adhoc

completed
2026-09-22T23:15:40.260499+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
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
276.3 s
total steps
328
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteObjects: two plush toys (koala, teddy) and three pens/markers; two baskets beyond. Plan: toys into left basket, pens into right basket. Left arm moving toward the yellow pen seen right of the jaws in its wrist cam.
move_to
left_x0.3300left_y-0.0300left_z0.1000left_gripper0.6000
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, 0.8024, 0.6174, -0.3805, -0.0223, -0.0296, 0.9996, -0.0154, 0.7975, 0.6109, -0.3851, -0.0189, -0.0254, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0024 right_z=0.1811 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5265, -1.9214, 9.3333, 1.7802, -0.0269, 0.1148, -0.0562, -0.9504, -1.3744, 9.9761, 1.8242, -0.0611, 0.105, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.03, "left_z": 0.1, "left_gripper": 0.6}, "note": "Objects: two plush toys (koala, teddy) and three pens/markers; two baskets beyond. Plan: toys into left basket, pens into right basket. Left arm moving toward the yellow pen seen right of the jaws in its wrist cam."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteYellow pen is to the right of the left gripper (top cam and wrist cam). Shifting right ~4 cm and slightly back to get over it.
move_to
left_x0.3100left_y-0.0700left_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1913, 1.1061, 0.3866, 0.1074, -0.1585, -0.1177, 0.6012, -0.0154, 0.7994, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3258 left_y=-0.031 left_z=0.0914 left_yaw=-0.0099 left_pitch=-0.038 left_roll=0.0064 left_gripper=0.6012 right_x=0.295 right_y=0.0024 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.0889, -3.6308, 6.4752, 1.9609, -0.1832, -0.0855, 0.1099, -0.3214, -1.4154, 7.241, 1.7216, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.07, "left_z": 0.08}, "note": "Yellow pen is to the right of the left gripper (top cam and wrist cam). Shifting right ~4 cm and slightly back to get over it."})
tool
executing move_to over 4 steps (0.4s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteYellow pen now centred on the jaw column in the left wrist cam. Descending to table level to grasp it.
move_to
left_x0.3200left_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]: [-0.4263, 1.1217, 0.3607, 0.1181, -0.3176, -0.2443, 0.6013, -0.0154, 0.7994, 0.6086, -0.3851, -0.0185, -0.0261, 0.9998] state[eef_state]: left_x=0.3108 left_y=-0.0766 left_z=0.0818 left_yaw=-0.0442 left_pitch=-0.0406 left_roll=0.0004 left_gripper=0.6013 right_x=0.295 right_y=0.0023 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0042 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.1162, -2.7829, 5.6957, 1.6679, -0.359, -0.0659, 0.0024, -0.3624, -1.265, 7.2684, 1.707, -0.0073, -0.0611, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_z": -0.005}, "note": "Yellow pen now centred on the jaw column in the left wrist cam. Descending to table level to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent notePen is between the jaws at table level. Closing the gripper.
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]: [-0.4076, 1.6531, 0.2195, 0.8021, -0.3176, -0.2329, 0.6014, -0.0151, 0.8043, 0.6086, -0.3851, -0.0189, -0.0269, 0.9998] state[eef_state]: left_x=0.3233 left_y=-0.0756 left_z=0.0003 left_yaw=-0.0318 left_pitch=-0.0301 left_roll=0.0056 left_gripper=0.6014 right_x=0.2953 right_y=0.0025 right_z=0.1782 right_yaw=0.0012 right_pitch=-0.0091 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [0.0615, -3.8906, 3.1932, 1.3016, 0.0122, -0.0122, 0.0024, -0.0342, -1.2239, 7.2274, 1.7705, -0.0562, -0.0708, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Pen is between the jaws at table level. Closing the gripper."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteGripper settled at 0.18 (~1.7 cm) so the pen is held. Lifting it clear before carrying to the left basket (pens → left basket, toys → right basket).
move_to
left_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]: [-0.4072, 1.6623, 0.2169, 0.8261, -0.3157, -0.2363, 0.1788, -0.0147, 0.8043, 0.6083, -0.3855, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.3245 left_y=-0.0763 left_z=0.0013 left_yaw=-0.0313 left_pitch=-0.0191 left_roll=-0.0027 left_gripper=0.1788 right_x=0.2952 right_y=0.0026 right_z=0.1779 right_yaw=0.0014 right_pitch=-0.0099 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.1846, -5.6, 3.959, 1.4579, -0.1636, -0.0024, 0.9011, -0.212, -1.2513, 7.0769, 1.7265, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper settled at 0.18 (~1.7 cm) so the pen is held. Lifting it clear before carrying to the left basket (pens \u2192 left basket, toys \u2192 right basket)."})
tool
executing move_to over 15 steps (1.5s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent notePen held and lifted; the left basket is ahead and slightly right in the left wrist cam. Carrying the pen over the basket.
move_to
left_x0.4500left_y-0.0900left_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]: [-0.4072, 1.0332, 0.8356, -0.4328, -0.3145, -0.2409, 0.1798, -0.0147, 0.8082, 0.6079, -0.3855, -0.0189, -0.0269, 0.9998] state[eef_state]: left_x=0.3254 left_y=-0.0769 left_z=0.2093 left_yaw=-0.0297 left_pitch=-0.0296 left_roll=-0.0031 left_gripper=0.1798 right_x=0.2954 right_y=0.0026 right_z=0.1767 right_yaw=0.0016 right_pitch=-0.0141 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [-0.0889, -3.494, 8.9231, 1.4579, -0.1245, 0.0024, 0.9011, -0.2803, -1.6342, 7.0496, 1.7021, -0.0855, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.09, "left_z": 0.22}, "note": "Pen held and lifted; the left basket is ahead and slightly right in the left wrist cam. Carrying the pen over the basket."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteGripper is over the left edge of the left basket; nudging 2 cm right to centre over the basket before releasing.
move_to
left_y-0.1100left_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]: [-0.2913, 1.5227, 1.1828, -0.3206, -0.2276, -0.1909, 0.1798, -0.0147, 0.812, 0.6075, -0.3851, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.4432 left_y=-0.0875 left_z=0.2022 left_yaw=-0.0121 left_pitch=-0.0753 left_roll=-0.0022 left_gripper=0.1798 right_x=0.2957 right_y=0.0025 right_z=0.1756 right_yaw=0.0011 right_pitch=-0.0179 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.1846, -7.4598, 9.5111, 1.7753, -0.0073, 0.2076, 0.8425, -0.1573, -1.5111, 7.0632, 1.7558, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.11, "left_z": 0.2}, "note": "Gripper is over the left edge of the left basket; nudging 2 cm right to centre over the basket before releasing."})
tool
executing move_to over 2 steps (0.2s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
Releasing.
agent noteThe pen is over the inside of the left basket. Opening the gripper to drop it.
move_to
left_gripper0.8000
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]: [-0.3325, 1.5352, 1.1828, -0.3222, -0.2565, -0.2157, 0.182, -0.0147, 0.812, 0.6075, -0.3855, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.4407 left_y=-0.101 left_z=0.1972 left_yaw=-0.0155 left_pitch=-0.0833 left_roll=-0.0007 left_gripper=0.182 right_x=0.2956 right_y=0.0026 right_z=0.1755 right_yaw=0.0014 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.5812, -6.1744, 8.8137, 1.6288, -0.2711, 0.0122, 0.5495, -0.253, -1.3333, 7.0632, 1.7021, -0.0366, -0.0464, -0.0122] 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
Releasing.
move_to({"targets": {"left_gripper": 0.8}, "note": "The pen is over the inside of the left basket. Opening the gripper to drop it."})
tool
executing move_to over 7 steps (0.7s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteYellow pen is in the left basket (pens basket). Now the right arm goes for the black marker, just left of its jaw column in the right wrist cam.
move_to
right_x0.3100right_y0.0150right_z0.0800right_gripper0.5000
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]: [-0.3595, 1.5578, 1.1828, -0.3275, -0.2733, -0.2405, 0.796, -0.0143, 0.8127, 0.6075, -0.3855, -0.0189, -0.0265, 0.9998] state[eef_state]: left_x=0.4392 left_y=-0.1103 left_z=0.187 left_yaw=-0.0145 left_pitch=-0.1061 left_roll=-0.0011 left_gripper=0.796 right_x=0.2957 right_y=0.0027 right_z=0.1753 right_yaw=0.0018 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0889, -7.9932, 8.6359, 1.6239, -0.2369, 0.0122, -0.1783, -0.0479, -1.4154, 7.2547, 1.7167, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.015, "right_z": 0.08, "right_gripper": 0.5}, "note": "Yellow pen is in the left basket (pens basket). Now the right arm goes for the black marker, just left of its jaw column in the right wrist cam."})
tool
executing move_to over 7 steps (0.7s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteBlack marker is centred between the right jaws. Descending to table level.
move_to
right_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]: [-0.3592, 1.5578, 1.1828, -0.3275, -0.2729, -0.2443, 0.7967, 0.0582, 1.0378, 0.2874, 0.1211, 0.0265, 0.004, 0.5016] state[eef_state]: left_x=0.4392 left_y=-0.1102 left_z=0.187 left_yaw=-0.0124 left_pitch=-0.1061 left_roll=-0.0044 left_gripper=0.7967 right_x=0.3051 right_y=0.0167 right_z=0.0712 right_yaw=0.0195 right_pitch=-0.0574 right_roll=-0.0021 right_gripper=0.5016 state[joint_eff]: [-0.1026, -7.4462, 6.9675, 1.6288, -0.188, -0.0464, 0.0562, 0.294, -2.947, 6.6803, 1.8877, 0.1441, 0.0806, 0.1587] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.005}, "note": "Black marker is centred between the right jaws. Descending to table level."})
tool
executing move_to over 5 steps (0.5s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteBlack marker sits between the right jaws at near-table height. Closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3595, 1.562, 1.1824, -0.3279, -0.2726, -0.2447, 0.7968, 0.0578, 1.5318, 0.1349, 0.8322, 0.0151, 0.0074, 0.5019] state[eef_state]: left_x=0.4393 left_y=-0.1105 left_z=0.185 left_yaw=-0.0127 left_pitch=-0.1109 left_roll=-0.0032 left_gripper=0.7968 right_x=0.3191 right_y=0.0194 right_z=0.013 right_yaw=0.0269 right_pitch=0.0067 right_roll=0.0094 right_gripper=0.5019 state[joint_eff]: [-0.0342, -7.2684, 7.2957, 1.6239, -0.1441, -0.0073, -0.0024, -0.0342, -2.4137, 2.0855, 1.0574, 0.0611, -0.0611, 0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Black marker sits between the right jaws at near-table height. Closing to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteBlack marker grasped (0.175). The left (pens) basket is beyond the right arm's reach, so I'll set the marker down near the table centre line, in the gap above the toys, for the left arm to pick up.
move_to
right_z0.1200right_x0.3600right_y0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3595, 1.562, 1.1824, -0.3275, -0.2726, -0.2451, 0.7968, 0.0578, 1.5352, 0.1261, 0.8539, 0.0147, 0.0036, 0.1751] state[eef_state]: left_x=0.4394 left_y=-0.1105 left_z=0.1851 left_yaw=-0.0125 left_pitch=-0.1105 left_roll=-0.0036 left_gripper=0.7968 right_x=0.3185 right_y=0.0194 right_z=0.0138 right_yaw=0.0293 right_pitch=0.0163 right_roll=0.0067 right_gripper=0.1751 state[joint_eff]: [-0.0889, -7.5145, 6.8855, 1.5653, -0.1734, -0.0611, -0.0122, -0.1162, -4.3282, 4.4786, 1.536, -0.0611, -0.0024, 0.9792] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12, "right_x": 0.36, "right_y": 0.28}, "note": "Black marker grasped (0.175). The left (pens) basket is beyond the right arm's reach, so I'll set the marker down near the table centre line, in the gap above the toys, for the left arm to pick up."})
tool
executing move_to over 22 steps (2.2s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteRight arm with marker is just in front of the right basket, teddy below-left. Moving to the gap between baskets at the centre line and lowering to set the marker down for the left arm.
move_to
right_y0.3300right_x0.3700right_z0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3595, 1.5627, 1.1824, -0.3275, -0.2729, -0.2474, 0.7968, 0.902, 1.7489, 1.0317, -0.0685, 0.6743, 0.5255, 0.1761] state[eef_state]: left_x=0.4395 left_y=-0.1105 left_z=0.1847 left_yaw=-0.0109 left_pitch=-0.1112 left_roll=-0.0049 left_gripper=0.7968 right_x=0.3553 right_y=0.2775 right_z=0.109 right_yaw=0.059 right_pitch=-0.0138 right_roll=-0.0165 right_gripper=0.1761 state[joint_eff]: [-0.2256, -7.5829, 7.1726, 1.5849, -0.1783, -0.0366, -0.0073, 0.0068, -8.335, 8.6496, 1.4042, 0.5201, 0.1978, 0.7302] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.33, "right_x": 0.37, "right_z": 0.01}, "note": "Right arm with marker is just in front of the right basket, teddy below-left. Moving to the gap between baskets at the centre line and lowering to set the marker down for the left arm."})
tool
executing move_to over 7 steps (0.7s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteMarker is just above the table in the gap between the baskets. Releasing it there.
move_to
right_gripper0.6000
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]: [-0.3595, 1.5642, 1.1816, -0.3275, -0.2726, -0.2478, 0.7968, 0.9371, 2.1052, 1.1286, 0.2264, 0.7143, 0.577, 0.1775] state[eef_state]: left_x=0.4394 left_y=-0.1105 left_z=0.1837 left_yaw=-0.0109 left_pitch=-0.1134 left_roll=-0.0047 left_gripper=0.7968 right_x=0.3807 right_y=0.3287 right_z=0.0312 right_yaw=0.0374 right_pitch=0.0297 right_roll=0.0363 right_gripper=0.1775 state[joint_eff]: [-0.1026, -7.6923, 7.1179, 1.5849, -0.1685, -0.0366, -0.0122, 1.1419, -8.0205, 5.7778, 1.116, 0.1734, -0.0952, 0.652] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.6}, "note": "Marker is just above the table in the gap between the baskets. Releasing it there."})
tool
executing move_to over 5 steps (0.5s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteMarker released between the baskets. Lifting the right arm and moving it back toward home so the left arm can pick up the marker.
move_to
right_z0.1800right_x0.3000right_y0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3595, 1.5642, 1.182, -0.3275, -0.2726, -0.2478, 0.7968, 0.934, 2.1059, 1.1286, 0.2298, 0.7132, 0.5766, 0.5959] state[eef_state]: left_x=0.4395 left_y=-0.1106 left_z=0.1839 left_yaw=-0.0109 left_pitch=-0.113 left_roll=-0.0048 left_gripper=0.7968 right_x=0.3819 right_y=0.3281 right_z=0.0312 right_yaw=0.0353 right_pitch=0.0308 right_roll=0.0386 right_gripper=0.5959 state[joint_eff]: [-0.2393, -7.2957, 7.0906, 1.5556, -0.1538, -0.0611, -0.0122, -0.0068, -10.947, 5.7504, 1.3553, 0.232, -0.022, -0.1734] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_x": 0.3, "right_y": 0.05}, "note": "Marker released between the baskets. Lifting the right arm and moving it back toward home so the left arm can pick up the marker."})
tool
executing move_to over 24 steps (2.4s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteBlack marker now lies on the centre line in front of the baskets (top cam). Moving the left arm above it to pick it up.
move_to
left_x0.3800left_y-0.3200left_z0.0700left_gripper0.5000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3592, 1.5654, 1.1816, -0.3267, -0.2729, -0.2478, 0.7968, 0.2428, 0.8391, 0.5629, -0.284, 0.1764, 0.1402, 0.5966] state[eef_state]: left_x=0.4396 left_y=-0.1104 left_z=0.1834 left_yaw=-0.0102 left_pitch=-0.1137 left_roll=-0.0043 left_gripper=0.7968 right_x=0.3002 right_y=0.0461 right_z=0.1699 right_yaw=0.0047 right_pitch=0.0203 right_roll=0.0374 right_gripper=0.5966 state[joint_eff]: [-0.0068, -7.6786, 6.9265, 1.6093, -0.1587, -0.0415, -0.0073, 0.2393, -1.853, 9.5248, 1.7265, -0.0366, -0.1148, 0.0513] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.32, "left_z": 0.07, "left_gripper": 0.5, "left_yaw": 0.0}, "note": "Black marker now lies on the centre line in front of the baskets (top cam). Moving the left arm above it to pick it up."})
tool
executing move_to over 19 steps (1.9s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
Marker is centred between the jaws. Descending.
agent noteBlack marker is centred on the left jaw column. Descending to table level to grasp.
move_to
left_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]: [-0.9276, 2.014, 1.2892, -0.2314, -0.6556, -0.7155, 0.5014, 0.239, 0.8425, 0.5625, -0.3019, 0.1562, 0.1303, 0.5966] state[eef_state]: left_x=0.3755 left_y=-0.3154 left_z=0.0615 left_yaw=-0.0141 left_pitch=-0.1392 left_roll=0.0085 left_gripper=0.5014 right_x=0.2979 right_y=0.048 right_z=0.1647 right_yaw=0.0232 right_pitch=-0.0031 right_roll=0.0348 right_gripper=0.5966 state[joint_eff]: [-0.5128, -10.441, 8.4855, 1.199, -0.5006, 0.0024, 0.1343, 0.1709, -1.7436, 7.3641, 1.8828, 0.2222, 0.0611, -0.0073] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
Marker is centred between the jaws. Descending.
move_to({"targets": {"left_z": -0.005}, "note": "Black marker is centred on the left jaw column. Descending to table level to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteMarker still looks slightly ahead of the fingertips; advancing 1.5 cm at table level before closing.
move_to
left_x0.3900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.931, 2.1353, 1.2148, -0.0296, -0.651, -0.7227, 0.5016, 0.2386, 0.8444, 0.5625, -0.3027, 0.152, 0.1299, 0.5966] state[eef_state]: left_x=0.3752 left_y=-0.3189 left_z=0.0052 left_yaw=-0.0172 left_pitch=-0.1384 left_roll=-0.0043 left_gripper=0.5016 right_x=0.2978 right_y=0.0486 right_z=0.164 right_yaw=0.0266 right_pitch=-0.0061 right_roll=0.0362 right_gripper=0.5966 state[joint_eff]: [0.0889, -9.5248, 4.4376, 1.4188, -0.3639, 0.0122, 0.0024, -0.1573, -1.7162, 7.3094, 1.6874, 0.0464, -0.0415, -0.0073] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39}, "note": "Marker still looks slightly ahead of the fingertips; advancing 1.5 cm at table level before closing."})
tool
executing move_to over 2 steps (0.2s)
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 noteMarker is lined up between the left jaws. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9176, 2.1426, 1.2274, -0.0174, -0.6468, -0.7147, 0.5016, 0.2386, 0.8444, 0.5625, -0.3027, 0.1505, 0.1299, 0.5966] state[eef_state]: left_x=0.3825 left_y=-0.3187 left_z=0.007 left_yaw=-0.0128 left_pitch=-0.1303 left_roll=-0.0142 left_gripper=0.5016 right_x=0.2978 right_y=0.0489 right_z=0.1639 right_yaw=0.0278 right_pitch=-0.0063 right_roll=0.037 right_gripper=0.5966 state[joint_eff]: [0.7726, -9.1829, 7.6376, 1.1355, -0.2125, 0.188, -0.0122, -0.2256, -1.6068, 7.2821, 1.7265, 0.0171, -0.0464, -0.0073] 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": {"left_gripper": 0.0}, "note": "Marker is lined up between the left jaws. Closing."})
tool
executing move_to over 6 steps (0.6s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteMarker grasped (0.12). Lifting straight up to clear the basket walls.
