466 left_yaw=0.1057 left_pitch=-0.36 left_roll=0.0575 left_gripper=0.128 right_x=0.2548 right_y=0.0566 right_z=0.236 right_yaw=0.0457 right_pitch=-0.3551 right_roll=-0.1318 right_gripper=0.997\nstate[joint_eff]: [0.1026, -8.5538, 7.9932, 1.3846, -0.2564, 0.4322, 1.0281, 0.0479, -2.0991, 6.1607, 1.2479, 0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4549, 1.8977, 1.9858, -1.1362, -0.358, -0.4625, 0.9954, 0.3916, 1.0382, 1.1744, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.443 left_y=-0.1438 left_z=0.2394 left_yaw=0.1215 left_pitch=-0.3874 left_roll=0.0619 left_gripper=0.9954 right_x=0.2551 right_y=0.0573 right_z=0.2352 right_yaw=0.0477 right_pitch=-0.3583 right_roll=-0.1306 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -10.5504, 6.1197, 1.3602, -0.2808, 0.1734, -0.1245, -0.2393, -2.3726, 6.188, 1.3065, 0.0855, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfd4e7a46b1f2edc90c4110cc809953c50e830b6208d5087b89149434e7d8e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49db3ee9f7d0aa5e0782ae235237ac2294b129f0d27d84255460cd1232c536c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490cbaf094bf760db43716dbaa695bb4e121b9f5d3062a338a31fa4dd8f684bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RDHL9Sn59mgwRru88JaKyA",
      "input": {
        "note": "Both pens are now in the left basket. Remaining: a brown dog plush in front of the left arm and a blue marker on the right. Moving the left arm over the dog plush.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.18,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01RDHL9Sn59mgwRru88JaKyA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7853, 1.5551, 1.1145, -0.7937, -0.4786, -0.7563, 0.9967, 0.3916, 1.0412, 1.1736, -1.0992, 0.2752, 0.1528, 0.997]\nstate[eef_state]: left_x=0.299 left_y=-0.1788 left_z=0.1117 left_yaw=0.1033 left_pitch=-0.438 left_roll=0.1071 left_gripper=0.9967 right_x=0.2554 right_y=0.0574 right_z=0.2342 right_yaw=0.0474 right_pitch=-0.3619 right_roll=-0.1322 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -8.4991, 6.9538, 1.1648, -0.5104, -0.0708, 0.1148, -0.0068, -2.4547, 6.6667, 1.3407, 0.0952, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7432111010e78a69a2982e67a6094e818fa3c46085199c975360182a885fbb23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81ce04c81a6f1088fe4bbca63f27df08119295334a52af43ed3ce7036cf0b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:065a5be18fd366dbc5318943f09d7461466a30a34eb726ebf7ff6a44f61e7cd0",
        "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 · 2.464 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]: [-0.4576, 1.887, 1.985, -1.1149, -0.3618, -0.4458, 0.128, 0.3916, 1.0351, 1.1744, -1.0996, 0.2779, 0.1532, 0.997]\nstate[eef_state]: left_x=0.4453 left_y=-0.1456 left_z=0.2466 left_yaw=0.1057 left_pitch=-0.36 left_roll=0.0575 left_gripper=0.128 right_x=0.2548 right_y=0.0566 right_z=0.236 right_yaw=0.0457 right_pitch=-0.3551 right_roll=-0.1318 right_gripper=0.997\nstate[joint_eff]: [0.1026, -8.5538, 7.9932, 1.3846, -0.2564, 0.4322, 1.0281, 0.0479, -2.0991, 6.1607, 1.2479, 0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4549, 1.8977, 1.9858, -1.1362, -0.358, -0.4625, 0.9954, 0.3916, 1.0382, 1.1744, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.443 left_y=-0.1438 left_z=0.2394 left_yaw=0.1215 left_pitch=-0.3874 left_roll=0.0619 left_gripper=0.9954 right_x=0.2551 right_y=0.0573 right_z=0.2352 right_yaw=0.0477 right_pitch=-0.3583 right_roll=-0.1306 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -10.5504, 6.1197, 1.3602, -0.2808, 0.1734, -0.1245, -0.2393, -2.3726, 6.188, 1.3065, 0.0855, -0.022, -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 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]: [-0.7853, 1.5551, 1.1145, -0.7937, -0.4786, -0.7563, 0.9967, 0.3916, 1.0412, 1.1736, -1.0992, 0.2752, 0.1528, 0.997]\nstate[eef_state]: left_x=0.299 left_y=-0.1788 left_z=0.1117 left_yaw=0.1033 left_pitch=-0.438 left_roll=0.1071 left_gripper=0.9967 right_x=0.2554 right_y=0.0574 right_z=0.2342 right_yaw=0.0474 right_pitch=-0.3619 right_roll=-0.1322 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -8.4991, 6.9538, 1.1648, -0.5104, -0.0708, 0.1148, -0.0068, -2.4547, 6.6667, 1.3407, 0.0952, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7432111010e78a69a2982e67a6094e818fa3c46085199c975360182a885fbb23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d81ce04c81a6f1088fe4bbca63f27df08119295334a52af43ed3ce7036cf0b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:065a5be18fd366dbc5318943f09d7461466a30a34eb726ebf7ff6a44f61e7cd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQMKjgEIEhgCKkBkxlH3WOV7VU+w5x9CJUcbXQabnsURnFKIeeDjAPByszOiXbflOancavphuY+lJRr/OXWPdZkVluqUAwj/z1bvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf36zNUGEgwJM6s2rJ7GZXJk680aDDTn0F1CU8oIF92R3CIwPB2LRkZ6hwkcDXxwnNfolmaJXxw1KGuOsc7zjiHAPNWteKy8AHCA2SYIyy6hBx6yKtsBzdH8PP+xhUuaL7t+UzvjK5Km3QJPza65z11Am/VoVFLiPRD22bXnywfWbsSVRxR3y04PraG/QQKQOdv9RlzXqda/zt0ksFYEF1fVch1sIxnyUu+gItw2L1NCQj6KYNt7Y2BWW4+TPI+zNs4UkCSgbL73KzyNDrRZcewZFAQZb/+5mQfGfEbxxzRchKYKrYK4PXO72ntZdCjzDYOD21gGXp1dSfA9HmQyJ2fXsVquNanF5yiT5LqjZ7SmbPEz7XtJElVE6xSP/yu4xdKiPShTYrADH52giDsinGLgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012aZcpQFQjRN6N4PLcWgW1d",
