adhoc

completed
2026-09-23T00:14:40.731425+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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-5-5
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
268.6 s
total steps
402
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 noteTwo classes: plush toys (bears) and pens/markers. Plan: pens into right basket with right arm, plush into left basket with left arm. Moving the right arm above the two pens first.
move_to
right_x0.2000right_y0.1700right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3794, -0.0216, -0.0334, 0.9996, -0.0208, 0.7986, 0.6106, -0.374, -0.0109, -0.0254, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=-0.0007 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4718, -1.7573, 9.2786, 1.7558, -0.0269, 0.1538, -0.0562, -0.4444, -1.6479, 9.9214, 1.7802, -0.1148, 0.1197, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.2, "right_y": 0.17, "right_z": 0.12, "right_gripper": 1.0}, "note": "Two classes: plush toys (bears) and pens/markers. Plan: pens into right basket with right arm, plush into left basket with left arm. Moving the right arm above the two pens first."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteBoth pens lie radially just ahead of the right jaws, centred on the jaw column; advancing 5 cm and descending to grab both pens together.
move_to
right_x0.2500right_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8055, 0.6147, -0.3801, -0.0219, -0.0376, 0.9996, 1.2556, 1.1355, 0.5709, -0.5781, 0.9131, 1.0, 0.9998] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1817 left_yaw=0.0029 left_pitch=-0.0072 left_roll=-0.0032 left_gripper=0.9996 right_x=0.1982 right_y=0.1685 right_z=0.1091 right_yaw=0.0187 right_pitch=-0.0281 right_roll=-0.0241 right_gripper=0.9998 state[joint_eff]: [-0.1573, -1.0735, 7.2274, 1.8144, -0.0269, -0.022, -0.0171, 0.294, -2.8376, 8.2256, 0.8425, 0.6813, 0.0806, -0.0366] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_z": 0.05}, "note": "Both pens lie radially just ahead of the right jaws, centred on the jaw column; advancing 5 cm and descending to grab both pens together."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent notePens straddle the jaw column; descending to table level to close on both.
move_to
right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8108, 0.6102, -0.3809, -0.0219, -0.038, 0.9996, 1.0058, 1.3689, 0.3981, 0.0372, 0.7731, 0.6861, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.178 left_yaw=0.0039 left_pitch=-0.0179 left_roll=-0.0033 left_gripper=0.9996 right_x=0.2467 right_y=0.1655 right_z=0.0445 right_yaw=0.0181 right_pitch=-0.0519 right_roll=-0.042 right_gripper=0.9998 state[joint_eff]: [-0.2803, -1.6615, 7.4188, 1.7021, -0.0122, -0.0708, -0.0171, -0.1162, -4.4923, 5.2991, 1.4042, 0.3883, -0.1099, -0.0171] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0}, "note": "Pens straddle the jaw column; descending to table level to close on both."})
tool
executing move_to over 3 steps (0.3s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteJaws down around both pens; closing the gripper.
move_to
right_z-0.0050right_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]: [-0.0181, 0.8135, 0.6098, -0.3801, -0.0219, -0.038, 0.9996, 1.0058, 1.5734, 0.3374, 0.329, 0.7906, 0.6888, 0.9997] state[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1772 left_yaw=0.0039 left_pitch=-0.0202 left_roll=-0.0032 left_gripper=0.9996 right_x=0.2517 right_y=0.1692 right_z=0.0114 right_yaw=0.0066 right_pitch=-0.0255 right_roll=-0.025 right_gripper=0.9997 state[joint_eff]: [-0.0615, -1.347, 7.0906, 1.7411, -0.0464, -0.0366, -0.0171, -0.1299, -3.453, 2.8513, 0.5739, 0.0757, -0.0171, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.005, "right_gripper": 0.0}, "note": "Jaws down around both pens; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteGripper reads 0.146 (~1.4 cm), so one pen (blue) is held. Lifting to carrying height.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8135, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 1.0065, 1.6547, 0.3275, 0.4706, 0.804, 0.6842, 0.1463] state[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1771 left_yaw=0.0039 left_pitch=-0.0206 left_roll=-0.0032 left_gripper=0.9996 right_x=0.2572 right_y=0.1753 right_z=0.0064 right_yaw=0.0016 right_pitch=0.0102 right_roll=0.008 right_gripper=0.1463 state[joint_eff]: [-0.1573, -1.3607, 7.0632, 1.707, -0.0415, -0.0464, -0.0171, -0.1983, -3.3846, 2.9607, 1.0525, 0.1538, 0.0122, 1.0085] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper reads 0.146 (~1.4 cm), so one pen (blue) is held. Lifting to carrying height."})
tool
executing move_to over 13 steps (1.3s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteBlue pen lifted in the right gripper; right basket is straight ahead in the wrist view. Carrying forward over the right basket.
move_to
right_x0.4200right_y0.1600right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8135, 0.6094, -0.3805, -0.0223, -0.038, 0.9996, 1.0065, 1.1423, 0.8394, -0.5694, 0.7773, 0.6792, 0.1513] state[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.177 left_yaw=0.0042 left_pitch=-0.0209 left_roll=-0.003 left_gripper=0.9996 right_x=0.2558 right_y=0.1791 right_z=0.1864 right_yaw=0.0216 right_pitch=-0.0154 right_roll=0.0018 right_gripper=0.1513 state[joint_eff]: [-0.1573, -1.388, 7.1863, 1.7021, -0.0269, -0.0269, -0.0171, -0.212, -4.5197, 9.1009, 1.0916, 0.5641, 0.022, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.16, "right_z": 0.2}, "note": "Blue pen lifted in the right gripper; right basket is straight ahead in the wrist view. Carrying forward over the right basket."})
tool
executing move_to over 13 steps (1.3s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
Over the basket. Lower a bit and release.
agent noteRight wrist view shows the pen centred over the right basket; lowering slightly and opening to drop it in.
move_to
right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8173, 0.6094, -0.3801, -0.0216, -0.038, 0.9995, 0.5175, 1.5318, 1.1027, -0.2676, 0.4061, 0.2687, 0.1529] state[eef_state]: left_x=0.297 left_y=0.002 left_z=0.176 left_yaw=0.0036 left_pitch=-0.0244 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4115 right_y=0.158 right_z=0.1794 right_yaw=0.0315 right_pitch=-0.0689 right_roll=-0.0253 right_gripper=0.1529 state[joint_eff]: [-0.0205, -1.6615, 7.0359, 1.6874, -0.0269, -0.0464, -0.0171, -0.4855, -7.3778, 9.6479, 1.8242, 0.149, -0.022, 1.0281] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
Over the basket. Lower a bit and release.
move_to({"targets": {"right_z": 0.12, "right_gripper": 1.0}, "note": "Right wrist view shows the pen centred over the right basket; lowering slightly and opening to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteBlue pen dropped into the right basket. Going back for the black pen, which lay ~3 cm to the right of where the blue one was.
move_to
right_x0.2500right_y0.1400right_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, 0.8173, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.5175, 1.5921, 0.9382, -0.049, 0.4057, 0.2626, 0.996] state[eef_state]: left_x=0.2969 left_y=0.002 left_z=0.1759 left_yaw=0.0036 left_pitch=-0.0248 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4099 right_y=0.1572 right_z=0.1245 right_yaw=0.0349 right_pitch=-0.0745 right_roll=-0.0329 right_gripper=0.996 state[joint_eff]: [-0.0615, -1.0462, 7.1043, 1.6972, -0.0269, -0.0464, -0.0073, -0.2803, -6.4205, 6.106, 1.6825, 0.1148, 0.0366, -0.1978] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.14, "right_z": 0.1}, "note": "Blue pen dropped into the right basket. Going back for the black pen, which lay ~3 cm to the right of where the blue one was."})
tool
executing move_to over 13 steps (1.3s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteBlack pen (white label) lies radially just right of the jaw column; shifting 1 cm right, 2 cm forward and descending to table level.
move_to
right_x0.2700right_y0.1350right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8238, 0.6094, -0.3798, -0.0219, -0.038, 0.9995, 0.8871, 1.0786, 0.4881, -0.2539, 0.6441, 0.5438, 0.9968] state[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1743 left_yaw=0.0039 left_pitch=-0.0305 left_roll=-0.003 left_gripper=0.9995 right_x=0.2516 right_y=0.1466 right_z=0.1002 right_yaw=0.0656 right_pitch=-0.0791 right_roll=-0.0251 right_gripper=0.9968 state[joint_eff]: [-0.1026, -1.9624, 7.0085, 1.79, -0.0317, -0.0562, -0.0073, 0.2256, -3.3436, 6.2017, 1.2039, 0.4371, 0.1294, 0.0806] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.135, "right_z": 0.0}, "note": "Black pen (white label) lies radially just right of the jaw column; shifting 1 cm right, 2 cm forward and descending to table level."})
tool
executing move_to over 7 steps (0.7s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteAt table level the black pen appears ~2.5 cm right of the jaw centre; shifting right to centre it between the jaws.
move_to
right_y0.1150right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8288, 0.6094, -0.379, -0.0223, -0.038, 0.9995, 0.7742, 1.5074, 0.2501, 0.5095, 0.5743, 0.4591, 0.9969] state[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.1731 left_yaw=0.0042 left_pitch=-0.0347 left_roll=-0.0027 left_gripper=0.9995 right_x=0.2763 right_y=0.141 right_z=0.0125 right_yaw=0.0533 right_pitch=-0.0456 right_roll=0.0093 right_gripper=0.9969 state[joint_eff]: [-0.0479, -1.5795, 7.0359, 1.7118, -0.0269, -0.0122, -0.0073, -0.4444, -3.0017, 2.7829, 0.7302, 0.0513, -0.188, -0.0024] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.115, "right_z": 0.0}, "note": "At table level the black pen appears ~2.5 cm right of the jaw centre; shifting right to centre it between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
Centred now. Close.
agent noteBlack pen is centred between the jaws; closing.
move_to
right_z-0.0050right_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]: [-0.0181, 0.8288, 0.6094, -0.3805, -0.0223, -0.038, 0.9995, 0.6697, 1.5261, 0.1722, 0.6941, 0.5072, 0.4042, 0.997] state[eef_state]: left_x=0.2976 left_y=0.0021 left_z=0.1727 left_yaw=0.0042 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9995 right_x=0.2839 right_y=0.1199 right_z=0.012 right_yaw=0.0315 right_pitch=-0.0038 right_roll=0.0527 right_gripper=0.997 state[joint_eff]: [-0.0479, -1.2786, 7.1863, 1.7363, -0.0513, -0.0269, -0.0073, -0.4308, -2.5778, 2.9607, 1.2332, 0.0757, -0.1538, -0.0073] 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
Centred now. Close.
move_to({"targets": {"right_z": -0.005, "right_gripper": 0.0}, "note": "Black pen is centred between the jaws; closing."})
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
Holding (0.145). Lift and carry to basket.
agent noteGripper reads 0.145, black pen is held. Carrying it up and over the right basket.
move_to
right_x0.4200right_y0.1700right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8288, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.6682, 1.6562, 0.1688, 0.8948, 0.5087, 0.3996, 0.1446] state[eef_state]: left_x=0.2976 left_y=0.002 left_z=0.1727 left_yaw=0.0036 left_pitch=-0.0362 left_roll=-0.0031 left_gripper=0.9995 right_x=0.2936 right_y=0.1267 right_z=0.0107 right_yaw=0.0302 right_pitch=0.0508 right_roll=0.088 right_gripper=0.1446 state[joint_eff]: [-0.1846, -1.347, 7.0085, 1.6825, -0.0269, -0.022, -0.0073, -0.1983, -2.7966, 2.0308, 1.1746, 0.1392, 0.0317, 0.9988] 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
Holding (0.145). Lift and carry to basket.
move_to({"targets": {"right_x": 0.42, "right_y": 0.17, "right_z": 0.2}, "note": "Gripper reads 0.145, black pen is held. Carrying it up and over the right basket."})
tool
executing move_to over 13 steps (1.3s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteBlack pen is over the right basket (blue pen visible inside); lowering and releasing.
move_to
right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8307, 0.6094, -0.3805, -0.0223, -0.0383, 0.9995, 0.5323, 1.5135, 1.0237, -0.1234, 0.3794, 0.3103, 0.148] state[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1722 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4113 right_y=0.1705 right_z=0.1786 right_yaw=0.0473 right_pitch=-0.0027 right_roll=0.0625 right_gripper=0.148 state[joint_eff]: [-0.0615, -1.5932, 7.1043, 1.7021, -0.0269, -0.0757, -0.0122, -0.9641, -7.5009, 9.5521, 1.8584, 0.1734, -0.0073, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12, "right_gripper": 1.0}, "note": "Black pen is over the right basket (blue pen visible inside); lowering and releasing."})
tool
executing move_to over 9 steps (0.9s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteBoth pens are in the right basket. The yellow highlighter (a pen too) sits by the grey plush under the left arm; lowering the left arm over it, and moving the right arm aside.
move_to
right_x0.3000right_y0.2500right_z0.1800left_x0.2900left_y-0.0150left_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8307, 0.6094, -0.3805, -0.0223, -0.038, 0.9995, 0.5327, 1.5902, 0.8684, 0.0994, 0.3721, 0.3065, 0.9985] state[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1722 left_yaw=0.0043 left_pitch=-0.0381 left_roll=-0.0026 left_gripper=0.9995 right_x=0.4093 right_y=0.1709 right_z=0.1225 right_yaw=0.0556 right_pitch=-0.0126 right_roll=0.0587 right_gripper=0.9985 state[joint_eff]: [-0.0752, -1.4564, 7.0359, 1.7363, -0.0464, -0.0415, -0.0073, -0.3077, -6.4068, 5.9966, 1.8584, 0.1245, 0.0269, -0.0952] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.25, "right_z": 0.18, "left_x": 0.29, "left_y": -0.015, "left_z": 0.08}, "note": "Both pens are in the right basket. The yellow highlighter (a pen too) sits by the grey plush under the left arm; lowering the left arm over it, and moving the right arm aside."})
tool
executing move_to over 9 steps (0.9s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteYellow highlighter lies radially slightly right of the left jaw column; shifting right/forward and descending to table. (Right cam shows the black pen missed the basket and fell in front of it—will fix after.)
move_to
left_x0.3000left_y-0.0300left_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1322, 0.8932, 0.2691, -0.0418, -0.1043, -0.0963, 0.9995, 0.9665, 1.4654, 0.9722, -0.3046, 0.6594, 0.5903, 0.9985] state[eef_state]: left_x=0.2822 left_y=-0.0153 left_z=0.0715 left_yaw=-0.0088 left_pitch=-0.0981 left_roll=0.0034 left_gripper=0.9995 right_x=0.3037 right_y=0.2557 right_z=0.1614 right_yaw=0.1113 right_pitch=-0.0395 right_roll=0.04 right_gripper=0.9985 state[joint_eff]: [-0.3897, -1.5385, 6.8855, 1.9512, -0.1343, -0.0806, -0.0073, 0.1299, -8.1299, 9.1419, 1.2527, 0.5397, 0.1832, -0.022] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.03, "left_z": 0.0}, "note": "Yellow highlighter lies radially slightly right of the left jaw column; shifting right/forward and descending to table. (Right cam shows the black pen missed the basket and fell in front of it\u2014will fix after.)"})
tool
executing move_to over 5 steps (0.5s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteHighlighter near the jaws is still ~1 cm right of centre; nudging right before closing.
move_to
left_y-0.0400left_z-0.0050
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]: [-0.2028, 1.3956, 0.1532, 0.5243, -0.1627, -0.1284, 0.9989, 0.9684, 1.4662, 0.9733, -0.3206, 0.6502, 0.5976, 0.9985] state[eef_state]: left_x=0.2944 left_y=-0.0276 left_z=-0.0013 left_yaw=-0.0117 left_pitch=-0.1435 left_roll=0.0237 left_gripper=0.9989 right_x=0.3013 right_y=0.2557 right_z=0.1585 right_yaw=0.1153 right_pitch=-0.0549 right_roll=0.0384 right_gripper=0.9985 state[joint_eff]: [-0.2667, -3.4667, 2.988, 0.2711, 0.1099, -0.1148, -0.0806, -0.4718, -6.4205, 6.5573, 1.5214, 0.3639, -0.0904, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.04, "left_z": -0.005}, "note": "Highlighter near the jaws is still ~1 cm right of centre; nudging right before closing."})
tool
executing move_to over 2 steps (0.2s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteHighlighter centred between the left jaws; closing.
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]: [-0.252, 1.4487, 0.1474, 0.6144, -0.2008, -0.152, 0.9988, 0.9684, 1.4662, 0.973, -0.3149, 0.643, 0.5873, 0.9985] state[eef_state]: left_x=0.2993 left_y=-0.037 left_z=-0.0002 left_yaw=-0.0168 left_pitch=-0.1073 left_roll=0.0229 left_gripper=0.9988 right_x=0.3012 right_y=0.2574 right_z=0.1587 right_yaw=0.1262 right_pitch=-0.0551 right_roll=0.0375 right_gripper=0.9985 state[joint_eff]: [-0.0342, -4.2188, 5.4496, 1.2576, -0.0317, -0.1538, -0.0269, -0.1983, -6.4068, 6.6393, 1.3651, 0.2613, 0.0562, -0.0171] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Highlighter centred between the left jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteHighlighter grasped (0.158). Lifting it, and moving the right arm out of the way so the left arm can reach over into the near-left side of the right (pen) basket.
move_to
left_z0.2200right_x0.2500right_y0.0500right_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.252, 1.4456, 0.1509, 0.6109, -0.2062, -0.1577, 0.1576, 0.9684, 1.4662, 0.973, -0.3168, 0.6426, 0.5838, 0.9985] state[eef_state]: left_x=0.3004 left_y=-0.0363 left_z=0.0012 left_yaw=-0.0094 left_pitch=-0.1035 left_roll=0.021 left_gripper=0.1576 right_x=0.301 right_y=0.2572 right_z=0.1584 right_yaw=0.1282 right_pitch=-0.0566 right_roll=0.0335 right_gripper=0.9985 state[joint_eff]: [-0.1026, -3.5624, 3.9726, 1.6386, -0.0415, 0.0171, 1.0672, -0.335, -6.3658, 6.6393, 1.4432, 0.2515, 0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "right_x": 0.25, "right_y": 0.05, "right_z": 0.18}, "note": "Highlighter grasped (0.158). Lifting it, and moving the right arm out of the way so the left arm can reach over into the near-left side of the right (pen) basket."})
tool
executing move_to over 18 steps (1.8s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteCarrying the highlighter with the left arm toward the left edge of the right (pens) basket, which is at the limit of the left arm's cross-over reach.
move_to
left_x0.4500left_y-0.4000left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.252, 0.9371, 0.8478, -0.5919, -0.2062, -0.1585, 0.1616, 0.2687, 0.6548, 0.6128, -0.5674, 0.1505, 0.1329, 0.9984] state[eef_state]: left_x=0.3023 left_y=-0.0368 left_z=0.2098 left_yaw=-0.009 left_pitch=-0.1009 left_roll=0.0197 left_gripper=0.1616 right_x=0.2555 right_y=0.0466 right_z=0.1825 right_yaw=0.0687 right_pitch=-0.0397 right_roll=0.0393 right_gripper=0.9984 state[joint_eff]: [-0.1162, -1.5658, 8.8821, 1.5897, -0.1001, -0.0269, 1.033, -0.1299, -0.294, 6.8855, 1.7216, -0.0122, 0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.4, "left_z": 0.2}, "note": "Carrying the highlighter with the left arm toward the left edge of the right (pens) basket, which is at the limit of the left arm's cross-over reach."})
tool
executing move_to over 33 steps (3.3s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteLeft wrist view shows the highlighter squarely over the right basket; 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]: [-0.9123, 2.4619, 2.5427, -0.9688, -0.6632, -0.6895, 0.1672, 0.2626, 0.6601, 0.6121, -0.5865, 0.1383, 0.1162, 0.9984] state[eef_state]: left_x=0.454 left_y=-0.4033 left_z=0.1953 left_yaw=-0.0155 left_pitch=-0.0942 left_roll=-0.018 left_gripper=0.1672 right_x=0.2531 right_y=0.0466 right_z=0.1769 right_yaw=0.0816 right_pitch=-0.0655 right_roll=0.0277 right_gripper=0.9984 state[joint_eff]: [-0.6222, -14.7624, 7.1316, 0.5201, -0.5201, 0.0122, 1.0281, 0.5128, -0.6359, 6.9128, 1.8339, 0.1441, 0.1099, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Left wrist view shows the highlighter squarely over the right basket; releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteHighlighter and blue pen are now in the right basket. Retracting the left arm toward home so the right arm can go retrieve the black pen that fell in front of the basket.
move_to
left_x0.3000left_y-0.0500left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9073, 2.4798, 2.4916, -0.955, -0.6544, -0.6964, 0.9954, 0.2623, 0.6613, 0.6121, -0.5873, 0.1375, 0.115, 0.9984] state[eef_state]: left_x=0.4546 left_y=-0.4011 left_z=0.1671 left_yaw=-0.0077 left_pitch=-0.1341 left_roll=0.0158 left_gripper=0.9954 right_x=0.2531 right_y=0.0466 right_z=0.1765 right_yaw=0.0824 right_pitch=-0.0675 right_roll=0.0269 right_gripper=0.9984 state[joint_eff]: [-0.1846, -17.894, 6.5299, 1.3602, -0.4127, 0.0611, -0.0708, -0.1436, -0.2393, 6.8718, 1.6484, 0.0073, -0.0269, -0.0122] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.2}, "note": "Highlighter and blue pen are now in the right basket. Retracting the left arm toward home so the right arm can go retrieve the black pen that fell in front of the basket."})
tool
executing move_to over 32 steps (3.2s)
step 240
top_cam
camera top_cam step 240
left_cam
camera left_cam step 240
right_cam
camera right_cam step 240
assistant
agent noteBlack pen lies on the table in front of the right basket, right of the teddy bears; moving the right arm above it.
move_to
right_x0.3200right_y0.2000right_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]: [-0.3408, 0.9871, 0.8619, -0.5903, -0.2947, -0.2646, 0.9968, 0.2615, 0.6659, 0.6121, -0.5907, 0.1371, 0.112, 0.9984] state[eef_state]: left_x=0.3064 left_y=-0.0504 left_z=0.2045 left_yaw=0.0339 left_pitch=-0.1151 left_roll=0.0012 left_gripper=0.9968 right_x=0.2529 right_y=0.0464 right_z=0.1747 right_yaw=0.0835 right_pitch=-0.0754 right_roll=0.0232 right_gripper=0.9984 state[joint_eff]: [0.0342, -2.6188, 6.2701, 1.6581, -0.0952, 0.149, 0.1294, 0.0205, -0.6085, 6.9538, 1.6679, -0.022, 0.0171, -0.0122] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.2, "right_z": 0.1}, "note": "Black pen lies on the table in front of the right basket, right of the teddy bears; moving the right arm above it."})
tool
executing move_to over 13 steps (1.3s)
step 253
top_cam
camera top_cam step 253
left_cam
camera left_cam step 253
right_cam
camera right_cam step 253
assistant
agent noteBlack pen runs along the jaw column in the right wrist view; advancing slightly and descending to table level.
move_to
right_x0.3300right_z-0.0050
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]: [-0.3428, 0.9939, 0.8524, -0.6056, -0.2878, -0.2623, 0.9968, 0.7834, 1.425, 0.6704, -0.0856, 0.5102, 0.4446, 0.9984] state[eef_state]: left_x=0.3032 left_y=-0.0512 left_z=0.1955 left_yaw=0.0266 left_pitch=-0.1463 left_roll=0.0103 left_gripper=0.9968 right_x=0.307 right_y=0.1891 right_z=0.0822 right_yaw=0.1128 right_pitch=-0.1459 right_roll=-0.0264 right_gripper=0.9984 state[joint_eff]: [-0.0615, -3.0427, 7.5829, 1.6679, -0.1783, -0.0855, -0.0073, 0.4034, -6.065, 8.4855, 1.4921, 0.525, 0.1343, -0.0122] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_z": -0.005}, "note": "Black pen runs along the jaw column in the right wrist view; advancing slightly and descending to table level."})
tool
executing move_to over 6 steps (0.6s)
step 259
top_cam
camera top_cam step 259
left_cam
camera left_cam step 259
right_cam
camera right_cam step 259
assistant
agent notePen is ~1.5 cm right of jaw centre near the fingertips; nudging right and closing.
move_to
right_y0.1800right_z-0.0100right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3428, 0.9958, 0.8524, -0.6102, -0.2874, -0.2623, 0.9968, 0.7307, 1.7336, 0.5831, 0.3706, 0.4858, 0.416, 0.9984] state[eef_state]: left_x=0.3027 left_y=-0.051 left_z=0.1942 left_yaw=0.0266 left_pitch=-0.1524 left_roll=0.0124 left_gripper=0.9968 right_x=0.3345 right_y=0.1939 right_z=0.0143 right_yaw=0.0989 right_pitch=-0.109 right_roll=0.0023 right_gripper=0.9984 state[joint_eff]: [-0.335, -2.6051, 6.8991, 1.58, -0.1538, -0.0611, -0.0073, -0.6496, -4.3556, 3.8222, 0.3834, 0.0024, -0.2418, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.18, "right_z": -0.01, "right_gripper": 0.0}, "note": "Pen is ~1.5 cm right of jaw centre near the fingertips; nudging right and closing."})
tool
executing move_to over 10 steps (1.0s)
step 269
top_cam
camera top_cam step 269
assistant
agent noteBlack pen grasped (0.138). Carrying it high and deeper over the right basket this time so it doesn't fall out the front.
move_to
right_x0.4700right_y0.1600right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3428, 0.9958, 0.8524, -0.6132, -0.2874, -0.2623, 0.9968, 0.6994, 1.7855, 0.535, 0.5648, 0.4625, 0.3885, 0.138] state[eef_state]: left_x=0.3022 left_y=-0.0509 left_z=0.1937 left_yaw=0.0268 left_pitch=-0.1553 left_roll=0.0135 left_gripper=0.9968 right_x=0.3446 right_y=0.1916 right_z=0.012 right_yaw=0.1047 right_pitch=-0.0407 right_roll=0.0473 right_gripper=0.138 state[joint_eff]: [-0.0205, -2.4821, 7.1453, 1.6093, -0.1587, -0.0464, -0.0122, -0.9915, -4.3009, 3.0564, 1.0965, 0.0464, -0.0464, 1.0037] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.16, "right_z": 0.22}, "note": "Black pen grasped (0.138). Carrying it high and deeper over the right basket this time so it doesn't fall out the front."})
tool
executing move_to over 14 steps (1.4s)
step 283
assistant
agent noteWrist view shows the basket still mostly ahead of the fingertips; advancing 6 cm so the pen drops inside the basket.
move_to
right_x0.5300right_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]: [-0.3428, 0.9958, 0.8524, -0.614, -0.2874, -0.2619, 0.9968, 0.4103, 1.6588, 1.3113, -0.2806, 0.2298, 0.2008, 0.138] state[eef_state]: left_x=0.3021 left_y=-0.0508 left_z=0.1935 left_yaw=0.0266 left_pitch=-0.156 left_roll=0.0141 left_gripper=0.9968 right_x=0.464 right_y=0.1618 right_z=0.2059 right_yaw=0.1072 right_pitch=-0.0474 right_roll=0.0459 right_gripper=0.138 state[joint_eff]: [-0.0205, -2.5094, 6.8581, 1.5067, -0.1636, -0.0317, -0.0122, -0.7316, -7.8701, 9.306, 1.5165, 0.0269, 0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.53, "right_z": 0.22}, "note": "Wrist view shows the basket still mostly ahead of the fingertips; advancing 6 cm so the pen drops inside the basket."})
tool
executing move_to over 6 steps (0.6s)
step 289
assistant
agent noteBlack pen is now over the inside of the right basket (highlighter visible inside); releasing.