move_to
left_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]: [-0.9001, 2.1517, 1.2362, -0.0208, -0.6437, -0.7036, 0.1242, 0.2379, 0.8444, 0.5625, -0.3027, 0.1478, 0.1299, 0.5966] state[eef_state]: left_x=0.3886 left_y=-0.3134 left_z=0.0049 left_yaw=-0.0029 left_pitch=-0.1346 left_roll=-0.0041 left_gripper=0.1242 right_x=0.2978 right_y=0.0491 right_z=0.1639 right_yaw=0.0293 right_pitch=-0.0066 right_roll=0.0385 right_gripper=0.5966 state[joint_eff]: [-0.3897, -10.5641, 7.2, 1.2283, -0.2613, 0.0659, 1.0232, -0.1299, -1.5385, 7.241, 1.6777, 0.0513, -0.0415, -0.0073] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Marker grasped (0.12). Lifting straight up to clear the basket walls."})
tool
executing move_to over 14 steps (1.4s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteMarker lifted; the yellow pen is visible in the left basket. Carrying the black marker over the left basket.
move_to
left_x0.4400left_y-0.1200left_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]: [-0.8982, 1.9491, 1.7752, -0.7963, -0.6292, -0.7155, 0.1318, 0.2379, 0.8471, 0.5625, -0.3027, 0.1448, 0.1299, 0.5966] state[eef_state]: left_x=0.3891 left_y=-0.3159 left_z=0.1985 left_yaw=-0.0001 left_pitch=-0.1649 left_roll=0.0062 left_gripper=0.1318 right_x=0.2978 right_y=0.0497 right_z=0.1631 right_yaw=0.0319 right_pitch=-0.0096 right_roll=0.0396 right_gripper=0.5966 state[joint_eff]: [-0.1026, -12.6291, 8.335, 0.9792, -0.4469, 0.0806, 1.0281, -0.1983, -1.7983, 7.1863, 1.7265, 0.0122, 0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.12, "left_z": 0.22}, "note": "Marker lifted; the yellow pen is visible in the left basket. Carrying the black marker over the left basket."})
tool
executing move_to over 18 steps (1.8s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteBlack marker is over the left basket (yellow pen visible inside). Releasing.
move_to
left_gripper0.8000
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]: [-0.3996, 1.6531, 1.4124, -0.5945, -0.321, -0.321, 0.1318, 0.2379, 0.8471, 0.5625, -0.3031, 0.1448, 0.1272, 0.5966] state[eef_state]: left_x=0.4409 left_y=-0.1218 left_z=0.1989 left_yaw=0.0368 left_pitch=-0.2154 left_roll=0.0202 left_gripper=0.1318 right_x=0.2978 right_y=0.0497 right_z=0.163 right_yaw=0.0333 right_pitch=-0.0099 right_roll=0.0372 right_gripper=0.5966 state[joint_eff]: [0.1983, -11.5624, 6.5573, 1.6825, -0.105, 0.1148, 1.0281, -0.1709, -1.5932, 7.0632, 1.6874, -0.0269, -0.0024, -0.0073] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.8}, "note": "Black marker is over the left basket (yellow pen visible inside). Releasing."})
tool
executing move_to over 7 steps (0.7s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteBoth pens are in the left basket. The blue marker is just below and left of the right jaws; shifting ~3 cm left and descending to grasp it.
move_to
right_y0.0750right_x0.2950right_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]: [-0.3988, 1.6497, 1.4117, -0.5907, -0.3134, -0.3294, 0.7955, 0.2379, 0.8471, 0.5625, -0.3027, 0.1448, 0.1268, 0.5966] state[eef_state]: left_x=0.4409 left_y=-0.1228 left_z=0.2003 left_yaw=0.0353 left_pitch=-0.2118 left_roll=0.006 left_gripper=0.7955 right_x=0.2978 right_y=0.0497 right_z=0.1631 right_yaw=0.0335 right_pitch=-0.0095 right_roll=0.037 right_gripper=0.5966 state[joint_eff]: [-0.3077, -7.9248, 7.0359, 1.4628, -0.2711, 0.0513, 0.0659, -0.0342, -1.6068, 7.0632, 1.7167, -0.0171, -0.0513, -0.0171] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.075, "right_x": 0.295, "right_z": -0.005}, "note": "Both pens are in the left basket. The blue marker is just below and left of the right jaws; shifting ~3 cm left and descending to grasp it."})
tool
executing move_to over 11 steps (1.1s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteBlue marker is still left of the right jaw centre in the wrist view. Shifting 3 cm further left, slightly raised to avoid hitting it.
move_to
right_y0.1050right_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]: [-0.3988, 1.6497, 1.4117, -0.5945, -0.313, -0.3328, 0.7965, 0.3874, 1.557, 0.1234, 0.8562, 0.2623, 0.2138, 0.5966] state[eef_state]: left_x=0.4403 left_y=-0.1226 left_z=0.1997 left_yaw=0.0372 left_pitch=-0.2153 left_roll=0.0049 left_gripper=0.7965 right_x=0.304 right_y=0.0784 right_z=0.0103 right_yaw=0.038 right_pitch=0.0151 right_roll=0.0509 right_gripper=0.5966 state[joint_eff]: [-0.1573, -8.212, 6.8308, 1.7314, -0.1148, 0.0073, 0.0952, 0.3077, -2.4684, 1.0325, -0.232, 0.0513, -0.1685, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.105, "right_z": 0.02}, "note": "Blue marker is still left of the right jaw centre in the wrist view. Shifting 3 cm further left, slightly raised to avoid hitting it."})
tool
executing move_to over 3 steps (0.3s)
step 218
assistant
agent noteBlue marker is under the left jaw now; shifting 2 cm more left and descending to table level.
move_to
right_y0.1300right_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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3332, 0.7967, 0.5079, 1.5234, 0.1677, 0.8204, 0.3252, 0.2554, 0.5966] state[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.037 left_pitch=-0.2108 left_roll=0.0025 left_gripper=0.7967 right_x=0.3077 right_y=0.1108 right_z=0.0282 right_yaw=0.0833 right_pitch=0.0649 right_roll=0.0718 right_gripper=0.5966 state[joint_eff]: [-0.1299, -8.2667, 6.8308, 1.4921, -0.1441, -0.0366, -0.0024, 0.0479, -4.547, 4.8889, 1.5604, 0.2955, 0.1734, -0.0122] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.13, "right_z": -0.005}, "note": "Blue marker is under the left jaw now; shifting 2 cm more left and descending to table level."})
tool
executing move_to over 3 steps (0.3s)
step 221
assistant
agent noteRight arm stalled at z 0.014, probably touching the blue marker, which appears further left in both views. Raising a bit and shifting ~4.5 cm left over it.
move_to
right_z0.0400right_y0.1600
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]: [-0.3988, 1.6497, 1.4117, -0.5915, -0.3134, -0.3367, 0.7967, 0.5312, 1.6218, 0.1749, 0.8806, 0.3542, 0.2768, 0.5966] state[eef_state]: left_x=0.4408 left_y=-0.1228 left_z=0.2002 left_yaw=0.0393 left_pitch=-0.2124 left_roll=0.0011 left_gripper=0.7967 right_x=0.3072 right_y=0.1136 right_z=0.0136 right_yaw=0.0717 right_pitch=0.0425 right_roll=0.0634 right_gripper=0.5966 state[joint_eff]: [-0.1299, -8.2256, 7.1726, 1.4042, -0.1685, -0.022, -0.0122, 0.5402, -3.8359, 3.0427, 1.8681, 0.0855, -0.0806, -0.0171] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.04, "right_y": 0.16}, "note": "Right arm stalled at z 0.014, probably touching the blue marker, which appears further left in both views. Raising a bit and shifting ~4.5 cm left over it."})
tool
executing move_to over 4 steps (0.4s)
step 225
assistant
agent noteThe right arm did not respond to the last move (stuck near the table). Raising it straight up to free it before repositioning over the blue marker.
move_to
right_z0.1200right_y0.1100
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]: [-0.3988, 1.6497, 1.4117, -0.59, -0.313, -0.337, 0.7967, 0.5312, 1.6245, 0.1707, 0.9028, 0.3473, 0.2699, 0.5966] state[eef_state]: left_x=0.441 left_y=-0.1229 left_z=0.2004 left_yaw=0.0391 left_pitch=-0.2111 left_roll=-0.0001 left_gripper=0.7967 right_x=0.3078 right_y=0.1152 right_z=0.0158 right_yaw=0.0808 right_pitch=0.0549 right_roll=0.0674 right_gripper=0.5966 state[joint_eff]: [-0.3487, -8.2256, 6.8034, 1.453, -0.1734, -0.0269, -0.0073, 0.5265, -4.1641, 3.4256, 1.8779, 0.0708, -0.022, -0.0171] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12, "right_y": 0.11}, "note": "The right arm did not respond to the last move (stuck near the table). Raising it straight up to free it before repositioning over the blue marker."})
tool
executing move_to over 7 steps (0.7s)
step 232
assistant
agent noteTop cam shows the blue marker lying diagonally left of the right gripper, near the teddy. Re-levelling the tool and moving above the marker.
move_to
right_x0.2900right_y0.1900right_z0.0800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5873, -0.3126, -0.337, 0.7967, 0.511, 1.3346, 0.3622, 0.6487, 0.3214, 0.2584, 0.5966] state[eef_state]: left_x=0.4415 left_y=-0.1232 left_z=0.2009 left_yaw=0.0385 left_pitch=-0.2088 left_roll=-0.0016 left_gripper=0.7967 right_x=0.3495 right_y=0.1361 right_z=0.1247 right_yaw=0.0735 right_pitch=0.2565 right_roll=0.1655 right_gripper=0.5966 state[joint_eff]: [-0.1983, -8.0342, 6.8581, 1.5556, -0.2564, -0.0317, -0.0122, -0.4444, -3.2342, 5.8462, 1.5067, 0.1685, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.19, "right_z": 0.08, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Top cam shows the blue marker lying diagonally left of the right gripper, near the teddy. Re-levelling the tool and moving above the marker."})
tool
executing move_to over 9 steps (0.9s)
step 241
assistant
agent noteBlue marker is now centred between the right jaws and aligned radially. Descending to grasp.
move_to
right_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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3405, 0.7967, 0.8932, 1.4174, 0.5308, 0.1509, 0.6701, 0.5243, 0.5966] state[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.0409 left_pitch=-0.2108 left_roll=-0.0028 left_gripper=0.7967 right_x=0.2931 right_y=0.195 right_z=0.0812 right_yaw=0.0538 right_pitch=0.0174 right_roll=0.0218 right_gripper=0.5966 state[joint_eff]: [-0.1709, -8.2256, 6.8718, 1.4432, -0.1978, -0.0122, -0.0122, 0.4581, -4.588, 7.8017, 1.2967, 0.4176, 0.1245, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.005}, "note": "Blue marker is now centred between the right jaws and aligned radially. Descending to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 247
assistant
agent noteBlue marker is between the jaws at table level. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3981, 1.6497, 1.4117, -0.59, -0.313, -0.3405, 0.7967, 0.8955, 1.7641, 0.4213, 0.6212, 0.693, 0.5323, 0.5966] state[eef_state]: left_x=0.4411 left_y=-0.1226 left_z=0.2004 left_yaw=0.0417 left_pitch=-0.2111 left_roll=-0.0026 left_gripper=0.7967 right_x=0.2974 right_y=0.1965 right_z=0.0101 right_yaw=0.0347 right_pitch=0.038 right_roll=0.0292 right_gripper=0.5966 state[joint_eff]: [-0.253, -8.2393, 7.0222, 1.4286, -0.1441, -0.0269, -0.0073, -0.1573, -4.2872, 2.0991, 0.3248, -0.1148, -0.0757, -0.0122] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Blue marker is between the jaws at table level. Closing."})
tool
executing move_to over 6 steps (0.6s)
step 253
assistant
agent noteBlue marker grasped (0.16). Lifting it before carrying it to the centre handoff spot.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.3134, -0.3405, 0.7967, 0.8955, 1.7767, 0.4133, 0.6636, 0.6888, 0.5312, 0.1634] state[eef_state]: left_x=0.4411 left_y=-0.1229 left_z=0.2005 left_yaw=0.0413 left_pitch=-0.2106 left_roll=-0.0025 left_gripper=0.7967 right_x=0.2981 right_y=0.1984 right_z=0.0102 right_yaw=0.0377 right_pitch=0.0501 right_roll=0.0464 right_gripper=0.1634 state[joint_eff]: [-0.1983, -8.2667, 6.9949, 1.4823, -0.1685, -0.0122, -0.0122, -0.1709, -7.3641, 4.4786, 1.0525, 0.2662, -0.0366, 1.1502] 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_z": 0.15}, "note": "Blue marker grasped (0.16). Lifting it before carrying it to the centre handoff spot."})
tool
executing move_to over 10 steps (1.0s)
step 263
assistant
agent noteBlue marker held and lifted. The left (pens) basket is out of the right arm's reach, so I'm setting the marker down on the table right in front of that basket for the left arm.
move_to
right_x0.4200right_y0.3900right_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3405, 0.7967, 0.8955, 1.3106, 0.664, -0.0471, 0.6765, 0.5274, 0.1666] state[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.0409 left_pitch=-0.2108 left_roll=-0.0028 left_gripper=0.7967 right_x=0.2984 right_y=0.2013 right_z=0.1347 right_yaw=0.0486 right_pitch=0.0484 right_roll=0.0529 right_gripper=0.1666 state[joint_eff]: [-0.2393, -8.1026, 6.8308, 1.4921, -0.1734, -0.022, -0.0122, -0.335, -6.0239, 9.0188, 1.4676, 0.3443, 0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.39, "right_z": 0.03}, "note": "Blue marker held and lifted. The left (pens) basket is out of the right arm's reach, so I'm setting the marker down on the table right in front of that basket for the left arm."})
tool
executing move_to over 16 steps (1.6s)
step 279
assistant
agent noteBlue marker is at table level in the gap between the two baskets. Releasing it for the left arm.
move_to
right_gripper0.6000
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]: [-0.3985, 1.6512, 1.4117, -0.5903, -0.313, -0.3405, 0.7967, 0.9352, 2.2917, 1.4334, 0.1184, 0.6971, 0.5549, 0.1666] state[eef_state]: left_x=0.4412 left_y=-0.1228 left_z=0.1997 left_yaw=0.0415 left_pitch=-0.2128 left_roll=-0.0018 left_gripper=0.7967 right_x=0.4159 right_y=0.3788 right_z=0.0257 right_yaw=0.0596 right_pitch=0.0278 right_roll=0.0327 right_gripper=0.1666 state[joint_eff]: [0.0752, -8.3487, 7.1453, 1.4286, -0.1587, -0.022, -0.0122, 0.4991, -12.2872, 7.5556, 1.4676, 0.3785, 0.1099, 1.0281] 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": {"right_gripper": 0.6}, "note": "Blue marker is at table level in the gap between the two baskets. Releasing it for the left arm."})
tool
executing move_to over 5 steps (0.5s)
step 284
assistant
agent noteBlue marker released between the baskets. Moving the right arm away so the left arm can pick it up.
move_to
right_z0.1800right_x0.3000right_y0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3988, 1.6512, 1.4117, -0.59, -0.313, -0.3408, 0.7967, 0.934, 2.3169, 1.4425, 0.1329, 0.696, 0.5571, 0.5952] state[eef_state]: left_x=0.4412 left_y=-0.123 left_z=0.1998 left_yaw=0.0413 left_pitch=-0.2125 left_roll=-0.0023 left_gripper=0.7967 right_x=0.4177 right_y=0.3803 right_z=0.0177 right_yaw=0.0581 right_pitch=0.0261 right_roll=0.034 right_gripper=0.5952 state[joint_eff]: [-0.1436, -8.253, 6.9812, 1.4872, -0.1832, -0.0415, -0.0122, -0.1983, -14.8444, 5.0803, 1.2674, 0.2466, -0.0562, 0.0708] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_x": 0.3, "right_y": 0.05}, "note": "Blue marker released between the baskets. Moving the right arm away so the left arm can pick it up."})
tool
executing move_to over 28 steps (2.8s)
step 312
assistant
agent noteBlue marker lies radially just right of the left basket (top cam). Sending the left arm straight to it at table level to grasp.
move_to
left_x0.4000left_y-0.2900left_z-0.0050left_gripper0.6000left_yaw0.0000left_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]: [-0.3988, 1.6512, 1.4117, -0.5888, -0.313, -0.3408, 0.7967, 0.2459, 0.8524, 0.5793, -0.2592, 0.1719, 0.1333, 0.596] state[eef_state]: left_x=0.4414 left_y=-0.1231 left_z=0.2 left_yaw=0.0412 left_pitch=-0.2115 left_roll=-0.0028 left_gripper=0.7967 right_x=0.306 right_y=0.0494 right_z=0.1787 right_yaw=0.0151 right_pitch=0.0471 right_roll=0.0403 right_gripper=0.596 state[joint_eff]: [-0.335, -8.2393, 7.0085, 1.5311, -0.2271, -0.0464, -0.0122, -0.3487, -1.894, 8.4581, 1.7167, -0.0415, -0.0464, 0.0757] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.29, "left_z": -0.005, "left_gripper": 0.6, "left_yaw": 0.0, "left_pitch": 0.0}, "note": "Blue marker lies radially just right of the left basket (top cam). Sending the left arm straight to it at table level to grasp."})
tool
executing move_to over 15 steps (1.5s)
step 327
assistant
agent noteI'm stopping because I've used almost all of my call budget and the last move made things worse. I sorted the objects into two groups: writing tools (yellow highlighter, black marker, blue marker) and plush toys (koala, teddy). The yellow highlighter and black marker went into the left basket. I was handing the blue marker over to the left arm through a spot between the baskets. The left arm's diagonal path to it hit the left basket and tipped it onto its side. The two pens seem to still be inside, but the blue marker is loose on the table and neither toy has gone into the right basket. I don't have enough calls left to recover.
give_up
hindsight- Each arm can only reach its own basket. In the top camera the left basket is centred near image x≈72 and the right basket near x≈148. The left arm reaches the left basket around left_x≈0.44, left_y≈-0.11 at z≈0.2. The right basket is roughly straight ahead of the right arm, around right_y≈0.15–0.2, x≈0.45. The left basket would be at right_y≈0.5, beyond the right arm's limit of 0.4. - So choose the grouping by where the objects are, to avoid handoffs. Here the pens were spread across both sides (yellow on the left, markers on the right) and the toys were in the middle. A better plan would have been toys into the left basket (both toys are near the centre or left, within the left arm's reach) and markers into the right basket with the right arm, handing only the yellow pen across. Every handoff costs about 9 calls. - Top-camera scale is about 2.5–3 px/cm in the arm work zone. right_y=0.05 shows at image x≈195 and right_y=0.28 at ≈125. The left arm at left_y=-0.11 shows near x≈65. - Never make a combined diagonal move from a raised pose next to a basket down to the table. Lift or lower vertically, and route around basket walls (they are about 10 cm tall). A diagonal move is what tipped the basket. - After near-table contact, the right arm sometimes ignored a small lateral move. Raising it first freed it. Pitch and roll drift noticeably, so command pitch=0 and roll=0 explicitly. - Wrist-camera alignment worked well: put the pen on column ≈105–110 at z≈0.08, descend to -0.005 and close. A settled reading of about 0.12–0.18 means the pen is held. - Budget: 40 calls is tight for 5 objects. Plan about 5 calls per object (above, descend, close, lift, carry-and-release) and avoid handoffs.