      "input": {
        "note": "The dog plush is centered between the jaws in the left wrist view; descending onto its back to grasp.",
        "targets": {
          "left_x": 0.305,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012aZcpQFQjRN6N4PLcWgW1d",
      "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]: [-0.7746, 1.6905, 0.9024, -0.4812, -0.4717, -0.7517, 0.9968, 0.3916, 1.0416, 1.1732, -1.0996, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.2976 left_y=-0.1739 left_z=0.0257 left_yaw=0.1204 left_pitch=-0.4654 left_roll=0.1356 left_gripper=0.9968 right_x=0.2553 right_y=0.0574 right_z=0.2339 right_yaw=0.0471 right_pitch=-0.363 right_roll=-0.1324 right_gripper=0.997\nstate[joint_eff]: [0.1846, -6.4205, 5.012, 0.8425, -0.2271, 0.0366, -0.0122, -0.1983, -2.2359, 6.3385, 1.2625, 0.1001, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78dbae23d86f20e38dd5e5404dbd0694abf884dbacc579de351a384d59741bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38ad4a31b24100278647e4193a0183decb1b360d8d5e1c1e33fdf6834494e8db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b9675c1d6010652984933a427abd538d78cb4713110d11199daab8a1be9904d",
        "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 · 7.286 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]: [-0.4549, 1.8977, 1.9858, -1.1362, -0.358, -0.4625, 0.9954, 0.3916, 1.0382, 1.1744, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.443 left_y=-0.1438 left_z=0.2394 left_yaw=0.1215 left_pitch=-0.3874 left_roll=0.0619 left_gripper=0.9954 right_x=0.2551 right_y=0.0573 right_z=0.2352 right_yaw=0.0477 right_pitch=-0.3583 right_roll=-0.1306 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -10.5504, 6.1197, 1.3602, -0.2808, 0.1734, -0.1245, -0.2393, -2.3726, 6.188, 1.3065, 0.0855, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7853, 1.5551, 1.1145, -0.7937, -0.4786, -0.7563, 0.9967, 0.3916, 1.0412, 1.1736, -1.0992, 0.2752, 0.1528, 0.997]\nstate[eef_state]: left_x=0.299 left_y=-0.1788 left_z=0.1117 left_yaw=0.1033 left_pitch=-0.438 left_roll=0.1071 left_gripper=0.9967 right_x=0.2554 right_y=0.0574 right_z=0.2342 right_yaw=0.0474 right_pitch=-0.3619 right_roll=-0.1322 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -8.4991, 6.9538, 1.1648, -0.5104, -0.0708, 0.1148, -0.0068, -2.4547, 6.6667, 1.3407, 0.0952, -0.0708, -0.0122]",
      "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]: [-0.7746, 1.6905, 0.9024, -0.4812, -0.4717, -0.7517, 0.9968, 0.3916, 1.0416, 1.1732, -1.0996, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.2976 left_y=-0.1739 left_z=0.0257 left_yaw=0.1204 left_pitch=-0.4654 left_roll=0.1356 left_gripper=0.9968 right_x=0.2553 right_y=0.0574 right_z=0.2339 right_yaw=0.0471 right_pitch=-0.363 right_roll=-0.1324 right_gripper=0.997\nstate[joint_eff]: [0.1846, -6.4205, 5.012, 0.8425, -0.2271, 0.0366, -0.0122, -0.1983, -2.2359, 6.3385, 1.2625, 0.1001, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78dbae23d86f20e38dd5e5404dbd0694abf884dbacc579de351a384d59741bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38ad4a31b24100278647e4193a0183decb1b360d8d5e1c1e33fdf6834494e8db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b9675c1d6010652984933a427abd538d78cb4713110d11199daab8a1be9904d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WV7CJL8nVNjx2AV5iuHxfb",
      "input": {
        "note": "Jaws are straddling the dog plush's back; closing to grasp it.",
        "targets": {
          "left_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WV7CJL8nVNjx2AV5iuHxfb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.7084, 0.8917, -0.4778, -0.4713, -0.7532, 0.2451, 0.3916, 1.0416, 1.1732, -1.0996, 0.2752, 0.1528, 0.997]\nstate[eef_state]: left_x=0.2942 left_y=-0.1707 left_z=0.0173 left_yaw=0.1311 left_pitch=-0.4812 left_roll=0.1566 left_gripper=0.2451 right_x=0.2553 right_y=0.0574 right_z=0.2339 right_yaw=0.0473 right_pitch=-0.363 right_roll=-0.1326 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -8.7453, 6.3795, 0.7399, -0.3297, -0.0122, 1.0379, -0.1436, -2.2222, 6.147, 1.2821, 0.1001, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a842a99365ac44a153a4bb9a234a11e6d4d2ad91fbda51393b8d484516413baa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f9eb66bd8ffe793980ebe0baa4f78e33e2564e7705b8ffde36de5bb4660916",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0abc59c24bd48c18d432e5b1c87224efdf277d2922fda17f6c9718df910ad836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.523 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]: [-0.7853, 1.5551, 1.1145, -0.7937, -0.4786, -0.7563, 0.9967, 0.3916, 1.0412, 1.1736, -1.0992, 0.2752, 0.1528, 0.997]\nstate[eef_state]: left_x=0.299 left_y=-0.1788 left_z=0.1117 left_yaw=0.1033 left_pitch=-0.438 left_roll=0.1071 left_gripper=0.9967 right_x=0.2554 right_y=0.0574 right_z=0.2342 right_yaw=0.0474 right_pitch=-0.3619 right_roll=-0.1322 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -8.4991, 6.9538, 1.1648, -0.5104, -0.0708, 0.1148, -0.0068, -2.4547, 6.6667, 1.3407, 0.0952, -0.0708, -0.0122]",