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]: [-0.3428, 0.997, 0.8524, -0.6144, -0.2874, -0.2623, 0.9968, 0.3557, 1.8774, 1.5883, -0.3771, 0.1806, 0.1635, 0.138] state[eef_state]: left_x=0.3021 left_y=-0.0508 left_z=0.1931 left_yaw=0.0269 left_pitch=-0.1574 left_roll=0.0144 left_gripper=0.9968 right_x=0.5192 right_y=0.1629 right_z=0.2008 right_yaw=0.1131 right_pitch=-0.0916 right_roll=0.034 right_gripper=0.138 state[joint_eff]: [-0.1709, -2.5641, 6.8308, 1.5214, -0.1441, -0.0415, -0.0122, -0.6632, -10.1812, 9.4701, 1.663, 0.0366, -0.0024, 1.0281] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Black pen is now over the inside of the right basket (highlighter visible inside); releasing."})
tool
executing move_to over 9 steps (0.9s)
step 298
assistant
agent noteAll three pens (blue, black, yellow highlighter) are in the right basket. Now the plush toys go in the left basket: lowering the left arm onto the grey plush seen just left-front of the left jaws; right arm retreats.
move_to
left_x0.3300left_y0.0000left_z0.0300right_x0.3000right_y0.0500right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3428, 0.997, 0.8524, -0.6136, -0.2874, -0.2623, 0.9968, 0.3538, 1.8889, 1.5883, -0.3847, 0.1722, 0.157, 0.9952] state[eef_state]: left_x=0.3022 left_y=-0.0509 left_z=0.1933 left_yaw=0.0269 left_pitch=-0.1567 left_roll=0.0141 left_gripper=0.9968 right_x=0.519 right_y=0.1633 right_z=0.1932 right_yaw=0.1213 right_pitch=-0.1113 right_roll=0.0294 right_gripper=0.9952 state[joint_eff]: [-0.1436, -2.4957, 6.8581, 1.5067, -0.1783, -0.0366, -0.0073, -0.0615, -11.4393, 6.9675, 1.7216, 0.0806, 0.0171, -0.149] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": 0.0, "left_z": 0.03, "right_x": 0.3, "right_y": 0.05, "right_z": 0.2}, "note": "All three pens (blue, black, yellow highlighter) are in the right basket. Now the plush toys go in the left basket: lowering the left arm onto the grey plush seen just left-front of the left jaws; right arm retreats."})
tool
executing move_to over 17 steps (1.7s)
step 315
assistant
agent noteGrey plush fills the left half of the left wrist view, just left of the jaws; shifting left (to the fence-side limit) to centre it.
move_to
left_y0.0450left_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]: [-0.0544, 1.3499, 0.3553, 0.2134, -0.0883, -0.0776, 0.9968, 0.181, 0.9543, 0.8154, -0.5137, 0.049, 0.0578, 0.9963] state[eef_state]: left_x=0.3213 left_y=0.0017 left_z=0.0238 left_yaw=0.0473 left_pitch=-0.214 left_roll=0.0201 left_gripper=0.9968 right_x=0.3101 right_y=0.0516 right_z=0.2034 right_yaw=0.1065 right_pitch=-0.0896 right_roll=0.0318 right_gripper=0.9963 state[joint_eff]: [0.2803, -4.547, 4.8889, 1.8388, 0.0024, 0.0904, -0.0073, -0.253, -2.2359, 7.0359, 1.9267, -0.105, -0.1392, 0.1001] camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.045, "left_z": 0.01}, "note": "Grey plush fills the left half of the left wrist view, just left of the jaws; shifting left (to the fence-side limit) to centre it."})
tool
executing move_to over 4 steps (0.4s)
step 319
assistant
agent notePlush overlaps the left jaw and I'm at the fence-side y limit; closing to pinch it.
move_to
left_z0.0000left_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]: [0.1429, 1.4227, 0.3439, 0.2932, 0.0219, 0.0284, 0.9968, 0.1772, 0.9592, 0.8101, -0.5373, 0.041, 0.0444, 0.9964] state[eef_state]: left_x=0.3209 left_y=0.0459 left_z=0.0112 left_yaw=0.0911 left_pitch=-0.2222 left_roll=0.0176 left_gripper=0.9968 right_x=0.3062 right_y=0.0511 right_z=0.1949 right_yaw=0.1164 right_pitch=-0.1237 right_roll=0.0239 right_gripper=0.9964 state[joint_eff]: [0.3214, -4.1641, 4.5744, 1.6728, 0.0415, 0.0024, -0.0122, 0.2256, -2.7145, 7.5282, 1.8388, 0.0806, 0.1001, 0.0024] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0, "left_gripper": 0.0}, "note": "Plush overlaps the left jaw and I'm at the fence-side y limit; closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 329
assistant
agent noteGrey plush is jammed against the left fence beyond the arm's y limit (empty close). Switching to the teddy-bear cluster in the centre: moving the left arm above it.
move_to
left_gripper1.0000left_x0.2800left_y-0.2800left_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]: [0.1589, 1.4326, 0.3439, 0.308, 0.0566, 0.0715, 0.0126, 0.1768, 0.9596, 0.8101, -0.535, 0.0402, 0.0433, 0.9964] state[eef_state]: left_x=0.3225 left_y=0.0452 left_z=0.0109 left_yaw=0.0536 left_pitch=-0.216 left_roll=0.0243 left_gripper=0.0126 right_x=0.3066 right_y=0.0512 right_z=0.1953 right_yaw=0.1173 right_pitch=-0.1218 right_roll=0.0236 right_gripper=0.9964 state[joint_eff]: [0.4581, -4.3692, 4.547, 1.6044, 0.1245, 0.0366, 1.0232, -0.1983, -2.2769, 6.9538, 1.5849, -0.0073, -0.0562, -0.0122] camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.28, "left_y": -0.28, "left_z": 0.12}, "note": "Grey plush is jammed against the left fence beyond the arm's y limit (empty close). Switching to the teddy-bear cluster in the centre: moving the left arm above it."})
tool
executing move_to over 29 steps (2.9s)
step 358
assistant
agent noteTeddy bear sits right between the left jaws in the wrist view; descending onto it and closing.
move_to
left_x0.3000left_y-0.2850left_z0.0300left_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]: [-1.0821, 1.7039, 1.1805, -0.6552, -0.6857, -0.9958, 0.9984, 0.1764, 0.9604, 0.8101, -0.5385, 0.0402, 0.0437, 0.9964] state[eef_state]: left_x=0.2786 left_y=-0.278 left_z=0.1122 left_yaw=0.0364 left_pitch=-0.2335 left_roll=0.01 left_gripper=0.9984 right_x=0.3062 right_y=0.051 right_z=0.1944 right_yaw=0.1167 right_pitch=-0.126 right_roll=0.0237 right_gripper=0.9964 state[joint_eff]: [-0.335, -7.4872, 8.0479, 0.6764, -0.6764, 0.0708, -0.0317, -0.1299, -2.3316, 6.9812, 1.6923, -0.0073, -0.0611, -0.0122] camera 'top_cam' (step 358): [image omitted: streamed camera frame] camera 'left_cam' (step 358): [image omitted: streamed camera frame] camera 'right_cam' (step 358): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.285, "left_z": 0.03, "left_gripper": 0.0}, "note": "Teddy bear sits right between the left jaws in the wrist view; descending onto it and closing."})
tool
executing move_to over 10 steps (1.0s)
step 368
assistant
agent noteGripper settled at 0.11, so the teddy is pinched. Carrying it high over the left basket.
move_to
left_x0.4600left_y-0.1000left_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]: [-1.0374, 1.8717, 1.0653, -0.3565, -0.6765, -0.9539, 0.1106, 0.1761, 0.9604, 0.8101, -0.5388, 0.0402, 0.0437, 0.9964] state[eef_state]: left_x=0.2984 left_y=-0.2808 left_z=0.0382 left_yaw=0.0502 left_pitch=-0.2346 left_roll=0.0219 left_gripper=0.1106 right_x=0.3061 right_y=0.0509 right_z=0.1943 right_yaw=0.1163 right_pitch=-0.1264 right_roll=0.0236 right_gripper=0.9964 state[joint_eff]: [0.1299, -7.5145, 4.9162, 1.0427, -0.2173, 0.0562, 0.7888, -0.0889, -2.0581, 6.9265, 1.6239, -0.0464, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.1, "left_z": 0.22}, "note": "Gripper settled at 0.11, so the teddy is pinched. Carrying it high over the left basket."})
tool
executing move_to over 17 steps (1.7s)
step 385
assistant
agent noteTeddy is dangling just in front of the left basket; the wrist view shows the basket ahead and to the left, so moving forward and left over it.
move_to
left_x0.5300left_y-0.0500left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3359, 1.6966, 1.5093, -0.7044, -0.2939, -0.3534, 0.1128, 0.1764, 0.9604, 0.8101, -0.54, 0.0402, 0.0437, 0.9964] state[eef_state]: left_x=0.4479 left_y=-0.0984 left_z=0.2013 left_yaw=0.1007 left_pitch=-0.2768 left_roll=0.0058 left_gripper=0.1128 right_x=0.3059 right_y=0.051 right_z=0.1941 right_yaw=0.1167 right_pitch=-0.1275 right_roll=0.0236 right_gripper=0.9964 state[joint_eff]: [0.0889, -7.5145, 9.5385, 1.6337, -0.2173, 0.4029, 0.2173, -0.0615, -2.2906, 7.1453, 1.6093, 0.0122, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.05, "left_z": 0.2}, "note": "Teddy is dangling just in front of the left basket; the wrist view shows the basket ahead and to the left, so moving forward and left over it."})
tool
executing move_to over 7 steps (0.7s)
step 392
assistant
agent noteTop view shows the teddy hanging over the left basket; 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]: [-0.1688, 1.9488, 1.7813, -0.7841, -0.1986, -0.2745, 0.1145, 0.1764, 0.9615, 0.8097, -0.5419, 0.0402, 0.0433, 0.9964] state[eef_state]: left_x=0.5094 left_y=-0.0478 left_z=0.1777 left_yaw=0.1495 left_pitch=-0.3611 left_roll=0.0075 left_gripper=0.1145 right_x=0.3057 right_y=0.0509 right_z=0.1932 right_yaw=0.1169 right_pitch=-0.131 right_roll=0.0231 right_gripper=0.9964 state[joint_eff]: [0.2393, -10.6735, 9.5795, 1.8144, -0.022, 0.5006, 0.1636, -0.0342, -2.359, 6.9128, 1.6142, -0.0171, -0.0415, -0.0122] camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Top view shows the teddy hanging over the left basket; releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 401
assistant
agent noteI only partly finished this task. I sorted the objects into two classes: pens/markers and plush toys. All three pens (blue, black and the yellow highlighter) are in the right basket. The black pen fell out in front of the basket on the first drop, so I picked it up again and dropped it further in. The yellow highlighter was out of the right arm's reach, so the left arm carried it over. None of the plush toys ended up in the left basket. The grey plush is pressed against the left fence, just past the left arm's side limit, and my one close on it came up empty. I picked up a teddy and released it over the front edge of the left basket, but the last top-camera view shows it back on the table in front of the basket. The other teddies are still on the table. I ran out of my call budget.
done
hindsightTop camera: at start the grippers (x≈0.30, z≈0.18) appear at the far left/right image edges around image-y 100–130, not near the centre. Horizontal scale is about 2.9 px/cm at that depth, and the image centre line (x≈112) is about left_y -0.32. Baskets: the left basket (the plush one) is at about left_x 0.45–0.55, left_y -0.02 to -0.15. The right basket (the pen one) is at about right_x 0.45–0.58, right_y 0.12–0.24. Release deep, at x≈0.50–0.53 and z≥0.2. At x≈0.41–0.45 you are over the front rim, and objects (a pen, a teddy) fell out in front of the basket. The left arm can reach over the right basket's left side at left_x 0.45, left_y -0.40. The wrist camera works well for final alignment: at table level, 1 cm of offset is about 10–12 px near the bottom of the frame. Closing on a pen (about 1.4 cm) reads 0.14–0.15. Two pens next to each other: the jaws only kept one. Objects against the outer fence (the grey plush at left_y ≈ +0.06) are outside the reachable box. Budget: 40 calls is tight for about 7 objects. Combine descend+close and carry+position moves, and avoid separate look moves.
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]: [-0.1688, 1.9694, 1.7844, -0.7979, -0.1864, -0.2878, 0.9955, 0.1761, 0.9615, 0.8097, -0.5419, 0.0402, 0.0437, 0.9964] state[eef_state]: left_x=0.5083 left_y=-0.0498 left_z=0.1666 left_yaw=0.1504 left_pitch=-0.3939 left_roll=-0.0007 left_gripper=0.9955 right_x=0.3057 right_y=0.0508 right_z=0.1932 right_yaw=0.1163 right_pitch=-0.131 right_roll=0.0234 right_gripper=0.9964 state[joint_eff]: [-0.3487, -12.4103, 6.4889, 1.3895, -0.2271, 0.0757, -0.188, -0.0615, -2.3316, 7.0769, 1.6044, -0.0073, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 401): [image omitted: streamed camera frame] camera 'left_cam' (step 401): [image omitted: streamed camera frame] camera 'right_cam' (step 401): [image omitted: streamed camera frame]
assistant
done({"summary": "I only partly finished this task. I sorted the objects into two classes: pens/markers and plush toys. All three pens (blue, black and the yellow highlighter) are in the right basket. The black pen fell out in front of the basket on the first drop, so I picked it up again and dropped it further in. The yellow highlighter was out of the right arm's reach, so the left arm carried it over. None of the plush toys ended up in the left basket. The grey plush is pressed against the left fence, just past the left arm's side limit, and my one close on it came up empty. I picked up a teddy and released it over the front edge of the left basket, but the last top-camera view shows it back on the table in front of the basket. The other teddies are still on the table. I ran out of my call budget.", "hindsight": "Top camera: at start the grippers (x\u22480.30, z\u22480.18) appear at the far left/right image edges around image-y 100\u2013130, not near the centre. Horizontal scale is about 2.9 px/cm at that depth, and the image centre line (x\u2248112) is about left_y -0.32. Baskets: the left basket (the plush one) is at about left_x 0.45\u20130.55, left_y -0.02 to -0.15. The right basket (the pen one) is at about right_x 0.45\u20130.58, right_y 0.12\u20130.24. Release deep, at x\u22480.50\u20130.53 and z\u22650.2. At x\u22480.41\u20130.45 you are over the front rim, and objects (a pen, a teddy) fell out in front of the basket. The left arm can reach over the right basket's left side at left_x 0.45, left_y -0.40. The wrist camera works well for final alignment: at table level, 1 cm of offset is about 10\u201312 px near the bottom of the frame. Closing on a pen (about 1.4 cm) reads 0.14\u20130.15. Two pens next to each other: the jaws only kept one. Objects against the outer fence (the grey plush at left_y \u2248 +0.06) are outside the reachable box. Budget: 40 calls is tight for about 7 objects. Combine descend+close and carry+position moves, and avoid separate look moves."})
tool
done: I only partly finished this task. I sorted the objects into two classes: pens/markers and plush toys. All three pens (blue, black and the yellow highlighter) are in the right basket. The black pen fell out in front of the basket on the first drop, so I picked it up again and dropped it further in. The yellow highlighter was out of the right arm's reach, so the left arm carried it over. None of the plush toys ended up in the left basket. The grey plush is pressed against the left fence, just past the left arm's side limit, and my one close on it came up empty. I picked up a teddy and released it over the front edge of the left basket, but the last top-camera view shows it back on the table in front of the basket. The other teddies are still on the table. I ran out of my call budget.
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 · 15.78 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3794, -0.0216, -0.0334, 0.9996, -0.0208, 0.7986, 0.6106, -0.374, -0.0109, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=-0.0007 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.7573, 9.2786, 1.7558, -0.0269, 0.1538, -0.0562, -0.4444, -1.6479, 9.9214, 1.7802, -0.1148, 0.1197, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ebf6dd4413f79a70da9651bf63b089c1277e968ae4a1cf6a6ac633eb59822b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c71be35747d187254bd0461278b094e3ed9f5d965288387b992cb08091a62a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e055175c4a8389b7c062dae42466309563f8b59c4392bc0c7c673b3cca7576fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.009 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3794, -0.0216, -0.0334, 0.9996, -0.0208, 0.7986, 0.6106, -0.374, -0.0109, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=-0.0007 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.7573, 9.2786, 1.7558, -0.0269, 0.1538, -0.0562, -0.4444, -1.6479, 9.9214, 1.7802, -0.1148, 0.1197, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ebf6dd4413f79a70da9651bf63b089c1277e968ae4a1cf6a6ac633eb59822b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c71be35747d187254bd0461278b094e3ed9f5d965288387b992cb08091a62a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e055175c4a8389b7c062dae42466309563f8b59c4392bc0c7c673b3cca7576fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EfgwRQojKS1jv1FPJtgN2G",
      "input": {
        "note": "Two classes: plush toys (bears) and pens/markers. Plan: pens into right basket with right arm, plush into left basket with left arm. Moving the right arm above the two pens first.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.2,
          "right_y": 0.17,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01EfgwRQojKS1jv1FPJtgN2G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6147, -0.3801, -0.0219, -0.0376, 0.9996, 1.2556, 1.1355, 0.5709, -0.5781, 0.9131, 1.0, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1817 left_yaw=0.0029 left_pitch=-0.0072 left_roll=-0.0032 left_gripper=0.9996 right_x=0.1982 right_y=0.1685 right_z=0.1091 right_yaw=0.0187 right_pitch=-0.0281 right_roll=-0.0241 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.0735, 7.2274, 1.8144, -0.0269, -0.022, -0.0171, 0.294, -2.8376, 8.2256, 0.8425, 0.6813, 0.0806, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf17d0e6ec5a0cdace4996174cc1dff03326782afbe7531e2eb2317d13d313a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30413bc7b287f6c6fa1e25d38f6b35396937290932879d18821f87e44f92629a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f8efc56764e4848a849f0714d235a3825f7e85f8aa77b4170291a8c1d848e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.005 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3794, -0.0216, -0.0334, 0.9996, -0.0208, 0.7986, 0.6106, -0.374, -0.0109, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=-0.0007 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.7573, 9.2786, 1.7558, -0.0269, 0.1538, -0.0562, -0.4444, -1.6479, 9.9214, 1.7802, -0.1148, 0.1197, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6147, -0.3801, -0.0219, -0.0376, 0.9996, 1.2556, 1.1355, 0.5709, -0.5781, 0.9131, 1.0, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1817 left_yaw=0.0029 left_pitch=-0.0072 left_roll=-0.0032 left_gripper=0.9996 right_x=0.1982 right_y=0.1685 right_z=0.1091 right_yaw=0.0187 right_pitch=-0.0281 right_roll=-0.0241 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.0735, 7.2274, 1.8144, -0.0269, -0.022, -0.0171, 0.294, -2.8376, 8.2256, 0.8425, 0.6813, 0.0806, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf17d0e6ec5a0cdace4996174cc1dff03326782afbe7531e2eb2317d13d313a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30413bc7b287f6c6fa1e25d38f6b35396937290932879d18821f87e44f92629a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f8efc56764e4848a849f0714d235a3825f7e85f8aa77b4170291a8c1d848e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSnAoKEAgSGAI4AUIIdGhpbmtpbmcSDDVVoNAw9goYq4NpDxoMqcm5/jiUM/lDnLQZIjBX5dMmWl+MoLhsOQAgln0aKa1Gfhkm05tSYLzaWIVIVFpLm1WpcZiCewWMtNOn0F4quQn//sDuTMcUO3+mpwdi4ye6FGNQEwdezYQ9RXNclsNHZvaKVP4HK4JtX6SH+e3bf70l3Nyw9vRuQlKqmed04oOwJUf5fLP/ZkUE8GfZlwXFxTrT55c8BNPH1iu5LT+hEcnHYjEq1GWh3tu2lCEQ/uh5JazCgrtDlfKOwnQxVM+FEi72Go2c9mU5Q08jqVp32Nh6u/O4VhbHIKXZAf+P5uVHyWKgTwWGIrnmVpUSHXmtc3sQqBexLonD2LMH6Fyt2ZHS08L780e8qkcIq6vih3mdPwXgvBpFjLBdibRbl+aP0+Xn5huhPoRxxRYnVzKZLAfBZAssOHDRIi0Y7H8dx3ulXce5ASYYcdUReh5q17HjiH/QVWLkbfYGOiak7pWZtLoIcX13tueo+OMHxjiPBIJdOfJqJP6ZWf15d3eAGnDyKh70Ip3YGtAHcAp+zsa0SqyUThPbVZwXIjL3i3vsTyS8jCsMoL085zoM5eNmr53EJXCYy0DnIbdn6+kvHPekx76yJzNXrvrminXK9tAirbiwELzVlmQUzOMdHlFG8DNwY/1AAuw82k2jdpcdLxpdiQcs+YvUbxE5o8/LPcv81AzDBZQ4IQRSu9TmtWO3Obz1TYO8380k9Hd1/OMjPpGBkebmIgHtER7oeqYcwqqRrj32YY8rqDX474hCoxqEE983FuvbSqSEhhmrgmXack9rYD3fbWk4JrhTSquirRSfdxLt0m46If8/nQEGIal9n/tsR7JlHVceGT+R02hQ1C/jys+Oedvcudo956IVPYWjzzp6YMEOExDOCT67/Dqr1JmgzZ8dYNjK6M2islMutjGwM+FtXub1D+15RdNYJ8Qxlub9f0v5hRiNhuwlBW6xXdsl6v4ZMan/lQLwdOPjARxU3BzU1Lwu8hCXB5uBzCLu8hbC2Flgs/nn4+ASCMhzf/Ndxjgvh57IJPMcY15dut/q8axcFjz+XacSrkiw+cHECJ2XX00kdJuJ8DW3NFrdpp1PucuGC3tmcRInCK3b9hzwjp3OFGdoqIT91lD0IwUUP+biC81jbHXnMr1o5f56BYK5zENwtBHDNBEw1CJT9LPdTe3Tv0Ssgxfpn0OgI4RHRV63pDq/LUEFTM8HrHVkUni2VOQwPLdzf11XlPr2n5fS78XfWEANPmJCW9hMGKEO9xB6dBgFBIkTKDr6tePO71ZOvBU+BJ1q8KPuEptdXSxGSIdcUbGn0IFepKCEu54cFr1GZVCGmj96bKHNNXWTBERt+KgWbJYT5WXwZS2svaEC8epARr5Jtk38paF0KBXimCq1nVIIb0kXgAIT+xNIabgdbclKyPhu3Mbro7B7VSTDnkDZDHcRau4cb+V3MUNJb3r9m66M964a6lqmrfL2AVn/Z17yl6eF3T6nOYCTiwL5/KGmxlNAch/vhnKJLksXB6LOmi4wV5V3tvzjncP45Kjc/t3OxD2rzTp1/sC7jZRcQNRXXTtbm9atZg0k3CW9knPoM/czo+HhgYCnBROf65Cj0zItFU8yjZ+L/HxG19vJEt7i9gP1q3eXjjXaKISdcCaKpmJb23VvOT/A+DRvNZIpPqZMYuSrJKODssazpHwPFblWClFqyInflGQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KbuwQ3k4EVSJx3quYwhM7t",
      "input": {
        "note": "Both pens lie radially just ahead of the right jaws, centred on the jaw column; advancing 5 cm and descending to grab both pens together.",
        "targets": {
          "right_x": 0.25,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KbuwQ3k4EVSJx3quYwhM7t",
      "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, 0.8108, 0.6102, -0.3809, -0.0219, -0.038, 0.9996, 1.0058, 1.3689, 0.3981, 0.0372, 0.7731, 0.6861, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.178 left_yaw=0.0039 left_pitch=-0.0179 left_roll=-0.0033 left_gripper=0.9996 right_x=0.2467 right_y=0.1655 right_z=0.0445 right_yaw=0.0181 right_pitch=-0.0519 right_roll=-0.042 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.6615, 7.4188, 1.7021, -0.0122, -0.0708, -0.0171, -0.1162, -4.4923, 5.2991, 1.4042, 0.3883, -0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e576e113fcca10b8d3360d07ff2314496879f28b9dae1a8118ecadc892ad9421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a3ce4afaadabfc8d65d33fac3faab4f8391ee7f24824ecbc66780c79460fb54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57529f1123ff6988ff3e32206db1c61ccd78ff87f91e30cbd411bdc20d34fc77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.55 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3794, -0.0216, -0.0334, 0.9996, -0.0208, 0.7986, 0.6106, -0.374, -0.0109, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=-0.0007 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -1.7573, 9.2786, 1.7558, -0.0269, 0.1538, -0.0562, -0.4444, -1.6479, 9.9214, 1.7802, -0.1148, 0.1197, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6147, -0.3801, -0.0219, -0.0376, 0.9996, 1.2556, 1.1355, 0.5709, -0.5781, 0.9131, 1.0, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1817 left_yaw=0.0029 left_pitch=-0.0072 left_roll=-0.0032 left_gripper=0.9996 right_x=0.1982 right_y=0.1685 right_z=0.1091 right_yaw=0.0187 right_pitch=-0.0281 right_roll=-0.0241 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.0735, 7.2274, 1.8144, -0.0269, -0.022, -0.0171, 0.294, -2.8376, 8.2256, 0.8425, 0.6813, 0.0806, -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, 0.8108, 0.6102, -0.3809, -0.0219, -0.038, 0.9996, 1.0058, 1.3689, 0.3981, 0.0372, 0.7731, 0.6861, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.178 left_yaw=0.0039 left_pitch=-0.0179 left_roll=-0.0033 left_gripper=0.9996 right_x=0.2467 right_y=0.1655 right_z=0.0445 right_yaw=0.0181 right_pitch=-0.0519 right_roll=-0.042 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.6615, 7.4188, 1.7021, -0.0122, -0.0708, -0.0171, -0.1162, -4.4923, 5.2991, 1.4042, 0.3883, -0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e576e113fcca10b8d3360d07ff2314496879f28b9dae1a8118ecadc892ad9421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a3ce4afaadabfc8d65d33fac3faab4f8391ee7f24824ecbc66780c79460fb54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57529f1123ff6988ff3e32206db1c61ccd78ff87f91e30cbd411bdc20d34fc77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQYKEAgSGAI4AUIIdGhpbmtpbmcSDOftt0gdm/vLaQtL0RoMe2kLom4hUNmx1LoUIjAk1KIq81+NaWGw0DIa0SDXAMnEYRxDnN+RWpjjC9gGSBZhE3RIm1W3ASHyBzH6gnsq3gUUcLvsp31ecAZx9BIqJ8aUhC8fm0gpj2VeeZUw6ahjp276fH4ceoIN0SeafUO5im6Uv7h09ipZ/tRxh1GRV1Va+qgXQowh4et7Q1cX2oMSJEJhNlzb4reaiFxyj7UbBsej/KPUlIjY+v+qpIEjoCYt1KJjrIUZyKBEpnRhCiAyC3b8OQHEcX716f8zeD8Wlzym3wjbBgosFIi0i6JbN8Ju0uAPzYLplfslC+yCBqHgCC2xRd1N7HucH5hkOFzodfhmuK623OjKsqrk4HasILs/RGqoHDWkwlUaUpxebU80G6bDKooJs/r0vRMJnbKq9X25XzgjCcGZT6D8qAUf4ak4UvT6eYMmhoRrF7a57ahkoNU8abUCY67w0hqz6V72bg78d0wM213RFWtmeigXtLRiOTrIMFeG07+swPVEphe2Hm2FD4WsT9qRQX0C9Y2lFM4S2rR0zBwi+1oDRuGs6wfOVheDZgQLyJZqRwE6sXMOZb68ObkMifdpHAjLP2P2b8O1Z/7nEMH3nTBOSQ4eTw7DGXi+tAFH/7xQaIHUgjOTdhYzuy+aE9BfkvrPFUWqqp14dDXGnC5T8z3B/hVIBGedjcT+A9TGRAtTYf/FeycXOIG3pKKVoKOsnjjEDbkzdNpVJv+v8H0GnE8rdFOze/cCKjxM1wJOSdZUj0+N2uNhN1OzIudnHYk0F+47f+9fSZrnpMM/wLwheaH2xhIVGQtLBSJ3O/tPbeWmvaKpB5sDNfczWpxplrCetRTk9k4cql2rO0zwVwP16+0Gw6qSZElqqfXDzZtLSn9i1NcM4bvuwDwFTb0ozm4mttv1yKk//3R65QqOCH2cGsCiP4Z5T70L59rFbxPTkSfVqqP83K2+MUv4pilLSeVtrZULS0CwyRcx09Qf/pFWa3iOIYVP71MsaFkmUp4T0/tU0LuKFImNQbV4nFtaDoJqVekGBLIbA3P50kJwCaZ0taeFiRlgkhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018fMar24YzAVX2UGenEfXj2",
