adhoc

completed
2026-09-22T22:26:33.291524+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
312.8 s
total steps
466
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 noteScene: two teal baskets at the back; objects are plush toys (teddy, small plush) and pens/markers (yellow pencil, two markers). Classifying as plushies vs pens. Left wrist cam shows the yellow pencil straight ahead of the jaws, so I advance 3 cm and lower toward it.
move_to
left_x0.3300left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3798, -0.0219, -0.0189, 0.9996, -0.0208, 0.7986, 0.6106, -0.3779, -0.0189, -0.0254, 0.9992] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0008 right_z=0.1822 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.4718, -1.6479, 9.4154, 1.7949, -0.0415, 0.0366, -0.0562, -0.2803, -1.6342, 9.7846, 1.79, -0.0513, 0.0757, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_z": 0.06}, "note": "Scene: two teal baskets at the back; objects are plush toys (teddy, small plush) and pens/markers (yellow pencil, two markers). Classifying as plushies vs pens. Left wrist cam shows the yellow pencil straight ahead of the jaws, so I advance 3 cm and lower toward it."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteYellow pencil is just ahead of the jaws, slightly right of centre in the left wrist view. Advancing 2 cm, nudging right, and descending to table level to grab it.
move_to
left_x0.3500left_y-0.0050left_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]: [-0.0189, 1.2423, 0.279, 0.3985, -0.0219, -0.0135, 0.9996, -0.0208, 0.8032, 0.6086, -0.3851, -0.0189, -0.0235, 0.9992] state[eef_state]: left_x=0.3326 left_y=0.0012 left_z=0.0631 left_yaw=-0.0025 left_pitch=-0.0035 left_roll=0.0046 left_gripper=0.9996 right_x=0.2953 right_y=0.0008 right_z=0.1785 right_yaw=-0.001 right_pitch=-0.0137 right_roll=0.0019 right_gripper=0.9992 state[joint_eff]: [0.0205, -3.0974, 4.5744, 1.5458, -0.022, -0.0708, -0.0122, -0.335, -1.1966, 7.3915, 1.7998, -0.0366, -0.0659, -0.0122] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.005, "left_z": -0.005}, "note": "Yellow pencil is just ahead of the jaws, slightly right of centre in the left wrist view. Advancing 2 cm, nudging right, and descending to table level to grab it."})
tool
executing move_to over 5 steps (0.5s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteDescent stopped at z≈0.04 with the wrist tipped forward, possibly resting on the pencil area. Trying a close to see if the pencil is between the jaws.
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]: [-0.0559, 1.747, 0.2607, 1.0958, -0.0559, 0.0143, 0.9996, -0.0208, 0.8089, 0.6083, -0.3855, -0.0189, -0.0235, 0.9992] state[eef_state]: left_x=0.375 left_y=-0.0075 left_z=0.0393 left_yaw=-0.0251 left_pitch=0.1707 left_roll=0.0409 left_gripper=0.9996 right_x=0.2956 right_y=0.0008 right_z=0.1767 right_yaw=-0.001 right_pitch=-0.0202 right_roll=0.002 right_gripper=0.9992 state[joint_eff]: [0.4581, -2.947, 1.5248, 0.6667, 0.022, -0.486, -0.0122, -0.3624, -1.7846, 7.0359, 1.746, -0.0366, -0.0659, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descent stopped at z\u22480.04 with the wrist tipped forward, possibly resting on the pencil area. Trying a close to see if the pencil is between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteEmpty close; the jaws appear to be up against the left basket's front wall, past the pencil. Backing off, opening, and moving back toward the pencil which the top view shows closer to the base.
move_to
left_gripper1.0000left_z0.0800left_x0.3100left_y-0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0566, 1.7458, 0.263, 1.0706, -0.0597, 0.0078, 0.01, -0.0208, 0.8101, 0.6079, -0.3855, -0.0189, -0.0231, 0.9992] state[eef_state]: left_x=0.3734 left_y=-0.007 left_z=0.0347 left_yaw=-0.0192 left_pitch=0.1492 left_roll=0.0371 left_gripper=0.01 right_x=0.2956 right_y=0.0008 right_z=0.1762 right_yaw=-0.0012 right_pitch=-0.0217 right_roll=0.0024 right_gripper=0.9992 state[joint_eff]: [-0.1436, -5.7094, 3.3026, 2.0537, 0.0024, 0.0464, 0.8376, -0.0752, -1.1829, 7.0632, 1.7167, -0.0269, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.08, "left_x": 0.31, "left_y": -0.02}, "note": "Empty close; the jaws appear to be up against the left basket's front wall, past the pencil. Backing off, opening, and moving back toward the pencil which the top view shows closer to the base."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteYellow pencil now sits at the bottom centre of the left wrist view, just ahead of the jaws. Descending straight down to table level with a 1 cm advance.
move_to
left_x0.3250left_z-0.0050left_pitch0.0000
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]: [-0.168, 1.0843, 0.1261, 0.569, -0.1513, -0.0353, 0.9988, -0.0208, 0.8139, 0.6079, -0.3855, -0.0189, -0.0231, 0.9992] state[eef_state]: left_x=0.3138 left_y=-0.0226 left_z=0.0867 left_yaw=-0.0286 left_pitch=0.1761 left_roll=0.0309 left_gripper=0.9988 right_x=0.2958 right_y=0.0008 right_z=0.1751 right_yaw=-0.0012 right_pitch=-0.0256 right_roll=0.0024 right_gripper=0.9992 state[joint_eff]: [-0.253, -2.3316, 5.4769, 1.8193, -0.1685, -0.0513, -0.1392, -0.1983, -1.3744, 7.1179, 1.7363, -0.0366, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.325, "left_z": -0.005, "left_pitch": 0.0}, "note": "Yellow pencil now sits at the bottom centre of the left wrist view, just ahead of the jaws. Descending straight down to table level with a 1 cm advance."})
tool
executing move_to over 6 steps (0.6s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteAt table level the yellow pencil runs between the two jaws in the left wrist view. Closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1505, 1.705, 0.136, 1.0176, -0.131, -0.0528, 0.9983, -0.0208, 0.8181, 0.6075, -0.3859, -0.0193, -0.0235, 0.9992] state[eef_state]: left_x=0.3251 left_y=-0.0223 left_z=0.0004 left_yaw=-0.0209 left_pitch=0.0146 left_roll=0.0278 left_gripper=0.9983 right_x=0.296 right_y=0.0008 right_z=0.1737 right_yaw=-0.0007 right_pitch=-0.0305 right_roll=0.0024 right_gripper=0.9992 state[joint_eff]: [0.3624, -4.0274, 2.906, 1.2088, 0.0464, 0.0269, -0.0659, -0.3761, -1.7162, 7.3915, 1.707, -0.0562, -0.0415, -0.0171] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "At table level the yellow pencil runs between the two jaws in the left wrist view. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteGripper settled at 0.15 (≈1.4 cm) — pencil held. Lifting straight up to carry it; pens will go to the right basket, plushies to the left basket.
move_to
left_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]: [-0.149, 1.7195, 0.141, 1.0355, -0.1318, -0.0532, 0.1522, -0.0208, 0.8185, 0.6075, -0.3893, -0.0189, -0.0235, 0.9992] state[eef_state]: left_x=0.3276 left_y=-0.0221 left_z=0.0011 left_yaw=-0.0185 left_pitch=0.023 left_roll=0.0268 left_gripper=0.1522 right_x=0.2955 right_y=0.0008 right_z=0.1729 right_yaw=-0.001 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9992 state[joint_eff]: [-0.1983, -5.9419, 2.4684, 1.5653, -0.1001, -0.0513, 0.9988, -0.0615, -1.388, 7.241, 1.7851, -0.0269, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.15 (\u22481.4 cm) \u2014 pencil held. Lifting straight up to carry it; pens will go to the right basket, plushies to the left basket."})
tool
executing move_to over 13 steps (1.3s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent notePencil is lifted in the left gripper. Carrying it high over to the right basket (estimated at left-frame y≈-0.39, x≈0.45).
move_to
left_x0.4400left_y-0.3800left_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]: [-0.149, 0.9581, 0.6777, -0.2775, -0.1314, -0.0601, 0.159, -0.0208, 0.8249, 0.6067, -0.3923, -0.0189, -0.0235, 0.9992] state[eef_state]: left_x=0.3287 left_y=-0.0223 left_z=0.1882 left_yaw=-0.0152 left_pitch=0.0083 left_roll=0.0227 left_gripper=0.159 right_x=0.2954 right_y=0.0008 right_z=0.1702 right_yaw=-0.001 right_pitch=-0.0446 right_roll=0.0025 right_gripper=0.9992 state[joint_eff]: [-0.1299, -3.5897, 9.3333, 1.4481, -0.0806, 0.0317, 1.033, -0.1299, -1.9624, 7.0632, 1.7558, -0.0366, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.38, "left_z": 0.22}, "note": "Pencil is lifted in the left gripper. Carrying it high over to the right basket (estimated at left-frame y\u2248-0.39, x\u22480.45)."})
tool
executing move_to over 32 steps (3.2s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe pencil is over the left edge of the right basket. Shifting a bit further right and forward so it drops well inside.
move_to
left_x0.4700left_y-0.4000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9207, 2.2185, 2.125, -0.7094, -0.7383, -0.6033, 0.1639, -0.0208, 0.8299, 0.6067, -0.3927, -0.0189, -0.0235, 0.9992] state[eef_state]: left_x=0.4415 left_y=-0.3783 left_z=0.2152 left_yaw=-0.0141 left_pitch=0.0002 left_roll=0.0089 left_gripper=0.1639 right_x=0.2956 right_y=0.0008 right_z=0.1687 right_yaw=-0.001 right_pitch=-0.05 right_roll=0.0026 right_gripper=0.9992 state[joint_eff]: [-0.8137, -12.2598, 8.4855, 1.326, -0.4713, 0.0366, 1.0281, -0.1162, -1.4154, 7.1043, 1.7118, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.4}, "note": "The pencil is over the left edge of the right basket. Shifting a bit further right and forward so it drops well inside."})
tool
executing move_to over 3 steps (0.3s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent notePencil is now over the right basket in both views. Opening to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9035, 2.4432, 2.4928, -0.8528, -0.7254, -0.6025, 0.1639, -0.0208, 0.8314, 0.6067, -0.3927, -0.0189, -0.0231, 0.9992] state[eef_state]: left_x=0.4689 left_y=-0.4 left_z=0.2084 left_yaw=-0.0064 left_pitch=-0.0074 left_roll=0.004 left_gripper=0.1639 right_x=0.2957 right_y=0.0008 right_z=0.1683 right_yaw=-0.0012 right_pitch=-0.0515 right_roll=0.0029 right_gripper=0.9992 state[joint_eff]: [-0.212, -13.641, 8.8684, 1.2967, -0.2906, 0.1343, 1.033, -0.0752, -1.6342, 7.0769, 1.7216, -0.022, -0.0366, -0.0171] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Pencil is now over the right basket in both views. Opening to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent notePencil landed in the right basket. Parking the left arm at home and bringing the right arm down/left over the black marker seen at the bottom-left of its wrist view.
move_to
left_x0.3000left_y0.0000left_z0.1800right_y0.0600right_z0.0800right_x0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9035, 2.4432, 2.4916, -0.8516, -0.7254, -0.6117, 0.9954, -0.0208, 0.8314, 0.6067, -0.3923, -0.0189, -0.0235, 0.9992] state[eef_state]: left_x=0.469 left_y=-0.4001 left_z=0.2082 left_yaw=-0.0015 left_pitch=-0.0074 left_roll=-0.0037 left_gripper=0.9954 right_x=0.2957 right_y=0.0008 right_z=0.1684 right_yaw=-0.001 right_pitch=-0.0511 right_roll=0.0026 right_gripper=0.9992 state[joint_eff]: [-0.1299, -14.2701, 6.694, 1.3602, -0.3199, 0.0415, -0.188, -0.0889, -1.3607, 7.0222, 1.7216, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.18, "right_y": 0.06, "right_z": 0.08, "right_x": 0.3}, "note": "Pencil landed in the right basket. Parking the left arm at home and bringing the right arm down/left over the black marker seen at the bottom-left of its wrist view."})
tool
executing move_to over 36 steps (3.6s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteBlack Vis-à-Vis marker lies radially just left of the jaw column in the right wrist view. Shifting ~1.5 cm left, 1 cm forward and descending to table level.
move_to
right_y0.0750right_x0.3100right_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]: [-0.0509, 0.8371, 0.6182, -0.3397, -0.0948, -0.0761, 0.9967, 0.3363, 1.0393, 0.3317, 0.041, 0.2543, 0.1753, 0.9992] state[eef_state]: left_x=0.3047 left_y=0.0048 left_z=0.1832 left_yaw=0.0604 left_pitch=0.0054 left_roll=-0.0101 left_gripper=0.9967 right_x=0.2976 right_y=0.0607 right_z=0.077 right_yaw=0.0189 right_pitch=-0.0758 right_roll=-0.0055 right_gripper=0.9992 state[joint_eff]: [-0.2393, -1.7709, 6.7897, 1.6532, 0.1197, 0.1197, 0.1294, 0.4171, -2.1949, 5.9419, 1.8681, 0.2906, 0.1099, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.075, "right_x": 0.31, "right_z": -0.005}, "note": "Black Vis-\u00e0-Vis marker lies radially just left of the jaw column in the right wrist view. Shifting ~1.5 cm left, 1 cm forward and descending to table level."})
tool
executing move_to over 6 steps (0.6s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
Marker is centred between the jaws. Closing.
agent noteBlack marker is centred between the right jaws at table level. Closing to grasp it.
move_to
right_gripper0.0000right_z-0.0100
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]: [-0.0509, 0.8425, 0.6102, -0.3523, -0.0837, -0.0784, 0.9968, 0.3809, 1.5368, 0.2253, 0.6754, 0.2771, 0.2134, 0.9992] state[eef_state]: left_x=0.3024 left_y=0.003 left_z=0.1753 left_yaw=0.0523 left_pitch=-0.0211 left_roll=-0.0152 left_gripper=0.9968 right_x=0.3183 right_y=0.0793 right_z=0.012 right_yaw=0.0247 right_pitch=-0.0426 right_roll=0.0225 right_gripper=0.9992 state[joint_eff]: [-0.0615, -1.7573, 7.8154, 1.9463, -0.188, -0.022, 0.0024, 0.4171, -2.7829, 2.2632, -0.0415, 0.1929, -0.1734, -0.0171] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
Marker is centred between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0, "right_z": -0.01}, "note": "Black marker is centred between the right jaws at table level. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteGripper settled at 0.14 — marker held. Lifting straight up before carrying to the right basket.
move_to
right_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]: [-0.0509, 0.8436, 0.6102, -0.3531, -0.0891, -0.0792, 0.9968, 0.3824, 1.684, 0.2157, 0.9237, 0.2798, 0.21, 0.1413] state[eef_state]: left_x=0.3024 left_y=0.0039 left_z=0.1749 left_yaw=0.0572 left_pitch=-0.0227 left_roll=-0.0127 left_gripper=0.9968 right_x=0.3322 right_y=0.0849 right_z=0.0127 right_yaw=0.0258 right_pitch=0.0438 right_roll=0.0501 right_gripper=0.1413 state[joint_eff]: [-0.1436, -1.6342, 7.0632, 1.707, 0.0171, -0.0562, -0.0122, -0.1709, -2.9333, 2.6598, 0.9939, 0.0317, -0.0073, 1.0232] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Gripper settled at 0.14 \u2014 marker held. Lifting straight up before carrying to the right basket."})
tool
executing move_to over 14 steps (1.4s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteMarker is lifted. Carrying it to the right basket (≈ right-frame y 0.24, x 0.47), next to the pencil.
move_to
right_x0.4700right_y0.2400right_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]: [-0.0509, 0.8494, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.3824, 1.0405, 0.7544, -0.2684, 0.2764, 0.2024, 0.1418] state[eef_state]: left_x=0.3026 left_y=0.004 left_z=0.1729 left_yaw=0.0576 left_pitch=-0.0295 left_roll=-0.0117 left_gripper=0.9968 right_x=0.3346 right_y=0.0865 right_z=0.202 right_yaw=0.0329 right_pitch=0.0341 right_roll=0.0418 right_gripper=0.1418 state[joint_eff]: [-0.0205, -2.0718, 7.0906, 1.7265, -0.0952, -0.0562, -0.0122, -0.0615, -4.2598, 9.7436, 1.7167, 0.1001, 0.0415, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.24, "right_z": 0.22}, "note": "Marker is lifted. Carrying it to the right basket (\u2248 right-frame y 0.24, x 0.47), next to the pencil."})
tool
executing move_to over 13 steps (1.3s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteMarker is over the right basket with the pencil 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]: [-0.0509, 0.8562, 0.6094, -0.3538, -0.0895, -0.0792, 0.9968, 0.6113, 1.7962, 1.4399, -0.284, 0.445, 0.3161, 0.1418] state[eef_state]: left_x=0.3029 left_y=0.004 left_z=0.1709 left_yaw=0.0576 left_pitch=-0.0367 left_roll=-0.0109 left_gripper=0.9968 right_x=0.4623 right_y=0.2355 right_z=0.2031 right_yaw=0.063 right_pitch=-0.0039 right_roll=0.0161 right_gripper=0.1418 state[joint_eff]: [-0.0068, -2.1949, 7.0496, 1.6874, -0.0708, -0.0464, -0.0122, 0.3624, -9.9214, 9.0598, 1.6044, 0.4274, 0.2173, 1.0281] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Marker is over the right basket with the pencil visible inside. Releasing."})
tool
executing move_to over 9 steps (0.9s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteMarker and pencil are both in the right basket. Moving the right arm above the remaining blue marker, lying diagonally just right of the teddy bear in the top view.
move_to
right_x0.3300right_y0.1600right_z0.0900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0509, 0.8577, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.6132, 1.8187, 1.438, -0.2947, 0.437, 0.3111, 0.995] state[eef_state]: left_x=0.3031 left_y=0.0039 left_z=0.1705 left_yaw=0.0576 left_pitch=-0.0378 left_roll=-0.0108 left_gripper=0.9968 right_x=0.4615 right_y=0.2377 right_z=0.1889 right_yaw=0.0736 right_pitch=-0.0364 right_roll=-0.002 right_gripper=0.995 state[joint_eff]: [-0.0752, -1.7436, 7.0496, 1.7607, -0.1001, -0.0317, -0.0122, -0.212, -11.6991, 7.0769, 1.663, 0.1294, 0.0024, -0.1197] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.16, "right_z": 0.09}, "note": "Marker and pencil are both in the right basket. Moving the right arm above the remaining blue marker, lying diagonally just right of the teddy bear in the top view."})
tool
executing move_to over 11 steps (1.1s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteBlue marker lies radially just left of the jaw column in the right wrist view. Nudging 1 cm left and forward and descending to table level.
move_to
right_y0.1700right_x0.3400right_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]: [-0.0509, 0.8623, 0.6094, -0.3519, -0.0895, -0.0792, 0.9968, 0.6537, 1.4151, 0.598, 0.075, 0.4557, 0.3283, 0.9958] state[eef_state]: left_x=0.3035 left_y=0.0039 left_z=0.1695 left_yaw=0.0576 left_pitch=-0.0408 left_roll=-0.0105 left_gripper=0.9968 right_x=0.3302 right_y=0.1595 right_z=0.0808 right_yaw=0.0878 right_pitch=-0.0867 right_roll=-0.0336 right_gripper=0.9958 state[joint_eff]: [-0.1573, -1.5658, 7.1043, 1.7705, -0.0708, -0.0562, -0.0122, 0.9231, -6.188, 6.6393, 1.8779, 0.2955, 0.1392, 0.0757] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.17, "right_x": 0.34, "right_z": -0.005}, "note": "Blue marker lies radially just left of the jaw column in the right wrist view. Nudging 1 cm left and forward and descending to table level."})
tool
executing move_to over 6 steps (0.6s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteBlue marker is centred between the right jaws at table level. Closing on it.
move_to
right_gripper0.0000right_z-0.0100
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]: [-0.0509, 0.8658, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.6556, 1.7504, 0.5236, 0.5282, 0.4644, 0.3424, 0.9958] state[eef_state]: left_x=0.3035 left_y=0.0039 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.0458 left_roll=-0.01 left_gripper=0.9968 right_x=0.348 right_y=0.1724 right_z=0.0148 right_yaw=0.0768 right_pitch=-0.0469 right_roll=-0.0035 right_gripper=0.9958 state[joint_eff]: [-0.0752, -1.9761, 7.0496, 1.6923, -0.0855, -0.0513, -0.0073, 0.7043, -4.2872, 3.535, 0.3687, 0.1099, -0.1148, -0.0024] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": -0.01}, "note": "Blue marker is centred between the right jaws at table level. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteGripper settled at 0.16 with the blue marker visible in the jaws. Lifting it clear of the basket wall.
move_to
right_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]: [-0.0509, 0.8661, 0.6094, -0.3531, -0.0895, -0.0792, 0.9968, 0.6544, 1.8397, 0.5175, 0.7094, 0.4679, 0.3374, 0.157] state[eef_state]: left_x=0.3036 left_y=0.0039 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.0458 left_roll=-0.01 left_gripper=0.9968 right_x=0.3597 right_y=0.1801 right_z=0.013 right_yaw=0.0761 right_pitch=0.0262 right_roll=0.0376 right_gripper=0.157 state[joint_eff]: [-0.0479, -1.7573, 7.1453, 1.6972, -0.0904, -0.0659, -0.0122, 0.0752, -4.588, 3.1795, 0.9841, 0.0366, -0.0024, 1.0427] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Gripper settled at 0.16 with the blue marker visible in the jaws. Lifting it clear of the basket wall."})
tool
executing move_to over 14 steps (1.4s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
right_cam
camera right_cam step 236
assistant
agent noteBlue marker lifted; the right basket with the pencil and black marker is just ahead. Moving over the basket centre.
move_to
right_x0.4600right_y0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0509, 0.8696, 0.6094, -0.3527, -0.0895, -0.0792, 0.9968, 0.6533, 1.3552, 0.9691, -0.2379, 0.4599, 0.3336, 0.159] state[eef_state]: left_x=0.3038 left_y=0.0039 left_z=0.1673 left_yaw=0.0577 left_pitch=-0.0488 left_roll=-0.0096 left_gripper=0.9968 right_x=0.362 right_y=0.1828 right_z=0.2 right_yaw=0.0835 right_pitch=0.0145 right_roll=0.0322 right_gripper=0.159 state[joint_eff]: [-0.0889, -1.7299, 7.1043, 1.7216, -0.1099, -0.0611, -0.0122, -0.1573, -7.5556, 9.6068, 1.4286, 0.2613, 0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.24}, "note": "Blue marker lifted; the right basket with the pencil and black marker is just ahead. Moving over the basket centre."})
tool
executing move_to over 8 steps (0.8s)
step 244
top_cam
camera top_cam step 244
left_cam
camera left_cam step 244
right_cam
camera right_cam step 244
assistant
agent noteBlue marker is over the right basket next to the other pens. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0509, 0.8753, 0.6094, -0.3538, -0.0895, -0.0792, 0.9968, 0.6239, 1.7664, 1.3449, -0.2333, 0.4252, 0.3073, 0.1641] state[eef_state]: left_x=0.304 left_y=0.0039 left_z=0.1655 left_yaw=0.0577 left_pitch=-0.0556 left_roll=-0.0089 left_gripper=0.9968 right_x=0.4485 right_y=0.2375 right_z=0.1849 right_yaw=0.0961 right_pitch=-0.0224 right_roll=0.0116 right_gripper=0.1641 state[joint_eff]: [-0.1573, -2.1949, 7.1726, 1.6679, -0.0855, -0.0659, -0.0122, -0.8, -9.5932, 9.2513, 1.6239, 0.2027, -0.0269, 1.0281] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Blue marker is over the right basket next to the other pens. Releasing it."})
tool
executing move_to over 9 steps (0.9s)
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 noteAll three pens are in the right basket. Parking the right arm at home and moving the left arm over the small brown plush (right of the grey plush) to start putting plushies in the left basket.
move_to
right_x0.3000right_y0.0000right_z0.1800left_x0.3200left_y-0.0800left_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]: [-0.0509, 0.8764, 0.6094, -0.3531, -0.0895, -0.0792, 0.9968, 0.6205, 1.7897, 1.3434, -0.2344, 0.4149, 0.2996, 0.9955] state[eef_state]: left_x=0.3042 left_y=0.0039 left_z=0.1653 left_yaw=0.0577 left_pitch=-0.056 left_roll=-0.0088 left_gripper=0.9968 right_x=0.4497 right_y=0.2383 right_z=0.1724 right_yaw=0.1046 right_pitch=-0.048 right_roll=-0.0021 right_gripper=0.9955 state[joint_eff]: [-0.1299, -1.6342, 7.0632, 1.7509, -0.0904, -0.0366, -0.0122, 0.0205, -11.2752, 7.0222, 1.5897, 0.1734, -0.0171, -0.188] 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": 0.3, "right_y": 0.0, "right_z": 0.18, "left_x": 0.32, "left_y": -0.08, "left_z": 0.1}, "note": "All three pens are in the right basket. Parking the right arm at home and moving the left arm over the small brown plush (right of the grey plush) to start putting plushies in the left basket."})
tool
executing move_to over 20 steps (2.0s)
step 273
top_cam
camera top_cam step 273
left_cam
camera left_cam step 273
right_cam
camera right_cam step 273
assistant
agent noteSmall brown-and-white plush is just right of and ahead of the left jaws. Shifting ~4.5 cm right, 1.5 cm forward, and descending to grasp its body. (Blue marker bounced out onto the table near the teddy; will retrieve it after.)
move_to
left_y-0.1250left_x0.3350left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.477, 1.1553, 0.4915, -0.0448, -0.4114, -0.3355, 0.9968, -0.0906, 0.8814, 0.6662, -0.3927, -0.1127, -0.0978, 0.9963] state[eef_state]: left_x=0.318 left_y=-0.0808 left_z=0.099 left_yaw=0.038 left_pitch=-0.0779 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3069 right_y=-0.0043 right_z=0.1819 right_yaw=0.0483 right_pitch=-0.0377 right_roll=-0.0053 right_gripper=0.9963 state[joint_eff]: [-0.212, -3.2479, 5.6547, 1.7509, -0.2808, -0.1148, -0.0122, -0.2667, -2.0855, 6.9538, 1.8144, -0.2076, -0.0464, 0.0659] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.125, "left_x": 0.335, "left_z": 0.02}, "note": "Small brown-and-white plush is just right of and ahead of the left jaws. Shifting ~4.5 cm right, 1.5 cm forward, and descending to grasp its body. (Blue marker bounced out onto the table near the teddy; will retrieve it after.)"})
tool
executing move_to over 6 steps (0.6s)
step 279
top_cam
camera top_cam step 279
assistant
agent noteThe small plush fills the space between the left jaws. Closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6033, 1.5875, 0.4435, 0.3267, -0.4847, -0.4175, 0.9969, -0.0929, 0.8845, 0.6643, -0.4076, -0.1204, -0.1123, 0.9963] state[eef_state]: left_x=0.3249 left_y=-0.1196 left_z=0.0128 left_yaw=0.0198 left_pitch=-0.141 left_roll=0.0365 left_gripper=0.9969 right_x=0.3047 right_y=-0.0035 right_z=0.1773 right_yaw=0.0603 right_pitch=-0.0567 right_roll=-0.0099 right_gripper=0.9963 state[joint_eff]: [-0.4171, -6.0786, 5.4769, 1.4042, -0.4176, -0.0122, -0.0073, 0.0889, -2.0444, 7.2684, 1.7851, 0.0171, 0.1245, -0.0024] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The small plush fills the space between the left jaws. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 289
assistant
agent noteGripper settled at 0.28 around the plush — grasped. Lifting high to clear the left basket's wall.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6056, 1.6047, 0.4427, 0.3332, -0.4911, -0.4202, 0.2838, -0.0929, 0.8848, 0.6643, -0.4084, -0.1207, -0.1131, 0.9963] state[eef_state]: left_x=0.3241 left_y=-0.1187 left_z=0.0086 left_yaw=0.0249 left_pitch=-0.1474 left_roll=0.0451 left_gripper=0.2838 right_x=0.3046 right_y=-0.0034 right_z=0.177 right_yaw=0.0611 right_pitch=-0.0578 right_roll=-0.0101 right_gripper=0.9963 state[joint_eff]: [0.1436, -6.9949, 4.7111, 1.4335, -0.1832, -0.0024, 0.7106, -0.0479, -1.7573, 6.9812, 1.7021, -0.0659, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": {"left_z": 0.25}, "note": "Gripper settled at 0.28 around the plush \u2014 grasped. Lifting high to clear the left basket's wall."})
tool
executing move_to over 16 steps (1.6s)
step 305
assistant
agent notePlush is lifted and the left basket is ahead-left in the wrist view. Carrying it over the left basket centre.
move_to
left_x0.4700left_y-0.0400left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6064, 1.2427, 1.1744, -0.7414, -0.4904, -0.4206, 0.2857, -0.0929, 0.8883, 0.6643, -0.4084, -0.1207, -0.1131, 0.9963] state[eef_state]: left_x=0.3283 left_y=-0.1221 left_z=0.2416 left_yaw=0.0222 left_pitch=-0.1323 left_roll=0.033 left_gripper=0.2857 right_x=0.3048 right_y=-0.0034 right_z=0.1761 right_yaw=0.0611 right_pitch=-0.0612 right_roll=-0.0096 right_gripper=0.9963 state[joint_eff]: [-0.0752, -3.8085, 8.5128, 1.2576, -0.2418, -0.0366, 0.1832, -0.0752, -2.1402, 7.1316, 1.707, -0.0708, -0.0757, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.04, "left_z": 0.25}, "note": "Plush is lifted and the left basket is ahead-left in the wrist view. Carrying it over the left basket centre."})
tool
executing move_to over 11 steps (1.1s)
step 316
assistant
agent notePlush is over the left basket (top view shows the arm above it). Releasing.