      "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]: [-0.7746, 1.6905, 0.9024, -0.4812, -0.4717, -0.7517, 0.9968, 0.3916, 1.0416, 1.1732, -1.0996, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.2976 left_y=-0.1739 left_z=0.0257 left_yaw=0.1204 left_pitch=-0.4654 left_roll=0.1356 left_gripper=0.9968 right_x=0.2553 right_y=0.0574 right_z=0.2339 right_yaw=0.0471 right_pitch=-0.363 right_roll=-0.1324 right_gripper=0.997\nstate[joint_eff]: [0.1846, -6.4205, 5.012, 0.8425, -0.2271, 0.0366, -0.0122, -0.1983, -2.2359, 6.3385, 1.2625, 0.1001, -0.0415, -0.0122]",
      "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]: [-0.7746, 1.7084, 0.8917, -0.4778, -0.4713, -0.7532, 0.2451, 0.3916, 1.0416, 1.1732, -1.0996, 0.2752, 0.1528, 0.997]\nstate[eef_state]: left_x=0.2942 left_y=-0.1707 left_z=0.0173 left_yaw=0.1311 left_pitch=-0.4812 left_roll=0.1566 left_gripper=0.2451 right_x=0.2553 right_y=0.0574 right_z=0.2339 right_yaw=0.0473 right_pitch=-0.363 right_roll=-0.1326 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -8.7453, 6.3795, 0.7399, -0.3297, -0.0122, 1.0379, -0.1436, -2.2222, 6.147, 1.2821, 0.1001, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a842a99365ac44a153a4bb9a234a11e6d4d2ad91fbda51393b8d484516413baa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8f9eb66bd8ffe793980ebe0baa4f78e33e2564e7705b8ffde36de5bb4660916",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0abc59c24bd48c18d432e5b1c87224efdf277d2922fda17f6c9718df910ad836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3gYKjgEIEhgCKkAsuxkCg6bVg9bxpGUab3NcljjbBKuQP6q2BV4F0+6TI2m+tcfCqh5yjR0NNxhLM2cYOxrg46cws0UWu55o8Nb0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYf7zNUGEgwln5OKw7VEVikQ6hcaDGUzq4dD6srx+vK+9SIwm7mi/FRPRc2njL8mI6JD2xq4dO4w8y90p5zP+ExobAl5T0Z/dDMLXbqKTrXE5gHcKvwE8vgncDhqmSaoaji6iVSIXJK+Rscuilf3pJIDr+VX4H9v2iSg8tpjB0CPS0MT7VADWwLYJ90V6KhWeeG/xVk3LRKkLoPoxzKXZls5zQVW8SKytRUWez0/M0kqhIh+BH134/E/MwB2nt43dc5xe7Y86pL6ILw+/17ImtbiCcsaCt/Yf3ak5M6mmzpYsN5yIF0dyI323D6mxn7ICKGlXnJ3gYORu2VnpKivoRlS5m+8I4lN+WHQ6hlFhfD7H741n/THBa1xHs1AOPA58Abn5AVsDL7TrkRw6iRW51MngNiur7c1UwppN+s7994VQQxl3InQtktR/6itVLpl7BuFvB3CWSiUkAiZPgRflZTqPZ7liAPzObtvD/NMIrhlIY9513urNLMyYT68mcCoZBqSZ16n0uUyg+SM7nwrO1NDyUkg6YmdI91M2QenuN64p+1gfa5buIyoee+EDpipgoNUJkBSydTqALT/FlbCj5fKSF15uW0YwSjKFZdH5yJHB9tAD+5Nd4lZNVxQRV0dtxhVv7LPkOYpT163hjrPi/kGQiLlyVTiBcv4bTwBey7y1YfWH/sVDdE3TLcM3wWNfPwTr14DfMKb8VzMKIgQfKdlCq5yeHfREyhJ5iSKmbGjeFsmFX8HQL4uuiCWGjX+Huuw3FbkIUB9+7AUYSS26L3m2dxZv5tCoB5seuXburykvok6XU2LuxhTpD1HAyfB2CbntqW2bZ+JqVJkGvH12dAKGf838eUPlj5XPNe4oX70djElSfro+It2nfaplugE+LM4dOpmpY5xDdQYx/3MQujoAyYd1Z5Y7ZyD/FIeQ07Ly4xHRm//54Sn49W4nOec4hiHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DKb5r6zxravqk6XuQK5Ru7",
      "input": {
        "note": "Dog plush grasped (gripper 0.24). Trying to reach the near-left corner of the right-hand (plush) basket with the left arm at its y limit, to avoid a hand-off.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.38,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01DKb5r6zxravqk6XuQK5Ru7",
      "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]: [-0.8345, 2.3768, 2.6034, -1.5936, -0.4641, -0.8425, 0.2466, 0.3916, 1.0435, 1.1732, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3848 left_y=-0.3014 left_z=0.1851 left_yaw=0.1529 left_pitch=-0.5211 left_roll=0.1691 left_gripper=0.2466 right_x=0.2556 right_y=0.0575 right_z=0.2335 right_yaw=0.0469 right_pitch=-0.3644 right_roll=-0.1329 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -14.653, 9.0325, 0.862, -0.4957, 0.4811, 0.7057, -0.1846, -2.1265, 6.2427, 1.3211, 0.1245, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa7e4f131b68b6a39d43d36a39e70de35cb309247728e9aecf147a5f59371da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64a57d39ce66b418fb920eb38b2830b834094740d2e06421528b7d91758071ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f577b0eaeedd4ca51e4ff9696409cfd34644c062fdca18bcb242adc1a4076763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 7.689 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]: [-0.7746, 1.6905, 0.9024, -0.4812, -0.4717, -0.7517, 0.9968, 0.3916, 1.0416, 1.1732, -1.0996, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.2976 left_y=-0.1739 left_z=0.0257 left_yaw=0.1204 left_pitch=-0.4654 left_roll=0.1356 left_gripper=0.9968 right_x=0.2553 right_y=0.0574 right_z=0.2339 right_yaw=0.0471 right_pitch=-0.363 right_roll=-0.1324 right_gripper=0.997\nstate[joint_eff]: [0.1846, -6.4205, 5.012, 0.8425, -0.2271, 0.0366, -0.0122, -0.1983, -2.2359, 6.3385, 1.2625, 0.1001, -0.0415, -0.0122]",
      "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]: [-0.7746, 1.7084, 0.8917, -0.4778, -0.4713, -0.7532, 0.2451, 0.3916, 1.0416, 1.1732, -1.0996, 0.2752, 0.1528, 0.997]\nstate[eef_state]: left_x=0.2942 left_y=-0.1707 left_z=0.0173 left_yaw=0.1311 left_pitch=-0.4812 left_roll=0.1566 left_gripper=0.2451 right_x=0.2553 right_y=0.0574 right_z=0.2339 right_yaw=0.0473 right_pitch=-0.363 right_roll=-0.1326 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -8.7453, 6.3795, 0.7399, -0.3297, -0.0122, 1.0379, -0.1436, -2.2222, 6.147, 1.2821, 0.1001, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8345, 2.3768, 2.6034, -1.5936, -0.4641, -0.8425, 0.2466, 0.3916, 1.0435, 1.1732, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3848 left_y=-0.3014 left_z=0.1851 left_yaw=0.1529 left_pitch=-0.5211 left_roll=0.1691 left_gripper=0.2466 right_x=0.2556 right_y=0.0575 