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]: [-0.8566, 2.1078, 1.0775, 0.2943, -0.7803, -0.5144, 0.6044, 0.2428, 0.8577, 0.5785, -0.2863, 0.1558, 0.1162, 0.5961] state[eef_state]: left_x=0.4095 left_y=-0.2772 left_z=0.0284 left_yaw=0.0277 left_pitch=0.0664 left_roll=0.0607 left_gripper=0.6044 right_x=0.3028 right_y=0.0504 right_z=0.1709 right_yaw=0.035 right_pitch=0.0133 right_roll=0.0266 right_gripper=0.5961 state[joint_eff]: [-0.4581, -6.5162, 5.0393, 1.2088, 1.3211, -0.8718, 0.3687, 0.1573, -2.1128, 7.1179, 1.956, 0.2027, 0.1294, -0.0024] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I'm stopping because I've used almost all of my call budget and the last move made things worse. I sorted the objects into two groups: writing tools (yellow highlighter, black marker, blue marker) and plush toys (koala, teddy). The yellow highlighter and black marker went into the left basket. I was handing the blue marker over to the left arm through a spot between the baskets. The left arm's diagonal path to it hit the left basket and tipped it onto its side. The two pens seem to still be inside, but the blue marker is loose on the table and neither toy has gone into the right basket. I don't have enough calls left to recover.", "hindsight": "- Each arm can only reach its own basket. In the top camera the left basket is centred near image x\u224872 and the right basket near x\u2248148. The left arm reaches the left basket around left_x\u22480.44, left_y\u2248-0.11 at z\u22480.2. The right basket is roughly straight ahead of the right arm, around right_y\u22480.15\u20130.2, x\u22480.45. The left basket would be at right_y\u22480.5, beyond the right arm's limit of 0.4.\n- So choose the grouping by where the objects are, to avoid handoffs. Here the pens were spread across both sides (yellow on the left, markers on the right) and the toys were in the middle. A better plan would have been toys into the left basket (both toys are near the centre or left, within the left arm's reach) and markers into the right basket with the right arm, handing only the yellow pen across. Every handoff costs about 9 calls.\n- Top-camera scale is about 2.5\u20133 px/cm in the arm work zone. right_y=0.05 shows at image x\u2248195 and right_y=0.28 at \u2248125. The left arm at left_y=-0.11 shows near x\u224865.\n- Never make a combined diagonal move from a raised pose next to a basket down to the table. Lift or lower vertically, and route around basket walls (they are about 10 cm tall). A diagonal move is what tipped the basket.\n- After near-table contact, the right arm sometimes ignored a small lateral move. Raising it first freed it. Pitch and roll drift noticeably, so command pitch=0 and roll=0 explicitly.\n- Wrist-camera alignment worked well: put the pen on column \u2248105\u2013110 at z\u22480.08, descend to -0.005 and close. A settled reading of about 0.12\u20130.18 means the pen is held.\n- Budget: 40 calls is tight for 5 objects. Plan about 5 calls per object (above, descend, close, lift, carry-and-release) and avoid handoffs."})
tool
give_up: I'm stopping because I've used almost all of my call budget and the last move made things worse. I sorted the objects into two groups: writing tools (yellow highlighter, black marker, blue marker) and plush toys (koala, teddy). The yellow highlighter and black marker went into the left basket. I was handing the blue marker over to the left arm through a spot between the baskets. The left arm's diagonal path to it hit the left basket and tipped it onto its side. The two pens seem to still be inside, but the blue marker is loose on the table and neither toy has gone into the right basket. I don't have enough calls left to recover.
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 · 16.73 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, 0.8024, 0.6174, -0.3805, -0.0223, -0.0296, 0.9996, -0.0154, 0.7975, 0.6109, -0.3851, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0024 right_z=0.1811 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.9214, 9.3333, 1.7802, -0.0269, 0.1148, -0.0562, -0.9504, -1.3744, 9.9761, 1.8242, -0.0611, 0.105, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8ad7efb4f708e8bd3382353f7b568973bfea4141665f29aa06405d204f47d20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59d01bd32486c41941791a05256ca8f4e7156f287bb8b3f9166cf4788a84f37e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52a4f41bd088b05e09abcb211183ea7beb29e77be87b3f788e757912d8b57b9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 6.09 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, 0.8024, 0.6174, -0.3805, -0.0223, -0.0296, 0.9996, -0.0154, 0.7975, 0.6109, -0.3851, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0024 right_z=0.1811 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.9214, 9.3333, 1.7802, -0.0269, 0.1148, -0.0562, -0.9504, -1.3744, 9.9761, 1.8242, -0.0611, 0.105, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8ad7efb4f708e8bd3382353f7b568973bfea4141665f29aa06405d204f47d20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59d01bd32486c41941791a05256ca8f4e7156f287bb8b3f9166cf4788a84f37e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52a4f41bd088b05e09abcb211183ea7beb29e77be87b3f788e757912d8b57b9f",
        "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_0167dz9WdK9HgZuhXK73CR4t",
      "input": {
        "note": "Objects: two plush toys (koala, teddy) and three pens/markers; two baskets beyond. Plan: toys into left basket, pens into right basket. Left arm moving toward the yellow pen seen right of the jaws in its wrist cam.",
        "targets": {
          "left_gripper": 0.6,
          "left_x": 0.33,
          "left_y": -0.03,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0167dz9WdK9HgZuhXK73CR4t",
      "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]: [-0.1913, 1.1061, 0.3866, 0.1074, -0.1585, -0.1177, 0.6012, -0.0154, 0.7994, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.031 left_z=0.0914 left_yaw=-0.0099 left_pitch=-0.038 left_roll=0.0064 left_gripper=0.6012 right_x=0.295 right_y=0.0024 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.6308, 6.4752, 1.9609, -0.1832, -0.0855, 0.1099, -0.3214, -1.4154, 7.241, 1.7216, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c7fb45806b7e7253840ef510e94c2b0795ff97bb56810e4db473beddb9195ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6771b6aa40a387cc5a3f23121114828795162839fcc3e1bc5248734ee3457dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4585749a50498f466a5d932f3b89ca035855622d09fc3457dc8ffe870e7cddb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.985 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, 0.8024, 0.6174, -0.3805, -0.0223, -0.0296, 0.9996, -0.0154, 0.7975, 0.6109, -0.3851, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0024 right_z=0.1811 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.9214, 9.3333, 1.7802, -0.0269, 0.1148, -0.0562, -0.9504, -1.3744, 9.9761, 1.8242, -0.0611, 0.105, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1913, 1.1061, 0.3866, 0.1074, -0.1585, -0.1177, 0.6012, -0.0154, 0.7994, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.031 left_z=0.0914 left_yaw=-0.0099 left_pitch=-0.038 left_roll=0.0064 left_gripper=0.6012 right_x=0.295 right_y=0.0024 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.6308, 6.4752, 1.9609, -0.1832, -0.0855, 0.1099, -0.3214, -1.4154, 7.241, 1.7216, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c7fb45806b7e7253840ef510e94c2b0795ff97bb56810e4db473beddb9195ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6771b6aa40a387cc5a3f23121114828795162839fcc3e1bc5248734ee3457dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4585749a50498f466a5d932f3b89ca035855622d09fc3457dc8ffe870e7cddb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmAsKEAgSGAI4AUIIdGhpbmtpbmcSDI0ndkxueJ4o0poE4xoMXGDRmPDjWMC60cYJIjCoJsS9q5QW1FqaPXwjrC02kCbvX6BYGiHOdCFbfMm1WfV0N2zcspfGBh3OdgMMgbEqtQqjip183UFCjjzbwuD/F/QApM5iA+JHj53KzxXXxwxf0Bmkl4SXuSXmhmUGLzbbGPvENRumS5q7lufg7z3/rF1UIDz4XVNOR+X4OPy6au6XEP+LOglOYmB8peF6vPbm5Nt3Qxof4wSAhyx3rzCmaRemG+6b6PvkcoLwz94Lxsp/O9QjZfzRo2haIua29eRBaDSaFgtD9W3juf0ZdVZ2Wznn5xqE9j+nwr/a09tkdQv+bFDoTxVkvmUhVIbfQtfDGGJanhEsxGZINbHuu8xN1iTkym7p7Qsza4itA+0y4ckrtOyr1pvIIUfbdKw65pB4EmW3WBEDQJmKQYLGkjTfSQfzpJeq3ACPD5g6D6uYWRUSXN8Z30SmdTdpR0e7rM/gpIWgbGeUMEemIeLgCHsb9MyQhm84Qp3cr1Tx3Cp0cjHZnitIvSZuiYcI/5GFYeIjD8VuC9zfmWbEKDiO+DizootZ6Vkopa6nYpW5Fr9kBWtEB3Bff8ZEyceyzakqhcXp13uGcmlFTOQDhP1vpVU48A8BD30CvMMv1vmHAncvv30E5wpFvRrCsBY4qpYCwKC+cNv5Df63XIHUf/6mqIKxIiG6VoY3z1NHxMwJwrqc4LC/y76ipyNWGAWpWFOIiorBj/27XaEa04iURSx4aYatNJPsIyvfjf7GsoS4wYG4fv8I43kvUMiNFYwBvQ9lDRjRspZKrmle54ArhYQW8IR4ME/ssPvevmLlUN4eaqcc+4xcXZy/dGvfsZ4djo5egkbCQA+olp0Jd7lA3aZfcUg/UKdjw8S5p0l0AJbJ/WI2VZPBKBQqC1pb6B8mEnDZH/pUws2jw4k6qnlosG/XYH/dAycsJp2mT6tKqpsIceunZoaHPY0ryAN/8VTtUDcbqaOC3l03uL/bOIHYpkiB0H4d0DIKypK/mOy2Z3hVsD2Dd1V+2PBWKZEhO/W8Bih6sKV7Tvc0n9JRLEu3aE+xrRii0DQg/ETe4vbr2dX/h3W3tkWkVeOtjiU/fWOgIY/ORakqjtLvqsJFGtfF6K26VwGye/vkEaXtAp9i56nQhj6e2F+EW0W/qJs2kaG5HV+HFV/d/Hcl6pQQsDYBaN++xwb7enVyMO/DbiXMhZkEUq32pt2ikyYPMBO0ysN7Flq02BqVd1zNl3ihDg9kcGfaTXT55/v5iv3rXwRW4c5gxrV/dIKNVJKICTXoFUeDAvGjyD5fXyB7hifBw4QV6DX9BIhOu4VRHv3JlV3ww6+1e9VNb4iv/dZkEGXrOokGEmUIZCXyV7V1AKmsgrDgZ+Qo7bhxN/1z19AbrBTp8YgGcQphofFfAH7T9r5BZ62QH4BGIHeaRSTjyYcNi7ihuNnwg/cmKB5KAkWo36N3s5ufuqJcnWFaqwZuNJdfEBCghlaAzHbVLlc/6F0lu6sKVtIZWQfRj3NQk0o+glqeqFK3FkGJePrXwQtyY1T/+9SKX+gpk1F8a7R4+fc0uLRcGb9CZF1XzmRQ2ubWbkP4E1QxbIxMui0xrGykWWfF9P/Te0gIyxHmYITMmpfnC9oeay82zZ7xNTUncjItBAYBayUKNmVl9f3KEvsLqjE09ELnMCT7H7s8rGS/biZrrHY0JOuZCXBR6MAU032q/Kp40L0fRjNgrvJmEZ36sthRz8f2RKqxNOyJWTGHYz0ql8PqOI4aga9Fl/zrCiHRExo7w0zLxq4AKvWXrIvxy0GX41T+NFBlhpDy0ZdZRPWj3sKyG7uDRkODmHMW9NQsvaQ6jITIW0J0ZvEUS2yDXMk/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XS3S7Ro67D8VUujYGGPx4H",
      "input": {
        "note": "Yellow pen is to the right of the left gripper (top cam and wrist cam). Shifting right ~4 cm and slightly back to get over it.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.07,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XS3S7Ro67D8VUujYGGPx4H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4263, 1.1217, 0.3607, 0.1181, -0.3176, -0.2443, 0.6013, -0.0154, 0.7994, 0.6086, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3108 left_y=-0.0766 left_z=0.0818 left_yaw=-0.0442 left_pitch=-0.0406 left_roll=0.0004 left_gripper=0.6013 right_x=0.295 right_y=0.0023 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0042 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -2.7829, 5.6957, 1.6679, -0.359, -0.0659, 0.0024, -0.3624, -1.265, 7.2684, 1.707, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b14b9e4f8b0a2472efba067e4b80d4f8a3b648078191176db9e77f171c3ee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4913e08d3d4a3c958aff5fc84bce60658e19e19821afae25e6a6ce532dd541cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af9f0cad72f16ba8dd0eeeeb248b6f77f06f99e4c759309febdb24fab3d507ed",
        "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 · 2.412 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, 0.8024, 0.6174, -0.3805, -0.0223, -0.0296, 0.9996, -0.0154, 0.7975, 0.6109, -0.3851, -0.0189, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1837 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2952 right_y=0.0024 right_z=0.1811 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -1.9214, 9.3333, 1.7802, -0.0269, 0.1148, -0.0562, -0.9504, -1.3744, 9.9761, 1.8242, -0.0611, 0.105, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1913, 1.1061, 0.3866, 0.1074, -0.1585, -0.1177, 0.6012, -0.0154, 0.7994, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.031 left_z=0.0914 left_yaw=-0.0099 left_pitch=-0.038 left_roll=0.0064 left_gripper=0.6012 right_x=0.295 right_y=0.0024 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.6308, 6.4752, 1.9609, -0.1832, -0.0855, 0.1099, -0.3214, -1.4154, 7.241, 1.7216, -0.0415, -0.0269, -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]: [-0.4263, 1.1217, 0.3607, 0.1181, -0.3176, -0.2443, 0.6013, -0.0154, 0.7994, 0.6086, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3108 left_y=-0.0766 left_z=0.0818 left_yaw=-0.0442 left_pitch=-0.0406 left_roll=0.0004 left_gripper=0.6013 right_x=0.295 right_y=0.0023 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0042 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -2.7829, 5.6957, 1.6679, -0.359, -0.0659, 0.0024, -0.3624, -1.265, 7.2684, 1.707, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b14b9e4f8b0a2472efba067e4b80d4f8a3b648078191176db9e77f171c3ee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4913e08d3d4a3c958aff5fc84bce60658e19e19821afae25e6a6ce532dd541cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af9f0cad72f16ba8dd0eeeeb248b6f77f06f99e4c759309febdb24fab3d507ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAcKEAgSGAI4AUIIdGhpbmtpbmcSDCD+kUOB6FZLpcYSbBoMOfLo2S3PwSiEP7fFIjDESIlqvRaMUcrtqTCF0G/ZzITzvmGhyu6n37KNg/LuE+LUijMfDMWPMXGYzBAZDKUqtQaMRxBf932VVqT56XJ5POEi6VNdU0T0tqZ0E9Zc0JCA9dvb04qm4COl+Nww7bF96ds2B9804lDe9DtlDVJtcUwNnuurdgPsnu8l/6qJkdNRl1g98Uo3Ra/v4RXVX/omDv7YIBEL16AMGaOi2R2nOivg4wZ3cKzCh6YRrxLckXTlio8AfvUcUPHGN1m89J8DIHjtTntqwcwCcbuRx9cSE0cJh3eQdgjMVOA3eZWkxF6/vxpqSu+sdH+Lk10wSmXzCOB07LfcBdqztR3/UBptUlooaV2fy12idDOPUuEA514APsdGlZN80U72ilTq4DgNbIEpEs3l5eGwyj3rkbFUf5QJF1P2uOYTVeI3Or6pCLmSpO6NW5x65QxStN+2/o2rJzeTem0E8eqqAY4CQbZCfptlvBiuODPioJAeCAaTlEfwquaSM/3JEirDth4BMpHTZWv5K4eO05XsWyH+9i5Dd3WCqvKyJoY2c4aFxkjC+rWKqdXHDcdwyu3D13IMmXoriqeNTRKYuNRPwoyOttZCh8RNZagLfXc0btzKunOwsACaWK08ARlC+1nzisA9RzmYIDliy+FhBPpQMsnCMmkezhjFwjN8gVHb122Cl7KlqzPyxs2fd0ctc3b8GxHnYQGnjeaXXjRgnS/DlC5cLcPwWVnB76/ZcN2jvgNd+APzFMYw9RhJys8QbOtUq8660bHhQq01+S6mfANPhMeWPpuwFG1dTSgZ8jZA6is3IcbUWp2wcSPex3M/Bxb772OHCw1WLvkc2GHyfbB0QGxfe6Is+h1hxdYvhvvLyDW8IGPTxJ4Z5ECQcVAhNf0SehJNOgIF+CE0HtAtggGA6G1szPZAzPDBItCyZJwOkrlBB0/Bdz5kM22nIHtid4uJKQ1DAzgr31aHUrrhzJb3GV5TUWX9UeF1TSlHDss9o7jhmdt3JTpWo34ESZ5+j5ggT9aYndApY2dyKrfZk19YYGVOtNkirw0B6pcY6E8da+loRKxXiOdwlDk7LK4hH3PaaXP6zDmlv2VYajh4CtbZOIA7oE9MyHv5DcRf85C9uXEGdnQBPjliT4gpMh5ZPk5axLvfux61xQT8lbAnWRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019BGBarfoxq9gzmjULSp1CX",
      "input": {
        "note": "Yellow pen now centred on the jaw column in the left wrist cam. Descending to table level to grasp it.",
        "targets": {
          "left_x": 0.32,
          "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_019BGBarfoxq9gzmjULSp1CX",