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]: [-0.1612, 1.6135, 1.4662, -0.6136, -0.1852, -0.1329, 0.2871, -0.0929, 0.8925, 0.6643, -0.4095, -0.1207, -0.1162, 0.9963] state[eef_state]: left_x=0.4588 left_y=-0.038 left_z=0.2313 left_yaw=0.0605 left_pitch=-0.1841 left_roll=0.0329 left_gripper=0.2871 right_x=0.3049 right_y=-0.0034 right_z=0.1746 right_yaw=0.0628 right_pitch=-0.0665 right_roll=-0.0113 right_gripper=0.9963 state[joint_eff]: [0.1573, -8.2256, 9.0735, 1.6386, -0.0513, 0.1441, 0.1294, -0.0889, -2.0034, 7.1863, 1.6728, -0.0806, -0.0269, -0.0122] camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Plush is over the left basket (top view shows the arm above it). Releasing."})
tool
executing move_to over 8 steps (0.8s)
step 324
assistant
agent noteSmall plush is in the left basket. Moving the left arm above the teddy bear in the middle of the table to pick it next.
move_to
left_x0.3200left_y-0.2500left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1612, 1.6325, 1.4734, -0.6163, -0.1795, -0.139, 0.9954, -0.0929, 0.8932, 0.6643, -0.4095, -0.1207, -0.1162, 0.9963] state[eef_state]: left_x=0.4616 left_y=-0.0395 left_z=0.2254 left_yaw=0.0595 left_pitch=-0.199 left_roll=0.0277 left_gripper=0.9954 right_x=0.3049 right_y=-0.0034 right_z=0.1744 right_yaw=0.0628 right_pitch=-0.0672 right_roll=-0.0111 right_gripper=0.9963 state[joint_eff]: [-0.1299, -9.6479, 6.2701, 1.5311, -0.1978, 0.0317, -0.149, -0.0752, -1.935, 7.0085, 1.6825, -0.0757, -0.0757, -0.0122] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.25, "left_z": 0.13}, "note": "Small plush is in the left basket. Moving the left arm above the teddy bear in the middle of the table to pick it next."})
tool
executing move_to over 19 steps (1.9s)
step 343
assistant
agent noteTeddy bear is directly below and ahead, sitting upright with its head centred on the jaw column. Moving 2 cm forward and descending to close around its head/neck.
move_to
left_x0.3400left_z0.0600left_pitch0.0000
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]: [-0.9333, 1.6588, 1.1664, -0.5648, -0.6334, -0.7727, 0.9967, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963] state[eef_state]: left_x=0.3201 left_y=-0.2505 left_z=0.1271 left_yaw=0.0183 left_pitch=-0.2176 left_roll=0.0291 left_gripper=0.9967 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963 state[joint_eff]: [-0.1162, -7.2, 7.9521, 0.862, -0.6178, -0.0708, 0.1245, -0.0615, -2.0581, 7.1179, 1.6777, -0.0855, -0.0464, -0.0122] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_z": 0.06, "left_pitch": 0.0}, "note": "Teddy bear is directly below and ahead, sitting upright with its head centred on the jaw column. Moving 2 cm forward and descending to close around its head/neck."})
tool
executing move_to over 8 steps (0.8s)
step 351
assistant
agent noteThe teddy fills the left wrist view between the jaws. Closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9447, 1.7813, 0.8879, -0.009, -0.757, -0.6781, 0.9968, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963] state[eef_state]: left_x=0.3347 left_y=-0.2497 left_z=0.0612 left_yaw=0.0161 left_pitch=-0.0465 left_roll=0.0349 left_gripper=0.9968 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963 state[joint_eff]: [-0.0342, -7.241, 4.5333, 1.2772, -0.4029, 0.1441, 0.0024, -0.2667, -1.6479, 7.0496, 1.6435, -0.0415, -0.0464, -0.0073] camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The teddy fills the left wrist view between the jaws. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 361
assistant
agent noteGripper settled at 0.29 on the teddy — grasped. Lifting high to clear the basket wall.
move_to
left_z0.2700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9447, 1.7969, 0.8742, 0.0196, -0.7712, -0.6811, 0.2895, -0.0929, 0.8951, 0.6636, -0.4095, -0.1211, -0.1162, 0.9963] state[eef_state]: left_x=0.3352 left_y=-0.2473 left_z=0.0558 left_yaw=0.0267 left_pitch=-0.0377 left_roll=0.0393 left_gripper=0.2895 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0632 right_pitch=-0.0698 right_roll=-0.0105 right_gripper=0.9963 state[joint_eff]: [-0.0752, -9.5248, 6.5573, 0.9939, -0.188, 0.0122, 0.8376, -0.253, -1.6615, 7.4462, 1.6874, -0.1197, -0.0317, -0.0122] camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.27}, "note": "Gripper settled at 0.29 on the teddy \u2014 grasped. Lifting high to clear the basket wall."})
tool
executing move_to over 14 steps (1.4s)
step 375
assistant
agent noteTeddy is lifted in the left gripper. Carrying it over the left basket with the other plush.
move_to
left_x0.4700left_y-0.0500left_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9447, 1.6138, 1.4982, -0.7959, -0.7555, -0.6884, 0.292, -0.0929, 0.8951, 0.6636, -0.4088, -0.1211, -0.1165, 0.9963] state[eef_state]: left_x=0.3374 left_y=-0.2538 left_z=0.2502 left_yaw=0.021 left_pitch=-0.0525 left_roll=0.0333 left_gripper=0.292 right_x=0.3051 right_y=-0.0034 right_z=0.1737 right_yaw=0.0634 right_pitch=-0.0691 right_roll=-0.0109 right_gripper=0.9963 state[joint_eff]: [-0.0752, -8.5949, 8.7726, 1.2234, -0.4908, 0.0366, 0.2369, -0.1299, -1.8393, 7.0359, 1.7167, -0.105, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 375): [image omitted: streamed camera frame] camera 'left_cam' (step 375): [image omitted: streamed camera frame] camera 'right_cam' (step 375): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.05, "left_z": 0.26}, "note": "Teddy is lifted in the left gripper. Carrying it over the left basket with the other plush."})
tool
executing move_to over 19 steps (1.9s)
step 394
assistant
agent noteTeddy is hanging over the left basket in both views. 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]: [-0.1978, 1.5795, 1.3994, -0.5468, -0.2287, -0.1429, 0.2933, -0.0929, 0.8951, 0.6636, -0.4095, -0.1211, -0.1162, 0.9963] state[eef_state]: left_x=0.4548 left_y=-0.0466 left_z=0.2304 left_yaw=0.0646 left_pitch=-0.1439 left_roll=0.0462 left_gripper=0.2933 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0632 right_pitch=-0.0698 right_roll=-0.0105 right_gripper=0.9963 state[joint_eff]: [0.1436, -7.4598, 10.6598, 2.1319, 0.0464, 0.2027, 0.1343, -0.3487, -1.8667, 7.2137, 1.6435, -0.1001, -0.0269, -0.0073] camera 'top_cam' (step 394): [image omitted: streamed camera frame] camera 'left_cam' (step 394): [image omitted: streamed camera frame] camera 'right_cam' (step 394): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Teddy is hanging over the left basket in both views. Releasing it."})
tool
executing move_to over 8 steps (0.8s)
step 402
assistant
agent noteTeddy is in the left basket. The blue marker that bounced out lies sideways on the table in front of the right basket; rotating the right gripper 90° and descending on it.
move_to
right_x0.3400right_y0.1900right_z0.0000right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1978, 1.586, 1.3987, -0.556, -0.2241, -0.1497, 0.9954, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963] state[eef_state]: left_x=0.4539 left_y=-0.0473 left_z=0.2255 left_yaw=0.0651 left_pitch=-0.1603 left_roll=0.0422 left_gripper=0.9954 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963 state[joint_eff]: [-0.0889, -8.2667, 7.0632, 1.6386, -0.2027, 0.0122, -0.2076, -0.1026, -1.7983, 6.9949, 1.6484, -0.0855, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 402): [image omitted: streamed camera frame] camera 'left_cam' (step 402): [image omitted: streamed camera frame] camera 'right_cam' (step 402): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.19, "right_z": 0.0, "right_yaw": 1.57}, "note": "Teddy is in the left basket. The blue marker that bounced out lies sideways on the table in front of the right basket; rotating the right gripper 90\u00b0 and descending on it."})
tool
executing move_to over 17 steps (1.7s)
step 419
assistant
agent noteThe blue marker now runs across between the rotated right jaws. Closing on it.
move_to
right_gripper0.0000right_z-0.0100
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]: [-0.1978, 1.586, 1.3968, -0.561, -0.2241, -0.1505, 0.9967, 0.1169, 2.0197, 1.034, -0.2996, -0.9039, -1.2613, 0.9963] state[eef_state]: left_x=0.4529 left_y=-0.0471 left_z=0.2238 left_yaw=0.0658 left_pitch=-0.1669 left_roll=0.0434 left_gripper=0.9967 right_x=0.3511 right_y=0.1846 right_z=0.0068 right_yaw=1.4866 right_pitch=-0.0698 right_roll=-0.028 right_gripper=0.9963 state[joint_eff]: [-0.294, -7.6513, 7.0222, 1.6923, -0.1245, -0.0269, 0.1245, 0.212, -8.5675, 4.6838, 0.1245, -0.3199, 0.105, -0.0122] camera 'top_cam' (step 419): [image omitted: streamed camera frame] camera 'left_cam' (step 419): [image omitted: streamed camera frame] camera 'right_cam' (step 419): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": -0.01}, "note": "The blue marker now runs across between the rotated right jaws. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 429
assistant
agent noteBlue marker is held (gripper 0.15). Lifting steeply while moving over the right basket so the path clears the basket's front wall.
move_to
right_x0.4400right_y0.2400right_z0.4200
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]: [-0.1974, 1.586, 1.3968, -0.5598, -0.2241, -0.1509, 0.9968, 0.1204, 2.0422, 1.0328, -0.2256, -0.9215, -1.2675, 0.1484] state[eef_state]: left_x=0.4531 left_y=-0.0469 left_z=0.224 left_yaw=0.0663 left_pitch=-0.1658 left_roll=0.0428 left_gripper=0.9968 right_x=0.3593 right_y=0.1888 right_z=0.0049 right_yaw=1.496 right_pitch=-0.0437 right_roll=-0.0791 right_gripper=0.1484 state[joint_eff]: [-0.0752, -7.5282, 6.9538, 1.5556, -0.1294, -0.0464, -0.0024, -0.3214, -7.6923, 3.6034, 0.7057, -0.3346, 0.0464, 1.0037] camera 'top_cam' (step 429): [image omitted: streamed camera frame] camera 'left_cam' (step 429): [image omitted: streamed camera frame] camera 'right_cam' (step 429): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.24, "right_z": 0.42}, "note": "Blue marker is held (gripper 0.15). Lifting steeply while moving over the right basket so the path clears the basket's front wall."})
tool
executing move_to over 27 steps (2.7s)
step 456
assistant
agent noteTop view shows the right gripper above the right basket, with the basket right under the jaws in the wrist view. Dropping the blue marker in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1978, 1.586, 1.3956, -0.5598, -0.2245, -0.1539, 0.9968, 0.263, 2.2215, 2.6778, -1.5364, -0.852, -1.0561, 0.1538] state[eef_state]: left_x=0.4529 left_y=-0.047 left_z=0.2235 left_yaw=0.068 left_pitch=-0.1667 left_roll=0.0411 left_gripper=0.9968 right_x=0.4099 right_y=0.2518 right_z=0.3196 right_yaw=1.4891 right_pitch=-0.0555 right_roll=-0.0728 right_gripper=0.1538 state[joint_eff]: [-0.0479, -7.7197, 6.9675, 1.5849, -0.1441, 0.0122, -0.0073, 0.7043, -15.7197, 7.9932, 0.652, -0.4811, 0.1783, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 456): [image omitted: streamed camera frame] camera 'left_cam' (step 456): [image omitted: streamed camera frame] camera 'right_cam' (step 456): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Top view shows the right gripper above the right basket, with the basket right under the jaws in the wrist view. Dropping the blue marker in."})
tool
executing move_to over 9 steps (0.9s)
step 465
assistant
agent noteI sorted the objects into two groups and put each group in its own basket: pens in the right basket, plush toys in the left. The pens were a yellow pencil, a black marker and a blue marker. The plush toys were a small brown-and-white plush and a teddy bear. - **Left basket:** the teddy sits right at the basket's front edge in the overhead view, so it may be resting on the rim rather than fully inside. - **Right basket:** the blue marker bounced off the first time I dropped it. I picked it up again and dropped it from about 32 cm up. I didn't check afterwards that it landed inside. The overhead view at the end showed nothing left on the table. Early on I saw a grey fuzzy object at the left edge of the images, but it didn't show up again and I didn't deal with it. If it's a third plush toy, it's still out.
done
hindsight- Baskets: the left basket is roughly left-frame x 0.40–0.55, y ≈ -0.05 to 0.0. The right basket is at left-frame y ≈ -0.40, x ≈ 0.47, which is right-frame y ≈ 0.24, x ≈ 0.46. The left arm can reach the right basket, and dropping from 20+ cm works. The front walls are at about x = 0.38; an early descent at x 0.375 hit the left basket's wall. - Overhead camera: arm y = 0 at x ≈ 0.30 appears at about image x ≈ 55 for the left arm. The far-region scale was about 2.3–3 px/cm. - Wrist camera: at z ≈ 0.18, an object at the bottom-centre of the image is actually at or slightly *behind* the grasp point, not ahead of it. I overshot by advancing 3–4 cm. Look from z ≈ 0.08–0.10 instead; there, an object between the jaws in the image really is graspable after a straight descent. - Settled gripper readings: pens about 0.15, plush toys about 0.28–0.29. - Drops: release markers low and centred over the basket. One dropped at the basket's edge bounced out. - Markers lying across the tool's left–right axis: right_yaw = 1.57 lines the jaws up for a grasp. - Paths near baskets: moves are straight lines, so a combined lift-and-advance can clip a basket wall. Lift first, or aim very high. - Budget: 40 calls is tight for 5+ objects. Combine the lift with the carry where it's safe, and skip separate check 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]: [-0.1974, 1.586, 1.3956, -0.5598, -0.2241, -0.157, 0.9968, 0.2672, 2.2353, 2.7129, -1.5517, -0.8383, -1.0588, 0.9955] state[eef_state]: left_x=0.4529 left_y=-0.0469 left_z=0.2235 left_yaw=0.0697 left_pitch=-0.1667 left_roll=0.0385 left_gripper=0.9968 right_x=0.4104 right_y=0.2523 right_z=0.3204 right_yaw=1.4876 right_pitch=-0.0649 right_roll=-0.0848 right_gripper=0.9955 state[joint_eff]: [-0.0889, -7.5419, 7.2137, 1.5458, -0.1392, -0.0073, -0.0122, -0.3897, -10.9197, 6.6667, 0.8913, -0.5592, 0.0464, -0.2076] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 465): [image omitted: streamed camera frame] camera 'left_cam' (step 465): [image omitted: streamed camera frame] camera 'right_cam' (step 465): [image omitted: streamed camera frame]
assistant
done({"summary": "I sorted the objects into two groups and put each group in its own basket: pens in the right basket, plush toys in the left. The pens were a yellow pencil, a black marker and a blue marker. The plush toys were a small brown-and-white plush and a teddy bear.\n\n- **Left basket:** the teddy sits right at the basket's front edge in the overhead view, so it may be resting on the rim rather than fully inside.\n- **Right basket:** the blue marker bounced off the first time I dropped it. I picked it up again and dropped it from about 32 cm up. I didn't check afterwards that it landed inside.\n\nThe overhead view at the end showed nothing left on the table. Early on I saw a grey fuzzy object at the left edge of the images, but it didn't show up again and I didn't deal with it. If it's a third plush toy, it's still out.", "hindsight": "- Baskets: the left basket is roughly left-frame x 0.40\u20130.55, y \u2248 -0.05 to 0.0. The right basket is at left-frame y \u2248 -0.40, x \u2248 0.47, which is right-frame y \u2248 0.24, x \u2248 0.46. The left arm can reach the right basket, and dropping from 20+ cm works. The front walls are at about x = 0.38; an early descent at x 0.375 hit the left basket's wall.\n- Overhead camera: arm y = 0 at x \u2248 0.30 appears at about image x \u2248 55 for the left arm. The far-region scale was about 2.3\u20133 px/cm.\n- Wrist camera: at z \u2248 0.18, an object at the bottom-centre of the image is actually at or slightly *behind* the grasp point, not ahead of it. I overshot by advancing 3\u20134 cm. Look from z \u2248 0.08\u20130.10 instead; there, an object between the jaws in the image really is graspable after a straight descent.\n- Settled gripper readings: pens about 0.15, plush toys about 0.28\u20130.29.\n- Drops: release markers low and centred over the basket. One dropped at the basket's edge bounced out.\n- Markers lying across the tool's left\u2013right axis: right_yaw = 1.57 lines the jaws up for a grasp.\n- Paths near baskets: moves are straight lines, so a combined lift-and-advance can clip a basket wall. Lift first, or aim very high.\n- Budget: 40 calls is tight for 5+ objects. Combine the lift with the carry where it's safe, and skip separate check moves."})
tool
done: I sorted the objects into two groups and put each group in its own basket: pens in the right basket, plush toys in the left. The pens were a yellow pencil, a black marker and a blue marker. The plush toys were a small brown-and-white plush and a teddy bear. - **Left basket:** the teddy sits right at the basket's front edge in the overhead view, so it may be resting on the rim rather than fully inside. - **Right basket:** the blue marker bounced off the first time I dropped it. I picked it up again and dropped it from about 32 cm up. I didn't check afterwards that it landed inside. The overhead view at the end showed nothing left on the table. Early on I saw a grey fuzzy object at the left edge of the images, but it didn't show up again and I didn't deal with it. If it's a third plush toy, it's still out.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 26.34 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, 0.7986, 0.617, -0.3798, -0.0219, -0.0189, 0.9996, -0.0208, 0.7986, 0.6106, -0.3779, -0.0189, -0.0254, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0008 right_z=0.1822 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -1.6479, 9.4154, 1.7949, -0.0415, 0.0366, -0.0562, -0.2803, -1.6342, 9.7846, 1.79, -0.0513, 0.0757, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99f5db050e873a21ce9943d118ced42eb8772fe482af83ef41dcb072d3f4b3e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:848ebe08521dc3e9170cb4689e9c2ed558e94c7cf98bce59d95281f51a18a185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3252ea761689c83d25bb681d4e49c784be2094da64e056cc81a5c94134d337f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 3.8 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, 0.7986, 0.617, -0.3798, -0.0219, -0.0189, 0.9996, -0.0208, 0.7986, 0.6106, -0.3779, -0.0189, -0.0254, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0008 right_z=0.1822 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -1.6479, 9.4154, 1.7949, -0.0415, 0.0366, -0.0562, -0.2803, -1.6342, 9.7846, 1.79, -0.0513, 0.0757, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99f5db050e873a21ce9943d118ced42eb8772fe482af83ef41dcb072d3f4b3e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:848ebe08521dc3e9170cb4689e9c2ed558e94c7cf98bce59d95281f51a18a185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3252ea761689c83d25bb681d4e49c784be2094da64e056cc81a5c94134d337f1",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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  ],
  "role": "user"
}
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{
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      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S7rb6xEQe5wXUkfUa3LQAw",
      "input": {
        "note": "Scene: two teal baskets at the back; objects are plush toys (teddy, small plush) and pens/markers (yellow pencil, two markers). Classifying as plushies vs pens. Left wrist cam shows the yellow pencil straight ahead of the jaws, so I advance 3 cm and lower toward it.",
        "targets": {
          "left_x": 0.33,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01S7rb6xEQe5wXUkfUa3LQAw",
      "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, 1.2423, 0.279, 0.3985, -0.0219, -0.0135, 0.9996, -0.0208, 0.8032, 0.6086, -0.3851, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3326 left_y=0.0012 left_z=0.0631 left_yaw=-0.0025 left_pitch=-0.0035 left_roll=0.0046 left_gripper=0.9996 right_x=0.2953 right_y=0.0008 right_z=0.1785 right_yaw=-0.001 right_pitch=-0.0137 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -3.0974, 4.5744, 1.5458, -0.022, -0.0708, -0.0122, -0.335, -1.1966, 7.3915, 1.7998, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18577c92c0280eadbd0f46915eb87123d9ad550175b3db61dd564b93c5b20efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4003e7b122fa7c6746b192d7c81b1ee792aa354b90c029f81873743a6c563f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64afe5af8426ae53e41277315e7e5a18956c6770e4e60ed8319860c0ca33ac07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.685 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, 0.7986, 0.617, -0.3798, -0.0219, -0.0189, 0.9996, -0.0208, 0.7986, 0.6106, -0.3779, -0.0189, -0.0254, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0008 right_z=0.1822 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -1.6479, 9.4154, 1.7949, -0.0415, 0.0366, -0.0562, -0.2803, -1.6342, 9.7846, 1.79, -0.0513, 0.0757, -0.0952]",
      "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, 1.2423, 0.279, 0.3985, -0.0219, -0.0135, 0.9996, -0.0208, 0.8032, 0.6086, -0.3851, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3326 left_y=0.0012 left_z=0.0631 left_yaw=-0.0025 left_pitch=-0.0035 left_roll=0.0046 left_gripper=0.9996 right_x=0.2953 right_y=0.0008 right_z=0.1785 right_yaw=-0.001 right_pitch=-0.0137 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -3.0974, 4.5744, 1.5458, -0.022, -0.0708, -0.0122, -0.335, -1.1966, 7.3915, 1.7998, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18577c92c0280eadbd0f46915eb87123d9ad550175b3db61dd564b93c5b20efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4003e7b122fa7c6746b192d7c81b1ee792aa354b90c029f81873743a6c563f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64afe5af8426ae53e41277315e7e5a18956c6770e4e60ed8319860c0ca33ac07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wcKEAgSGAI4AUIIdGhpbmtpbmcSDMfNKKIM6BOhvnCKXhoMKXQYLy/nxdpTtdjuIjDkfeZ/tE/hvVEzuSQESOgcZKGbHSvYGGaZTGBZBJfd4jEVsJRhNmk3j+br7dcM39QqiAdaeg4TFDPgoi+KnncEta0AjrjjW5s8JLHaX9FwUxGhFtzM5sGj9VfkpATUxmC4p67iH9GDLT9mofBK4uGvNxe54z6Lqb2Sh7tzs8mNyMMjFzB+i1ko8KUm4aV9ZXpF5FNsypZD6Ed6tn0/kAndoxF7VdSCA2WI+S2bj7JNiZUb1r0bdRm+Imgrg8GlqS1Tk0kCJeQwnRp6tJpKfYtDDeMZs8YuvS1CtNioQ/J+f2AW++e2aSvppoLKngz+HeIHLP2VsvDeHKDIFyZlBVOW9E+z6sw8mUhUV+2K/MQw1UGsRioGoReO2tJ72l430FOWlSTioLR4qR1ivuxaPuZhpbhOVJSeQc4Cn/NF3kDbWHzL4SNLjwffjcHgF+hZe2qz95Frg8epuk3edYb+Xgk0QeRDmKYK2dqow42ZqSoiwHnuDEZyCbodzEir2N2j3FzTgva7Bcveh9hjdkO25tTd4xDMqmB4B7y1+Gig0WtgNoYV2lweddMJHDU3kUm2PZ3ldKo9DLCN9oj8+3ZV+z/ts+VYWgNOuirDcnmqXAkEDUKvMO2qao99lYQzugvJ4MKT5iCbtaPnUXo0VuX4L+eKO7kkRYJAveI/YRCmBRgmEVVTMEUfD98aDhCqPQCh1fhe2pTB5cjvKGoUplwX8cImcyaYzGmr5k3/zmV6h+7XxiPpk23uLOVSMgqzmpiJOZGC6vQP6zi1SHhcDbd+Wvd+RLawClZeLDMse2+87LRSZikwp+BCvhiihukFjpzR3ujwOHSUwFsdX921vihWafAa9Nu49GZm3rLx8DTyyfL0lvajWz0ag+zEKt3lUIMSfYm0IlG+L1V5PqaYBgdMy+7tIV8nSg4aJjC1OLJZe+e0opE97etCjYo9zcu5+yXbc3IIvG+fKsCu77SnJr7H/WBk/4aJgv+3vaBW6+R8C0RlrRqPwLM08CVAk+6N8xomCLyNRhuwhKqkYX28W1TFqqENP0xNSvnAZ8vW0Wet8CMlEAK27HCS3Q5kLDETOGIr0x42aZArrA/1stkMLfWScKuGDmZ/jHHxs5iKRubEPh6gbPqDbPgHh67qaY9eb5680navXYOD6yyRhgt74mN3FPzRBRL6EgO7pM8FSDnkTTDzqubTh3j9t3giGBRSEUgL2Qbe/gwvDvB6VwfZNCGETGCaE7eJg6SE3jRFdMa0RbsO7J6Jfob6C1bmBl7xGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ELRgZZ56MDWFjoMPRs9rdJ",
      "input": {
        "note": "Yellow pencil is just ahead of the jaws, slightly right of centre in the left wrist view. Advancing 2 cm, nudging right, and descending to table level to grab it.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.005,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01ELRgZZ56MDWFjoMPRs9rdJ",
      "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]: [-0.0559, 1.747, 0.2607, 1.0958, -0.0559, 0.0143, 0.9996, -0.0208, 0.8089, 0.6083, -0.3855, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.375 left_y=-0.0075 left_z=0.0393 left_yaw=-0.0251 left_pitch=0.1707 left_roll=0.0409 left_gripper=0.9996 right_x=0.2956 right_y=0.0008 right_z=0.1767 right_yaw=-0.001 right_pitch=-0.0202 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [0.4581, -2.947, 1.5248, 0.6667, 0.022, -0.486, -0.0122, -0.3624, -1.7846, 7.0359, 1.746, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4d73ac341f7c7dd7d1da1de99c3b62f47104a546dd9fbd0f83f3b9dc314b1fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3309e5a7baa175225b5b0af317a641a1f084e53853cb842349711ae3c5c9a0e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:487b3a5c2eb1824315cef0ebf808185122f7e965ed62a900fe1cd000d1738dcc",
        "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 · 7.396 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, 0.7986, 0.617, -0.3798, -0.0219, -0.0189, 0.9996, -0.0208, 0.7986, 0.6106, -0.3779, -0.0189, -0.0254, 0.9992]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0008 right_z=0.1822 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.4718, -1.6479, 9.4154, 1.7949, -0.0415, 0.0366, -0.0562, -0.2803, -1.6342, 9.7846, 1.79, -0.0513, 0.0757, -0.0952]",