right_z=0.2335 right_yaw=0.0469 right_pitch=-0.3644 right_roll=-0.1329 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -14.653, 9.0325, 0.862, -0.4957, 0.4811, 0.7057, -0.1846, -2.1265, 6.2427, 1.3211, 0.1245, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa7e4f131b68b6a39d43d36a39e70de35cb309247728e9aecf147a5f59371da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64a57d39ce66b418fb920eb38b2830b834094740d2e06421528b7d91758071ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f577b0eaeedd4ca51e4ff9696409cfd34644c062fdca18bcb242adc1a4076763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4gYKjgEIEhgCKkCOA3590iNSeRA3vIhWSqs48faJdZHuGqaZkTrJmvRpwEAonC306l7FmSvrkVVmuedJe0pmLUsgqSQkYEpChMjuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZH7zNUGEgw4j65vsv/jJsBUeXkaDE9XNDOQB5Ngt/O3jyIw0hzr839MwKm2HjWhldY3HVuwW03Ig0Tn79skdaPHQVf+VDWmpilPKc5fxLLEhlxiKoAFKTTedpNJi+W8LadX+JG3Ud5Xt7mANlM6zyw9AoUG2y3dpMnVNGZxpfoAKvEqVxNi5gTa2CD7T4k3huAq7hA34Qoyao6sCy3YlSGaxK5RiZNTmx+ik+q4Gq2FY5tAes/KFc3TJk1GqoEow4d2HHX4x45nXdV9y3GB0cD9rHdudJJkO1GbJYowBNOUd3xHfrNyH6kkA3Mfc63KHgI1njntxgNi/lw/kHXPPutIY99OpMqmy3WkL6/gILQu27qcpAEW9TnSf422ldRnJ/GeH5VdldfTFuR67Lm0c/EX97c8TmVjnSjZ1HdxAIn4NJrfetntndjMoIpU33Tu1VVossWKL7hvOZfoi9BZ2bBCbzabTxvIT4oSclAZPHW9hqMmaFKqJJJKqF46JyOA+UJktL6LzMuFTs69DMkOiND0zIuOemDdP2mAHmrN/xoLf6mwtuUk9vUbVbyKkZ0oGo8ZbFHS4w3Ay5imZrJTi04LYPm+++Q5AzwkuMhekyo57k3niM673ByY49AgvOb0fprDqam83G0yg2FU2jpDkoDQ7GEJFU2Pn0RDLeBXN5tz3B5igS1KOe8vf9UhYIogQyoMIWzFp01XTjLbjQL2TRUScr3rnBnOQlIpqJXFdHXc8O8cjS8Wr8eLm0VoMxzZCLxl1Qb+rEjpHvgZaIJnfhAMfRmnLdHNwULP9wm+9NtVHBegTTAo1urSj8atfd1M1vp4ilsM4UI6qLUwUDH2xZnyNlwBm0Y0xckkzpiNIbUGBCukDVDtm7vQRm2VIjgOd6xcquChcmuNicR9fZXb9B1NtiEypRggj0vnGEjseMXx9wo1sDMAy8lSKiTPbkgSrb8RbvZkPRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S2u6HACDBCb3uCk6BfH9Bk",
      "input": {
        "note": "The arm stalled short of y=-0.38; retrying with less forward reach so the IK can swing further right toward the plush basket.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.36,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01S2u6HACDBCb3uCk6BfH9Bk",
      "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]: [-0.9367, 2.3497, 2.4973, -1.5768, -0.4641, -0.9291, 0.2486, 0.3916, 1.0435, 1.1728, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3456 left_y=-0.3305 left_z=0.1697 left_yaw=0.1347 left_pitch=-0.5445 left_roll=0.1844 left_gripper=0.2486 right_x=0.2555 right_y=0.0575 right_z=0.2333 right_yaw=0.0468 right_pitch=-0.3648 right_roll=-0.133 right_gripper=0.997\nstate[joint_eff]: [0.294, -15.1453, 5.2444, 0.6129, -0.4322, -0.0562, 0.6862, -0.1983, -2.2359, 6.1744, 1.2821, 0.0513, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e86699e706689a9d44b9c982cbd536e2571cce8b3d3fca9acad2ffee556fba71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050536d6f2ab33c5b052a2fd74abff3246fc70df32465e3ccfa629b40591670c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9836fbffde5004f8c0786c7c04bdde4e67364cc2e22af3c1cbfccdbdefa78be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 4.234 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]: [-0.7746, 1.7084, 0.8917, -0.4778, -0.4713, -0.7532, 0.2451, 0.3916, 1.0416, 1.1732, -1.0996, 0.2752, 0.1528, 0.997]\nstate[eef_state]: left_x=0.2942 left_y=-0.1707 left_z=0.0173 left_yaw=0.1311 left_pitch=-0.4812 left_roll=0.1566 left_gripper=0.2451 right_x=0.2553 right_y=0.0574 right_z=0.2339 right_yaw=0.0473 right_pitch=-0.363 right_roll=-0.1326 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -8.7453, 6.3795, 0.7399, -0.3297, -0.0122, 1.0379, -0.1436, -2.2222, 6.147, 1.2821, 0.1001, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8345, 2.3768, 2.6034, -1.5936, -0.4641, -0.8425, 0.2466, 0.3916, 1.0435, 1.1732, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3848 left_y=-0.3014 left_z=0.1851 left_yaw=0.1529 left_pitch=-0.5211 left_roll=0.1691 left_gripper=0.2466 right_x=0.2556 right_y=0.0575 right_z=0.2335 right_yaw=0.0469 right_pitch=-0.3644 right_roll=-0.1329 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -14.653, 9.0325, 0.862, -0.4957, 0.4811, 0.7057, -0.1846, -2.1265, 6.2427, 1.3211, 0.1245, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9367, 2.3497, 2.4973, -1.5768, -0.4641, -0.9291, 0.2486, 0.3916, 1.0435, 1.1728, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3456 left_y=-0.3305 left_z=0.1697 left_yaw=0.1347 left_pitch=-0.5445 left_roll=0.1844 left_gripper=0.2486 right_x=0.2555 right_y=0.0575 right_z=0.2333 right_yaw=0.0468 right_pitch=-0.3648 right_roll=-0.133 right_gripper=0.997\nstate[joint_eff]: [0.294, -15.1453, 5.2444, 0.6129, -0.4322, -0.0562, 0.6862, -0.1983, -2.2359, 6.1744, 1.2821, 