      "input": {
        "note": "Pens straddle the jaw column; descending to table level to close on both.",
        "targets": {
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018fMar24YzAVX2UGenEfXj2",
      "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, 0.8135, 0.6098, -0.3801, -0.0219, -0.038, 0.9996, 1.0058, 1.5734, 0.3374, 0.329, 0.7906, 0.6888, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1772 left_yaw=0.0039 left_pitch=-0.0202 left_roll=-0.0032 left_gripper=0.9996 right_x=0.2517 right_y=0.1692 right_z=0.0114 right_yaw=0.0066 right_pitch=-0.0255 right_roll=-0.025 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -1.347, 7.0906, 1.7411, -0.0464, -0.0366, -0.0171, -0.1299, -3.453, 2.8513, 0.5739, 0.0757, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adbc0e6073277fabe94509aaa11514f6c4de33af0bc6358d183d7824e78b951a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e826d7030d84e598741ce236de9d5d03df683eb0a4706706f72baf301904336c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84f1d70d18232c067cc4ae4a95f12e101a5ea3a1748c57a83511372691c1944e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 6.636 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6147, -0.3801, -0.0219, -0.0376, 0.9996, 1.2556, 1.1355, 0.5709, -0.5781, 0.9131, 1.0, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1817 left_yaw=0.0029 left_pitch=-0.0072 left_roll=-0.0032 left_gripper=0.9996 right_x=0.1982 right_y=0.1685 right_z=0.1091 right_yaw=0.0187 right_pitch=-0.0281 right_roll=-0.0241 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.0735, 7.2274, 1.8144, -0.0269, -0.022, -0.0171, 0.294, -2.8376, 8.2256, 0.8425, 0.6813, 0.0806, -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, 0.8108, 0.6102, -0.3809, -0.0219, -0.038, 0.9996, 1.0058, 1.3689, 0.3981, 0.0372, 0.7731, 0.6861, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.178 left_yaw=0.0039 left_pitch=-0.0179 left_roll=-0.0033 left_gripper=0.9996 right_x=0.2467 right_y=0.1655 right_z=0.0445 right_yaw=0.0181 right_pitch=-0.0519 right_roll=-0.042 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.6615, 7.4188, 1.7021, -0.0122, -0.0708, -0.0171, -0.1162, -4.4923, 5.2991, 1.4042, 0.3883, -0.1099, -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, 0.8135, 0.6098, -0.3801, -0.0219, -0.038, 0.9996, 1.0058, 1.5734, 0.3374, 0.329, 0.7906, 0.6888, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1772 left_yaw=0.0039 left_pitch=-0.0202 left_roll=-0.0032 left_gripper=0.9996 right_x=0.2517 right_y=0.1692 right_z=0.0114 right_yaw=0.0066 right_pitch=-0.0255 right_roll=-0.025 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -1.347, 7.0906, 1.7411, -0.0464, -0.0366, -0.0171, -0.1299, -3.453, 2.8513, 0.5739, 0.0757, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adbc0e6073277fabe94509aaa11514f6c4de33af0bc6358d183d7824e78b951a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e826d7030d84e598741ce236de9d5d03df683eb0a4706706f72baf301904336c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84f1d70d18232c067cc4ae4a95f12e101a5ea3a1748c57a83511372691c1944e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwYKEAgSGAI4AUIIdGhpbmtpbmcSDNGN79ePVjBouDVJMBoM23aIbZk5kItZiUobIjAZeHDU7D36qadcpMkgKZn9EaLtyN8CYZdq+fsC7SWSDkDv7FcUiODI0zCA+WFUdS0qyAVotCr7V+AGP3HorzOAGATHLbmqGKabM/r2Qb6Q6ztXu77V0OC+VaV95ZgwaiJIWbLdBZvJeLiAI7WL2QOCi9uQpeufHmhmO8iHAizhjyzTUFBB25ab/Xuf768nvfWoaV7LkIZl5rvVzrD5R1jb/3lfUr+7XQE4Q00heo/rO08Xg9XzDGlUSW7Crg89Y7pgGeMHvMDDSPxDV+ZCZilTNXK+kfDoeb2GghmTk2phNzbf2NE2YS07trCL+bQUc5I2bWHmmm0nW2+e01zqlsvRuP4K0nUM3VADgMO8/NwAx1i4PlPe3oguSUKFMCZnFstU+UQ6iP5ev6AvTQ5Ppcuh0gMFj9icQM1XdxnyyFzgNcHwHuSjBEYofQVkLqfBmr7/zBL25BKKRComhzOiMyiHWDV1DsgUM5MXR4rYWUiylGpZwCq0vaiU2KGnJR1L+WFcejyRE6zz9EB/qXn9ab6TJk3lXXustiQp3V0jKeSNns7vZBjRNB0Pi785vaFGiOksEj+wbdAXUgWOwQ1LLA0D5Fdf3NQ7NI2TOSRYFC/qYo2RtDtEuRMl4fww0zfGlRr0Lm/4kVQZpRUyURMoLKzcuXRsEpCVKyMMg55H1uoPGYOHnwcQHdUTC4YzSmCAxYL8l2cRn56ojaUwcbaFYThu57ULTuq0I+37KrsfkQ9HGC4pv9VIuHsOsWL2wRWFhVijQyaE2BRNsff8NXaoK3rhaQJ+lkYedFs5eoscpArx9HBOFipKdYbiFAmjB4GrSxGoFr51nNJOmBSJkV8GilGQY6ktbIh/C8xnjhXTSsM+AMOab/DIv9kQ1kwCP8NrLvM5yorE/cF/S4fN99c2EjmWYekUGDhKijfdT2RuvQwx6Gx0Tkg+KfaIq/QYFja64aYo1RXn2npkS7Y9zlWMtUJhB3Z2/Gip9bLbg3yMhw7joiJo1M4Y4lCUGzqRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014UQQ3TWsBN3KgeizeD9i7P",
      "input": {
        "note": "Jaws down around both pens; closing the gripper.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014UQQ3TWsBN3KgeizeD9i7P",
      "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, 0.8135, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 1.0065, 1.6547, 0.3275, 0.4706, 0.804, 0.6842, 0.1463]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1771 left_yaw=0.0039 left_pitch=-0.0206 left_roll=-0.0032 left_gripper=0.9996 right_x=0.2572 right_y=0.1753 right_z=0.0064 right_yaw=0.0016 right_pitch=0.0102 right_roll=0.008 right_gripper=0.1463\nstate[joint_eff]: [-0.1573, -1.3607, 7.0632, 1.707, -0.0415, -0.0464, -0.0171, -0.1983, -3.3846, 2.9607, 1.0525, 0.1538, 0.0122, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8762c4135d669b205551e69b70a834a239ebe8a9b84bff75a017464c64ee2df3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916c0ad8a35446491b620fe05439c5e96de79d3def7668aa43d2c48c583a30bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3316ab49aa3a21b551a5a1eaca5ee2224f57cad065a5cc6c4e15b28b6bc92b6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 3.609 s
model
claude-opus-5-5
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, 0.8108, 0.6102, -0.3809, -0.0219, -0.038, 0.9996, 1.0058, 1.3689, 0.3981, 0.0372, 0.7731, 0.6861, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0021 left_z=0.178 left_yaw=0.0039 left_pitch=-0.0179 left_roll=-0.0033 left_gripper=0.9996 right_x=0.2467 right_y=0.1655 right_z=0.0445 right_yaw=0.0181 right_pitch=-0.0519 right_roll=-0.042 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -1.6615, 7.4188, 1.7021, -0.0122, -0.0708, -0.0171, -0.1162, -4.4923, 5.2991, 1.4042, 0.3883, -0.1099, -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, 0.8135, 0.6098, -0.3801, -0.0219, -0.038, 0.9996, 1.0058, 1.5734, 0.3374, 0.329, 0.7906, 0.6888, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1772 left_yaw=0.0039 left_pitch=-0.0202 left_roll=-0.0032 left_gripper=0.9996 right_x=0.2517 right_y=0.1692 right_z=0.0114 right_yaw=0.0066 right_pitch=-0.0255 right_roll=-0.025 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -1.347, 7.0906, 1.7411, -0.0464, -0.0366, -0.0171, -0.1299, -3.453, 2.8513, 0.5739, 0.0757, -0.0171, -0.0171]",
      "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, 0.8135, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 1.0065, 1.6547, 0.3275, 0.4706, 0.804, 0.6842, 0.1463]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1771 left_yaw=0.0039 left_pitch=-0.0206 left_roll=-0.0032 left_gripper=0.9996 right_x=0.2572 right_y=0.1753 right_z=0.0064 right_yaw=0.0016 right_pitch=0.0102 right_roll=0.008 right_gripper=0.1463\nstate[joint_eff]: [-0.1573, -1.3607, 7.0632, 1.707, -0.0415, -0.0464, -0.0171, -0.1983, -3.3846, 2.9607, 1.0525, 0.1538, 0.0122, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8762c4135d669b205551e69b70a834a239ebe8a9b84bff75a017464c64ee2df3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916c0ad8a35446491b620fe05439c5e96de79d3def7668aa43d2c48c583a30bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3316ab49aa3a21b551a5a1eaca5ee2224f57cad065a5cc6c4e15b28b6bc92b6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQsKEAgSGAI4AUIIdGhpbmtpbmcSDNxNKRfwXhbgaiPuuxoM9kSKKsnrSP+Vm4WLIjCNvnwU8PO07hMfGlERKnmaq3PJCObRjK6IGSQ2rf1iG9aZruX5QPcCWwZz7Ep/7XcqvgqKonuzGtRLWScVOP2yNPZ5nXKHteFfA3yhbDzIRUXFG/g0ke0KRwBJMD4B79Yzhhlz3jHK6wHN6u+b1jbxhAwZURGOsTiCK8JHZR7VCmz/M1lmXG6Bu28xQHTH5yRW0KyYGiFyXz2ziyYk5p/J1P1gfiiHGNz+YRcd6uuOUrkaQGv4tUp0k5rG2FDMmKxxLrsPME47XhFEqSXb/+gL2zRwqmDUPMrpW9ZeoqK7uPt0Lonz6PqUiCGnRruoiyOZ5KubJXMserACrlSbO7uEO2VB6xt0/feCh9KAw49hN0BovS85OagcJmoXjAX3J4pUrzGp+m6lMABn1tNXgCsD0nVLTqej8EtaSqYKj+nzgzIHzoNQAkbpN/xJaoMJXbIIpU5QIatuiklYA+AFqwoQh6IahrPOK4HGrN8GfwjvE809IH5X5AlFOvXqDfG6px+56LyYfFmOZx2cqd0wysEqonRN3om5tEhf8KL5zwf6rXh02eLIUsC8lX1gDEC0bnb3vfEJiuXx2xPZ+DIk++/iewh8zM5vCdDw3Xf8wxDWhDvVnCT3etZzZTeJJJw8S7JrlX/6IgRjP6rbB5R/ojHqRIgjTJLEe0/0Ly3XpQwfvpkjCwXH+AuouCtdF9NMZoQN5uProJFOnWsYPtOYY8Gp4gczBxFHA5+qkUiVVOYlNjCh0hAVXHGahV25GDmOWxgBqS9HR19s4XjmHHv/H/zUp3s4hL8OusBW96Vq+/QQ1DDhJnC8B0y11ISWJzUOWf+8nnsamEGhzyDtqC599HVsKZ+Dvd/JMruvmW0Ij8PDoaOmErawkaSdMaIWIvkJc6F6112WNcpe5+U1yZu2XQehWuAkVk7smxQSMkC151JBaEfyhrzy+VlQ3Gd43DcQB4HcGrHbemKXp3KAeiEVEW8LQ5UJOjKFfYZvEuedmcbEISqNeXc3w1xHsGix99cBvqAiK0R9SrUj6buwbiE8LM5I8Za6cBwQMQfjWT2cz//6vtgWshpxTQJeOaSKbD3vPE1G4CKlC/mhNdGdv1dl7oQMAdo4FLvvthKzJp5Vjx4aHJas7uq88vFaj6iyV5ngDCqecAwcx3pU5GF3mv3LR0yipUOAXYNtBnKWtPBMY+kC4RBQ2mVPsjvLGpsfLV350BTlkn8TCDlKWrJBGUmL0RSKEQXTZ+RFqe/iWMy76xGxG28P+Ud04xjx+eUGNeV/ydYHj7cCplrhonIbdMyD/sNamigTEfsIL+df90PlT3WCM+d/CaHB0Ryqdt4m7OVrsheKHVZlDmuyVisC2LLFihHN0bEw1svLIsKEjiQiS8yna1wyp07WZAWQyO9kj4nLM+6KdTeeh4vGh5qbOpdrtXsOaXEr+LaDNg/UxMdxqviQs9M8UOqAJcfqFf4bY9a6SFXun936QRo6+55dzRR9A/cVTUdLsEFw9bNNWGbwFXNJrQ1yRDWfkXGmi1RkUNB/aUJPmWXYsVWELgwKVeUWbSVksNYUmsR31RLZPqLHBqgSmwBa/UiHbAQDSg5uQteZgswbK/vVz9ZTgQsrqXKuR6hPwk86LxODwDgKjutNRCU/8HK0bQayYKV1lYIfATIV3sVpV2e9c6rVgmvQcaH0IO2rDzhXQqasNbKMexVQ9ZtYsNd6A5vI+ZkfUIfeYs0K9LyOxjkjxE5VLv8dMEVmMvqneTWqEY4cCU7TxPurgwLG05RsOoGLW23wrWhagyLkhtQtD7V0ux6PT26xu2WH8mborG4k3q0713q/F/zmh76LMysYdWJgaM4Ua4k9pm0WyfyiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YFzhe7KQc1UvcfT5dT3mnh",
      "input": {
        "note": "Gripper reads 0.146 (~1.4 cm), so one pen (blue) is held. Lifting to carrying height.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01YFzhe7KQc1UvcfT5dT3mnh",
      "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, 0.8135, 0.6094, -0.3805, -0.0223, -0.038, 0.9996, 1.0065, 1.1423, 0.8394, -0.5694, 0.7773, 0.6792, 0.1513]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.177 left_yaw=0.0042 left_pitch=-0.0209 left_roll=-0.003 left_gripper=0.9996 right_x=0.2558 right_y=0.1791 right_z=0.1864 right_yaw=0.0216 right_pitch=-0.0154 right_roll=0.0018 right_gripper=0.1513\nstate[joint_eff]: [-0.1573, -1.388, 7.1863, 1.7021, -0.0269, -0.0269, -0.0171, -0.212, -4.5197, 9.1009, 1.0916, 0.5641, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2ede546a0a9cdf9a8705d4d8591892c4966b0c1bd35acf98f813bc8bfe5310",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74812ccc323d71d695d3ae298a0f714308396b2294522a7a97cdab41b390084f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e963e3d9f6b79ca21a5758d3d913f9808ff9a2f120003c46f3424abaf5e92ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 3.291 s
model
claude-opus-5-5
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, 0.8135, 0.6098, -0.3801, -0.0219, -0.038, 0.9996, 1.0058, 1.5734, 0.3374, 0.329, 0.7906, 0.6888, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0021 left_z=0.1772 left_yaw=0.0039 left_pitch=-0.0202 left_roll=-0.0032 left_gripper=0.9996 right_x=0.2517 right_y=0.1692 right_z=0.0114 right_yaw=0.0066 right_pitch=-0.0255 right_roll=-0.025 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -1.347, 7.0906, 1.7411, -0.0464, -0.0366, -0.0171, -0.1299, -3.453, 2.8513, 0.5739, 0.0757, -0.0171, -0.0171]",
      "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, 0.8135, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 1.0065, 1.6547, 0.3275, 0.4706, 0.804, 0.6842, 0.1463]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1771 left_yaw=0.0039 left_pitch=-0.0206 left_roll=-0.0032 left_gripper=0.9996 right_x=0.2572 right_y=0.1753 right_z=0.0064 right_yaw=0.0016 right_pitch=0.0102 right_roll=0.008 right_gripper=0.1463\nstate[joint_eff]: [-0.1573, -1.3607, 7.0632, 1.707, -0.0415, -0.0464, -0.0171, -0.1983, -3.3846, 2.9607, 1.0525, 0.1538, 0.0122, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8135, 0.6094, -0.3805, -0.0223, -0.038, 0.9996, 1.0065, 1.1423, 0.8394, -0.5694, 0.7773, 0.6792, 0.1513]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.177 left_yaw=0.0042 left_pitch=-0.0209 left_roll=-0.003 left_gripper=0.9996 right_x=0.2558 right_y=0.1791 right_z=0.1864 right_yaw=0.0216 right_pitch=-0.0154 right_roll=0.0018 right_gripper=0.1513\nstate[joint_eff]: [-0.1573, -1.388, 7.1863, 1.7021, -0.0269, -0.0269, -0.0171, -0.212, -4.5197, 9.1009, 1.0916, 0.5641, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2ede546a0a9cdf9a8705d4d8591892c4966b0c1bd35acf98f813bc8bfe5310",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74812ccc323d71d695d3ae298a0f714308396b2294522a7a97cdab41b390084f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e963e3d9f6b79ca21a5758d3d913f9808ff9a2f120003c46f3424abaf5e92ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkgcKEAgSGAI4AUIIdGhpbmtpbmcSDB1b6M1GN461VzilKhoMpyFEV328nN31DddXIjAf1CuIzZOtLIOBGYIs1rDLF933z8ZHbv7bbrEBjg4pfm76gT4IR7hq8YTq/MFlAKQqrwZn6Rgp5pvK9+Lf2be5nEufkcrW4iSjZBL1yYGKNl1AwmrNCGhgQWDMdwxyek8a1lbJXcdZF6VLIRBSp3Vh3ZGs+2AiiCpPlShpMN1csf1datOY0yWAfmWTGHpejkaLGzIE+XWJCVA6BjNn+Lvi8N/EZyLGF1wdqXemhMJoOLf5UcPhcynV4IvMZNLMUdJFGXnWyjpjVv2rpt1eeR60xSKAdgnVC9pCimwgIMOWwwJmZZ8jr8nvbZqEbSo2sHMDIuzYW1mkYTpm1c0yKiy64jB0VbkegsKvOoZHuhIv807CGq5o1YrrvWPSvjg1lL7POCcHeGdI/3dR3YMkIlOFaqgQuIL1rxZ1DXq4U9wy+DSKm9Xqi1gYcnU0M37de9bvzgJCXRo5r2QTeRuEnUd5/KJBTvTTzjZgHs2IiXpJtMzeBOERGyZJMzFbt6Pt2YM8wJMPq2WqaV4qHNNKl7owC3HetHdKmBgkJ2xm0luISUfkG/zl/XssmIr7A/wbrf6B2Bu8LKWpxQXslwGrJJVdQeqDwHrwxhcDw6FThGXce/glAxBYjDqvGTZ85rwAXMlQ1e9GMFEJW5nHayZB7T8WbscyoApyCQO5QMkTHv+B6BxpR7DKrzhKtpDyKbLd/V657EYoETo+mRMQIYMXLwzzWEKHFFIzujaPWk1vaFvFu4EH8dAODBzml4Baco1Uxucj/2RGCRHOAUd+NBmbow8qK23XKMCMU+/Fr8Nt43UOszJ23nds6S2733r8yTgbLhZ/PAM2AagmF9TkSRnyrgpBj/J4eiJAVgoRJkUxyBo3a+acMCIse/vN2Yo0Xo1JkZDfDkrlO7vcaStNvon7XOPqWJeTINxp5kgJzprH3KAVVup0aOtY7NSx/QkQc99CWLS61sJ0UvannW77moWWwGq0DI7CH6XsKmKunIT6+l9+gflAHzAjW//UbOqZ1/PlDWIoryAMt0md8vQeiicq4mN3irfX9ChJmzXV5S1qCPwPxIzPaXwY4lynnRW3QwrUDsaq/Br10EVysC/2B6VGOBkKkjJfYKsNO+Ea2s+k6lG0+b01KsdqH7VvsSqiQ+txiJg/MBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E371b9kWQHrMjqwMGGsnqy",
      "input": {
        "note": "Blue pen lifted in the right gripper; right basket is straight ahead in the wrist view. Carrying forward over the right basket.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.16,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01E371b9kWQHrMjqwMGGsnqy",
      "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, 0.8173, 0.6094, -0.3801, -0.0216, -0.038, 0.9995, 0.5175, 1.5318, 1.1027, -0.2676, 0.4061, 0.2687, 0.1529]\nstate[eef_state]: left_x=0.297 left_y=0.002 left_z=0.176 left_yaw=0.0036 left_pitch=-0.0244 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4115 right_y=0.158 right_z=0.1794 right_yaw=0.0315 right_pitch=-0.0689 right_roll=-0.0253 right_gripper=0.1529\nstate[joint_eff]: [-0.0205, -1.6615, 7.0359, 1.6874, -0.0269, -0.0464, -0.0171, -0.4855, -7.3778, 9.6479, 1.8242, 0.149, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54a82171283b52f1b555217603df359de13325f5f1756f9c4b207dc9691feff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b381a66bd1ef9ed89a97aba209e75bea2a233689809ba383383df47c099900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68e8424a7920d34bbfd723be158938226eff909127ee5a7d557ac90b0f9f4851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 8.711 s
model
claude-opus-5-5
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, 0.8135, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 1.0065, 1.6547, 0.3275, 0.4706, 0.804, 0.6842, 0.1463]\nstate[eef_state]: left_x=0.2967 left_y=0.0021 left_z=0.1771 left_yaw=0.0039 left_pitch=-0.0206 left_roll=-0.0032 left_gripper=0.9996 right_x=0.2572 right_y=0.1753 right_z=0.0064 right_yaw=0.0016 right_pitch=0.0102 right_roll=0.008 right_gripper=0.1463\nstate[joint_eff]: [-0.1573, -1.3607, 7.0632, 1.707, -0.0415, -0.0464, -0.0171, -0.1983, -3.3846, 2.9607, 1.0525, 0.1538, 0.0122, 1.0085]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8135, 0.6094, -0.3805, -0.0223, -0.038, 0.9996, 1.0065, 1.1423, 0.8394, -0.5694, 0.7773, 0.6792, 0.1513]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.177 left_yaw=0.0042 left_pitch=-0.0209 left_roll=-0.003 left_gripper=0.9996 right_x=0.2558 right_y=0.1791 right_z=0.1864 right_yaw=0.0216 right_pitch=-0.0154 right_roll=0.0018 right_gripper=0.1513\nstate[joint_eff]: [-0.1573, -1.388, 7.1863, 1.7021, -0.0269, -0.0269, -0.0171, -0.212, -4.5197, 9.1009, 1.0916, 0.5641, 0.022, 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 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, 0.8173, 0.6094, -0.3801, -0.0216, -0.038, 0.9995, 0.5175, 1.5318, 1.1027, -0.2676, 0.4061, 0.2687, 0.1529]\nstate[eef_state]: left_x=0.297 left_y=0.002 left_z=0.176 left_yaw=0.0036 left_pitch=-0.0244 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4115 right_y=0.158 right_z=0.1794 right_yaw=0.0315 right_pitch=-0.0689 right_roll=-0.0253 right_gripper=0.1529\nstate[joint_eff]: [-0.0205, -1.6615, 7.0359, 1.6874, -0.0269, -0.0464, -0.0171, -0.4855, -7.3778, 9.6479, 1.8242, 0.149, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54a82171283b52f1b555217603df359de13325f5f1756f9c4b207dc9691feff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b381a66bd1ef9ed89a97aba209e75bea2a233689809ba383383df47c099900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68e8424a7920d34bbfd723be158938226eff909127ee5a7d557ac90b0f9f4851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Over the basket. Lower a bit and release.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ph7Vsk9L8LWzRr8W8oYMGT",
      "input": {
        "note": "Right wrist view shows the pen centred over the right basket; lowering slightly and opening to drop it in.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Ph7Vsk9L8LWzRr8W8oYMGT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8173, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.5175, 1.5921, 0.9382, -0.049, 0.4057, 0.2626, 0.996]\nstate[eef_state]: left_x=0.2969 left_y=0.002 left_z=0.1759 left_yaw=0.0036 left_pitch=-0.0248 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4099 right_y=0.1572 right_z=0.1245 right_yaw=0.0349 right_pitch=-0.0745 right_roll=-0.0329 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.0462, 7.1043, 1.6972, -0.0269, -0.0464, -0.0073, -0.2803, -6.4205, 6.106, 1.6825, 0.1148, 0.0366, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59117daabcbc808e3da9fbe8a50146a59376bf6a2111f58b6623ab2fd9279110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfa72c7a2ca294a2ad0b1f2e7925dd708ab9919f055cc01034284754d8ce1826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:493493812ce518677df06c8f23610c6e8555021248bac600a3fbd928ebd2f003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.384 s
model
claude-opus-5-5
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, 0.8135, 0.6094, -0.3805, -0.0223, -0.038, 0.9996, 1.0065, 1.1423, 0.8394, -0.5694, 0.7773, 0.6792, 0.1513]\nstate[eef_state]: left_x=0.2967 left_y=0.0022 left_z=0.177 left_yaw=0.0042 left_pitch=-0.0209 left_roll=-0.003 left_gripper=0.9996 right_x=0.2558 right_y=0.1791 right_z=0.1864 right_yaw=0.0216 right_pitch=-0.0154 right_roll=0.0018 right_gripper=0.1513\nstate[joint_eff]: [-0.1573, -1.388, 7.1863, 1.7021, -0.0269, -0.0269, -0.0171, -0.212, -4.5197, 9.1009, 1.0916, 0.5641, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8173, 0.6094, -0.3801, -0.0216, -0.038, 0.9995, 0.5175, 1.5318, 1.1027, -0.2676, 0.4061, 0.2687, 0.1529]\nstate[eef_state]: left_x=0.297 left_y=0.002 left_z=0.176 left_yaw=0.0036 left_pitch=-0.0244 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4115 right_y=0.158 right_z=0.1794 right_yaw=0.0315 right_pitch=-0.0689 right_roll=-0.0253 right_gripper=0.1529\nstate[joint_eff]: [-0.0205, -1.6615, 7.0359, 1.6874, -0.0269, -0.0464, -0.0171, -0.4855, -7.3778, 9.6479, 1.8242, 0.149, -0.022, 1.0281]",
      "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, 0.8173, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.5175, 1.5921, 0.9382, -0.049, 0.4057, 0.2626, 0.996]\nstate[eef_state]: left_x=0.2969 left_y=0.002 left_z=0.1759 left_yaw=0.0036 left_pitch=-0.0248 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4099 right_y=0.1572 right_z=0.1245 right_yaw=0.0349 right_pitch=-0.0745 right_roll=-0.0329 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.0462, 7.1043, 1.6972, -0.0269, -0.0464, -0.0073, -0.2803, -6.4205, 6.106, 1.6825, 0.1148, 0.0366, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59117daabcbc808e3da9fbe8a50146a59376bf6a2111f58b6623ab2fd9279110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfa72c7a2ca294a2ad0b1f2e7925dd708ab9919f055cc01034284754d8ce1826",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:493493812ce518677df06c8f23610c6e8555021248bac600a3fbd928ebd2f003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwsKEAgSGAI4AUIIdGhpbmtpbmcSDAvpbXNFh6yGgxXRLhoMS3YMXFO+21vilb4eIjC7q62FqBpJ+1OVbjv28KJFzLA5UycMj0VhC9LHuH6HdcY7n6AwbUQWLG/KUEKBQWAq7Aq/nMyKR/4ZTaOGyqL6AI3ZfWQ9ot8apVicAridL4sHcYC2QWfcnfgFosx97OGNbvgyM05GTioOMfVDP54I+jOIdU0XnmXHvU3bUw7IDQtmRyu+uG5jnH6KNi4b1kaIw9JLJDq+xZ5FxNPNyxE6ibr+DYf7u2DHJRbX5zBVkkCLxpedU3ToTuO1trscAlBC+KlpwclnLRJP8R3Yezk3gRFvNXfg83Ka/LyB56DUVRqAuoJo23pWyiIrOTMMBaBVQp1vHvzDXz93hhYgbUqkP0qkSha1kXu+Gnfy3ijibW6Py8fQDMdAU5XimZlfGz0q4Ij8eAwDvS9rHgO90iVTt5Qpc5cN4FEft1ElkoiWBj7JjdOpcdnpnmTZwukn+C3c79I02Vyxui17se6ixw9OBzqoR3sJi5tyheGR/RoUVEwLy4TyHfnU6HkaZ94FtKIN4nhF1y2xutnYge2CK59XLSxW1Rs6ISRA4zxHx6lh7F2wHclPE59O7n7O0XV48htyVa5UGcHt9y5JPZMA9JhPNdrfGywsuKXyzt85W/t12fbizbmxI0b6w2dI6BM2yIB2HzILU2RR66zPp8hirBXbFWIxpIL6q8ZlVl5IbFQggXHCNhUszodfkmI+5X85TU6MbZKkFW5Z37mRohGcnhnsFDGsZWkylQcMuzblmzSgfH2mZt32rnIJxFAA2yi0NzLS0zp/ljyK9BT1qBx97J+GQkZrWCvYiCfMq1gV5Krvi0DVA5SnE7LzZfVLKXCDEQLVuyAW3ckwMpD5M0/gEylaFCASskX7oz+LvwT73LsZ1Gvjbz2yF7cnoXzpSklEHOtTXSNI491uN+8ohJwZSkldr7WFK4uR1DERadLoPr9/sICCFzGwr7D92emb4rdnPiJYwpVPWtCGLdyy9PhHnmmpXeHI/nTmQrdUJj7MUR73rSeSzMxFn8kA86YhD+RJUSN9yxpY79wEGvWQZlyBR4XvZwXOT/2aH8vYlSGpkvOfFxtGFm6CDX+J40yKy7YCg3hEFYuZM5w8fL3cgpaHUPOTKt3szjsS1PFKiywp76OeZiWsmAHoyOPlzHEZ8IExzRV+acfhpNissi/Rr3MAjOenvR8Jk56RW/0YORawuirtQWCl/hE9jaCfo7/EJSeO8xw9/9QEMWsrT+u2QZff2oSsG31z6c8D4ZvWKktNlNSgueOqYVcOOZ7ni+4b28sa52Wkc0rjCwiPNLYXXjo5GfJQ9ODeun6XbbTaqPphAWIDnrRJ5667NUhswuXy4Im/oZ3Z7uK+xw0DxI0QSB+rylVLpDsZpD6WDLEqCkVtfxOXwavNHjgOnk4Zq9ArGXD12vBgGh3MzROzTLFYKoI26YV7HcgkDR5pos/lfIIE+yjipd7AnY4XhMJVO0zuWK+ySXD0vnKJ7qKgDCBTTClFkiUuXFQ1aTZVJgG43vx+AoDlxbAJuwgDXqTjzPGYHLPgJy/OCzQh2lWLIQPr/7/YN/pkKVZGz8ThZcRZhWGRWEQQxs/uTLMx/+1OgDYFRKjlChqdlNR6mI1bfl/6w6aa5P5HZvN8H7xVzvqAC1TvWvqmspnz/SHOH48/18wbaB3WMva0wvRjvsLMr/EWjVt9vLnJYEgSRnITm0/W+9TPaMI15VvXLB+XVQ31Sr/Bwmf8az8PHNyYgNUtOYWZQa4x7Zd+L/zNTgZjDoRb6obA8ap30BDkiSLSt3juDf5tw2g3YPJBAvJeLw1cLtitV/3LzUk84zP+WwUX4q9X/JnUp238DKFHqo/5srjevRDIdKKN6aXHUDiJItOmHycFyUD0KwrKMvUUHIDDGiN9+BED7ZBo4SbeQ0ECl60ZdJn0HoheWRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sjxhs5FLM4pCxFgsTmQNqh",