      "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, 1.2423, 0.279, 0.3985, -0.0219, -0.0135, 0.9996, -0.0208, 0.8032, 0.6086, -0.3851, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3326 left_y=0.0012 left_z=0.0631 left_yaw=-0.0025 left_pitch=-0.0035 left_roll=0.0046 left_gripper=0.9996 right_x=0.2953 right_y=0.0008 right_z=0.1785 right_yaw=-0.001 right_pitch=-0.0137 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -3.0974, 4.5744, 1.5458, -0.022, -0.0708, -0.0122, -0.335, -1.1966, 7.3915, 1.7998, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0559, 1.747, 0.2607, 1.0958, -0.0559, 0.0143, 0.9996, -0.0208, 0.8089, 0.6083, -0.3855, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.375 left_y=-0.0075 left_z=0.0393 left_yaw=-0.0251 left_pitch=0.1707 left_roll=0.0409 left_gripper=0.9996 right_x=0.2956 right_y=0.0008 right_z=0.1767 right_yaw=-0.001 right_pitch=-0.0202 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [0.4581, -2.947, 1.5248, 0.6667, 0.022, -0.486, -0.0122, -0.3624, -1.7846, 7.0359, 1.746, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4d73ac341f7c7dd7d1da1de99c3b62f47104a546dd9fbd0f83f3b9dc314b1fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3309e5a7baa175225b5b0af317a641a1f084e53853cb842349711ae3c5c9a0e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:487b3a5c2eb1824315cef0ebf808185122f7e965ed62a900fe1cd000d1738dcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnggKEAgSGAI4AUIIdGhpbmtpbmcSDN6wQsWsVLpbhVboQBoMdoBw1PN3QKgtMhNhIjCZJWV2rJCYSQKRVkR98/wEIe5luZA9eYQFT+THLNAmi9gFzfDGVsHNUDLDaOE+HXIquwdY76z/F97EyM7inqn0+stpk29pH4LaZtJDP2JFqi/UU3Htp9i9QpzNSJHX/RyGzFhFFtLpVxSa2K/2k5fD1NYltBDBxLJ7DW0dcl0ILFA37b3I5Y92KBWtAZG+Yt5Py2FX2zJMkEPy4a5gc9wWOhxFbJSsayYXiHDn8eMx8yb/129FXEjeoREobjnEuziQrM5GXl+D4OGadv6e1lxedSUh0++OlwwSPWGz9FqKLLwa0VO1t/iJ/vLB501a7GF37RVjnp0phJWLjXbAvXELpjyuG52LFp5OtoyYMyPnQ/6Y1Qk0h/vAg6/mgjP9ws56hvEzcBuQI+BFPGeXOuqBrSiFlUB4kFdtJ1qeVlYqj3LAnAxar2M0wXS7esHN0N1rBF29aUXCwfPwbuInCSxn2Zvi3oIpRvVXem5QeCSN+zYJNTxiAqd3Ez+dPFfUXFsBppljlh8OpEi/iBcgz0jH53gScstAh+wnZY7RdLNpAvJ5f3Fc/lkxXyGVpdsjSnvlrA35k7CYSqCzqKgM4amp5avvn603lcKYpz2VEiC/htNTXJ0pjMRwY6ILtNgby+ZS3pxJ5tQ7xpRG7hdy3i9das5LfeDxB6wnUG74XI4G2BMwJy9ZNz3A1JSBT/Eoxe+Rzu5PLqe8NF8x9N6Id0yQfC8gRDQ1qbWdTZUOJprF09Yq2/djaB2jF31Zs4SH3Q7o/YDtnZC5m8DthGhTkx+LSzKdQ9zj6Ww3FP015osKLugfEltuWs1LDVRseBBC+QXaGkxKOPh/6PVq91V6cRLyv8RMZWD5EQQ6eXN8Q/LVqTkSC1XO0cg/PZmsT13TT6Qgp8uLm8ohl/os3aq1mQtioaXj7O8q8ME8iLRJbaOqA0AokQPONFcULu+WratBylC6DRgMFONI5CDrYc3GSaHL0hFVQ0FkGGfxMigmlSkMI1fNFLZvyfZXBsOUNZKefpQqEUziMYMPOHMrjToMZe0qTPlQiEzNAI5ZW49Np6hipHcYQFz71D+13THs6Qxk6ucjHi46xJ0KMmXY/3vKzvNEvpJIwnipPoCwLZsecT3bL30xha1ni9+WsMPG74vsGwSEy/Jkh5Xz6b3etAzp5tcglTfSZhHiuw5CAKk0VNz1aIgRcJvbNuOBLpXoFmEqh/yc0FBrjCHokvJj11UlRH4x7Ji0sGz/mDhuaqZNkef5sSGlIIRZixMK+C1uJL+IE8VzV8IyAzFa8rVZxNlbesehKtVFSS0puMOollaZLWbW+DKlspTregenF4TaQXEcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WY5xwwELuy2RfHVoyGvq4i",
      "input": {
        "note": "Descent stopped at z≈0.04 with the wrist tipped forward, possibly resting on the pencil area. Trying a close to see if the pencil is between the jaws.",
        "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_01WY5xwwELuy2RfHVoyGvq4i",
      "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]: [-0.0566, 1.7458, 0.263, 1.0706, -0.0597, 0.0078, 0.01, -0.0208, 0.8101, 0.6079, -0.3855, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3734 left_y=-0.007 left_z=0.0347 left_yaw=-0.0192 left_pitch=0.1492 left_roll=0.0371 left_gripper=0.01 right_x=0.2956 right_y=0.0008 right_z=0.1762 right_yaw=-0.0012 right_pitch=-0.0217 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7094, 3.3026, 2.0537, 0.0024, 0.0464, 0.8376, -0.0752, -1.1829, 7.0632, 1.7167, -0.0269, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90bdffb84dbc69d0bc9431f20e970c8b594a4373ddd6e739de0ebff0c28f3168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82bd4394312d46d2f5cf05940c1aa776c187cbee7e30efd5e311c322f2dac6ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:265aca91c9efd4f9ff28ae55abf9512b065f0bfda5ca33e7409a9d6eec820608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.126 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, 1.2423, 0.279, 0.3985, -0.0219, -0.0135, 0.9996, -0.0208, 0.8032, 0.6086, -0.3851, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3326 left_y=0.0012 left_z=0.0631 left_yaw=-0.0025 left_pitch=-0.0035 left_roll=0.0046 left_gripper=0.9996 right_x=0.2953 right_y=0.0008 right_z=0.1785 right_yaw=-0.001 right_pitch=-0.0137 right_roll=0.0019 right_gripper=0.9992\nstate[joint_eff]: [0.0205, -3.0974, 4.5744, 1.5458, -0.022, -0.0708, -0.0122, -0.335, -1.1966, 7.3915, 1.7998, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0559, 1.747, 0.2607, 1.0958, -0.0559, 0.0143, 0.9996, -0.0208, 0.8089, 0.6083, -0.3855, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.375 left_y=-0.0075 left_z=0.0393 left_yaw=-0.0251 left_pitch=0.1707 left_roll=0.0409 left_gripper=0.9996 right_x=0.2956 right_y=0.0008 right_z=0.1767 right_yaw=-0.001 right_pitch=-0.0202 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [0.4581, -2.947, 1.5248, 0.6667, 0.022, -0.486, -0.0122, -0.3624, -1.7846, 7.0359, 1.746, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0566, 1.7458, 0.263, 1.0706, -0.0597, 0.0078, 0.01, -0.0208, 0.8101, 0.6079, -0.3855, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3734 left_y=-0.007 left_z=0.0347 left_yaw=-0.0192 left_pitch=0.1492 left_roll=0.0371 left_gripper=0.01 right_x=0.2956 right_y=0.0008 right_z=0.1762 right_yaw=-0.0012 right_pitch=-0.0217 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7094, 3.3026, 2.0537, 0.0024, 0.0464, 0.8376, -0.0752, -1.1829, 7.0632, 1.7167, -0.0269, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90bdffb84dbc69d0bc9431f20e970c8b594a4373ddd6e739de0ebff0c28f3168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82bd4394312d46d2f5cf05940c1aa776c187cbee7e30efd5e311c322f2dac6ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:265aca91c9efd4f9ff28ae55abf9512b065f0bfda5ca33e7409a9d6eec820608",
        "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_01CF8S4Z1vLp7Z76kb7zNE1v",
      "input": {
        "note": "Empty close; the jaws appear to be up against the left basket's front wall, past the pencil. Backing off, opening, and moving back toward the pencil which the top view shows closer to the base.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.31,
          "left_y": -0.02,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CF8S4Z1vLp7Z76kb7zNE1v",
      "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]: [-0.168, 1.0843, 0.1261, 0.569, -0.1513, -0.0353, 0.9988, -0.0208, 0.8139, 0.6079, -0.3855, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3138 left_y=-0.0226 left_z=0.0867 left_yaw=-0.0286 left_pitch=0.1761 left_roll=0.0309 left_gripper=0.9988 right_x=0.2958 right_y=0.0008 right_z=0.1751 right_yaw=-0.0012 right_pitch=-0.0256 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -2.3316, 5.4769, 1.8193, -0.1685, -0.0513, -0.1392, -0.1983, -1.3744, 7.1179, 1.7363, -0.0366, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f66bb704b19d11b0e7a9e78e4e4b23d126e95572d49072a11e5044db3a17fdeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:806cd6f64642a9915b8e4f32bcb83c446dc1f4c0fba8e67d06c83f516bbf3d0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4d2efbbe01a447392e7c8f24d8c139239326f0a0f4d20ca1fa19008bbbafe2b",
        "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 · 3.722 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]: [-0.0559, 1.747, 0.2607, 1.0958, -0.0559, 0.0143, 0.9996, -0.0208, 0.8089, 0.6083, -0.3855, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.375 left_y=-0.0075 left_z=0.0393 left_yaw=-0.0251 left_pitch=0.1707 left_roll=0.0409 left_gripper=0.9996 right_x=0.2956 right_y=0.0008 right_z=0.1767 right_yaw=-0.001 right_pitch=-0.0202 right_roll=0.002 right_gripper=0.9992\nstate[joint_eff]: [0.4581, -2.947, 1.5248, 0.6667, 0.022, -0.486, -0.0122, -0.3624, -1.7846, 7.0359, 1.746, -0.0366, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0566, 1.7458, 0.263, 1.0706, -0.0597, 0.0078, 0.01, -0.0208, 0.8101, 0.6079, -0.3855, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3734 left_y=-0.007 left_z=0.0347 left_yaw=-0.0192 left_pitch=0.1492 left_roll=0.0371 left_gripper=0.01 right_x=0.2956 right_y=0.0008 right_z=0.1762 right_yaw=-0.0012 right_pitch=-0.0217 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7094, 3.3026, 2.0537, 0.0024, 0.0464, 0.8376, -0.0752, -1.1829, 7.0632, 1.7167, -0.0269, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.168, 1.0843, 0.1261, 0.569, -0.1513, -0.0353, 0.9988, -0.0208, 0.8139, 0.6079, -0.3855, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3138 left_y=-0.0226 left_z=0.0867 left_yaw=-0.0286 left_pitch=0.1761 left_roll=0.0309 left_gripper=0.9988 right_x=0.2958 right_y=0.0008 right_z=0.1751 right_yaw=-0.0012 right_pitch=-0.0256 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -2.3316, 5.4769, 1.8193, -0.1685, -0.0513, -0.1392, -0.1983, -1.3744, 7.1179, 1.7363, -0.0366, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f66bb704b19d11b0e7a9e78e4e4b23d126e95572d49072a11e5044db3a17fdeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:806cd6f64642a9915b8e4f32bcb83c446dc1f4c0fba8e67d06c83f516bbf3d0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4d2efbbe01a447392e7c8f24d8c139239326f0a0f4d20ca1fa19008bbbafe2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AgKEAgSGAI4AUIIdGhpbmtpbmcSDE4YnM3GPdAh/xBJnBoMenRj+18ktn+JTl4yIjB352YUdOQ9yeanHzk6LMoep3tl/V60oy6zxw3h8vISOghPepAhNQcxpfkMNhTIengq7QdHQYpgbuPOGG7PR2cZLe6Hx2izSXpIUGOpifzVrF1U0qauAf3vrU6l1FFKp7muale+7ia8GMDakHZTBFnWAwhMYaygQwWh8BUQ3DuWJq/mityiyWyH12y4KXOajAX6lmntcJmLJC+L8YIHVArHGZDghzGAvElKr+xB3WtAmEes7lsTfIJ68wTMRVRZNAAe4oWOF9NVXrObXjH8R13a9fUOUsRS1Td1O0QasAd3ym8ION2TPVih+AdetvzZnb6npIJxwQRCe8yKZ+ez8RcaV+y4BKAT50aOH7btbAp8A2efeVR5t4v7oheGGFMuSqwQJMprznK7Ef+NrNQB8wd9VK6yFelv34+3APpXvxS8O3bFTk6zHWUfn11Qnja6d9xpgIk5AqMgWuEz4xdu1rJl6p0T7OXCp+BC3advVi+IZYz1V9qZl9PLjTsWMT7lXAszERnkKDzrX/lPV1uwHbbCcFt1uWgPfjJTrbsMzRg3UnO27f50fcYl5vKFMwio6fjnQJyQh9c0OTxUiliMuRQWG5XVhzjF1Yginhpp+FyXfaFymfbNYLXXB2tNGJPedyNNfPpy7cxCln6IkhNaAAukbu+FVnCaOosqGutMj6Kid/L73zAmsQT/7x+otKWaW8LA1XmWAe/CnwN14lIsdQs0HhqYCtaOEZVt3INRr9MMAxUP8Jo/Df5LpiYa3H3at1fDI2A5vKrCJzSI0sv1MQ5VhuuXU0aK1bd+5dd0wk72ZIT2YZSHeBvtq+w1/Cfk4vbQAJhoBVKTakNn9d7222pDiwGNsEWTq0Q6DeDQG4G9Wzuootyy34M0USbH0wV5DshlwbjpvTbcbtucCOpmOzxbaoa8Lzt8+WTO0l3y8BDMAKN7E5Uij4bH5dpOO8GyEygsp2nY6A0UxHhB7XI+fGSh5h9KX9+1Yo3G3b5adsBGxcEcwnUzFqFWOsut6Nsea0BBMP7c0i5uI80i3TiOf/vhJOXNltgTdZbJ8HunQyynoLD/JVIgBXSZLrJsfbi0GFrmzn1jtv4nV5/42PKHwZ/TkU66j7ibIG+B1xR1nL/X/bV/yqBuZMWlIGiegoutjVaZfv+ijXieS7SIKxQGWEYWxxll8agbC5wT2DX9GxJZIJJMY/QwPq4FkaEe1xyp/7xgSdnYIY139Ozwx9GNfxTbrKs5sQy6wHhwvkRxtF6LRMZI4Cu0GUX30wvbhAdma7vgryljdoh5Kw4DLmJx53VZGRtO4hRiyMPod3fFa2XWp7GmpkZhIqClNXzLAsUgzJGIltWepjN+3m7bG19GXSquXikc9j8NjtWi/k3xKJ3X3pl+hgijwcadS7tLrI4ZMroYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Sbs5pSXXRXwYyZBpCATCY",
      "input": {
        "note": "Yellow pencil now sits at the bottom centre of the left wrist view, just ahead of the jaws. Descending straight down to table level with a 1 cm advance.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.325,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013Sbs5pSXXRXwYyZBpCATCY",
      "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]: [-0.1505, 1.705, 0.136, 1.0176, -0.131, -0.0528, 0.9983, -0.0208, 0.8181, 0.6075, -0.3859, -0.0193, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3251 left_y=-0.0223 left_z=0.0004 left_yaw=-0.0209 left_pitch=0.0146 left_roll=0.0278 left_gripper=0.9983 right_x=0.296 right_y=0.0008 right_z=0.1737 right_yaw=-0.0007 right_pitch=-0.0305 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -4.0274, 2.906, 1.2088, 0.0464, 0.0269, -0.0659, -0.3761, -1.7162, 7.3915, 1.707, -0.0562, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e9c3ada56ba10b55c8af92a8a3afaf3cbc6e00db589dc7f853c4cb87c569af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54f34a7a83a2c955761154f245762910f160fff8f373cf1861a1c613f7d4c7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b31159b2bbd144093fc470076fa7c93a66544db56967ad1fc8b430c472b88016",
        "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 · 8.953 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]: [-0.0566, 1.7458, 0.263, 1.0706, -0.0597, 0.0078, 0.01, -0.0208, 0.8101, 0.6079, -0.3855, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3734 left_y=-0.007 left_z=0.0347 left_yaw=-0.0192 left_pitch=0.1492 left_roll=0.0371 left_gripper=0.01 right_x=0.2956 right_y=0.0008 right_z=0.1762 right_yaw=-0.0012 right_pitch=-0.0217 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -5.7094, 3.3026, 2.0537, 0.0024, 0.0464, 0.8376, -0.0752, -1.1829, 7.0632, 1.7167, -0.0269, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.168, 1.0843, 0.1261, 0.569, -0.1513, -0.0353, 0.9988, -0.0208, 0.8139, 0.6079, -0.3855, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3138 left_y=-0.0226 left_z=0.0867 left_yaw=-0.0286 left_pitch=0.1761 left_roll=0.0309 left_gripper=0.9988 right_x=0.2958 right_y=0.0008 right_z=0.1751 right_yaw=-0.0012 right_pitch=-0.0256 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -2.3316, 5.4769, 1.8193, -0.1685, -0.0513, -0.1392, -0.1983, -1.3744, 7.1179, 1.7363, -0.0366, -0.0366, -0.0171]\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 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]: [-0.1505, 1.705, 0.136, 1.0176, -0.131, -0.0528, 0.9983, -0.0208, 0.8181, 0.6075, -0.3859, -0.0193, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3251 left_y=-0.0223 left_z=0.0004 left_yaw=-0.0209 left_pitch=0.0146 left_roll=0.0278 left_gripper=0.9983 right_x=0.296 right_y=0.0008 right_z=0.1737 right_yaw=-0.0007 right_pitch=-0.0305 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -4.0274, 2.906, 1.2088, 0.0464, 0.0269, -0.0659, -0.3761, -1.7162, 7.3915, 1.707, -0.0562, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e9c3ada56ba10b55c8af92a8a3afaf3cbc6e00db589dc7f853c4cb87c569af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54f34a7a83a2c955761154f245762910f160fff8f373cf1861a1c613f7d4c7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b31159b2bbd144093fc470076fa7c93a66544db56967ad1fc8b430c472b88016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStgcKEAgSGAI4AUIIdGhpbmtpbmcSDF32s2AgBnW8TcsB0BoMs2AuNe2SOnfnQpxMIjBU4Fe5NeunD9Gnrs28wa47lWnXOZuHlkck+d/LygeNbD5vpnIFht1NSxdL+OO+Z1Yq0waaN3F3bwhYuVNLSGwU3rIYU83fvpjG/7AxxS3MUC9CGDi447TwbNst2rblJrc/h/20yK8ofbw9xIzHXQxLdMKTEudD5PeM71om1foq5wvjYjObt2KG8tvofmSoDoO+wOvc4q5qT5GjO3jjqaFLuVtibTffKeRik4ks03rDGJPXEnOOuXWUke4r2lDVEumvm+4xKsilnUF8GsgvwnnSfqt3FEjQ+BYPuLD7H4IecvcyLR2iZSScR8n33No8wFt/hk8CiGgnlwF+E6mXKdRwdXZ1GsFcIcQe1cd2WcBBO2bLZIyUfYPzx7zvXqLJoPJgPnvnL6Qsvxw1I4K0V4LlZlYt/Fgg5iJ8QX5ZpGB2tUmknDDZ9rzLGVByH7FnU/jiFopEvlMzgsrIIYIbGBB4njk2R7IQRdPzf4woV7/3ZiDtlXeClXSxTll9mVBv0h6seVm6Bft/ptwkoUQMmJkeqFBcWWumNmPy1Ln2NysFHE6s3IYVirDLROb/02kUuaJ8QrCLcbs7pMGLOKfdKpRVtqjQsD13MQY1QoAMcvAJ7jH3zN3YVrqpRxY78og+Jj2kUl3/c9LxNWHEkJ4KL1SuWhwdRod97bjCa5NwWHGfb2GsJgznD5Yccg0U9JPg8jwjvUsoI82B3JBXT0jxilFPWuW2nGm9OJFsyU5f/Wf6ANlB54ghzvx7FD8HO0Ecx5UUs4egYFl3rZ7VBdJRkm/Vn3W8ucDY18A6BZJJTPEJmZkK97rNij4Jqt+CwkAuYKYt1B19sEGTqAiwvmoM6yS2JUYXepRAgS6HEbEIfsvGJqZv9D059Uodej88jeOVIhZd97On83vtdzz4ZCNCWR6WeskYriiMHukbAjY2LQ06IuXVYlXub+PNA0L+8/Rwa3soXtGczuWssnu2rxIyJZXD8tyORgYhVs/GR1+rfErgaXMCMStDbkaTcNnT8t0dyTvra/OVXQJrfo3nt7g0u5SOs/J7O/KKDgsjHd6xKHMUNoYYkOAyXuzQvE32RExOKXB4EK1c1I6yXIC8m3mrsLNO6s/6FpDrq5z40atTyGXO10oPNeO4prxAMtLYZhI9RiYDQgkdaid/Mh193YENPIxak+BESYGg3dPTPzPmf4B15tWQAsJLMhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ANLwKauv3SHiAceVHCJP4B",
      "input": {
        "note": "At table level the yellow pencil runs between the two jaws in the left wrist view. Closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ANLwKauv3SHiAceVHCJP4B",
      "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]: [-0.149, 1.7195, 0.141, 1.0355, -0.1318, -0.0532, 0.1522, -0.0208, 0.8185, 0.6075, -0.3893, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=-0.0221 left_z=0.0011 left_yaw=-0.0185 left_pitch=0.023 left_roll=0.0268 left_gripper=0.1522 right_x=0.2955 right_y=0.0008 right_z=0.1729 right_yaw=-0.001 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -5.9419, 2.4684, 1.5653, -0.1001, -0.0513, 0.9988, -0.0615, -1.388, 7.241, 1.7851, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7741392cae2e3bd93c05c94dcf9834f6abb9bda2fcfe5652dc4676c193d8acf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ebe41e54633dc3e0689e9c36ca38ba4bc2597d29cca8fae9232526f695cc830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1945f649bac15f4be77613d08249e4030105e6edf80f24e28d3a4c6f3b90c41",
        "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 · 5.133 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]: [-0.168, 1.0843, 0.1261, 0.569, -0.1513, -0.0353, 0.9988, -0.0208, 0.8139, 0.6079, -0.3855, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.3138 left_y=-0.0226 left_z=0.0867 left_yaw=-0.0286 left_pitch=0.1761 left_roll=0.0309 left_gripper=0.9988 right_x=0.2958 right_y=0.0008 right_z=0.1751 right_yaw=-0.0012 right_pitch=-0.0256 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -2.3316, 5.4769, 1.8193, -0.1685, -0.0513, -0.1392, -0.1983, -1.3744, 7.1179, 1.7363, -0.0366, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1505, 1.705, 0.136, 1.0176, -0.131, -0.0528, 0.9983, -0.0208, 0.8181, 0.6075, -0.3859, -0.0193, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3251 left_y=-0.0223 left_z=0.0004 left_yaw=-0.0209 left_pitch=0.0146 left_roll=0.0278 left_gripper=0.9983 right_x=0.296 right_y=0.0008 right_z=0.1737 right_yaw=-0.0007 right_pitch=-0.0305 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -4.0274, 2.906, 1.2088, 0.0464, 0.0269, -0.0659, -0.3761, -1.7162, 7.3915, 1.707, -0.0562, -0.0415, -0.0171]",
      "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]: [-0.149, 1.7195, 0.141, 1.0355, -0.1318, -0.0532, 0.1522, -0.0208, 0.8185, 0.6075, -0.3893, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=-0.0221 left_z=0.0011 left_yaw=-0.0185 left_pitch=0.023 left_roll=0.0268 left_gripper=0.1522 right_x=0.2955 right_y=0.0008 right_z=0.1729 right_yaw=-0.001 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -5.9419, 2.4684, 1.5653, -0.1001, -0.0513, 0.9988, -0.0615, -1.388, 7.241, 1.7851, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7741392cae2e3bd93c05c94dcf9834f6abb9bda2fcfe5652dc4676c193d8acf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ebe41e54633dc3e0689e9c36ca38ba4bc2597d29cca8fae9232526f695cc830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1945f649bac15f4be77613d08249e4030105e6edf80f24e28d3a4c6f3b90c41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013sM2e4QrFg1qtVXVqtVWve",
      "input": {
        "note": "Gripper settled at 0.15 (≈1.4 cm) — pencil held. Lifting straight up to carry it; pens will go to the right basket, plushies to the left basket.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_013sM2e4QrFg1qtVXVqtVWve",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.149, 0.9581, 0.6777, -0.2775, -0.1314, -0.0601, 0.159, -0.0208, 0.8249, 0.6067, -0.3923, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3287 left_y=-0.0223 left_z=0.1882 left_yaw=-0.0152 left_pitch=0.0083 left_roll=0.0227 left_gripper=0.159 right_x=0.2954 right_y=0.0008 right_z=0.1702 right_yaw=-0.001 right_pitch=-0.0446 right_roll=0.0025 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -3.5897, 9.3333, 1.4481, -0.0806, 0.0317, 1.033, -0.1299, -1.9624, 7.0632, 1.7558, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2204b46c2987ca1ba02c3dae69a8ae91c189ce6dabcfe587419d28d47d20a16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61dbd8cc0ba693f23ce41f3fa224b6d0d5565798067562ed32a3be21af187536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4dc055056596c49b473731ff70782cbe28bb76752a7067180cc41af43bc9d34d",
        "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 · 5.06 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]: [-0.1505, 1.705, 0.136, 1.0176, -0.131, -0.0528, 0.9983, -0.0208, 0.8181, 0.6075, -0.3859, -0.0193, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3251 left_y=-0.0223 left_z=0.0004 left_yaw=-0.0209 left_pitch=0.0146 left_roll=0.0278 left_gripper=0.9983 right_x=0.296 right_y=0.0008 right_z=0.1737 right_yaw=-0.0007 right_pitch=-0.0305 right_roll=0.0024 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -4.0274, 2.906, 1.2088, 0.0464, 0.0269, -0.0659, -0.3761, -1.7162, 7.3915, 1.707, -0.0562, -0.0415, -0.0171]",
      "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]: [-0.149, 1.7195, 0.141, 1.0355, -0.1318, -0.0532, 0.1522, -0.0208, 0.8185, 0.6075, -0.3893, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=-0.0221 left_z=0.0011 left_yaw=-0.0185 left_pitch=0.023 left_roll=0.0268 left_gripper=0.1522 right_x=0.2955 right_y=0.0008 right_z=0.1729 right_yaw=-0.001 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -5.9419, 2.4684, 1.5653, -0.1001, -0.0513, 0.9988, -0.0615, -1.388, 7.241, 1.7851, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.149, 0.9581, 0.6777, -0.2775, -0.1314, -0.0601, 0.159, -0.0208, 0.8249, 0.6067, -0.3923, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3287 left_y=-0.0223 left_z=0.1882 left_yaw=-0.0152 left_pitch=0.0083 left_roll=0.0227 left_gripper=0.159 right_x=0.2954 right_y=0.0008 right_z=0.1702 right_yaw=-0.001 right_pitch=-0.0446 right_roll=0.0025 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -3.5897, 9.3333, 1.4481, -0.0806, 0.0317, 1.033, -0.1299, -1.9624, 7.0632, 1.7558, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2204b46c2987ca1ba02c3dae69a8ae91c189ce6dabcfe587419d28d47d20a16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61dbd8cc0ba693f23ce41f3fa224b6d0d5565798067562ed32a3be21af187536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dc055056596c49b473731ff70782cbe28bb76752a7067180cc41af43bc9d34d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9ggKEAgSGAI4AUIIdGhpbmtpbmcSDKbldcAfBxjzlyD1BRoM4SMXlcXrgW2JaeqdIjAyPiUIvbMMVSke4L7XF/kGwfWH2JPRZyzpzmkEiT+FwJwFoxzQT9CHuZGyAL+OqGAqkwgr6SJsTbKro5Co7wOhse4DTQIrDOaGtd/IJ/oHLzQwCQwZgOH8aIHem9WzeTcIDP+9fOI8zOLs3BnliQ59omD1b7oCpXRovt/PuzQGVdyTnblkh5liAV7hGQR09OlPFNKQcrAFLac2qsgwgOg3ZBFvs68sTS0GqWNoF7KzxgM1XUdGWG6y06hGziNVcPUyCIOAEmi0qM/qOWzVmS/8dEP2Z5Xhw1c+QiSn7EWgY3f637Tn+x7MBBQbuhEJkJKlIQZdiV5nvNGrT+hxIyW50u7vNwW+s8wSXmGJ+8E/NroP6lUOzPBhxIVxHqAwxG4OPkIGQV8qG3Fw1WVDzM2rkGdksEybqr8DWj38PVhzF0lFgjcqUgujPp41HCRGGIJ/L+ZxHuN1kMRXC05JpYmtFEawTQyeyVBbBNmcHmjLAkjTR+0wReFUxR102px41vETaL9JjKV0rllESpyWWrub+og7uItjnMsGElCyxURkymwaiuubX4BMUJY5QgwlHxERpM9UhMRGkNOFt0T5GbmdtT1ciq2KFfZDpFT/mr6RhUpv4bCIhByYkq3DBeQas9s0ASz1HsdybaCRdQBwSgNTFeeXlIuorM7EyfOHJ6zL93Eai2T3Eia8yD6aq1sqXtYKb3eL4WulEg4GpmgjfCfb0tfcjHIECJgl9dGOoZFOykZO0HfmHGQ6VhLytXAb0w8RkDl6krj2V7yblxhFAa6f1sLILr3r2a1IKVbhB8kilIeSRkgNehXH/ax0KQ5aA5TNPgRjg/zQ6MNFj0wVSVU0UxVC7mO4+rekVFxv2wMPoFQjNtD2+ubHNICOevJP0CGUMxjq/O4c2oRsHcIwBpebRy5fijz853RxNAAhO9zo54jpfSFXUrYEAsAKKX/h6UwYBR8g3japgEDsdK05D8jAhLUwcSBACC7ghe1LW+MD8OneIfTi7jUs0xxvzm4pAMuoYUhyABPFg1ma4+h/Q481nKOidOkqte0tbMffK03/qA4gfwVo/cVwxCQ1Vl98iTSRy0mbG1H0UPps2dZYMonacTzAcHjVh9GDx+P90zbnBdfmuLjsr0dYvrWcF2HW6VgOo6y0xmuQSbFbeZ9MOFkQidWx+QVirHfOVBXDBP80LcwGdvwBih1d6G1ZZgHrVqySHEgMK1ubSvhOHbUz74aI2jPuCdVIqJuhPFaNOy/fI7ACuKuFEo8uyOTOip4e6kQrm3gqMmZu7zxfn+ROmMHk61641TT/x6oobiIKxzQwZGfYwzQL6jBehIPWimF+b855eIwTV8p0FFUXJC8mSCJEQH4co2uRLWWhOs3gpyJAQRzCsTuQW9nNZDj6T9I8C/wawvsWhVUbSTSLwFaz4Hn/8z4IlTD835DlOBaE7hSfE9UgptZvMxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012gJ1z4a2BAqTM6jQuu7mTt",
      "input": {
        "note": "Pencil is lifted in the left gripper. Carrying it high over to the right basket (estimated at left-frame y≈-0.39, x≈0.45).",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.38,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_012gJ1z4a2BAqTM6jQuu7mTt",
      "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]: [-0.9207, 2.2185, 2.125, -0.7094, -0.7383, -0.6033, 0.1639, -0.0208, 0.8299, 0.6067, -0.3927, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4415 left_y=-0.3783 left_z=0.2152 left_yaw=-0.0141 left_pitch=0.0002 left_roll=0.0089 left_gripper=0.1639 right_x=0.2956 right_y=0.0008 right_z=0.1687 right_yaw=-0.001 right_pitch=-0.05 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.8137, -12.2598, 8.4855, 1.326, -0.4713, 0.0366, 1.0281, -0.1162, -1.4154, 7.1043, 1.7118, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00b955c9a0a1d8f6313ba02310261ab188727cc67da87cff09e8ac76fb5403cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b2ec32e4abdf748b8b256ec72af4a801219d207a7a174a0cab0e5f38a13f2a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9c5ecf0fcd29782cc73e3f6ddadd00475bb7aa50706b2ab3231b4b271cf2d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 3.808 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]: [-0.149, 1.7195, 0.141, 1.0355, -0.1318, -0.0532, 0.1522, -0.0208, 0.8185, 0.6075, -0.3893, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3276 left_y=-0.0221 left_z=0.0011 left_yaw=-0.0185 left_pitch=0.023 left_roll=0.0268 left_gripper=0.1522 right_x=0.2955 right_y=0.0008 right_z=0.1729 right_yaw=-0.001 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -5.9419, 2.4684, 1.5653, -0.1001, -0.0513, 0.9988, -0.0615, -1.388, 7.241, 1.7851, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.149, 0.9581, 0.6777, -0.2775, -0.1314, -0.0601, 0.159, -0.0208, 0.8249, 0.6067, -0.3923, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3287 left_y=-0.0223 left_z=0.1882 left_yaw=-0.0152 left_pitch=0.0083 left_roll=0.0227 left_gripper=0.159 right_x=0.2954 right_y=0.0008 right_z=0.1702 right_yaw=-0.001 right_pitch=-0.0446 right_roll=0.0025 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -3.5897, 9.3333, 1.4481, -0.0806, 0.0317, 1.033, -0.1299, -1.9624, 7.0632, 1.7558, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9207, 2.2185, 2.125, -0.7094, -0.7383, -0.6033, 0.1639, -0.0208, 0.8299, 0.6067, -0.3927, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4415 left_y=-0.3783 left_z=0.2152 left_yaw=-0.0141 left_pitch=0.0002 left_roll=0.0089 left_gripper=0.1639 right_x=0.2956 right_y=0.0008 right_z=0.1687 right_yaw=-0.001 right_pitch=-0.05 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.8137, -12.2598, 8.4855, 1.326, -0.4713, 0.0366, 1.0281, -0.1162, -1.4154, 7.1043, 1.7118, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00b955c9a0a1d8f6313ba02310261ab188727cc67da87cff09e8ac76fb5403cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b2ec32e4abdf748b8b256ec72af4a801219d207a7a174a0cab0e5f38a13f2a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9c5ecf0fcd29782cc73e3f6ddadd00475bb7aa50706b2ab3231b4b271cf2d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsgkKEAgSGAI4AUIIdGhpbmtpbmcSDKc+ye5fARSmxX0YUxoMdJYJufvlBeDs28fuIjBCtJAVf534t8OZl5xJVn9vgGl8SXn56l/a6YibL0MoMYyDaE9/LntduyuQTZebv7QqzwhSNKmoNGGv/1Gl/RJMz3uBNdlHpCuHSrpFZbxLlC74dY+podIgqcLSpu8i37gLlA6s86GgkbFms7K6Uc3Ntf1Yhyfe2Ga/GsEEniAP72Pffy1xAlLSeSOn2IgkXleq5+qGC8A/4qKS6krlU/x0xshUcIP6Xp0nsgu2Ngfkclc6STOn09s/OfcchtPnb3KP3rcqgj9uyNnPOC1EdEiw4XpBX24wi9kKTfGmSDW1H1kizSxazz6TJtBscXsSYNeBHzxFgROYTCoVxZhWSvNRl0EI+YKTHCWEBzQYIOVgtBB9D3BwStoxFXZvBeJHU8Umdoy6i3WSabXy7+MmZ0TrZk1nfvkaPrEoWTSIeSIBPm0JSTJ4ExxnRbXscn6Hza88eQ3q+GZiaAOl74OSmSJpJgQ81IyHMi2XaOwy9qsRDoUphb5O61QZF+YArgRR6ZnZQQhQXpq3CUYM8GKoELIIn8cyq2TN+W5N8cGw9iyj1tU3D9SyqrOajNBhIMXiGl9Hz+JuagXUm80GeP1103/WoTvtTeaq5K8J4W16S/xuqxZ56jmp8jGPRnKFdgTxx1sYtTTJ+si+1vpgdE0CPxueipOBEdihrRyxd8cWpWxxTlKGfT3Bu6qndp6RIf7OOM6OcZxigRsVjWO2Kc4HxvyymkMv3NC7ZvyZmTplh8kBOo0peoLK1yaOuB2OoKCf+aittTeSuOYApBySriqKXdLHkO3YWMc6rU7rCBTImyqT86bC94DxzHDD74/An7A0Rak2AP/EnvUEMDkCVBKSqLEaBaMf1OBAjQwAr7CB1Ih2l0dx2ZyF2U2+qg92Gso5/jxfbtLSNGa3rjjKskA/CsOePPbAwymEtLsnPFRad+gU8ToXvZF0DSCsXsqRKwcD9vUt5G/sRpKwzorIzVhg6sbXCz7AkgxhAjGxlYo9E06NLhEQZfmKQT1vxMI4lp3NA7dBICjP+bCSAG2/ip/kzYuSRm+xgLGAAy7p8PN2qM1DxYqt6u/EiOG1b1MQqYW3XuaQ7itOgXiGTuw8+08zUT2GjcsO0+J4DCRM9QcLm4bqJBaWixWnozpJbmyS6MH7KGcijBNI3lReOmNiigiyYv5Sp9olxMkGBskFSrDvoxMsYCCtTmhANvWtKWBA9I2Q1uK8MQsIUX6HTFjgyyeiy0JFy1tgw62n0Iq5VgRalpQwh222DcxVlsdceRHQ8HYuMbaneIB8nQBxHvfuBVbj1OCub0XN4ZtQ/GGhxCPxs3HWP8mmaxIKnWuPB3EnRiVMhddkA3GhbRuORUVeGzNCo1ms8Y5yTRALZk6TiohdXfZHEfou2YJ/3mCTNoQbXVXIiB3ACgNpsIkRwUB+x4gfNDFjUsZtklkS+IwzySWkCd37cRb42oh6F8MDkVBHlCCr79Q7Z4XyF7wogMI8GLIgKZVOX48X1AjpPCqjhjePdgHvf55coJY+HBUEPcaVozkEm/0LcRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XoEdPhamFKtjLUwTEuHPEE",