0.0513, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e86699e706689a9d44b9c982cbd536e2571cce8b3d3fca9acad2ffee556fba71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050536d6f2ab33c5b052a2fd74abff3246fc70df32465e3ccfa629b40591670c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9836fbffde5004f8c0786c7c04bdde4e67364cc2e22af3c1cbfccdbdefa78be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS1wYKjgEIEhgCKkCsHy4ais7H3Y82bH6qubwSAojV4METM34S2p20U0yqV2etOJp47KU7Fdr0/MQ0bVU/M8dxE0znwNBySLjSYun9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZn7zNUGEgxqHriGgj0u4DT8KygaDDtBqrtw+etuXmAvgCIw287TBF0rUHuvGebYV5etyBl1/hO72RRfg/yN/792/SdnT/rTJilcib7y2TI6zYcwKvUE2b+vq1s+lMpuaOzx4seT4xdoVcdUirf6vk8FslQtaZ+k8+9u/pmIxkghmkdFUChIqOrZHsIN/+hs7JTUPw2DP0JSbZCf+gGgWfKZp3Yi3O34dXGAFeMH89qSfh+5F5M5xwAIF9q9JMhoeqI2Yxi/5CkFi7IgqtVUUyg93+5wL5zZSYY6MeXs7KOTi+2ruv7xsZPJ76vuADH2r6I4eGcJwa1kE/sF/9uND8eugDSJkG3DQ1mOeyKRzBELKujUMgW3NFzvOJzE2p28LVRGHlFdCnpdPnvIe7C9iwoz26cdNvHqGG1JTbcJCKJo6QwvgK10naJT4KY31Ul9LAwRjumeg8m9TcenfTjW56MOH0P6r0bDUCTLnCwpQQk8rElTBU+erk22rLw4aTW6Nzx+ju/1biwrYYTEa4vKhf8f3nnwZzFKGR+RQ3ifujbrUAFTnzOdwmkIXDdRuVcELV1OkQSMxaEEL06b+E9659I/LJW6ORlZMLfJ/Tx8Hs+KLxsnK9+CV+oZvAcWyGrfVoi9/H3zZkl+pA4WcgOC4n4K/9dvjRBgBHfGM+zgAhh+Y52o4/NdzKLsmK1WlPWB6u+i+sJPhfC0E8U3SmIgxuEfVJsH8npltbaNl11DACXNYw8mk6PuCcc5XpKrIwuiiml8D9ZfNFRLnhIeI8kMTQy85TgV4AcCVS6SxjZiCQEXpb5yzmeeIp0sEZIUUa9vak+n5PxwaZ9mgcuwnlFM+cKjCGyGiwahae7Xm/imovkkn16bsYtRtkoWTA2nFtdiOAV3NLUVMt7wdh3egVQWV/zN+5otwM0MfQugRRvDZ7zFk5AQkVEYrnrDFKsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XQtB7xbNU2gevFoeetAm3R",
      "input": {
        "note": "The left arm is at its rightmost reach, still short of the plush basket; setting the dog down here so the right arm can relay it into the basket.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XQtB7xbNU2gevFoeetAm3R",
      "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]: [-0.9356, 2.289, 1.8622, -1.0626, -0.4561, -0.9325, 0.9958, 0.3916, 1.0435, 1.1713, -1.0996, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3384 left_y=-0.322 left_z=0.0362 left_yaw=0.1684 left_pitch=-0.5792 left_roll=0.2413 left_gripper=0.9958 right_x=0.2553 right_y=0.0574 right_z=0.2327 right_yaw=0.0466 right_pitch=-0.3666 right_roll=-0.1337 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -13.6274, 5.9282, 0.5641, -0.3443, -0.0073, -0.1734, -0.0615, -2.0034, 6.3932, 1.2527, 0.1001, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c2ebe75381bf92ea5b5af11763d3a954f76db1d3b3752b2eac48ad7157ed85e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a69c1f1509897cd8bd0cfa6b1a0a883b8391437f8e8871a626d2b3f88a37a240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8c2040b4801ebbb348b35bab2ff1448b5ba3c6915233e308197f493cde21295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.224 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]: [-0.8345, 2.3768, 2.6034, -1.5936, -0.4641, -0.8425, 0.2466, 0.3916, 1.0435, 1.1732, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3848 left_y=-0.3014 left_z=0.1851 left_yaw=0.1529 left_pitch=-0.5211 left_roll=0.1691 left_gripper=0.2466 right_x=0.2556 right_y=0.0575 right_z=0.2335 right_yaw=0.0469 right_pitch=-0.3644 right_roll=-0.1329 right_gripper=0.997\nstate[joint_eff]: [-0.0752, -14.653, 9.0325, 0.862, -0.4957, 0.4811, 0.7057, -0.1846, -2.1265, 6.2427, 1.3211, 0.1245, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9367, 2.3497, 2.4973, -1.5768, -0.4641, -0.9291, 0.2486, 0.3916, 1.0435, 1.1728, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3456 left_y=-0.3305 left_z=0.1697 left_yaw=0.1347 left_pitch=-0.5445 left_roll=0.1844 left_gripper=0.2486 right_x=0.2555 right_y=0.0575 right_z=0.2333 right_yaw=0.0468 right_pitch=-0.3648 right_roll=-0.133 right_gripper=0.997\nstate[joint_eff]: [0.294, -15.1453, 5.2444, 0.6129, -0.4322, -0.0562, 0.6862, -0.1983, -2.2359, 6.1744, 1.2821, 0.0513, -0.0024, -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 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]: [-0.9356, 2.289, 1.8622, -1.0626, -0.4561, -0.9325, 0.9958, 0.3916, 1.0435, 1.1713, -1.0996, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3384 left_y=-0.322 left_z=0.0362 left_yaw=0.1684 left_pitch=-0.5792 left_roll=0.2413 left_gripper=0.9958 right_x=0.2553 right_y=0.0574 right_z=0.2327 right_yaw=0.0466 right_pitch=-0.3666 right_roll=-0.1337 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -13.6274, 5.9282, 0.5641, -0.3443, -0.0073, -0.1734, -0.0615, -2.0034, 6.3932, 1.2527, 0.1001, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c2ebe75381bf92ea5b5af11763d3a954f76db1d3b3752b2eac48ad7157ed85e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a69c1f1509897cd8bd0cfa6b1a0a883b8391437f8e8871a626d2b3f88a37a240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8c2040b4801ebbb348b35bab2ff1448b5ba3c6915233e308197f493cde21295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwMKjgEIEhgCKkDBm4rqdG4biRZgg/zDeAiSTLnuA3u7keMdodriw9cwIz5X9xGAf9wS5oQja39f9P4Jhvg3f2efbXVasmHb3XfFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ77zNUGEgwJEed1NuPUpyXHOV8aDKMSvXquNnArM+4wJiIwTO/a9Gv4SE7js6M8DpugXJ/kvLTw73bDhHZklqvl04ZQrebYBDMnehnUdJvbqplGKsUBrctuEpQe07ZLP+o+wu1bYo8JP5TrpY8uF8miXUdpbsucqKqchMmEYYJ175qetSMuouuCRxKvks16i75t41Uaz1JFMDtqyW0h3o0+rt8+Jo54fo+qf+mDY1F9fW3eUpe6NXOnc0sSojGisXaBPbN97PggQ8UFVPrjHQVMGAHE8QdBEzbezgqZ6T158dkCJ2igUvTAFQmYJpJGn+z3lrNU7CDM4NOPwiXTMEhUGE4S1o52arV3K04k4qt2XbFJvPTUSK6dhjwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013GCLDj9rRAqrERMbxd6BPT",
      "input": {
        "note": "Dog plush parked on the table between the baskets; retracting the left arm and bringing the right arm over it for the hand-off pick.",
        "targets": {
          "left_x": 0.25,
          "left_y": 0.0,
          "left_z": 0.3,
          "right_x": 0.34,