      "input": {
        "note": "Blue pen dropped into the right basket. Going back for the black pen, which lay ~3 cm to the right of where the blue one was.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.14,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Sjxhs5FLM4pCxFgsTmQNqh",
      "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, 0.8238, 0.6094, -0.3798, -0.0219, -0.038, 0.9995, 0.8871, 1.0786, 0.4881, -0.2539, 0.6441, 0.5438, 0.9968]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1743 left_yaw=0.0039 left_pitch=-0.0305 left_roll=-0.003 left_gripper=0.9995 right_x=0.2516 right_y=0.1466 right_z=0.1002 right_yaw=0.0656 right_pitch=-0.0791 right_roll=-0.0251 right_gripper=0.9968\nstate[joint_eff]: [-0.1026, -1.9624, 7.0085, 1.79, -0.0317, -0.0562, -0.0073, 0.2256, -3.3436, 6.2017, 1.2039, 0.4371, 0.1294, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05ed4f5bd292990da6405b2eb5a7642e37989041d84d4f6086cefa732e7a6849",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:201f60b27ee9b7f91c031252d60ccde9816271b7f8fce0111d42de3ac765f0fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84b2cb0e143ff15978123ab315c1365fde18e8531ad9f94f326c32e720c17c19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.282 s
model
claude-opus-5-5
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, 0.8173, 0.6094, -0.3801, -0.0216, -0.038, 0.9995, 0.5175, 1.5318, 1.1027, -0.2676, 0.4061, 0.2687, 0.1529]\nstate[eef_state]: left_x=0.297 left_y=0.002 left_z=0.176 left_yaw=0.0036 left_pitch=-0.0244 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4115 right_y=0.158 right_z=0.1794 right_yaw=0.0315 right_pitch=-0.0689 right_roll=-0.0253 right_gripper=0.1529\nstate[joint_eff]: [-0.0205, -1.6615, 7.0359, 1.6874, -0.0269, -0.0464, -0.0171, -0.4855, -7.3778, 9.6479, 1.8242, 0.149, -0.022, 1.0281]",
      "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, 0.8173, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.5175, 1.5921, 0.9382, -0.049, 0.4057, 0.2626, 0.996]\nstate[eef_state]: left_x=0.2969 left_y=0.002 left_z=0.1759 left_yaw=0.0036 left_pitch=-0.0248 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4099 right_y=0.1572 right_z=0.1245 right_yaw=0.0349 right_pitch=-0.0745 right_roll=-0.0329 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.0462, 7.1043, 1.6972, -0.0269, -0.0464, -0.0073, -0.2803, -6.4205, 6.106, 1.6825, 0.1148, 0.0366, -0.1978]",
      "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]: [-0.0181, 0.8238, 0.6094, -0.3798, -0.0219, -0.038, 0.9995, 0.8871, 1.0786, 0.4881, -0.2539, 0.6441, 0.5438, 0.9968]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1743 left_yaw=0.0039 left_pitch=-0.0305 left_roll=-0.003 left_gripper=0.9995 right_x=0.2516 right_y=0.1466 right_z=0.1002 right_yaw=0.0656 right_pitch=-0.0791 right_roll=-0.0251 right_gripper=0.9968\nstate[joint_eff]: [-0.1026, -1.9624, 7.0085, 1.79, -0.0317, -0.0562, -0.0073, 0.2256, -3.3436, 6.2017, 1.2039, 0.4371, 0.1294, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05ed4f5bd292990da6405b2eb5a7642e37989041d84d4f6086cefa732e7a6849",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:201f60b27ee9b7f91c031252d60ccde9816271b7f8fce0111d42de3ac765f0fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84b2cb0e143ff15978123ab315c1365fde18e8531ad9f94f326c32e720c17c19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowgKEAgSGAI4AUIIdGhpbmtpbmcSDHcsCNICSeTSM/KhlBoM33GfgMTnPJa8dW/jIjAG7ta//barvBWdyAePFrL5f302akwvw2IVashtNw9rNZKM3cneFW/UtSSvzdq7AlUqwAfXRzNKOd0OUQPZsRW14GJwMFYuwKIZXHi0XeKuPuQV4SD0VkGwMjOzAOINqYRbLHu43ERyZ55aDpkgER4jSTyS6S0w5szE0RjUYSpI8HTKYYGnZm/8ozmYDld2C1aX387b8U+lOIutsmJD0vgkRAfIareo7WkwT19/9Gq34eWp0U+CmXLgeQr5KjcB6MNcGGBMmhb/8nQuXzmc5kWpMvsyapUjjJxUsvHUzKVa1odCEIe2awn0+6bnDg8o7zRjiVSErpCXzYywwuTc2/hAW6dZBeVxMNP4tA99oLLCMLYodxUNBOoYkiN1e0t03KLzc6HHR5Vz6ozRRu/RO8lM0K5MMTuhUggROCHyDVqREopYOHO5d1AnPluOPhGaUxK4nZZPCyU6RCnqQhbOIdTpTAk0TWgLQH8lsKVQUIvFrIYoe4EBqg39OM4wXlRkGWnwZ56wrae0rJ4w8drQ6usXlNiCvf1dVnx7GradgXo8jV9biDp5ZZQeP1z9AMKar2gNJXMzB5sbd8ca41M4Ksebi5BTk6oAf41wUF2Ql+bpa6pv7lCZnd5C5VO2TDZLvjIIQVN1Nhls6Y0x8DhRcdwE3YnIUHhTJGeHEA425UvplYt/F7pxNtgbsOAw/ASgU7qsUIgjJGFukya5kS4VDPSQ38sKXYUKje85UbEInWKzjNQx6wfsRKP8zD3NKEJGDcpPC1vBnFmkUu4PLlFOGywpN3mXJQ95+5ttdZFsdYFTNCKeZKiZuakk6pWmVBnAnbRGj80NWDehXeJJULCfFNhoYbLuEsjHT/SFKyWifg3NNsupzjFZQNbG3L94l4vgfBPNVKRW+FZ7bYf29BNiU+/HHBIdCzx4RS/EBKmDEgjmGR0FharjajTclKMeRTZkGk7v+3yDqUiMSMkzlF38yswz6hbAdHnK9HIFoQM6fX4U9Uu4jeLhVXKEBrznTseruqRzpRVGyQgmjhXWab2NfBPBjGghDwkj12ft3nFzg5JHxwr9mbInxuj/juOx+9sSFzcVKKkcONCfmwKZbKJctHlriN4Fw7tplCVvfgKsDLArrzMfdf42B83BvBF+W0mYpdieJD0T0QqleXcgQ5iamjoaw8kxJHdtvs42W6GucWA+qdzIQt9e6OKkfTa+sE0skSg8Kp5Nf5qc/CUX4xyhslZQvtO6CRBQffRtSRIrRWlEzzbS7atLd/6WGaJ38Hvf+85XG8bopSwdh56tjDAFmfERf9sAFA/xB4vYBZNm4AW4b8N6bKnnXHDndNudC8vLYBZ8gkQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UwhdRAQRkw1wn7V6QupPFC",
      "input": {
        "note": "Black pen (white label) lies radially just right of the jaw column; shifting 1 cm right, 2 cm forward and descending to table level.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.135,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01UwhdRAQRkw1wn7V6QupPFC",
      "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, 0.8288, 0.6094, -0.379, -0.0223, -0.038, 0.9995, 0.7742, 1.5074, 0.2501, 0.5095, 0.5743, 0.4591, 0.9969]\nstate[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.1731 left_yaw=0.0042 left_pitch=-0.0347 left_roll=-0.0027 left_gripper=0.9995 right_x=0.2763 right_y=0.141 right_z=0.0125 right_yaw=0.0533 right_pitch=-0.0456 right_roll=0.0093 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -1.5795, 7.0359, 1.7118, -0.0269, -0.0122, -0.0073, -0.4444, -3.0017, 2.7829, 0.7302, 0.0513, -0.188, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6536e1fb88552ffdbfd779b1c1560680d3c49aee7fcb288932ad1e30e159d1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9cfbedb3575c7fae4aa26f5fdd16a6dcc5f9936186ff8c5eab799df4cf0367c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aba2a75f7ea65e66ef0ab195e5c5d9c1ad45f60de39b5174de6bae578ff479ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 2.837 s
model
claude-opus-5-5
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, 0.8173, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.5175, 1.5921, 0.9382, -0.049, 0.4057, 0.2626, 0.996]\nstate[eef_state]: left_x=0.2969 left_y=0.002 left_z=0.1759 left_yaw=0.0036 left_pitch=-0.0248 left_roll=-0.0033 left_gripper=0.9995 right_x=0.4099 right_y=0.1572 right_z=0.1245 right_yaw=0.0349 right_pitch=-0.0745 right_roll=-0.0329 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.0462, 7.1043, 1.6972, -0.0269, -0.0464, -0.0073, -0.2803, -6.4205, 6.106, 1.6825, 0.1148, 0.0366, -0.1978]",
      "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]: [-0.0181, 0.8238, 0.6094, -0.3798, -0.0219, -0.038, 0.9995, 0.8871, 1.0786, 0.4881, -0.2539, 0.6441, 0.5438, 0.9968]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1743 left_yaw=0.0039 left_pitch=-0.0305 left_roll=-0.003 left_gripper=0.9995 right_x=0.2516 right_y=0.1466 right_z=0.1002 right_yaw=0.0656 right_pitch=-0.0791 right_roll=-0.0251 right_gripper=0.9968\nstate[joint_eff]: [-0.1026, -1.9624, 7.0085, 1.79, -0.0317, -0.0562, -0.0073, 0.2256, -3.3436, 6.2017, 1.2039, 0.4371, 0.1294, 0.0806]",
      "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]: [-0.0181, 0.8288, 0.6094, -0.379, -0.0223, -0.038, 0.9995, 0.7742, 1.5074, 0.2501, 0.5095, 0.5743, 0.4591, 0.9969]\nstate[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.1731 left_yaw=0.0042 left_pitch=-0.0347 left_roll=-0.0027 left_gripper=0.9995 right_x=0.2763 right_y=0.141 right_z=0.0125 right_yaw=0.0533 right_pitch=-0.0456 right_roll=0.0093 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -1.5795, 7.0359, 1.7118, -0.0269, -0.0122, -0.0073, -0.4444, -3.0017, 2.7829, 0.7302, 0.0513, -0.188, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6536e1fb88552ffdbfd779b1c1560680d3c49aee7fcb288932ad1e30e159d1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9cfbedb3575c7fae4aa26f5fdd16a6dcc5f9936186ff8c5eab799df4cf0367c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aba2a75f7ea65e66ef0ab195e5c5d9c1ad45f60de39b5174de6bae578ff479ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAgKEAgSGAI4AUIIdGhpbmtpbmcSDIDrxyYpdEl6jn/RgRoMSDPcnsVasvTbKuuUIjCpTnbq6NgbLw0LMkZDiKxmPCSYtKMnEpB1gt3/ssQ0DQvB+MySPg/HShbMz9ZRB4MqvQciA3N4MyUu26Fwo/zpShuHi9NjruAnIftQlt7utfPH8QpdszW02JyzUEdQo5uqWwvSD17dH62jju8XPPnULOgDA/E0VN4AZQRR2ebHh2WJjQU4VPkdtpQ5JisWKc9hygOU7RR8SMk3Wf26HCMuiPJ8kh42EDgl8OPdmBjIuyQkAJrRnB9PmcIsiiOm4xsPEM2cLHUYNf2Jm/lzv+gW3M5/Vvgz04q7Z8YB/ORirkQ6y+3nqM+x0IwB9G/IK3owmxxIDjNF/a/z7ZpgENwLjO3CPnAXj01DYoJw1XERwPnqAZq0ZxRxLT8SrIyx/s4AfFwxlZTO3endyPyF+0KEWaPoZOy8TtGigxNQB/rjKPv+q/3pQRDdt/Sxst1JKcHs1/WKrs6yMd5YgLjebV8oN8cTnUC7TyBi2OY5jf7kcwq/Uqarugw4ehm+fS3SzFysAWqT7WLQWe9eEPByuoIOTncOazK14twdkG9VuQzyveHmyzf7DxWGeNJIeIb713TtZGJqhAPalrpOgq64IqglQh0e7JWiqRvgwrYAgThGyGVrI1FLY3EnNpG0UXwWPYbhWXKuyRrX+tS8WxjZUmt3gEBcST2+ZaZKLlhkaVs0GQe/oVG+QKYZzlHMQNnzE1Vcz4jMi+pF/mRVQbvk7DPbpN3XKBkQTqzpQ5jl+HRwCi9484xRPsSMkcp6Zuk1B+jkAzDHMjYD00o5wf0M4+jqppj2vOQWdcwR3P4XeliDSqJ7TAz1GEm4XJOCuOjD/vBxmyFS3m/wRgA6FSehjTJuWGXLA8dcpZtt62jxe1Hm2GrfXrl8ZxkfD3hVX6d3AMqSVhJTVIYxNNhSU0eGfcvigE3GVvtsouGX0Aqv4ZBIXqEtYh2dlSMUaV4EOilLRNmMd1juhx5L+MsmRBdzX1veSfX/qVuUlvcz9YF/LgGfGGN51rGAhMS30d5nfLwpljYM8gW8XHgsOTNhj0m3h9T7hiVFKUtyUiNp3xxWiIW0RU/f/wQ651gpOBmGRabmYi2OYhxqxuSWvPf7tKCuXu2PSd2VIuLjZeZW586MDU3aZQCKLRFstoQC6HzZ5utwlj7TYf+n7KPXLju06M1Qict7AXPGTFH/NpbOVxknhS01g/TQYDJ2OULzQLaBXCHvl+fZ6jMpJ/jRGpNj/p2AMFma/FbPtIpsRK0mLG/3igefQ3fFJC89oVuBs7t8b950r9IvFW8JeTk1mGbEAS47FaWAXC2XP3r0dl95H8lyGWbFKVne5mmmzGh/8/zTAE18on4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GeBwhEpBpXhwUPsAFN2E9w",
      "input": {
        "note": "At table level the black pen appears ~2.5 cm right of the jaw centre; shifting right to centre it between the jaws.",
        "targets": {
          "right_y": 0.115,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GeBwhEpBpXhwUPsAFN2E9w",
      "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, 0.8288, 0.6094, -0.3805, -0.0223, -0.038, 0.9995, 0.6697, 1.5261, 0.1722, 0.6941, 0.5072, 0.4042, 0.997]\nstate[eef_state]: left_x=0.2976 left_y=0.0021 left_z=0.1727 left_yaw=0.0042 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9995 right_x=0.2839 right_y=0.1199 right_z=0.012 right_yaw=0.0315 right_pitch=-0.0038 right_roll=0.0527 right_gripper=0.997\nstate[joint_eff]: [-0.0479, -1.2786, 7.1863, 1.7363, -0.0513, -0.0269, -0.0073, -0.4308, -2.5778, 2.9607, 1.2332, 0.0757, -0.1538, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f742aa9df4b4bfc808e975303ea5b0dc90dc3525a87d6e624f47f9c3a19c5e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69185e85d83e11f7bd259909bc8c9ee8d814e89145b86cc5675f6cc36a9c8ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be018f8c6403692dac1f9e2b3ff70dca150f87bec88fc1d169d4d16998ba2cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 3.363 s
model
claude-opus-5-5
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]: [-0.0181, 0.8238, 0.6094, -0.3798, -0.0219, -0.038, 0.9995, 0.8871, 1.0786, 0.4881, -0.2539, 0.6441, 0.5438, 0.9968]\nstate[eef_state]: left_x=0.2974 left_y=0.0021 left_z=0.1743 left_yaw=0.0039 left_pitch=-0.0305 left_roll=-0.003 left_gripper=0.9995 right_x=0.2516 right_y=0.1466 right_z=0.1002 right_yaw=0.0656 right_pitch=-0.0791 right_roll=-0.0251 right_gripper=0.9968\nstate[joint_eff]: [-0.1026, -1.9624, 7.0085, 1.79, -0.0317, -0.0562, -0.0073, 0.2256, -3.3436, 6.2017, 1.2039, 0.4371, 0.1294, 0.0806]",
      "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]: [-0.0181, 0.8288, 0.6094, -0.379, -0.0223, -0.038, 0.9995, 0.7742, 1.5074, 0.2501, 0.5095, 0.5743, 0.4591, 0.9969]\nstate[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.1731 left_yaw=0.0042 left_pitch=-0.0347 left_roll=-0.0027 left_gripper=0.9995 right_x=0.2763 right_y=0.141 right_z=0.0125 right_yaw=0.0533 right_pitch=-0.0456 right_roll=0.0093 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -1.5795, 7.0359, 1.7118, -0.0269, -0.0122, -0.0073, -0.4444, -3.0017, 2.7829, 0.7302, 0.0513, -0.188, -0.0024]",
      "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]: [-0.0181, 0.8288, 0.6094, -0.3805, -0.0223, -0.038, 0.9995, 0.6697, 1.5261, 0.1722, 0.6941, 0.5072, 0.4042, 0.997]\nstate[eef_state]: left_x=0.2976 left_y=0.0021 left_z=0.1727 left_yaw=0.0042 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9995 right_x=0.2839 right_y=0.1199 right_z=0.012 right_yaw=0.0315 right_pitch=-0.0038 right_roll=0.0527 right_gripper=0.997\nstate[joint_eff]: [-0.0479, -1.2786, 7.1863, 1.7363, -0.0513, -0.0269, -0.0073, -0.4308, -2.5778, 2.9607, 1.2332, 0.0757, -0.1538, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f742aa9df4b4bfc808e975303ea5b0dc90dc3525a87d6e624f47f9c3a19c5e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69185e85d83e11f7bd259909bc8c9ee8d814e89145b86cc5675f6cc36a9c8ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be018f8c6403692dac1f9e2b3ff70dca150f87bec88fc1d169d4d16998ba2cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Centred now. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UHP19K5KbuGeeRnaawSUxZ",
      "input": {
        "note": "Black pen is centred between the jaws; closing.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UHP19K5KbuGeeRnaawSUxZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8288, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.6682, 1.6562, 0.1688, 0.8948, 0.5087, 0.3996, 0.1446]\nstate[eef_state]: left_x=0.2976 left_y=0.002 left_z=0.1727 left_yaw=0.0036 left_pitch=-0.0362 left_roll=-0.0031 left_gripper=0.9995 right_x=0.2936 right_y=0.1267 right_z=0.0107 right_yaw=0.0302 right_pitch=0.0508 right_roll=0.088 right_gripper=0.1446\nstate[joint_eff]: [-0.1846, -1.347, 7.0085, 1.6825, -0.0269, -0.022, -0.0073, -0.1983, -2.7966, 2.0308, 1.1746, 0.1392, 0.0317, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46c496c575da4cd2d174d43f934ae6a867d5275743f06792df88acc2eaa9effd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34d674db7ea65ff161fea725c695f3dd2a7873545fd27164d71920d8c5738fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d65969344d3baceef94dc349693d02f1b4b98c083b4cb8f7adc7988469f84a01",
        "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 · 2.594 s
model
claude-opus-5-5
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]: [-0.0181, 0.8288, 0.6094, -0.379, -0.0223, -0.038, 0.9995, 0.7742, 1.5074, 0.2501, 0.5095, 0.5743, 0.4591, 0.9969]\nstate[eef_state]: left_x=0.2978 left_y=0.0021 left_z=0.1731 left_yaw=0.0042 left_pitch=-0.0347 left_roll=-0.0027 left_gripper=0.9995 right_x=0.2763 right_y=0.141 right_z=0.0125 right_yaw=0.0533 right_pitch=-0.0456 right_roll=0.0093 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -1.5795, 7.0359, 1.7118, -0.0269, -0.0122, -0.0073, -0.4444, -3.0017, 2.7829, 0.7302, 0.0513, -0.188, -0.0024]",
      "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]: [-0.0181, 0.8288, 0.6094, -0.3805, -0.0223, -0.038, 0.9995, 0.6697, 1.5261, 0.1722, 0.6941, 0.5072, 0.4042, 0.997]\nstate[eef_state]: left_x=0.2976 left_y=0.0021 left_z=0.1727 left_yaw=0.0042 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9995 right_x=0.2839 right_y=0.1199 right_z=0.012 right_yaw=0.0315 right_pitch=-0.0038 right_roll=0.0527 right_gripper=0.997\nstate[joint_eff]: [-0.0479, -1.2786, 7.1863, 1.7363, -0.0513, -0.0269, -0.0073, -0.4308, -2.5778, 2.9607, 1.2332, 0.0757, -0.1538, -0.0073]",
      "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]: [-0.0181, 0.8288, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.6682, 1.6562, 0.1688, 0.8948, 0.5087, 0.3996, 0.1446]\nstate[eef_state]: left_x=0.2976 left_y=0.002 left_z=0.1727 left_yaw=0.0036 left_pitch=-0.0362 left_roll=-0.0031 left_gripper=0.9995 right_x=0.2936 right_y=0.1267 right_z=0.0107 right_yaw=0.0302 right_pitch=0.0508 right_roll=0.088 right_gripper=0.1446\nstate[joint_eff]: [-0.1846, -1.347, 7.0085, 1.6825, -0.0269, -0.022, -0.0073, -0.1983, -2.7966, 2.0308, 1.1746, 0.1392, 0.0317, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46c496c575da4cd2d174d43f934ae6a867d5275743f06792df88acc2eaa9effd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34d674db7ea65ff161fea725c695f3dd2a7873545fd27164d71920d8c5738fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d65969344d3baceef94dc349693d02f1b4b98c083b4cb8f7adc7988469f84a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Holding (0.145). Lift and carry to basket.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SY8eR4fDW77a1QNUemeFt6",
      "input": {
        "note": "Gripper reads 0.145, black pen is held. Carrying it up and over the right basket.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.17,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01SY8eR4fDW77a1QNUemeFt6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8307, 0.6094, -0.3805, -0.0223, -0.0383, 0.9995, 0.5323, 1.5135, 1.0237, -0.1234, 0.3794, 0.3103, 0.148]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1722 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4113 right_y=0.1705 right_z=0.1786 right_yaw=0.0473 right_pitch=-0.0027 right_roll=0.0625 right_gripper=0.148\nstate[joint_eff]: [-0.0615, -1.5932, 7.1043, 1.7021, -0.0269, -0.0757, -0.0122, -0.9641, -7.5009, 9.5521, 1.8584, 0.1734, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04eacb92d1f8ae98f00aac9d67e7020bb70797bf6891514ac223f3918f2c3d55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df0a69f888310c3d274aa345927c5d58affd171b5d44c5bedb0bf62d68481427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b6d3f35920e93ab32ca6777554d3de34efb9fa722a756db9bd81cf0c3aa2d5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 9.432 s
model
claude-opus-5-5
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]: [-0.0181, 0.8288, 0.6094, -0.3805, -0.0223, -0.038, 0.9995, 0.6697, 1.5261, 0.1722, 0.6941, 0.5072, 0.4042, 0.997]\nstate[eef_state]: left_x=0.2976 left_y=0.0021 left_z=0.1727 left_yaw=0.0042 left_pitch=-0.0362 left_roll=-0.0027 left_gripper=0.9995 right_x=0.2839 right_y=0.1199 right_z=0.012 right_yaw=0.0315 right_pitch=-0.0038 right_roll=0.0527 right_gripper=0.997\nstate[joint_eff]: [-0.0479, -1.2786, 7.1863, 1.7363, -0.0513, -0.0269, -0.0073, -0.4308, -2.5778, 2.9607, 1.2332, 0.0757, -0.1538, -0.0073]",
      "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]: [-0.0181, 0.8288, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.6682, 1.6562, 0.1688, 0.8948, 0.5087, 0.3996, 0.1446]\nstate[eef_state]: left_x=0.2976 left_y=0.002 left_z=0.1727 left_yaw=0.0036 left_pitch=-0.0362 left_roll=-0.0031 left_gripper=0.9995 right_x=0.2936 right_y=0.1267 right_z=0.0107 right_yaw=0.0302 right_pitch=0.0508 right_roll=0.088 right_gripper=0.1446\nstate[joint_eff]: [-0.1846, -1.347, 7.0085, 1.6825, -0.0269, -0.022, -0.0073, -0.1983, -2.7966, 2.0308, 1.1746, 0.1392, 0.0317, 0.9988]",
      "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]: [-0.0181, 0.8307, 0.6094, -0.3805, -0.0223, -0.0383, 0.9995, 0.5323, 1.5135, 1.0237, -0.1234, 0.3794, 0.3103, 0.148]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1722 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4113 right_y=0.1705 right_z=0.1786 right_yaw=0.0473 right_pitch=-0.0027 right_roll=0.0625 right_gripper=0.148\nstate[joint_eff]: [-0.0615, -1.5932, 7.1043, 1.7021, -0.0269, -0.0757, -0.0122, -0.9641, -7.5009, 9.5521, 1.8584, 0.1734, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04eacb92d1f8ae98f00aac9d67e7020bb70797bf6891514ac223f3918f2c3d55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df0a69f888310c3d274aa345927c5d58affd171b5d44c5bedb0bf62d68481427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b6d3f35920e93ab32ca6777554d3de34efb9fa722a756db9bd81cf0c3aa2d5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TCQRC1GY827HyrhHpwR9Au",
      "input": {
        "note": "Black pen is over the right basket (blue pen visible inside); lowering and releasing.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01TCQRC1GY827HyrhHpwR9Au",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8307, 0.6094, -0.3805, -0.0223, -0.038, 0.9995, 0.5327, 1.5902, 0.8684, 0.0994, 0.3721, 0.3065, 0.9985]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1722 left_yaw=0.0043 left_pitch=-0.0381 left_roll=-0.0026 left_gripper=0.9995 right_x=0.4093 right_y=0.1709 right_z=0.1225 right_yaw=0.0556 right_pitch=-0.0126 right_roll=0.0587 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.4564, 7.0359, 1.7363, -0.0464, -0.0415, -0.0073, -0.3077, -6.4068, 5.9966, 1.8584, 0.1245, 0.0269, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c68096c77d9ccff5aa0708fcfc869ff05283cf9de2b1db8add25336fd9be1f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28bce7ed09369822b5551121d4ab353996c1be85221250d09eae4259ac478526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a29ece05d86eba2ad4e474e6d795ea935a865de4403011db1645af8d68bf297b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.129 s
model
claude-opus-5-5
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]: [-0.0181, 0.8288, 0.6094, -0.3805, -0.0216, -0.038, 0.9995, 0.6682, 1.6562, 0.1688, 0.8948, 0.5087, 0.3996, 0.1446]\nstate[eef_state]: left_x=0.2976 left_y=0.002 left_z=0.1727 left_yaw=0.0036 left_pitch=-0.0362 left_roll=-0.0031 left_gripper=0.9995 right_x=0.2936 right_y=0.1267 right_z=0.0107 right_yaw=0.0302 right_pitch=0.0508 right_roll=0.088 right_gripper=0.1446\nstate[joint_eff]: [-0.1846, -1.347, 7.0085, 1.6825, -0.0269, -0.022, -0.0073, -0.1983, -2.7966, 2.0308, 1.1746, 0.1392, 0.0317, 0.9988]",
      "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]: [-0.0181, 0.8307, 0.6094, -0.3805, -0.0223, -0.0383, 0.9995, 0.5323, 1.5135, 1.0237, -0.1234, 0.3794, 0.3103, 0.148]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1722 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4113 right_y=0.1705 right_z=0.1786 right_yaw=0.0473 right_pitch=-0.0027 right_roll=0.0625 right_gripper=0.148\nstate[joint_eff]: [-0.0615, -1.5932, 7.1043, 1.7021, -0.0269, -0.0757, -0.0122, -0.9641, -7.5009, 9.5521, 1.8584, 0.1734, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0181, 0.8307, 0.6094, -0.3805, -0.0223, -0.038, 0.9995, 0.5327, 1.5902, 0.8684, 0.0994, 0.3721, 0.3065, 0.9985]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1722 left_yaw=0.0043 left_pitch=-0.0381 left_roll=-0.0026 left_gripper=0.9995 right_x=0.4093 right_y=0.1709 right_z=0.1225 right_yaw=0.0556 right_pitch=-0.0126 right_roll=0.0587 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.4564, 7.0359, 1.7363, -0.0464, -0.0415, -0.0073, -0.3077, -6.4068, 5.9966, 1.8584, 0.1245, 0.0269, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c68096c77d9ccff5aa0708fcfc869ff05283cf9de2b1db8add25336fd9be1f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28bce7ed09369822b5551121d4ab353996c1be85221250d09eae4259ac478526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a29ece05d86eba2ad4e474e6d795ea935a865de4403011db1645af8d68bf297b",
        "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_01KHRekgoUm7HwPUM6rLEegy",
      "input": {
        "note": "Both pens are in the right basket. The yellow highlighter (a pen too) sits by the grey plush under the left arm; lowering the left arm over it, and moving the right arm aside.",
        "targets": {
          "left_x": 0.29,
          "left_y": -0.015,
          "left_z": 0.08,
          "right_x": 0.3,
          "right_y": 0.25,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KHRekgoUm7HwPUM6rLEegy",