      "input": {
        "note": "The pencil is over the left edge of the right basket. Shifting a bit further right and forward so it drops well inside.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XoEdPhamFKtjLUwTEuHPEE",
      "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]: [-0.9035, 2.4432, 2.4928, -0.8528, -0.7254, -0.6025, 0.1639, -0.0208, 0.8314, 0.6067, -0.3927, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.4689 left_y=-0.4 left_z=0.2084 left_yaw=-0.0064 left_pitch=-0.0074 left_roll=0.004 left_gripper=0.1639 right_x=0.2957 right_y=0.0008 right_z=0.1683 right_yaw=-0.0012 right_pitch=-0.0515 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -13.641, 8.8684, 1.2967, -0.2906, 0.1343, 1.033, -0.0752, -1.6342, 7.0769, 1.7216, -0.022, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32283c576fd11e9c7fece5f0ac037d9cee628812b30ca7f88efd90ccb826b9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63887ebf99b416279fa7f110793f7805103984009ca85255027edaa7eaaf2d9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9aee52d2c7d4bd51a25d1102ce12f8076a345fe684ee071eaed9e4e470f3db93",
        "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 · 9.102 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]: [-0.149, 0.9581, 0.6777, -0.2775, -0.1314, -0.0601, 0.159, -0.0208, 0.8249, 0.6067, -0.3923, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.3287 left_y=-0.0223 left_z=0.1882 left_yaw=-0.0152 left_pitch=0.0083 left_roll=0.0227 left_gripper=0.159 right_x=0.2954 right_y=0.0008 right_z=0.1702 right_yaw=-0.001 right_pitch=-0.0446 right_roll=0.0025 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -3.5897, 9.3333, 1.4481, -0.0806, 0.0317, 1.033, -0.1299, -1.9624, 7.0632, 1.7558, -0.0366, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9207, 2.2185, 2.125, -0.7094, -0.7383, -0.6033, 0.1639, -0.0208, 0.8299, 0.6067, -0.3927, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4415 left_y=-0.3783 left_z=0.2152 left_yaw=-0.0141 left_pitch=0.0002 left_roll=0.0089 left_gripper=0.1639 right_x=0.2956 right_y=0.0008 right_z=0.1687 right_yaw=-0.001 right_pitch=-0.05 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.8137, -12.2598, 8.4855, 1.326, -0.4713, 0.0366, 1.0281, -0.1162, -1.4154, 7.1043, 1.7118, -0.0171, -0.0562, -0.0122]",
      "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]: [-0.9035, 2.4432, 2.4928, -0.8528, -0.7254, -0.6025, 0.1639, -0.0208, 0.8314, 0.6067, -0.3927, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.4689 left_y=-0.4 left_z=0.2084 left_yaw=-0.0064 left_pitch=-0.0074 left_roll=0.004 left_gripper=0.1639 right_x=0.2957 right_y=0.0008 right_z=0.1683 right_yaw=-0.0012 right_pitch=-0.0515 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -13.641, 8.8684, 1.2967, -0.2906, 0.1343, 1.033, -0.0752, -1.6342, 7.0769, 1.7216, -0.022, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32283c576fd11e9c7fece5f0ac037d9cee628812b30ca7f88efd90ccb826b9cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63887ebf99b416279fa7f110793f7805103984009ca85255027edaa7eaaf2d9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aee52d2c7d4bd51a25d1102ce12f8076a345fe684ee071eaed9e4e470f3db93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxgcKEAgSGAI4AUIIdGhpbmtpbmcSDCOf0lGYTBzjuvb+9BoMw+xxVELA6HSWtYGzIjD03KMZfucLM8cuRyKUxV39i2Ja24yYnUMUQzDngH8nSMbya1lho8OmRH9oHjtwWUoq4wYVxJ/Gq8bPNAVHvxjb1Mx3QqqjLs/fcf4HOt1ClGarKQfL1aVAupBuChBz5lk6IVES4Fchs7aqG8V7BGFEHOT2Efx1MY1uzZDJtQHyc8B2vVEqR9zmpVFqlyLMWcYszVf2SwydOu9jkA5iJqMV6teyIHDIyxuabjyMF9yg4UxsKhmnd/eM2c+C/7f+NSkcpARjef11XW2w+3Ckv5cMaD9wzz9Da+e9Gf9WVhYnI8Cp188w32tWPvqLR+6yTb1YbFj3YfVOuIn6pjXmtMc2GRhiu5vsYbGv2t55eZ0T7TJaoagVT8/0iAb5M6ngmOQbeWvXQW8qOY9hJsL4wPLFD7wCoj+cXyZ8M9DERJMAfDsWwXBYvi0PnRmT77GPGX3IhW5g3CLsnbIGQVKFn3jApiXhi49hqtTqI2tS5IAyF5crbiIcuD5n+cRPgFAYbO6xa5qztjKxffFxq0eVUVcUzu1yLPPgUwgHcb6M62T/+pXBRgHB+445QuYC9nd2cCi1BK3xMFx1yO4jYU8Mqm8gjuCoQIxlxRxX3AHva2Xx9tUuSLrQY3cWOqPe1LvWcHsLQsPHvQjqRKR7awPen0LYO5jehB+hjt/kjVcvCYbYVKS4uc3qQLbVBLN0NzyBmwhXS0QasBMnVguoXPnybWZ+iyJZK7OnNSrW5Bd8PguKMpsAf3Y/M2c6GfDpclwoeaNettCXwL4nr5gBmdBpaTZtWGawK9rHgX4AykVl0WvQfkGzppE2NisqYjeWGiWDHyVdkmotF7e5uCY8yFIM3v3mWtzxkvmwV0N9w6pkhWsBjCydWbO1NpZM/olCI8PSgd7vQqH9nVT4VmmuFUW+64Uf5iJOP77dkQeHGvbnCpLLoWKEq1NNfJCMsSUFIS1NN1pxdVnMXuqbbpPhsUu4U8NbF48XqJkO2f7x7snq+6iNK8SJMmN+6jUn8LHXpYH0b35QQbeiY3FkDaAoPA5Er/IhJSXX+pqRdhobCsbCF9u+Ey7cK0R1sjOvOMZwz7MXUvdTZSKnjcyekecyGBx/T8P2u/cfsuzx+thxllu3HbGlVaV6jIpUA5Mb1vv4bpaaApp0/MAQUrQ+i6cJTh1J+8krwj8v8W3NYyN1ircLu5glMoKvC5PTonlpQ5GJdPJokOZnNqphFvsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011epj6R5ThAPj8vfeSEnreq",
      "input": {
        "note": "Pencil is now over the right basket in both views. Opening to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011epj6R5ThAPj8vfeSEnreq",
      "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]: [-0.9035, 2.4432, 2.4916, -0.8516, -0.7254, -0.6117, 0.9954, -0.0208, 0.8314, 0.6067, -0.3923, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.469 left_y=-0.4001 left_z=0.2082 left_yaw=-0.0015 left_pitch=-0.0074 left_roll=-0.0037 left_gripper=0.9954 right_x=0.2957 right_y=0.0008 right_z=0.1684 right_yaw=-0.001 right_pitch=-0.0511 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -14.2701, 6.694, 1.3602, -0.3199, 0.0415, -0.188, -0.0889, -1.3607, 7.0222, 1.7216, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5086b2b59db852675c7216da9b63d7540795efe47df0fa1841ee656bd712853e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a18d655e0baeada7a6c15c8c19f920721e3f5f0fa82603c5e4d86e5af18ef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af825ff947d1f93ed47364a5cfebd7869c884d9b643d6235ab193f3266933e50",
        "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 · 5.067 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]: [-0.9207, 2.2185, 2.125, -0.7094, -0.7383, -0.6033, 0.1639, -0.0208, 0.8299, 0.6067, -0.3927, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.4415 left_y=-0.3783 left_z=0.2152 left_yaw=-0.0141 left_pitch=0.0002 left_roll=0.0089 left_gripper=0.1639 right_x=0.2956 right_y=0.0008 right_z=0.1687 right_yaw=-0.001 right_pitch=-0.05 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.8137, -12.2598, 8.4855, 1.326, -0.4713, 0.0366, 1.0281, -0.1162, -1.4154, 7.1043, 1.7118, -0.0171, -0.0562, -0.0122]",
      "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]: [-0.9035, 2.4432, 2.4928, -0.8528, -0.7254, -0.6025, 0.1639, -0.0208, 0.8314, 0.6067, -0.3927, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.4689 left_y=-0.4 left_z=0.2084 left_yaw=-0.0064 left_pitch=-0.0074 left_roll=0.004 left_gripper=0.1639 right_x=0.2957 right_y=0.0008 right_z=0.1683 right_yaw=-0.0012 right_pitch=-0.0515 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -13.641, 8.8684, 1.2967, -0.2906, 0.1343, 1.033, -0.0752, -1.6342, 7.0769, 1.7216, -0.022, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9035, 2.4432, 2.4916, -0.8516, -0.7254, -0.6117, 0.9954, -0.0208, 0.8314, 0.6067, -0.3923, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.469 left_y=-0.4001 left_z=0.2082 left_yaw=-0.0015 left_pitch=-0.0074 left_roll=-0.0037 left_gripper=0.9954 right_x=0.2957 right_y=0.0008 right_z=0.1684 right_yaw=-0.001 right_pitch=-0.0511 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -14.2701, 6.694, 1.3602, -0.3199, 0.0415, -0.188, -0.0889, -1.3607, 7.0222, 1.7216, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5086b2b59db852675c7216da9b63d7540795efe47df0fa1841ee656bd712853e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a18d655e0baeada7a6c15c8c19f920721e3f5f0fa82603c5e4d86e5af18ef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af825ff947d1f93ed47364a5cfebd7869c884d9b643d6235ab193f3266933e50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6A0KEAgSGAI4AUIIdGhpbmtpbmcSDNkW3CSD7KhDFFZ0ExoMvjE9L/dw1fxHJL1hIjAQ10S0n0TW3Q6fOt6dTmwXtJQl7dxfK2enuQjWsZa12nnpl6CI6D94rpHDvVZW4zUqhQ0rCoK1q9Grow+0rwrLnAv6ebIkU1W3e920bwUW9NzrX5wlnP00CCjPKpdWNk7NODp5c6eqf9MbsFt5vWRb6Kd+Xrpr6jGRRKQ9e5jWEhbwNhYDlyaKFTEYMptcpZ8yowSGlg4DvgkY4p5Bz+/BKHziX06XM6ZsiGMNtuf2aOVW0Fr0Fb4YFYIaQoAis7jny/epNaruA3tX2GVp2ryXteqAYlSRrRCeFyuLCcEEyD31Z/Fses52hlSUFRhJlpRHGCzeisV0wSu9DDqc2cmkaqDsLhL7dHEX49Y7z6N7PcnusjLVhs17f6ajWjJp7KzL5H9ivTb4SmJwkgmHM2QAVd6YD6YnFoKrCUO5il3zBpSNWzG7zc8bzL0Y8SrtlMO3F8WbFf2+Gdba/WUmeshxtQXk1icc5pxq68Dvmd0DPwxBN785fcKJj8GuRnqckISyMcneN6GFkafMBMlWOEnE3A1bt9RP21xOGnZdpFwIunBV0XAcgLLkSQPcHIQ3nRGIR/6PiEuES1v922Z/ApRxpV7ATRJA4LBW/uvPfcVDGX6R5JmB+AvUVA/nhw9LeEK+zGsEMCzmVz58HmB1cq6O6yLnZ/05t3Qo8bf50gMWeodcHkrZLevS46jWy9BVWGh04xxwUkd366UzDoDg9beqgnm8FmaFY7COwB61kQHsseN3y3c0M8ZnQSwi++kgsQgCJ9gTS36XknSGlAbxuRhLBOoprn4icp0Z8Guhm6lzGBpGmtagsS+JBc1Yt0lMOwlLAOXoiYwVXkG6jGDxrhSei2BOk5gd96/2/5peumQXKgyKk3F51ijWzWKY6WZNXg3O+fnQdrk3gkUR5erpbX+/FibYj0HHKTXK1x/82EmuCPK+0MxJIRKVWrzUBfYGlzLnZP1/DEGFcYSODAQwYc5p52JMjgYGAPKFxIGwDOPJtD1jOyFGUVzSSBGc/052Ww5rig/A1K5RU8CR6eYZ7Y47Kizdrl6xPqyjd/zV64fvBExDt9Xdsy4SOCWEKdka8+faBk/vRSFALP5XT3n+ierDtfMFK74PfHwb5g13TQTZPw0k43tkgVgpjDNQ9PLk2DKGFOmQ9IqF/pfFHTv0Ksq18HyvlN4V/3dKPdt54mduuSdSBeRwtWffYtTB7VxrffWJ83SZ8ojStQRNvuF2juW8Z25mPPPh+qC43q9NXHxDiKtBB4xUhXdCxRAwH76WjkOF44ghPxxpbHESjtI7Owkq1P/44h5G6f230m/ofdFQ6Q0SBssDsSUKPmc8+Kh3JOh8fmv1hmHMklKze3HQVDAUKrU1m3Sh5LrIKDwE/xtZ0wp5GKR37g1gIKlOvBEDHdQOS3F+xnxB3gq0L5/NDj9qQODE91nfQovUBLA9nI754fSXwWkJ+hj+SAbNZIBbOafmMZ7kLqmIyiW/T6kJW2E2wox2Wv5Viy2RqSqsMrjSfM3rrCKwMG6kn4TjqlIQWJRCHIQ4q8worJnH9npnoSfkZ+y2aXAhi7Kn5da3R7D/pXaOBgAOSpAedVMkAnvB7ywntMPXtULKIQjCFuD/kNcVtG/tmZFC/7xR8Dp/tTbuUIiEIBxEx29nnca7woG1yowwM+ZQGTcq/EhOCbNh2Fal/SiryxUH6MJENeaUV5ELaqMclHNHT1s32tGXFLqCix3pYTik4bGPJFuIXtHtLyBqruqzPTu6b/uj/8T/7iw3LKzbW6XAHMJm0JHx7l4LF/Ozrscf+KVJkZzH2NST7/FIDOtiaCAz/bx3/skgl5hlxb1jwNjmOjov0PMas0kAE145jSWVs/5vPDFcJ0yQbwGTFqSYTfzUOv9NRCx0Zdo7VLwCtoX04sma0YnJmLKzHAu0NBN1ylcuihNZZy432KEA0slgrNjr2jlC+FOFGzr+jqTT/3fBQT+Ccz4juha4uFkpQZ9N6ek9k1vpRPw/KudVMXBf/x3NNWy2PptkSRIiKxF9D4GM2+uzo3sot7jzSprTIn2WzvQpMrPGl5iB83BU6fLnhK97TOOYIe8WLIuxyvmHf53zOqP+EDJe+EfYpQifUb3fIv+PDeuoWFfjrI9C7jFaMcTTu8CAKDE3tlrrOgdUhyOaKm9zjLqSHPSC8l5gr3b4xPtHKk2xqDAO9D6Mb1puLmIdCqIzoZuN2Ut4xLECGLnEraDQzX9loQ5W07u4QBMHjva/CPOq3slTfMQoBAJuYaVRj7WoQbxCZCdCV4cXrYIuSG1/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fdjf5u2nvCUxMfqvezWa7Q",
      "input": {
        "note": "Pencil landed in the right basket. Parking the left arm at home and bringing the right arm down/left over the black marker seen at the bottom-left of its wrist view.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_x": 0.3,
          "right_y": 0.06,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 36 steps (3.6s)",
      "tool_use_id": "toolu_01Fdjf5u2nvCUxMfqvezWa7Q",
      "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]: [-0.0509, 0.8371, 0.6182, -0.3397, -0.0948, -0.0761, 0.9967, 0.3363, 1.0393, 0.3317, 0.041, 0.2543, 0.1753, 0.9992]\nstate[eef_state]: left_x=0.3047 left_y=0.0048 left_z=0.1832 left_yaw=0.0604 left_pitch=0.0054 left_roll=-0.0101 left_gripper=0.9967 right_x=0.2976 right_y=0.0607 right_z=0.077 right_yaw=0.0189 right_pitch=-0.0758 right_roll=-0.0055 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.7709, 6.7897, 1.6532, 0.1197, 0.1197, 0.1294, 0.4171, -2.1949, 5.9419, 1.8681, 0.2906, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:397cd654f2def6edbd5775475eb59584e7c9370e23f37d951d3ed2721223b424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f23aca0568ce2fb666e7ca86dd73207cb5a14963948981c4b7671bde9222c7d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38aadd493d85651fd64082f7949c8cbafbfbe612ba599d83dbbc2f10038208ae",
        "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 · 4.592 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]: [-0.9035, 2.4432, 2.4928, -0.8528, -0.7254, -0.6025, 0.1639, -0.0208, 0.8314, 0.6067, -0.3927, -0.0189, -0.0231, 0.9992]\nstate[eef_state]: left_x=0.4689 left_y=-0.4 left_z=0.2084 left_yaw=-0.0064 left_pitch=-0.0074 left_roll=0.004 left_gripper=0.1639 right_x=0.2957 right_y=0.0008 right_z=0.1683 right_yaw=-0.0012 right_pitch=-0.0515 right_roll=0.0029 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -13.641, 8.8684, 1.2967, -0.2906, 0.1343, 1.033, -0.0752, -1.6342, 7.0769, 1.7216, -0.022, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9035, 2.4432, 2.4916, -0.8516, -0.7254, -0.6117, 0.9954, -0.0208, 0.8314, 0.6067, -0.3923, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.469 left_y=-0.4001 left_z=0.2082 left_yaw=-0.0015 left_pitch=-0.0074 left_roll=-0.0037 left_gripper=0.9954 right_x=0.2957 right_y=0.0008 right_z=0.1684 right_yaw=-0.001 right_pitch=-0.0511 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -14.2701, 6.694, 1.3602, -0.3199, 0.0415, -0.188, -0.0889, -1.3607, 7.0222, 1.7216, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8371, 0.6182, -0.3397, -0.0948, -0.0761, 0.9967, 0.3363, 1.0393, 0.3317, 0.041, 0.2543, 0.1753, 0.9992]\nstate[eef_state]: left_x=0.3047 left_y=0.0048 left_z=0.1832 left_yaw=0.0604 left_pitch=0.0054 left_roll=-0.0101 left_gripper=0.9967 right_x=0.2976 right_y=0.0607 right_z=0.077 right_yaw=0.0189 right_pitch=-0.0758 right_roll=-0.0055 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.7709, 6.7897, 1.6532, 0.1197, 0.1197, 0.1294, 0.4171, -2.1949, 5.9419, 1.8681, 0.2906, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:397cd654f2def6edbd5775475eb59584e7c9370e23f37d951d3ed2721223b424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f23aca0568ce2fb666e7ca86dd73207cb5a14963948981c4b7671bde9222c7d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38aadd493d85651fd64082f7949c8cbafbfbe612ba599d83dbbc2f10038208ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5ggKEAgSGAI4AUIIdGhpbmtpbmcSDL6kBDTtnBl9ocEAlRoMVNRXgmZnVhyt6N0TIjB9pAYITpNkI26mIK7pLLZD/iAdzMbvsocsp6ByW0Q9KNUz4VFrerUKNPn8K/lXMwsqgwhHn0vMzAsJpozZ7nd9Hmy9oPMDm+I3+fTYH1kWkdqDsVogZZsoTHlkARiTOPJHXqJ/o8TxdOY3d23QiMcUCZb0IoDoE8Bc1rUDyzjOz8425pdNsrQUvoCvKk9N04EDCrBpjDURx5vZ74lNBwLyOaH30Zs0zZb5gCC9BCXP73PekP8e9FKIwdVJYki8Fq6n/J97h07UA8Hqp+ZpNmb4nYrhnRIlQ97hb8AOu1f6nbVld6V1x9eN1F9mOb6guVjb5KXZ1Ft1qb4g7y7/PKuVEF2vYukOdQtPSzszpaQAx9U0QiIY+o1cUCLO1ywRe1fXI5b6lJLZ4A7MfrEOmup/lhu74C4FFgYQJKZEBa7KuJx9A+Y5zhxvZ+Z5pzH+IO6QK/qC+x4mwXK+zAzUjrWFRwzHgRU8sBeo77k6FmAnomZYVVcwTgbPDDIP9+yPGi/dw2ecApJbswwAOMh0obqGrTwImeKu1MlPqcGpak87iBwgikn4CSkK+sENTz+g5oIcBaaoNFpr8iPIeh2YiLPqlQ7bHz5q/oZURQIObaWvc9qxKnJfOPZbUc3HMv0BVUkynf4/ndtmTLdFlILeThdfGNve1fQk+zQa43exW/5dbhuZ+gjNbIJpMSSJBQREXbCvOpRsL2SteDCfTE2YFjsFYeiUzdx5ti2c2MG0JHheVZ5Br9BZNefarvZwW/LRFNEU66t+AOftPYFPobVqpU0nfe8FiWcpzBjP7jig3peJ0H+4Yq/AuLz6WR8Ibpn8Eq8usK7ayMLw7aG4ZbFITH64jTgzn859o4156o9zNdUBVjHWmdj7RxjovakSNMtjT94OPuy4tpXgJf43hL3J0gHXG88VOYWDsnJDkm4/iOOFTQ+S4F2Gcb4/rRr2p+7jJd0jrTe89prnMvL+huvRQexwYJUhkqYpTVC0TZbKSSP6elyf6JSuo59WBs55VuMP0Gkz+W5hW4ZAMd68ipiTQFswZKYV5d8W+ZEpMiugEANPBfDB63wKh0AfY9n/BFrjQvpcZISmft5R2HZSP07GWI1yRrG2S9nuZbAPOarSKxtZml71beymyiIxHNO1x9a+K4COOy9UtDI2y72jm+wfFDhWZdwJFos4HSHU8YEouC4thfFo7bSlK41eWD3MFJFFswA55ptqmlCOCtgRzoBGDqSTrj1N+VYSghuotx5t5BJp8z/vW0eWqPKl0LA8Gm9M0AeRxu8p+lflXbM5Q2PdEO8fLojFlr1OW2rny5YIf/8JtONQPaINS6u1L7p6tH3uZmnnUg5rOSu6J05qc4SgpNZG0OwKgdrL1FeTzjSAJDlerj7f0DUCP9hk/hyFh2dYZ8hEqcgJziFqNWYyj8+9ZML2WCyLtMKLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H3g8jmiFjmr7NSAooiR9yE",
      "input": {
        "note": "Black Vis-à-Vis marker lies radially just left of the jaw column in the right wrist view. Shifting ~1.5 cm left, 1 cm forward and descending to table level.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.075,
          "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_01H3g8jmiFjmr7NSAooiR9yE",
      "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]: [-0.0509, 0.8425, 0.6102, -0.3523, -0.0837, -0.0784, 0.9968, 0.3809, 1.5368, 0.2253, 0.6754, 0.2771, 0.2134, 0.9992]\nstate[eef_state]: left_x=0.3024 left_y=0.003 left_z=0.1753 left_yaw=0.0523 left_pitch=-0.0211 left_roll=-0.0152 left_gripper=0.9968 right_x=0.3183 right_y=0.0793 right_z=0.012 right_yaw=0.0247 right_pitch=-0.0426 right_roll=0.0225 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.7573, 7.8154, 1.9463, -0.188, -0.022, 0.0024, 0.4171, -2.7829, 2.2632, -0.0415, 0.1929, -0.1734, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cbff59a7e79506ce2db3fdf0ab11e438f54fc548c558006ef400653e264e74b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe1b9cbea114b8ae7ae529320c513e30b7a20f5986625842356c49b6c6590429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8626b105acbb61cf50cdbc9669507afa3d7fe359330dcf394607bc4d0e67f3ab",
        "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 · 3.983 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]: [-0.9035, 2.4432, 2.4916, -0.8516, -0.7254, -0.6117, 0.9954, -0.0208, 0.8314, 0.6067, -0.3923, -0.0189, -0.0235, 0.9992]\nstate[eef_state]: left_x=0.469 left_y=-0.4001 left_z=0.2082 left_yaw=-0.0015 left_pitch=-0.0074 left_roll=-0.0037 left_gripper=0.9954 right_x=0.2957 right_y=0.0008 right_z=0.1684 right_yaw=-0.001 right_pitch=-0.0511 right_roll=0.0026 right_gripper=0.9992\nstate[joint_eff]: [-0.1299, -14.2701, 6.694, 1.3602, -0.3199, 0.0415, -0.188, -0.0889, -1.3607, 7.0222, 1.7216, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8371, 0.6182, -0.3397, -0.0948, -0.0761, 0.9967, 0.3363, 1.0393, 0.3317, 0.041, 0.2543, 0.1753, 0.9992]\nstate[eef_state]: left_x=0.3047 left_y=0.0048 left_z=0.1832 left_yaw=0.0604 left_pitch=0.0054 left_roll=-0.0101 left_gripper=0.9967 right_x=0.2976 right_y=0.0607 right_z=0.077 right_yaw=0.0189 right_pitch=-0.0758 right_roll=-0.0055 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.7709, 6.7897, 1.6532, 0.1197, 0.1197, 0.1294, 0.4171, -2.1949, 5.9419, 1.8681, 0.2906, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8425, 0.6102, -0.3523, -0.0837, -0.0784, 0.9968, 0.3809, 1.5368, 0.2253, 0.6754, 0.2771, 0.2134, 0.9992]\nstate[eef_state]: left_x=0.3024 left_y=0.003 left_z=0.1753 left_yaw=0.0523 left_pitch=-0.0211 left_roll=-0.0152 left_gripper=0.9968 right_x=0.3183 right_y=0.0793 right_z=0.012 right_yaw=0.0247 right_pitch=-0.0426 right_roll=0.0225 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.7573, 7.8154, 1.9463, -0.188, -0.022, 0.0024, 0.4171, -2.7829, 2.2632, -0.0415, 0.1929, -0.1734, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cbff59a7e79506ce2db3fdf0ab11e438f54fc548c558006ef400653e264e74b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe1b9cbea114b8ae7ae529320c513e30b7a20f5986625842356c49b6c6590429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8626b105acbb61cf50cdbc9669507afa3d7fe359330dcf394607bc4d0e67f3ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Marker is centred between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012VcAjZngaY86sY36jfABbV",
      "input": {
        "note": "Black marker is centred between the right jaws at table level. Closing to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012VcAjZngaY86sY36jfABbV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8436, 0.6102, -0.3531, -0.0891, -0.0792, 0.9968, 0.3824, 1.684, 0.2157, 0.9237, 0.2798, 0.21, 0.1413]\nstate[eef_state]: left_x=0.3024 left_y=0.0039 left_z=0.1749 left_yaw=0.0572 left_pitch=-0.0227 left_roll=-0.0127 left_gripper=0.9968 right_x=0.3322 right_y=0.0849 right_z=0.0127 right_yaw=0.0258 right_pitch=0.0438 right_roll=0.0501 right_gripper=0.1413\nstate[joint_eff]: [-0.1436, -1.6342, 7.0632, 1.707, 0.0171, -0.0562, -0.0122, -0.1709, -2.9333, 2.6598, 0.9939, 0.0317, -0.0073, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c77f494a8d26ce13e086d8cdbbee472cbef3dfd7d90fbaf25a2e59dc3744fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154602f5ffb13743915f9234ef649dea61bba07545667f3f54f94bcbc775333f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e02c3d0d43a5ca3a6eb44ba72aab31c6a8e0c3234b32cc2c9e3692d82df5b63",
        "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 · 3.557 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]: [-0.0509, 0.8371, 0.6182, -0.3397, -0.0948, -0.0761, 0.9967, 0.3363, 1.0393, 0.3317, 0.041, 0.2543, 0.1753, 0.9992]\nstate[eef_state]: left_x=0.3047 left_y=0.0048 left_z=0.1832 left_yaw=0.0604 left_pitch=0.0054 left_roll=-0.0101 left_gripper=0.9967 right_x=0.2976 right_y=0.0607 right_z=0.077 right_yaw=0.0189 right_pitch=-0.0758 right_roll=-0.0055 right_gripper=0.9992\nstate[joint_eff]: [-0.2393, -1.7709, 6.7897, 1.6532, 0.1197, 0.1197, 0.1294, 0.4171, -2.1949, 5.9419, 1.8681, 0.2906, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8425, 0.6102, -0.3523, -0.0837, -0.0784, 0.9968, 0.3809, 1.5368, 0.2253, 0.6754, 0.2771, 0.2134, 0.9992]\nstate[eef_state]: left_x=0.3024 left_y=0.003 left_z=0.1753 left_yaw=0.0523 left_pitch=-0.0211 left_roll=-0.0152 left_gripper=0.9968 right_x=0.3183 right_y=0.0793 right_z=0.012 right_yaw=0.0247 right_pitch=-0.0426 right_roll=0.0225 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.7573, 7.8154, 1.9463, -0.188, -0.022, 0.0024, 0.4171, -2.7829, 2.2632, -0.0415, 0.1929, -0.1734, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8436, 0.6102, -0.3531, -0.0891, -0.0792, 0.9968, 0.3824, 1.684, 0.2157, 0.9237, 0.2798, 0.21, 0.1413]\nstate[eef_state]: left_x=0.3024 left_y=0.0039 left_z=0.1749 left_yaw=0.0572 left_pitch=-0.0227 left_roll=-0.0127 left_gripper=0.9968 right_x=0.3322 right_y=0.0849 right_z=0.0127 right_yaw=0.0258 right_pitch=0.0438 right_roll=0.0501 right_gripper=0.1413\nstate[joint_eff]: [-0.1436, -1.6342, 7.0632, 1.707, 0.0171, -0.0562, -0.0122, -0.1709, -2.9333, 2.6598, 0.9939, 0.0317, -0.0073, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c77f494a8d26ce13e086d8cdbbee472cbef3dfd7d90fbaf25a2e59dc3744fde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154602f5ffb13743915f9234ef649dea61bba07545667f3f54f94bcbc775333f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e02c3d0d43a5ca3a6eb44ba72aab31c6a8e0c3234b32cc2c9e3692d82df5b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswcKEAgSGAI4AUIIdGhpbmtpbmcSDBHWaffDqnTJ8IDmtxoMoN30ONXEQttmELO8IjAufTiNvQL0P6wfLkTlVf24zt2+tKFFHE6qwdvTUrxmPwBIIW6QlkBQdVxntYODFyQq0AYv36FXGFDWDtYd48E8pNPvxzqKKJYx+6aXFL7jRTI0C42GtZreSDnp76VRA8cMFd94eFlfYP4W8997pR6qDbvoXUY3UDeiYbBokpuHFJP4pkf+Zco6eDdxW+G+9itCbs20L0eitrNBm6nClGnOR4M8OUvxuiuFVfHlJZhiMr7kfxAxHnfY9mTMS9srwvi0G3jJaehgQsuTCwoqm19yho/R8EgqI6Fl4VZ6xq9Bm8iynZs1I1u1D+upehPswvc6uxUiCJUW2T6cJCmktxLKERuqu/s6z5ECssq2DzBBtviABc+bqaHR2t94jfcXPens+WUxccmBLxtFeZrWbOY1h+Kav258gBqbC+Rw+aY57qBNBmbQxxsesxlAuLjxciAdLkBc/I31F1pMcdFBjKEPKk+switNWCXC+zkg1TQVt3cfQBZ2F6gtPCOgRGld9mEd6ejUGBnB1fsZb9BRgcHeJV/rq0XF+Nj7CCFuC3OaSymLRz/uSRofTFdhdLlX5pxtwzh8k5wAp6eBvtV+24RjON1RUGrjEdtJQ6IrrYcB7AWm0/W1Mp6uCHV+5/BnS1MwX7RJqHW4OcuQenGnnfKpiCn+puhpCS5HQrDpZ3HwyLVbq6PlibOShjf+tJtaxn9JbxeIBjbvk+nscR19U6PFIB4kVOT3ttFv+WN4frWz3BR0+Gaty/FfdZZwHr/Vhkg6s4ZzO/myEkHFJBcpUgxuw/Njdp9qDGwKBnP2ycjppr2gM2mbYUVUoTPEQcG1Q+hFSChwJxP1u1i2bVrkAF0acv2PhD2OPfHYvExdjzz3DkDMUo0yPSWkIeQ01QHiJowdNMum5OdE7qJEwY7XU9dNWY4wxanK09ySvTuOqzvY9GydrDwpbo9X4Gz7E9Awb/OflsE4jBFjmRzVG1AA28U9sZ+FleQKqfrhr7UcFd+P9XuJWO1FlPbZdea0KiRdr5MvspmYnEiVofDXBj8DY+PzEE3DXehmMmwSfvwQzPjxyw6DTTBh6G9fnDqFnOnLXYLOV1XtpqK/vRiQrRKwMVTTjs8NDj0VGN55meQuvKfrGjjk0Cw7QcPktWCE1r5Cr5poH7vlXCunpgMhUr3T2tdYnKNshWhCl5nMMyRkg5+ieOfDHRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AjLFmkiJEce4wJt5dEjm9x",
      "input": {
        "note": "Gripper settled at 0.14 — marker held. Lifting straight up before carrying to the right basket.",
        "targets": {
          "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_01AjLFmkiJEce4wJt5dEjm9x",