          "right_y": 0.33,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_013GCLDj9rRAqrERMbxd6BPT",
      "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]: [-0.2199, 1.3396, 1.6634, -1.5555, -0.2947, -0.2379, 0.9967, 0.9489, 2.0109, 1.5742, -0.7837, 0.5209, 0.6712, 0.997]\nstate[eef_state]: left_x=0.258 left_y=-0.0014 left_z=0.2785 left_yaw=0.2162 left_pitch=-0.595 left_roll=0.2329 left_gripper=0.9967 right_x=0.3344 right_y=0.3218 right_z=0.092 right_yaw=0.0613 right_pitch=-0.403 right_roll=-0.1548 right_gripper=0.997\nstate[joint_eff]: [-0.5265, -5.094, 7.8974, 0.7155, -0.2222, 0.149, 0.0855, 0.5949, -10.5504, 8.6769, 0.8278, 0.5153, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50292d15950841ae92d2fba47f85eb1f3df7970fd96e7ef739126aed1fa982a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eab5f11e4e5f46aedbc0f570a61677d3cb21348e298e857d2b8706ed7c12924e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbbc1e23d12ed49278015a7ee985181b78bc8624d4db8f6685347486a9a0e56d",
        "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 · 2.443 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]: [-0.9367, 2.3497, 2.4973, -1.5768, -0.4641, -0.9291, 0.2486, 0.3916, 1.0435, 1.1728, -1.0992, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3456 left_y=-0.3305 left_z=0.1697 left_yaw=0.1347 left_pitch=-0.5445 left_roll=0.1844 left_gripper=0.2486 right_x=0.2555 right_y=0.0575 right_z=0.2333 right_yaw=0.0468 right_pitch=-0.3648 right_roll=-0.133 right_gripper=0.997\nstate[joint_eff]: [0.294, -15.1453, 5.2444, 0.6129, -0.4322, -0.0562, 0.6862, -0.1983, -2.2359, 6.1744, 1.2821, 0.0513, -0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9356, 2.289, 1.8622, -1.0626, -0.4561, -0.9325, 0.9958, 0.3916, 1.0435, 1.1713, -1.0996, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3384 left_y=-0.322 left_z=0.0362 left_yaw=0.1684 left_pitch=-0.5792 left_roll=0.2413 left_gripper=0.9958 right_x=0.2553 right_y=0.0574 right_z=0.2327 right_yaw=0.0466 right_pitch=-0.3666 right_roll=-0.1337 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -13.6274, 5.9282, 0.5641, -0.3443, -0.0073, -0.1734, -0.0615, -2.0034, 6.3932, 1.2527, 0.1001, -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 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]: [-0.2199, 1.3396, 1.6634, -1.5555, -0.2947, -0.2379, 0.9967, 0.9489, 2.0109, 1.5742, -0.7837, 0.5209, 0.6712, 0.997]\nstate[eef_state]: left_x=0.258 left_y=-0.0014 left_z=0.2785 left_yaw=0.2162 left_pitch=-0.595 left_roll=0.2329 left_gripper=0.9967 right_x=0.3344 right_y=0.3218 right_z=0.092 right_yaw=0.0613 right_pitch=-0.403 right_roll=-0.1548 right_gripper=0.997\nstate[joint_eff]: [-0.5265, -5.094, 7.8974, 0.7155, -0.2222, 0.149, 0.0855, 0.5949, -10.5504, 8.6769, 0.8278, 0.5153, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50292d15950841ae92d2fba47f85eb1f3df7970fd96e7ef739126aed1fa982a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eab5f11e4e5f46aedbc0f570a61677d3cb21348e298e857d2b8706ed7c12924e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbbc1e23d12ed49278015a7ee985181b78bc8624d4db8f6685347486a9a0e56d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QMKjgEIEhgCKkBfC257IX+oGKHjJoMhkiaISbvNMdBVfFbM4m7adfUp7rLvV0Bzq4pMuQB7THBiOYuQPtiH8K6OmJx9KpLBGIF1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaX7zNUGEgxiRuXEn3ET9TYNalsaDOSunUMw7AQIm3q9ECIwEHPFYnHCrMe/lYutdl0ANfY1ZQRpVEHOjeQMs+0KcnzwUnwwXhlkNg4uydowYm3yKvMBktjWXT3vqU7zI6d+dhoRgxMHYIgM3K40AEHZRjxJ19jwvCyrnVX33TPVpFbbEaNL436cscgklAaOETCSjb2567emnto4MaKCF5tydv2J7bJm0iVwuwQAZe+VjxI+/rmhILGlkBTMwkRaq/Sy8WUkto+d0QJeMGFRm3u9TPhhWh66nlKebHtQVbEE7n+8GAItbHGa7u9fAjCbs7G9jtvZjzrDJNsxKzSeuDUCB82Xz1uq/9fY8gWMGWvRJTTlqObVAd4BS8dHazDFMZsL8yPJgk+h4EuY+bNXshKw3oSzJlpKM8dDvUhVNynmjoNyLLuOkOk7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WQpbRFVbbrQTvmsdcYWRvL",
      "input": {
        "note": "The dog plush is just left of the right arm's jaw column; nudging left and descending onto it.",
        "targets": {
          "right_x": 0.335,
          "right_y": 0.345,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WQpbRFVbbrQTvmsdcYWRvL",
      "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]: [-0.2192, 1.3418, 1.6669, -1.5555, -0.2871, -0.2287, 0.9968, 0.9638, 2.1353, 1.5497, -0.6613, 0.5198, 0.6834, 0.997]\nstate[eef_state]: left_x=0.2586 left_y=-0.0027 left_z=0.2786 left_yaw=0.204 left_pitch=-0.5981 left_roll=0.229 left_gripper=0.9968 right_x=0.337 right_y=0.3377 right_z=0.038 right_yaw=0.0609 right_pitch=-0.4192 right_roll=-0.1689 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -3.9043, 4.9436, 0.8962, -0.2564, -0.0562, -0.0024, 1.0598, -11.5761, 5.4222, 0.7204, 0.3346, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6f165cd66f651e20c7cbbf7b4a52afa3f0be415a5e3602cabbd281dd801056",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:713f528861a1dc3c2949704d7d236a236fe7a3d41c1b896556c447f3a24c8db5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:26452b190f5b4794646e5d675bdbff0f50d2e2adf96b8ddd8794b32fbbce0813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 4.849 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]: [-0.9356, 2.289, 1.8622, -1.0626, -0.4561, -0.9325, 0.9958, 0.3916, 1.0435, 1.1713, -1.0996, 0.2752, 0.1532, 0.997]\nstate[eef_state]: left_x=0.3384 left_y=-0.322 