      "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]: [-0.4076, 1.6531, 0.2195, 0.8021, -0.3176, -0.2329, 0.6014, -0.0151, 0.8043, 0.6086, -0.3851, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3233 left_y=-0.0756 left_z=0.0003 left_yaw=-0.0318 left_pitch=-0.0301 left_roll=0.0056 left_gripper=0.6014 right_x=0.2953 right_y=0.0025 right_z=0.1782 right_yaw=0.0012 right_pitch=-0.0091 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -3.8906, 3.1932, 1.3016, 0.0122, -0.0122, 0.0024, -0.0342, -1.2239, 7.2274, 1.7705, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41aa7194e052419a6d1002dac9e43464d956d4adecebfa81bcc7416afb66c1fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93b1620c0f18b1fc17ba525fcbfdb390337d3b122fe8975606aa703e7cb64959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4091728018cda749112f1448775324657bada411edbf52db3c3d68f607ae0b2a",
        "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 · 5.796 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]: [-0.1913, 1.1061, 0.3866, 0.1074, -0.1585, -0.1177, 0.6012, -0.0154, 0.7994, 0.6086, -0.3851, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3258 left_y=-0.031 left_z=0.0914 left_yaw=-0.0099 left_pitch=-0.038 left_roll=0.0064 left_gripper=0.6012 right_x=0.295 right_y=0.0024 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -3.6308, 6.4752, 1.9609, -0.1832, -0.0855, 0.1099, -0.3214, -1.4154, 7.241, 1.7216, -0.0415, -0.0269, -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]: [-0.4263, 1.1217, 0.3607, 0.1181, -0.3176, -0.2443, 0.6013, -0.0154, 0.7994, 0.6086, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3108 left_y=-0.0766 left_z=0.0818 left_yaw=-0.0442 left_pitch=-0.0406 left_roll=0.0004 left_gripper=0.6013 right_x=0.295 right_y=0.0023 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0042 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -2.7829, 5.6957, 1.6679, -0.359, -0.0659, 0.0024, -0.3624, -1.265, 7.2684, 1.707, -0.0073, -0.0611, -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]: [-0.4076, 1.6531, 0.2195, 0.8021, -0.3176, -0.2329, 0.6014, -0.0151, 0.8043, 0.6086, -0.3851, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3233 left_y=-0.0756 left_z=0.0003 left_yaw=-0.0318 left_pitch=-0.0301 left_roll=0.0056 left_gripper=0.6014 right_x=0.2953 right_y=0.0025 right_z=0.1782 right_yaw=0.0012 right_pitch=-0.0091 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -3.8906, 3.1932, 1.3016, 0.0122, -0.0122, 0.0024, -0.0342, -1.2239, 7.2274, 1.7705, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41aa7194e052419a6d1002dac9e43464d956d4adecebfa81bcc7416afb66c1fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93b1620c0f18b1fc17ba525fcbfdb390337d3b122fe8975606aa703e7cb64959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4091728018cda749112f1448775324657bada411edbf52db3c3d68f607ae0b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015PVWxfhe9XkxV6Fm1mB6jp",
      "input": {
        "note": "Pen is between the jaws at table level. Closing the gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015PVWxfhe9XkxV6Fm1mB6jp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4072, 1.6623, 0.2169, 0.8261, -0.3157, -0.2363, 0.1788, -0.0147, 0.8043, 0.6083, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3245 left_y=-0.0763 left_z=0.0013 left_yaw=-0.0313 left_pitch=-0.0191 left_roll=-0.0027 left_gripper=0.1788 right_x=0.2952 right_y=0.0026 right_z=0.1779 right_yaw=0.0014 right_pitch=-0.0099 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.6, 3.959, 1.4579, -0.1636, -0.0024, 0.9011, -0.212, -1.2513, 7.0769, 1.7265, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c38214f8a420b7ad9bd8a2c0a827edeafa048ba056b8a8f4d53921b5dcdd905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67edb47ac5e82e3597bd63e7d0bda6e8594f9d30f9343f0096641715baaf44e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67321f8cd950168049ba066ab9db9d2655599fec7c722db1a54dddb64b3a6461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.644 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]: [-0.4263, 1.1217, 0.3607, 0.1181, -0.3176, -0.2443, 0.6013, -0.0154, 0.7994, 0.6086, -0.3851, -0.0185, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3108 left_y=-0.0766 left_z=0.0818 left_yaw=-0.0442 left_pitch=-0.0406 left_roll=0.0004 left_gripper=0.6013 right_x=0.295 right_y=0.0023 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0042 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -2.7829, 5.6957, 1.6679, -0.359, -0.0659, 0.0024, -0.3624, -1.265, 7.2684, 1.707, -0.0073, -0.0611, -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]: [-0.4076, 1.6531, 0.2195, 0.8021, -0.3176, -0.2329, 0.6014, -0.0151, 0.8043, 0.6086, -0.3851, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3233 left_y=-0.0756 left_z=0.0003 left_yaw=-0.0318 left_pitch=-0.0301 left_roll=0.0056 left_gripper=0.6014 right_x=0.2953 right_y=0.0025 right_z=0.1782 right_yaw=0.0012 right_pitch=-0.0091 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -3.8906, 3.1932, 1.3016, 0.0122, -0.0122, 0.0024, -0.0342, -1.2239, 7.2274, 1.7705, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4072, 1.6623, 0.2169, 0.8261, -0.3157, -0.2363, 0.1788, -0.0147, 0.8043, 0.6083, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3245 left_y=-0.0763 left_z=0.0013 left_yaw=-0.0313 left_pitch=-0.0191 left_roll=-0.0027 left_gripper=0.1788 right_x=0.2952 right_y=0.0026 right_z=0.1779 right_yaw=0.0014 right_pitch=-0.0099 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.6, 3.959, 1.4579, -0.1636, -0.0024, 0.9011, -0.212, -1.2513, 7.0769, 1.7265, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c38214f8a420b7ad9bd8a2c0a827edeafa048ba056b8a8f4d53921b5dcdd905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67edb47ac5e82e3597bd63e7d0bda6e8594f9d30f9343f0096641715baaf44e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67321f8cd950168049ba066ab9db9d2655599fec7c722db1a54dddb64b3a6461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwwKEAgSGAI4AUIIdGhpbmtpbmcSDL73aLUtNGVjUZjPvhoMPog3rjVEhiPwpetiIjBpbfZArlXxiMgEu2L3+HsoXOLuo9NM7y1z852g5gIhjBZlkXPezm0EDEEEbH56qYgqtAsXu9ow6zOeI4zeIeCoTssecuShHqtkTBloO8ORzLZq3mmzSbwNEY3ya52IfLPTGFwpfPpW5FwzURXNxWu8i4NOcIXOTZr9bYKJc0W8zUNL9mT2SusFVWMjfO1rYq4kRgcPS/CzWOA+UVxrrCvlUhwAybPGEgv3pM3GC3cRB3ckBver5L4Ef5ih5tFQsnPByAhw5dPI00LPatnTiuOCaMZCxYYaMxKh/me2M3v506KAm9KPgKskcE6vLpsxasyb/r0B9Lac7gejMIOKxs5jh5isoBCCSsrKvStwjqk+VeU4pWUrE74Cu4RyxNJhcENpML5fe8LXqZ4eXafdrTpl6Sf49yrwoLdXZK4Ka22SMYEN8DwzyyEjLaMiVxcOGFTBiAWLnSVqiPq4HPIGoOJxCoCZLbdeWH8l0eUnxDRSof6H7deRFlLM3pJegvZTNI/nQl5Qc5k08erlWii+odo+wF0MR1E3xHO/wMhI6AUJhhW/W2AXsRC7g2rwJYVXtg//EQV2G8n496sKwgVOGNbDPEZdOJG3ufMEnpYVLUcQ1IR3ew6V8S663Cztx/G3olA6CAXEETatFdIKEkbG4alPYJvJBkTYHEkYODHN+f0cxd180UqRR+e7pnP+eNBCYYdWXnH80CNUrJ+QIvbE+2d6p349kMKi7r64ddQ0zhbceuj7qk38eBrfcz5D6tdA9ABGrma2ONQnXAHeSj360z8Owg/AolEI1SyTWxiEREeS44bXTvtPIwlncSn3S6Tx7UW4s3fiXc4BJAaAcf9E9DENUgOsM9maIhFIQiXqaPprN+Nc73WUq2v26IOuWvw4/kiUmxH/KJ94s+iPAYdLY/TE08xl4c87DYtmPnaQQVQQVCbluMgZP1K3c9Y4yfYqG2cZE2ymC/29V+nJRQecUqa/JRyBjekvxV9s5GpXY4YVWcpEYhxRbjSMplDP5ceJyI7nPHCv6VfgTquPu3fuRLSmxhNjDLnwccu2MzwTNfgh9p+3jskdquMo3+EsU9YkBYUDmeMSu+2WBQV4xhvbH2Hd9TdVJm28HXkiapw5gNQF/0/zkbJL79ITvJajBLQ1Qu7KA4/ji05Ps+KhFkZSi1xGDmUx1dW1Rb6/4QyA7g1Sddj1gTZGZDPp5c62sJAlfckj+O/RhBQ5KsDFeV7kq3c0/eIUbG/mXv2WRY6oCgXeDxN9UU5skT3il+mFr4KKLi01ikOuKxhezzx/Bs2wD3ICEsXYrTh+bPPI/OuLtM0hotnmNlCkhuM/F2zU95G6zwY0uYOrsPyjedC0tEAuNMKPt8Z9AsNM5WZUTAGW1eEs4CLxByee8IPyHUZQozwJLwRUcBwnTVyo8IQNvA/X72p9QlyZnRAVuIzEmfH9Kn4THHSpDnOHQlAj4mQ1N+fkqZ2RPO381IWAKgJ09FBIVDth5R5DQYYgx+3vo0R4K/CernHseAqTQEL9lQQ5i5vuQc43vOUGXUKo52MClOst/mRwAsxJbTIB6zQGbqdQEpSzb2c563fCrSMOT/IREYpE+r+IRUCmhqBvjCaIgdZt75llcA4Uzmzu6N/rUjdTebT4YHxbytyWoroVtDfxZ8yRiF7KDLoXhUa3mR4R3Uddsp60RKE2HnzkRm6J1vg5PGnVaeRKThsuVDJC+h9x0ukCLbgMR9ehnYeDs2/SS4q2+6vXImB4aUvXo5ZARml0LUEfJhgw8vQ7iLFdAT2Tcc1Z9yWYJZ+Mp1g69iMtR1Uda11zeESn/U5JZJHlTgbbBgNYgKTY1BfXJR2PVFhrPfdRvDDRQTvmVcgHQtqzuFBg2+v8EyhR9UpKecKK/Xj70ERQoKBkR5CHafsdMyxCsu8UsUMgm3PILAPCC2gAVMtX5F5tPre4ULOwh1a6XbJOk0CCCvQjpcvcusjHe6GbamTQ0dmCJyC7iaxmc+/5p4ywh//1UxZ/uDC0jhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016WNUKVDXvk1Vc5CNets9V1",
      "input": {
        "note": "Gripper settled at 0.18 (~1.7 cm) so the pen is held. Lifting it clear before carrying to the left basket (pens → left basket, toys → right basket).",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_016WNUKVDXvk1Vc5CNets9V1",
      "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]: [-0.4072, 1.0332, 0.8356, -0.4328, -0.3145, -0.2409, 0.1798, -0.0147, 0.8082, 0.6079, -0.3855, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3254 left_y=-0.0769 left_z=0.2093 left_yaw=-0.0297 left_pitch=-0.0296 left_roll=-0.0031 left_gripper=0.1798 right_x=0.2954 right_y=0.0026 right_z=0.1767 right_yaw=0.0016 right_pitch=-0.0141 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -3.494, 8.9231, 1.4579, -0.1245, 0.0024, 0.9011, -0.2803, -1.6342, 7.0496, 1.7021, -0.0855, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c23a978264b0bda9fbde912cf6911dbe706a65fb30085c58c5cee2f82eae8563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9170242f749bd86f42c8e9cff1d6466c3c3f370c6745590b91e4950e0e4915e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1647c1f11359049c0f908f898c5691c64210746ab8e570400604b74feb5557dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 3.73 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]: [-0.4076, 1.6531, 0.2195, 0.8021, -0.3176, -0.2329, 0.6014, -0.0151, 0.8043, 0.6086, -0.3851, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3233 left_y=-0.0756 left_z=0.0003 left_yaw=-0.0318 left_pitch=-0.0301 left_roll=0.0056 left_gripper=0.6014 right_x=0.2953 right_y=0.0025 right_z=0.1782 right_yaw=0.0012 right_pitch=-0.0091 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -3.8906, 3.1932, 1.3016, 0.0122, -0.0122, 0.0024, -0.0342, -1.2239, 7.2274, 1.7705, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4072, 1.6623, 0.2169, 0.8261, -0.3157, -0.2363, 0.1788, -0.0147, 0.8043, 0.6083, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3245 left_y=-0.0763 left_z=0.0013 left_yaw=-0.0313 left_pitch=-0.0191 left_roll=-0.0027 left_gripper=0.1788 right_x=0.2952 right_y=0.0026 right_z=0.1779 right_yaw=0.0014 right_pitch=-0.0099 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.6, 3.959, 1.4579, -0.1636, -0.0024, 0.9011, -0.212, -1.2513, 7.0769, 1.7265, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.4072, 1.0332, 0.8356, -0.4328, -0.3145, -0.2409, 0.1798, -0.0147, 0.8082, 0.6079, -0.3855, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3254 left_y=-0.0769 left_z=0.2093 left_yaw=-0.0297 left_pitch=-0.0296 left_roll=-0.0031 left_gripper=0.1798 right_x=0.2954 right_y=0.0026 right_z=0.1767 right_yaw=0.0016 right_pitch=-0.0141 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -3.494, 8.9231, 1.4579, -0.1245, 0.0024, 0.9011, -0.2803, -1.6342, 7.0496, 1.7021, -0.0855, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c23a978264b0bda9fbde912cf6911dbe706a65fb30085c58c5cee2f82eae8563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9170242f749bd86f42c8e9cff1d6466c3c3f370c6745590b91e4950e0e4915e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1647c1f11359049c0f908f898c5691c64210746ab8e570400604b74feb5557dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSoAgKEAgSGAI4AUIIdGhpbmtpbmcSDA9+J+k1uJzXcjsjRBoMUlZaSFKKiIWFxLDNIjALEnkj34xzJ5HrB15tdpmf014Nj+taBVPX3Y9r+LChtUAwGE1Gmj3hblzrTmklH7AqvQdb2f+R6lvW/3fE/nLLwzVd1V5QfKOZxj9vdLdbkOt5wh8FdqoMucQqa6h82AGX7+iAdiBCGmDmWPs3K5L5tSXJkOigBIosopPgZiom1nweJFnLcLdRPz1P7wBQdNS60zugGVLRfR5nvtHFLO0n4kXLboADAdBI4xv0lujYjT+x3LOLaWA8lmW8y3NWFT8WVz9SsbeRSgKXO7Hf0EIJ9g0GIVfyEi4vJxvs9pr3+BfK6v7Go43a68tGpkyBm9iH0ECLqacc/uqRl/qRF3WD637WPogRNKjfhuBrSn94lal+8xLpFHcVOdmpR/a8787MYC9Ke4OTLGd6eQPry3SfdI/ZoZPBOi4+zYp+XqVTbS6f6rbC9tuoELVdP3PBJc04141Rt/e4iphDVWUNxOTnw0AiDFRaGqx++PM2rl4lvKStkSsGmXvi6tt1oT/KntYYE3ccUJ8MIX4+UCV/e2ZSQmeL0+hmA+1EWvw9a5ijfT1CHQsN7FFfuo27SJfa5hS39cEZT8uiSVjuAAx0sfnqnglQGoPGBCfbzGBWUK1g5AmV3xbcLZQNxmDW9QTVx8m3OxlsISDWIZHrENeWZdC6hbHGDwqtsYtSVtcbEw1mAiGXHIJoTj8yRRq3DWZ5YU9zSlwmNU5OR9scupSU+5d0euRFkddVLN/JQ3gug7KjQ26m17gZD8fiV5ZvUWjMD1GUt4fYfeTJrqNi5BEb7usxS5QUXa30xlMd61hZyUukVqox41ADyj+TQ0TChZ/YlxHjcZ2F7YUDvj0ydPXfhk2qsmbhA//Eq+T5iv3cVTI5fH6t9r3JKzdlxIyrvG96XcRfrIEivqPxo65L71+tK2awQpCt7NWfJKTbgsrBAgscEpIAz1rtoIbd2vLbeucYXecao9/ScLr7DF8jHYKN37g/0/gCeTGSQdlz8zpAfO5Tt945gjMxoGUBCN0lUBGaIBZpTxDGMZFL0TMF62R0Ny93EqSx5oVtNKbjxFmorr4JeFxFP1M0Y74dil578FdvN7HwdB79mWJ9T7cV6c0aqh0VW95qtXvwtC7R2B0LbJPkS3VoRTbRNF+g13DCEUIaWQtj/FQxe1dGafhC6YZz1+HDLftUcv2g7njqZzBk8iEC0nqRMv0Gs8N+zEABVvgBOc4E+qJys9fy0I6JVidYr/KXecU9BWSt6c8XNbm0BviPuD/YdOLJvXoG3833X9MZov8T2NiTTkIwcTO2PjQo/eRqegcq8+kDxFPZVDTI8aHDbJgEqoDSLh/1I55mScG0EAgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gt4akqqQt1hKY4jfbCQqnK",
      "input": {
        "note": "Pen held and lifted; the left basket is ahead and slightly right in the left wrist cam. Carrying the pen over the basket.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.09,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Gt4akqqQt1hKY4jfbCQqnK",
      "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]: [-0.2913, 1.5227, 1.1828, -0.3206, -0.2276, -0.1909, 0.1798, -0.0147, 0.812, 0.6075, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4432 left_y=-0.0875 left_z=0.2022 left_yaw=-0.0121 left_pitch=-0.0753 left_roll=-0.0022 left_gripper=0.1798 right_x=0.2957 right_y=0.0025 right_z=0.1756 right_yaw=0.0011 right_pitch=-0.0179 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.4598, 9.5111, 1.7753, -0.0073, 0.2076, 0.8425, -0.1573, -1.5111, 7.0632, 1.7558, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aad2c8f14f12403fe239ec17a7a4bfee66d7066af2bd1b9d30e5d04f7338c22c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ff58761c353ed59760934df705d1b257604c270efc0dd0ba2e33f918ea5e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ade477025c23087201c8fca3e17c8b9d056fd06b5dbc4957c6ae398cd3b8e08a",