      "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]: [-0.0509, 0.8494, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.3824, 1.0405, 0.7544, -0.2684, 0.2764, 0.2024, 0.1418]\nstate[eef_state]: left_x=0.3026 left_y=0.004 left_z=0.1729 left_yaw=0.0576 left_pitch=-0.0295 left_roll=-0.0117 left_gripper=0.9968 right_x=0.3346 right_y=0.0865 right_z=0.202 right_yaw=0.0329 right_pitch=0.0341 right_roll=0.0418 right_gripper=0.1418\nstate[joint_eff]: [-0.0205, -2.0718, 7.0906, 1.7265, -0.0952, -0.0562, -0.0122, -0.0615, -4.2598, 9.7436, 1.7167, 0.1001, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb62047bdaa085788891c8b46520d7f487c6e60336fb7c94c1a682f6366c4d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f682087d8fb294a79c406a982f5245ed19482391eadf9dd8c9496f1b5baa934f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8404d234c5b3c1fcffb0f9084d8ebfc800894600739a94664cb5a71dbb54d5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.48 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]: [-0.0509, 0.8425, 0.6102, -0.3523, -0.0837, -0.0784, 0.9968, 0.3809, 1.5368, 0.2253, 0.6754, 0.2771, 0.2134, 0.9992]\nstate[eef_state]: left_x=0.3024 left_y=0.003 left_z=0.1753 left_yaw=0.0523 left_pitch=-0.0211 left_roll=-0.0152 left_gripper=0.9968 right_x=0.3183 right_y=0.0793 right_z=0.012 right_yaw=0.0247 right_pitch=-0.0426 right_roll=0.0225 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.7573, 7.8154, 1.9463, -0.188, -0.022, 0.0024, 0.4171, -2.7829, 2.2632, -0.0415, 0.1929, -0.1734, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8436, 0.6102, -0.3531, -0.0891, -0.0792, 0.9968, 0.3824, 1.684, 0.2157, 0.9237, 0.2798, 0.21, 0.1413]\nstate[eef_state]: left_x=0.3024 left_y=0.0039 left_z=0.1749 left_yaw=0.0572 left_pitch=-0.0227 left_roll=-0.0127 left_gripper=0.9968 right_x=0.3322 right_y=0.0849 right_z=0.0127 right_yaw=0.0258 right_pitch=0.0438 right_roll=0.0501 right_gripper=0.1413\nstate[joint_eff]: [-0.1436, -1.6342, 7.0632, 1.707, 0.0171, -0.0562, -0.0122, -0.1709, -2.9333, 2.6598, 0.9939, 0.0317, -0.0073, 1.0232]",
      "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]: [-0.0509, 0.8494, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.3824, 1.0405, 0.7544, -0.2684, 0.2764, 0.2024, 0.1418]\nstate[eef_state]: left_x=0.3026 left_y=0.004 left_z=0.1729 left_yaw=0.0576 left_pitch=-0.0295 left_roll=-0.0117 left_gripper=0.9968 right_x=0.3346 right_y=0.0865 right_z=0.202 right_yaw=0.0329 right_pitch=0.0341 right_roll=0.0418 right_gripper=0.1418\nstate[joint_eff]: [-0.0205, -2.0718, 7.0906, 1.7265, -0.0952, -0.0562, -0.0122, -0.0615, -4.2598, 9.7436, 1.7167, 0.1001, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb62047bdaa085788891c8b46520d7f487c6e60336fb7c94c1a682f6366c4d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f682087d8fb294a79c406a982f5245ed19482391eadf9dd8c9496f1b5baa934f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8404d234c5b3c1fcffb0f9084d8ebfc800894600739a94664cb5a71dbb54d5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LJo3N17v655ow4qVqa8Zqm",
      "input": {
        "note": "Marker is lifted. Carrying it to the right basket (≈ right-frame y 0.24, x 0.47), next to the pencil.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.24,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01LJo3N17v655ow4qVqa8Zqm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8562, 0.6094, -0.3538, -0.0895, -0.0792, 0.9968, 0.6113, 1.7962, 1.4399, -0.284, 0.445, 0.3161, 0.1418]\nstate[eef_state]: left_x=0.3029 left_y=0.004 left_z=0.1709 left_yaw=0.0576 left_pitch=-0.0367 left_roll=-0.0109 left_gripper=0.9968 right_x=0.4623 right_y=0.2355 right_z=0.2031 right_yaw=0.063 right_pitch=-0.0039 right_roll=0.0161 right_gripper=0.1418\nstate[joint_eff]: [-0.0068, -2.1949, 7.0496, 1.6874, -0.0708, -0.0464, -0.0122, 0.3624, -9.9214, 9.0598, 1.6044, 0.4274, 0.2173, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffec1d9feab4a919088c1da60af4f4f4e1bcb5c2016f0bbfc946f3f22892804f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37dcbede7d0d0d0e4d6626d177fb747b47c1fc37217f21e65f51aaa54a569f5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5be73c5481b60cd6326bbd753fc2fd31e34ef75275ba887279e063407cb8e339",
        "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 · 6.887 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]: [-0.0509, 0.8436, 0.6102, -0.3531, -0.0891, -0.0792, 0.9968, 0.3824, 1.684, 0.2157, 0.9237, 0.2798, 0.21, 0.1413]\nstate[eef_state]: left_x=0.3024 left_y=0.0039 left_z=0.1749 left_yaw=0.0572 left_pitch=-0.0227 left_roll=-0.0127 left_gripper=0.9968 right_x=0.3322 right_y=0.0849 right_z=0.0127 right_yaw=0.0258 right_pitch=0.0438 right_roll=0.0501 right_gripper=0.1413\nstate[joint_eff]: [-0.1436, -1.6342, 7.0632, 1.707, 0.0171, -0.0562, -0.0122, -0.1709, -2.9333, 2.6598, 0.9939, 0.0317, -0.0073, 1.0232]",
      "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]: [-0.0509, 0.8494, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.3824, 1.0405, 0.7544, -0.2684, 0.2764, 0.2024, 0.1418]\nstate[eef_state]: left_x=0.3026 left_y=0.004 left_z=0.1729 left_yaw=0.0576 left_pitch=-0.0295 left_roll=-0.0117 left_gripper=0.9968 right_x=0.3346 right_y=0.0865 right_z=0.202 right_yaw=0.0329 right_pitch=0.0341 right_roll=0.0418 right_gripper=0.1418\nstate[joint_eff]: [-0.0205, -2.0718, 7.0906, 1.7265, -0.0952, -0.0562, -0.0122, -0.0615, -4.2598, 9.7436, 1.7167, 0.1001, 0.0415, 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 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]: [-0.0509, 0.8562, 0.6094, -0.3538, -0.0895, -0.0792, 0.9968, 0.6113, 1.7962, 1.4399, -0.284, 0.445, 0.3161, 0.1418]\nstate[eef_state]: left_x=0.3029 left_y=0.004 left_z=0.1709 left_yaw=0.0576 left_pitch=-0.0367 left_roll=-0.0109 left_gripper=0.9968 right_x=0.4623 right_y=0.2355 right_z=0.2031 right_yaw=0.063 right_pitch=-0.0039 right_roll=0.0161 right_gripper=0.1418\nstate[joint_eff]: [-0.0068, -2.1949, 7.0496, 1.6874, -0.0708, -0.0464, -0.0122, 0.3624, -9.9214, 9.0598, 1.6044, 0.4274, 0.2173, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffec1d9feab4a919088c1da60af4f4f4e1bcb5c2016f0bbfc946f3f22892804f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37dcbede7d0d0d0e4d6626d177fb747b47c1fc37217f21e65f51aaa54a569f5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5be73c5481b60cd6326bbd753fc2fd31e34ef75275ba887279e063407cb8e339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0114TZBJhtUdQ2FXwKok9vdF",
      "input": {
        "note": "Marker is over the right basket with the pencil visible inside. Releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0114TZBJhtUdQ2FXwKok9vdF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8577, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.6132, 1.8187, 1.438, -0.2947, 0.437, 0.3111, 0.995]\nstate[eef_state]: left_x=0.3031 left_y=0.0039 left_z=0.1705 left_yaw=0.0576 left_pitch=-0.0378 left_roll=-0.0108 left_gripper=0.9968 right_x=0.4615 right_y=0.2377 right_z=0.1889 right_yaw=0.0736 right_pitch=-0.0364 right_roll=-0.002 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.7436, 7.0496, 1.7607, -0.1001, -0.0317, -0.0122, -0.212, -11.6991, 7.0769, 1.663, 0.1294, 0.0024, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d866ddbc37a8945591074076a3eb77e516b7cacb11a57213168d0392875d87ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a1c499220bcaf68b4c27ae4385e85cf6c989b2420c9d33d6e5b76360c513d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20d55e318aac8b95d733f8dfb4bd7c295cf0d5b3bb6e7cf85d357dec18e7feff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.945 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]: [-0.0509, 0.8494, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.3824, 1.0405, 0.7544, -0.2684, 0.2764, 0.2024, 0.1418]\nstate[eef_state]: left_x=0.3026 left_y=0.004 left_z=0.1729 left_yaw=0.0576 left_pitch=-0.0295 left_roll=-0.0117 left_gripper=0.9968 right_x=0.3346 right_y=0.0865 right_z=0.202 right_yaw=0.0329 right_pitch=0.0341 right_roll=0.0418 right_gripper=0.1418\nstate[joint_eff]: [-0.0205, -2.0718, 7.0906, 1.7265, -0.0952, -0.0562, -0.0122, -0.0615, -4.2598, 9.7436, 1.7167, 0.1001, 0.0415, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8562, 0.6094, -0.3538, -0.0895, -0.0792, 0.9968, 0.6113, 1.7962, 1.4399, -0.284, 0.445, 0.3161, 0.1418]\nstate[eef_state]: left_x=0.3029 left_y=0.004 left_z=0.1709 left_yaw=0.0576 left_pitch=-0.0367 left_roll=-0.0109 left_gripper=0.9968 right_x=0.4623 right_y=0.2355 right_z=0.2031 right_yaw=0.063 right_pitch=-0.0039 right_roll=0.0161 right_gripper=0.1418\nstate[joint_eff]: [-0.0068, -2.1949, 7.0496, 1.6874, -0.0708, -0.0464, -0.0122, 0.3624, -9.9214, 9.0598, 1.6044, 0.4274, 0.2173, 1.0281]",
      "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]: [-0.0509, 0.8577, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.6132, 1.8187, 1.438, -0.2947, 0.437, 0.3111, 0.995]\nstate[eef_state]: left_x=0.3031 left_y=0.0039 left_z=0.1705 left_yaw=0.0576 left_pitch=-0.0378 left_roll=-0.0108 left_gripper=0.9968 right_x=0.4615 right_y=0.2377 right_z=0.1889 right_yaw=0.0736 right_pitch=-0.0364 right_roll=-0.002 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.7436, 7.0496, 1.7607, -0.1001, -0.0317, -0.0122, -0.212, -11.6991, 7.0769, 1.663, 0.1294, 0.0024, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d866ddbc37a8945591074076a3eb77e516b7cacb11a57213168d0392875d87ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a1c499220bcaf68b4c27ae4385e85cf6c989b2420c9d33d6e5b76360c513d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20d55e318aac8b95d733f8dfb4bd7c295cf0d5b3bb6e7cf85d357dec18e7feff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAsKEAgSGAI4AUIIdGhpbmtpbmcSDPZ8WvyIReGv+748+xoMpGJisNDo33WzA7WQIjBNRMw/Z6Jz4g2Lhp+lRPBSk+PAwe0x6b8d8/AbtGhou/W80Szv4plNXB9dCJnIigMq1QqPQFICDcGhETfgSg39MdFaYXtxJCWTEJowylor4dLxzdJJPGdHW4TWMlxUilZNzTPOVtIN+Pr1lDGOMhh3sSyt/BBOhkW9oHtHhRJtaM/unliUy2T8dMoLg+j/ucj5T6YV4HK1i5l4MYV8VZb0qV8X/D8AdNyRPwc6S2HO9hHSwkajr3P6GVNexrIdwTZaycFcMQqzgrbOpWW5hgq/n83xhEcJKnK0VwDy5amlSfqN/skkvpZIBN3/+oMJxWt00x1UZL3Rt1DHLrPTKy2pgutx16+J0w+Y/Rbug2sEoTePxRJqcfhVTXgnVNOOEO1P78fEIyZE84mRqLlurwDW62PhtLfKRExb1UvTkCCld6/o+/JzI16DWBwd7ZLDa/xTBwBcIW2JV0CYn0sEuonRdPDEt0DrXN7qPB/1RSBvwOyiEmFxuvt737PH2SiYkshE1+uVF5LwOMc7+LK4uhlc1k4XSLxUVoTIJ3keY+w3QMzUy0K99yqeR4VDu6W0ovrDA+rGPFHc5eTDQRkzNUhIGjS7Ej4KtvwqDRla5fuNOoxdp1+f1zZuHTNm7cXU6xa7mTLSKw+b0kjEeVilC+oXprOeYPePP0TE3TgOOVtB1s1lQRZuVJoUnUot5p4kK4BKSbjAJ2skWn0rXJyDHTE4MrFGBS1s8fHG4zIWRBjmSlAvNEpa1A4s+xaRRu4Nx/AcNRRsEuRrhwgnNIVguEKLpmOyAU5OUwcNs71fkeSj3teIgT6CqiACxlLe5QfdAopg30wWtkQBSkbfOlzk0jJwheX3TQ45QNZ14U5jjHlhnVOTEK7iWw8BURVWA/PewWERiZs986Dr9v7JSGw0eM5M+AVW5nURwJGe26NAr1H4gAmsiht5E0UtVA91IHyNqJZqq/mgP5Elj++pUmRichEX5z4MS1VL6TYRRLnPXpA5IaGopOpGlhqh48wrW17vyMuH+hdeFXkcshwd27Op4tvBXAfwMPr88r+9rXpo6lnqKpzE8zXcZet0BvWy1bMaYEg8cEC9I00gQ3o7HAjYcQao8UuH30yLrNB+sg+LDOahVfDsEk6wxBsxiXDACfseBYNYXb/9iFW4TGTQgwnqvdEr2wK+GUKyoj0VBrbdBaQvpopcgQazQPquNjnmJ5Fse8Me/eSxLlsEkmhj+KBVA96scVlUFwxMixumbUpyfFmvrPaGjmdczBhKRTeRBZ3fwVGjSAPeijRdnEtA32GaEkKnnwDw71bW4YbAjG6Stmih5USvsNfkzU2cQnIE1HRNgsHAVrcCvt2w3CPJRpEamx7u8N+ivoyIojHhHvzWiYVnNJRH1aVXvvXM/P1PGETIcmAKKWSKrG9QpuPoMmCv1lqbIcL9P2xmeJbDPnk3pRfGggkTf0zcudKnzYhRj37vJ8ZxLaLjoHdqqEBp1ehLFQhfQo8OwVbcqRqD9hR/Na1bKEfxUZGQpGplg7WBmNGhXvlhKHKCWiJmMlpN+tontraEBXKSjXimxyZvtc9pq7UA+PMQdTXfwPM9PzG/XQ7E46+Rq2URD0qGnh9JRYNA2CAV5ER0UOGAv/qHvzCZjYMaxs6F3fd5B3XrGRlZ9PX9eZvnOcovt159I7MCRKM01+lUcKfVAPqA200QSkT7yKVK4CaVmbGa3cukk7fnCO0nu0WUrV0o+JaSwrkhi6DNs1oBnR7CWBpEFlNfW2nt8nIUtU43gi5oeSzv2dW/ivZTm5Sa+qnE0xjcqNmio9N5JaE6ao6ETupQIVK/GBrQPPLWQbQnlKgBfDlhhFK+YR2hnuEkMynsyesTB759xhYZA6T84u7g+sgN09gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FKv7n2RV6BxXGU65jaPa7y",
      "input": {
        "note": "Marker and pencil are both in the right basket. Moving the right arm above the remaining blue marker, lying diagonally just right of the teddy bear in the top view.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.16,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01FKv7n2RV6BxXGU65jaPa7y",
      "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]: [-0.0509, 0.8623, 0.6094, -0.3519, -0.0895, -0.0792, 0.9968, 0.6537, 1.4151, 0.598, 0.075, 0.4557, 0.3283, 0.9958]\nstate[eef_state]: left_x=0.3035 left_y=0.0039 left_z=0.1695 left_yaw=0.0576 left_pitch=-0.0408 left_roll=-0.0105 left_gripper=0.9968 right_x=0.3302 right_y=0.1595 right_z=0.0808 right_yaw=0.0878 right_pitch=-0.0867 right_roll=-0.0336 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.5658, 7.1043, 1.7705, -0.0708, -0.0562, -0.0122, 0.9231, -6.188, 6.6393, 1.8779, 0.2955, 0.1392, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4bd61d67d094e9f957e0befc40abd8074f68e74af0da64ad88d1f3154955b52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7947bdcfe59f6fd6be2e4920e4407242d413558df4f0aaff28f5e28053d725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2ab2bbdaa4d00954d3c431a4d1193729cb6307d4a6b1887996206fa21d36088",
        "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 · 4.6 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]: [-0.0509, 0.8562, 0.6094, -0.3538, -0.0895, -0.0792, 0.9968, 0.6113, 1.7962, 1.4399, -0.284, 0.445, 0.3161, 0.1418]\nstate[eef_state]: left_x=0.3029 left_y=0.004 left_z=0.1709 left_yaw=0.0576 left_pitch=-0.0367 left_roll=-0.0109 left_gripper=0.9968 right_x=0.4623 right_y=0.2355 right_z=0.2031 right_yaw=0.063 right_pitch=-0.0039 right_roll=0.0161 right_gripper=0.1418\nstate[joint_eff]: [-0.0068, -2.1949, 7.0496, 1.6874, -0.0708, -0.0464, -0.0122, 0.3624, -9.9214, 9.0598, 1.6044, 0.4274, 0.2173, 1.0281]",
      "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]: [-0.0509, 0.8577, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.6132, 1.8187, 1.438, -0.2947, 0.437, 0.3111, 0.995]\nstate[eef_state]: left_x=0.3031 left_y=0.0039 left_z=0.1705 left_yaw=0.0576 left_pitch=-0.0378 left_roll=-0.0108 left_gripper=0.9968 right_x=0.4615 right_y=0.2377 right_z=0.1889 right_yaw=0.0736 right_pitch=-0.0364 right_roll=-0.002 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.7436, 7.0496, 1.7607, -0.1001, -0.0317, -0.0122, -0.212, -11.6991, 7.0769, 1.663, 0.1294, 0.0024, -0.1197]",
      "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]: [-0.0509, 0.8623, 0.6094, -0.3519, -0.0895, -0.0792, 0.9968, 0.6537, 1.4151, 0.598, 0.075, 0.4557, 0.3283, 0.9958]\nstate[eef_state]: left_x=0.3035 left_y=0.0039 left_z=0.1695 left_yaw=0.0576 left_pitch=-0.0408 left_roll=-0.0105 left_gripper=0.9968 right_x=0.3302 right_y=0.1595 right_z=0.0808 right_yaw=0.0878 right_pitch=-0.0867 right_roll=-0.0336 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.5658, 7.1043, 1.7705, -0.0708, -0.0562, -0.0122, 0.9231, -6.188, 6.6393, 1.8779, 0.2955, 0.1392, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4bd61d67d094e9f957e0befc40abd8074f68e74af0da64ad88d1f3154955b52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7947bdcfe59f6fd6be2e4920e4407242d413558df4f0aaff28f5e28053d725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2ab2bbdaa4d00954d3c431a4d1193729cb6307d4a6b1887996206fa21d36088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AcKEAgSGAI4AUIIdGhpbmtpbmcSDEUIoLZdrEeWTpel7hoM2OyUROTiL/WfcIPuIjCWDKZ1P8CEaAEuZnOp0+qK8inOcb+u949fBwsLOyi+vJexZMeHmBDqgV3onN/3UiYq9QY+0qRyIP9x7sLA4X+pzGygSmsYaoaAOHFZ0d2uSKJE6aD21tVzv28et1NjqfPEVvGq/FNhQlIyoscGeR924iwq9pxOvHBqMdB+tUWF1I0MJRtg4UcsdwoaOhBNt77/ebyOqt+YG2r6N9UHwcy6JGSO7xN/bVgk+waRNpf4MwvU+/tUoeplBf8w7OvlD2oPEnvllE0T2fnIxEkj/sVmR5cz+miMXjhaCIIE3ufqJ8YVppWo0Yze7XiqAP7fKTYvPBjRimyE8w1Tu4XpJk1X4cENehtfAEOIqRzNR04W5OoRa/WIzSa7HcKLefJBbLWflYCuCo8/3Uj7VSth6PCH5x/PBliq0XDwfeoIYdyAWK5JskVDDPhUGotuMGbuaIbb32rGSDqdWVA6oC3aonDV2Mnd+kzuKLUu3ZE30onl9hJpEjuYmiNvvCMEPPJI0lN5acvx4w364lcErR7KptgyaPqTXdLkcc0pY3dBW9JKFQ91w1yQECoqf7kMwvsK8teiieXyFWZ/6rqALEor9KKNfgtb9r+p9lmaF0rFrmW5kcDJmrH2XOBO/JUds8aSM4m4/9r0FA4g0Iew8Z22Zn8oUfnnXl+TdzG9sZzx4j08oshBIfFGmZEIFBGFUHQxEEjj7Jr1edGFO8FhEB4Ot47L+3Qwf9Kjx/yPeTs8+eWOoR4vODOo6eVvEbNstOtiOEP4J5H388usJIrLcT2QLFL/bz8Fu08SrdVk8I6r9oXI465XTVqYmSL/2eFHLotM0mXTvsNRoW3Q0DmHQW+LJNsnB/VbUfBuPKO6Lld+aVn8QQ2zHoHbOrAw/kEdpcd3N91ClTF+zoggTPYa8yB3zTV8jqLIrPlPc7/EQxuJbmRbPINRg2x471PN2Enl15UUF0iGJfRhnj91fsNoVlKuXl1qLOOD126J4Mg7ia/OVerfG9SVmkARXFt/Z73M6b3rCAVJKmYkTHePEJbCwjHJjG0+Qi5oMvlzQ8p2Lf/gLnSD3ni9/rMa3LD1WHT+rJv54SiSQwZ9AE8ZOGVARBoLMthCKmuGY/fmTOl5F2GY6pQAh0gIdkQbQpYhumzc/NMO/RcqxidqRZamwYWfKlYJP/Yu+YLVIZ98lMeL5ONHBKtXhuC+8qXTlv1JnGN6b0Lmb06TNT53J63UFJ6Jn8N9czjVrJ5tD7Ls9o4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YEziqcHWapYWp8v1oNAMXC",
      "input": {
        "note": "Blue marker lies radially just left of the jaw column in the right wrist view. Nudging 1 cm left and forward and descending to table level.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.17,
          "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_01YEziqcHWapYWp8v1oNAMXC",
      "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]: [-0.0509, 0.8658, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.6556, 1.7504, 0.5236, 0.5282, 0.4644, 0.3424, 0.9958]\nstate[eef_state]: left_x=0.3035 left_y=0.0039 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.0458 left_roll=-0.01 left_gripper=0.9968 right_x=0.348 right_y=0.1724 right_z=0.0148 right_yaw=0.0768 right_pitch=-0.0469 right_roll=-0.0035 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.9761, 7.0496, 1.6923, -0.0855, -0.0513, -0.0073, 0.7043, -4.2872, 3.535, 0.3687, 0.1099, -0.1148, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a843b1d9a42260d675148fa98e87495c38b99d9c337d13a4fb7d369d604772a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a126e97ec9099b92bf7e57aaddbc25afb600202636ff5ef651c5db94bc4cab08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a127f69e41a4de7f16eff0ec62a1f04594233199e004277299a0c5b7bf472db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.555 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]: [-0.0509, 0.8577, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.6132, 1.8187, 1.438, -0.2947, 0.437, 0.3111, 0.995]\nstate[eef_state]: left_x=0.3031 left_y=0.0039 left_z=0.1705 left_yaw=0.0576 left_pitch=-0.0378 left_roll=-0.0108 left_gripper=0.9968 right_x=0.4615 right_y=0.2377 right_z=0.1889 right_yaw=0.0736 right_pitch=-0.0364 right_roll=-0.002 right_gripper=0.995\nstate[joint_eff]: [-0.0752, -1.7436, 7.0496, 1.7607, -0.1001, -0.0317, -0.0122, -0.212, -11.6991, 7.0769, 1.663, 0.1294, 0.0024, -0.1197]",
      "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]: [-0.0509, 0.8623, 0.6094, -0.3519, -0.0895, -0.0792, 0.9968, 0.6537, 1.4151, 0.598, 0.075, 0.4557, 0.3283, 0.9958]\nstate[eef_state]: left_x=0.3035 left_y=0.0039 left_z=0.1695 left_yaw=0.0576 left_pitch=-0.0408 left_roll=-0.0105 left_gripper=0.9968 right_x=0.3302 right_y=0.1595 right_z=0.0808 right_yaw=0.0878 right_pitch=-0.0867 right_roll=-0.0336 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.5658, 7.1043, 1.7705, -0.0708, -0.0562, -0.0122, 0.9231, -6.188, 6.6393, 1.8779, 0.2955, 0.1392, 0.0757]",
      "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]: [-0.0509, 0.8658, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.6556, 1.7504, 0.5236, 0.5282, 0.4644, 0.3424, 0.9958]\nstate[eef_state]: left_x=0.3035 left_y=0.0039 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.0458 left_roll=-0.01 left_gripper=0.9968 right_x=0.348 right_y=0.1724 right_z=0.0148 right_yaw=0.0768 right_pitch=-0.0469 right_roll=-0.0035 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.9761, 7.0496, 1.6923, -0.0855, -0.0513, -0.0073, 0.7043, -4.2872, 3.535, 0.3687, 0.1099, -0.1148, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a843b1d9a42260d675148fa98e87495c38b99d9c337d13a4fb7d369d604772a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a126e97ec9099b92bf7e57aaddbc25afb600202636ff5ef651c5db94bc4cab08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a127f69e41a4de7f16eff0ec62a1f04594233199e004277299a0c5b7bf472db4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xrcb9rYKPsnfRBFTvfp5Sw",
      "input": {
        "note": "Blue marker is centred between the right jaws at table level. Closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Xrcb9rYKPsnfRBFTvfp5Sw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8661, 0.6094, -0.3531, -0.0895, -0.0792, 0.9968, 0.6544, 1.8397, 0.5175, 0.7094, 0.4679, 0.3374, 0.157]\nstate[eef_state]: left_x=0.3036 left_y=0.0039 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.0458 left_roll=-0.01 left_gripper=0.9968 right_x=0.3597 right_y=0.1801 right_z=0.013 right_yaw=0.0761 right_pitch=0.0262 right_roll=0.0376 right_gripper=0.157\nstate[joint_eff]: [-0.0479, -1.7573, 7.1453, 1.6972, -0.0904, -0.0659, -0.0122, 0.0752, -4.588, 3.1795, 0.9841, 0.0366, -0.0024, 1.0427]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6308e6ffa5ea18c2b81312cd4e99b914f6efa547bd6d609a010be91813110ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:634233e5529dfa38c4e1ae62ec2bcd02dd880ffcb93d0b8adb715f95dbba0a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29755e92b335dade144ca54edf7d5dab876ead622020d48611831e386add7fb7",
        "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 · 3.428 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]: [-0.0509, 0.8623, 0.6094, -0.3519, -0.0895, -0.0792, 0.9968, 0.6537, 1.4151, 0.598, 0.075, 0.4557, 0.3283, 0.9958]\nstate[eef_state]: left_x=0.3035 left_y=0.0039 left_z=0.1695 left_yaw=0.0576 left_pitch=-0.0408 left_roll=-0.0105 left_gripper=0.9968 right_x=0.3302 right_y=0.1595 right_z=0.0808 right_yaw=0.0878 right_pitch=-0.0867 right_roll=-0.0336 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.5658, 7.1043, 1.7705, -0.0708, -0.0562, -0.0122, 0.9231, -6.188, 6.6393, 1.8779, 0.2955, 0.1392, 0.0757]",
      "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]: [-0.0509, 0.8658, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.6556, 1.7504, 0.5236, 0.5282, 0.4644, 0.3424, 0.9958]\nstate[eef_state]: left_x=0.3035 left_y=0.0039 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.0458 left_roll=-0.01 left_gripper=0.9968 right_x=0.348 right_y=0.1724 right_z=0.0148 right_yaw=0.0768 right_pitch=-0.0469 right_roll=-0.0035 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.9761, 7.0496, 1.6923, -0.0855, -0.0513, -0.0073, 0.7043, -4.2872, 3.535, 0.3687, 0.1099, -0.1148, -0.0024]",
      "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]: [-0.0509, 0.8661, 0.6094, -0.3531, -0.0895, -0.0792, 0.9968, 0.6544, 1.8397, 0.5175, 0.7094, 0.4679, 0.3374, 0.157]\nstate[eef_state]: left_x=0.3036 left_y=0.0039 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.0458 left_roll=-0.01 left_gripper=0.9968 right_x=0.3597 right_y=0.1801 right_z=0.013 right_yaw=0.0761 right_pitch=0.0262 right_roll=0.0376 right_gripper=0.157\nstate[joint_eff]: [-0.0479, -1.7573, 7.1453, 1.6972, -0.0904, -0.0659, -0.0122, 0.0752, -4.588, 3.1795, 0.9841, 0.0366, -0.0024, 1.0427]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6308e6ffa5ea18c2b81312cd4e99b914f6efa547bd6d609a010be91813110ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:634233e5529dfa38c4e1ae62ec2bcd02dd880ffcb93d0b8adb715f95dbba0a9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29755e92b335dade144ca54edf7d5dab876ead622020d48611831e386add7fb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BeEeavzggyUopto9tp36fo",
      "input": {
        "note": "Gripper settled at 0.16 with the blue marker visible in the jaws. Lifting it clear of the basket wall.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01BeEeavzggyUopto9tp36fo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8696, 0.6094, -0.3527, -0.0895, -0.0792, 0.9968, 0.6533, 1.3552, 0.9691, -0.2379, 0.4599, 0.3336, 0.159]\nstate[eef_state]: left_x=0.3038 left_y=0.0039 left_z=0.1673 left_yaw=0.0577 left_pitch=-0.0488 left_roll=-0.0096 left_gripper=0.9968 right_x=0.362 right_y=0.1828 right_z=0.2 right_yaw=0.0835 right_pitch=0.0145 right_roll=0.0322 right_gripper=0.159\nstate[joint_eff]: [-0.0889, -1.7299, 7.1043, 1.7216, -0.1099, -0.0611, -0.0122, -0.1573, -7.5556, 9.6068, 1.4286, 0.2613, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfbafdcc2f187301461c0751c93661734736d43fd317c4a7fabe3f859abda370",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a338738624e4c6cb0253719da4bf1f4b23c9e45193a0479875a7caba6f08527b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b12dd3f938bc324951d34a390eec468834c853ef395d474469823bff11bac2ad",
        "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 · 3.337 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]: [-0.0509, 0.8658, 0.6094, -0.3534, -0.0895, -0.0792, 0.9968, 0.6556, 1.7504, 0.5236, 0.5282, 0.4644, 0.3424, 0.9958]\nstate[eef_state]: left_x=0.3035 left_y=0.0039 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.0458 left_roll=-0.01 left_gripper=0.9968 right_x=0.348 right_y=0.1724 right_z=0.0148 right_yaw=0.0768 right_pitch=-0.0469 right_roll=-0.0035 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.9761, 7.0496, 1.6923, -0.0855, -0.0513, -0.0073, 0.7043, -4.2872, 3.535, 0.3687, 0.1099, -0.1148, -0.0024]",
      "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]: [-0.0509, 0.8661, 0.6094, -0.3531, -0.0895, -0.0792, 0.9968, 0.6544, 1.8397, 0.5175, 0.7094, 0.4679, 0.3374, 0.157]\nstate[eef_state]: left_x=0.3036 left_y=0.0039 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.0458 left_roll=-0.01 left_gripper=0.9968 right_x=0.3597 right_y=0.1801 right_z=0.013 right_yaw=0.0761 right_pitch=0.0262 right_roll=0.0376 right_gripper=0.157\nstate[joint_eff]: [-0.0479, -1.7573, 7.1453, 1.6972, -0.0904, -0.0659, -0.0122, 0.0752, -4.588, 3.1795, 0.9841, 0.0366, -0.0024, 1.0427]",