left_z=0.0362 left_yaw=0.1684 left_pitch=-0.5792 left_roll=0.2413 left_gripper=0.9958 right_x=0.2553 right_y=0.0574 right_z=0.2327 right_yaw=0.0466 right_pitch=-0.3666 right_roll=-0.1337 right_gripper=0.997\nstate[joint_eff]: [-0.4171, -13.6274, 5.9282, 0.5641, -0.3443, -0.0073, -0.1734, -0.0615, -2.0034, 6.3932, 1.2527, 0.1001, -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 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]: [-0.2199, 1.3396, 1.6634, -1.5555, -0.2947, -0.2379, 0.9967, 0.9489, 2.0109, 1.5742, -0.7837, 0.5209, 0.6712, 0.997]\nstate[eef_state]: left_x=0.258 left_y=-0.0014 left_z=0.2785 left_yaw=0.2162 left_pitch=-0.595 left_roll=0.2329 left_gripper=0.9967 right_x=0.3344 right_y=0.3218 right_z=0.092 right_yaw=0.0613 right_pitch=-0.403 right_roll=-0.1548 right_gripper=0.997\nstate[joint_eff]: [-0.5265, -5.094, 7.8974, 0.7155, -0.2222, 0.149, 0.0855, 0.5949, -10.5504, 8.6769, 0.8278, 0.5153, 0.232, -0.0122]",
      "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]: [-0.2192, 1.3418, 1.6669, -1.5555, -0.2871, -0.2287, 0.9968, 0.9638, 2.1353, 1.5497, -0.6613, 0.5198, 0.6834, 0.997]\nstate[eef_state]: left_x=0.2586 left_y=-0.0027 left_z=0.2786 left_yaw=0.204 left_pitch=-0.5981 left_roll=0.229 left_gripper=0.9968 right_x=0.337 right_y=0.3377 right_z=0.038 right_yaw=0.0609 right_pitch=-0.4192 right_roll=-0.1689 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -3.9043, 4.9436, 0.8962, -0.2564, -0.0562, -0.0024, 1.0598, -11.5761, 5.4222, 0.7204, 0.3346, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb6f165cd66f651e20c7cbbf7b4a52afa3f0be415a5e3602cabbd281dd801056",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:713f528861a1dc3c2949704d7d236a236fe7a3d41c1b896556c447f3a24c8db5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26452b190f5b4794646e5d675bdbff0f50d2e2adf96b8ddd8794b32fbbce0813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HBrs5ygqY4nLRXpLznq32h",
      "input": {
        "note": "Jaws are over the dog plush; closing to grasp for the transfer into the plush basket.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HBrs5ygqY4nLRXpLznq32h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2192, 1.3418, 1.6669, -1.5555, -0.2867, -0.2359, 0.9969, 0.9741, 2.1612, 1.5406, -0.6224, 0.5159, 0.6968, 0.1728]\nstate[eef_state]: left_x=0.2586 left_y=-0.0027 left_z=0.2786 left_yaw=0.2081 left_pitch=-0.5974 left_roll=0.225 left_gripper=0.9969 right_x=0.335 right_y=0.3444 right_z=0.0259 right_yaw=0.0671 right_pitch=-0.4185 right_roll=-0.155 right_gripper=0.1728\nstate[joint_eff]: [-0.2803, -3.8632, 5.2308, 0.8523, -0.1636, 0.0562, -0.0073, 0.2393, -12.0547, 5.9419, 0.8425, 0.3541, 0.0415, 0.8327]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:275e3d34e7e2b60bfde53c33a0f1734e522242ed2a553f84fce2b075da3107a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e57f84486009fd409d6d1fd550413878fb0757480e8d07bd92ca3e53015e6a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:274ef0912df4f840d2cbdd313e7481516a0e6edc2ea8e8ce39a5c84e8673b8bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 2.213 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]: [-0.2199, 1.3396, 1.6634, -1.5555, -0.2947, -0.2379, 0.9967, 0.9489, 2.0109, 1.5742, -0.7837, 0.5209, 0.6712, 0.997]\nstate[eef_state]: left_x=0.258 left_y=-0.0014 left_z=0.2785 left_yaw=0.2162 left_pitch=-0.595 left_roll=0.2329 left_gripper=0.9967 right_x=0.3344 right_y=0.3218 right_z=0.092 right_yaw=0.0613 right_pitch=-0.403 right_roll=-0.1548 right_gripper=0.997\nstate[joint_eff]: [-0.5265, -5.094, 7.8974, 0.7155, -0.2222, 0.149, 0.0855, 0.5949, -10.5504, 8.6769, 0.8278, 0.5153, 0.232, -0.0122]",
      "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]: [-0.2192, 1.3418, 1.6669, -1.5555, -0.2871, -0.2287, 0.9968, 0.9638, 2.1353, 1.5497, -0.6613, 0.5198, 0.6834, 0.997]\nstate[eef_state]: left_x=0.2586 left_y=-0.0027 left_z=0.2786 left_yaw=0.204 left_pitch=-0.5981 left_roll=0.229 left_gripper=0.9968 right_x=0.337 right_y=0.3377 right_z=0.038 right_yaw=0.0609 right_pitch=-0.4192 right_roll=-0.1689 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -3.9043, 4.9436, 0.8962, -0.2564, -0.0562, -0.0024, 1.0598, -11.5761, 5.4222, 0.7204, 0.3346, 0.1343, -0.0122]",
      "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]: [-0.2192, 1.3418, 1.6669, -1.5555, -0.2867, -0.2359, 0.9969, 0.9741, 2.1612, 1.5406, -0.6224, 0.5159, 0.6968, 0.1728]\nstate[eef_state]: left_x=0.2586 left_y=-0.0027 left_z=0.2786 left_yaw=0.2081 left_pitch=-0.5974 left_roll=0.225 left_gripper=0.9969 right_x=0.335 right_y=0.3444 right_z=0.0259 right_yaw=0.0671 right_pitch=-0.4185 right_roll=-0.155 right_gripper=0.1728\nstate[joint_eff]: [-0.2803, -3.8632, 5.2308, 0.8523, -0.1636, 0.0562, -0.0073, 0.2393, -12.0547, 5.9419, 0.8425, 0.3541, 0.0415, 0.8327]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:275e3d34e7e2b60bfde53c33a0f1734e522242ed2a553f84fce2b075da3107a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e57f84486009fd409d6d1fd550413878fb0757480e8d07bd92ca3e53015e6a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:274ef0912df4f840d2cbdd313e7481516a0e6edc2ea8e8ce39a5c84e8673b8bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1wQKjgEIEhgCKkDOxbpoiIdKakt6TsPFkCTSt/sKCssqAzGpTFJcNEag5qz6rAojaOMo6cUudwnsJa1qHWkqGhDe0DUwmiTtYTRJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa77zNUGEgwVFMdmzoWToDOJbL4aDDDP36MJ2Pwlu7c5lCIwW7aHJTl9OE5gFIzmTBk+9r8N6fo2mqFjpLHY6wEAUcnJdoLJDvQnGZIJG3FEFMV2KvUCoTJqv2kYYOk1c+qV/23w37JUsMCvWEnK6VM1wMNRbDxRW2TRlXOaopYFsz+530CoV9aKx1X3+leyFU4UnqVDo6PVh6zfyMGJhNuK2D8QM+TALlpKVY13y7dlF261a1pjIcIkFT1Rjp+CRlywvQsEgbtSorbr1y1IX09q2o0s1PHIY5lbWWJqkAvnVojQhBgnqEI3OYQwNePGVaWmShB849UMhrJftB5Os4vP6/vXTnCzff5jaNxHJEnFup0t2jOY3ZjC+ZVXItV9/no7z6zoLrwPHR4pWuiwgVCgpcbzD2lfZgtX8N3wF0C1fQcQs4iLL6nDaDZ4j0BAokJmY4jR9r1mdqoPbgqHGIPLKiiJvYV3EU29XgdzTV2BTgd50+DDp73gMMSSShne82OmJWfwSv/U3/O14set5+JcbCxa+erjHthoWYVxFAeZ052QhpSVPFgC1YL3eqa4dCjSN9KK/Pcscjeae8/tB8r9bzdx7d4cdOsSYBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011UvLfaoPngbDww53Hq6fjT",