        "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 · 2.571 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]: [-0.4072, 1.6623, 0.2169, 0.8261, -0.3157, -0.2363, 0.1788, -0.0147, 0.8043, 0.6083, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3245 left_y=-0.0763 left_z=0.0013 left_yaw=-0.0313 left_pitch=-0.0191 left_roll=-0.0027 left_gripper=0.1788 right_x=0.2952 right_y=0.0026 right_z=0.1779 right_yaw=0.0014 right_pitch=-0.0099 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.6, 3.959, 1.4579, -0.1636, -0.0024, 0.9011, -0.212, -1.2513, 7.0769, 1.7265, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.4072, 1.0332, 0.8356, -0.4328, -0.3145, -0.2409, 0.1798, -0.0147, 0.8082, 0.6079, -0.3855, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3254 left_y=-0.0769 left_z=0.2093 left_yaw=-0.0297 left_pitch=-0.0296 left_roll=-0.0031 left_gripper=0.1798 right_x=0.2954 right_y=0.0026 right_z=0.1767 right_yaw=0.0016 right_pitch=-0.0141 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -3.494, 8.9231, 1.4579, -0.1245, 0.0024, 0.9011, -0.2803, -1.6342, 7.0496, 1.7021, -0.0855, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2913, 1.5227, 1.1828, -0.3206, -0.2276, -0.1909, 0.1798, -0.0147, 0.812, 0.6075, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4432 left_y=-0.0875 left_z=0.2022 left_yaw=-0.0121 left_pitch=-0.0753 left_roll=-0.0022 left_gripper=0.1798 right_x=0.2957 right_y=0.0025 right_z=0.1756 right_yaw=0.0011 right_pitch=-0.0179 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.4598, 9.5111, 1.7753, -0.0073, 0.2076, 0.8425, -0.1573, -1.5111, 7.0632, 1.7558, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aad2c8f14f12403fe239ec17a7a4bfee66d7066af2bd1b9d30e5d04f7338c22c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ff58761c353ed59760934df705d1b257604c270efc0dd0ba2e33f918ea5e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ade477025c23087201c8fca3e17c8b9d056fd06b5dbc4957c6ae398cd3b8e08a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrggKEAgSGAI4AUIIdGhpbmtpbmcSDASg/nrN28oNmBl5rhoMJ6gHuqChlqWpRiA6IjC9zlHLimKe4o63gfyk+jmeCjJe5Hb6zqj/ExDZhSg3VoUYVWhQFNN5PA+8sJq4fVEqywcMilMc8qJAr8PauomsWp2WeWXU/94xXyiYWjfcqnZ9iuABtzqoCpqA1X5KltEmWBb33TZCjgvH7wylJTVkIe5UnjOQmT/R2dROwdWaDdbX3kuWbDTaeaiupCkw3MmMgSj+XP/aiU8n11KfGBjq8SHSCNf2rFXP28A+WedUWUw2P29jWRKnHxn2EgIMLLmBwX1aDZ4x1UnCtQ9PfOcd/kwzUpwbkVRGygfKW4Y4TcZykkJFBZ42E+8ONwVqVc36NDAACss0Nrgmu/uUxnDhp+lySDd/w/9f5lH+f0OAXOZJeRLHhBO+4jJXzra4j1ELRKHj5AFjq4vvGii02aihGYGeMRqDt5xkTfg2Gh+42U4muGvHZzVUGaVxgznuhwcJZ9OsWqQB7iDQomtkOX8ZJjQoJwNgsmPCKzXpLnYQHhDRst1TN+yk5H6K3uN8Cy2+2b0SLJ+IRmfx+LvHBCKGsIM9PZyjzqf+Us/RyEAJA7pBbz5knG3xEMzSrNdTEFTWxW1mhInBpN7bW/MddCjgnFJozG0cz+m5FSCNc6NdJP/F7RkQ5VQJiE9MWgPW06/tdv/cm9BuzWRr7V5lwiRp3k3BvxljP4Gb2blqRaA/4adpgnobld33t25WsHQlK71ODe7jIgmIhkZnX/316EMgBEICFfXk6nTLUjXg6bVzPRmj2WktfxzZqNxtEdHXdgFJqs/YwhzB2AJWABnId/Mm3gCzN56z0sY8yAkF3HL879XwK/hVOwanXHs+RmPyo+G8ir4PFBhMQRtXFFyTsTRreaYGhjRHW5ualQaYP+hsNzNU8ageNYSwtnnGT2vCnB8mardNNsYZ3+XJLnFdG2n/guiwt9aqRHU7bxIaaD5Y35OeTIKihW/AjmLduU11A/+qEDW8HXRrPhmoKYEu2FLw7/5g3zMsQhaBRYykWUzK+eMIEbD9SClqxt4wd7fZK3JiTFVWCzLfYzLvji+RDQwDLCJe0zBows3S170wxKtJj6BAawHr9WFBt5T/OqICqzrRIMCSiqdp6YJy5aNSL2gH7ae1cztzF4VPf3r4MgPXIsj/TEXT1Nn5dlzeqcAXFp5CygX2ma4kQonZ1pOAAXvJtxaVb7VJCoHWPn8em8phrIyph6yZWZ9FTWCP5MosLXbfQ2PoPgRUnIZKZwXxQ3tZrOYQ+yHD1+98ALQ2Jr3IPWydlMjmBA3og8XzaeO8DCMa+6gf931ZQEUjuMjMqgg+o8Xo7Dff6XeYESlaEhAnTQelbAA0LHI/XKxbiQdmwRWFVvzR5lxgyugppGi1FBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01861ef8qhutAzojURTqrMqz",
      "input": {
        "note": "Gripper is over the left edge of the left basket; nudging 2 cm right to centre over the basket before releasing.",
        "targets": {
          "left_y": -0.11,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01861ef8qhutAzojURTqrMqz",
      "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]: [-0.3325, 1.5352, 1.1828, -0.3222, -0.2565, -0.2157, 0.182, -0.0147, 0.812, 0.6075, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4407 left_y=-0.101 left_z=0.1972 left_yaw=-0.0155 left_pitch=-0.0833 left_roll=-0.0007 left_gripper=0.182 right_x=0.2956 right_y=0.0026 right_z=0.1755 right_yaw=0.0014 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -6.1744, 8.8137, 1.6288, -0.2711, 0.0122, 0.5495, -0.253, -1.3333, 7.0632, 1.7021, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dac413d4a435ab2234c87f59aa24d4555730a320ad701739b0eebdecd55295c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:185c55d8394aae003ea3219d50c0d0681c03087bd3078db95c72d6d81e27cd0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c145a6436353975945f7d710609304c989b69cc1ab42f2e85d8273e6bc09b99f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.56 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]: [-0.4072, 1.0332, 0.8356, -0.4328, -0.3145, -0.2409, 0.1798, -0.0147, 0.8082, 0.6079, -0.3855, -0.0189, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3254 left_y=-0.0769 left_z=0.2093 left_yaw=-0.0297 left_pitch=-0.0296 left_roll=-0.0031 left_gripper=0.1798 right_x=0.2954 right_y=0.0026 right_z=0.1767 right_yaw=0.0016 right_pitch=-0.0141 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -3.494, 8.9231, 1.4579, -0.1245, 0.0024, 0.9011, -0.2803, -1.6342, 7.0496, 1.7021, -0.0855, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2913, 1.5227, 1.1828, -0.3206, -0.2276, -0.1909, 0.1798, -0.0147, 0.812, 0.6075, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4432 left_y=-0.0875 left_z=0.2022 left_yaw=-0.0121 left_pitch=-0.0753 left_roll=-0.0022 left_gripper=0.1798 right_x=0.2957 right_y=0.0025 right_z=0.1756 right_yaw=0.0011 right_pitch=-0.0179 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.4598, 9.5111, 1.7753, -0.0073, 0.2076, 0.8425, -0.1573, -1.5111, 7.0632, 1.7558, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.3325, 1.5352, 1.1828, -0.3222, -0.2565, -0.2157, 0.182, -0.0147, 0.812, 0.6075, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4407 left_y=-0.101 left_z=0.1972 left_yaw=-0.0155 left_pitch=-0.0833 left_roll=-0.0007 left_gripper=0.182 right_x=0.2956 right_y=0.0026 right_z=0.1755 right_yaw=0.0014 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -6.1744, 8.8137, 1.6288, -0.2711, 0.0122, 0.5495, -0.253, -1.3333, 7.0632, 1.7021, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dac413d4a435ab2234c87f59aa24d4555730a320ad701739b0eebdecd55295c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:185c55d8394aae003ea3219d50c0d0681c03087bd3078db95c72d6d81e27cd0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c145a6436353975945f7d710609304c989b69cc1ab42f2e85d8273e6bc09b99f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Br5mmM91n9ijYdwUM47VBY",
      "input": {
        "note": "The pen is over the inside of the left basket. Opening the gripper to drop it.",
        "targets": {
          "left_gripper": 0.8
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Br5mmM91n9ijYdwUM47VBY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 1.5578, 1.1828, -0.3275, -0.2733, -0.2405, 0.796, -0.0143, 0.8127, 0.6075, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.1103 left_z=0.187 left_yaw=-0.0145 left_pitch=-0.1061 left_roll=-0.0011 left_gripper=0.796 right_x=0.2957 right_y=0.0027 right_z=0.1753 right_yaw=0.0018 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -7.9932, 8.6359, 1.6239, -0.2369, 0.0122, -0.1783, -0.0479, -1.4154, 7.2547, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ffde179ee27b940c11ebafa36f87d3f3a06cc5c577b72a8e8649028fefc4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ae8f7a7509b429989f56378f20c305e05c2f4f4af23f75dde436aef5431158c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32fe7527c99f1144363e81b036af3592a6a5dbb2388cc6f25db6a47a86aa22d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.679 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]: [-0.2913, 1.5227, 1.1828, -0.3206, -0.2276, -0.1909, 0.1798, -0.0147, 0.812, 0.6075, -0.3851, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4432 left_y=-0.0875 left_z=0.2022 left_yaw=-0.0121 left_pitch=-0.0753 left_roll=-0.0022 left_gripper=0.1798 right_x=0.2957 right_y=0.0025 right_z=0.1756 right_yaw=0.0011 right_pitch=-0.0179 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -7.4598, 9.5111, 1.7753, -0.0073, 0.2076, 0.8425, -0.1573, -1.5111, 7.0632, 1.7558, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.3325, 1.5352, 1.1828, -0.3222, -0.2565, -0.2157, 0.182, -0.0147, 0.812, 0.6075, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4407 left_y=-0.101 left_z=0.1972 left_yaw=-0.0155 left_pitch=-0.0833 left_roll=-0.0007 left_gripper=0.182 right_x=0.2956 right_y=0.0026 right_z=0.1755 right_yaw=0.0014 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -6.1744, 8.8137, 1.6288, -0.2711, 0.0122, 0.5495, -0.253, -1.3333, 7.0632, 1.7021, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 1.5578, 1.1828, -0.3275, -0.2733, -0.2405, 0.796, -0.0143, 0.8127, 0.6075, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.1103 left_z=0.187 left_yaw=-0.0145 left_pitch=-0.1061 left_roll=-0.0011 left_gripper=0.796 right_x=0.2957 right_y=0.0027 right_z=0.1753 right_yaw=0.0018 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -7.9932, 8.6359, 1.6239, -0.2369, 0.0122, -0.1783, -0.0479, -1.4154, 7.2547, 1.7167, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ffde179ee27b940c11ebafa36f87d3f3a06cc5c577b72a8e8649028fefc4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ae8f7a7509b429989f56378f20c305e05c2f4f4af23f75dde436aef5431158c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32fe7527c99f1144363e81b036af3592a6a5dbb2388cc6f25db6a47a86aa22d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+QkKEAgSGAI4AUIIdGhpbmtpbmcSDMhRSNEuVGHFmMffUhoMfz0rabFAh38ajrEKIjCihfHD+LQysdIMWoRo7OGk9Tu0D2IxGBgHmDZi9zKdme11BCf7yssWLka/oemqvH4qlgm6CDt2iNMX+EcCshuGgUxD3wio3H1VKnW4h2PNlm4lzXG7tV64d/nJHgvxnrfZJJ6inn+7uLiMJcybvYnqv+OrliH3FSesPxNt/x0mnvYKCV/gFHyNV0dZRVpmpbirvqL6+6LYdI+PjpBsOwg+S1zeYDfZvnAnxUj4H/MNT0/ldvWlEPQ7mFKNMWPBUhtjkPrDR3O+ELJZpxyzopImpQ7b9iYx9mU8x4+nmSAg6k64eZFh7eoPHkbSvHqs21JEkTX4I6SgZo3zzoT/ReAcN7eV20gmfhId0In2miCpul+3gbPlxIbihq6WUtm4k4havN7pXA22YClaKaqNI+gM5wnj1z5+ocSUMXYTYKtFcJZE+2OrXETd0xN8kFKQ7e3Z2MqiIU5TS+g8aXWPPhjl+ONCXflFmaLspRaBvJK8GUKwLaSGdSsOHRG9OTzUKjca58jcRb0ZpYYXP9Uxx5phnBXe0FMVCbMPKyaQRbAWQmHkFQci1CmpEJmSauwCTamLZo/5ZTmM4lfijkKuWs5GmYfkt/LPaH3t1m3GrkouqFjztlVO6B+mh2XiLLpy9WTEWln3LWkrNjWOnGwWFy0qm5/JyMWFmcgCis0e/8XQW0zlUPIxt6l+Q/TWox0Q/eahZCm7Qx+wCVZFS7PTIN24ZkyJzW5b82MsTNqj564WFcMQmcxS3U3hCk+IgJgznpwyk0EsbthmNKQMHZB1eE/y0GQDCOMKkNT1AqrjG+jVL7oZtwhPXVIiM4CcA36P0sv4d/WfD+D6BIXfvxcgohPtxR9uwDztqVpx9JlD/l27fZhcV35ZtTRUQqRGw72ObBsgkQChm1g/IwlpKGYKuVoZL26vdNLkba/1gxOwI7L9dYy5oNpWGV9NtH/FhOtS9EUwzfsw2/CE50M/eEq69RYcm18NRPuXufUpKhombF0zeT1JsAYYaEQ4CZwukXkda7tvZsxMvFz9cmJ2Cy/6zrrCJw0LxdDA5/jwAl6f3LWWlCCoiLwEsW/hmOvh4Eeu3kwoGn2GbhWaV+LUM2fgJ/zpTMxNqFZs7WOGCJjfxXcD8uH8p9+dfRqYyTpScXbU2q5B5M8eQEwmmcprMz6Q9iOoI0dhN1Scfu6yhdolRpYKMzJCJxCEroMneIn3LlHn/kT2mnBd3FawATFIghw5n5VjresWKC8+uDyK3gY4hpp7U6MWWjMNS/aXNiAI3h42hOoU4lYLpnXyJILekCgkQs4RwThdQTlGIDiPCt3dkljes/or2Xh3jl0sq1i8lURGCSD5Xopp4OFTnitj1dRelssZc1pUlK97jvCkzgMnYNWLPuzOMqQE5zTCGTu2Avl/VkLJmLOO+DQLrRj9zzi3NqH63lKr1c0obOXYVvmTAaN4t5Ryi3LOj7Df0SuGceOSTrdMNMRy7AZd2p0ik5I9wt+gYTRtADHZ01kZ8e5NYdZJ/FJB+kkV5m3epHG7bZl41VCYkf8HuUTj5eO2xttWKNhIBM+5WT0pl8+Avwx61psvALPPJlMIjJrONJOT8A/nkWwpNWwXMWS+XtSTtxx8JKQFvMNCVA481BVNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HCLqmt81GBUXYq148yWrZt",
      "input": {
        "note": "Yellow pen is in the left basket (pens basket). Now the right arm goes for the black marker, just left of its jaw column in the right wrist cam.",
        "targets": {
          "right_gripper": 0.5,
          "right_x": 0.31,
          "right_y": 0.015,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HCLqmt81GBUXYq148yWrZt",
      "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]: [-0.3592, 1.5578, 1.1828, -0.3275, -0.2729, -0.2443, 0.7967, 0.0582, 1.0378, 0.2874, 0.1211, 0.0265, 0.004, 0.5016]\nstate[eef_state]: left_x=0.4392 left_y=-0.1102 left_z=0.187 left_yaw=-0.0124 left_pitch=-0.1061 left_roll=-0.0044 left_gripper=0.7967 right_x=0.3051 right_y=0.0167 right_z=0.0712 right_yaw=0.0195 right_pitch=-0.0574 right_roll=-0.0021 right_gripper=0.5016\nstate[joint_eff]: [-0.1026, -7.4462, 6.9675, 1.6288, -0.188, -0.0464, 0.0562, 0.294, -2.947, 6.6803, 1.8877, 0.1441, 0.0806, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:822afb26d1f8f7564dcf134a1a79e1bf62c0c514469acb1c1e1a030cb97bf427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fa5793d288ca322e05678f69973e0ed24379fcac0696d9605a510c2abf449b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb7f74350ef43c7c42ee9e5049c60a97f3736272e58d0067f648b279e91cdbc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 2.962 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]: [-0.3325, 1.5352, 1.1828, -0.3222, -0.2565, -0.2157, 0.182, -0.0147, 0.812, 0.6075, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4407 left_y=-0.101 left_z=0.1972 left_yaw=-0.0155 left_pitch=-0.0833 left_roll=-0.0007 left_gripper=0.182 right_x=0.2956 right_y=0.0026 right_z=0.1755 right_yaw=0.0014 right_pitch=-0.0183 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -6.1744, 8.8137, 1.6288, -0.2711, 0.0122, 0.5495, -0.253, -1.3333, 7.0632, 1.7021, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 1.5578, 1.1828, -0.3275, -0.2733, -0.2405, 0.796, -0.0143, 0.8127, 0.6075, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.1103 left_z=0.187 left_yaw=-0.0145 left_pitch=-0.1061 left_roll=-0.0011 left_gripper=0.796 right_x=0.2957 right_y=0.0027 right_z=0.1753 right_yaw=0.0018 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -7.9932, 8.6359, 1.6239, -0.2369, 0.0122, -0.1783, -0.0479, -1.4154, 7.2547, 1.7167, -0.0317, -0.0659, -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]: [-0.3592, 1.5578, 1.1828, -0.3275, -0.2729, -0.2443, 0.7967, 0.0582, 1.0378, 0.2874, 0.1211, 0.0265, 0.004, 0.5016]\nstate[eef_state]: left_x=0.4392 left_y=-0.1102 left_z=0.187 left_yaw=-0.0124 left_pitch=-0.1061 left_roll=-0.0044 left_gripper=0.7967 right_x=0.3051 right_y=0.0167 right_z=0.0712 right_yaw=0.0195 right_pitch=-0.0574 right_roll=-0.0021 right_gripper=0.5016\nstate[joint_eff]: [-0.1026, -7.4462, 6.9675, 1.6288, -0.188, -0.0464, 0.0562, 0.294, -2.947, 6.6803, 1.8877, 0.1441, 0.0806, 0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:822afb26d1f8f7564dcf134a1a79e1bf62c0c514469acb1c1e1a030cb97bf427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fa5793d288ca322e05678f69973e0ed24379fcac0696d9605a510c2abf449b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb7f74350ef43c7c42ee9e5049c60a97f3736272e58d0067f648b279e91cdbc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wcKEAgSGAI4AUIIdGhpbmtpbmcSDJvvrKncfIiVYcQPFxoMxMauZrrdk4V9jN+WIjCZvGeF/MLAiEWNovfBHTi1ue4WrchkazxDaZHds4SzXqj8F9uEjc8a9OOBa4co/HEqlAcoaSVOJATwGQoOu9jdwC7Jwccwcd95YxpqArbu3NdOFZVAXC1irhFDSQIQxSZpF3+Dj3AtBC5eLeaG4jydv7BvzDVZ5d+LWsKX6V0uxPHN83e4Flcj2emSokrgtIZumB/MQmB9y5cp5URKGmxKW9AbHelU9na8dxik4vPl7eab3lNVcOpJMa9t/YMBcxgyfMSNPC6+/YuEJdovMD3Fc4dVlwiQE9jUvefaDW7vcTFSnKXECo6InwVWNKvvTSYlMqjZWF0GUh/bxG5X+XV10rbIPjdSWRSawJX5aSZp9mrY0XyiVAZPwo0o0eMi1i7CvFJVQY9EsjPzstJp+DQuuqNwGX4GA9kD/PPOCsEqASX2QpuWEHGq0p7Rr8kqFOhEF8qmzsMQsDphcrGFVMAuV+AMJeEJRPyNbYqOGvdNcygRh/cf5E+WAhi0pGWlw4K1qZ607s1Ny46/oaXujxQHJxRiHsa3vu5OPKjOkxCnTBesDxuUoNe2H73CgOnZISJB12Mk2J0q9s02gF+T1MlraEMj2EyEHIbtbrbNn8pufFqFpExObwgXSjkuGrR98oqvKCeAXRZfcKvnsvluCnAMEXMhxZDxIscW4lb8hAN2beSMIqnxSRmxTvUI/z4F2/KAH5yf8xblmGVSNWlpX6cUraA6wRVsQe6AQycwU9LZBnOGhV42y7C17gFRW/+FWxklITxm9O/lu8s/4XFaKB1hGPVEmrPvK4/T2zbud3YGmcqH6gkBMehejnMRSy/tQJuokaepe5nwhOxZjXHq0ZxjSq/nDFgpTOl+F0aQadHeurJtUm1nA0EJZPgwAiZZKeQ+ymXbNyyGlKCBDOfxMejqq4igYvL3hWqPS9Zai1Fn2LdHgvIGGC2FObfxnu8fjtJg7Hut+ZsQjgt0PWMomV9JHpp+D7Y3ey48wc4yu81q4+qJ5FLEeDrSEUi5N79MBFzlptOLokkUa34fE61Wuu/oY8H5UaeWC8UGRxeed3Q1wSKORtytnWxpgqWTrHPYxeSUsrU3PY4ItqtJUkhMnlcFGZed5Wi6sxmeeRkRFt8HtndvycI0uHVPW0qFPxyKNKTNo2kMC2VD8l44nCNOKYtW+oWj/1P5SB162ZFhKxz2Fp/Tr5kxnLhxs3RqWvGLSsdvYWW+z8z9dY97sBy4RgaIsF0ad0r43PGHmPMiGlbDwY+VBqCbiVT9+QzoPeP/Pkm4PhtSnr0bGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D5A3z8zYb3G8HPDt6ToaNZ",