      "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]: [-0.0509, 0.8696, 0.6094, -0.3527, -0.0895, -0.0792, 0.9968, 0.6533, 1.3552, 0.9691, -0.2379, 0.4599, 0.3336, 0.159]\nstate[eef_state]: left_x=0.3038 left_y=0.0039 left_z=0.1673 left_yaw=0.0577 left_pitch=-0.0488 left_roll=-0.0096 left_gripper=0.9968 right_x=0.362 right_y=0.1828 right_z=0.2 right_yaw=0.0835 right_pitch=0.0145 right_roll=0.0322 right_gripper=0.159\nstate[joint_eff]: [-0.0889, -1.7299, 7.1043, 1.7216, -0.1099, -0.0611, -0.0122, -0.1573, -7.5556, 9.6068, 1.4286, 0.2613, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfbafdcc2f187301461c0751c93661734736d43fd317c4a7fabe3f859abda370",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a338738624e4c6cb0253719da4bf1f4b23c9e45193a0479875a7caba6f08527b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b12dd3f938bc324951d34a390eec468834c853ef395d474469823bff11bac2ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RvoFewbf9e1cruFaoeiCF4",
      "input": {
        "note": "Blue marker lifted; the right basket with the pencil and black marker is just ahead. Moving over the basket centre.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RvoFewbf9e1cruFaoeiCF4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8753, 0.6094, -0.3538, -0.0895, -0.0792, 0.9968, 0.6239, 1.7664, 1.3449, -0.2333, 0.4252, 0.3073, 0.1641]\nstate[eef_state]: left_x=0.304 left_y=0.0039 left_z=0.1655 left_yaw=0.0577 left_pitch=-0.0556 left_roll=-0.0089 left_gripper=0.9968 right_x=0.4485 right_y=0.2375 right_z=0.1849 right_yaw=0.0961 right_pitch=-0.0224 right_roll=0.0116 right_gripper=0.1641\nstate[joint_eff]: [-0.1573, -2.1949, 7.1726, 1.6679, -0.0855, -0.0659, -0.0122, -0.8, -9.5932, 9.2513, 1.6239, 0.2027, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85b15d2a98515f048206bdf71edd920b63830e26983e25627b4898f8f8195f5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaa9d965af450cf2114588edd7ae076d9fb97cde5086c8b54ea003aa5b8a150a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ffbb6757f46259a68a04bb37e7f9fc8da1233d64778ed8cac02c7ee2e81ed05",
        "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 · 7.608 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]: [-0.0509, 0.8661, 0.6094, -0.3531, -0.0895, -0.0792, 0.9968, 0.6544, 1.8397, 0.5175, 0.7094, 0.4679, 0.3374, 0.157]\nstate[eef_state]: left_x=0.3036 left_y=0.0039 left_z=0.1682 left_yaw=0.0577 left_pitch=-0.0458 left_roll=-0.01 left_gripper=0.9968 right_x=0.3597 right_y=0.1801 right_z=0.013 right_yaw=0.0761 right_pitch=0.0262 right_roll=0.0376 right_gripper=0.157\nstate[joint_eff]: [-0.0479, -1.7573, 7.1453, 1.6972, -0.0904, -0.0659, -0.0122, 0.0752, -4.588, 3.1795, 0.9841, 0.0366, -0.0024, 1.0427]",
      "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]: [-0.0509, 0.8696, 0.6094, -0.3527, -0.0895, -0.0792, 0.9968, 0.6533, 1.3552, 0.9691, -0.2379, 0.4599, 0.3336, 0.159]\nstate[eef_state]: left_x=0.3038 left_y=0.0039 left_z=0.1673 left_yaw=0.0577 left_pitch=-0.0488 left_roll=-0.0096 left_gripper=0.9968 right_x=0.362 right_y=0.1828 right_z=0.2 right_yaw=0.0835 right_pitch=0.0145 right_roll=0.0322 right_gripper=0.159\nstate[joint_eff]: [-0.0889, -1.7299, 7.1043, 1.7216, -0.1099, -0.0611, -0.0122, -0.1573, -7.5556, 9.6068, 1.4286, 0.2613, 0.0073, 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 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]: [-0.0509, 0.8753, 0.6094, -0.3538, -0.0895, -0.0792, 0.9968, 0.6239, 1.7664, 1.3449, -0.2333, 0.4252, 0.3073, 0.1641]\nstate[eef_state]: left_x=0.304 left_y=0.0039 left_z=0.1655 left_yaw=0.0577 left_pitch=-0.0556 left_roll=-0.0089 left_gripper=0.9968 right_x=0.4485 right_y=0.2375 right_z=0.1849 right_yaw=0.0961 right_pitch=-0.0224 right_roll=0.0116 right_gripper=0.1641\nstate[joint_eff]: [-0.1573, -2.1949, 7.1726, 1.6679, -0.0855, -0.0659, -0.0122, -0.8, -9.5932, 9.2513, 1.6239, 0.2027, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85b15d2a98515f048206bdf71edd920b63830e26983e25627b4898f8f8195f5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eaa9d965af450cf2114588edd7ae076d9fb97cde5086c8b54ea003aa5b8a150a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ffbb6757f46259a68a04bb37e7f9fc8da1233d64778ed8cac02c7ee2e81ed05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018zX2NxisugAsWmbwK9mhFo",
      "input": {
        "note": "Blue marker is over the right basket next to the other pens. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018zX2NxisugAsWmbwK9mhFo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0509, 0.8764, 0.6094, -0.3531, -0.0895, -0.0792, 0.9968, 0.6205, 1.7897, 1.3434, -0.2344, 0.4149, 0.2996, 0.9955]\nstate[eef_state]: left_x=0.3042 left_y=0.0039 left_z=0.1653 left_yaw=0.0577 left_pitch=-0.056 left_roll=-0.0088 left_gripper=0.9968 right_x=0.4497 right_y=0.2383 right_z=0.1724 right_yaw=0.1046 right_pitch=-0.048 right_roll=-0.0021 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.6342, 7.0632, 1.7509, -0.0904, -0.0366, -0.0122, 0.0205, -11.2752, 7.0222, 1.5897, 0.1734, -0.0171, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafcf6bb13f4370ab6d4032b1f3c39cf8a27654d908ffe2fbadd2350ced9af1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f02dee42a7c0f7b78820aa8e67be8b7dae0e9bd0cfaef490f2c40fb3ccc839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17896371e4a5702a19840a66248f2ef2d38329b7686dd30cb2463752579b95a8",
        "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 · 7.164 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]: [-0.0509, 0.8696, 0.6094, -0.3527, -0.0895, -0.0792, 0.9968, 0.6533, 1.3552, 0.9691, -0.2379, 0.4599, 0.3336, 0.159]\nstate[eef_state]: left_x=0.3038 left_y=0.0039 left_z=0.1673 left_yaw=0.0577 left_pitch=-0.0488 left_roll=-0.0096 left_gripper=0.9968 right_x=0.362 right_y=0.1828 right_z=0.2 right_yaw=0.0835 right_pitch=0.0145 right_roll=0.0322 right_gripper=0.159\nstate[joint_eff]: [-0.0889, -1.7299, 7.1043, 1.7216, -0.1099, -0.0611, -0.0122, -0.1573, -7.5556, 9.6068, 1.4286, 0.2613, 0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0509, 0.8753, 0.6094, -0.3538, -0.0895, -0.0792, 0.9968, 0.6239, 1.7664, 1.3449, -0.2333, 0.4252, 0.3073, 0.1641]\nstate[eef_state]: left_x=0.304 left_y=0.0039 left_z=0.1655 left_yaw=0.0577 left_pitch=-0.0556 left_roll=-0.0089 left_gripper=0.9968 right_x=0.4485 right_y=0.2375 right_z=0.1849 right_yaw=0.0961 right_pitch=-0.0224 right_roll=0.0116 right_gripper=0.1641\nstate[joint_eff]: [-0.1573, -2.1949, 7.1726, 1.6679, -0.0855, -0.0659, -0.0122, -0.8, -9.5932, 9.2513, 1.6239, 0.2027, -0.0269, 1.0281]",
      "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]: [-0.0509, 0.8764, 0.6094, -0.3531, -0.0895, -0.0792, 0.9968, 0.6205, 1.7897, 1.3434, -0.2344, 0.4149, 0.2996, 0.9955]\nstate[eef_state]: left_x=0.3042 left_y=0.0039 left_z=0.1653 left_yaw=0.0577 left_pitch=-0.056 left_roll=-0.0088 left_gripper=0.9968 right_x=0.4497 right_y=0.2383 right_z=0.1724 right_yaw=0.1046 right_pitch=-0.048 right_roll=-0.0021 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.6342, 7.0632, 1.7509, -0.0904, -0.0366, -0.0122, 0.0205, -11.2752, 7.0222, 1.5897, 0.1734, -0.0171, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafcf6bb13f4370ab6d4032b1f3c39cf8a27654d908ffe2fbadd2350ced9af1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f02dee42a7c0f7b78820aa8e67be8b7dae0e9bd0cfaef490f2c40fb3ccc839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17896371e4a5702a19840a66248f2ef2d38329b7686dd30cb2463752579b95a8",
        "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_019CkxGcncc8ofqiXy9p54q7",
      "input": {
        "note": "All three pens are in the right basket. Parking the right arm at home and moving the left arm over the small brown plush (right of the grey plush) to start putting plushies in the left basket.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.08,
          "left_z": 0.1,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_019CkxGcncc8ofqiXy9p54q7",
      "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]: [-0.477, 1.1553, 0.4915, -0.0448, -0.4114, -0.3355, 0.9968, -0.0906, 0.8814, 0.6662, -0.3927, -0.1127, -0.0978, 0.9963]\nstate[eef_state]: left_x=0.318 left_y=-0.0808 left_z=0.099 left_yaw=0.038 left_pitch=-0.0779 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3069 right_y=-0.0043 right_z=0.1819 right_yaw=0.0483 right_pitch=-0.0377 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -3.2479, 5.6547, 1.7509, -0.2808, -0.1148, -0.0122, -0.2667, -2.0855, 6.9538, 1.8144, -0.2076, -0.0464, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1799bb551dea6496b9290254828f7ee370529699949a8360bfbc884f43bc2c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50688c7ce513126bcc485446a87f7f4de80348a1eed8d66383f04fbd9dad90db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:beaac6b808fcc50ee5ee5636bddba6d4719c49671033bc4dbb876d3f1b87ba7f",
        "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 · 3.443 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]: [-0.0509, 0.8753, 0.6094, -0.3538, -0.0895, -0.0792, 0.9968, 0.6239, 1.7664, 1.3449, -0.2333, 0.4252, 0.3073, 0.1641]\nstate[eef_state]: left_x=0.304 left_y=0.0039 left_z=0.1655 left_yaw=0.0577 left_pitch=-0.0556 left_roll=-0.0089 left_gripper=0.9968 right_x=0.4485 right_y=0.2375 right_z=0.1849 right_yaw=0.0961 right_pitch=-0.0224 right_roll=0.0116 right_gripper=0.1641\nstate[joint_eff]: [-0.1573, -2.1949, 7.1726, 1.6679, -0.0855, -0.0659, -0.0122, -0.8, -9.5932, 9.2513, 1.6239, 0.2027, -0.0269, 1.0281]",
      "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]: [-0.0509, 0.8764, 0.6094, -0.3531, -0.0895, -0.0792, 0.9968, 0.6205, 1.7897, 1.3434, -0.2344, 0.4149, 0.2996, 0.9955]\nstate[eef_state]: left_x=0.3042 left_y=0.0039 left_z=0.1653 left_yaw=0.0577 left_pitch=-0.056 left_roll=-0.0088 left_gripper=0.9968 right_x=0.4497 right_y=0.2383 right_z=0.1724 right_yaw=0.1046 right_pitch=-0.048 right_roll=-0.0021 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.6342, 7.0632, 1.7509, -0.0904, -0.0366, -0.0122, 0.0205, -11.2752, 7.0222, 1.5897, 0.1734, -0.0171, -0.188]",
      "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]: [-0.477, 1.1553, 0.4915, -0.0448, -0.4114, -0.3355, 0.9968, -0.0906, 0.8814, 0.6662, -0.3927, -0.1127, -0.0978, 0.9963]\nstate[eef_state]: left_x=0.318 left_y=-0.0808 left_z=0.099 left_yaw=0.038 left_pitch=-0.0779 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3069 right_y=-0.0043 right_z=0.1819 right_yaw=0.0483 right_pitch=-0.0377 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -3.2479, 5.6547, 1.7509, -0.2808, -0.1148, -0.0122, -0.2667, -2.0855, 6.9538, 1.8144, -0.2076, -0.0464, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1799bb551dea6496b9290254828f7ee370529699949a8360bfbc884f43bc2c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50688c7ce513126bcc485446a87f7f4de80348a1eed8d66383f04fbd9dad90db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beaac6b808fcc50ee5ee5636bddba6d4719c49671033bc4dbb876d3f1b87ba7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowsKEAgSGAI4AUIIdGhpbmtpbmcSDGKzmzBLV0ghLt3AlxoMiw87wjjnw4IkGwGyIjAmUNr9vfvfIv8AcZju3YnsgA45ZR1wLEhvHZvkn8JQ5vFsyevP/+syeS+PwSf5AoMqwAq9Or1kwLq4VUbZ+EAAkcVRU6NpHwVjQ80+WZkWnqG1jD7dWcQwQ4hkPFhznjipV8ZPWxq1fv06PNqZJBDEeMWfi7rEp72YLC5jHYt0DETwCIGIc8cfhghGgdJ/ZiYZk5d/lUF/HyL3FcJNfbTi40t8GSsVzKBUSWWAY3vDx58tDZsaxNi/B9xAag/ff/GeSs0FCnsU7bvdi9ZGOAq/h0VhKS6LsBk8KtgoRNpWMgmuwmoCR4KHmnUXyCO2480H0MKlRog6GkCF1VC2K+PIFcnWob0DSqW60M7sAcjlO91USwkS0Jd8tJq9hqAEYu/onNhHIhqnM//QXHiRjqxjfVJjhUMpVen0BRgwmL70mS+bzRGx2DSeByTTGyFscpLHMKsLjJ1VrD1eKVO8uq8lOMeMU+qre/Btnx2OkPsI/IOVwl2m3T5IB5l8QEjvDaB9k6q1TVYhxFxsAKznKgwjQ7swZ0k1SfxyP0npKVKvVs0Zi3sb2yvvh2UwOms6EyObnciBeb2fgrhW4xV3o6dvyPaNpSveuh+xO/Zulps/eiTPupQWOzGbjgwB2sEXQB3LpLK224IsO3KhLOyJi8GAJNO6noQUQkfrPQmRqp91AszKfSmap1NqcVsUsAPUrHQ2lM8rfDhJdGSF/NssqIwLq5NuaGA97NH8a8gya7LlG1tp8KgGIMqWUcaed0LUiDkj8HCIxdp/wOFMKvNbND9uzUcxQZem8LmKcdmE1XBCJpo/KiZH6BlcC2L37g0gh8zTdQujj7qZdT2+fVjTkojqcuwOUDz4muoWM3B66fOVmyqLoXukpyqWZ/0zhDdMOAV9ax816PCe/hDW607gXW353iQw3PT2X0cB+7vjHFXVD3dAojT9Kqxzs7QxLA1rivsTw6B1JLzlkhAo/luEOBotLIL/hHaiYESIodAaTmSRsckWlIWUEt4oRjHJt3gSp2TI7oZ9tahHtPdNWQvuG/m98UkkqxELeXe/HCLt9TXhdzcx61ZZhc2teXp9A/b0/7IdM8QP4/+jXU6kIyBRx45UAtpDdrShjwU+fPWovWFlUBy0dOybsEOmDqNkRhCg1G9qXPSud1dR3BXIRe4ZEoa7Rzb5YGd9MEdv3wdmsAlZWNKGc+rdIlxgyw4SRC0zRtVFzK2jbBWEnsTsZNnnm4n3Z8Ums4RrweP0Q+6hh+z4yhM71LqM/cFuhnM+MEl+zd4j7PvodnzchlMqwVmejGhyuel4lTTINpi7lYG7g7i1hJ1YduRsDUHSBQqR3fYUZbUrHuRK3NUO+3lVpfLZuDWsv1PTTrLEwGoamTpF1l28HkbPtJUQak9N+Bez8yB7ahKQ0jae1PgZaChxmPF/sEAA/yWmuyoxcRAp/Vv/AQfFEU93Rk+Zs/2Ks6cvrMVjeIR9TF3aanXR+G1l0SKSHxM+PO2GaWNjnRMROfatXhEXC9l1DThNUujxvpXnYgyORDXcNEoMAoMjl1dpBEpw5ci3PAqU5Hcb5hEkPO+06TgzuhXqI1QFxjBOq9amAkx9rzaKWqu18b/bUayfttheXsUnWCHZ0lIJwH/SPtHzL37GWR8oExeKURE5oKEiYnqeS/56YjljQdjq04auPZnwlMzwPGjWC4NybLgZe0oOVS6K86hIJGeFA9o57kg2gfimbycO7ZRRtQ8nNaCg3I8Yi50aiujVDVrscpiy5IvEFnWsfZGZwvYIBGajIgYfTD7Vxm3ya+LNFVt99UqcQ4WcYWGnG3wCfIuOHZWmTR9wbBgMXxTcDYTP1FrQVXpB1aa0CIHckuoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DG8Pt7m5mhUu69amYxhpQf",
      "input": {
        "note": "Small brown-and-white plush is just right of and ahead of the left jaws. Shifting ~4.5 cm right, 1.5 cm forward, and descending to grasp its body. (Blue marker bounced out onto the table near the teddy; will retrieve it after.)",
        "targets": {
          "left_x": 0.335,
          "left_y": -0.125,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DG8Pt7m5mhUu69amYxhpQf",
      "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]: [-0.6033, 1.5875, 0.4435, 0.3267, -0.4847, -0.4175, 0.9969, -0.0929, 0.8845, 0.6643, -0.4076, -0.1204, -0.1123, 0.9963]\nstate[eef_state]: left_x=0.3249 left_y=-0.1196 left_z=0.0128 left_yaw=0.0198 left_pitch=-0.141 left_roll=0.0365 left_gripper=0.9969 right_x=0.3047 right_y=-0.0035 right_z=0.1773 right_yaw=0.0603 right_pitch=-0.0567 right_roll=-0.0099 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -6.0786, 5.4769, 1.4042, -0.4176, -0.0122, -0.0073, 0.0889, -2.0444, 7.2684, 1.7851, 0.0171, 0.1245, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f973ec4637964386b6a80c741d16a38cd9017fb7c8c29646cc4764f1ab041b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23ba249b3a0ba65c578208f70c764730aa90912a8a9fab776c0f3eb61a523388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:963cd803b1924990aa4a3aae179fd6e5b347b7ca6214e2d080f6116e20b27b90",
        "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 · 4.35 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]: [-0.0509, 0.8764, 0.6094, -0.3531, -0.0895, -0.0792, 0.9968, 0.6205, 1.7897, 1.3434, -0.2344, 0.4149, 0.2996, 0.9955]\nstate[eef_state]: left_x=0.3042 left_y=0.0039 left_z=0.1653 left_yaw=0.0577 left_pitch=-0.056 left_roll=-0.0088 left_gripper=0.9968 right_x=0.4497 right_y=0.2383 right_z=0.1724 right_yaw=0.1046 right_pitch=-0.048 right_roll=-0.0021 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.6342, 7.0632, 1.7509, -0.0904, -0.0366, -0.0122, 0.0205, -11.2752, 7.0222, 1.5897, 0.1734, -0.0171, -0.188]",
      "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]: [-0.477, 1.1553, 0.4915, -0.0448, -0.4114, -0.3355, 0.9968, -0.0906, 0.8814, 0.6662, -0.3927, -0.1127, -0.0978, 0.9963]\nstate[eef_state]: left_x=0.318 left_y=-0.0808 left_z=0.099 left_yaw=0.038 left_pitch=-0.0779 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3069 right_y=-0.0043 right_z=0.1819 right_yaw=0.0483 right_pitch=-0.0377 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -3.2479, 5.6547, 1.7509, -0.2808, -0.1148, -0.0122, -0.2667, -2.0855, 6.9538, 1.8144, -0.2076, -0.0464, 0.0659]",
      "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]: [-0.6033, 1.5875, 0.4435, 0.3267, -0.4847, -0.4175, 0.9969, -0.0929, 0.8845, 0.6643, -0.4076, -0.1204, -0.1123, 0.9963]\nstate[eef_state]: left_x=0.3249 left_y=-0.1196 left_z=0.0128 left_yaw=0.0198 left_pitch=-0.141 left_roll=0.0365 left_gripper=0.9969 right_x=0.3047 right_y=-0.0035 right_z=0.1773 right_yaw=0.0603 right_pitch=-0.0567 right_roll=-0.0099 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -6.0786, 5.4769, 1.4042, -0.4176, -0.0122, -0.0073, 0.0889, -2.0444, 7.2684, 1.7851, 0.0171, 0.1245, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f973ec4637964386b6a80c741d16a38cd9017fb7c8c29646cc4764f1ab041b1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23ba249b3a0ba65c578208f70c764730aa90912a8a9fab776c0f3eb61a523388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963cd803b1924990aa4a3aae179fd6e5b347b7ca6214e2d080f6116e20b27b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwcKEAgSGAI4AUIIdGhpbmtpbmcSDEDWQWryx7u395c33BoMET8UiZv+DDqGaq8LIjC3fvmEYmtFhKwdOsJbr1in5NZqbNGi9qmkyn9ZulcSYbIHE6iQm8PV0zDQRislg48qoAZSEXq9p4+8gicKpf983gsj7vXPh/juwyQzD5zB4iZ7GLvWM5LaEuQXwekryGwk1sxUcd1pkzbXzqZwIowElyexbcmK1TOiAW7xSyHrO9HOwZozOtky4Q2SZ1UikSFRQr5JNqP6AHpBej30vD80Fu+rtdEkuJrSspqXzVPG0hkmCmuGN01XbU82udDxHeyV6c31Q5Z3xvd0kFVYwTivVUO5Qo1ZTKFkfywnnXiv0CgE4FDgbNiJTyqi8FX7FxY4cDbeXwTrS+zUr89SETSxVXKdsu+wEsTVTUh/YnUteL40tCuD9y7CIRCJWeokNPpZkU5BKwa7aUvnO4V7nVe1DfkN3CBkR/ZyVddL5E3g67zMOluXuwUmBBZieVnuTp/PoPBhIxS7ARSauYay6i4K0gCKbyTtsHJHDAO33zolnLUI+PnD71vBGTq4NMeToxlpBHdnK9blFe1tr2WoZUvDxZBzaKpQ1DoKizz+1IbdCb+UzkCEMChj4JTFUiIUB013smAN90VZBqatQPYyWE9X0izBDj4vHU432tr+u7iNHBFyeFliBTZZzIELEB+8HPC4R/d7ufUaocCRM6KP5LINu21BRf04+Qghlczx3rBXJ7NVHaL4Btv7NNZ6fFzup5HvAE23uNoeUuj5xHT6DDqD86b9fnzogy5dmoxbx8R9ZmvIlJMvO9udq/X7o/+paSU8SlX5fpUe11d+TdmwwZVQqpslFuhXWdYXxEP823x0pTOF0fSNJcd8WM2H2f1RR8qG1hTWoPPkEQxy/p/BrrWWDqUsXG8wV1ThXaD4GfYnzp77GLCQp0rXbTehSLvioYKWfnRCJmMg9Lh244lO9QdaXx6QAJC+oA/uRiYv8xl/c5SC8HDZN4UhBTR6z2oDq4NuyawqhdQWUPHSTXLsdphlDOWeu9IZGXMu70IB8WhEowT8QX400qbCdv6/1VyD1dukAkwj5ROq0S4Z8aZDvJRP+roYAEa2Stgdi73ls8FEsgq7/8tL+6JSFkQcsNNJgNNsMUlUxJgAHneIrJXOJTuMWDzUihTZcb/wKoebFGDVtE8S2xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ATjpumPjhtGQVFwts7ER9E",
      "input": {
        "note": "The small plush fills the space between the left jaws. Closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ATjpumPjhtGQVFwts7ER9E",
      "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]: [-0.6056, 1.6047, 0.4427, 0.3332, -0.4911, -0.4202, 0.2838, -0.0929, 0.8848, 0.6643, -0.4084, -0.1207, -0.1131, 0.9963]\nstate[eef_state]: left_x=0.3241 left_y=-0.1187 left_z=0.0086 left_yaw=0.0249 left_pitch=-0.1474 left_roll=0.0451 left_gripper=0.2838 right_x=0.3046 right_y=-0.0034 right_z=0.177 right_yaw=0.0611 right_pitch=-0.0578 right_roll=-0.0101 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -6.9949, 4.7111, 1.4335, -0.1832, -0.0024, 0.7106, -0.0479, -1.7573, 6.9812, 1.7021, -0.0659, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:236e5b50432b67458bc42afb06fd001a62dfb8a90bcbdb1bb5f297fb9a5fea4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd0a386a256a6712fb643089f3a893723b5d486f54105ca039fa4772b8195299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab6ac33f3b0fe0f2dc665f82a737c4ddd45fd7a9a4c6e3494a5ef95618a6ef5e",
        "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 · 4.134 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]: [-0.477, 1.1553, 0.4915, -0.0448, -0.4114, -0.3355, 0.9968, -0.0906, 0.8814, 0.6662, -0.3927, -0.1127, -0.0978, 0.9963]\nstate[eef_state]: left_x=0.318 left_y=-0.0808 left_z=0.099 left_yaw=0.038 left_pitch=-0.0779 left_roll=-0.0007 left_gripper=0.9968 right_x=0.3069 right_y=-0.0043 right_z=0.1819 right_yaw=0.0483 right_pitch=-0.0377 right_roll=-0.0053 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -3.2479, 5.6547, 1.7509, -0.2808, -0.1148, -0.0122, -0.2667, -2.0855, 6.9538, 1.8144, -0.2076, -0.0464, 0.0659]",
      "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]: [-0.6033, 1.5875, 0.4435, 0.3267, -0.4847, -0.4175, 0.9969, -0.0929, 0.8845, 0.6643, -0.4076, -0.1204, -0.1123, 0.9963]\nstate[eef_state]: left_x=0.3249 left_y=-0.1196 left_z=0.0128 left_yaw=0.0198 left_pitch=-0.141 left_roll=0.0365 left_gripper=0.9969 right_x=0.3047 right_y=-0.0035 right_z=0.1773 right_yaw=0.0603 right_pitch=-0.0567 right_roll=-0.0099 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -6.0786, 5.4769, 1.4042, -0.4176, -0.0122, -0.0073, 0.0889, -2.0444, 7.2684, 1.7851, 0.0171, 0.1245, -0.0024]",
      "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]: [-0.6056, 1.6047, 0.4427, 0.3332, -0.4911, -0.4202, 0.2838, -0.0929, 0.8848, 0.6643, -0.4084, -0.1207, -0.1131, 0.9963]\nstate[eef_state]: left_x=0.3241 left_y=-0.1187 left_z=0.0086 left_yaw=0.0249 left_pitch=-0.1474 left_roll=0.0451 left_gripper=0.2838 right_x=0.3046 right_y=-0.0034 right_z=0.177 right_yaw=0.0611 right_pitch=-0.0578 right_roll=-0.0101 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -6.9949, 4.7111, 1.4335, -0.1832, -0.0024, 0.7106, -0.0479, -1.7573, 6.9812, 1.7021, -0.0659, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:236e5b50432b67458bc42afb06fd001a62dfb8a90bcbdb1bb5f297fb9a5fea4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd0a386a256a6712fb643089f3a893723b5d486f54105ca039fa4772b8195299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab6ac33f3b0fe0f2dc665f82a737c4ddd45fd7a9a4c6e3494a5ef95618a6ef5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwcKEAgSGAI4AUIIdGhpbmtpbmcSDDhvCd/n2sr4xxRGcxoM4a1E+pK2iN1eivrgIjD+W3mOAfAK2qcRbPeRWehBpXTXc6Yv2gCMusMU0AuHe56Hng8pkwN7n3ZbV0TgFg8q3Ab+cRanY/dQQF6TIVR1BOyxW8e12JooEXKebZ9c8zXXS/hQkhT6J6c8kikYTzS+B00mj73AOxb82tDga0LYJzSGYBuq+Mxm5lX322Mq2cMAkzEH96VSRWqO2Eovadq9xC4cqpZK2Zy/N1cS6brsPfHavdzX/oRfCqHurJl3USv5qOyXrPj6JvRpoZghilVqd2YiaW+TRPu+17UWzN9bA2QJr+UqWaIA77g7nwglTTOlFfrOX95CIGVAGQr7gN9yuHi4q0YV3t5gi/hDfD3klmHWV+43zHH6cJfzK0MN7vmNErbn0p8NH6jjH9xakmU1H0ycPS8X5m3hS8MLFeSTVkZzBQ7Yzsu6DGNV3R+jfikXclJwDlvl4BDgdND3u1fj4A7caz0qUglsxhB4IuEn4uMOj8U8SP3wa9Nj3kjRNZOFFL4fHNY/vWWWp+WhrLzGCvqcVp7J/O/qeKMn1xkNUFKhauTZJEP72rUFy8Ep7oSfWHaolWCQuPhar6tefNFpWDQfAhojjMBZaL/upcnj2TCrPEejEZafHrW1Ec2wH5dT5eJyZ05r11gWLZlt7TNDu2MIrjAUNXPrpqD9ZHx5EfYGNre1Ysa8iivowKoc8xFvEGDEIjbnuj7oyw0wKzpsTOKqOYFm9CzChiBcF6h0lqawps6S3y8hl3G3Hrt4RDWJoj9Pf8nnhfZNHEOk98AyDkSZW0LD9cYKzAJ47tvzzzgLF3hWnqUhZlYXkbT1MVG4fSr3gunrusL0RI7VqabpOYDAl+r0JZidHkSRvl6dVY8Yg0hgxbNhyb/CZ9ijDC9EisaooR+jbUJt35Hy5OVcji9i7Waig7rRXx0DtRrRjLXUhXYQZ7ftfZP4RR9eSUTnYKeeVvg1OmAHVgHOOJB1Ebj64DoWmFMc/CxLyf+VQQl+93miOswzTM9U2jHzATmMmsSmM184XWHq+0xx1Bab9CHKgJUgtvDWrDuosgYYP0s0hciYpE/2mj/GZiOOpOvw3Cex1Pu81jLtVYCRMiuE3xmF4UJYHF69M/yxxiK5Z+2gD52TjkrfoNXZhI14ctVoZcmdVlL3W6rPorRJYwydFRWWRDdcVPbL8swvOpvKRsFgRhjz4ExO8cbdlmZBNZ8n1m5aXULK2f+6sIRvkhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WNeZNcgkKmb97Vjm4ioAxZ",
      "input": {
        "note": "Gripper settled at 0.28 around the plush — grasped. Lifting high to clear the left basket's wall.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01WNeZNcgkKmb97Vjm4ioAxZ",
      "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]: [-0.6064, 1.2427, 1.1744, -0.7414, -0.4904, -0.4206, 0.2857, -0.0929, 0.8883, 0.6643, -0.4084, -0.1207, -0.1131, 0.9963]\nstate[eef_state]: left_x=0.3283 left_y=-0.1221 left_z=0.2416 left_yaw=0.0222 left_pitch=-0.1323 left_roll=0.033 left_gripper=0.2857 right_x=0.3048 right_y=-0.0034 right_z=0.1761 right_yaw=0.0611 right_pitch=-0.0612 right_roll=-0.0096 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.8085, 8.5128, 1.2576, -0.2418, -0.0366, 0.1832, -0.0752, -2.1402, 7.1316, 1.707, -0.0708, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6be240cce2db94b2efafec9ce1f0679f5f2210fc03c4198d7bc80f727343396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8addb6e26718518f0de50dddd4c68c4fec018afd0e4e4a0335e5804320e7cb4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:721555605e96f4c220ea5b27f09698dadd3fd8fbe90eea1e5639d37f5f9d8422",
        "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 · 4.288 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]: [-0.6033, 1.5875, 0.4435, 0.3267, -0.4847, -0.4175, 0.9969, -0.0929, 0.8845, 0.6643, -0.4076, -0.1204, -0.1123, 0.9963]\nstate[eef_state]: left_x=0.3249 left_y=-0.1196 left_z=0.0128 left_yaw=0.0198 left_pitch=-0.141 left_roll=0.0365 left_gripper=0.9969 right_x=0.3047 right_y=-0.0035 right_z=0.1773 right_yaw=0.0603 right_pitch=-0.0567 right_roll=-0.0099 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -6.0786, 5.4769, 1.4042, -0.4176, -0.0122, -0.0073, 0.0889, -2.0444, 7.2684, 1.7851, 0.0171, 0.1245, -0.0024]",
      "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]: [-0.6056, 1.6047, 0.4427, 0.3332, -0.4911, -0.4202, 0.2838, -0.0929, 0.8848, 0.6643, -0.4084, -0.1207, -0.1131, 0.9963]\nstate[eef_state]: left_x=0.3241 left_y=-0.1187 left_z=0.0086 left_yaw=0.0249 left_pitch=-0.1474 left_roll=0.0451 left_gripper=0.2838 right_x=0.3046 right_y=-0.0034 right_z=0.177 right_yaw=0.0611 right_pitch=-0.0578 right_roll=-0.0101 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -6.9949, 4.7111, 1.4335, -0.1832, -0.0024, 0.7106, -0.0479, -1.7573, 6.9812, 1.7021, -0.0659, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6064, 1.2427, 1.1744, -0.7414, -0.4904, -0.4206, 0.2857, -0.0929, 0.8883, 0.6643, -0.4084, -0.1207, -0.1131, 0.9963]\nstate[eef_state]: left_x=0.3283 left_y=-0.1221 left_z=0.2416 left_yaw=0.0222 left_pitch=-0.1323 left_roll=0.033 left_gripper=0.2857 right_x=0.3048 right_y=-0.0034 right_z=0.1761 right_yaw=0.0611 right_pitch=-0.0612 right_roll=-0.0096 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.8085, 8.5128, 1.2576, -0.2418, -0.0366, 0.1832, -0.0752, -2.1402, 7.1316, 1.707, -0.0708, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6be240cce2db94b2efafec9ce1f0679f5f2210fc03c4198d7bc80f727343396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8addb6e26718518f0de50dddd4c68c4fec018afd0e4e4a0335e5804320e7cb4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721555605e96f4c220ea5b27f09698dadd3fd8fbe90eea1e5639d37f5f9d8422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDH0g+DnYV7xNclV3PRoM1z68S43SnfGXIDhtIjARiu5X4Iybe77OpRwiziV+Fn29ugfxO+F+mqJLkJFt3FQs0Z+giVBKZn2OBKX3B4MqlAbf39cXVDGlUJ2EbukKm4LUZgFMIepc9nO27surN+NnKpTBbJl8ZgiDszurvQy7cakpwbP4pEq2HxqZXGNJv1C+dmWNa75lJs1VqfbAlHoBxMob3AgYLyvmTF90///PPUhmCWPppv8gQgpDk3FM1OHDnA5CittkSpjwu97Jq39GdIjpwDiV4r4ayPtiYRSWRWCc7rVOFGZpGmCBA0QzlpPvHQ8itQfN3wbJwSbrKvlreSkM7pvotukVnLGpMlcG5EHcEJGwg8XgETZIHiRlVUZF0J4zYMQvk3PVEjVMYfcT8//3bi5IPKB8enrIW+xm80/1OeBbCfXOU/moOPD40v5AeuFC+XZhkyjp2gfhZFGkr0EGK4n5gTAdQmxTeNw5UAFuqc2pCO4ZSsifmFafgQ6FziAjZRooYHXvf1vLLvzUNnU6cWbAivbLADUH5YNBYOX0Emu6AxrQ3kMIR1uncLJ8soBIT6zhOrgyRcyWlEXT2s48NFapd8A2O65x1dzdQOakLvXybMCAloCp2/Vvq8+0A+in3sajGF9dZwW/5m5/+IHgAGuKB3Trk1nQqWJi/s+efRI5pz9EkPI055+SFw4WvO/SJs/OBox3CQItq2uP+CUTvPSVAxczrzC6f+TqHMbqTTympj/0A9npp7I4kbsIfcZJivhQhA2AikRwgS/sRkTH7atZdshvJOgdnLYMPxaLS0faDnTl8pPtdn1yIARSwXeAx6XOep+CnPUJA95KBUQow+dJ6QrDFoUAjvl5bdCB6/vifFBnhRWqXKP64SvZK7e1yucPCwfh+NWJAgkggorEaALmK8W3/EcwwddmvJGVjbOE5ODJlJUSgZUxg+15SrPrW/rZn1kWFYJWiNPFKeHJNNjoX4EheTD/AcMlb0lwVsoPyp2oB73tDVRcTnxk8TaBh2aaVbbEen0lvyZZGmorab2K/UeSrElpi2OyjGKlnFq5pgEFMV2JhpoSClClsJyMrbahC7ddbDcBqCMGCuskY0dc/WOp1F7revOkZDTzr6QIrdwkcZchnH86E7IGZBvmOxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NMCyT1icoZCJbKmDaEB5At",