      "input": {
        "note": "Dog plush grasped; carrying it over the right-hand plush basket.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.19,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_011UvLfaoPngbDww53Hq6fjT",
      "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]: [-0.2192, 1.3426, 1.6669, -1.5555, -0.2867, -0.2367, 0.9969, 0.4683, 2.3905, 2.751, -1.396, 0.3, 0.2058, 0.1735]\nstate[eef_state]: left_x=0.2587 left_y=-0.0028 left_z=0.2784 left_yaw=0.2088 left_pitch=-0.598 left_roll=0.225 left_gripper=0.9969 right_x=0.5064 right_y=0.2016 right_z=0.2294 right_yaw=0.0623 right_pitch=-0.4142 right_roll=-0.1468 right_gripper=0.1735\nstate[joint_eff]: [-0.1436, -3.412, 5.2308, 0.8718, -0.1832, -0.0659, -0.0171, -0.5265, -12.4376, 6.6803, 0.3883, 0.1783, 0.0415, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50af82640d843a6b3dc13c5a6bab5426baebc66f7405744c65d7a424a098db34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bace3930c7fe5a5333b48b89d134d52d26ca7af6f4642249d743467268be8fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc47f38f7152a47153b030c641b329bfa35577fae13ad5ffd652003f9c205c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 14.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2192, 1.3418, 1.6669, -1.5555, -0.2871, -0.2287, 0.9968, 0.9638, 2.1353, 1.5497, -0.6613, 0.5198, 0.6834, 0.997]\nstate[eef_state]: left_x=0.2586 left_y=-0.0027 left_z=0.2786 left_yaw=0.204 left_pitch=-0.5981 left_roll=0.229 left_gripper=0.9968 right_x=0.337 right_y=0.3377 right_z=0.038 right_yaw=0.0609 right_pitch=-0.4192 right_roll=-0.1689 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -3.9043, 4.9436, 0.8962, -0.2564, -0.0562, -0.0024, 1.0598, -11.5761, 5.4222, 0.7204, 0.3346, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2192, 1.3418, 1.6669, -1.5555, -0.2867, -0.2359, 0.9969, 0.9741, 2.1612, 1.5406, -0.6224, 0.5159, 0.6968, 0.1728]\nstate[eef_state]: left_x=0.2586 left_y=-0.0027 left_z=0.2786 left_yaw=0.2081 left_pitch=-0.5974 left_roll=0.225 left_gripper=0.9969 right_x=0.335 right_y=0.3444 right_z=0.0259 right_yaw=0.0671 right_pitch=-0.4185 right_roll=-0.155 right_gripper=0.1728\nstate[joint_eff]: [-0.2803, -3.8632, 5.2308, 0.8523, -0.1636, 0.0562, -0.0073, 0.2393, -12.0547, 5.9419, 0.8425, 0.3541, 0.0415, 0.8327]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2192, 1.3426, 1.6669, -1.5555, -0.2867, -0.2367, 0.9969, 0.4683, 2.3905, 2.751, -1.396, 0.3, 0.2058, 0.1735]\nstate[eef_state]: left_x=0.2587 left_y=-0.0028 left_z=0.2784 left_yaw=0.2088 left_pitch=-0.598 left_roll=0.225 left_gripper=0.9969 right_x=0.5064 right_y=0.2016 right_z=0.2294 right_yaw=0.0623 right_pitch=-0.4142 right_roll=-0.1468 right_gripper=0.1735\nstate[joint_eff]: [-0.1436, -3.412, 5.2308, 0.8718, -0.1832, -0.0659, -0.0171, -0.5265, -12.4376, 6.6803, 0.3883, 0.1783, 0.0415, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50af82640d843a6b3dc13c5a6bab5426baebc66f7405744c65d7a424a098db34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bace3930c7fe5a5333b48b89d134d52d26ca7af6f4642249d743467268be8fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc47f38f7152a47153b030c641b329bfa35577fae13ad5ffd652003f9c205c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013KjWmQJuEED83YQs9bq2Y6",
      "input": {
        "note": "The dog plush is over the plush basket; releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013KjWmQJuEED83YQs9bq2Y6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2192, 1.3445, 1.6669, -1.5551, -0.2867, -0.2363, 0.9969, 0.4709, 2.4401, 2.7502, -1.4155, 0.2855, 0.1947, 0.9959]\nstate[eef_state]: left_x=0.2591 left_y=-0.0029 left_z=0.278 left_yaw=0.209 left_pitch=-0.5994 left_roll=0.2259 left_gripper=0.9969 right_x=0.5059 right_y=0.2057 right_z=0.2003 right_yaw=0.0709 right_pitch=-0.4844 right_roll=-0.1708 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -4.0547, 5.2444, 0.906, -0.2271, -0.0317, -0.0122, -0.3761, -17.2513, 5.5726, 1.3016, 0.2613, 0.0171, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99f83d074bf5e52916977a23fe3cf06f9dc4e6edf0d677f0b44c32ad0253f79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:450f34e196a0e7d0dedf00b3185be7b54f7a7f54fbe329b58c2abd418cb4c9c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 429):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8a5db8259e72ba97105b3f811d9fb99056eb5e4c4e1382a7084967b918f31c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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