      "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]: [-0.1322, 0.8932, 0.2691, -0.0418, -0.1043, -0.0963, 0.9995, 0.9665, 1.4654, 0.9722, -0.3046, 0.6594, 0.5903, 0.9985]\nstate[eef_state]: left_x=0.2822 left_y=-0.0153 left_z=0.0715 left_yaw=-0.0088 left_pitch=-0.0981 left_roll=0.0034 left_gripper=0.9995 right_x=0.3037 right_y=0.2557 right_z=0.1614 right_yaw=0.1113 right_pitch=-0.0395 right_roll=0.04 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -1.5385, 6.8855, 1.9512, -0.1343, -0.0806, -0.0073, 0.1299, -8.1299, 9.1419, 1.2527, 0.5397, 0.1832, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bda1878186bb6958543e640293944f5a6d069f25cdf3b4daf850602b6ea1475a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c97f0bf670e636fd4f6f14757c064d2ce7d89c242c3402e818656e58edf36cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a46784cd548f0e8330a33ddb1180b5927b22e78a0b3084677ff18670874f677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 3.427 s
model
claude-opus-5-5
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]: [-0.0181, 0.8307, 0.6094, -0.3805, -0.0223, -0.0383, 0.9995, 0.5323, 1.5135, 1.0237, -0.1234, 0.3794, 0.3103, 0.148]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1722 left_yaw=0.0045 left_pitch=-0.0381 left_roll=-0.0029 left_gripper=0.9995 right_x=0.4113 right_y=0.1705 right_z=0.1786 right_yaw=0.0473 right_pitch=-0.0027 right_roll=0.0625 right_gripper=0.148\nstate[joint_eff]: [-0.0615, -1.5932, 7.1043, 1.7021, -0.0269, -0.0757, -0.0122, -0.9641, -7.5009, 9.5521, 1.8584, 0.1734, -0.0073, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8307, 0.6094, -0.3805, -0.0223, -0.038, 0.9995, 0.5327, 1.5902, 0.8684, 0.0994, 0.3721, 0.3065, 0.9985]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1722 left_yaw=0.0043 left_pitch=-0.0381 left_roll=-0.0026 left_gripper=0.9995 right_x=0.4093 right_y=0.1709 right_z=0.1225 right_yaw=0.0556 right_pitch=-0.0126 right_roll=0.0587 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.4564, 7.0359, 1.7363, -0.0464, -0.0415, -0.0073, -0.3077, -6.4068, 5.9966, 1.8584, 0.1245, 0.0269, -0.0952]",
      "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]: [-0.1322, 0.8932, 0.2691, -0.0418, -0.1043, -0.0963, 0.9995, 0.9665, 1.4654, 0.9722, -0.3046, 0.6594, 0.5903, 0.9985]\nstate[eef_state]: left_x=0.2822 left_y=-0.0153 left_z=0.0715 left_yaw=-0.0088 left_pitch=-0.0981 left_roll=0.0034 left_gripper=0.9995 right_x=0.3037 right_y=0.2557 right_z=0.1614 right_yaw=0.1113 right_pitch=-0.0395 right_roll=0.04 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -1.5385, 6.8855, 1.9512, -0.1343, -0.0806, -0.0073, 0.1299, -8.1299, 9.1419, 1.2527, 0.5397, 0.1832, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bda1878186bb6958543e640293944f5a6d069f25cdf3b4daf850602b6ea1475a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c97f0bf670e636fd4f6f14757c064d2ce7d89c242c3402e818656e58edf36cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a46784cd548f0e8330a33ddb1180b5927b22e78a0b3084677ff18670874f677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpwgKEAgSGAI4AUIIdGhpbmtpbmcSDAhIWxRAY+7zjj7rbxoMxTCbCzczXiGK+YcaIjAL7N1WyN7oqhldr19NXV2kONSYuzCg9/2q1SZXgxZiY5O6ef9PAVD7/aEdqgJMCvkqxAfZ3wCvXCB3bQJgDBJhOU7ObaQUIRjvesh/szPgEzl3uG5Y4KG0HAk5xPVd/kyIqFgi1dnP8fsVbwBNeUTJiADeKEhpZBSGsAb+TUM2LBOeGQvcZE9ebZs/Bp2Fhl0LClT9JXcJTSYJSoT1n7olcDrXz2DeU8Ikz/zUzULvFp3VN/ll+3jLhJTSo9gNeHZfDxguvcZntZBhNR4lYNtJFf5Ays5UGad701LSWI2BmXMql4OG9chKLZfCYL7sjplbFYeqo4ntuEaMGnH5E7WemZae0dLgFuGZfAQiljUvErVyWueqvg09C4G3rR4GeV2gfLgp9wjsKsUetG5t2rbeb5dis+2OwzUx8i/N153UfI2RIcDAVSffwSeFHbP6Vl57AXoejrLqycMEqj30GulTqEp1eZqHWcgoiiV4pQk2I4tyPoIqgF+scbC8nJwT27CWz7mwynuklgqW4MYi78sL4pWlO2HWVElXWu7Jz8YgnJJhUsFh783REOArnmxF3GFaTWH7WZwRiQqsm1SgyYr+xNuljltv4HVzHsAf8MGKVEgj8aaZcEtqT44WpZWEklNwZpjbPpn3uuHBSV/8P8uALzrJs2tcuNVBqEdx25dGAQfXNFh8/TTo27fOatIURZImsZ2z9rnIlRrtpcw4uXkAcowlMuRIxqzzrab+Zf8ZMNaV5mngncw9cJE7DgGkTYCABJNVdEkLiawp1J/B7/xxLd7GwIVH6JVnCO7/OAA0Ig34D9l/OwLm9I+37pDjVjBO5yrCQq4Yzkw/AZtWscXF3lx3DA2j2wl0AiFVMyMMpglXL4+DoMJ4QIosWvWolNF4XD5ZrKUNMZjSu6pOAlv3FS/S6JFMJGvrpYno6Fj/V90tJHqEfa3oKJ/rTyiSwK/QNqFSyNBbyodtfgR5k6ZmTlJN8+AX5JQPSVwnAGsueclbmZmq3vKyxYNqrSKmrv8AttWxTlkBQCM48CIjkP0l18WfQF1QBIWd7FJeh4zaGdDaUUha3+J9QR72OLX9CcX++3xN4stocYQ9Av+ezJQpjZuDNTerfuiDUd9DSo9BC4enA9VFDYADp7lOFJQxZPap83ZeBb2SY8Wy5ZTs1ECKqOhNVhFAMYe6gjDIkNQ7XgQvHvtvqpIJYIMN8JJdLbHchuTWd0HMTSYE3EqsrTCyfCaq9WRg017SQ1EzZY8PcW0o9w/zKWX3p2raA4tiVzWT4Llfrsbb9QPP6erwCC8v0WENiXen8qqK7XZBuJc4aXhWf9G1ujhQr/B1GGQjt3+JWtCyUdKyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BSULipsKYVsB8FJ7N1mrLW",
      "input": {
        "note": "Yellow highlighter lies radially slightly right of the left jaw column; shifting right/forward and descending to table. (Right cam shows the black pen missed the basket and fell in front of it—will fix after.)",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.03,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BSULipsKYVsB8FJ7N1mrLW",
      "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]: [-0.2028, 1.3956, 0.1532, 0.5243, -0.1627, -0.1284, 0.9989, 0.9684, 1.4662, 0.9733, -0.3206, 0.6502, 0.5976, 0.9985]\nstate[eef_state]: left_x=0.2944 left_y=-0.0276 left_z=-0.0013 left_yaw=-0.0117 left_pitch=-0.1435 left_roll=0.0237 left_gripper=0.9989 right_x=0.3013 right_y=0.2557 right_z=0.1585 right_yaw=0.1153 right_pitch=-0.0549 right_roll=0.0384 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -3.4667, 2.988, 0.2711, 0.1099, -0.1148, -0.0806, -0.4718, -6.4205, 6.5573, 1.5214, 0.3639, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b207cccdc310548f05d594b100c4aa02874caf4665f9377bd6def19961594a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ba3396c2594fa4573075e29eca81203aed2eeff531d23c38f81a4c1ad4042f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0afe3c1b5efd6ccb290968d766b04f8c19143f72db381df99a0cf0d5550ed53b",
        "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 · 2.624 s
model
claude-opus-5-5
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]: [-0.0181, 0.8307, 0.6094, -0.3805, -0.0223, -0.038, 0.9995, 0.5327, 1.5902, 0.8684, 0.0994, 0.3721, 0.3065, 0.9985]\nstate[eef_state]: left_x=0.2977 left_y=0.0021 left_z=0.1722 left_yaw=0.0043 left_pitch=-0.0381 left_roll=-0.0026 left_gripper=0.9995 right_x=0.4093 right_y=0.1709 right_z=0.1225 right_yaw=0.0556 right_pitch=-0.0126 right_roll=0.0587 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.4564, 7.0359, 1.7363, -0.0464, -0.0415, -0.0073, -0.3077, -6.4068, 5.9966, 1.8584, 0.1245, 0.0269, -0.0952]",
      "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]: [-0.1322, 0.8932, 0.2691, -0.0418, -0.1043, -0.0963, 0.9995, 0.9665, 1.4654, 0.9722, -0.3046, 0.6594, 0.5903, 0.9985]\nstate[eef_state]: left_x=0.2822 left_y=-0.0153 left_z=0.0715 left_yaw=-0.0088 left_pitch=-0.0981 left_roll=0.0034 left_gripper=0.9995 right_x=0.3037 right_y=0.2557 right_z=0.1614 right_yaw=0.1113 right_pitch=-0.0395 right_roll=0.04 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -1.5385, 6.8855, 1.9512, -0.1343, -0.0806, -0.0073, 0.1299, -8.1299, 9.1419, 1.2527, 0.5397, 0.1832, -0.022]",
      "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]: [-0.2028, 1.3956, 0.1532, 0.5243, -0.1627, -0.1284, 0.9989, 0.9684, 1.4662, 0.9733, -0.3206, 0.6502, 0.5976, 0.9985]\nstate[eef_state]: left_x=0.2944 left_y=-0.0276 left_z=-0.0013 left_yaw=-0.0117 left_pitch=-0.1435 left_roll=0.0237 left_gripper=0.9989 right_x=0.3013 right_y=0.2557 right_z=0.1585 right_yaw=0.1153 right_pitch=-0.0549 right_roll=0.0384 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -3.4667, 2.988, 0.2711, 0.1099, -0.1148, -0.0806, -0.4718, -6.4205, 6.5573, 1.5214, 0.3639, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b207cccdc310548f05d594b100c4aa02874caf4665f9377bd6def19961594a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ba3396c2594fa4573075e29eca81203aed2eeff531d23c38f81a4c1ad4042f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0afe3c1b5efd6ccb290968d766b04f8c19143f72db381df99a0cf0d5550ed53b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQcKEAgSGAI4AUIIdGhpbmtpbmcSDK+Ph8fgSrnuAa4pFRoMEDmtP1eomJvhnRngIjCAZe/Svkr7jsmNHrn0Cap07Vsfrkxk77PbRkCjQoitx6nTdOL5bN5T+NGi8G445jgqxgYmj+3FLghfMnlYQxuKKzJVdVCO2nWvgGBfuZU/e5eEZwGy8ApHgflkNdrOQdwWznBt1teBBca388CEwlGkiVstNyUIZUZ0wR1kWRvzpPC+ATEKdKqQzVw8Wll8ZDqcvD8W2j41LKUHgD9cLmUidcEPClANqiPBbbNhczctbx8vvzd4xQGBhBPYnHi3XjQuh6+rRt6RQO/SI0tCFP/SsFAQiS5nu85U62jCmUT/LHEyHecE+ZxuSkFBWX5RBvAgfUwJ6vzCS3ChDJ0D2cY2WXS0klhyH9XdYenpD+aLXYSZ9UOOTBfGQUYutMe+nD019ywO3mKc59XgP6omrAj7ITlDERjSG0zaxQ+dCc7BoB4s5WQZ9gGRnfHbOP9xX9nzjrOMchuq10EEJVhBkhGEyp89P3FW0ln011vAWyCyEJkgGDN7Qdkyf/0QfSH7K2JFz9vHFxnVzK9ga6g9hCboASvA+u3u77Kn5Ys8Wid72CfRmu/sU3mHbS/2LGUuOWkNxm+TrK8ZtWojNZ5yO1gKUbKxkbzTs9L1e/lGFCA17BB3bKuwhNOqHxzCowZ+WNr63xw1KgCgC5Wsrccq/MkYAz7fWVhaO5XTIFVLR7gwfVjk1e5KBqDLWkxPwWF4oGJlcYd8TAIwaLs67Imfh6JrtTquTYDGOCKv7HZ9LN4Mx8NDPtrxTtGKR14+K1IdeTLeSG/6QrndFE519MP4/cfH2S3RIafKETCXPt5qjoOyA4ubsq/GdQ0YGqkijgU6Xav3XAzO0B0b+/tI/nIgZGbaeDsV1dUwSThUEx0lbIs84Mny6leP/sLxQnbfFG4whjkumadtxd1d/pXq9kk5Ih5DuNGbKqqzEFVoJ8He+gZO3woWpplfwRwe4ofMF/ipjI1lVe6o/0owW6dpL7UpiZNui2BkwTV6r5RAGhDORXG9RsjlfqOZlhnIPXgt5pGidNodAH8klgqZcTUZ1MGwZGP6V00NhL7oAHycg4leLeiorEHtAu85ygxIetGlJXPQrIGXtc1hcJlMyCytB9kNmAnZDxGLkNP9eZE2is2RSpLfOpqT1vkSDatOBQMZKq+oQD9pfh+LKk6wG2lcQVZ011W/imXZdgBtRDDrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RqvggS3FFKtCHerV3rzR2g",
      "input": {
        "note": "Highlighter near the jaws is still ~1 cm right of centre; nudging right before closing.",
        "targets": {
          "left_y": -0.04,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01RqvggS3FFKtCHerV3rzR2g",
      "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]: [-0.252, 1.4487, 0.1474, 0.6144, -0.2008, -0.152, 0.9988, 0.9684, 1.4662, 0.973, -0.3149, 0.643, 0.5873, 0.9985]\nstate[eef_state]: left_x=0.2993 left_y=-0.037 left_z=-0.0002 left_yaw=-0.0168 left_pitch=-0.1073 left_roll=0.0229 left_gripper=0.9988 right_x=0.3012 right_y=0.2574 right_z=0.1587 right_yaw=0.1262 right_pitch=-0.0551 right_roll=0.0375 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -4.2188, 5.4496, 1.2576, -0.0317, -0.1538, -0.0269, -0.1983, -6.4068, 6.6393, 1.3651, 0.2613, 0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd6c2bbc7050f057ecbe891aa15fc4cc1b8c70f446e576481bb97a899e30ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:834fbf93ee9087546cf05d1d565198d20bb4c82e968df0d43a739d054e5e35af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4066a06ce830367b91ba7ccc0821557effa7c1339b0947d338a74dd3df6006b",
        "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 · 11.92 s
model
claude-opus-5-5
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]: [-0.1322, 0.8932, 0.2691, -0.0418, -0.1043, -0.0963, 0.9995, 0.9665, 1.4654, 0.9722, -0.3046, 0.6594, 0.5903, 0.9985]\nstate[eef_state]: left_x=0.2822 left_y=-0.0153 left_z=0.0715 left_yaw=-0.0088 left_pitch=-0.0981 left_roll=0.0034 left_gripper=0.9995 right_x=0.3037 right_y=0.2557 right_z=0.1614 right_yaw=0.1113 right_pitch=-0.0395 right_roll=0.04 right_gripper=0.9985\nstate[joint_eff]: [-0.3897, -1.5385, 6.8855, 1.9512, -0.1343, -0.0806, -0.0073, 0.1299, -8.1299, 9.1419, 1.2527, 0.5397, 0.1832, -0.022]",
      "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]: [-0.2028, 1.3956, 0.1532, 0.5243, -0.1627, -0.1284, 0.9989, 0.9684, 1.4662, 0.9733, -0.3206, 0.6502, 0.5976, 0.9985]\nstate[eef_state]: left_x=0.2944 left_y=-0.0276 left_z=-0.0013 left_yaw=-0.0117 left_pitch=-0.1435 left_roll=0.0237 left_gripper=0.9989 right_x=0.3013 right_y=0.2557 right_z=0.1585 right_yaw=0.1153 right_pitch=-0.0549 right_roll=0.0384 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -3.4667, 2.988, 0.2711, 0.1099, -0.1148, -0.0806, -0.4718, -6.4205, 6.5573, 1.5214, 0.3639, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.252, 1.4487, 0.1474, 0.6144, -0.2008, -0.152, 0.9988, 0.9684, 1.4662, 0.973, -0.3149, 0.643, 0.5873, 0.9985]\nstate[eef_state]: left_x=0.2993 left_y=-0.037 left_z=-0.0002 left_yaw=-0.0168 left_pitch=-0.1073 left_roll=0.0229 left_gripper=0.9988 right_x=0.3012 right_y=0.2574 right_z=0.1587 right_yaw=0.1262 right_pitch=-0.0551 right_roll=0.0375 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -4.2188, 5.4496, 1.2576, -0.0317, -0.1538, -0.0269, -0.1983, -6.4068, 6.6393, 1.3651, 0.2613, 0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd6c2bbc7050f057ecbe891aa15fc4cc1b8c70f446e576481bb97a899e30ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:834fbf93ee9087546cf05d1d565198d20bb4c82e968df0d43a739d054e5e35af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4066a06ce830367b91ba7ccc0821557effa7c1339b0947d338a74dd3df6006b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RKydfX3RC2BPnxFE3oPtqc",
      "input": {
        "note": "Highlighter centred between the left jaws; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RKydfX3RC2BPnxFE3oPtqc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.252, 1.4456, 0.1509, 0.6109, -0.2062, -0.1577, 0.1576, 0.9684, 1.4662, 0.973, -0.3168, 0.6426, 0.5838, 0.9985]\nstate[eef_state]: left_x=0.3004 left_y=-0.0363 left_z=0.0012 left_yaw=-0.0094 left_pitch=-0.1035 left_roll=0.021 left_gripper=0.1576 right_x=0.301 right_y=0.2572 right_z=0.1584 right_yaw=0.1282 right_pitch=-0.0566 right_roll=0.0335 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -3.5624, 3.9726, 1.6386, -0.0415, 0.0171, 1.0672, -0.335, -6.3658, 6.6393, 1.4432, 0.2515, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a83957f380a3bb3155c286f7a29f034bcdcf5a7b437d4e7ff06b70769e8895d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e774eafa91e77b9e9f2656e235ca9052d06e1f3cb46adf2c91930e926a73f553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f8721f0dfc1f02476f85c6ea0fa27586775b7ae62a39f9fd4d266eca4cb674e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 7.581 s
model
claude-opus-5-5
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]: [-0.2028, 1.3956, 0.1532, 0.5243, -0.1627, -0.1284, 0.9989, 0.9684, 1.4662, 0.9733, -0.3206, 0.6502, 0.5976, 0.9985]\nstate[eef_state]: left_x=0.2944 left_y=-0.0276 left_z=-0.0013 left_yaw=-0.0117 left_pitch=-0.1435 left_roll=0.0237 left_gripper=0.9989 right_x=0.3013 right_y=0.2557 right_z=0.1585 right_yaw=0.1153 right_pitch=-0.0549 right_roll=0.0384 right_gripper=0.9985\nstate[joint_eff]: [-0.2667, -3.4667, 2.988, 0.2711, 0.1099, -0.1148, -0.0806, -0.4718, -6.4205, 6.5573, 1.5214, 0.3639, -0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.252, 1.4487, 0.1474, 0.6144, -0.2008, -0.152, 0.9988, 0.9684, 1.4662, 0.973, -0.3149, 0.643, 0.5873, 0.9985]\nstate[eef_state]: left_x=0.2993 left_y=-0.037 left_z=-0.0002 left_yaw=-0.0168 left_pitch=-0.1073 left_roll=0.0229 left_gripper=0.9988 right_x=0.3012 right_y=0.2574 right_z=0.1587 right_yaw=0.1262 right_pitch=-0.0551 right_roll=0.0375 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -4.2188, 5.4496, 1.2576, -0.0317, -0.1538, -0.0269, -0.1983, -6.4068, 6.6393, 1.3651, 0.2613, 0.0562, -0.0171]",
      "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]: [-0.252, 1.4456, 0.1509, 0.6109, -0.2062, -0.1577, 0.1576, 0.9684, 1.4662, 0.973, -0.3168, 0.6426, 0.5838, 0.9985]\nstate[eef_state]: left_x=0.3004 left_y=-0.0363 left_z=0.0012 left_yaw=-0.0094 left_pitch=-0.1035 left_roll=0.021 left_gripper=0.1576 right_x=0.301 right_y=0.2572 right_z=0.1584 right_yaw=0.1282 right_pitch=-0.0566 right_roll=0.0335 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -3.5624, 3.9726, 1.6386, -0.0415, 0.0171, 1.0672, -0.335, -6.3658, 6.6393, 1.4432, 0.2515, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a83957f380a3bb3155c286f7a29f034bcdcf5a7b437d4e7ff06b70769e8895d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e774eafa91e77b9e9f2656e235ca9052d06e1f3cb46adf2c91930e926a73f553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f8721f0dfc1f02476f85c6ea0fa27586775b7ae62a39f9fd4d266eca4cb674e",
        "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_01BsGBTeB7hyhG8EmSE848YJ",
      "input": {
        "note": "Highlighter grasped (0.158). Lifting it, and moving the right arm out of the way so the left arm can reach over into the near-left side of the right (pen) basket.",
        "targets": {
          "left_z": 0.22,
          "right_x": 0.25,
          "right_y": 0.05,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01BsGBTeB7hyhG8EmSE848YJ",
      "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]: [-0.252, 0.9371, 0.8478, -0.5919, -0.2062, -0.1585, 0.1616, 0.2687, 0.6548, 0.6128, -0.5674, 0.1505, 0.1329, 0.9984]\nstate[eef_state]: left_x=0.3023 left_y=-0.0368 left_z=0.2098 left_yaw=-0.009 left_pitch=-0.1009 left_roll=0.0197 left_gripper=0.1616 right_x=0.2555 right_y=0.0466 right_z=0.1825 right_yaw=0.0687 right_pitch=-0.0397 right_roll=0.0393 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.5658, 8.8821, 1.5897, -0.1001, -0.0269, 1.033, -0.1299, -0.294, 6.8855, 1.7216, -0.0122, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2120ae772d9109a2f4401319be2eecf85182fa6809be670275907f26bd760df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:984706719389f1562cd0452672cde499ee58e25350a0d8be9fe839768d4a672b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:796571a774874494f0cb8fe67b84ad5b591db9ea782fb0ad44ddb516fc3c8a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 3.12 s
model
claude-opus-5-5
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]: [-0.252, 1.4487, 0.1474, 0.6144, -0.2008, -0.152, 0.9988, 0.9684, 1.4662, 0.973, -0.3149, 0.643, 0.5873, 0.9985]\nstate[eef_state]: left_x=0.2993 left_y=-0.037 left_z=-0.0002 left_yaw=-0.0168 left_pitch=-0.1073 left_roll=0.0229 left_gripper=0.9988 right_x=0.3012 right_y=0.2574 right_z=0.1587 right_yaw=0.1262 right_pitch=-0.0551 right_roll=0.0375 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -4.2188, 5.4496, 1.2576, -0.0317, -0.1538, -0.0269, -0.1983, -6.4068, 6.6393, 1.3651, 0.2613, 0.0562, -0.0171]",
      "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]: [-0.252, 1.4456, 0.1509, 0.6109, -0.2062, -0.1577, 0.1576, 0.9684, 1.4662, 0.973, -0.3168, 0.6426, 0.5838, 0.9985]\nstate[eef_state]: left_x=0.3004 left_y=-0.0363 left_z=0.0012 left_yaw=-0.0094 left_pitch=-0.1035 left_roll=0.021 left_gripper=0.1576 right_x=0.301 right_y=0.2572 right_z=0.1584 right_yaw=0.1282 right_pitch=-0.0566 right_roll=0.0335 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -3.5624, 3.9726, 1.6386, -0.0415, 0.0171, 1.0672, -0.335, -6.3658, 6.6393, 1.4432, 0.2515, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.252, 0.9371, 0.8478, -0.5919, -0.2062, -0.1585, 0.1616, 0.2687, 0.6548, 0.6128, -0.5674, 0.1505, 0.1329, 0.9984]\nstate[eef_state]: left_x=0.3023 left_y=-0.0368 left_z=0.2098 left_yaw=-0.009 left_pitch=-0.1009 left_roll=0.0197 left_gripper=0.1616 right_x=0.2555 right_y=0.0466 right_z=0.1825 right_yaw=0.0687 right_pitch=-0.0397 right_roll=0.0393 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.5658, 8.8821, 1.5897, -0.1001, -0.0269, 1.033, -0.1299, -0.294, 6.8855, 1.7216, -0.0122, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2120ae772d9109a2f4401319be2eecf85182fa6809be670275907f26bd760df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:984706719389f1562cd0452672cde499ee58e25350a0d8be9fe839768d4a672b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:796571a774874494f0cb8fe67b84ad5b591db9ea782fb0ad44ddb516fc3c8a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019wHKTcxdcxTA1YE96uXdmg",
      "input": {
        "note": "Carrying the highlighter with the left arm toward the left edge of the right (pens) basket, which is at the limit of the left arm's cross-over reach.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.4,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 33 steps (3.3s)",
      "tool_use_id": "toolu_019wHKTcxdcxTA1YE96uXdmg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9123, 2.4619, 2.5427, -0.9688, -0.6632, -0.6895, 0.1672, 0.2626, 0.6601, 0.6121, -0.5865, 0.1383, 0.1162, 0.9984]\nstate[eef_state]: left_x=0.454 left_y=-0.4033 left_z=0.1953 left_yaw=-0.0155 left_pitch=-0.0942 left_roll=-0.018 left_gripper=0.1672 right_x=0.2531 right_y=0.0466 right_z=0.1769 right_yaw=0.0816 right_pitch=-0.0655 right_roll=0.0277 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -14.7624, 7.1316, 0.5201, -0.5201, 0.0122, 1.0281, 0.5128, -0.6359, 6.9128, 1.8339, 0.1441, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a11382116cb30ef1a8a6b037a30f51a62b03651e76fc6b887f596b1d0b37a77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f924545ff125d64149a8c56e6c225dbe67c15520ba5e9900fd0cd381e6ea2d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75b3a82ce88e9e822917d5874add7706e688124bd4754b3dc8f3395d1a7f931c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 7.924 s
model
claude-opus-5-5
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]: [-0.252, 1.4456, 0.1509, 0.6109, -0.2062, -0.1577, 0.1576, 0.9684, 1.4662, 0.973, -0.3168, 0.6426, 0.5838, 0.9985]\nstate[eef_state]: left_x=0.3004 left_y=-0.0363 left_z=0.0012 left_yaw=-0.0094 left_pitch=-0.1035 left_roll=0.021 left_gripper=0.1576 right_x=0.301 right_y=0.2572 right_z=0.1584 right_yaw=0.1282 right_pitch=-0.0566 right_roll=0.0335 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -3.5624, 3.9726, 1.6386, -0.0415, 0.0171, 1.0672, -0.335, -6.3658, 6.6393, 1.4432, 0.2515, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.252, 0.9371, 0.8478, -0.5919, -0.2062, -0.1585, 0.1616, 0.2687, 0.6548, 0.6128, -0.5674, 0.1505, 0.1329, 0.9984]\nstate[eef_state]: left_x=0.3023 left_y=-0.0368 left_z=0.2098 left_yaw=-0.009 left_pitch=-0.1009 left_roll=0.0197 left_gripper=0.1616 right_x=0.2555 right_y=0.0466 right_z=0.1825 right_yaw=0.0687 right_pitch=-0.0397 right_roll=0.0393 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.5658, 8.8821, 1.5897, -0.1001, -0.0269, 1.033, -0.1299, -0.294, 6.8855, 1.7216, -0.0122, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9123, 2.4619, 2.5427, -0.9688, -0.6632, -0.6895, 0.1672, 0.2626, 0.6601, 0.6121, -0.5865, 0.1383, 0.1162, 0.9984]\nstate[eef_state]: left_x=0.454 left_y=-0.4033 left_z=0.1953 left_yaw=-0.0155 left_pitch=-0.0942 left_roll=-0.018 left_gripper=0.1672 right_x=0.2531 right_y=0.0466 right_z=0.1769 right_yaw=0.0816 right_pitch=-0.0655 right_roll=0.0277 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -14.7624, 7.1316, 0.5201, -0.5201, 0.0122, 1.0281, 0.5128, -0.6359, 6.9128, 1.8339, 0.1441, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a11382116cb30ef1a8a6b037a30f51a62b03651e76fc6b887f596b1d0b37a77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f924545ff125d64149a8c56e6c225dbe67c15520ba5e9900fd0cd381e6ea2d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b3a82ce88e9e822917d5874add7706e688124bd4754b3dc8f3395d1a7f931c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwcKEAgSGAI4AUIIdGhpbmtpbmcSDBDXv/CH6pSYR5IBoRoMQNb0RTu9DJDq8Z8bIjA3XHWXsEUmKNtryHfGnQBBdf9WzqCLaHbftb5OnQOHUYRGJLA5EYcbzSZEBq/vkH4qsAa9jGoKpQZN3XR6JS3vq8vRr7VbCDlAi85EVz+8C8113ly821iiWKtJDS//U278znWyQ04OS38ncXhuKpgepx2zONK8R06WXyCvgydQxeQGfzJOMgCluO6MPq3jpHEo3O64saGoTtJbNvswJrgBN0xKtvuvc6D1A1DjAbDR1MryHL3NYYHpC9U1OIt7vSfwI0e4BiMo1nKsj/WFXAX0n0yZckcgqOFmC5zy49FyAJW5kD8iAlyzj9VL6epb97Ak4Dr1N7JdwzPucg7GGhIsUxowV5wOeszFDVHIxxlVxpMgny2s7RU+eqhDUB4VlM3ZprNPxRkaw1C0fBlQtocMEOw6kttX4x3LpDqVTtsn9S8ows/xuX7KoK9qyYdja87IaD73rw5I1V5mgewALh7LWTftpdRgn9zYRuTwgjEOApoLMRXd69SeduQE753J6+B7u+VRCy9J8kHKhUl0cD8mkJ93OafH8rFwrbV66YtyluqF/q4dxp/LaOlyqAFqOOxKqKj1J2yOstlx7VHhmbRbnOIp2SHeAhaoo8Qx0fpmPi+nsOCNCOW8xGcwkrMojzUtUgYCQpfT4OCG8QMH2UVMtsKJlUE0HY5LPbgMzSQUcNNHrP7H8mjgmqCqLz+ILVepoAxJKx+WrVbUICsQmUg+dbzqpql97GWUmBtbzmeLgaYmrhNcwZPjvOgNo25Av/WbK6Fnh/622wxrp8t/eKbL0eunP+j3rj1w/+O9XLTg1Q8nlWwtFJJNvB8v4jvLyylRfUY8/jSoXm1iAdlaZo3mTMGH6NZTC8On9Z8oWozGKHp0bH6yhu9y3S1YOz/HVFWVSdZ1UVaMRj65+l6OF+xwIDzLin+jAb2lcCtS84ieIYfRBeFnYP/LHcGAsY8aI+mxFGAfs01YzcuggN2oVr61VUtk+YRaAWC8+2Vz3XyuSn11A24bpSZIZqEiI+pBarIoD7fEcQMY9G1xda1ht89/wsJ98ziKpHq5XLsk34xf46uV9L6ivxAGocXXMfKqt/Ta59dUocEGL+1o0q/35h0iPxtXfWbmD7bxdhaTSdcJCauw5nVd0YGQfJQRMJJin7XsbXcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FXGWpEMPj4Noze4HZ6zQee",