      "input": {
        "note": "Black marker is centred between the right jaws. Descending to table level.",
        "targets": {
          "right_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_01D5A3z8zYb3G8HPDt6ToaNZ",
      "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]: [-0.3595, 1.562, 1.1824, -0.3279, -0.2726, -0.2447, 0.7968, 0.0578, 1.5318, 0.1349, 0.8322, 0.0151, 0.0074, 0.5019]\nstate[eef_state]: left_x=0.4393 left_y=-0.1105 left_z=0.185 left_yaw=-0.0127 left_pitch=-0.1109 left_roll=-0.0032 left_gripper=0.7968 right_x=0.3191 right_y=0.0194 right_z=0.013 right_yaw=0.0269 right_pitch=0.0067 right_roll=0.0094 right_gripper=0.5019\nstate[joint_eff]: [-0.0342, -7.2684, 7.2957, 1.6239, -0.1441, -0.0073, -0.0024, -0.0342, -2.4137, 2.0855, 1.0574, 0.0611, -0.0611, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82497ab49a3db4aee9053d9cbf5cf274b248a2e9655e7fa75262c16081ef1b5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d92726c19e851500180223f9b31fbb14baa1589f987723e861a4fd5ba487b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a66192dfe6bc415dd817e1d54f0742ab022659cd39d1c577c3ce2964b5658981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 15.5 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]: [-0.3595, 1.5578, 1.1828, -0.3275, -0.2733, -0.2405, 0.796, -0.0143, 0.8127, 0.6075, -0.3855, -0.0189, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4392 left_y=-0.1103 left_z=0.187 left_yaw=-0.0145 left_pitch=-0.1061 left_roll=-0.0011 left_gripper=0.796 right_x=0.2957 right_y=0.0027 right_z=0.1753 right_yaw=0.0018 right_pitch=-0.0191 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -7.9932, 8.6359, 1.6239, -0.2369, 0.0122, -0.1783, -0.0479, -1.4154, 7.2547, 1.7167, -0.0317, -0.0659, -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]: [-0.3592, 1.5578, 1.1828, -0.3275, -0.2729, -0.2443, 0.7967, 0.0582, 1.0378, 0.2874, 0.1211, 0.0265, 0.004, 0.5016]\nstate[eef_state]: left_x=0.4392 left_y=-0.1102 left_z=0.187 left_yaw=-0.0124 left_pitch=-0.1061 left_roll=-0.0044 left_gripper=0.7967 right_x=0.3051 right_y=0.0167 right_z=0.0712 right_yaw=0.0195 right_pitch=-0.0574 right_roll=-0.0021 right_gripper=0.5016\nstate[joint_eff]: [-0.1026, -7.4462, 6.9675, 1.6288, -0.188, -0.0464, 0.0562, 0.294, -2.947, 6.6803, 1.8877, 0.1441, 0.0806, 0.1587]",
      "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]: [-0.3595, 1.562, 1.1824, -0.3279, -0.2726, -0.2447, 0.7968, 0.0578, 1.5318, 0.1349, 0.8322, 0.0151, 0.0074, 0.5019]\nstate[eef_state]: left_x=0.4393 left_y=-0.1105 left_z=0.185 left_yaw=-0.0127 left_pitch=-0.1109 left_roll=-0.0032 left_gripper=0.7968 right_x=0.3191 right_y=0.0194 right_z=0.013 right_yaw=0.0269 right_pitch=0.0067 right_roll=0.0094 right_gripper=0.5019\nstate[joint_eff]: [-0.0342, -7.2684, 7.2957, 1.6239, -0.1441, -0.0073, -0.0024, -0.0342, -2.4137, 2.0855, 1.0574, 0.0611, -0.0611, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82497ab49a3db4aee9053d9cbf5cf274b248a2e9655e7fa75262c16081ef1b5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d92726c19e851500180223f9b31fbb14baa1589f987723e861a4fd5ba487b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a66192dfe6bc415dd817e1d54f0742ab022659cd39d1c577c3ce2964b5658981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QYKEAgSGAI4AUIIdGhpbmtpbmcSDBs0WYlReRWiLWGasRoMDsHkWOv21UEW2ssPIjBPFD/IkRNa2zvKE5b58PYT/5ZBM7yoXOfpU48/dc2FtezeBIpRW8mlaYM5oVaT374qjgbxha+x6Jwaw+JJ976pjPgUq+Gz6JD1EGcEDwj+wqdImC6+9UXTxsVSKzSkk8tWhQOcjKZgSV6ntZ25PBu1lsMLw/cwgC9+C8Y2mDqAmUiEFW3Cvndv52DL4sEH2Ekfr/0Aq0u1XjCZrnAs3E2H9bxN7l3KK8aOOgUF3ZVJUbd8HhU/nPY70bKtY/JNLmzvJz9IFF0/hhOoATO5wgE9sNysCx5Uk5TudJdNRcYphPQqlVVjU3KtzKCC9eABmtW8tsSXaSoLJAvGCo4Hp186CTHy6JBg6PZoxVyzAi5nyURLYstdL1QQGPNnl7GCQTfkaGxHG8Mqb+NqjaGLbKR3Tv1YyJNmhMIiWx3Cqakkl6bNjq0rcJGth/i4Ddw9Wpm0UAnXrayohgUVDio0kTbs0iYCpfRxtXO8gixHVgPChniLxApYkFGaCdkUY6tJ/yXSab+ceUfG3xX7Z6gOVrIU6zQbVGa6reFbRozxXAXJieJDwiPdEeAFQpKtBpquuOLjJN5+obXCeVFT4S9oSxID2LQcShXsBl0+PGJ2JOFP8M5VAo8VbQI8F7/GV1ool02zQp2SzZB5fRyiU7ypc2nyhvYwb71BDa19Z02Jozk/latrkZb7A09vasXzfg8md4eHjMhaO7cnLwTyc53TIjQ5xLe/aCkBqXh3KE37ml6qYbhqb46LPYIO2FB1MOJewD+OycyT0ftQJeE7QJ7rMi6O4gn+j9MEA52pfm9DFQqHM2EN9Nj0qisOZdAb2+Qtppqo7QC8wd52gApX26NsmOMrsKk5SnTe1LZOiF0WPEQblfd1JdIxsVAP2copmv/xZk5zq/onxZraQxSVfcVISBZ/2v2x6h2D4uTGh0uwXHiolW+3bqDvdi1ILQTAQbuwOBAvzaDjFT0q+bSqfianC4wJBjIaZcCK9eiJne5Zpv5SvAGMEZ+WNDU3Ra3UgN46IYO0UjjQorGXFCDnpQ8atxer7E9ZgrSQgi3Fs1OzrAD6s5WIhObXflC5gk2FtD7B80iRZo4Yw+lBSVPW3iqDaf1FPBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UYjoie4XsnXT2dsgEHF3ow",
      "input": {
        "note": "Black marker sits between the right jaws at near-table height. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UYjoie4XsnXT2dsgEHF3ow",
      "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]: [-0.3595, 1.562, 1.1824, -0.3275, -0.2726, -0.2451, 0.7968, 0.0578, 1.5352, 0.1261, 0.8539, 0.0147, 0.0036, 0.1751]\nstate[eef_state]: left_x=0.4394 left_y=-0.1105 left_z=0.1851 left_yaw=-0.0125 left_pitch=-0.1105 left_roll=-0.0036 left_gripper=0.7968 right_x=0.3185 right_y=0.0194 right_z=0.0138 right_yaw=0.0293 right_pitch=0.0163 right_roll=0.0067 right_gripper=0.1751\nstate[joint_eff]: [-0.0889, -7.5145, 6.8855, 1.5653, -0.1734, -0.0611, -0.0122, -0.1162, -4.3282, 4.4786, 1.536, -0.0611, -0.0024, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46b28d104fdbde095c7285b2e6792571780e8ec73c2c251fdfc897adee95b3f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ba9d2e4351cb4a93ae527e9056b3f22a014ae74f90e1c7734ca35a7180e7ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e26ce49208716840cd1dca4d89697431bb19f987481e39964f821a3e6e51fbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 9.51 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]: [-0.3592, 1.5578, 1.1828, -0.3275, -0.2729, -0.2443, 0.7967, 0.0582, 1.0378, 0.2874, 0.1211, 0.0265, 0.004, 0.5016]\nstate[eef_state]: left_x=0.4392 left_y=-0.1102 left_z=0.187 left_yaw=-0.0124 left_pitch=-0.1061 left_roll=-0.0044 left_gripper=0.7967 right_x=0.3051 right_y=0.0167 right_z=0.0712 right_yaw=0.0195 right_pitch=-0.0574 right_roll=-0.0021 right_gripper=0.5016\nstate[joint_eff]: [-0.1026, -7.4462, 6.9675, 1.6288, -0.188, -0.0464, 0.0562, 0.294, -2.947, 6.6803, 1.8877, 0.1441, 0.0806, 0.1587]",
      "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]: [-0.3595, 1.562, 1.1824, -0.3279, -0.2726, -0.2447, 0.7968, 0.0578, 1.5318, 0.1349, 0.8322, 0.0151, 0.0074, 0.5019]\nstate[eef_state]: left_x=0.4393 left_y=-0.1105 left_z=0.185 left_yaw=-0.0127 left_pitch=-0.1109 left_roll=-0.0032 left_gripper=0.7968 right_x=0.3191 right_y=0.0194 right_z=0.013 right_yaw=0.0269 right_pitch=0.0067 right_roll=0.0094 right_gripper=0.5019\nstate[joint_eff]: [-0.0342, -7.2684, 7.2957, 1.6239, -0.1441, -0.0073, -0.0024, -0.0342, -2.4137, 2.0855, 1.0574, 0.0611, -0.0611, 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]: [-0.3595, 1.562, 1.1824, -0.3275, -0.2726, -0.2451, 0.7968, 0.0578, 1.5352, 0.1261, 0.8539, 0.0147, 0.0036, 0.1751]\nstate[eef_state]: left_x=0.4394 left_y=-0.1105 left_z=0.1851 left_yaw=-0.0125 left_pitch=-0.1105 left_roll=-0.0036 left_gripper=0.7968 right_x=0.3185 right_y=0.0194 right_z=0.0138 right_yaw=0.0293 right_pitch=0.0163 right_roll=0.0067 right_gripper=0.1751\nstate[joint_eff]: [-0.0889, -7.5145, 6.8855, 1.5653, -0.1734, -0.0611, -0.0122, -0.1162, -4.3282, 4.4786, 1.536, -0.0611, -0.0024, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46b28d104fdbde095c7285b2e6792571780e8ec73c2c251fdfc897adee95b3f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ba9d2e4351cb4a93ae527e9056b3f22a014ae74f90e1c7734ca35a7180e7ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e26ce49208716840cd1dca4d89697431bb19f987481e39964f821a3e6e51fbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013AzTeqayuNMxPkgsHDLxq4",
      "input": {
        "note": "Black marker grasped (0.175). The left (pens) basket is beyond the right arm's reach, so I'll set the marker down near the table centre line, in the gap above the toys, for the left arm to pick up.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.28,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_013AzTeqayuNMxPkgsHDLxq4",
      "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]: [-0.3595, 1.5627, 1.1824, -0.3275, -0.2729, -0.2474, 0.7968, 0.902, 1.7489, 1.0317, -0.0685, 0.6743, 0.5255, 0.1761]\nstate[eef_state]: left_x=0.4395 left_y=-0.1105 left_z=0.1847 left_yaw=-0.0109 left_pitch=-0.1112 left_roll=-0.0049 left_gripper=0.7968 right_x=0.3553 right_y=0.2775 right_z=0.109 right_yaw=0.059 right_pitch=-0.0138 right_roll=-0.0165 right_gripper=0.1761\nstate[joint_eff]: [-0.2256, -7.5829, 7.1726, 1.5849, -0.1783, -0.0366, -0.0073, 0.0068, -8.335, 8.6496, 1.4042, 0.5201, 0.1978, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e89ee9ca4c0c0886292f02862e119d8dc9c1b3b4a88e8eba99e1fad488ba7e0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac475fac2715d06d55b231935707fbac95a4f6af85e7c18b23552947b4e096a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:429b3951872579330845f1d16fe7155e5b7d810380da8e9e41ae9e106c6e840b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 2.868 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]: [-0.3595, 1.562, 1.1824, -0.3279, -0.2726, -0.2447, 0.7968, 0.0578, 1.5318, 0.1349, 0.8322, 0.0151, 0.0074, 0.5019]\nstate[eef_state]: left_x=0.4393 left_y=-0.1105 left_z=0.185 left_yaw=-0.0127 left_pitch=-0.1109 left_roll=-0.0032 left_gripper=0.7968 right_x=0.3191 right_y=0.0194 right_z=0.013 right_yaw=0.0269 right_pitch=0.0067 right_roll=0.0094 right_gripper=0.5019\nstate[joint_eff]: [-0.0342, -7.2684, 7.2957, 1.6239, -0.1441, -0.0073, -0.0024, -0.0342, -2.4137, 2.0855, 1.0574, 0.0611, -0.0611, 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]: [-0.3595, 1.562, 1.1824, -0.3275, -0.2726, -0.2451, 0.7968, 0.0578, 1.5352, 0.1261, 0.8539, 0.0147, 0.0036, 0.1751]\nstate[eef_state]: left_x=0.4394 left_y=-0.1105 left_z=0.1851 left_yaw=-0.0125 left_pitch=-0.1105 left_roll=-0.0036 left_gripper=0.7968 right_x=0.3185 right_y=0.0194 right_z=0.0138 right_yaw=0.0293 right_pitch=0.0163 right_roll=0.0067 right_gripper=0.1751\nstate[joint_eff]: [-0.0889, -7.5145, 6.8855, 1.5653, -0.1734, -0.0611, -0.0122, -0.1162, -4.3282, 4.4786, 1.536, -0.0611, -0.0024, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 1.5627, 1.1824, -0.3275, -0.2729, -0.2474, 0.7968, 0.902, 1.7489, 1.0317, -0.0685, 0.6743, 0.5255, 0.1761]\nstate[eef_state]: left_x=0.4395 left_y=-0.1105 left_z=0.1847 left_yaw=-0.0109 left_pitch=-0.1112 left_roll=-0.0049 left_gripper=0.7968 right_x=0.3553 right_y=0.2775 right_z=0.109 right_yaw=0.059 right_pitch=-0.0138 right_roll=-0.0165 right_gripper=0.1761\nstate[joint_eff]: [-0.2256, -7.5829, 7.1726, 1.5849, -0.1783, -0.0366, -0.0073, 0.0068, -8.335, 8.6496, 1.4042, 0.5201, 0.1978, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e89ee9ca4c0c0886292f02862e119d8dc9c1b3b4a88e8eba99e1fad488ba7e0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac475fac2715d06d55b231935707fbac95a4f6af85e7c18b23552947b4e096a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:429b3951872579330845f1d16fe7155e5b7d810380da8e9e41ae9e106c6e840b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BWywvmymN2Ts8REyX3Ufe9",
      "input": {
        "note": "Right arm with marker is just in front of the right basket, teddy below-left. Moving to the gap between baskets at the centre line and lowering to set the marker down for the left arm.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.33,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BWywvmymN2Ts8REyX3Ufe9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 1.5642, 1.1816, -0.3275, -0.2726, -0.2478, 0.7968, 0.9371, 2.1052, 1.1286, 0.2264, 0.7143, 0.577, 0.1775]\nstate[eef_state]: left_x=0.4394 left_y=-0.1105 left_z=0.1837 left_yaw=-0.0109 left_pitch=-0.1134 left_roll=-0.0047 left_gripper=0.7968 right_x=0.3807 right_y=0.3287 right_z=0.0312 right_yaw=0.0374 right_pitch=0.0297 right_roll=0.0363 right_gripper=0.1775\nstate[joint_eff]: [-0.1026, -7.6923, 7.1179, 1.5849, -0.1685, -0.0366, -0.0122, 1.1419, -8.0205, 5.7778, 1.116, 0.1734, -0.0952, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fa380d2eac92ff94aba3116212033c841453d3b6ff0c02e08719d0ec8994fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1baf8f67ba50797a4452680aec8c6cb9e0d7c1509557be0a322a87d79387196f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e50d807575f2c66f793093a6ec3d2b9d3db43fc002bb16b46dc04a6e18f375ae",