      "input": {
        "note": "Plush is lifted and the left basket is ahead-left in the wrist view. Carrying it over the left basket centre.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.04,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01NMCyT1icoZCJbKmDaEB5At",
      "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]: [-0.1612, 1.6135, 1.4662, -0.6136, -0.1852, -0.1329, 0.2871, -0.0929, 0.8925, 0.6643, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4588 left_y=-0.038 left_z=0.2313 left_yaw=0.0605 left_pitch=-0.1841 left_roll=0.0329 left_gripper=0.2871 right_x=0.3049 right_y=-0.0034 right_z=0.1746 right_yaw=0.0628 right_pitch=-0.0665 right_roll=-0.0113 right_gripper=0.9963\nstate[joint_eff]: [0.1573, -8.2256, 9.0735, 1.6386, -0.0513, 0.1441, 0.1294, -0.0889, -2.0034, 7.1863, 1.6728, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b16b01783bde45cf41f69d3ea8dc19c87c2c9d099ad099fba2a5ba0e00a5479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12b9691f1387330f9a96c3e43ffa8b2bf7ab7e053b72c4a823f937594d4884dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71e0b72266996e667dd20a25373429ea221a62122136ea5c860e308c8924bf02",
        "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 · 5.801 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]: [-0.6056, 1.6047, 0.4427, 0.3332, -0.4911, -0.4202, 0.2838, -0.0929, 0.8848, 0.6643, -0.4084, -0.1207, -0.1131, 0.9963]\nstate[eef_state]: left_x=0.3241 left_y=-0.1187 left_z=0.0086 left_yaw=0.0249 left_pitch=-0.1474 left_roll=0.0451 left_gripper=0.2838 right_x=0.3046 right_y=-0.0034 right_z=0.177 right_yaw=0.0611 right_pitch=-0.0578 right_roll=-0.0101 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -6.9949, 4.7111, 1.4335, -0.1832, -0.0024, 0.7106, -0.0479, -1.7573, 6.9812, 1.7021, -0.0659, -0.0562, -0.0073]\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]: [-0.6064, 1.2427, 1.1744, -0.7414, -0.4904, -0.4206, 0.2857, -0.0929, 0.8883, 0.6643, -0.4084, -0.1207, -0.1131, 0.9963]\nstate[eef_state]: left_x=0.3283 left_y=-0.1221 left_z=0.2416 left_yaw=0.0222 left_pitch=-0.1323 left_roll=0.033 left_gripper=0.2857 right_x=0.3048 right_y=-0.0034 right_z=0.1761 right_yaw=0.0611 right_pitch=-0.0612 right_roll=-0.0096 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.8085, 8.5128, 1.2576, -0.2418, -0.0366, 0.1832, -0.0752, -2.1402, 7.1316, 1.707, -0.0708, -0.0757, -0.0073]\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 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]: [-0.1612, 1.6135, 1.4662, -0.6136, -0.1852, -0.1329, 0.2871, -0.0929, 0.8925, 0.6643, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4588 left_y=-0.038 left_z=0.2313 left_yaw=0.0605 left_pitch=-0.1841 left_roll=0.0329 left_gripper=0.2871 right_x=0.3049 right_y=-0.0034 right_z=0.1746 right_yaw=0.0628 right_pitch=-0.0665 right_roll=-0.0113 right_gripper=0.9963\nstate[joint_eff]: [0.1573, -8.2256, 9.0735, 1.6386, -0.0513, 0.1441, 0.1294, -0.0889, -2.0034, 7.1863, 1.6728, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b16b01783bde45cf41f69d3ea8dc19c87c2c9d099ad099fba2a5ba0e00a5479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12b9691f1387330f9a96c3e43ffa8b2bf7ab7e053b72c4a823f937594d4884dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71e0b72266996e667dd20a25373429ea221a62122136ea5c860e308c8924bf02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugcKEAgSGAI4AUIIdGhpbmtpbmcSDH4vyJufHwQApHH25RoMGdxdeRuCVdFYg72iIjDAGJx1PEnOeepEMyZCrt7gC/N78GqWitohZKiTzfLRYvtyB7k19jzWCpLE9hk+1Y4q1wYNCIB1YRGUMla3OcPnPnG0pKTyAxXiKdQicJsLM/SuDhgbr/hriFGT5zX5YPyCut8J9hQylVbX0mNHXpJwAsSunf0VDkAAEs8j/iQXgLFleNac+GnNJMhiiFWknR9jzR625xAx5qOixNn1fXS5R0/+AeBiW7LUDFsNji7HZDPZFtN35Dup370P6D4lovo1s9bwz5xOVJX63HbNL0bZaokuZ4RpC9Oon2N8hFOrdg1d/UGPLgPmDVuLpygxC3/jnwQ7glw8WPzxF8oVA/L61OFobopYOnigYPm806f55nvYISk8fU8+TRzgNGaJNuHOW7gUhMt1+meqvEqYF5Ih+xD+6JjyzaHW9wWzbx0dZWNPwzNSmwG3NRj6CHtExANDXcPQufVZqHc6adybeEjBgOC5NDlkpK0ezOjiz5O7jwJZmu8OnaE48lqZwZ/piCJvIoJ9k3aQc0u5a9mv5TusFEdTe53TBCLZ4qwkW+eY5izxYiyO79zzHjNug9CppNTLAAkzstx5pe5m74ixlJvpdHvzLvjBzUG56Dgidl8Z22HzyrwEyCpkA9rdNV+1KGFzQ1bJR+Vga3u2h8FbsY2MEjjqD01sdIPu38SAoLN8pmMQ6KFsnNibn8BrHtGl3qKPJT7MpxrS4iiO3HTYXgEMWH5bnf9tdZ7uMV8jg/u8s7BTsLP4jMB26mUxSA5J1qn3zxIQeThUH6Qm6MQa9EeeXstPsOzdk2z7Ka0GcLoQCQDH2xxe93FPEy5pmhOh1PjPL0LFrfL/XjfY6TS57bL1yQmtBlOYCr1LUW1IjbvAA0CXo1yNgLiawglr2bwEKMEZ0r1dM/1Uoc8qWsfxvyhxJaCgfctGTO28y1Oqeo3crZwqNRk+teTXYCpCT7bTp5meBGZTWfGgpSPNOUTLA8UNdUvGA7faWVmKDCMX2iSoUdEK77oTr5iUpvwyGesF3QVr95tNEDOQkG4/77GHLD9UpSnlxXhtP3wEHJiZNkMQhOcktxkftz9iPuOXVE17+Sc8brexkG19M3RT078rhCBi8vV0dRpPU6YQsBuoH2rLn7QZxBCtFUK6EbFh5/sK3K0sYml/LY/OE4F+ov3Cuhk3t2RTpuH8kwRIbK3v+9ERFcv2YLWYRViYiykYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017TEpvq7dtoyhZLhWGyrLA1",
      "input": {
        "note": "Plush is over the left basket (top view shows the arm above it). Releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017TEpvq7dtoyhZLhWGyrLA1",
      "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]: [-0.1612, 1.6325, 1.4734, -0.6163, -0.1795, -0.139, 0.9954, -0.0929, 0.8932, 0.6643, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4616 left_y=-0.0395 left_z=0.2254 left_yaw=0.0595 left_pitch=-0.199 left_roll=0.0277 left_gripper=0.9954 right_x=0.3049 right_y=-0.0034 right_z=0.1744 right_yaw=0.0628 right_pitch=-0.0672 right_roll=-0.0111 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -9.6479, 6.2701, 1.5311, -0.1978, 0.0317, -0.149, -0.0752, -1.935, 7.0085, 1.6825, -0.0757, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d02ed397c843ec96cd2cadf1fd5cfd3a75d44adecb2b870ffdc2e6893856bc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efece742d9b0737ab202b6588a08b87727e7083b3ed8525cc1f66a56422d322f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bce18ef4d7cf5797e3e7b542bf9792455b59b03c422a753f537ccce89ef28300",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 6.941 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]: [-0.6064, 1.2427, 1.1744, -0.7414, -0.4904, -0.4206, 0.2857, -0.0929, 0.8883, 0.6643, -0.4084, -0.1207, -0.1131, 0.9963]\nstate[eef_state]: left_x=0.3283 left_y=-0.1221 left_z=0.2416 left_yaw=0.0222 left_pitch=-0.1323 left_roll=0.033 left_gripper=0.2857 right_x=0.3048 right_y=-0.0034 right_z=0.1761 right_yaw=0.0611 right_pitch=-0.0612 right_roll=-0.0096 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -3.8085, 8.5128, 1.2576, -0.2418, -0.0366, 0.1832, -0.0752, -2.1402, 7.1316, 1.707, -0.0708, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1612, 1.6135, 1.4662, -0.6136, -0.1852, -0.1329, 0.2871, -0.0929, 0.8925, 0.6643, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4588 left_y=-0.038 left_z=0.2313 left_yaw=0.0605 left_pitch=-0.1841 left_roll=0.0329 left_gripper=0.2871 right_x=0.3049 right_y=-0.0034 right_z=0.1746 right_yaw=0.0628 right_pitch=-0.0665 right_roll=-0.0113 right_gripper=0.9963\nstate[joint_eff]: [0.1573, -8.2256, 9.0735, 1.6386, -0.0513, 0.1441, 0.1294, -0.0889, -2.0034, 7.1863, 1.6728, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 1.6325, 1.4734, -0.6163, -0.1795, -0.139, 0.9954, -0.0929, 0.8932, 0.6643, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4616 left_y=-0.0395 left_z=0.2254 left_yaw=0.0595 left_pitch=-0.199 left_roll=0.0277 left_gripper=0.9954 right_x=0.3049 right_y=-0.0034 right_z=0.1744 right_yaw=0.0628 right_pitch=-0.0672 right_roll=-0.0111 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -9.6479, 6.2701, 1.5311, -0.1978, 0.0317, -0.149, -0.0752, -1.935, 7.0085, 1.6825, -0.0757, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d02ed397c843ec96cd2cadf1fd5cfd3a75d44adecb2b870ffdc2e6893856bc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efece742d9b0737ab202b6588a08b87727e7083b3ed8525cc1f66a56422d322f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce18ef4d7cf5797e3e7b542bf9792455b59b03c422a753f537ccce89ef28300",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAoKEAgSGAI4AUIIdGhpbmtpbmcSDP64wSV7zOysjMCPoRoMUo6itHBZmkpD9G5rIjBMMmGwm+Xa0OeD13QDf9+7JesqdLVenlPhu2OHibJ9TmlrJfG+VaCCvxHQ4aFPAmoq3QkP3MiQ1Pb3WPWnubJgqM40Z3HeVQyfhdsx5WT9N8R42woNVMmwKlY4kuCu5nlFXhlNNSZzpm1wo6LS4OrEFpTxw2C7VKOZB7y8YLy4XtoqbbuXlAnoKmF/6c0rNWny1GSMMqp90sNHP5XZE9kn/V/9kSTh8PEc2X3GF9ROzf9N2A/4SRQ57uEdxFphVrlzhgZkP48JOtdmz0WZvs5A0NXaDuMeHPQQ80IEHPfcmp9cdz5COzXV4OlyTwh/rN77pnb5wFbvg3bI7C6l4rm8m8eFaJCj4x04yAcwWEYBNjPddKYjr/fHewSNavK+CWSq9XyY9Yc9tOVI7kHyIXceyTIyJ4A3Si6PQ+iTmPilFDt1lsc1TD4Pa50J02I4I9wStKiwGTzHeCWs97cfltEPiHwZN3zjb8s0unnRKDehQyFt1yXqduRyFU8G4EMhnEPFRSGDThACuBHdmCLCZTvorlT80BWB+zChKHlKzRd+183UDnEjG8j1G6PMipIF10fLnicnMjxOaDyOlCM8jnoDfhMdMrP7kAn4WtGl7fdYwq3bbJr8hnu0xEROlJLyzWjRJsQqwqpsPg4w7qX6rMYS02Kz6BwsE34zgl1x6mjamSQ5QVbDhJ/ELp2lrPJLyLFgQkCic5bbl+0FP/8kTSqY/jQ1rpY+kC/+xDMirhFDX9Tnyunqz3GBTt1D/Drewi+TMraLyYCCvfKjwdm0X0Yvp5C9ftKTeEyAMTeEOOLpKGC8PsrHIR3U32Acsw8WZyW8piBA6N7qyghVM1s6y7R8clf3emypkasdxIIvFBtiFpE6fduDJLhPF4cvYS7bQI5j79RKUja0GjvSz0x2vTa+upw+JmvEJoq3/1TS2kWyyJJyDiavHyp0mo1UIf25b9ZIX2PfP9HF3O34Xg2g9lhsnS16vh2SCb5tYiBJSQukJvUHKokR1xgVeSdt5jjcT2RenBghLW6sIB2D6m1J1Ukx5QMJD0UeP+L9C4IebGoweyOagBTR1LY58U2xt1jmYCE93KHzXDfzBfmCOtyJXUQ+svG8gUf5gn/uwRckQuyRdUnp7AKGt3/LUWMQ8jwvSZVF1e34FSiRv7ZxcciUvH/4hRohAXF87WhWRu1zVegs0OWciOEl+jKkU8uVK9o+ADyTVSRBy0tImiRdAWSf93jAa2FKq4E04FV5jkbeA3dQapUhqS+CF+MEGVjxKSuV8G7SBf/QTw5Xlvf4OiyzPQLQKME51G5i2jM6IGKoSMLF8cwHUQX+HaXhKqQwCTbbsMvlfdYSB37n1xfsYXiu+mlFGGuJLcs4DLc7eM5dYGFWpC8dg3TsMG3hRO1j2Abbeqe3tVF7bK3+dnvN1Svqpe5cnfTfT7uE4AMD3exQEAJtX7bXPrrxvZmo1QJupUZEjmYP68OrtETqbx5jdDvhIs1+8FYYmqtytjsszuOeH1zydXar8yrEi1EJNK4jFrsMvibkGEpB7KAH+Rh9IuVY6Ihobq3xmnLhXBZT/sJAoUjpp8FpjX8s3POBFzJihKUyjObpe7hYX2buAoVsvLalUSJCIXCRyjps5WmXsgPc9YY4PDd4JVv36EisEDucxjvYQp+khk69+2F14CNrDIRp0Jel8jlRsCGDhcqkdRvGzZ94NQNrQSF7UMhX+bj84HcLRakYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ki4wqrWskxjBjN2J6UY9Eu",
      "input": {
        "note": "Small plush is in the left basket. Moving the left arm above the teddy bear in the middle of the table to pick it next.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.25,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Ki4wqrWskxjBjN2J6UY9Eu",
      "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]: [-0.9333, 1.6588, 1.1664, -0.5648, -0.6334, -0.7727, 0.9967, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3201 left_y=-0.2505 left_z=0.1271 left_yaw=0.0183 left_pitch=-0.2176 left_roll=0.0291 left_gripper=0.9967 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -7.2, 7.9521, 0.862, -0.6178, -0.0708, 0.1245, -0.0615, -2.0581, 7.1179, 1.6777, -0.0855, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1338f092fd2bd747230f5325955bbb8ec1c666bceaa70e4518f0ad624d1a08b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e04e85a4a363ba220e17823bc2f81ec0611514ec7e26e7546859a39242e4a3c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:161c37add3d80813ffa1a18d90dfff246d35ece51e535e33669bc724db8448ee",
        "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 · 3.427 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]: [-0.1612, 1.6135, 1.4662, -0.6136, -0.1852, -0.1329, 0.2871, -0.0929, 0.8925, 0.6643, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4588 left_y=-0.038 left_z=0.2313 left_yaw=0.0605 left_pitch=-0.1841 left_roll=0.0329 left_gripper=0.2871 right_x=0.3049 right_y=-0.0034 right_z=0.1746 right_yaw=0.0628 right_pitch=-0.0665 right_roll=-0.0113 right_gripper=0.9963\nstate[joint_eff]: [0.1573, -8.2256, 9.0735, 1.6386, -0.0513, 0.1441, 0.1294, -0.0889, -2.0034, 7.1863, 1.6728, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1612, 1.6325, 1.4734, -0.6163, -0.1795, -0.139, 0.9954, -0.0929, 0.8932, 0.6643, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4616 left_y=-0.0395 left_z=0.2254 left_yaw=0.0595 left_pitch=-0.199 left_roll=0.0277 left_gripper=0.9954 right_x=0.3049 right_y=-0.0034 right_z=0.1744 right_yaw=0.0628 right_pitch=-0.0672 right_roll=-0.0111 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -9.6479, 6.2701, 1.5311, -0.1978, 0.0317, -0.149, -0.0752, -1.935, 7.0085, 1.6825, -0.0757, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9333, 1.6588, 1.1664, -0.5648, -0.6334, -0.7727, 0.9967, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3201 left_y=-0.2505 left_z=0.1271 left_yaw=0.0183 left_pitch=-0.2176 left_roll=0.0291 left_gripper=0.9967 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -7.2, 7.9521, 0.862, -0.6178, -0.0708, 0.1245, -0.0615, -2.0581, 7.1179, 1.6777, -0.0855, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1338f092fd2bd747230f5325955bbb8ec1c666bceaa70e4518f0ad624d1a08b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e04e85a4a363ba220e17823bc2f81ec0611514ec7e26e7546859a39242e4a3c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:161c37add3d80813ffa1a18d90dfff246d35ece51e535e33669bc724db8448ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgkKEAgSGAI4AUIIdGhpbmtpbmcSDHd8tW3zk/W2yu+mtxoMqwnA7X3IUay+OvrzIjDqPbTx2+sh9XFDlsDue8NE4dkMAZBOQWoYBZS4AJ4h+LDsbO8jDjHfQyPdMWv7pSEq6wi9lYsoOJ8EWfWIRHovkojMWE820x1hL7jAU2IOEHh087n0mXtjCPGH4f813a+xq1/n3AJxodkYWM2mOMCcQbm4UprkGxiwiMWppj1aajg8ne2h0ssDC1jQcbeMD2JBn5BvkmewB78PjybNcloiMghVn56G1dtY6TsUakOWxaEjTcLpQJpV7FrzRr3DE6LjNh8kS3ElHwzG8WqDADP+peI0hQmyjddMy76B3ZSBDDBeYP1o3v8hiNb/hq38ByUUrBiQrCPjiraAIzLYqrKNRRNlTvmc1CuFWJFHbh1Cr5Ci9i1WH30aJ1gxH8dKIqgZsGg4tyO6qzV9OiXGPT8380/1vu91X9QkcA4AV5wjtaebQqiI4P1yqqfwdfnxxlt2zPOYOwe6FIHMVQbe0z3XVgQRSFegLERfT0VlctJx/j4pHRYA4uMXDgtzCpVBMpoZilwr2y6MWXPDQcjum6f12OaxQrb2DlJCSKZxXYsUDP3aRl4GmCRzvi3yyD1l0Srd25qmRdXtgoVb0M5SvkJvfWfdss1y/mRkXKZc+NopplynSkbfb6ZTtVuOzziOBK/Z2lmQrZTJAQn9tBsEcd5XagKiWyHP8d0DuaxDs3eDJUGT1oEskcaU6e4MGyYUm3ZdCFFQ9Vk9/ECUoI+MWyGf1wMnkYaMRFC8wo42+niGrHEyz6IdseySeKXXeyLSVYIVkj0BD4UaNfCZhbSQgJxZr5iFQqM9WQLnkyGdZsTE8uTKwCl7fb+aEkXrecyWPuusRtoCpzO4iI6jBkwYXx0IvIz2sXk1XO2CDHmxRyoadaQE/UeNQ6ZuCNUuhtNf0HFKifCKxZDHdIiHuiP8iPIFx3EbSzcc0SoNZHODuE0M62A7gipfWKPGWetelsuTTvew/XP2au7z/LGYsrkx/5WEXpWSSU9Cw1IO9Zk9NYVmqGrj3zaK6G3JlnoHrO13zdGcP9Nof4YiNvG1OYAfgmFdVxoQidOucgnb50yqCFTvXO73Eni6vNgy/gW34GiMr70e7RekNwKh8TMec9IslBmNvnCu9muURIKcm46GzMvrgtMyLQ70Ka5HKyIXkF39f/VQsXu8SH1Ya7yggK5CsE2O4zZFmBwOu7KwxWWCzmSvKqujTBOg3MY0wbdke0QmtBboYWJCGut3EHDUYDKgSG1aD/Zog5fsOzA46HP92WCODhlspMgeSgUtjYB2w3nQIxsQ3lTN9MseVekJh/5cHvJUC6jyAoCpGQyEVsqYw2SiboDm1NbVtZVyBWgxHqdcv4fLFu3Tup2kspFKjPm0n1rn53pTvKV9t4VrhJ9ydUbCIKYqlQ8kJVtj9k+qXYhzoVOqKd6O41I15mMiJ/RA6UnHPJ/vMaIvVWbwsnYQDYMsr/Yg+CTtjmupz/AqYCdEsovRuuy9jwYg5fJuRzb2YCsvKz+86qR4efd/8XlC4tDeuJPnv1vTNWbgfvk3dkm6Kq5Hwi+gfb4Q4ED9yY/srD/qX1AAqeZ7iORevPubLvEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YYz5MGbpggrrir9cGNSK5c",
      "input": {
        "note": "Teddy bear is directly below and ahead, sitting upright with its head centred on the jaw column. Moving 2 cm forward and descending to close around its head/neck.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.34,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01YYz5MGbpggrrir9cGNSK5c",
      "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]: [-0.9447, 1.7813, 0.8879, -0.009, -0.757, -0.6781, 0.9968, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3347 left_y=-0.2497 left_z=0.0612 left_yaw=0.0161 left_pitch=-0.0465 left_roll=0.0349 left_gripper=0.9968 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -7.241, 4.5333, 1.2772, -0.4029, 0.1441, 0.0024, -0.2667, -1.6479, 7.0496, 1.6435, -0.0415, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34c072508e8df97c3ae0823f09aa5a1d97a9229e247e39c3d713287dcc96512a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:420ca7bf8b7d5bd77e390b126c9be283e2e78d06c9e0770c91ca3f95764de640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae5bf6a690ee88c7a6372a87a8c8d68f5d64b29548c70b8c7bfa8af32de68cc5",
        "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 · 3.523 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]: [-0.1612, 1.6325, 1.4734, -0.6163, -0.1795, -0.139, 0.9954, -0.0929, 0.8932, 0.6643, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4616 left_y=-0.0395 left_z=0.2254 left_yaw=0.0595 left_pitch=-0.199 left_roll=0.0277 left_gripper=0.9954 right_x=0.3049 right_y=-0.0034 right_z=0.1744 right_yaw=0.0628 right_pitch=-0.0672 right_roll=-0.0111 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -9.6479, 6.2701, 1.5311, -0.1978, 0.0317, -0.149, -0.0752, -1.935, 7.0085, 1.6825, -0.0757, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9333, 1.6588, 1.1664, -0.5648, -0.6334, -0.7727, 0.9967, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3201 left_y=-0.2505 left_z=0.1271 left_yaw=0.0183 left_pitch=-0.2176 left_roll=0.0291 left_gripper=0.9967 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -7.2, 7.9521, 0.862, -0.6178, -0.0708, 0.1245, -0.0615, -2.0581, 7.1179, 1.6777, -0.0855, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9447, 1.7813, 0.8879, -0.009, -0.757, -0.6781, 0.9968, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3347 left_y=-0.2497 left_z=0.0612 left_yaw=0.0161 left_pitch=-0.0465 left_roll=0.0349 left_gripper=0.9968 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -7.241, 4.5333, 1.2772, -0.4029, 0.1441, 0.0024, -0.2667, -1.6479, 7.0496, 1.6435, -0.0415, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34c072508e8df97c3ae0823f09aa5a1d97a9229e247e39c3d713287dcc96512a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:420ca7bf8b7d5bd77e390b126c9be283e2e78d06c9e0770c91ca3f95764de640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae5bf6a690ee88c7a6372a87a8c8d68f5d64b29548c70b8c7bfa8af32de68cc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gYKEAgSGAI4AUIIdGhpbmtpbmcSDFzj3a6zyUK9+rOoSxoMC1LQfhg6g9VxLv4BIjDaKlyV11u1OwRToVoO9x/QAH1HZC42TFipf7JsN+JO0pFO3ElZ5+6nGEOdgX66Tv0q7wWelQJnsjHLYKb+EQsHO7FrA+3mL8p1eWwyWHFgD/3361hqFYDBm61qOPHbdXzzwxU0U1eyvT0yW3Il37l7SqDWTzAe2fU6VWz0ryHV6OuSSAbHG4nrQgpZNqsspgHwr7LtGP2athwTQt7MBImDzlVNglkHsMGTzTuGbwnRh77RVO5XaKX0UFNMRYtwTd7PxKk/rIAGb/gRkq00yF4zrmBN/mC5hyPfsPXR+MhmGBLavw6ST8Dg6i9zOzWo5zphS/5X8r0mydHrHuYblXF8sV9z/XjQpsMQeijohHu9hi7zBleNNmwSUSwYDJ337h4oKIiq+uXzXJ8nXZ5FtDYD/nf801Qshaq/EUThupr/z2Q/bdRssQBTUm7p5nw0J7eaxIJmo3M6AIJtH2jEaq3koLTxQnrKZbjlYWVj6+LZd2EneFApnNGrJyS4vuie/SAxO1QfEYPZxbJRWyemIqOqcrXdaFU4sE91VYmN1sZGkpx1pqBv5Z+gYH/bcHeH4W+8g0+RIx6U3FOnIFcjY4IPKEq3yWi+X4BpkMm4z48XCULkUqoZYUeF/C+yYUTH3QmEltLJZvWaVWZieDPbzv02ffMT94AdX6K49jQXvrCq3AKT/83sKojKgGNKSkOwKih0Sy+OXp6quEcJ0MfyLZtZsRsXRwChmHVs7QF1nYCQjIR1q5l6UL3CHrKKOE1ZiRQuDeF/qvy4Rxl53P8r6inEf/2XcyekBDm31XmjDsJOo3+7pwP0XkA3bQZvbasvwxISDNXFQCMn2UO0B2mAo+SykgbU23Zk9ObWjrdMvmlkKZWQ+yEFkj1ILgp4ykSU1PzY+sa6AWX+Js88olAgLQq8qJPruNMUpmsy3MvWZiNl1zokp9DCj1C/8NiTEkkhrCMVmDeQavPErxoVh9cH8quB6eHU4nsk5shAhZ/oOnJsZbetp8G98uss6eCfHer6GYNnx4PAS50VSngSSBZsRAjuSFtUKPQrv0js4KDVYHrfUVJJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JV6HW1CEd4YtR64CC9eCm8",
      "input": {
        "note": "The teddy fills the left wrist view between the jaws. Closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JV6HW1CEd4YtR64CC9eCm8",
      "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]: [-0.9447, 1.7969, 0.8742, 0.0196, -0.7712, -0.6811, 0.2895, -0.0929, 0.8951, 0.6636, -0.4095, -0.1211, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3352 left_y=-0.2473 left_z=0.0558 left_yaw=0.0267 left_pitch=-0.0377 left_roll=0.0393 left_gripper=0.2895 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0632 right_pitch=-0.0698 right_roll=-0.0105 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.5248, 6.5573, 0.9939, -0.188, 0.0122, 0.8376, -0.253, -1.6615, 7.4462, 1.6874, -0.1197, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10a131971e1711ec3d49ab0c12c4f4bdc10569b7e9bbc3d059addf736ad11eb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6733cbdd64b08177515fb82f25e36314d71243976e252ea0fb16fffe1f934c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11d0ab9026344d438f831285ae2f4c9cb64df247935c287fa5605a574f7a2d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.062 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]: [-0.9333, 1.6588, 1.1664, -0.5648, -0.6334, -0.7727, 0.9967, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3201 left_y=-0.2505 left_z=0.1271 left_yaw=0.0183 left_pitch=-0.2176 left_roll=0.0291 left_gripper=0.9967 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -7.2, 7.9521, 0.862, -0.6178, -0.0708, 0.1245, -0.0615, -2.0581, 7.1179, 1.6777, -0.0855, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9447, 1.7813, 0.8879, -0.009, -0.757, -0.6781, 0.9968, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3347 left_y=-0.2497 left_z=0.0612 left_yaw=0.0161 left_pitch=-0.0465 left_roll=0.0349 left_gripper=0.9968 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -7.241, 4.5333, 1.2772, -0.4029, 0.1441, 0.0024, -0.2667, -1.6479, 7.0496, 1.6435, -0.0415, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9447, 1.7969, 0.8742, 0.0196, -0.7712, -0.6811, 0.2895, -0.0929, 0.8951, 0.6636, -0.4095, -0.1211, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3352 left_y=-0.2473 left_z=0.0558 left_yaw=0.0267 left_pitch=-0.0377 left_roll=0.0393 left_gripper=0.2895 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0632 right_pitch=-0.0698 right_roll=-0.0105 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.5248, 6.5573, 0.9939, -0.188, 0.0122, 0.8376, -0.253, -1.6615, 7.4462, 1.6874, -0.1197, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10a131971e1711ec3d49ab0c12c4f4bdc10569b7e9bbc3d059addf736ad11eb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6733cbdd64b08177515fb82f25e36314d71243976e252ea0fb16fffe1f934c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d0ab9026344d438f831285ae2f4c9cb64df247935c287fa5605a574f7a2d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M88vC6G6BUjy4bkEab4JkS",
      "input": {
        "note": "Gripper settled at 0.29 on the teddy — grasped. Lifting high to clear the basket wall.",
        "targets": {
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01M88vC6G6BUjy4bkEab4JkS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9447, 1.6138, 1.4982, -0.7959, -0.7555, -0.6884, 0.292, -0.0929, 0.8951, 0.6636, -0.4088, -0.1211, -0.1165, 0.9963]\nstate[eef_state]: left_x=0.3374 left_y=-0.2538 left_z=0.2502 left_yaw=0.021 left_pitch=-0.0525 left_roll=0.0333 left_gripper=0.292 right_x=0.3051 right_y=-0.0034 right_z=0.1737 right_yaw=0.0634 right_pitch=-0.0691 right_roll=-0.0109 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -8.5949, 8.7726, 1.2234, -0.4908, 0.0366, 0.2369, -0.1299, -1.8393, 7.0359, 1.7167, -0.105, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c14cf8ec6e9edca2225e64efa58cb43c4c92c4347fbebcf8629ae7792914a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b14a5d43d7a5b2f1181a5872320f3cc63ca5b352820e44eefec9318c316243f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bc1e8a0582d11a6f8ae85d6ba0f9ba24585c7fa6b3ea608d3dd2bbd17e2308d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 3.916 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]: [-0.9447, 1.7813, 0.8879, -0.009, -0.757, -0.6781, 0.9968, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3347 left_y=-0.2497 left_z=0.0612 left_yaw=0.0161 left_pitch=-0.0465 left_roll=0.0349 left_gripper=0.9968 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -7.241, 4.5333, 1.2772, -0.4029, 0.1441, 0.0024, -0.2667, -1.6479, 7.0496, 1.6435, -0.0415, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9447, 1.7969, 0.8742, 0.0196, -0.7712, -0.6811, 0.2895, -0.0929, 0.8951, 0.6636, -0.4095, -0.1211, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3352 left_y=-0.2473 left_z=0.0558 left_yaw=0.0267 left_pitch=-0.0377 left_roll=0.0393 left_gripper=0.2895 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0632 right_pitch=-0.0698 right_roll=-0.0105 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.5248, 6.5573, 0.9939, -0.188, 0.0122, 0.8376, -0.253, -1.6615, 7.4462, 1.6874, -0.1197, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9447, 1.6138, 1.4982, -0.7959, -0.7555, -0.6884, 0.292, -0.0929, 0.8951, 0.6636, -0.4088, -0.1211, -0.1165, 0.9963]\nstate[eef_state]: left_x=0.3374 left_y=-0.2538 left_z=0.2502 left_yaw=0.021 left_pitch=-0.0525 left_roll=0.0333 left_gripper=0.292 right_x=0.3051 right_y=-0.0034 right_z=0.1737 right_yaw=0.0634 right_pitch=-0.0691 right_roll=-0.0109 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -8.5949, 8.7726, 1.2234, -0.4908, 0.0366, 0.2369, -0.1299, -1.8393, 7.0359, 1.7167, -0.105, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 375):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c14cf8ec6e9edca2225e64efa58cb43c4c92c4347fbebcf8629ae7792914a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 375):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b14a5d43d7a5b2f1181a5872320f3cc63ca5b352820e44eefec9318c316243f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 375):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bc1e8a0582d11a6f8ae85d6ba0f9ba24585c7fa6b3ea608d3dd2bbd17e2308d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQcKEAgSGAI4AUIIdGhpbmtpbmcSDCZsMk9Y+CwB8Gc3aRoMXhdZ7n3jlia7wDBxIjBDejBnBPXoRvzU27JZ9Y9zEj/tDcChTuk2YSe09dLxn7tGau2InPi2phMSMVpV6MYq1gYqXiq0alsl/FIt1Aurqv6Phae4rPYVOVO2nuw8IoHds45Gsu0dOBfC/I27YQOPNcbXGy/baISca8przqHRxgy3F0YfJ3NSCWbxluyDTTP1dKCULs7zzMLYM6SFHYhhXiRH9EvIiJ0xeE1f6ELrUrLXZ2LM48sOJQvV1Tb4jaBuot4d5iQL8rql27l01ZA44OVpW05/K44z+hUyttyrj9q/iPVMqaeVn3JBHat5XGMcIYBCBQ1c4MI/4Wft8fnw7YYlywigVzocYgJ0sMwIw/hd1a0RDz/E2reVERHfQHtsV0rMJ3T3h6RfQuNwkk+khsMGYNjCL4S2w2IcjaTw60QccCgEJp35ocadMCBTLSIendJqWoVkUiz0EeObkp1+bhN/KtSywIbdc5Ah43pxvFotSgZZCEuIPMJ3yyRVRfs07h+5aDKeZP5csaL9pEz4XeZsHBAViecFedEwgkvTHgl74IZ2AAlVTnKjUrdSpPrwwNky+3MpLW7oU0Ehc7JEPXjjvQlzPOmPq44OMqn30gaGDr4AGQXIbhYGOCyFzWiznxy/iiKZ79YTxGXphpa2PzCb9impZ4jixcDVFo8BXHFzexoAVBV58HA9E4dPIZvsqgNk3lBzCK4mKBu47VgnAafbV7+3kX+8BJZBDX0RyWUHJikG0DMSdDpcssuGnk0/zPa98wj4p7uAhPjjkRqqr4CIrXMymdWiP6t1HG35xE85qJUlNRGI/ihStGwbha+Ng2p9jDZ4TmpbBIalHGgWd2NBEbH+kyAPZs90SDWKfObR55ByJweqga8bb+DvV0gtL+WCnj9R7DBlFL2CJp/eORm+OhBI5J/nHR6KeGb7sBq5MSK5t5+O/RvCyhrz635yHtD7pjHZZ1Vqn+Y5W/FJULSXX9ByPWF8xVnoJBouhV3ifb4gKw4eKqWER9CL/SqLyxMmAXSQZMwh+L5J32z09nsRz+SHzUfJECNDqXeSEAMXrrXCpbMQhtWxpf4P/ykWcYOpqNKW0QqSj1Ob/zwaHgXuvkm3PODEPjW6znUfxBFNq9n2f1J3UqVz2ZLaJ5dAH8jCKVTLR96pBsMvCq7re0oiNWOMg3YWJtOWmqMMwxYSGhg7AJ0+IA0nsswsGbR9fknf7nY+lhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PTMrTxV826hBuPQVbj1mhX",