      "input": {
        "note": "Left wrist view shows the highlighter squarely over the right basket; 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_01FXGWpEMPj4Noze4HZ6zQee",
      "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]: [-0.9073, 2.4798, 2.4916, -0.955, -0.6544, -0.6964, 0.9954, 0.2623, 0.6613, 0.6121, -0.5873, 0.1375, 0.115, 0.9984]\nstate[eef_state]: left_x=0.4546 left_y=-0.4011 left_z=0.1671 left_yaw=-0.0077 left_pitch=-0.1341 left_roll=0.0158 left_gripper=0.9954 right_x=0.2531 right_y=0.0466 right_z=0.1765 right_yaw=0.0824 right_pitch=-0.0675 right_roll=0.0269 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -17.894, 6.5299, 1.3602, -0.4127, 0.0611, -0.0708, -0.1436, -0.2393, 6.8718, 1.6484, 0.0073, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b61cdd6418b6854dd3b0835f00da53a719ef3ab122ae98839a7a6519fff2744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40737c6a588765e079660b48bba7eec71724cc6de0dc4b35df978d5eb758235a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:797156c656355603a14d2d0403850dc377d256f527a5463ae132fae64a3fe2c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.318 s
model
claude-opus-5-5
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]: [-0.252, 0.9371, 0.8478, -0.5919, -0.2062, -0.1585, 0.1616, 0.2687, 0.6548, 0.6128, -0.5674, 0.1505, 0.1329, 0.9984]\nstate[eef_state]: left_x=0.3023 left_y=-0.0368 left_z=0.2098 left_yaw=-0.009 left_pitch=-0.1009 left_roll=0.0197 left_gripper=0.1616 right_x=0.2555 right_y=0.0466 right_z=0.1825 right_yaw=0.0687 right_pitch=-0.0397 right_roll=0.0393 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -1.5658, 8.8821, 1.5897, -0.1001, -0.0269, 1.033, -0.1299, -0.294, 6.8855, 1.7216, -0.0122, 0.0024, -0.0171]\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]: [-0.9123, 2.4619, 2.5427, -0.9688, -0.6632, -0.6895, 0.1672, 0.2626, 0.6601, 0.6121, -0.5865, 0.1383, 0.1162, 0.9984]\nstate[eef_state]: left_x=0.454 left_y=-0.4033 left_z=0.1953 left_yaw=-0.0155 left_pitch=-0.0942 left_roll=-0.018 left_gripper=0.1672 right_x=0.2531 right_y=0.0466 right_z=0.1769 right_yaw=0.0816 right_pitch=-0.0655 right_roll=0.0277 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -14.7624, 7.1316, 0.5201, -0.5201, 0.0122, 1.0281, 0.5128, -0.6359, 6.9128, 1.8339, 0.1441, 0.1099, -0.0122]",
      "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]: [-0.9073, 2.4798, 2.4916, -0.955, -0.6544, -0.6964, 0.9954, 0.2623, 0.6613, 0.6121, -0.5873, 0.1375, 0.115, 0.9984]\nstate[eef_state]: left_x=0.4546 left_y=-0.4011 left_z=0.1671 left_yaw=-0.0077 left_pitch=-0.1341 left_roll=0.0158 left_gripper=0.9954 right_x=0.2531 right_y=0.0466 right_z=0.1765 right_yaw=0.0824 right_pitch=-0.0675 right_roll=0.0269 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -17.894, 6.5299, 1.3602, -0.4127, 0.0611, -0.0708, -0.1436, -0.2393, 6.8718, 1.6484, 0.0073, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b61cdd6418b6854dd3b0835f00da53a719ef3ab122ae98839a7a6519fff2744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40737c6a588765e079660b48bba7eec71724cc6de0dc4b35df978d5eb758235a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:797156c656355603a14d2d0403850dc377d256f527a5463ae132fae64a3fe2c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YAqsAbFPGTSexs8B4ZPNkd",
      "input": {
        "note": "Highlighter and blue pen are now in the right basket. Retracting the left arm toward home so the right arm can go retrieve the black pen that fell in front of the basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_01YAqsAbFPGTSexs8B4ZPNkd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3408, 0.9871, 0.8619, -0.5903, -0.2947, -0.2646, 0.9968, 0.2615, 0.6659, 0.6121, -0.5907, 0.1371, 0.112, 0.9984]\nstate[eef_state]: left_x=0.3064 left_y=-0.0504 left_z=0.2045 left_yaw=0.0339 left_pitch=-0.1151 left_roll=0.0012 left_gripper=0.9968 right_x=0.2529 right_y=0.0464 right_z=0.1747 right_yaw=0.0835 right_pitch=-0.0754 right_roll=0.0232 right_gripper=0.9984\nstate[joint_eff]: [0.0342, -2.6188, 6.2701, 1.6581, -0.0952, 0.149, 0.1294, 0.0205, -0.6085, 6.9538, 1.6679, -0.022, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:667ef37b6921369f2324a48db7e77f2deca4cc4c63e466c54a2695074e87891d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb7b7040e90a3b24b9833b397501e0dd9fd1d3fc59a8b7df988ef740bdb772cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50f355605a3c09643ebaf026d50e05d80d76afbfd79a0ce7ed72206926589f9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.38 s
model
claude-opus-5-5
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]: [-0.9123, 2.4619, 2.5427, -0.9688, -0.6632, -0.6895, 0.1672, 0.2626, 0.6601, 0.6121, -0.5865, 0.1383, 0.1162, 0.9984]\nstate[eef_state]: left_x=0.454 left_y=-0.4033 left_z=0.1953 left_yaw=-0.0155 left_pitch=-0.0942 left_roll=-0.018 left_gripper=0.1672 right_x=0.2531 right_y=0.0466 right_z=0.1769 right_yaw=0.0816 right_pitch=-0.0655 right_roll=0.0277 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -14.7624, 7.1316, 0.5201, -0.5201, 0.0122, 1.0281, 0.5128, -0.6359, 6.9128, 1.8339, 0.1441, 0.1099, -0.0122]",
      "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]: [-0.9073, 2.4798, 2.4916, -0.955, -0.6544, -0.6964, 0.9954, 0.2623, 0.6613, 0.6121, -0.5873, 0.1375, 0.115, 0.9984]\nstate[eef_state]: left_x=0.4546 left_y=-0.4011 left_z=0.1671 left_yaw=-0.0077 left_pitch=-0.1341 left_roll=0.0158 left_gripper=0.9954 right_x=0.2531 right_y=0.0466 right_z=0.1765 right_yaw=0.0824 right_pitch=-0.0675 right_roll=0.0269 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -17.894, 6.5299, 1.3602, -0.4127, 0.0611, -0.0708, -0.1436, -0.2393, 6.8718, 1.6484, 0.0073, -0.0269, -0.0122]",
      "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]: [-0.3408, 0.9871, 0.8619, -0.5903, -0.2947, -0.2646, 0.9968, 0.2615, 0.6659, 0.6121, -0.5907, 0.1371, 0.112, 0.9984]\nstate[eef_state]: left_x=0.3064 left_y=-0.0504 left_z=0.2045 left_yaw=0.0339 left_pitch=-0.1151 left_roll=0.0012 left_gripper=0.9968 right_x=0.2529 right_y=0.0464 right_z=0.1747 right_yaw=0.0835 right_pitch=-0.0754 right_roll=0.0232 right_gripper=0.9984\nstate[joint_eff]: [0.0342, -2.6188, 6.2701, 1.6581, -0.0952, 0.149, 0.1294, 0.0205, -0.6085, 6.9538, 1.6679, -0.022, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:667ef37b6921369f2324a48db7e77f2deca4cc4c63e466c54a2695074e87891d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb7b7040e90a3b24b9833b397501e0dd9fd1d3fc59a8b7df988ef740bdb772cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50f355605a3c09643ebaf026d50e05d80d76afbfd79a0ce7ed72206926589f9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQkKEAgSGAI4AUIIdGhpbmtpbmcSDKppZPoqKyyBpyLu+BoMrntx2vZtWHWijlyaIjCAMgoUqkxb3JBsuEHEyraKEAVmdT/5rOK4h7+XLhjjyOx+o2XA88Cxnit4+PFXloQq5gikVYW2zIzeCHqV+FUYP1RLfL951+VAZBVhpGbYiyWO/EgUWEsBgUt2c4phuXTJ7wyj13mJrGDF18V+p2UbUTrPoysT9T23wBqClBugqAWPMUMMvDRD2J+3nM9i4gz3/hpJS46Flzej710pA4cqt7G9Syt1xJrL8XjFOTESPJFPzJK/axYbc7vB8rdKMtsX6bgzap2Z7qEDJWB+mN7geaZ3FtZwpKtEzBieSkq0yipaXcukJvF2fw7AMJTJUmtJcT4ut4mqAfn+RQUkS/noUUDa7yMz4eVYoa/daOXLlyDKruqSZP7t+KlizjHZju1JVEOGovrLGxUNGX2jHKG9rycf6zR1o7OXTtX5Yteni0xlI92d4zbh1vrVFWbFRU9iwQZAiOH6o0koe6ApcYoHyuSWOm3mSOMUyid162l7YgAi79Exzd2kv5Wx+iifVplYePf8OWDB/dolW9PNfhU2Zi9VhjkSJq3jyroQgWQRC6UD52DVmWr4w23GT4bZW7gB6s3R7CKt4DMiLnSkF1zUOD25WL9+5akTCeNMwsT/zmoSIde7hj6kfE9hZEm6DljLZe0gMJxkCtPw9Q1qCpXoaQntAhTJ2YhH6V8r+8Bb90kEQWpBF/AtLVRGEmMMFZ6M7kGTdD7XUdv2SRFsBcb5XqK7/TkrFDlWiN7teACjedY5KxGoY0Fd1FS5lH5q/FSADCn00sTIm6GAsjmdl7MU89cS7DblVikR42NhTlTiLDmNVWTRhJjG3IFPAmgjBvaJsrUUgW8OSaosJjym+4yAZ5LJszm5G8bMtRPy/Rlv+4XzW0r0TXEVz8RJMzJUsiDZqUgXwVgKqlv7WsxrwvBVENXzJ7Bbu2+kKZvPQlStl9IAYqzTkeLHF4ZUnKh7j/kDc3Motpefl0G9lEqlDu0j14XY7g28Q/nOj5t5+2ZA1acDjXALJRN528JaWy/DcKuWRvfu/uTpYA42gPB+9wh8GMAEwwGr5olSnwaHC2H24ooD8UJXdwj3hFvARbTgqX3smEE25LBnX0i0Vvo541IDb2R3gaci2AFhnxBza+0PyM2xmkGHcGtx0ImP/qDZBAZ2xg1JdKZC3Wg3Z+OUjOezfS3cL8419mf57yYzSjYhVDZZBWUjjmcfTQYxhPWO2b7Wq2Z0922SXYlEsphkv7B3/YtLJ+4b8gmo0HmYy+3FyP6s65n+HJFD+cjIEU7zR3LXHWuN0joHKUNG3QxW0SUfVJUydZLV42pN5YzwNSY42/3FxZ4ULFiVe97Kzn04ib7RU29K+91wGHISqdJwdAA+ShnLsvFWjZsgUft41hfF9U6zlCEVrDspWpJ/8uQMZgdUKA4+BjXpIJWB2W1U0wdwv0aPwOcGTYJmph4bA0T3ft7Carn9lp5iD3YI9ApJ3oHK5mGQZGaDVPrFgAPKfNGl6MLdkMuaKHgyMVydXmyEgTEK6hhsYJZZmdoKMS1BGDxde1mdgR/ZHSdNwuaJIitrNVOResJjhgABGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y3jwCKcG2ZVi6fQrQ7NbCJ",
      "input": {
        "note": "Black pen lies on the table in front of the right basket, right of the teddy bears; moving the right arm above it.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.2,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Y3jwCKcG2ZVi6fQrQ7NbCJ",
      "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]: [-0.3428, 0.9939, 0.8524, -0.6056, -0.2878, -0.2623, 0.9968, 0.7834, 1.425, 0.6704, -0.0856, 0.5102, 0.4446, 0.9984]\nstate[eef_state]: left_x=0.3032 left_y=-0.0512 left_z=0.1955 left_yaw=0.0266 left_pitch=-0.1463 left_roll=0.0103 left_gripper=0.9968 right_x=0.307 right_y=0.1891 right_z=0.0822 right_yaw=0.1128 right_pitch=-0.1459 right_roll=-0.0264 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -3.0427, 7.5829, 1.6679, -0.1783, -0.0855, -0.0073, 0.4034, -6.065, 8.4855, 1.4921, 0.525, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:127b85d1d9c709715004c76dc7fd34229529bcb959ab87f77e5467594549f020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adf53a8b4dbd6cdb1f053403ba3f4a030210d072a3d6718784ff6e12e15c4152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f46ec7a4b6d2396055c5d9cd12b9a887a056b5e33a05cec926779a8f724a9779",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.366 s
model
claude-opus-5-5
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]: [-0.9073, 2.4798, 2.4916, -0.955, -0.6544, -0.6964, 0.9954, 0.2623, 0.6613, 0.6121, -0.5873, 0.1375, 0.115, 0.9984]\nstate[eef_state]: left_x=0.4546 left_y=-0.4011 left_z=0.1671 left_yaw=-0.0077 left_pitch=-0.1341 left_roll=0.0158 left_gripper=0.9954 right_x=0.2531 right_y=0.0466 right_z=0.1765 right_yaw=0.0824 right_pitch=-0.0675 right_roll=0.0269 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -17.894, 6.5299, 1.3602, -0.4127, 0.0611, -0.0708, -0.1436, -0.2393, 6.8718, 1.6484, 0.0073, -0.0269, -0.0122]",
      "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]: [-0.3408, 0.9871, 0.8619, -0.5903, -0.2947, -0.2646, 0.9968, 0.2615, 0.6659, 0.6121, -0.5907, 0.1371, 0.112, 0.9984]\nstate[eef_state]: left_x=0.3064 left_y=-0.0504 left_z=0.2045 left_yaw=0.0339 left_pitch=-0.1151 left_roll=0.0012 left_gripper=0.9968 right_x=0.2529 right_y=0.0464 right_z=0.1747 right_yaw=0.0835 right_pitch=-0.0754 right_roll=0.0232 right_gripper=0.9984\nstate[joint_eff]: [0.0342, -2.6188, 6.2701, 1.6581, -0.0952, 0.149, 0.1294, 0.0205, -0.6085, 6.9538, 1.6679, -0.022, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 0.9939, 0.8524, -0.6056, -0.2878, -0.2623, 0.9968, 0.7834, 1.425, 0.6704, -0.0856, 0.5102, 0.4446, 0.9984]\nstate[eef_state]: left_x=0.3032 left_y=-0.0512 left_z=0.1955 left_yaw=0.0266 left_pitch=-0.1463 left_roll=0.0103 left_gripper=0.9968 right_x=0.307 right_y=0.1891 right_z=0.0822 right_yaw=0.1128 right_pitch=-0.1459 right_roll=-0.0264 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -3.0427, 7.5829, 1.6679, -0.1783, -0.0855, -0.0073, 0.4034, -6.065, 8.4855, 1.4921, 0.525, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:127b85d1d9c709715004c76dc7fd34229529bcb959ab87f77e5467594549f020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adf53a8b4dbd6cdb1f053403ba3f4a030210d072a3d6718784ff6e12e15c4152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f46ec7a4b6d2396055c5d9cd12b9a887a056b5e33a05cec926779a8f724a9779",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswcKEAgSGAI4AUIIdGhpbmtpbmcSDM4rXL11oD0REIPDfRoM3o5xAiEOFzkYdmNtIjDC44fEP0qt41YRCDDF02UlINCSsMMbQRbs2tCUlBhOneamx5PyC9bznrRS8hWzVQQq0AbbTe/Be1fkm8IhODPxRs3vvAxerFrvWGrAiN/e63GQwPdNKsqrn89HcQFv/2CxaxF2huhg8RCriZRH56d/X5nl57fK+B98QognE6Nq7t4gjNlSJ/uNLcbJyGxr60oZl9NJ17wnHVoq/pZn2b1Zr2B+ZSRRe4BB/LkLxh/xJhHsVgQHwhNqcGrR/SgINV2qQqZjjNB0uikCzriTPEEFjJJFeNNzB2qEsFA/YJQXtoD2Lwtp5NqWitzA1pjpY9I6SYyjddGGQ6x+sCelktlvF0abXJAxZpUzmZBpaxT01jUFDpFLaaf/IViX+wb25Ea1od9HDMY94ixTmiM6wXFxRYCMXHmItUpaWUYf0ksRODJHaw7bzL6PAPcKiypJfDweSpL7YI2LhVfyucp8KHqNavIR2b4kNg/FKbESOSkwdOr4W3KpAxf2NXQnl7+gOUPwY9oXc1HLFMkDeUqpadewOeriVVyvAAAZrJzwVNRnV0HArIk+a09uUQjFowplhn36aPHEapxIg1wRILHGr/MsE1HNeA9H3UMCRJLBcdj0VInJG5Bvze7Pji8aE9Euf1Rkl7/46XEgB7DO0frbng4Mis9Ym/DZboeNfMVvSrggCEbMLgvcSYDjO3R6EL7qRc4HECYpkvTj4de320lo+Vw5sq+qRxq0ursQkp09EVI0TssL3z14Jfx2ddJj/FBTWIQar6Xh7UH7eFzVcIEf4vlcXjx+VOVRqiV/u2+Rgp4uhCjfyZOkYNlByGTh4CKswUSopM7wFtIWC/OC+98NaXLmRsTMCfm2jVfj4XLRcxM21zS1WETtOG6a1VGK0crxmEdUn//XWvxYScoWt8UPUBs5WbuO1l71HW7doFkRmpdCsG0AnwrhTo4oyN0e/jgD0M4ay763338H5Y7UqVbdy3v4s83H1aRlAFdBexxbJVIaC9YBU41WRGTBNicfam88UWnqj9EZGkwW9NYk7JBAMFrWFVwcJlkdSuI5pecjkj7IkfYaOyFrfXNPTNYBUfscdWMuaE+nffFtpYxeJTnTflquXr9UW2e028q0RN/AyY8LpHYg4Z1PMcy6kab025qgxmkHx/nNlJ83NFBchwGQ9GzUG/RN5MylCFLpE/w3ZbXl7CC2GRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BzUV4uW5WmVGoLH37t25qF",
      "input": {
        "note": "Black pen runs along the jaw column in the right wrist view; advancing slightly and descending to table level.",
        "targets": {
          "right_x": 0.33,
          "right_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_01BzUV4uW5WmVGoLH37t25qF",
      "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]: [-0.3428, 0.9958, 0.8524, -0.6102, -0.2874, -0.2623, 0.9968, 0.7307, 1.7336, 0.5831, 0.3706, 0.4858, 0.416, 0.9984]\nstate[eef_state]: left_x=0.3027 left_y=-0.051 left_z=0.1942 left_yaw=0.0266 left_pitch=-0.1524 left_roll=0.0124 left_gripper=0.9968 right_x=0.3345 right_y=0.1939 right_z=0.0143 right_yaw=0.0989 right_pitch=-0.109 right_roll=0.0023 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -2.6051, 6.8991, 1.58, -0.1538, -0.0611, -0.0073, -0.6496, -4.3556, 3.8222, 0.3834, 0.0024, -0.2418, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88e8d793addda1625039fe7005ab83fd0d2fa3b415cf7afae6bee7ccb7205db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89368549d16e22ecb5c4b6d62d7a9afa33f5c636b21693851c7b4987524a9563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3636662fae56530beed6c84632efea57e7c48c1c209ca4e1b651163ce7f7a8bd",
        "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 · 4.468 s
model
claude-opus-5-5
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]: [-0.3408, 0.9871, 0.8619, -0.5903, -0.2947, -0.2646, 0.9968, 0.2615, 0.6659, 0.6121, -0.5907, 0.1371, 0.112, 0.9984]\nstate[eef_state]: left_x=0.3064 left_y=-0.0504 left_z=0.2045 left_yaw=0.0339 left_pitch=-0.1151 left_roll=0.0012 left_gripper=0.9968 right_x=0.2529 right_y=0.0464 right_z=0.1747 right_yaw=0.0835 right_pitch=-0.0754 right_roll=0.0232 right_gripper=0.9984\nstate[joint_eff]: [0.0342, -2.6188, 6.2701, 1.6581, -0.0952, 0.149, 0.1294, 0.0205, -0.6085, 6.9538, 1.6679, -0.022, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 0.9939, 0.8524, -0.6056, -0.2878, -0.2623, 0.9968, 0.7834, 1.425, 0.6704, -0.0856, 0.5102, 0.4446, 0.9984]\nstate[eef_state]: left_x=0.3032 left_y=-0.0512 left_z=0.1955 left_yaw=0.0266 left_pitch=-0.1463 left_roll=0.0103 left_gripper=0.9968 right_x=0.307 right_y=0.1891 right_z=0.0822 right_yaw=0.1128 right_pitch=-0.1459 right_roll=-0.0264 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -3.0427, 7.5829, 1.6679, -0.1783, -0.0855, -0.0073, 0.4034, -6.065, 8.4855, 1.4921, 0.525, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 0.9958, 0.8524, -0.6102, -0.2874, -0.2623, 0.9968, 0.7307, 1.7336, 0.5831, 0.3706, 0.4858, 0.416, 0.9984]\nstate[eef_state]: left_x=0.3027 left_y=-0.051 left_z=0.1942 left_yaw=0.0266 left_pitch=-0.1524 left_roll=0.0124 left_gripper=0.9968 right_x=0.3345 right_y=0.1939 right_z=0.0143 right_yaw=0.0989 right_pitch=-0.109 right_roll=0.0023 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -2.6051, 6.8991, 1.58, -0.1538, -0.0611, -0.0073, -0.6496, -4.3556, 3.8222, 0.3834, 0.0024, -0.2418, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88e8d793addda1625039fe7005ab83fd0d2fa3b415cf7afae6bee7ccb7205db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89368549d16e22ecb5c4b6d62d7a9afa33f5c636b21693851c7b4987524a9563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3636662fae56530beed6c84632efea57e7c48c1c209ca4e1b651163ce7f7a8bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQgKEAgSGAI4AUIIdGhpbmtpbmcSDJ70u2cwAbvrQ9cf4hoM2fLUxZaa65LhIASJIjDLTn9Rqd5O5baKwU4uTFsl5jbmrgZgDNMfbQWLnbsKj0HRxwqx3h+tEbJu35C2RD8qygcLCClXuRb7Gr+D1uJEIl54UuDO8cyC6LDDAswKEsLqvJcyKvkAu24JzQD3vVoC5qQwenxcQJPxYQokSppzQZX/GJO7WM10zfAuUM8rVS05P7HUEeBsXmDunVNLa8mn7hXgSDGnk7XwEiiOJS3JRKAtMAk0BBoAQ5uH0T8BjGX0Layl0VbvgK6EqvTyQplKOqRIMSv3T/YiE8TLLFyQPPcAuth+le4blob3CHF59rfblSfObWrFxV7c3Z8ctsV9JGvOFRRSp91vU6vE7jWce7219WGLNsE8sxb0NUPx5p6WOL2M756AfGfH8BtNHjcsE8hrwyTPzMXY3q7g4KFdDt7J2EEn6dzcZ1rTZTsdp0eNFPEn1+rncQU4FhSgC3M71yRGmulyyLzcekJJUWZGI8/NNlhvJYxuNFAnWnudCQ5Pk6hmapdQbOpF54J+W+LYzUwSW0iVjbXhHG/ubLo+2Y76RWR8iNXnj3EIBcZnwu8yHCopMK8/mOHgAsG5LFHLiNPLqb61TKM65nfzJWmyw/dnx5TI7sH1ohO+7XICoCglcAEeaoDdD2hqkzcLyTiMWIup8wbYXKWtV3H1oSMt+6DZbwnm7BOUQ8HbxCA1jXEyPqtNtNztFQ7kFTP6MQHPE794ESoEEshGkwnCnkoMGGwVaYb18xtEqh/YXkMApYwTA03cKo7XSUMcosMbMa7jRaMgxPpcDNbk+r8qZ8cHz+lVc9+y9RdHmTQqjTgAmF/vL8dcS6acjUHM7q8CoG+tT8IjCLg1fPQRRxRUsR78qUWly1JVaV6Kh7sZIp+h9G/c/+9F/05Dm3vIcPpKdOOfIHgdVlCNOvmmLvUGr/GpKtb97EhAFd8sWg/D87xti5G0eMYFqlfNGRXKMHDao+VbxHw9R42ceEb+RifZl4WCdaDlv8wEtBLdlRzAvimJZ5I5QwWVkKXrPzwkIw03eRV7JCxcz80+eDXtFRNSgS+j2ZDRQAShDSwlMeV2CBL9st1t2AH470t0caJJMZr41CApgg8/SC5V0WwzruuB3arqOdt5g3RwOQ88WvFJHIpqUT66bWuRaYYe/3WUFzD+lE09Yot/jDwJI0sMIKTFBi5b2URO93sWW/ZxqYq0569QtCKsKbdChShva70vL4c3yiC1nkJwscUovbcim5F5jGGYxHb0XmwTLIyuvQ2/tyHL1sy1AxE/7tZTt4CsNujILqNHrV5RhgbWCJVJGYhoK5gHFVhrTJJa63lrBe1IF09WeafieVJToIYW+7DMRlCTsY/r11w1qDBiUY3gIaImGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TTXizPkZN5kGd9Tsg8RsjM",
      "input": {
        "note": "Pen is ~1.5 cm right of jaw centre near the fingertips; nudging right and closing.",
        "targets": {
          "right_gripper": 0.0,
          "right_y": 0.18,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TTXizPkZN5kGd9Tsg8RsjM",
      "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]: [-0.3428, 0.9958, 0.8524, -0.6132, -0.2874, -0.2623, 0.9968, 0.6994, 1.7855, 0.535, 0.5648, 0.4625, 0.3885, 0.138]\nstate[eef_state]: left_x=0.3022 left_y=-0.0509 left_z=0.1937 left_yaw=0.0268 left_pitch=-0.1553 left_roll=0.0135 left_gripper=0.9968 right_x=0.3446 right_y=0.1916 right_z=0.012 right_yaw=0.1047 right_pitch=-0.0407 right_roll=0.0473 right_gripper=0.138\nstate[joint_eff]: [-0.0205, -2.4821, 7.1453, 1.6093, -0.1587, -0.0464, -0.0122, -0.9915, -4.3009, 3.0564, 1.0965, 0.0464, -0.0464, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3893b6c312bebcca1cab63d8532d9a7083e4e81e87048cb8598655ea3df93231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ac04b448ef373967b0a9351c7b2fb0e3b9d21b17b54e4375ed39213ca71eba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eea87c59631bc28c519abc8c20c1696205cc515a2ba5ff8ff88f30bbfaeafe06",
        "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 · 4.348 s
model
claude-opus-5-5
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]: [-0.3428, 0.9939, 0.8524, -0.6056, -0.2878, -0.2623, 0.9968, 0.7834, 1.425, 0.6704, -0.0856, 0.5102, 0.4446, 0.9984]\nstate[eef_state]: left_x=0.3032 left_y=-0.0512 left_z=0.1955 left_yaw=0.0266 left_pitch=-0.1463 left_roll=0.0103 left_gripper=0.9968 right_x=0.307 right_y=0.1891 right_z=0.0822 right_yaw=0.1128 right_pitch=-0.1459 right_roll=-0.0264 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -3.0427, 7.5829, 1.6679, -0.1783, -0.0855, -0.0073, 0.4034, -6.065, 8.4855, 1.4921, 0.525, 0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 0.9958, 0.8524, -0.6102, -0.2874, -0.2623, 0.9968, 0.7307, 1.7336, 0.5831, 0.3706, 0.4858, 0.416, 0.9984]\nstate[eef_state]: left_x=0.3027 left_y=-0.051 left_z=0.1942 left_yaw=0.0266 left_pitch=-0.1524 left_roll=0.0124 left_gripper=0.9968 right_x=0.3345 right_y=0.1939 right_z=0.0143 right_yaw=0.0989 right_pitch=-0.109 right_roll=0.0023 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -2.6051, 6.8991, 1.58, -0.1538, -0.0611, -0.0073, -0.6496, -4.3556, 3.8222, 0.3834, 0.0024, -0.2418, -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 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]: [-0.3428, 0.9958, 0.8524, -0.6132, -0.2874, -0.2623, 0.9968, 0.6994, 1.7855, 0.535, 0.5648, 0.4625, 0.3885, 0.138]\nstate[eef_state]: left_x=0.3022 left_y=-0.0509 left_z=0.1937 left_yaw=0.0268 left_pitch=-0.1553 left_roll=0.0135 left_gripper=0.9968 right_x=0.3446 right_y=0.1916 right_z=0.012 right_yaw=0.1047 right_pitch=-0.0407 right_roll=0.0473 right_gripper=0.138\nstate[joint_eff]: [-0.0205, -2.4821, 7.1453, 1.6093, -0.1587, -0.0464, -0.0122, -0.9915, -4.3009, 3.0564, 1.0965, 0.0464, -0.0464, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3893b6c312bebcca1cab63d8532d9a7083e4e81e87048cb8598655ea3df93231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ac04b448ef373967b0a9351c7b2fb0e3b9d21b17b54e4375ed39213ca71eba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea87c59631bc28c519abc8c20c1696205cc515a2ba5ff8ff88f30bbfaeafe06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AgKEAgSGAI4AUIIdGhpbmtpbmcSDCgd/+gi5/gFRYefHBoMD2ueGWJqMnNghAIOIjDdy27bdvaTXTgSPP8DwxMmoTj88Nl5L+JjVVP9iFLqeZItbn35LwwSVVI+x1SoXBEq9QfuF6fiDfX876bqlwnXMVwqt+Tfrb6kGNh8uLuNc3gjdpsJKR9MbhPtnU9E1pScWWsX4uTwVGXo9aOjLeBk8MIJ3oMUc267C9ud3P7WGYCTKRYvkbhR8Kw4On8z7G05d0YadJhxsVHgBJhJ9RSoLJJRJhRy/Y6+Cf6Q+VodWWB8WnXsiosHqIzRNU37AURqkUKJcy+pPjbGq0YgEv58cQmyKYgMoakwZZ418wixjradTWmhnCKVwpvGlHlZCM2ozloIhLdhibnktoq0YIbtkSHxLGFRDWEBt7nijlUsJ7OWgMr7G3iFsI5v1sys8NVnml4kscEKPib8PNCxJl5W411+vE0+wygxbv6fUdGGT1YPeBcgFOY9ut5eC+yQSOieBS8XZbvI/1rjah0bbCOPzp4o9/dgEGyBzGo0jvyRkHEWJmAaLPzvB7YbYw7ZqdgUgGL7H+rW9UGW4ZubAFfrELDk2LswLuSpHrZn276SIASfYbWx4m/T6s0/Yx1eTqrCt1TghOfd6FeOsSiK7Q6tNXvjriA77qo+xbtUumtYm8BkId8xhLKAYSMZEHpQPI3y/DlE2WMaUC1ruWRddCVYBxDGM3SNpPBB7jIz1QTMV8G0IBQApAb0amwSLvmIYgCzTlbrZTCZj0C1MKYXuBWSUraNYNtrexCsii/L1CZSXBoOQ3Go9+b/CqaYgxUliV17pQIlG06cFppZ60N7A6jrmFN6mjm+09m+pAyrswvpgjQl/p0dd2XxGTOv0A1CycqMl7Ie1m4W5tZlm72Ag6nH/FVWc+wJ4sVEQYN6mnMjyQTHY6Ortf+kvJ5ORnu/xylUe90jopTJ9DPDK2/MvlZ8yQW0IdbTnxCgK7ApJP+44OPBdsyFQguwOjPbZGhS1vWERSwabOZFznZ2Hi1wjefyVmONF9hQpA1+2z4n3iCLzKmx4/MgpFnWufTuRgHFGlLDOncQqFF/TzKjL+o23XjBtRFHhnIxLFrnpWBtii9iCV17fMbpBXco0dRb2J/cLKMtm2vZKC8IIMoB9puOwE6fjHoyG71kaf1VkT/cDLeJ5khEQHDq9KAnIdStxhPWWnCWDEEFT1lmBxWakvIHwtGb2U2+7sBRJJVAj4AchzL6H6O2TUG4EVhF9kqhKPwT1vqY8noFwtC0t8xCXOl3NOnYPG+Kzt4iu89qMjRq9Mix3iSVioJNb1zQWGaKB3mOxYkNZFXusC/V8/nMAR06How/VU9aCuS7Z08SuF/Eqnx0RBx4L+U/yg/wjhr4/DFCXZ5zVMGF2Xy6wkIFXFQpqCopRvWOWLdSa7gDu88noOmgl8pL3VigYNJgdjVlzl7FYmhXOS1aD7cRTxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Zz1DRDhS7mfcUspn2qR8p",
      "input": {
        "note": "Black pen grasped (0.138). Carrying it high and deeper over the right basket this time so it doesn't fall out the front.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.16,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_018Zz1DRDhS7mfcUspn2qR8p",