        "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 · 3.547 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]: [-0.3595, 1.562, 1.1824, -0.3275, -0.2726, -0.2451, 0.7968, 0.0578, 1.5352, 0.1261, 0.8539, 0.0147, 0.0036, 0.1751]\nstate[eef_state]: left_x=0.4394 left_y=-0.1105 left_z=0.1851 left_yaw=-0.0125 left_pitch=-0.1105 left_roll=-0.0036 left_gripper=0.7968 right_x=0.3185 right_y=0.0194 right_z=0.0138 right_yaw=0.0293 right_pitch=0.0163 right_roll=0.0067 right_gripper=0.1751\nstate[joint_eff]: [-0.0889, -7.5145, 6.8855, 1.5653, -0.1734, -0.0611, -0.0122, -0.1162, -4.3282, 4.4786, 1.536, -0.0611, -0.0024, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 1.5627, 1.1824, -0.3275, -0.2729, -0.2474, 0.7968, 0.902, 1.7489, 1.0317, -0.0685, 0.6743, 0.5255, 0.1761]\nstate[eef_state]: left_x=0.4395 left_y=-0.1105 left_z=0.1847 left_yaw=-0.0109 left_pitch=-0.1112 left_roll=-0.0049 left_gripper=0.7968 right_x=0.3553 right_y=0.2775 right_z=0.109 right_yaw=0.059 right_pitch=-0.0138 right_roll=-0.0165 right_gripper=0.1761\nstate[joint_eff]: [-0.2256, -7.5829, 7.1726, 1.5849, -0.1783, -0.0366, -0.0073, 0.0068, -8.335, 8.6496, 1.4042, 0.5201, 0.1978, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 1.5642, 1.1816, -0.3275, -0.2726, -0.2478, 0.7968, 0.9371, 2.1052, 1.1286, 0.2264, 0.7143, 0.577, 0.1775]\nstate[eef_state]: left_x=0.4394 left_y=-0.1105 left_z=0.1837 left_yaw=-0.0109 left_pitch=-0.1134 left_roll=-0.0047 left_gripper=0.7968 right_x=0.3807 right_y=0.3287 right_z=0.0312 right_yaw=0.0374 right_pitch=0.0297 right_roll=0.0363 right_gripper=0.1775\nstate[joint_eff]: [-0.1026, -7.6923, 7.1179, 1.5849, -0.1685, -0.0366, -0.0122, 1.1419, -8.0205, 5.7778, 1.116, 0.1734, -0.0952, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fa380d2eac92ff94aba3116212033c841453d3b6ff0c02e08719d0ec8994fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1baf8f67ba50797a4452680aec8c6cb9e0d7c1509557be0a322a87d79387196f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e50d807575f2c66f793093a6ec3d2b9d3db43fc002bb16b46dc04a6e18f375ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+QYKEAgSGAI4AUIIdGhpbmtpbmcSDCas33phwpapf7TqBRoM4d4Kg6KFyYCrE9VGIjCezeVTgz2JlLjWZu4OihT+LTlMJ4x8BDXn0PkXYKIgscI+tQvGjhW7hfXW8f0lhAcqlgay8ApZ88gBvumOlTG8/2q3WCODc+fwfbTS8mZb7XBvvEtQs6hWHTRecbFw9838S18ufawbAIGtly7L4WyNmGiuIONoDLXWz5ahQJD5pk2zvXDkO0hlT+J1j4L6EZgitDjAhf72DQeXK3ThezaiPXBItb8riE7SeAamjyVLS7HPNrzmGFFgqnlqOIPqxXDZPLGNiRxAl8Lbmn3tMMc6kKpLTfHsHKApbP6fTIBtFUC84HauWe96ozSGLNhAEMENGKneBjqTpmsuLr+EnyfOpAU0GF1QShoMkEsXO5CDaf0yAENdAm34OWmF3ECnxhGCtfmmfjl8od6FQXC0jFnV37gxPd+NvYZDOWJLpAzkh353zPAAKzh5lY6Ma7FTvWwStXUDklIqBt5H3+AcCk40nEdb1KIFSQYsMRUi5D3X8NaxJuWMnpBlqsc9w4Hu/ouoxbCmwci9Ke3cw13Udi7RamBWP2RHFbFssSpUN0ay7lJDX+goOQT+jrvsC2mkLm+DB1gormJmxhhHOoxb26lCpdkN0AkKRIIIEDZNtOwWLXsmI+ZAqOs4ByfmaV3vEwplcPzzy09qJrDp6a2pRlGu2mDpPfalBOJqyoGP51KWjeajp9q87lu8nuha/4rzRLPQlpd7uBY6ARZkAf4WScNKEOJGHLKt8ns6MR2J50dDkgVv8vVLEwzk6ffr/ToGEx5yw4/23Pvk20UoIu6ApcqA7jMkCBB75mvKR5aN2f+ZdUMqeuDNhDgzTuw/IgWPctFw9psh3RbEZ3GZToYLmAHfoRi4dT2Gi1jPGrnjY9kNi6o39+NqeYTokCZycvcCeh80NDB1FP6HtgzNU+7irwbhdAcuaBFSkUVNjfTNDp6LIG7MkP23UwGS0rwSjlW5zm9g2nyG3ptG98u13ruHfj9vm/d7K0wbzO9L23a5TPX/00hG15A/53m0kqyaJFn+8mFo/i0Dxxi7vTuoqpR1AiZD/hgbpJW1Y/1UiOH7G3sOBeGoUqA5MMmPjCvcVZnL7b5SQssiwoUS9iyTMsXlbgoEqsJ//h+hqjrxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NZov3WBE2jErNP34uYPWhT",
      "input": {
        "note": "Marker is just above the table in the gap between the baskets. Releasing it there.",
        "targets": {
          "right_gripper": 0.6
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NZov3WBE2jErNP34uYPWhT",
      "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]: [-0.3595, 1.5642, 1.182, -0.3275, -0.2726, -0.2478, 0.7968, 0.934, 2.1059, 1.1286, 0.2298, 0.7132, 0.5766, 0.5959]\nstate[eef_state]: left_x=0.4395 left_y=-0.1106 left_z=0.1839 left_yaw=-0.0109 left_pitch=-0.113 left_roll=-0.0048 left_gripper=0.7968 right_x=0.3819 right_y=0.3281 right_z=0.0312 right_yaw=0.0353 right_pitch=0.0308 right_roll=0.0386 right_gripper=0.5959\nstate[joint_eff]: [-0.2393, -7.2957, 7.0906, 1.5556, -0.1538, -0.0611, -0.0122, -0.0068, -10.947, 5.7504, 1.3553, 0.232, -0.022, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d056e96966f08a8dd7a2f4e041a081618a4754d99ee979d28ed083dc3e442c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f82cac5c6f1a754aed6d04a228461742cedf7c06ecef45edfa88ad3b7fe1021f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5eef7025d4044947c3c8f9c891355285507bcde6f3421ed6d3d2a52c827befb",
        "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 · 7.039 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]: [-0.3595, 1.5627, 1.1824, -0.3275, -0.2729, -0.2474, 0.7968, 0.902, 1.7489, 1.0317, -0.0685, 0.6743, 0.5255, 0.1761]\nstate[eef_state]: left_x=0.4395 left_y=-0.1105 left_z=0.1847 left_yaw=-0.0109 left_pitch=-0.1112 left_roll=-0.0049 left_gripper=0.7968 right_x=0.3553 right_y=0.2775 right_z=0.109 right_yaw=0.059 right_pitch=-0.0138 right_roll=-0.0165 right_gripper=0.1761\nstate[joint_eff]: [-0.2256, -7.5829, 7.1726, 1.5849, -0.1783, -0.0366, -0.0073, 0.0068, -8.335, 8.6496, 1.4042, 0.5201, 0.1978, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3595, 1.5642, 1.1816, -0.3275, -0.2726, -0.2478, 0.7968, 0.9371, 2.1052, 1.1286, 0.2264, 0.7143, 0.577, 0.1775]\nstate[eef_state]: left_x=0.4394 left_y=-0.1105 left_z=0.1837 left_yaw=-0.0109 left_pitch=-0.1134 left_roll=-0.0047 left_gripper=0.7968 right_x=0.3807 right_y=0.3287 right_z=0.0312 right_yaw=0.0374 right_pitch=0.0297 right_roll=0.0363 right_gripper=0.1775\nstate[joint_eff]: [-0.1026, -7.6923, 7.1179, 1.5849, -0.1685, -0.0366, -0.0122, 1.1419, -8.0205, 5.7778, 1.116, 0.1734, -0.0952, 0.652]",
      "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]: [-0.3595, 1.5642, 1.182, -0.3275, -0.2726, -0.2478, 0.7968, 0.934, 2.1059, 1.1286, 0.2298, 0.7132, 0.5766, 0.5959]\nstate[eef_state]: left_x=0.4395 left_y=-0.1106 left_z=0.1839 left_yaw=-0.0109 left_pitch=-0.113 left_roll=-0.0048 left_gripper=0.7968 right_x=0.3819 right_y=0.3281 right_z=0.0312 right_yaw=0.0353 right_pitch=0.0308 right_roll=0.0386 right_gripper=0.5959\nstate[joint_eff]: [-0.2393, -7.2957, 7.0906, 1.5556, -0.1538, -0.0611, -0.0122, -0.0068, -10.947, 5.7504, 1.3553, 0.232, -0.022, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d056e96966f08a8dd7a2f4e041a081618a4754d99ee979d28ed083dc3e442c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f82cac5c6f1a754aed6d04a228461742cedf7c06ecef45edfa88ad3b7fe1021f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5eef7025d4044947c3c8f9c891355285507bcde6f3421ed6d3d2a52c827befb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwgKEAgSGAI4AUIIdGhpbmtpbmcSDBvb56uRW0kn2ukKZRoMTJOJ4nHCLdHn50xBIjBzbMhAqvIs7T/16IJ8/VAKUSFSHdZobi1DjL0ypbjKYV8+95M8PdqRGorUN8RAHLIqpAcYdvBYtiwiRvTwX8jcft5oECBR6+94jn4Be/G5a/isdEwJ/MDza9H2ngt8qlsQx0QhfCFkgo61bknOM/D2CRBZUph6C0rBaMhTBLbSUkT8hvG7gGz1NcTDWNYwmG0z90Ov7MqaAX/DiNNawcApwi2myIv1MgcBYTyXq8TLhdV61ijuOhKAIkTQUrr8c2WgLr3jTzXYCL5fxNScH/xQ7yLjKvizc/T7QAoiCU8/QHArrP0RK2Apla1Wf6xv6EYuDTKBMjS/PqcFp6xZXiMSoFwx2TxXSJ5eeuZLTS0icxBmbhbbi9d/JwMz5hxTkaDcXwftJthCxnpGWAP2Rk6OcALBAqaxmdG0kne25SW65PE/VnlQ4ieo86Hz7Ay+SoWPsqTzuzcXSRFkWIKxWzr6Pz2xGrVXjPD5BV9RM7szZU+WunOjy3o4gfWOz8zrPw5MZ5SuW1cu0JSMk6u+a7epI9zxI9nptUnMAkjiZ3d1TrG7R5ku71xt8MfgvbtduYNsE8wBXq++exh/MFsI/Fv+zfF0zXnblmdKE+a/J1kuQS9v479liT1luG8nJrRjSgisxU9/ss5msiyBRnY1+GZdHDQqRsLE9b20p9q0qiKm55w32bvZH6jPq6e8qnostlxgcF4a9eF/Ucum2FuqIdOnwoYVe19NNvO89F4mA9nlSEiwByOnBPEaRwOAuo5Y+EhFgM7NQTfx5p4ZQZI+ei3K8thjuh7kEDks4jXjUFNWWNLySpSY5dN3ORihRv3HZqx56nEUG2vVb2PXenXGcVheSlvhV2wQSSSb+X2Ny0kNttaBHSpf+/bAfQd2lth4rNuqRkLIcYLmWeH7RqBAuFRTa8rf4OLeEgX62eR+DqErrX1R1RVzoLHWRN25vEgDXFR7BpGdOy/pZqKGPClGFKlsk3MoGef/yDrHOBtLLmFhkkmg64kNHt6m23NLFnA/sgaDfTasTZysrCnpuzxEWi9EgBi5MneS66uKKVE9okCOjKsfc9VoTXEvpp9L8t/PoLm17a894t4fw5AWBvovELvvGd1YULGOncYfpjfmQw+BHtfGYcCQH+9mgCFzev3mqxP102XPZysu6wZEsZZxp7fXsaQLx+bs12mnhfP0YIziOcRXCS6k58XX3MCIB/SjwvdwMpDh++UJ60qN8JEqq9ohvMvYHT+b7dsLyaMOa9yEf5hxB9e8y/BKPOfqMKTWK8mFicLW+K9hUeOk87NqKTcNs2PXhEpzHRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018UEQ2EMxmWXr53NHhrL25V",
      "input": {
        "note": "Marker released between the baskets. Lifting the right arm and moving it back toward home so the left arm can pick up the marker.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_018UEQ2EMxmWXr53NHhrL25V",
      "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]: [-0.3592, 1.5654, 1.1816, -0.3267, -0.2729, -0.2478, 0.7968, 0.2428, 0.8391, 0.5629, -0.284, 0.1764, 0.1402, 0.5966]\nstate[eef_state]: left_x=0.4396 left_y=-0.1104 left_z=0.1834 left_yaw=-0.0102 left_pitch=-0.1137 left_roll=-0.0043 left_gripper=0.7968 right_x=0.3002 right_y=0.0461 right_z=0.1699 right_yaw=0.0047 right_pitch=0.0203 right_roll=0.0374 right_gripper=0.5966\nstate[joint_eff]: [-0.0068, -7.6786, 6.9265, 1.6093, -0.1587, -0.0415, -0.0073, 0.2393, -1.853, 9.5248, 1.7265, -0.0366, -0.1148, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c831c4bd6822f86ae32a337cbb3a3fde9ca0d66748bd04712a3f822cddc4c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ac4ed95e3ca7fdf3ffeffcff264e9aef2bbcd68a8b1fe5eee5a67298f2ba4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25e38ac6ccc82bb497b0c251bee39ee118a9436ca27d76d10e6f5f091b776afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 2.549 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]: [-0.3595, 1.5642, 1.1816, -0.3275, -0.2726, -0.2478, 0.7968, 0.9371, 2.1052, 1.1286, 0.2264, 0.7143, 0.577, 0.1775]\nstate[eef_state]: left_x=0.4394 left_y=-0.1105 left_z=0.1837 left_yaw=-0.0109 left_pitch=-0.1134 left_roll=-0.0047 left_gripper=0.7968 right_x=0.3807 right_y=0.3287 right_z=0.0312 right_yaw=0.0374 right_pitch=0.0297 right_roll=0.0363 right_gripper=0.1775\nstate[joint_eff]: [-0.1026, -7.6923, 7.1179, 1.5849, -0.1685, -0.0366, -0.0122, 1.1419, -8.0205, 5.7778, 1.116, 0.1734, -0.0952, 0.652]",
      "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]: [-0.3595, 1.5642, 1.182, -0.3275, -0.2726, -0.2478, 0.7968, 0.934, 2.1059, 1.1286, 0.2298, 0.7132, 0.5766, 0.5959]\nstate[eef_state]: left_x=0.4395 left_y=-0.1106 left_z=0.1839 left_yaw=-0.0109 left_pitch=-0.113 left_roll=-0.0048 left_gripper=0.7968 right_x=0.3819 right_y=0.3281 right_z=0.0312 right_yaw=0.0353 right_pitch=0.0308 right_roll=0.0386 right_gripper=0.5959\nstate[joint_eff]: [-0.2393, -7.2957, 7.0906, 1.5556, -0.1538, -0.0611, -0.0122, -0.0068, -10.947, 5.7504, 1.3553, 0.232, -0.022, -0.1734]",
      "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]: [-0.3592, 1.5654, 1.1816, -0.3267, -0.2729, -0.2478, 0.7968, 0.2428, 0.8391, 0.5629, -0.284, 0.1764, 0.1402, 0.5966]\nstate[eef_state]: left_x=0.4396 left_y=-0.1104 left_z=0.1834 left_yaw=-0.0102 left_pitch=-0.1137 left_roll=-0.0043 left_gripper=0.7968 right_x=0.3002 right_y=0.0461 right_z=0.1699 right_yaw=0.0047 right_pitch=0.0203 right_roll=0.0374 right_gripper=0.5966\nstate[joint_eff]: [-0.0068, -7.6786, 6.9265, 1.6093, -0.1587, -0.0415, -0.0073, 0.2393, -1.853, 9.5248, 1.7265, -0.0366, -0.1148, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c831c4bd6822f86ae32a337cbb3a3fde9ca0d66748bd04712a3f822cddc4c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ac4ed95e3ca7fdf3ffeffcff264e9aef2bbcd68a8b1fe5eee5a67298f2ba4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25e38ac6ccc82bb497b0c251bee39ee118a9436ca27d76d10e6f5f091b776afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014VAWcPu3rihked3RejuvMj",
      "input": {
        "note": "Black marker now lies on the centre line in front of the baskets (top cam). Moving the left arm above it to pick it up.",
        "targets": {
          "left_gripper": 0.5,
          "left_x": 0.38,
          "left_y": -0.32,
          "left_yaw": 0.0,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_014VAWcPu3rihked3RejuvMj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9276, 2.014, 1.2892, -0.2314, -0.6556, -0.7155, 0.5014, 0.239, 0.8425, 0.5625, -0.3019, 0.1562, 0.1303, 0.5966]\nstate[eef_state]: left_x=0.3755 left_y=-0.3154 left_z=0.0615 left_yaw=-0.0141 left_pitch=-0.1392 left_roll=0.0085 left_gripper=0.5014 right_x=0.2979 right_y=0.048 right_z=0.1647 right_yaw=0.0232 right_pitch=-0.0031 right_roll=0.0348 right_gripper=0.5966\nstate[joint_eff]: [-0.5128, -10.441, 8.4855, 1.199, -0.5006, 0.0024, 0.1343, 0.1709, -1.7436, 7.3641, 1.8828, 0.2222, 0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9640ca9373e4b09bacb556840fa3bab64e0f4c2b314478a6e4dabe66ffc53dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d5befaa341289af957aa66bb2264e75a767ab4f12fd571b25da8dea986f8a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e765c715fbfeb92996b871af1d9ab419ebb4e89e6838b6ec5837c618a72497ae",
        "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 · 4.04 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]: [-0.3595, 1.5642, 1.182, -0.3275, -0.2726, -0.2478, 0.7968, 0.934, 2.1059, 1.1286, 0.2298, 0.7132, 0.5766, 0.5959]\nstate[eef_state]: left_x=0.4395 left_y=-0.1106 left_z=0.1839 left_yaw=-0.0109 left_pitch=-0.113 left_roll=-0.0048 left_gripper=0.7968 right_x=0.3819 right_y=0.3281 right_z=0.0312 right_yaw=0.0353 right_pitch=0.0308 right_roll=0.0386 right_gripper=0.5959\nstate[joint_eff]: [-0.2393, -7.2957, 7.0906, 1.5556, -0.1538, -0.0611, -0.0122, -0.0068, -10.947, 5.7504, 1.3553, 0.232, -0.022, -0.1734]",
      "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]: [-0.3592, 1.5654, 1.1816, -0.3267, -0.2729, -0.2478, 0.7968, 0.2428, 0.8391, 0.5629, -0.284, 0.1764, 0.1402, 0.5966]\nstate[eef_state]: left_x=0.4396 left_y=-0.1104 left_z=0.1834 left_yaw=-0.0102 left_pitch=-0.1137 left_roll=-0.0043 left_gripper=0.7968 right_x=0.3002 right_y=0.0461 right_z=0.1699 right_yaw=0.0047 right_pitch=0.0203 right_roll=0.0374 right_gripper=0.5966\nstate[joint_eff]: [-0.0068, -7.6786, 6.9265, 1.6093, -0.1587, -0.0415, -0.0073, 0.2393, -1.853, 9.5248, 1.7265, -0.0366, -0.1148, 0.0513]",
      "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]: [-0.9276, 2.014, 1.2892, -0.2314, -0.6556, -0.7155, 0.5014, 0.239, 0.8425, 0.5625, -0.3019, 0.1562, 0.1303, 0.5966]\nstate[eef_state]: left_x=0.3755 left_y=-0.3154 left_z=0.0615 left_yaw=-0.0141 left_pitch=-0.1392 left_roll=0.0085 left_gripper=0.5014 right_x=0.2979 right_y=0.048 right_z=0.1647 right_yaw=0.0232 right_pitch=-0.0031 right_roll=0.0348 right_gripper=0.5966\nstate[joint_eff]: [-0.5128, -10.441, 8.4855, 1.199, -0.5006, 0.0024, 0.1343, 0.1709, -1.7436, 7.3641, 1.8828, 0.2222, 0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9640ca9373e4b09bacb556840fa3bab64e0f4c2b314478a6e4dabe66ffc53dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79d5befaa341289af957aa66bb2264e75a767ab4f12fd571b25da8dea986f8a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e765c715fbfeb92996b871af1d9ab419ebb4e89e6838b6ec5837c618a72497ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Marker is centred between the jaws. Descending.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TcDCRPEu7UjZrHVxTJN5dA",
      "input": {
        "note": "Black marker is centred on the left jaw column. Descending to table level to grasp.",
        "targets": {
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TcDCRPEu7UjZrHVxTJN5dA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.931, 2.1353, 1.2148, -0.0296, -0.651, -0.7227, 0.5016, 0.2386, 0.8444, 0.5625, -0.3027, 0.152, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3752 left_y=-0.3189 left_z=0.0052 left_yaw=-0.0172 left_pitch=-0.1384 left_roll=-0.0043 left_gripper=0.5016 right_x=0.2978 right_y=0.0486 right_z=0.164 right_yaw=0.0266 right_pitch=-0.0061 right_roll=0.0362 right_gripper=0.5966\nstate[joint_eff]: [0.0889, -9.5248, 4.4376, 1.4188, -0.3639, 0.0122, 0.0024, -0.1573, -1.7162, 7.3094, 1.6874, 0.0464, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc789164894cfdedf0583d21ba2d58305f6d13066b9af1cd57416ce8eeb1a87f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:930bbb17f261e2b1fe31316ee7bf6398378f91f825dad9823ffe5b69a53d20fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73dd37315e58c3add4b2b42fecf30dafd103dc8189ba53feafdf114c6864a32d",