      "input": {
        "note": "Teddy is lifted in the left gripper. Carrying it over the left basket with the other plush.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.05,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01PTMrTxV826hBuPQVbj1mhX",
      "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]: [-0.1978, 1.5795, 1.3994, -0.5468, -0.2287, -0.1429, 0.2933, -0.0929, 0.8951, 0.6636, -0.4095, -0.1211, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4548 left_y=-0.0466 left_z=0.2304 left_yaw=0.0646 left_pitch=-0.1439 left_roll=0.0462 left_gripper=0.2933 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0632 right_pitch=-0.0698 right_roll=-0.0105 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -7.4598, 10.6598, 2.1319, 0.0464, 0.2027, 0.1343, -0.3487, -1.8667, 7.2137, 1.6435, -0.1001, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60c660b39e8756b3e5fb66a5fffee99e6685d2dc22da6c1116126ba3b3a08e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e1d3cc31ff0051803b55d41ffc11e9025879d1e50ab629495eb8b76bdd0a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:617bcb928ba8560dc6902a4231df403e2f6173527c61aea4f9c00fe8bf1e1969",
        "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 · 10.54 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]: [-0.9447, 1.7969, 0.8742, 0.0196, -0.7712, -0.6811, 0.2895, -0.0929, 0.8951, 0.6636, -0.4095, -0.1211, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.3352 left_y=-0.2473 left_z=0.0558 left_yaw=0.0267 left_pitch=-0.0377 left_roll=0.0393 left_gripper=0.2895 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0632 right_pitch=-0.0698 right_roll=-0.0105 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.5248, 6.5573, 0.9939, -0.188, 0.0122, 0.8376, -0.253, -1.6615, 7.4462, 1.6874, -0.1197, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9447, 1.6138, 1.4982, -0.7959, -0.7555, -0.6884, 0.292, -0.0929, 0.8951, 0.6636, -0.4088, -0.1211, -0.1165, 0.9963]\nstate[eef_state]: left_x=0.3374 left_y=-0.2538 left_z=0.2502 left_yaw=0.021 left_pitch=-0.0525 left_roll=0.0333 left_gripper=0.292 right_x=0.3051 right_y=-0.0034 right_z=0.1737 right_yaw=0.0634 right_pitch=-0.0691 right_roll=-0.0109 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -8.5949, 8.7726, 1.2234, -0.4908, 0.0366, 0.2369, -0.1299, -1.8393, 7.0359, 1.7167, -0.105, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1978, 1.5795, 1.3994, -0.5468, -0.2287, -0.1429, 0.2933, -0.0929, 0.8951, 0.6636, -0.4095, -0.1211, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4548 left_y=-0.0466 left_z=0.2304 left_yaw=0.0646 left_pitch=-0.1439 left_roll=0.0462 left_gripper=0.2933 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0632 right_pitch=-0.0698 right_roll=-0.0105 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -7.4598, 10.6598, 2.1319, 0.0464, 0.2027, 0.1343, -0.3487, -1.8667, 7.2137, 1.6435, -0.1001, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60c660b39e8756b3e5fb66a5fffee99e6685d2dc22da6c1116126ba3b3a08e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e1d3cc31ff0051803b55d41ffc11e9025879d1e50ab629495eb8b76bdd0a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617bcb928ba8560dc6902a4231df403e2f6173527c61aea4f9c00fe8bf1e1969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsgcKEAgSGAI4AUIIdGhpbmtpbmcSDLHv9jhA2U5cO+e1mBoMatKVKIajd1bz0TxNIjDH+cFC2O9uL5Nhm8/+KH7HPtVy902o2W5Kz+47C/Ik5+XtMk+v+vAIAAMNLwrAx4IqzwZnrNRRzv7/E9XFrm6qFBSPZ5CnszmNg3tQxgp58s2t3+M/ahkib7JecxLadgqMTl9tjMFYjtKDfIwwnp7xDnJJqfE5uy2O/tz7NinrG6spy2OB4hEONMfPR/SYC6y8DPeqU24HVgCXl8jiufIfkErMF1rzYjwKfatswQE9iJiyHqhB4rt937RDSRJ6/MTcV2TBXkf4aIsT8GLsXCNXeICa/lFBr2Nuwtjs7FtRitztrxW8OJvgFCv/TK9MF7Ptp06VuhTNbGQFl3RscCFDpzH9+PHktib+EnIQYyW6QTdE3gMvNzUXZbTYbIcWrNng/5VNmWA5mAgw7Q39Ou0cKztg4/+pIb6aWx1L43Mnetegd0MssIrH4OqQ8UhcdKsql2vxsJfHXtUUJoMCcVqzcIToSz6KkgYp58OTFFR8Ie2p6B9E+7911n2T6zB+VWeUA1BOGHzzTExWYVOk9iyHAICenGxb/AHD9Y7VAwDZdVqRFGfnSdmDywLPyxPO2ZsyDxLkcuNPkY7D8bbsFovmdUqG+LLNiO0OMnD0Nyvl9kmN6GnXp6aVJUlHgFjpgekpED9SO93if0UYNgiGF+5kikHvxyyjjSQHXmFYabhXG4omQh0QQLxVSmqI+oSVOdkqOYZxDseXoRV9LBFhY+2xfN9KFxag1bmGzTXhHKlqrKJsJATb3tSXey/yhGSwteqwd9VbNcfI4IX3r8UcPx5RKpaIjiesrMYKST91Jj/v7QRVQYXgwBib82xgJ2dFtbObIe5t8qwWIi6qJseU44YUU2l+sYWLXf35Dxtw31wnFzLT3jpyiXVxtn5reYjvVLaMqrJ2s+dBJeSHxdXzE4/erEkcdn4fALFRMjQIxkZLSnJbmbl3ZR6cY/OCzsRaakFKbCqI8CbBc88WeWLsoS9FS+qRLVwFqPy8kU81kawPeEJVAIp3sWJ0mTzZU/dWL4kVgrM3jkykGou/uMhTPd9TckjlhT/W0utpoAWbkWjlPL/emBjsdHuMruHpN01VVbkg/LQ6mrZXNCuFPepzIN5uTSJzrZrc2R4nrO5w3jqcLRUE6FB4CupdFwUxbcMPB77iu6fSwpGE+VkViRVLDVQ/gNpO+hZepO6tK/hKmwF1Kh/BGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LMi4Ujy8LQNetgZoaDM6h2",
      "input": {
        "note": "Teddy is hanging over the left basket in both views. Releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01LMi4Ujy8LQNetgZoaDM6h2",
      "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]: [-0.1978, 1.586, 1.3987, -0.556, -0.2241, -0.1497, 0.9954, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4539 left_y=-0.0473 left_z=0.2255 left_yaw=0.0651 left_pitch=-0.1603 left_roll=0.0422 left_gripper=0.9954 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -8.2667, 7.0632, 1.6386, -0.2027, 0.0122, -0.2076, -0.1026, -1.7983, 6.9949, 1.6484, -0.0855, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242582c1cf71b5b2fef7b01ae2c4f4302f05f5cc3015a7d80d0e6c85ad25ded9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4a71ee91386900a31399fa4c8741ca06524743f94b11bb079f573c519d44155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5a45e76fa7a5f79b8517568d1e77bba26ca4150403ff85596014ab93319d47e",
        "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 · 5.519 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]: [-0.9447, 1.6138, 1.4982, -0.7959, -0.7555, -0.6884, 0.292, -0.0929, 0.8951, 0.6636, -0.4088, -0.1211, -0.1165, 0.9963]\nstate[eef_state]: left_x=0.3374 left_y=-0.2538 left_z=0.2502 left_yaw=0.021 left_pitch=-0.0525 left_roll=0.0333 left_gripper=0.292 right_x=0.3051 right_y=-0.0034 right_z=0.1737 right_yaw=0.0634 right_pitch=-0.0691 right_roll=-0.0109 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -8.5949, 8.7726, 1.2234, -0.4908, 0.0366, 0.2369, -0.1299, -1.8393, 7.0359, 1.7167, -0.105, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1978, 1.5795, 1.3994, -0.5468, -0.2287, -0.1429, 0.2933, -0.0929, 0.8951, 0.6636, -0.4095, -0.1211, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4548 left_y=-0.0466 left_z=0.2304 left_yaw=0.0646 left_pitch=-0.1439 left_roll=0.0462 left_gripper=0.2933 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0632 right_pitch=-0.0698 right_roll=-0.0105 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -7.4598, 10.6598, 2.1319, 0.0464, 0.2027, 0.1343, -0.3487, -1.8667, 7.2137, 1.6435, -0.1001, -0.0269, -0.0073]",
      "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]: [-0.1978, 1.586, 1.3987, -0.556, -0.2241, -0.1497, 0.9954, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4539 left_y=-0.0473 left_z=0.2255 left_yaw=0.0651 left_pitch=-0.1603 left_roll=0.0422 left_gripper=0.9954 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -8.2667, 7.0632, 1.6386, -0.2027, 0.0122, -0.2076, -0.1026, -1.7983, 6.9949, 1.6484, -0.0855, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242582c1cf71b5b2fef7b01ae2c4f4302f05f5cc3015a7d80d0e6c85ad25ded9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4a71ee91386900a31399fa4c8741ca06524743f94b11bb079f573c519d44155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5a45e76fa7a5f79b8517568d1e77bba26ca4150403ff85596014ab93319d47e",
        "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_012uxBybVxAm3izk2ogxHzaF",
      "input": {
        "note": "Teddy is in the left basket. The blue marker that bounced out lies sideways on the table in front of the right basket; rotating the right gripper 90° and descending on it.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.19,
          "right_yaw": 1.57,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_012uxBybVxAm3izk2ogxHzaF",
      "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]: [-0.1978, 1.586, 1.3968, -0.561, -0.2241, -0.1505, 0.9967, 0.1169, 2.0197, 1.034, -0.2996, -0.9039, -1.2613, 0.9963]\nstate[eef_state]: left_x=0.4529 left_y=-0.0471 left_z=0.2238 left_yaw=0.0658 left_pitch=-0.1669 left_roll=0.0434 left_gripper=0.9967 right_x=0.3511 right_y=0.1846 right_z=0.0068 right_yaw=1.4866 right_pitch=-0.0698 right_roll=-0.028 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.6513, 7.0222, 1.6923, -0.1245, -0.0269, 0.1245, 0.212, -8.5675, 4.6838, 0.1245, -0.3199, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4a9aae02ebeb750d2b67277654319c4d0378855114fd67cd45e39a56fc6ff69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bcbea5e1b2a397569d258f637cef96fdee358cc123dc8a747b8584684949583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:187f61a064b52ece978774fdf9b22e320b6d0caa089b8a812ff9c04b94dcd003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 10.89 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1978, 1.5795, 1.3994, -0.5468, -0.2287, -0.1429, 0.2933, -0.0929, 0.8951, 0.6636, -0.4095, -0.1211, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4548 left_y=-0.0466 left_z=0.2304 left_yaw=0.0646 left_pitch=-0.1439 left_roll=0.0462 left_gripper=0.2933 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0632 right_pitch=-0.0698 right_roll=-0.0105 right_gripper=0.9963\nstate[joint_eff]: [0.1436, -7.4598, 10.6598, 2.1319, 0.0464, 0.2027, 0.1343, -0.3487, -1.8667, 7.2137, 1.6435, -0.1001, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1978, 1.586, 1.3987, -0.556, -0.2241, -0.1497, 0.9954, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4539 left_y=-0.0473 left_z=0.2255 left_yaw=0.0651 left_pitch=-0.1603 left_roll=0.0422 left_gripper=0.9954 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -8.2667, 7.0632, 1.6386, -0.2027, 0.0122, -0.2076, -0.1026, -1.7983, 6.9949, 1.6484, -0.0855, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1978, 1.586, 1.3968, -0.561, -0.2241, -0.1505, 0.9967, 0.1169, 2.0197, 1.034, -0.2996, -0.9039, -1.2613, 0.9963]\nstate[eef_state]: left_x=0.4529 left_y=-0.0471 left_z=0.2238 left_yaw=0.0658 left_pitch=-0.1669 left_roll=0.0434 left_gripper=0.9967 right_x=0.3511 right_y=0.1846 right_z=0.0068 right_yaw=1.4866 right_pitch=-0.0698 right_roll=-0.028 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.6513, 7.0222, 1.6923, -0.1245, -0.0269, 0.1245, 0.212, -8.5675, 4.6838, 0.1245, -0.3199, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 419):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4a9aae02ebeb750d2b67277654319c4d0378855114fd67cd45e39a56fc6ff69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 419):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bcbea5e1b2a397569d258f637cef96fdee358cc123dc8a747b8584684949583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 419):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:187f61a064b52ece978774fdf9b22e320b6d0caa089b8a812ff9c04b94dcd003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkggKEAgSGAI4AUIIdGhpbmtpbmcSDEQ8SyJNy1AFdQHmvxoMtb4BwAtaG6ZkfXkhIjAHuvqevzjxJTbA3REownxO0H2AoaYP8LWVIi6qHufHcgJYbrpBahDmVWW/gvJJfcUqrwfu71L92dmtRRGv3eN1TjQhPOZ9BzHT/jbf7RCnLPRXMFWEl8dAL/ogPpB+MuUA+wt2wRTXOTzikxzgoNo1bGPJ+Z3q0XGTwestOGErwtKCYbVYEqB/bAVZSOU8MfFNjD7UTi8gqPv8hEGjMpkM/OLJNA7ywEIz9JRb+5m9P36utGOaMZ2vbiQOTPnzB27jwW+HsCwEg01Ku9gWoMJOkvfmpDHfxRa3Z2tUg/497XE6y17HatTQw4cq+4AZUOp/4acEeRnCkGLOAGe5JtHfhh0TI7qqj3t3u4ufJdNeTMGEuPEXA9OWCczMSQpdxs+GQXXaqLIx4Sb3AWUiF1XbJGrgIEme2uo5LUMzQ62e5aPBXeUXwV+YbA0F2lUEYx1QqNonSPtL/nR2fTsidDKjFcfviTmDDSwRUtlcypIxcshcgUAQ0Q8eZYW6fgMPC1xlFzR3ImPeBpC+PFlk+dAp8qF69nLLS0OurowRUiEAEJpUfPTRjYQSbxYFmZ2O3Sm4DnU1hNtxxKhR4/BJuzxPPbJPAGjHc51X5D4h86rmwfSMeDltIag2YjjIPSJBnC2E9rxE/EfF7AFbkt6IzP0S/i3kimrcm1S/cb2PgZrgLFfUwT4ZG5+ZeNer5k4HlwcGPm+aJdOehe3DOdhTSnuAv1faHGv0VNDNSYLbhPQX1Q/xm9DgnmeMWvxMt9zNfZPtWAKwHBYXXXU58V6QRF1yszD++0MaQgfpupUbp0OCpW4NjIWZiZwLxEucSJeEyyG0UNs6OevJ6tI2eKuLekZ2DNIaM3IH7c0yTzjrFY89xcb8x7ZWmxmdbNBDP6gAHbB25Sv+FDHKl8wWbTripjl21pS4C7TqyYuVMDpqWlQ8i5PMDciYJR4SqHiq2EJM03XwZbCIQ8CyGmaPFtvsu1QImyeomX/Ppfb4BLvTAL7hKWkll1Hhj5XsQV2NbmguQifhy2eUkUnZPxvZV5teRnNl7PpEurEK6c99wSpy8fVYxrNWJ6QYUMo4hIKBS6euelZaK2aIB+SMPchYdUIfb1fZvfseqZTKkq7l+tU/+4pK6mpPNCg0+LIQ8mdrJw6FJWRgwNbs7TjVKbx7pjHNB/VkY53v6+NVG0An6T3yXa/Cc/Re0lwpZEfiYDhDQOV/B2w8zfxNjfW0ZwCK2NZzdPSh2CgCuouMx0lG155bw9kHI5HNhb87n0D47i3w2ZUlFr646K8q7tDrti4m1qpZRkdXObHGCGMQiQjOGEu2W1N+P380GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015nTgZf8QMhd5Zy3nDhfLF1",
      "input": {
        "note": "The blue marker now runs across between the rotated right jaws. Closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015nTgZf8QMhd5Zy3nDhfLF1",
      "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]: [-0.1974, 1.586, 1.3968, -0.5598, -0.2241, -0.1509, 0.9968, 0.1204, 2.0422, 1.0328, -0.2256, -0.9215, -1.2675, 0.1484]\nstate[eef_state]: left_x=0.4531 left_y=-0.0469 left_z=0.224 left_yaw=0.0663 left_pitch=-0.1658 left_roll=0.0428 left_gripper=0.9968 right_x=0.3593 right_y=0.1888 right_z=0.0049 right_yaw=1.496 right_pitch=-0.0437 right_roll=-0.0791 right_gripper=0.1484\nstate[joint_eff]: [-0.0752, -7.5282, 6.9538, 1.5556, -0.1294, -0.0464, -0.0024, -0.3214, -7.6923, 3.6034, 0.7057, -0.3346, 0.0464, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3bfd9d033e2bbaa1875d273c0facb765c45709ca88d96e71365f9f4dfffb350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f1de2d44e26121b02abeb5f727bcf1f9fe58719a34fe0290c08eacbcedb843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 429):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e829d5934e37c30562165903558f9721a1400aa0c9fc2ba477a59b3392bcd081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 4.133 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1978, 1.586, 1.3987, -0.556, -0.2241, -0.1497, 0.9954, -0.0929, 0.8951, 0.6636, -0.4095, -0.1207, -0.1162, 0.9963]\nstate[eef_state]: left_x=0.4539 left_y=-0.0473 left_z=0.2255 left_yaw=0.0651 left_pitch=-0.1603 left_roll=0.0422 left_gripper=0.9954 right_x=0.305 right_y=-0.0034 right_z=0.1735 right_yaw=0.0628 right_pitch=-0.0699 right_roll=-0.0107 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -8.2667, 7.0632, 1.6386, -0.2027, 0.0122, -0.2076, -0.1026, -1.7983, 6.9949, 1.6484, -0.0855, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1978, 1.586, 1.3968, -0.561, -0.2241, -0.1505, 0.9967, 0.1169, 2.0197, 1.034, -0.2996, -0.9039, -1.2613, 0.9963]\nstate[eef_state]: left_x=0.4529 left_y=-0.0471 left_z=0.2238 left_yaw=0.0658 left_pitch=-0.1669 left_roll=0.0434 left_gripper=0.9967 right_x=0.3511 right_y=0.1846 right_z=0.0068 right_yaw=1.4866 right_pitch=-0.0698 right_roll=-0.028 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.6513, 7.0222, 1.6923, -0.1245, -0.0269, 0.1245, 0.212, -8.5675, 4.6838, 0.1245, -0.3199, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1974, 1.586, 1.3968, -0.5598, -0.2241, -0.1509, 0.9968, 0.1204, 2.0422, 1.0328, -0.2256, -0.9215, -1.2675, 0.1484]\nstate[eef_state]: left_x=0.4531 left_y=-0.0469 left_z=0.224 left_yaw=0.0663 left_pitch=-0.1658 left_roll=0.0428 left_gripper=0.9968 right_x=0.3593 right_y=0.1888 right_z=0.0049 right_yaw=1.496 right_pitch=-0.0437 right_roll=-0.0791 right_gripper=0.1484\nstate[joint_eff]: [-0.0752, -7.5282, 6.9538, 1.5556, -0.1294, -0.0464, -0.0024, -0.3214, -7.6923, 3.6034, 0.7057, -0.3346, 0.0464, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3bfd9d033e2bbaa1875d273c0facb765c45709ca88d96e71365f9f4dfffb350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f1de2d44e26121b02abeb5f727bcf1f9fe58719a34fe0290c08eacbcedb843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e829d5934e37c30562165903558f9721a1400aa0c9fc2ba477a59b3392bcd081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2Q4KEAgSGAI4AUIIdGhpbmtpbmcSDKYcMfuuiZwGsf2FlhoMaimHc/mnqHS9jkuGIjA3kOGhjPXDnLCm1ZqF9KN4euiSImgHMZtZeEpDf3cu+6h6ZTsZmvI0Lr9YlfQi+tkq9g2UcXjXR1nLCBA6hB7XHZhLuiutimtROEkR2OT+wFU9HpJ40etX8UiRol7y+kySnFFtAU2U1jIAg6EY1O5/CiopnAGd+W5kAFJT25KcLw2CJPTDdnXGQRqN3okxR/tOnGMPGRDIFFGCSyzx0UUdBHj4EARGjUAGq7PcudNajug7KXYcgju5rL8AjClm+MowgYFlIzKKWzeG7N6XGxARTYNIjA4+6IOQDnpjxhnXbhJcm5K3mNOyyHuDOVl7EVUAkbh7v1IFGPRmEyqsGI4SRNICtMIsRz4u/ofphnYECmzGWqbW5AXbGFvosB1OrvJlfMEGm4my1Q2BGzwrl9CL0CP1sSR7EAOw21+aFe8y/eRXvaA1ImPHjer9dwAZYkwWYKJv3BM3nn2kFDYOQSOkMMcaNpD1v8dqG6UEq+VEe4ukC/4xfhtPcrdaJlSMDhJ6rRPH+8iVEuB993N/03hDB/WXau4tBxqWLgZcREQuM3iNM7lCsKVW7xeoAna9piHD2Qvc6GT/nN2o9PgVSKilPzi6PKSYJKDZH3l4FSrYfp4dTg8QzDQgHrvVFeP6kYYBHDvFjQumH3y3VvK3U+RKeCz5VS60oyiN5lhm86eXpYzBwQqs/Z/NXBZe9lYwk10qoTJFtVhEi3UHv1TvlP0CDZeLgMpAk+BObegOFgf3Okdi77s1TvilwgE8yU5fZ5OdslCWLN7lqKZ5K4chxrExBqOmgI0vC6IMdiDcodzcgntH3wnki2TaRdREqHgHqtXupLKbHAjG4lM8tX5oD30fb5/rGNRYGchjDppr8kTUeukQjNfn3cHCAtpVEEauiM7QzO5juAA2GZcrdRxKl8PKniQ/LwtE8VEqTyKqPMNn2nvoHTPvC2H9ICeiboNBlM/O/gVKVR9LBPSQyrnAx0LTRKYT9oD5rx6VhHBIAAtHr21EB+jSJJggpJhP/DgRkF7vggtM+QIwjPPqmPYwClyhRCfbZEVtVJ/i3M6bvpDkj6b52qbnvegOHQE2c1z+a/tfh6ZA0TB8XAsYDA7Q9iCjWBzv5ELvtCBlFsbFp39O11YhQyo8KBwp6GPeg9U+jiO3zr4CCtOMAAaBsR2TDFiQO4witZ/QnBL3FNSycxU6fVi8uCovU7TRte73G6ISyJqU/DoG5DMDqZyRsvo4nu39g7bGuPsEojUnWoS2QtoMyYC+L7PAJ5TG/NyzZwVDLhfEQlVnD6bB6Hv8331o/badpb3ihuHwy0ng7FLDVy0+ThgI8zhDbl898p1r0gp2egEfbDMb/BYm3Cz+eSx7J1k7JBVop+BF5pD9JxIqGAFUKr3O6pfIv/zaJq7bLnmtEsaaE9flzbnI1F4jG98qkKBESrDLe6Pu+saUdR4+l9lAh7QbvQYAohJaOz+s4Y0zZlC0XR0i8WzVPB6LMTnlxZc7u0WhCHp9FFPG7SAKsxmCYDCV4y6oPtTdUAoFXDHKNZQgJ1PYA+eOCIcViT+YW97H0AcO6ClsWwxOi0h+hobkVccnVyHOEFgE6V3artL/i7uE2hyz0YNjsrDlmq2/Rx0QynDeAuv39DU62WX1rWF8ry43a5tQm8q8iNWDU348d4z9tsaUCHU1GSE7d78N94OXa49yKB+g9g4yV5P3XI98nG+VTWfMwPYMiDtYBX86/DB+aFBRy59Cn6T7Hbfxmx/jkJ73leyfY8f/X55QvRKDceZsO2Ch2Q7/RkunKfydkrsvXKflRMxCMyc1byl31LCMD70yZuqggRQp3vdDhAd09j6aVd1vT/tlFK2rhSbtXCOsdAmyrcYb7PkpbyvWiaNic5EPZMof+KeqnC5AEY/UfKBk233XvZbRd9U09xvRzFLINCKY0v+sV+nCMw9jakya83S7zHa/UFCFQAQkIzwv9hhQNh5rjKi5UGBAxOX0W/D20sg/9Q8uwFn7WR0MqurWu40awMBjmfBNVmEiUjk70V0NdxWMFUynjSPe/6fhZaSyuaQlzoeharpfg5RJPBHRsTgONufpCgzFKavE29tR6Ey1E8sJIDe3wHHp/RNHXwQoCtijpfZX1TT3ojXLE61m6sXvwWSV/ZYTo/htZY3xMruNl9vUL6Gz++rTzhE8boFf43qLp3IDj3z1MqkHfKk+I4FS8/fn4uyDyLjBtHNIIOZfwMhZxrN6kwIZvh5y3e/35T+5Ci97Tfbj+AfqRQo4qXEXJjEl7NiU1cT6kqyfpsoFFm7bZiVUOizgKorHZHgkaqFZAtyQLt1FPUFAmyolQ0e4t8RnK+B9TFbEKJH4BtzdQpgHemn0qb3oXet+R+ZzXboIbhzwxC0wijL4n4+c2EMaAqnUchxi+TwUbzeLW0lKnXn+gAfdvm5zHyVDFipkBBZAMCIimWAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JmaD1uK83NXqau6xTcCmkh",
      "input": {
        "note": "Blue marker is held (gripper 0.15). Lifting steeply while moving over the right basket so the path clears the basket's front wall.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.24,
          "right_z": 0.42
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01JmaD1uK83NXqau6xTcCmkh",
      "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]: [-0.1978, 1.586, 1.3956, -0.5598, -0.2245, -0.1539, 0.9968, 0.263, 2.2215, 2.6778, -1.5364, -0.852, -1.0561, 0.1538]\nstate[eef_state]: left_x=0.4529 left_y=-0.047 left_z=0.2235 left_yaw=0.068 left_pitch=-0.1667 left_roll=0.0411 left_gripper=0.9968 right_x=0.4099 right_y=0.2518 right_z=0.3196 right_yaw=1.4891 right_pitch=-0.0555 right_roll=-0.0728 right_gripper=0.1538\nstate[joint_eff]: [-0.0479, -7.7197, 6.9675, 1.5849, -0.1441, 0.0122, -0.0073, 0.7043, -15.7197, 7.9932, 0.652, -0.4811, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03277a9e1dd35c5d9e5084e899aa4045d9e8b1651f721c6e354aba3b7a5a316d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa4e041fc3150baa8a0e89fc67a980a082c4126322e7356a9a1c931265a93354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a49901c7fd8b3053b25075dabfad247fb8f737b5e5a012c246f62e04d6445267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 13.2 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1978, 1.586, 1.3968, -0.561, -0.2241, -0.1505, 0.9967, 0.1169, 2.0197, 1.034, -0.2996, -0.9039, -1.2613, 0.9963]\nstate[eef_state]: left_x=0.4529 left_y=-0.0471 left_z=0.2238 left_yaw=0.0658 left_pitch=-0.1669 left_roll=0.0434 left_gripper=0.9967 right_x=0.3511 right_y=0.1846 right_z=0.0068 right_yaw=1.4866 right_pitch=-0.0698 right_roll=-0.028 right_gripper=0.9963\nstate[joint_eff]: [-0.294, -7.6513, 7.0222, 1.6923, -0.1245, -0.0269, 0.1245, 0.212, -8.5675, 4.6838, 0.1245, -0.3199, 0.105, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1974, 1.586, 1.3968, -0.5598, -0.2241, -0.1509, 0.9968, 0.1204, 2.0422, 1.0328, -0.2256, -0.9215, -1.2675, 0.1484]\nstate[eef_state]: left_x=0.4531 left_y=-0.0469 left_z=0.224 left_yaw=0.0663 left_pitch=-0.1658 left_roll=0.0428 left_gripper=0.9968 right_x=0.3593 right_y=0.1888 right_z=0.0049 right_yaw=1.496 right_pitch=-0.0437 right_roll=-0.0791 right_gripper=0.1484\nstate[joint_eff]: [-0.0752, -7.5282, 6.9538, 1.5556, -0.1294, -0.0464, -0.0024, -0.3214, -7.6923, 3.6034, 0.7057, -0.3346, 0.0464, 1.0037]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1978, 1.586, 1.3956, -0.5598, -0.2245, -0.1539, 0.9968, 0.263, 2.2215, 2.6778, -1.5364, -0.852, -1.0561, 0.1538]\nstate[eef_state]: left_x=0.4529 left_y=-0.047 left_z=0.2235 left_yaw=0.068 left_pitch=-0.1667 left_roll=0.0411 left_gripper=0.9968 right_x=0.4099 right_y=0.2518 right_z=0.3196 right_yaw=1.4891 right_pitch=-0.0555 right_roll=-0.0728 right_gripper=0.1538\nstate[joint_eff]: [-0.0479, -7.7197, 6.9675, 1.5849, -0.1441, 0.0122, -0.0073, 0.7043, -15.7197, 7.9932, 0.652, -0.4811, 0.1783, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03277a9e1dd35c5d9e5084e899aa4045d9e8b1651f721c6e354aba3b7a5a316d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa4e041fc3150baa8a0e89fc67a980a082c4126322e7356a9a1c931265a93354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a49901c7fd8b3053b25075dabfad247fb8f737b5e5a012c246f62e04d6445267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvAcKEAgSGAI4AUIIdGhpbmtpbmcSDAjxE9VoTTt0XnZN7RoMtsqmoexaiGocmp0XIjB0JNEgUGff88+2K9h22OXdA8dHcSKpSVNKz73QMz9VUwnJXu6YYDsOafMZvQo66o8q2QZ5eqZjv1uIwxKbflrPTSOctQMfSq3vP7QALLFcu1A0IGOaGymxFH45g0owgJL21wSZhxTlcDENV+5RZdwSRbC5IIbPk5Pi20iKk1EM2BQBu8ycaTVeHsFgOjJqTGUCnT232AkW73ViFqpWvwuxNIc7Ofoq5W7sdYGgc9CF9KjqWOo/TWgMQYpbl85p3N3F2px9Qdicll2D3UpCQO4Y8KCB4LQGGAaEDOM94oZgUfavmI1kxFTnjjAohcM+rI5uea8uzV5Ptx7yWMS/EEPh3Y5aQ0wqxEEpCzUYrykY0/wxwXDmoRS6y1SC/NtFbwy+AfojmzWAw9xF47vdnKOlZfcivTuBztHTRGvZzzgFWhjrrW4XRVWp1f9qW68w0yfDVFRQj6FO6pphXmddqhfIomWzTySimkRG4qsxKGRftVxdSOc43fTbvKzS5/4C9scJBaqa3IPmzPGZ8vyK74MRzcHVIbo6vW+oz2GIA7y6Colvj1HNbKG3P907aussY/D0xtJKjX2Zd8r1K6bBrQgKuxLu2TpIw8/FV49HL2DruUL1ckqMK19eaF4xt26ght3FkZ11/ju1BaMEXjGspKy2pSBz8DVJvo+mCPGBW5GR1bVT3XyqOkBCya+0fDCFpnD0OnXtjcGqxL0C5mSQypjNajgVXC+PX7k4PUPMwz0P7m1LcKdRhxrtZXjv9hy4TNXhqu+HIkw8doGTe1kzgKRp2FxrnVnxaGKrArk/7TXyjdyBgBaIu1+utAZ+snbcSYFsp5t0deS97N7KUaHwBjX13T+LhDJPu7GNiAa44lwnvsYggyOVSqAeAyIdJZFsUsmAU+elG73Xtp1NM26Ykc7Um9pbGMNGPzXNS0Gj0JVGlx7s4d8YsC3wYcMg+PvWykZ7DMeQinKaSvoistVOWO4M+bgc1yKNmIh2afV4k6tfClyBGFEgdUL+LKqCbqLkWGrZZG8zaSXG8+EcTnj7WfrWx6LyKQD6bqT31B5Ra2svmTY3sG6cURixuhXbopKX4cZydMc8I7KOn+l/Eudbgba/HpRn4M8+PhefARBaaG4JgUNTqULj8WeQ4tUS4I04CKo5vWJbGVZYGlwqXyDlDFgCoJjyptQ+6za0t58JLUTY/iEW7MIY4a+OxrjhrhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018oqnMPRdH1GnwSoyDiqbHq",
      "input": {
        "note": "Top view shows the right gripper above the right basket, with the basket right under the jaws in the wrist view. Dropping the blue marker in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018oqnMPRdH1GnwSoyDiqbHq",
      "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]: [-0.1974, 1.586, 1.3956, -0.5598, -0.2241, -0.157, 0.9968, 0.2672, 2.2353, 2.7129, -1.5517, -0.8383, -1.0588, 0.9955]\nstate[eef_state]: left_x=0.4529 left_y=-0.0469 left_z=0.2235 left_yaw=0.0697 left_pitch=-0.1667 left_roll=0.0385 left_gripper=0.9968 right_x=0.4104 right_y=0.2523 right_z=0.3204 right_yaw=1.4876 right_pitch=-0.0649 right_roll=-0.0848 right_gripper=0.9955\nstate[joint_eff]: [-0.0889, -7.5419, 7.2137, 1.5458, -0.1392, -0.0073, -0.0122, -0.3897, -10.9197, 6.6667, 0.8913, -0.5592, 0.0464, -0.2076]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24c06d650decf3bf3d93512cbf1f56913f99b88c22d08a31bd8b08ff2fa54a5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e298469d88cc04762dd9ca55cf4eddf1abf322c68cc437343fd197caca469d9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 465):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:975d8b5a3fc3ca1b3fca8c4abb8602a0749767f5fdefd046835459b7174aed74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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