      "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]: [-0.3428, 0.9958, 0.8524, -0.614, -0.2874, -0.2619, 0.9968, 0.4103, 1.6588, 1.3113, -0.2806, 0.2298, 0.2008, 0.138]\nstate[eef_state]: left_x=0.3021 left_y=-0.0508 left_z=0.1935 left_yaw=0.0266 left_pitch=-0.156 left_roll=0.0141 left_gripper=0.9968 right_x=0.464 right_y=0.1618 right_z=0.2059 right_yaw=0.1072 right_pitch=-0.0474 right_roll=0.0459 right_gripper=0.138\nstate[joint_eff]: [-0.0205, -2.5094, 6.8581, 1.5067, -0.1636, -0.0317, -0.0122, -0.7316, -7.8701, 9.306, 1.5165, 0.0269, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a892ca279e667b95f07baf4c3abc3f014fc373f00e57eb7747d5ce24c1287d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee60aba7f62be12ca63f2106576d2652d94479a585db4464c0b2e78f7190bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:daeca4d826970498bec5238e725ff6c2b6519c9719bd72223a7a47afa2a13b11",
        "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 · 3.187 s
model
claude-opus-5-5
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]: [-0.3428, 0.9958, 0.8524, -0.6102, -0.2874, -0.2623, 0.9968, 0.7307, 1.7336, 0.5831, 0.3706, 0.4858, 0.416, 0.9984]\nstate[eef_state]: left_x=0.3027 left_y=-0.051 left_z=0.1942 left_yaw=0.0266 left_pitch=-0.1524 left_roll=0.0124 left_gripper=0.9968 right_x=0.3345 right_y=0.1939 right_z=0.0143 right_yaw=0.0989 right_pitch=-0.109 right_roll=0.0023 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -2.6051, 6.8991, 1.58, -0.1538, -0.0611, -0.0073, -0.6496, -4.3556, 3.8222, 0.3834, 0.0024, -0.2418, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 0.9958, 0.8524, -0.6132, -0.2874, -0.2623, 0.9968, 0.6994, 1.7855, 0.535, 0.5648, 0.4625, 0.3885, 0.138]\nstate[eef_state]: left_x=0.3022 left_y=-0.0509 left_z=0.1937 left_yaw=0.0268 left_pitch=-0.1553 left_roll=0.0135 left_gripper=0.9968 right_x=0.3446 right_y=0.1916 right_z=0.012 right_yaw=0.1047 right_pitch=-0.0407 right_roll=0.0473 right_gripper=0.138\nstate[joint_eff]: [-0.0205, -2.4821, 7.1453, 1.6093, -0.1587, -0.0464, -0.0122, -0.9915, -4.3009, 3.0564, 1.0965, 0.0464, -0.0464, 1.0037]",
      "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]: [-0.3428, 0.9958, 0.8524, -0.614, -0.2874, -0.2619, 0.9968, 0.4103, 1.6588, 1.3113, -0.2806, 0.2298, 0.2008, 0.138]\nstate[eef_state]: left_x=0.3021 left_y=-0.0508 left_z=0.1935 left_yaw=0.0266 left_pitch=-0.156 left_roll=0.0141 left_gripper=0.9968 right_x=0.464 right_y=0.1618 right_z=0.2059 right_yaw=0.1072 right_pitch=-0.0474 right_roll=0.0459 right_gripper=0.138\nstate[joint_eff]: [-0.0205, -2.5094, 6.8581, 1.5067, -0.1636, -0.0317, -0.0122, -0.7316, -7.8701, 9.306, 1.5165, 0.0269, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a892ca279e667b95f07baf4c3abc3f014fc373f00e57eb7747d5ce24c1287d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee60aba7f62be12ca63f2106576d2652d94479a585db4464c0b2e78f7190bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daeca4d826970498bec5238e725ff6c2b6519c9719bd72223a7a47afa2a13b11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStggKEAgSGAI4AUIIdGhpbmtpbmcSDDoBnBeZLplEdbD3ORoMoL/Rd2BxYW2Xlx0JIjBzF77Xvdu+z4x/wcGeg5uHVZXL/u0YtrMtSzSDPY23T9+sczPJWb7logIHQ3oFrYIq0wfr4DBTAlDvY6HjM8Hokb/DLoYiuePD+kwlZ+dA2LNK0RDC9yChRRzuIVcTKII3zkqIeDxRrwVBVWFKtS4SXboblmzdpnnL3wdhjtlAGdUxikZIS/19oVJygRw+4C23pekIdHSTWm7ttqOIpOZcKDNa+iBLg1S20vWKseESGW5b/HWzpdFGEJ+PYqyuNutWyjVVgxhTVgRfvUHOYSwZbY59THVSlPcAM2mOAVe38c6Sm62iB/KcP2iLTo4WZN0a8f9e0mzEQDKxUG3cxbwQMXe/uniUOE7o3N8ZvijaiIhNEfhXUe+cmiSf1HJCU0+vM5Ip4OuOE19F5HmakjGhob/UwzwrH5m4pi80+TGLr2a4wCarW1dwLTni2JvcjPAtsEBxDJQR0tFbvgRMSxcnGVCPOTAb9tjJm+T+trbCsgQAinlx88x7JjgRMdkzzM9ATV55P5j4aFELaqbXRlA1HxgxZT98Y+xRpugPO7L2e4IVoxB1cYllJ1yHtlUKwTxO8MzVWt7FGsKmkzIGwzbwC47bNVjUhsUJ37eRx2JLfs+HPTa70CzJSwmyu7X0saa2zn0cq1o8FQCtwNvhphYh1xp+0v+/5oTRjIIkeB7yX53svqw7VT5fgNKfU1skYBaNSLvYw6HsUrJy4ur6Zc/HB5z6lPRCO6ptUekGajbXil2Y32l/gDvCYT9cQwk/scbmME4yLRSQphIv8AG87Y1A9bUwHwWfPyLlXORJDv+HGpeaqPUS0P7I0jx+dI6AWqV6rQNN+uZbf9LhJ11fasRyQQBpVcZYw15NOU1sD/hkUbAxZCc65IzPn51jab57Ma/GlmoC7SETR3o7g2t62iSA9DPoOcxEuFy81saN3vxmfVDyKeLyfn3VAzwcSSRpe+po+x1lkTTnYI08O5P/jUJT1SHTMF8WKbVbaxpvhAzmyKYEP6pOWiXqjw8GfNJHV8JGzhEXHHGZxSjKOdam9nRyUjthVw8LtZd2avR5KrhKevVuB0pVTR627ZK/V+xPPlP17c2VVPO8494boiyvKA9W01IwlEllE6zec/X+gO7Fhzg+RWlJ9AP59U1mGx96+o5Cgd1mawsye0faSo48HCuwgaxGJmkC6lxn6QBx5NIMlkBzFtY1uKpQkVjl/YI14/rgFpZPtHfnSAK32qAGocc5juhSA8AqYQxWG2ezPf5ci5U7YZVpTxugZIinBvi3y1GLfxpw7TunNzj7PSCfCZv9oB7jWgtgsJJ68xeyT93aDVJuDUdz/NUW2s4qupNW+0Foa4zJ4OBVJKBykDg6Lima391FtJ2gGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MYoXt4pxXwrrYk5P4ExQaR",
      "input": {
        "note": "Wrist view shows the basket still mostly ahead of the fingertips; advancing 6 cm so the pen drops inside the basket.",
        "targets": {
          "right_x": 0.53,
          "right_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_01MYoXt4pxXwrrYk5P4ExQaR",
      "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]: [-0.3428, 0.997, 0.8524, -0.6144, -0.2874, -0.2623, 0.9968, 0.3557, 1.8774, 1.5883, -0.3771, 0.1806, 0.1635, 0.138]\nstate[eef_state]: left_x=0.3021 left_y=-0.0508 left_z=0.1931 left_yaw=0.0269 left_pitch=-0.1574 left_roll=0.0144 left_gripper=0.9968 right_x=0.5192 right_y=0.1629 right_z=0.2008 right_yaw=0.1131 right_pitch=-0.0916 right_roll=0.034 right_gripper=0.138\nstate[joint_eff]: [-0.1709, -2.5641, 6.8308, 1.5214, -0.1441, -0.0415, -0.0122, -0.6632, -10.1812, 9.4701, 1.663, 0.0366, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:000339a5fb82c09e85f1312094182ab27e87a4458af06940f9637ceeba5db3a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168dcec1d3c14096c997821782b1d66b304ebeb75e8aef3ab98ac4be54b21379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:264bc83749941ba021cdfb880b7653b4f0dbe2ff1021df9182f9871aabaf90a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 9.14 s
model
claude-opus-5-5
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]: [-0.3428, 0.9958, 0.8524, -0.6132, -0.2874, -0.2623, 0.9968, 0.6994, 1.7855, 0.535, 0.5648, 0.4625, 0.3885, 0.138]\nstate[eef_state]: left_x=0.3022 left_y=-0.0509 left_z=0.1937 left_yaw=0.0268 left_pitch=-0.1553 left_roll=0.0135 left_gripper=0.9968 right_x=0.3446 right_y=0.1916 right_z=0.012 right_yaw=0.1047 right_pitch=-0.0407 right_roll=0.0473 right_gripper=0.138\nstate[joint_eff]: [-0.0205, -2.4821, 7.1453, 1.6093, -0.1587, -0.0464, -0.0122, -0.9915, -4.3009, 3.0564, 1.0965, 0.0464, -0.0464, 1.0037]",
      "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]: [-0.3428, 0.9958, 0.8524, -0.614, -0.2874, -0.2619, 0.9968, 0.4103, 1.6588, 1.3113, -0.2806, 0.2298, 0.2008, 0.138]\nstate[eef_state]: left_x=0.3021 left_y=-0.0508 left_z=0.1935 left_yaw=0.0266 left_pitch=-0.156 left_roll=0.0141 left_gripper=0.9968 right_x=0.464 right_y=0.1618 right_z=0.2059 right_yaw=0.1072 right_pitch=-0.0474 right_roll=0.0459 right_gripper=0.138\nstate[joint_eff]: [-0.0205, -2.5094, 6.8581, 1.5067, -0.1636, -0.0317, -0.0122, -0.7316, -7.8701, 9.306, 1.5165, 0.0269, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3428, 0.997, 0.8524, -0.6144, -0.2874, -0.2623, 0.9968, 0.3557, 1.8774, 1.5883, -0.3771, 0.1806, 0.1635, 0.138]\nstate[eef_state]: left_x=0.3021 left_y=-0.0508 left_z=0.1931 left_yaw=0.0269 left_pitch=-0.1574 left_roll=0.0144 left_gripper=0.9968 right_x=0.5192 right_y=0.1629 right_z=0.2008 right_yaw=0.1131 right_pitch=-0.0916 right_roll=0.034 right_gripper=0.138\nstate[joint_eff]: [-0.1709, -2.5641, 6.8308, 1.5214, -0.1441, -0.0415, -0.0122, -0.6632, -10.1812, 9.4701, 1.663, 0.0366, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:000339a5fb82c09e85f1312094182ab27e87a4458af06940f9637ceeba5db3a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168dcec1d3c14096c997821782b1d66b304ebeb75e8aef3ab98ac4be54b21379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:264bc83749941ba021cdfb880b7653b4f0dbe2ff1021df9182f9871aabaf90a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAcKEAgSGAI4AUIIdGhpbmtpbmcSDGza9NnQUaV5kCBA9hoMWSrSP6wKdjyfNAz8IjCfTGXyLxgAPyqCnyOGHkdNsXyHC3kgfb0dZpqD93EB3cuXSnDjlHOEcCXWv3t01QoqpQac5n9O9x9mxNUhR/IiIEmTAMF+7oQhKE9KFNNs/YqFe3CdpweqC7uXnccFacUV0WpsDLJ6MO73rDZYYHU/RO39L9lkmGa/T1FdFQg0EJvxnhEnMIkD08eZBM09zLEYsKjExxciiYk+aAGo9QJO0vBFPGVLKybG+ETIoxITax+8tb47qC84zI611c7Ebd9OVWHidNh+qI8EUVA5WCoHvlVZzSIxvMH+KsX0Mm/ooMK6NFJfRoXo+0Z3y0h/kicdyBinB6Kyg4oCn9i7sPBXAZxSfW4Oc00M8u/Srfoc14instN/CKhj3APu7iZgHZ1omT5ytE5l+eQdNVdkwWH2LeRlSeFZEALltPFDBxOTMN80GOYdz3WN5d/pf2VI9k1aOPDX9Q6jIl306OOSS1xNFFvAdyp2kBE7e/YB4dfvFGR6mjDmgSSut2s5mZsSQugE1U98fxLhS8bvSZr3G4JdjxX7ampmuy1BrPZacwsD1M3heOQYa4CCmcS9iwhuUdxd2rAQJ+GjE6xFjp3LZryMgSu81TkDudmDxPreiKFCtIx8KtmlSoMLPhtjjGrJFwX4JCSftQ+gWhtgv0dCINOatkbdFWK7k9qTyvcqZ1xHedRUMhuDcVtzcXBBARqMJQ86cTb1tQgEWKJgUCUXtgAwoildEZqeB3dcZWAjwtKzVhpAS1xmh8IbHWJNmeEIQIO0NyrTIaIM2Eh00zOXk9C2BaxakD8yxxby+Ww9vAiRrvuxCBpP8GzwD6An0mInbAUhVm9G6/Ve1tHCoVHTQZbjS6xcN7ilu3BwcYGwGw5N0jbUwepnFlteU3U7IluCXJZLQGJcV1p01BJd5E2GLwUasMxfxlAsm4ntRy1oLtgOvTjXa9qX2ERpaOOC6vEHE2i4VA/lNHi6MVrbCHU7K1zCmcaO0iRcPFoNxw0LwG3neg6vhy4VhbvfgQs3WvIgg+dNdme16Y8EBu5jZjAeOvBI+iFq4LNnDSGuoV6EDVukZmiZixUv5O9Ab443sWTYuItU67pYqjjwHE4ea2qdYz7n44+xQj3iAyHjFLpyFXJ0s31XNl9XmqKrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018heXM1z2WCkoe6s9bN9UkV",
      "input": {
        "note": "Black pen is now over the inside of the right basket (highlighter visible inside); releasing.",
        "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_018heXM1z2WCkoe6s9bN9UkV",
      "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]: [-0.3428, 0.997, 0.8524, -0.6136, -0.2874, -0.2623, 0.9968, 0.3538, 1.8889, 1.5883, -0.3847, 0.1722, 0.157, 0.9952]\nstate[eef_state]: left_x=0.3022 left_y=-0.0509 left_z=0.1933 left_yaw=0.0269 left_pitch=-0.1567 left_roll=0.0141 left_gripper=0.9968 right_x=0.519 right_y=0.1633 right_z=0.1932 right_yaw=0.1213 right_pitch=-0.1113 right_roll=0.0294 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -2.4957, 6.8581, 1.5067, -0.1783, -0.0366, -0.0073, -0.0615, -11.4393, 6.9675, 1.7216, 0.0806, 0.0171, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b23d6cf34586561644c68d3e6241cbd488b2a003d0ac5eb0f0c5e694825531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca2eb980912c6dda1681a4ac237004a5951911d8ec14dcbaac5eb89185952565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a7968d7b85015fda651eb2e6d0c568b1f1f4e2fed941d38a0ff1922691a02c3",
        "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 · 3.585 s
model
claude-opus-5-5
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]: [-0.3428, 0.9958, 0.8524, -0.614, -0.2874, -0.2619, 0.9968, 0.4103, 1.6588, 1.3113, -0.2806, 0.2298, 0.2008, 0.138]\nstate[eef_state]: left_x=0.3021 left_y=-0.0508 left_z=0.1935 left_yaw=0.0266 left_pitch=-0.156 left_roll=0.0141 left_gripper=0.9968 right_x=0.464 right_y=0.1618 right_z=0.2059 right_yaw=0.1072 right_pitch=-0.0474 right_roll=0.0459 right_gripper=0.138\nstate[joint_eff]: [-0.0205, -2.5094, 6.8581, 1.5067, -0.1636, -0.0317, -0.0122, -0.7316, -7.8701, 9.306, 1.5165, 0.0269, 0.0317, 1.0281]\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]: [-0.3428, 0.997, 0.8524, -0.6144, -0.2874, -0.2623, 0.9968, 0.3557, 1.8774, 1.5883, -0.3771, 0.1806, 0.1635, 0.138]\nstate[eef_state]: left_x=0.3021 left_y=-0.0508 left_z=0.1931 left_yaw=0.0269 left_pitch=-0.1574 left_roll=0.0144 left_gripper=0.9968 right_x=0.5192 right_y=0.1629 right_z=0.2008 right_yaw=0.1131 right_pitch=-0.0916 right_roll=0.034 right_gripper=0.138\nstate[joint_eff]: [-0.1709, -2.5641, 6.8308, 1.5214, -0.1441, -0.0415, -0.0122, -0.6632, -10.1812, 9.4701, 1.663, 0.0366, -0.0024, 1.0281]",
      "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]: [-0.3428, 0.997, 0.8524, -0.6136, -0.2874, -0.2623, 0.9968, 0.3538, 1.8889, 1.5883, -0.3847, 0.1722, 0.157, 0.9952]\nstate[eef_state]: left_x=0.3022 left_y=-0.0509 left_z=0.1933 left_yaw=0.0269 left_pitch=-0.1567 left_roll=0.0141 left_gripper=0.9968 right_x=0.519 right_y=0.1633 right_z=0.1932 right_yaw=0.1213 right_pitch=-0.1113 right_roll=0.0294 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -2.4957, 6.8581, 1.5067, -0.1783, -0.0366, -0.0073, -0.0615, -11.4393, 6.9675, 1.7216, 0.0806, 0.0171, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b23d6cf34586561644c68d3e6241cbd488b2a003d0ac5eb0f0c5e694825531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca2eb980912c6dda1681a4ac237004a5951911d8ec14dcbaac5eb89185952565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a7968d7b85015fda651eb2e6d0c568b1f1f4e2fed941d38a0ff1922691a02c3",
        "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_01HYvxKdUiXpWJqPnsdWjb6Z",
      "input": {
        "note": "All three pens (blue, black, yellow highlighter) are in the right basket. Now the plush toys go in the left basket: lowering the left arm onto the grey plush seen just left-front of the left jaws; right arm retreats.",
        "targets": {
          "left_x": 0.33,
          "left_y": 0.0,
          "left_z": 0.03,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01HYvxKdUiXpWJqPnsdWjb6Z",
      "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]: [-0.0544, 1.3499, 0.3553, 0.2134, -0.0883, -0.0776, 0.9968, 0.181, 0.9543, 0.8154, -0.5137, 0.049, 0.0578, 0.9963]\nstate[eef_state]: left_x=0.3213 left_y=0.0017 left_z=0.0238 left_yaw=0.0473 left_pitch=-0.214 left_roll=0.0201 left_gripper=0.9968 right_x=0.3101 right_y=0.0516 right_z=0.2034 right_yaw=0.1065 right_pitch=-0.0896 right_roll=0.0318 right_gripper=0.9963\nstate[joint_eff]: [0.2803, -4.547, 4.8889, 1.8388, 0.0024, 0.0904, -0.0073, -0.253, -2.2359, 7.0359, 1.9267, -0.105, -0.1392, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d70bb29092f1c388b90c8e2f41a0cc86fbae45d0c0f7bdd2163384c9f9b022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e725dd1764b9bbfb4632279e3d13d875a40ad345e62f094ef5e46b98e53034aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b05be857171664e3e807376f95d7973559d6c9c146b9139fcf25b4ba9b153e07",
        "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 · 4.383 s
model
claude-opus-5-5
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]: [-0.3428, 0.997, 0.8524, -0.6144, -0.2874, -0.2623, 0.9968, 0.3557, 1.8774, 1.5883, -0.3771, 0.1806, 0.1635, 0.138]\nstate[eef_state]: left_x=0.3021 left_y=-0.0508 left_z=0.1931 left_yaw=0.0269 left_pitch=-0.1574 left_roll=0.0144 left_gripper=0.9968 right_x=0.5192 right_y=0.1629 right_z=0.2008 right_yaw=0.1131 right_pitch=-0.0916 right_roll=0.034 right_gripper=0.138\nstate[joint_eff]: [-0.1709, -2.5641, 6.8308, 1.5214, -0.1441, -0.0415, -0.0122, -0.6632, -10.1812, 9.4701, 1.663, 0.0366, -0.0024, 1.0281]",
      "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]: [-0.3428, 0.997, 0.8524, -0.6136, -0.2874, -0.2623, 0.9968, 0.3538, 1.8889, 1.5883, -0.3847, 0.1722, 0.157, 0.9952]\nstate[eef_state]: left_x=0.3022 left_y=-0.0509 left_z=0.1933 left_yaw=0.0269 left_pitch=-0.1567 left_roll=0.0141 left_gripper=0.9968 right_x=0.519 right_y=0.1633 right_z=0.1932 right_yaw=0.1213 right_pitch=-0.1113 right_roll=0.0294 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -2.4957, 6.8581, 1.5067, -0.1783, -0.0366, -0.0073, -0.0615, -11.4393, 6.9675, 1.7216, 0.0806, 0.0171, -0.149]",
      "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]: [-0.0544, 1.3499, 0.3553, 0.2134, -0.0883, -0.0776, 0.9968, 0.181, 0.9543, 0.8154, -0.5137, 0.049, 0.0578, 0.9963]\nstate[eef_state]: left_x=0.3213 left_y=0.0017 left_z=0.0238 left_yaw=0.0473 left_pitch=-0.214 left_roll=0.0201 left_gripper=0.9968 right_x=0.3101 right_y=0.0516 right_z=0.2034 right_yaw=0.1065 right_pitch=-0.0896 right_roll=0.0318 right_gripper=0.9963\nstate[joint_eff]: [0.2803, -4.547, 4.8889, 1.8388, 0.0024, 0.0904, -0.0073, -0.253, -2.2359, 7.0359, 1.9267, -0.105, -0.1392, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d70bb29092f1c388b90c8e2f41a0cc86fbae45d0c0f7bdd2163384c9f9b022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e725dd1764b9bbfb4632279e3d13d875a40ad345e62f094ef5e46b98e53034aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05be857171664e3e807376f95d7973559d6c9c146b9139fcf25b4ba9b153e07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwcKEAgSGAI4AUIIdGhpbmtpbmcSDIQWDoLjDGfmtBE+IRoM8FIEW6wfN7BuwEktIjCS6lWJGhNfXF8Q3EdVVwE6bHUoHRyg51xdqn3o4pjk5H09eol2E929wAmdGL9TnskquAbQocpoHNzgg2MU8uOp6Ois0CDep7e5FcW1fdt1ZaRd1VgCfUGwootZBlUinwT8dKax6Zmxa2Pzlt7Mh1FEjulD71kojvUjCyK2BbwN2lH5sU36fc8G2O3/8xouR7D0zkvls8zPg4YkYey+a4LZw9KIOwOJiOk2/wK3nzIMxywx92uARAgw9f3M5IcxvMxmqgCPlXNifFqMUjqP1/r9J0meLecmTbDfAQIoh4pRppPyPs8tbPDpEsGQLvl3Y1x4bb2boo5sD+CtF9ApIm8utnB5EX0AUXepn34qx6vynbBrBW9Uf/s3XiXyQ5dDCmoHaU/VE+QCSL7BUpqhzlKpg5RC2ibwnImD8dMNxvmdn2Cskx3WWN24OrG8NMfIOl1vGTKVh2cc1OFEMc+apl61eJMNh40PaaP6S0I6hL5OjkH7uLckqmngWwnWy2uwLdWwgrepBIsv0tyx4hOgJ+IW/UC1EQWbjXU+Tn6HpMvx167jmBTn0fdlTMMCduVn9jhxbQsjd4awb9sLHfIW0kPvZ+wOr9DvbbAKid+RcKLDlTqb929kkau12ukew4vWnEwn1Goaf8mK3mYKdsqOxFXngMJKBwavyxIrlsMSU5Sd/xz99uzC6Sb4WRJtRWywx4G3RZe+2p9QRfJjUSYT6N2iwsXMJBGP3Ewi1ngDv/WMC0nALZGnUBkYCW8dR09/MyDQOJZeVyt9ILCkPs02FEo9fEEKfJ1Rh9iR5Eu9N825GKUeSE4yJnzVINYBouW/otJkScLWZl6taNP3kFskc4PmWqptpX4049uSg4MZ7GyFOoHQ49Tia6W2tZtphzboRoXfUXHv+UwErVjfm1LiTZaniejopGW/Nge7YcPD1O0LyPQSrZYJCoD138XqAyrAsGzdhNFsXgAhA00gedt1seVrHjxpbxB6yZBnf1Ad/2Zv/UC93AuRYohxeIhpM/RDR9dX1K/hTswZfVQLlS2zPfxKRXt8AFIkP6CX/bBoMzk76DLnAl93py1GzCkFGUgP1wuQb7HdeK9fQlD97ozsBCXnTQ4kV36q0SzAs4U3t4MAQnCveAzYWY6nrsaFH2K2K1ruEWse3qM2/0DVVhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QEYx8PkpF1BPM9qNkQK9gM",
      "input": {
        "note": "Grey plush fills the left half of the left wrist view, just left of the jaws; shifting left (to the fence-side limit) to centre it.",
        "targets": {
          "left_y": 0.045,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QEYx8PkpF1BPM9qNkQK9gM",
      "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]: [0.1429, 1.4227, 0.3439, 0.2932, 0.0219, 0.0284, 0.9968, 0.1772, 0.9592, 0.8101, -0.5373, 0.041, 0.0444, 0.9964]\nstate[eef_state]: left_x=0.3209 left_y=0.0459 left_z=0.0112 left_yaw=0.0911 left_pitch=-0.2222 left_roll=0.0176 left_gripper=0.9968 right_x=0.3062 right_y=0.0511 right_z=0.1949 right_yaw=0.1164 right_pitch=-0.1237 right_roll=0.0239 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -4.1641, 4.5744, 1.6728, 0.0415, 0.0024, -0.0122, 0.2256, -2.7145, 7.5282, 1.8388, 0.0806, 0.1001, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b8e3e7ed049efad61bf6aa859c3292f53cd6ffb8f9a081a1ee17f737570040b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97288a701018970fd25f28f4bc309c11fb4282af0233ef46fc5ca9d19c5ddd63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65d73fd161838054d717aba523fc6498ee095108a5ed746c8197fbabca5617ed",
        "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 · 6.519 s
model
claude-opus-5-5
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]: [-0.3428, 0.997, 0.8524, -0.6136, -0.2874, -0.2623, 0.9968, 0.3538, 1.8889, 1.5883, -0.3847, 0.1722, 0.157, 0.9952]\nstate[eef_state]: left_x=0.3022 left_y=-0.0509 left_z=0.1933 left_yaw=0.0269 left_pitch=-0.1567 left_roll=0.0141 left_gripper=0.9968 right_x=0.519 right_y=0.1633 right_z=0.1932 right_yaw=0.1213 right_pitch=-0.1113 right_roll=0.0294 right_gripper=0.9952\nstate[joint_eff]: [-0.1436, -2.4957, 6.8581, 1.5067, -0.1783, -0.0366, -0.0073, -0.0615, -11.4393, 6.9675, 1.7216, 0.0806, 0.0171, -0.149]",
      "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]: [-0.0544, 1.3499, 0.3553, 0.2134, -0.0883, -0.0776, 0.9968, 0.181, 0.9543, 0.8154, -0.5137, 0.049, 0.0578, 0.9963]\nstate[eef_state]: left_x=0.3213 left_y=0.0017 left_z=0.0238 left_yaw=0.0473 left_pitch=-0.214 left_roll=0.0201 left_gripper=0.9968 right_x=0.3101 right_y=0.0516 right_z=0.2034 right_yaw=0.1065 right_pitch=-0.0896 right_roll=0.0318 right_gripper=0.9963\nstate[joint_eff]: [0.2803, -4.547, 4.8889, 1.8388, 0.0024, 0.0904, -0.0073, -0.253, -2.2359, 7.0359, 1.9267, -0.105, -0.1392, 0.1001]",
      "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]: [0.1429, 1.4227, 0.3439, 0.2932, 0.0219, 0.0284, 0.9968, 0.1772, 0.9592, 0.8101, -0.5373, 0.041, 0.0444, 0.9964]\nstate[eef_state]: left_x=0.3209 left_y=0.0459 left_z=0.0112 left_yaw=0.0911 left_pitch=-0.2222 left_roll=0.0176 left_gripper=0.9968 right_x=0.3062 right_y=0.0511 right_z=0.1949 right_yaw=0.1164 right_pitch=-0.1237 right_roll=0.0239 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -4.1641, 4.5744, 1.6728, 0.0415, 0.0024, -0.0122, 0.2256, -2.7145, 7.5282, 1.8388, 0.0806, 0.1001, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b8e3e7ed049efad61bf6aa859c3292f53cd6ffb8f9a081a1ee17f737570040b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97288a701018970fd25f28f4bc309c11fb4282af0233ef46fc5ca9d19c5ddd63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65d73fd161838054d717aba523fc6498ee095108a5ed746c8197fbabca5617ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+gcKEAgSGAI4AUIIdGhpbmtpbmcSDBQc9ydoPxEL+hOQghoM506A2NVfyhTnnsm8IjBMnu3viKczDcyRGcBvu/sIrY6d1Hl1e+UIdtGBBrTI7us31NCKKOVPTEn1KENQatwqlwcEJ7b+2xXQdUpr/KywYGg8vECrKsEM5FYGAyAVWE1wYbs47sQZdPVicZM3Ummjqz8Spgb8wHWZN+h340csehKrv7L13H5PoPaLinwvXWSmgQ4brIIrn9X7lAfsvK6aXEOT6HkJ/kTzZExHD2CQ/QZWYV3s0V3t9PS90qasDcYUia7Y3HpwQy7RH/Rcsn8STf+jqKD5jJChw2OmWNZH/85RugJDp7p3po7igR5W3mA55jDn9hmDqDLoPX/MdehMff2YrzXX6mIzJvZhhxXAFejyaa1eoV91a7asdhPa8iriK3hlQ67tuNY3Ru2p/OF9+U8OokLxOxegomLreCSh4zNXRa86mW/yC3wuT3778OpW2L1ekY+MX3Ht60HNdjzcdY62DqDXhENWqzOaa9FUOcAufj9T29bvgkXEUjG4/Q97+d4mKoBQcoV57Zw9onN3fUuLuEmx+QCrD+XWdIHmlH7KO5vgS66QKJ8NpmjHth6hggYSaNJVkU3E3oLnVGZfmTo0xbZtpRI6YsAqPCxQclTT+daSDczufsqFJumzVVyPMo9qtDHR29iE8CLLGpU1IOA16VTxxdZ6CRhDD2sZEy0rDnirqnUH5+cpW4cuB03ZTpTp5kwy9rCHtbIAWmFQtG8Y+tqEvXBtz6WhAmYXZt2UjYezZpqNgfy0NpblEXFX4HnU74NbBepwPlSci++Xyv3LRDslzyxhNQT2pHA5Sl6gk/JM+WGp37WmANxDNSZb5/Ff7+PNrXJKfI0aRa1L5H6VHbvaTJiV7DoV7vrL36a5oOMyEWr6Lxc6+EKS/BWJFzi+jIwyRjwhTD3okyDYDbiPyav1qRebFH0AC6BudXU0gJvR1PQIVwEPubMbzCyL1uUy0ktwdVGaCoerejHxxPmDMXn4eM1Z2D6S5oz96/Y4KKyLFfeN2UlMN8v0J81Hij/KxaW+bZyAXiThdWRX1dPtOT6cqeQVPTMO/Pgos3LfzyRWYPysv0qZ+Ze4M//brPzlXPebfubbeobXmf9bPQg1qi7c/jyPqjk3tGp8kgdwdhNW4c+Nm/5Sol86POw/w2ybyKUTvshorQ7D5HBscEADvR9Ug3TuakWp9P7XaBZ6dRW6qJ4/O2b257mCRflTE2i9z2Ot6mf9aZI4CH9mUfyX8QAyHtv63Obv15/pwD6TmtdIZD75H5tpgLmXQZUBDrFMLKhvd0YQ8PJkYCnlGbJLATuIKAjmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FGMcCFED94Y4t5ZR879zfQ",
      "input": {
        "note": "Plush overlaps the left jaw and I'm at the fence-side y limit; closing to pinch it.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FGMcCFED94Y4t5ZR879zfQ",
      "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]: [0.1589, 1.4326, 0.3439, 0.308, 0.0566, 0.0715, 0.0126, 0.1768, 0.9596, 0.8101, -0.535, 0.0402, 0.0433, 0.9964]\nstate[eef_state]: left_x=0.3225 left_y=0.0452 left_z=0.0109 left_yaw=0.0536 left_pitch=-0.216 left_roll=0.0243 left_gripper=0.0126 right_x=0.3066 right_y=0.0512 right_z=0.1953 right_yaw=0.1173 right_pitch=-0.1218 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -4.3692, 4.547, 1.6044, 0.1245, 0.0366, 1.0232, -0.1983, -2.2769, 6.9538, 1.5849, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61b6adb2468021bccf3a2f1d0c0707ca9a80a1c08951137309296a89c2d6d8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e48c645400fe2ee94b26a2f71585a53459fe21647eceb9e47db44aba535f1a8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dd562b23033c88ae7e7ae99cf12b98c55dce6c8439992eefd6c1494a6f80f98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.044 s
model
claude-opus-5-5
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]: [-0.0544, 1.3499, 0.3553, 0.2134, -0.0883, -0.0776, 0.9968, 0.181, 0.9543, 0.8154, -0.5137, 0.049, 0.0578, 0.9963]\nstate[eef_state]: left_x=0.3213 left_y=0.0017 left_z=0.0238 left_yaw=0.0473 left_pitch=-0.214 left_roll=0.0201 left_gripper=0.9968 right_x=0.3101 right_y=0.0516 right_z=0.2034 right_yaw=0.1065 right_pitch=-0.0896 right_roll=0.0318 right_gripper=0.9963\nstate[joint_eff]: [0.2803, -4.547, 4.8889, 1.8388, 0.0024, 0.0904, -0.0073, -0.253, -2.2359, 7.0359, 1.9267, -0.105, -0.1392, 0.1001]",
      "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]: [0.1429, 1.4227, 0.3439, 0.2932, 0.0219, 0.0284, 0.9968, 0.1772, 0.9592, 0.8101, -0.5373, 0.041, 0.0444, 0.9964]\nstate[eef_state]: left_x=0.3209 left_y=0.0459 left_z=0.0112 left_yaw=0.0911 left_pitch=-0.2222 left_roll=0.0176 left_gripper=0.9968 right_x=0.3062 right_y=0.0511 right_z=0.1949 right_yaw=0.1164 right_pitch=-0.1237 right_roll=0.0239 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -4.1641, 4.5744, 1.6728, 0.0415, 0.0024, -0.0122, 0.2256, -2.7145, 7.5282, 1.8388, 0.0806, 0.1001, 0.0024]",
      "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]: [0.1589, 1.4326, 0.3439, 0.308, 0.0566, 0.0715, 0.0126, 0.1768, 0.9596, 0.8101, -0.535, 0.0402, 0.0433, 0.9964]\nstate[eef_state]: left_x=0.3225 left_y=0.0452 left_z=0.0109 left_yaw=0.0536 left_pitch=-0.216 left_roll=0.0243 left_gripper=0.0126 right_x=0.3066 right_y=0.0512 right_z=0.1953 right_yaw=0.1173 right_pitch=-0.1218 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -4.3692, 4.547, 1.6044, 0.1245, 0.0366, 1.0232, -0.1983, -2.2769, 6.9538, 1.5849, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61b6adb2468021bccf3a2f1d0c0707ca9a80a1c08951137309296a89c2d6d8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e48c645400fe2ee94b26a2f71585a53459fe21647eceb9e47db44aba535f1a8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dd562b23033c88ae7e7ae99cf12b98c55dce6c8439992eefd6c1494a6f80f98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQsKEAgSGAI4AUIIdGhpbmtpbmcSDBWLLEXqilFX9j+mhRoMO5RyZpeJeuE6ii4VIjDw79bMfmxExxpL6PB6gvjk2fMRjUUrA8UeBANzIMe3N1yUa6LO+2YHfG6OWjYSj3Eq0grrCXO6+ggH6ZKBPRwRqRYhErpX6CbPnb/uS+8MqylJiSaI/wx7ZjpaOQ/LxnSkbg67bYTh9sRUGs+SiE7uYwQNljb5DyC7Xv7InnmNNLWSyP0GjMzzxOt7Vrl+PBp4+0CT1kS9BVtGZZFPil2KtkGVV4ZhiNJ0hscJEVwcGesKDH1jCOUbfV1ghtzmAS4W+Wn2F0/25s7jHMOmDQPPu9LMJgg90LaGpPHWWAuSF/mUCGfOh0NBC/uh68KR96OvrE9hf3cO+hYmsfGmVDa1PhhaXXqS37t0juUxYzsQOvoIUoizVMJy+NmwY6pWvSNINs/vDQ6nM9qb4l6Cb0BoGlb6RV9rsm1yvf9Cyi5SrnCAYIeQJo7XH7WrcBiSrPMfC9ZRqqtsDXsPXA8/lnYyfC2MPpWy/3KF0N14QVP10ZsueH2k+fJCMNzLjyYSzMDyNAQIKXGis2+pWbgTx/3zkh7TgwX7GX4mkZthkFX5eJlD6+FROKm0HaDgJTF9LqN+uYeQCBMPwHKRrObIN03HDJQvKzyx8aLVjVXt8PZFLMhs6mvHsgDBC4F9kmn7+nhzO/vkUXk3YuDWXqL2L6HwD/kLoPn/QWQ6bhby0CnbCrZ1IUu7mENurGTOcwcFS8AkIKRzapT3HvOFUvqbFIxc41TRMbtOhYIvvj2NeMTzXLnKx911KE8mCj/vB/SAnCxJO2P8rYCpybsgdTSj9dI3gqDy3ATMsSTX31Qr0WEMVSFUUKryo7Pt/rgceJVMm4tWv//5GDQGK+0AQJbC9peAhYFNtdHT5lSblLyA/pKBTeqVPTlN3T3eL4oIOy67qKCuWbECbCtsIvxj9X5XtbW1z9F8A0SQ5GzcW4z5gB0TfGDEw+RUPlIrX5tyQc2KmlminEThEHqoobfHRvDl/WD6Bp/hp5CAfD8GswRBLv5qW18wubFQnZ7MdsSpaloVB7rJYrNowS6IPqX6Fg78mCPv3XzYXtaN52WVO2nMroYVfkdP3JLM432BbiUZ2hK0sdNq/bFwJDF2Acj473kx6UmwiQI6167b7EXw3CwYOixUSuJXowQCKg7V6RkV/Z971zJ+SmjoNamuyN3AIjy6jn6f+VPqFRuwgVfP0VlU7ulOOTMNq75b79/TWaKMxssBWMJ1YbMya72nlq/nJk749PTLp11Z4ZPOwg4SkfcyqpcOaOxx5WdjtKLJRqTEz/qg6igtYI5A4C/30hTdSCwsnnxDC3Bjyjhm7Px2sq1e5kgprD5+hlxwI1+u7mwGMJU6PqThvZx6qZ9RPh2bFjSWdRGzlfsp+2dfy2tk6nxGoUUdkkRDa1UbSM7evqPkAIuWuGi/ZDXqIQc9DCp/ahxyo4rMu6R4Tj8ZlvyHXDRAT8tqUXrLV2C+jKaZG2/m+kbgGgAQX/VbTPb2dNJcUrlO8hEwNAMcyW5+Co8jN2R0F2QKx/pqk6lXLqYNKAbkQNtZNENHLs/jvS23zHKtzo+9h/7ZApJegaYxGG0PqY/qKtd8jL/rO+Ld5LHJBoNzt2QaKB/2FjlBzJKql8C4WVPXdb96/wDRK/Hoxay8UsUroELWqdA1jdI5xyoXO4Vr0KI/1aCFKFIZaQT7Q7sMPF9IHKwrb13PjWK38OLBPiiGSvgUs5T8So2RcCtBGzeUk/6whPz6lJ460f5DCwy8fo4aXzG1W1r5WFh8xm8xsDjmiT88Rgc47bbMJdcypju7MBsZr8ldj+R7Xq33fb7osoNyhURvwJ/O+w/HSYxjhyUaVU1gS7Nto6ldFoH+hsYZyc76mGjrjpEJw81vru148jtsmwSFmyKhbgAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FYfh8CSGpNTFt5TG27CSoU",
      "input": {
        "note": "Grey plush is jammed against the left fence beyond the arm's y limit (empty close). Switching to the teddy-bear cluster in the centre: moving the left arm above it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.28,
          "left_y": -0.28,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_01FYfh8CSGpNTFt5TG27CSoU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0821, 1.7039, 1.1805, -0.6552, -0.6857, -0.9958, 0.9984, 0.1764, 0.9604, 0.8101, -0.5385, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.2786 left_y=-0.278 left_z=0.1122 left_yaw=0.0364 left_pitch=-0.2335 left_roll=0.01 left_gripper=0.9984 right_x=0.3062 right_y=0.051 right_z=0.1944 right_yaw=0.1167 right_pitch=-0.126 right_roll=0.0237 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -7.4872, 8.0479, 0.6764, -0.6764, 0.0708, -0.0317, -0.1299, -2.3316, 6.9812, 1.6923, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184ba3c2b25855d9399015ed7b0e6bda1a5c319f1b2261ae1a0df1ce3c2bfa34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b78f895cedf6ed9afc3604accfceaafa2e5ebb52df73d66e5b99b79deb069722",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4bf9ce97168b04bdec01a82752edf6e7b51a15908ad69648ae754c2f88e8e1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 3.851 s
model
claude-opus-5-5
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]: [0.1429, 1.4227, 0.3439, 0.2932, 0.0219, 0.0284, 0.9968, 0.1772, 0.9592, 0.8101, -0.5373, 0.041, 0.0444, 0.9964]\nstate[eef_state]: left_x=0.3209 left_y=0.0459 left_z=0.0112 left_yaw=0.0911 left_pitch=-0.2222 left_roll=0.0176 left_gripper=0.9968 right_x=0.3062 right_y=0.0511 right_z=0.1949 right_yaw=0.1164 right_pitch=-0.1237 right_roll=0.0239 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -4.1641, 4.5744, 1.6728, 0.0415, 0.0024, -0.0122, 0.2256, -2.7145, 7.5282, 1.8388, 0.0806, 0.1001, 0.0024]",
      "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]: [0.1589, 1.4326, 0.3439, 0.308, 0.0566, 0.0715, 0.0126, 0.1768, 0.9596, 0.8101, -0.535, 0.0402, 0.0433, 0.9964]\nstate[eef_state]: left_x=0.3225 left_y=0.0452 left_z=0.0109 left_yaw=0.0536 left_pitch=-0.216 left_roll=0.0243 left_gripper=0.0126 right_x=0.3066 right_y=0.0512 right_z=0.1953 right_yaw=0.1173 right_pitch=-0.1218 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -4.3692, 4.547, 1.6044, 0.1245, 0.0366, 1.0232, -0.1983, -2.2769, 6.9538, 1.5849, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0821, 1.7039, 1.1805, -0.6552, -0.6857, -0.9958, 0.9984, 0.1764, 0.9604, 0.8101, -0.5385, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.2786 left_y=-0.278 left_z=0.1122 left_yaw=0.0364 left_pitch=-0.2335 left_roll=0.01 left_gripper=0.9984 right_x=0.3062 right_y=0.051 right_z=0.1944 right_yaw=0.1167 right_pitch=-0.126 right_roll=0.0237 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -7.4872, 8.0479, 0.6764, -0.6764, 0.0708, -0.0317, -0.1299, -2.3316, 6.9812, 1.6923, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:184ba3c2b25855d9399015ed7b0e6bda1a5c319f1b2261ae1a0df1ce3c2bfa34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b78f895cedf6ed9afc3604accfceaafa2e5ebb52df73d66e5b99b79deb069722",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 358):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4bf9ce97168b04bdec01a82752edf6e7b51a15908ad69648ae754c2f88e8e1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wcKEAgSGAI4AUIIdGhpbmtpbmcSDAbIrHdI0S5ClJ9GDxoMIJm6o3a6AOl2P27ZIjAIb/D9ceU0Y7bSsu8VS0lWgMMZF05/2VkxYjFrGBhv/z8RBRWWmtGiz/Zb863LbOgqhAcpGXimoEy6Yqe3RPLRUSj/KJIjfYWnIugj3Jck4Xr2ZsfVLzYUyRoJzV5gyXy5ZACmJAUGQv6Xs9FVcaTF10LzEwHnMWGEsYwTGv9evVmYX/9YYzuYc28nOb1+j8CN0UXRLz1XogyAg9OtUSt5l0oGxNe2IRC94FyHt0uqKU1VnaZVQcoGNxxNKT4cAwW5AxCA16gLIqFqWbTgKOnzk3QOFLVxzb7Kik6CXg70h7PpLnLKf77M7MzpDSqNhW9ZRYWw9bAc81z7gsk3s9G89BdWhsa9p2VLwXgmoQhIvb7oAn5bM1gFMV4DYx17Nt4dW7rX14A7cf4XzWsg1b1C6HNb5fwodVE0mQzIOhJX2zuqXlMJxFcxsMyXPjPQpWpmDhgLfbz9NiKlPNAnxeMy13wvJkvFXeSpSSTjEXEgfiP/6zrjTFjJZliwgq7Tz/i/E3B64OH96SVG0CdJByda+CUTNsjt49gpM6xmLeFm09bBpw1csucTxeOy+ZqdKq/53ZnCK2Rk27xdshBPTfeSWRCnUNI2Rg957iq1XBE5YvASb7Hg0f36/c3hmwjLDU35J0ZM2ODflpojYnzljOuljCrYt9vg/tmQBSBD1LM91lMaJE2nwrLf6dVps1f/DeM3UUlOuVXvxSw2KwkVB1lDR6dqXLuk0UfBKQXeVopxvsokzl6z1FGQIsdaumMIPKaTjIoiOHTNUL4GGT+/v7kHHcR0ebqNMcD0mOjSkUUsijw+brNWTMRvx7ydZ3LDUFqsPYPSa4psUKKdQ598WRYrafDyhV6wSA5NZy4kN8cfq0QYRq0vR8RPo5vvi3IRLGLyUDxFPxu/JIg2KriFCHYd1kcgBsDzspbRc+K7RHIU7wjsz8KUTCG2W9JFlXDzxHY+Kien83hEYHTor4IWdc0lxQqF3shgiRd3MS8OX12PJXV80E/rSj8GzhsbMjBo9upoRkvHfgjlp+crVZb3oJ7SWMKB0jSM5YIxxMy1ncbmU2QoMyR6TGPxbFncybdzCesXsELr4aKhD9rIDwntM4Hezr51d2llbfQpsWW7SfS8he6CB1eWEYkmY4LQnE5c8L1CN6leXihEHgF21sR0cuAsji+yDGX/EnxniLcNO571LeSQjIRXwyr6PsnhJpxG81OgWQcM/46esKFnZXXLbU41JwuhoJNwCUlbfBgpR+jB24TSLy2QNncYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MxomhNeV4zkqrN4ZXx2jVc",
      "input": {
        "note": "Teddy bear sits right between the left jaws in the wrist view; descending onto it and closing.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.3,
          "left_y": -0.285,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MxomhNeV4zkqrN4ZXx2jVc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0374, 1.8717, 1.0653, -0.3565, -0.6765, -0.9539, 0.1106, 0.1761, 0.9604, 0.8101, -0.5388, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.2984 left_y=-0.2808 left_z=0.0382 left_yaw=0.0502 left_pitch=-0.2346 left_roll=0.0219 left_gripper=0.1106 right_x=0.3061 right_y=0.0509 right_z=0.1943 right_yaw=0.1163 right_pitch=-0.1264 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -7.5145, 4.9162, 1.0427, -0.2173, 0.0562, 0.7888, -0.0889, -2.0581, 6.9265, 1.6239, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2402faf83f8c74e24d5e66e24ab8000164566754d749e69d82726fae54c3fba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91d76663399dda9aa36ce64f50c9423e2f37c031f0c9ed8fe706804df0435158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b804e1db19db22ec15625ee9d9e817fe12b12f73e453bb1bcb1930fe2172a4c",
        "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 · 4.757 s
model
claude-opus-5-5
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]: [0.1589, 1.4326, 0.3439, 0.308, 0.0566, 0.0715, 0.0126, 0.1768, 0.9596, 0.8101, -0.535, 0.0402, 0.0433, 0.9964]\nstate[eef_state]: left_x=0.3225 left_y=0.0452 left_z=0.0109 left_yaw=0.0536 left_pitch=-0.216 left_roll=0.0243 left_gripper=0.0126 right_x=0.3066 right_y=0.0512 right_z=0.1953 right_yaw=0.1173 right_pitch=-0.1218 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -4.3692, 4.547, 1.6044, 0.1245, 0.0366, 1.0232, -0.1983, -2.2769, 6.9538, 1.5849, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0821, 1.7039, 1.1805, -0.6552, -0.6857, -0.9958, 0.9984, 0.1764, 0.9604, 0.8101, -0.5385, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.2786 left_y=-0.278 left_z=0.1122 left_yaw=0.0364 left_pitch=-0.2335 left_roll=0.01 left_gripper=0.9984 right_x=0.3062 right_y=0.051 right_z=0.1944 right_yaw=0.1167 right_pitch=-0.126 right_roll=0.0237 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -7.4872, 8.0479, 0.6764, -0.6764, 0.0708, -0.0317, -0.1299, -2.3316, 6.9812, 1.6923, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0374, 1.8717, 1.0653, -0.3565, -0.6765, -0.9539, 0.1106, 0.1761, 0.9604, 0.8101, -0.5388, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.2984 left_y=-0.2808 left_z=0.0382 left_yaw=0.0502 left_pitch=-0.2346 left_roll=0.0219 left_gripper=0.1106 right_x=0.3061 right_y=0.0509 right_z=0.1943 right_yaw=0.1163 right_pitch=-0.1264 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -7.5145, 4.9162, 1.0427, -0.2173, 0.0562, 0.7888, -0.0889, -2.0581, 6.9265, 1.6239, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2402faf83f8c74e24d5e66e24ab8000164566754d749e69d82726fae54c3fba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91d76663399dda9aa36ce64f50c9423e2f37c031f0c9ed8fe706804df0435158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b804e1db19db22ec15625ee9d9e817fe12b12f73e453bb1bcb1930fe2172a4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsggKEAgSGAI4AUIIdGhpbmtpbmcSDL7y13eUeOlar9kCbxoMd5bmHH23sfgnrL1SIjDw+J0SZvZQ/4PusMXBo4Nwu8pgswaP1ZU/A+FdYF8lDop7LE0XXGXYopKR0V6HjL0qzwffyhK3Szw8wYw+WUsXQ5SuoAUa8MkRYOvrL1MbFwZikKidXLRRiX3yrm/SZEpFJnzwymTTG0644h1I9RzGmznP8WTMxce9gctCc6RRqYdBRyNkbT6nVupuGAtOmNZdPP4svpBlZN3yNF+xzxj32mOl4Lgitbnmqj3dz0gXqsolNApijP7h7iAv9YxeNunpxMoUZMLAfMdzZlxZ0TZyBwHsRo9pbNK+Abn6XRd9MIm5TLYDIaaykuxalPWqRznY1qlQUi/p0BO5DFmzBx6L3guQc3XX2OFVkJnIRHRTsaM1MT1lxEETHceFRno5Y4b6l5ztG7KvGxmi/9XbpkkkB5p74vQjyOnydpqNAKmqiFYPa6c0MwLtsKhw66hamgJvvLxYsPzaF61drAHR897k0h8T2eWxaDQ0q3EMIlJgKUyppgeUM0UvCZBaRG2ydPkz08mGk1Gd+O0fGdwCMOFP9oAAKbKFF1eL6LoPmzareHLZ+exiovro6GcaUffMBIMtKV40xXhQwAeI0mslZIU/SO/gST6ey18606A0fKfmnNjJRTOx0HdYLhZgQcbnl78mNtm7Z2HDVSx6o0qaEN3VM+R5pIhOXxarsC4+Uv6LgBd54pRo9aoxIn63TANoD406gT5LwPi/0jX1O/WLqsp6QvhnL1n5eaUoA4dNNn8tFu+KpCTRGt+DaU4Syx4Tcoj1twjVNBvCGG2H/Ed5DYFttToHrVgyuqkTZwXUnwSWYl7UppmVGBjDKM2QulImE2XNdHQ1kAzcgfHyfBwUk4xJtyHW/fikr4zKc4+oVOej6Pss0E6W18sAb1dFox5i/VqivZU5AAH9VQ9Cxc+Y4fde/oOF3sqelYJnLhgZ0/VBG2n8CPlBV6oTfqtZM9WRkdFOCJ60HoZ9Np32gi20mDvTo46H4NqPsyLkReMLCG9Y+bXFSwolQpfqUgMg2TxlCctUz0ep8puXbKYek9fKv4zkAbIQCSMoO4LU9dXu53h7mJHGEFzvJL8EBP8yYywlg2FoHkQhJmE16khISq30PGrTgZz9h30yi0u6k1IMeC01JE2K/nPcsMYJbmNqPIbIqOoKJYo19jD7S7/Kw7qfFV/+J9UNR+n7mHBz2GIUtVwbBOo1mwv5ExDB6+lC6sgcw93irDyAwzN8JER1HN4KSwrVbyOHsr6lO1+gx+aWUVZf1TRCPIHaJ2jW354UyDnNwOU1jfJNv1hKSfg+DF3d8rqeCRQGNqGq/59jKrLXhDZkRcBe/MYWe3nMd98VNhVmW3T1knkByxkMFWkby59gdLl8uHYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KUTuQxoYV16dSHtM9WSDs9",
      "input": {
        "note": "Gripper settled at 0.11, so the teddy is pinched. Carrying it high over the left basket.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.1,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01KUTuQxoYV16dSHtM9WSDs9",
      "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]: [-0.3359, 1.6966, 1.5093, -0.7044, -0.2939, -0.3534, 0.1128, 0.1764, 0.9604, 0.8101, -0.54, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.4479 left_y=-0.0984 left_z=0.2013 left_yaw=0.1007 left_pitch=-0.2768 left_roll=0.0058 left_gripper=0.1128 right_x=0.3059 right_y=0.051 right_z=0.1941 right_yaw=0.1167 right_pitch=-0.1275 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.0889, -7.5145, 9.5385, 1.6337, -0.2173, 0.4029, 0.2173, -0.0615, -2.2906, 7.1453, 1.6093, 0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f710f06ab5d850ffc8b093d3103c9b1b1276377ac097eb52d896c00b44a118e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb1b853c04b0417133d4a08780180180bc0a2b3e0eb0cb3ccd29f06e3399199",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b33c18806b7b387f2a438832053bd306a001eb580c8eac26bd137863c61debe5",
        "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 · 3.155 s
model
claude-opus-5-5
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]: [-1.0821, 1.7039, 1.1805, -0.6552, -0.6857, -0.9958, 0.9984, 0.1764, 0.9604, 0.8101, -0.5385, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.2786 left_y=-0.278 left_z=0.1122 left_yaw=0.0364 left_pitch=-0.2335 left_roll=0.01 left_gripper=0.9984 right_x=0.3062 right_y=0.051 right_z=0.1944 right_yaw=0.1167 right_pitch=-0.126 right_roll=0.0237 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -7.4872, 8.0479, 0.6764, -0.6764, 0.0708, -0.0317, -0.1299, -2.3316, 6.9812, 1.6923, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0374, 1.8717, 1.0653, -0.3565, -0.6765, -0.9539, 0.1106, 0.1761, 0.9604, 0.8101, -0.5388, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.2984 left_y=-0.2808 left_z=0.0382 left_yaw=0.0502 left_pitch=-0.2346 left_roll=0.0219 left_gripper=0.1106 right_x=0.3061 right_y=0.0509 right_z=0.1943 right_yaw=0.1163 right_pitch=-0.1264 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -7.5145, 4.9162, 1.0427, -0.2173, 0.0562, 0.7888, -0.0889, -2.0581, 6.9265, 1.6239, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3359, 1.6966, 1.5093, -0.7044, -0.2939, -0.3534, 0.1128, 0.1764, 0.9604, 0.8101, -0.54, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.4479 left_y=-0.0984 left_z=0.2013 left_yaw=0.1007 left_pitch=-0.2768 left_roll=0.0058 left_gripper=0.1128 right_x=0.3059 right_y=0.051 right_z=0.1941 right_yaw=0.1167 right_pitch=-0.1275 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.0889, -7.5145, 9.5385, 1.6337, -0.2173, 0.4029, 0.2173, -0.0615, -2.2906, 7.1453, 1.6093, 0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f710f06ab5d850ffc8b093d3103c9b1b1276377ac097eb52d896c00b44a118e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb1b853c04b0417133d4a08780180180bc0a2b3e0eb0cb3ccd29f06e3399199",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b33c18806b7b387f2a438832053bd306a001eb580c8eac26bd137863c61debe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwkKEAgSGAI4AUIIdGhpbmtpbmcSDIzm7RJujZofKF3MYxoMi7Wq6i0knw9SyF/OIjBL75YYxtSccW2p1zkbbsrPqDEtfkqqYPASpcMDu8OgxPM/aZGnyb7Q1BQp+mxRaxEquAjRKbu0lIqvR+229uMq7UdJfKVHK15GYKjukkmQh514vPm8fh+hjPSPd65EWh0aFlYOWth+N/RQFepq3KL4gfSsYkQrAkCV1IRLjOQGb3YZq/TbmkYVDdr0tT8JDjgPKwwHAkq+3MmlPxno4U0n1qU/5b/q0bPAhozG2doOOX1GJN/DKMuQVJPbGiu1Pfy5inNbUA+P7JFW22imwVbx5tPPnEQEHoBQLjlDJetYU3QvtZQFuFBAOjSFdnXVP8YUAk108QxvOcx2lVTmWGCNRSCSnXxd47U6a7bTBvIue+fXJedGEBWU+vJOXCx1I0EjlMK+7o/5szmzFnutaeJ2A5ApTslyZ+Eij3mWKWfPhVrJwChcdlNVC5tm0bnghtujD/owCZgXDTUx5KsJFk0XAOGuU3EUUY3YTblEN3va/9Ccd/ekHHknDMgO3IGjcOJSeg9fQ4/eX+alUwnQphYDZYtfoboTE4SFB2sM1W/JGRT0F42ZfDr2fim+ZYieV1VkwS4CaAPYWcDGu8Ykvgvg/jun4xSm6PP0piW7i5z42vgjq/IzDrPISoyZO6vFKDuv+lFqhKIC3d5ck8qzJsb6aKIycTbf4PgFiJ61KvxlVdpmMdZCI08XO4EIobJKVlH0XkXRliXe/go57/5dZJWBypgqoZqPZ1XouyvYi50LjOtp8cstnXzv/oiKKl3POBxxB+UCOyNYpuFtSRgN8Ucyf7tECJhUUnH0KnPCPqXZbImNwBCQXV0o69DQ7LFOxU050aYDG12VsqsXQTkMq7GyahlucEl2VAalMh3TLGh91H3Idf2zsqFkOPXCUMV9dDx79zo03oFKhokUy8Raq9HN6LtQVtcuE5WfkF02nEpei5Bg+PwB2xWyaOnmsxEzUaDKwa3xOyOWcybfgaVhAkMkhnPwpQ67g3FcHXeIhFnN4PE5awzWPBipRhjk8REOlErKPCIcrrG1Ye3mD8tsB/Y0nK9tNFJQPkxpD9RJakyuvxI3ZxYdHRMDllXrPaf2uEMxnbodLVGJdg48LwceqHNP/HqQ+evtSK8TFrQAhyCH8gBUTAqPxDmH9ZF1yklYuFu/4MhXgP4OOJZkniMR4UdFvCJo2gEL6UV91Z8KwrFx0c3ROoOy9KCnbHwlzpQvNHXiQA+boJi8gqvdv/b05zkbelXYH1DE7I2ZZ70za/USS4po/rhOQgwuPVBpNlfeZS1EZI6iNwOmbnRBps+sdLp1NDczgCpAfUhakZo4n/4VWCfozg/7z0FqC2XHwtPH/PrhPpZAV8wIzmkNbM1WOw9JlkUId8f5I7V33v/29jec3WJZC+q4VCCd0UI5vm+XrqPI4LO9LSOdZKv7gQLRzbIUC9RVaJcnfarxjzqluE68odFxW1L0TwsucJ7WNN7GJYBKew7S7xW77X5QliRNyV2wdkKpSoojJoaCF8QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BHBCKVN7XreoxYAp3WkHdk",
      "input": {
        "note": "Teddy is dangling just in front of the left basket; the wrist view shows the basket ahead and to the left, so moving forward and left over it.",
        "targets": {
          "left_x": 0.53,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BHBCKVN7XreoxYAp3WkHdk",
      "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]: [-0.1688, 1.9488, 1.7813, -0.7841, -0.1986, -0.2745, 0.1145, 0.1764, 0.9615, 0.8097, -0.5419, 0.0402, 0.0433, 0.9964]\nstate[eef_state]: left_x=0.5094 left_y=-0.0478 left_z=0.1777 left_yaw=0.1495 left_pitch=-0.3611 left_roll=0.0075 left_gripper=0.1145 right_x=0.3057 right_y=0.0509 right_z=0.1932 right_yaw=0.1169 right_pitch=-0.131 right_roll=0.0231 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -10.6735, 9.5795, 1.8144, -0.022, 0.5006, 0.1636, -0.0342, -2.359, 6.9128, 1.6142, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61125323976ea36366f5ac5ccbe8df9a414e1750ae752184e8561d14ed45266a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:067c508593f316a481cf4206fa424e6fc0719174797452471ec18ef7de2dcf2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:268322877c708129d7c1b4a5f1c68e4cebc6ea6bfcbcb39949560e901bf575c1",
        "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 · 9.949 s
model
claude-opus-5-5
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]: [-1.0374, 1.8717, 1.0653, -0.3565, -0.6765, -0.9539, 0.1106, 0.1761, 0.9604, 0.8101, -0.5388, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.2984 left_y=-0.2808 left_z=0.0382 left_yaw=0.0502 left_pitch=-0.2346 left_roll=0.0219 left_gripper=0.1106 right_x=0.3061 right_y=0.0509 right_z=0.1943 right_yaw=0.1163 right_pitch=-0.1264 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -7.5145, 4.9162, 1.0427, -0.2173, 0.0562, 0.7888, -0.0889, -2.0581, 6.9265, 1.6239, -0.0464, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3359, 1.6966, 1.5093, -0.7044, -0.2939, -0.3534, 0.1128, 0.1764, 0.9604, 0.8101, -0.54, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.4479 left_y=-0.0984 left_z=0.2013 left_yaw=0.1007 left_pitch=-0.2768 left_roll=0.0058 left_gripper=0.1128 right_x=0.3059 right_y=0.051 right_z=0.1941 right_yaw=0.1167 right_pitch=-0.1275 right_roll=0.0236 right_gripper=0.9964\nstate[joint_eff]: [0.0889, -7.5145, 9.5385, 1.6337, -0.2173, 0.4029, 0.2173, -0.0615, -2.2906, 7.1453, 1.6093, 0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1688, 1.9488, 1.7813, -0.7841, -0.1986, -0.2745, 0.1145, 0.1764, 0.9615, 0.8097, -0.5419, 0.0402, 0.0433, 0.9964]\nstate[eef_state]: left_x=0.5094 left_y=-0.0478 left_z=0.1777 left_yaw=0.1495 left_pitch=-0.3611 left_roll=0.0075 left_gripper=0.1145 right_x=0.3057 right_y=0.0509 right_z=0.1932 right_yaw=0.1169 right_pitch=-0.131 right_roll=0.0231 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -10.6735, 9.5795, 1.8144, -0.022, 0.5006, 0.1636, -0.0342, -2.359, 6.9128, 1.6142, -0.0171, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61125323976ea36366f5ac5ccbe8df9a414e1750ae752184e8561d14ed45266a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:067c508593f316a481cf4206fa424e6fc0719174797452471ec18ef7de2dcf2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:268322877c708129d7c1b4a5f1c68e4cebc6ea6bfcbcb39949560e901bf575c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3QYKEAgSGAI4AUIIdGhpbmtpbmcSDOhHnfOvMNiNEklqtxoMUQzOF4uuf9FfkX87IjAVQvy+EJep8gdj9vZcaIggkA3LqQapYB6UhrzoYurNvyAQC0dOKZEpL1iDQbACc10q+gXz04LEwmpcP7VeV4AXb6D8eslIZwyMV59BSAXjBbkSRjeWxJQlpjU9f/tNmmInYD9GIPUyDtm6m4GMPhn4yLLqQFqGPV6c4KTalp3a2DG2psZOXwLRZoLeezIxhrxLs5pFApVcAkUN1INB74zCSmyKakxJtaTEjE9UZDRlgEAQfdULBA5Lldtd7Pe/leOKu4L/tebE0PloMwqwYFybTRmU/FHul+cSlzAe0Vy0nPW+TxyKxyqn2MTM5Dp+lErjrFdFA2YpmnsXJoRnnrTciaotqhMkUJaa3yTOto//4ysHX7aTw1VB43zWoXn5ZJTP8hbKGroHyGFdMpfcqPXpsdNObMJqvqPsTd2fSOojLN3y46JwO9X+PC7YbBEy+Dpj6Pw5z2DHgO8xlxUxbECdzxHGwHWN7uGkAhDSp2bWz1EXK0dfdM+mXrQiNpYXiYj3zjM6Gjb5Ndyp9bKKq01QgHWNP1YwQ3sfhMrqEgKoUlIpluPz5LEQYCou+Nat0SoGl8wu4iParMvfr2wJfDj9rjqLZf0OqYM3b+GC+3QMekOegFUvxU4lzB6erlhtF3gKw9R6TT/oCXH6EkANdgJIKLdx9gdQrbT47nAp6ZMNo+6m5d+RPfJqx0247ss0SFfLxIk4TW4YAzQBBei9aaSrwGbpTMYbggLLT6rx5UV2fE5x3iZoE1Z3SBHHIxKOugwlPe74OoqffoFfJd0Ze726Ou/HuDMW8iZl591NX41XajAK5Zi2PlAAdWtYLpjvNR9u9ppK+xF8efkID/dlguz+VDqyfEk749Wed0XSBlcusCdEEeP6OSGAO4YwOWFiy3Q4+/zN6JTyCW1rNqne94Djar4yJQuzup8GHvU62A3o5Gm+HVTPY1rUbPx53lkawKx8lRxa46QnHzF1T/CxTxgmo4v4mHjB8ganz/JAXBlmZgSiyZBvKcfriY+pstKYOEjMAbiQ9Xyxx4RBnECznaP7ek9EUfoDkUdvKvQ1AGEmeXV5dAjmJJt/MzzL1bUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K86qHTpXkgwvhj133Q3ZtU",
      "input": {
        "note": "Top view shows the teddy hanging over the left basket; 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_01K86qHTpXkgwvhj133Q3ZtU",
      "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]: [-0.1688, 1.9694, 1.7844, -0.7979, -0.1864, -0.2878, 0.9955, 0.1761, 0.9615, 0.8097, -0.5419, 0.0402, 0.0437, 0.9964]\nstate[eef_state]: left_x=0.5083 left_y=-0.0498 left_z=0.1666 left_yaw=0.1504 left_pitch=-0.3939 left_roll=-0.0007 left_gripper=0.9955 right_x=0.3057 right_y=0.0508 right_z=0.1932 right_yaw=0.1163 right_pitch=-0.131 right_roll=0.0234 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -12.4103, 6.4889, 1.3895, -0.2271, 0.0757, -0.188, -0.0615, -2.3316, 7.0769, 1.6044, -0.0073, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ed9e8b32eac595bcc4a177762dcfbe92b5aa9f4e20148a673f791658f8881bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 401):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:835ef774b634a7f4567f40481d5d1c747dc4aba9362aeab0bc6896342f1b37a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 401):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2fb946b2b9285619191b19fdb615b78721da18ae25eeee58329d9428d44f318f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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