        "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 · 2.511 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]: [-0.3592, 1.5654, 1.1816, -0.3267, -0.2729, -0.2478, 0.7968, 0.2428, 0.8391, 0.5629, -0.284, 0.1764, 0.1402, 0.5966]\nstate[eef_state]: left_x=0.4396 left_y=-0.1104 left_z=0.1834 left_yaw=-0.0102 left_pitch=-0.1137 left_roll=-0.0043 left_gripper=0.7968 right_x=0.3002 right_y=0.0461 right_z=0.1699 right_yaw=0.0047 right_pitch=0.0203 right_roll=0.0374 right_gripper=0.5966\nstate[joint_eff]: [-0.0068, -7.6786, 6.9265, 1.6093, -0.1587, -0.0415, -0.0073, 0.2393, -1.853, 9.5248, 1.7265, -0.0366, -0.1148, 0.0513]",
      "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]: [-0.9276, 2.014, 1.2892, -0.2314, -0.6556, -0.7155, 0.5014, 0.239, 0.8425, 0.5625, -0.3019, 0.1562, 0.1303, 0.5966]\nstate[eef_state]: left_x=0.3755 left_y=-0.3154 left_z=0.0615 left_yaw=-0.0141 left_pitch=-0.1392 left_roll=0.0085 left_gripper=0.5014 right_x=0.2979 right_y=0.048 right_z=0.1647 right_yaw=0.0232 right_pitch=-0.0031 right_roll=0.0348 right_gripper=0.5966\nstate[joint_eff]: [-0.5128, -10.441, 8.4855, 1.199, -0.5006, 0.0024, 0.1343, 0.1709, -1.7436, 7.3641, 1.8828, 0.2222, 0.0611, -0.0073]",
      "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]: [-0.931, 2.1353, 1.2148, -0.0296, -0.651, -0.7227, 0.5016, 0.2386, 0.8444, 0.5625, -0.3027, 0.152, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3752 left_y=-0.3189 left_z=0.0052 left_yaw=-0.0172 left_pitch=-0.1384 left_roll=-0.0043 left_gripper=0.5016 right_x=0.2978 right_y=0.0486 right_z=0.164 right_yaw=0.0266 right_pitch=-0.0061 right_roll=0.0362 right_gripper=0.5966\nstate[joint_eff]: [0.0889, -9.5248, 4.4376, 1.4188, -0.3639, 0.0122, 0.0024, -0.1573, -1.7162, 7.3094, 1.6874, 0.0464, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc789164894cfdedf0583d21ba2d58305f6d13066b9af1cd57416ce8eeb1a87f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:930bbb17f261e2b1fe31316ee7bf6398378f91f825dad9823ffe5b69a53d20fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73dd37315e58c3add4b2b42fecf30dafd103dc8189ba53feafdf114c6864a32d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QgKEAgSGAI4AUIIdGhpbmtpbmcSDHC0E+nVdj9wqJeykRoMeewe2RBOSUG5mZL5IjBwe/voMhcthjEvJLHYLgVizIn+OnZHxT/duRNOM1gaUZ4J4r0F/v+24OxkGJF8wmQqmghFxJ/6SRX4BsuqG2/W4ye8w/XO3tzcEB+gPFiQjNyEDIZFfW406aMk2zM6HuTbqu3V5n2fYji6Kyfp4tA6wRcvFNDcLG51y0ojTbyDdAv6sZRsLj8cOLpYzomsBdd5WOIn1Wr1DGs0V032LBYngqZmtxZdv9alx88Smg110mM6yrpODMJQbW8/vs6vUtao8ntuYG8uxi2ZWieGiz7XQtkZnxoz8K7uh9COmbMGYaSI7GgJuoqnmPfy/AMIA5JmDzAU2SDPpeViGzXiF6rhcOds+Aaf1+a1Tqp5NsO7QMTYNSXntT1+Rn0Y+TvA2G2hlL4kjkoYnbF5B8LJ6Pgb4ci/Y2looujxgUJdm37m4z2VhiNFiC0h9LKYSAt2wZKjEa1T/cPsVA926kM+p4Z3JV074nttjPx43Q6v7lecrajkUjNCHHYQqjfqS1OlMfG8xzX9BnVC8RKnS5sPbkpkIDBMQ1rivlqEjxtIFihhfkIee1FKqjgLuvgMx/hgeA9X0NvqcJM4V1+bofPu3XAXkXeK/5ppNjHl3WvxHW9uA6nsn89yknIEAi/PDAKozeFyjRzcQJG7olQvtyjNRtp+60fVHyblZzE2Mm0/i1odJA5a+TOkOoTCYwrQKwd5bhymrYAeRjqzbzvY4BWgSXZPA3Kp8J9TPwg0dUTjQAEulBuGZlZ59ichQC25Amrhrvm5vfZmAkikk9h3k09L3l/WMPnUQlfBwvKVqADxVXxROJM+tKhQ9Z3gpRuZxH+43DlyEnLa5/y/WfdhKm1isCA0D4xlCI4RlTKXCCkFN/CAocYYRG9SO4Bllnclbs6gy31I4G6wSmI06+ImBiz9qfa8pa9NTr7GJLb+Xk0beE3nuqXGiGDinLyemNhwQJDYRwHFhpolmlIj3De+9832oFxkHZ/KfSQDffj33DDR4g2pS+RAB/btIpGHq/1K/tPpAKrLdCJvZ85OmHqf5bU4xV1YV4P6Rhjl9ttwi2euVQRAWeIF4yS1+GABIflxyYi/FIjmNJocWlILIoCJ/LmN6jvKLKSbzCtLxmAi062h8asA62mk9MMt+l/GU4psz+8peBN3ww1Myd0/PWxcNrmdJh9SRJXT4Tl57RYtT3L3X/+lqod23LG2tV+djrOz/PabUaLCQajeSFzNzE6D/4Z8CcmQnmCXMdOYVMJOEsVB+oQFWLD4GRX88IUbR3AaRKwlINOALNDPu8ExzC20r2BCmd6JGMa/XZgPPPXlImJSexGYY4eEpK7ap7BD5zTgxDuA84yed+almyxhcwaYQbRdBixo1ynvgnQxA02pR9AFDLJYxB5s0xU1FoJp73NRj/oHpWylvjLhZ5Pje7He7n8XbVe1X/fn1QC8nGBS1dadmMuV1Esh3UaFyKKbZ8wy6b0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H4LQeobmCwrkJZqhEnrmjN",
      "input": {
        "note": "Marker still looks slightly ahead of the fingertips; advancing 1.5 cm at table level before closing.",
        "targets": {
          "left_x": 0.39
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01H4LQeobmCwrkJZqhEnrmjN",
      "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]: [-0.9176, 2.1426, 1.2274, -0.0174, -0.6468, -0.7147, 0.5016, 0.2386, 0.8444, 0.5625, -0.3027, 0.1505, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3825 left_y=-0.3187 left_z=0.007 left_yaw=-0.0128 left_pitch=-0.1303 left_roll=-0.0142 left_gripper=0.5016 right_x=0.2978 right_y=0.0489 right_z=0.1639 right_yaw=0.0278 right_pitch=-0.0063 right_roll=0.037 right_gripper=0.5966\nstate[joint_eff]: [0.7726, -9.1829, 7.6376, 1.1355, -0.2125, 0.188, -0.0122, -0.2256, -1.6068, 7.2821, 1.7265, 0.0171, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9629055d0ab740c31089acf5bcd535b574a35c62d66a267f3b945dbcb7ae2030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3293b39d78735b3eb3c07f03ba142408b7d21afefc2b440d178cc728b9e90991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:545dd4e8826f3964d936d96c59846af3a7e0703456931344ce2ac58f4d5af8e4",
        "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 · 3.708 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]: [-0.9276, 2.014, 1.2892, -0.2314, -0.6556, -0.7155, 0.5014, 0.239, 0.8425, 0.5625, -0.3019, 0.1562, 0.1303, 0.5966]\nstate[eef_state]: left_x=0.3755 left_y=-0.3154 left_z=0.0615 left_yaw=-0.0141 left_pitch=-0.1392 left_roll=0.0085 left_gripper=0.5014 right_x=0.2979 right_y=0.048 right_z=0.1647 right_yaw=0.0232 right_pitch=-0.0031 right_roll=0.0348 right_gripper=0.5966\nstate[joint_eff]: [-0.5128, -10.441, 8.4855, 1.199, -0.5006, 0.0024, 0.1343, 0.1709, -1.7436, 7.3641, 1.8828, 0.2222, 0.0611, -0.0073]",
      "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]: [-0.931, 2.1353, 1.2148, -0.0296, -0.651, -0.7227, 0.5016, 0.2386, 0.8444, 0.5625, -0.3027, 0.152, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3752 left_y=-0.3189 left_z=0.0052 left_yaw=-0.0172 left_pitch=-0.1384 left_roll=-0.0043 left_gripper=0.5016 right_x=0.2978 right_y=0.0486 right_z=0.164 right_yaw=0.0266 right_pitch=-0.0061 right_roll=0.0362 right_gripper=0.5966\nstate[joint_eff]: [0.0889, -9.5248, 4.4376, 1.4188, -0.3639, 0.0122, 0.0024, -0.1573, -1.7162, 7.3094, 1.6874, 0.0464, -0.0415, -0.0073]",
      "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]: [-0.9176, 2.1426, 1.2274, -0.0174, -0.6468, -0.7147, 0.5016, 0.2386, 0.8444, 0.5625, -0.3027, 0.1505, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3825 left_y=-0.3187 left_z=0.007 left_yaw=-0.0128 left_pitch=-0.1303 left_roll=-0.0142 left_gripper=0.5016 right_x=0.2978 right_y=0.0489 right_z=0.1639 right_yaw=0.0278 right_pitch=-0.0063 right_roll=0.037 right_gripper=0.5966\nstate[joint_eff]: [0.7726, -9.1829, 7.6376, 1.1355, -0.2125, 0.188, -0.0122, -0.2256, -1.6068, 7.2821, 1.7265, 0.0171, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9629055d0ab740c31089acf5bcd535b574a35c62d66a267f3b945dbcb7ae2030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3293b39d78735b3eb3c07f03ba142408b7d21afefc2b440d178cc728b9e90991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:545dd4e8826f3964d936d96c59846af3a7e0703456931344ce2ac58f4d5af8e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015EpzuQ4wg6FyLoCS58nocw",
      "input": {
        "note": "Marker is lined up between the left jaws. Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015EpzuQ4wg6FyLoCS58nocw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9001, 2.1517, 1.2362, -0.0208, -0.6437, -0.7036, 0.1242, 0.2379, 0.8444, 0.5625, -0.3027, 0.1478, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3886 left_y=-0.3134 left_z=0.0049 left_yaw=-0.0029 left_pitch=-0.1346 left_roll=-0.0041 left_gripper=0.1242 right_x=0.2978 right_y=0.0491 right_z=0.1639 right_yaw=0.0293 right_pitch=-0.0066 right_roll=0.0385 right_gripper=0.5966\nstate[joint_eff]: [-0.3897, -10.5641, 7.2, 1.2283, -0.2613, 0.0659, 1.0232, -0.1299, -1.5385, 7.241, 1.6777, 0.0513, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0fd089c7ed2c430334f23726c8b5f723cf4a654d9db5f521107bdf8d8ab5da7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fc27243529f02117bf9b20a6f1a00e081ea0c8afeed5f2f587eef4f2714cb05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5a14d41363e94f2a9b330de6cc4585210ae35f86d867eae5a6a3658c60f3f16",
        "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 · 3.606 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]: [-0.931, 2.1353, 1.2148, -0.0296, -0.651, -0.7227, 0.5016, 0.2386, 0.8444, 0.5625, -0.3027, 0.152, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3752 left_y=-0.3189 left_z=0.0052 left_yaw=-0.0172 left_pitch=-0.1384 left_roll=-0.0043 left_gripper=0.5016 right_x=0.2978 right_y=0.0486 right_z=0.164 right_yaw=0.0266 right_pitch=-0.0061 right_roll=0.0362 right_gripper=0.5966\nstate[joint_eff]: [0.0889, -9.5248, 4.4376, 1.4188, -0.3639, 0.0122, 0.0024, -0.1573, -1.7162, 7.3094, 1.6874, 0.0464, -0.0415, -0.0073]",
      "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]: [-0.9176, 2.1426, 1.2274, -0.0174, -0.6468, -0.7147, 0.5016, 0.2386, 0.8444, 0.5625, -0.3027, 0.1505, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3825 left_y=-0.3187 left_z=0.007 left_yaw=-0.0128 left_pitch=-0.1303 left_roll=-0.0142 left_gripper=0.5016 right_x=0.2978 right_y=0.0489 right_z=0.1639 right_yaw=0.0278 right_pitch=-0.0063 right_roll=0.037 right_gripper=0.5966\nstate[joint_eff]: [0.7726, -9.1829, 7.6376, 1.1355, -0.2125, 0.188, -0.0122, -0.2256, -1.6068, 7.2821, 1.7265, 0.0171, -0.0464, -0.0073]",
      "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]: [-0.9001, 2.1517, 1.2362, -0.0208, -0.6437, -0.7036, 0.1242, 0.2379, 0.8444, 0.5625, -0.3027, 0.1478, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3886 left_y=-0.3134 left_z=0.0049 left_yaw=-0.0029 left_pitch=-0.1346 left_roll=-0.0041 left_gripper=0.1242 right_x=0.2978 right_y=0.0491 right_z=0.1639 right_yaw=0.0293 right_pitch=-0.0066 right_roll=0.0385 right_gripper=0.5966\nstate[joint_eff]: [-0.3897, -10.5641, 7.2, 1.2283, -0.2613, 0.0659, 1.0232, -0.1299, -1.5385, 7.241, 1.6777, 0.0513, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0fd089c7ed2c430334f23726c8b5f723cf4a654d9db5f521107bdf8d8ab5da7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fc27243529f02117bf9b20a6f1a00e081ea0c8afeed5f2f587eef4f2714cb05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a14d41363e94f2a9b330de6cc4585210ae35f86d867eae5a6a3658c60f3f16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QgKEAgSGAI4AUIIdGhpbmtpbmcSDP3siyUaPCAe8hwnCBoMhyjA4DR9ewht16f2IjCKOBY3OTTveWpjNijutOpB+5p4WaCNm8jMxm+y4v0fcbOGrvL7mBlHTLvIwaIQ/Eoq9gdFKVeMy7MHtIQSh5GKVPluCJc0lwZWDQPpBFLVmidCu8jfpzF8bUxtz6AByPMQKaYfpBL9PT+ZOKgkdAkibdddPU4SYfUI2u7NUptWG5dffB5ydj6+bj0WCeBJASobQxq/6hA1uKRVdZ60zh3mk8GXXlNfjyhVkgpPv8Pp/FsQq/0wyX7UMp2UAcnZmLR7gTFtBzDN7tqlDhl1j7NUzwXAz84POFrHLnA92h/bCjeZQ/YbeQbc+/jNx3PRu74Yiq1UayKkxk6w9qgbRbvdDatV4mBCCBnzIr878oqi/uLPc9eJ487Izo9jFKXg7jXx/j0kTK4DeA5hPbXDKDDDS6KRkpe+ErcaWd5dIql77DcaRWK7bcAerc1C2LV1NsBg9JUMQP8GcPUOJBHq4+el5OSog8+H9Yqiz9oNenxsXBwG3fpLUxhqFrdFa7m8CfuzAfsm1kbFpNZhPigAwemaxKy9i4tXznadnUZYlaSaeN6gbtoLdlT8UyE83he+cwKeiwTmHLIf7oLCmibQEbbN97vNAUNd8ezWNGuXH+ht7b+lgXB/N40Zy00kTEkQ6Vy5FOjbfkd36K82j40prS8+RnGeN+W8KeUIAumy5ZZ8YFLPGaHuWQCQYq9UulgxP5/0fPYC+9dbIJrbu3G9Lu32JMzv6dCx4kAyfekBpVIupRjgSIrZb3MVgn9dKxxOP/FkihVcaEIKUV0UTDaPTNzSamYZF7kKxl2gwfZcL2Th+NcEmxYF9djuCR0FjxFVkfpfVQFyYSpq68kYAnTd9+XYsyBEJajdLcO7Q7jm8pdoMQd9O+2cQH02QjwPSmLmRgrr2u4srBGlZA8Otlswy9gboJJEFu+wZLJQCCpqcZgssUHqzv60KTipizmAfUdIUDpwNtL4YoPAJrWxclg1rH3K0naJOnkEpMy3Gw7+sN83MosaHDZcknNw2eGAk1z5l+mvwijQolf6ihobbEONZilsCbMRaE9LKlgOq7eCw8Jxo3Uozij3l9kgNUeQktC+/crlewHMLWKufE0xcNv/ZNLtgXOT4TLSrcYo3H4BzOIFmHLKpmEHQdSQmrfwKYjCF4rfhpi4D0bzHb0SbYI4Gcw9TDx2JSxbh9xdF3hJent09/+eskJzWOwIDO3Ctg61/H8DzhM1XZCiw4+2fJ1oQCUwUP/nH5VNyZ4aZdGVyiFhUOIEo8UWCdaEMeA0EFt7qJrNer9kvFDYqCTh22fCdHS4IFQlOfJ7661oxRkrRHPLcaY6/UCgR2ekEh3nSHSBY2vr+dTNMx2g2qbux7xYHamFQXZMCckP4QfLCJCKub8CEA2faARlo5OenrOc78Cs/fMD+ew4WdNpvnEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GCsv2EJPrZ353QAdhvpE5v",
      "input": {
        "note": "Marker grasped (0.12). Lifting straight up to clear the basket walls.",
        "targets": {
          "left_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_01GCsv2EJPrZ353QAdhvpE5v",
      "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]: [-0.8982, 1.9491, 1.7752, -0.7963, -0.6292, -0.7155, 0.1318, 0.2379, 0.8471, 0.5625, -0.3027, 0.1448, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3891 left_y=-0.3159 left_z=0.1985 left_yaw=-0.0001 left_pitch=-0.1649 left_roll=0.0062 left_gripper=0.1318 right_x=0.2978 right_y=0.0497 right_z=0.1631 right_yaw=0.0319 right_pitch=-0.0096 right_roll=0.0396 right_gripper=0.5966\nstate[joint_eff]: [-0.1026, -12.6291, 8.335, 0.9792, -0.4469, 0.0806, 1.0281, -0.1983, -1.7983, 7.1863, 1.7265, 0.0122, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d126a9fc2052dc480fe854da45a948fd103803300bc44d98c5075e88e6f67fe1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cc16177ab0eaa6fddff03b2accaf566f1c031621f0c86703a6cc339e3692594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb137a02badfce99e0264589d1201bff55c0f988c855174fd980c0dc186c7054",
        "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 · 2.53 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]: [-0.9176, 2.1426, 1.2274, -0.0174, -0.6468, -0.7147, 0.5016, 0.2386, 0.8444, 0.5625, -0.3027, 0.1505, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3825 left_y=-0.3187 left_z=0.007 left_yaw=-0.0128 left_pitch=-0.1303 left_roll=-0.0142 left_gripper=0.5016 right_x=0.2978 right_y=0.0489 right_z=0.1639 right_yaw=0.0278 right_pitch=-0.0063 right_roll=0.037 right_gripper=0.5966\nstate[joint_eff]: [0.7726, -9.1829, 7.6376, 1.1355, -0.2125, 0.188, -0.0122, -0.2256, -1.6068, 7.2821, 1.7265, 0.0171, -0.0464, -0.0073]",
      "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]: [-0.9001, 2.1517, 1.2362, -0.0208, -0.6437, -0.7036, 0.1242, 0.2379, 0.8444, 0.5625, -0.3027, 0.1478, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3886 left_y=-0.3134 left_z=0.0049 left_yaw=-0.0029 left_pitch=-0.1346 left_roll=-0.0041 left_gripper=0.1242 right_x=0.2978 right_y=0.0491 right_z=0.1639 right_yaw=0.0293 right_pitch=-0.0066 right_roll=0.0385 right_gripper=0.5966\nstate[joint_eff]: [-0.3897, -10.5641, 7.2, 1.2283, -0.2613, 0.0659, 1.0232, -0.1299, -1.5385, 7.241, 1.6777, 0.0513, -0.0415, -0.0073]",
      "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]: [-0.8982, 1.9491, 1.7752, -0.7963, -0.6292, -0.7155, 0.1318, 0.2379, 0.8471, 0.5625, -0.3027, 0.1448, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3891 left_y=-0.3159 left_z=0.1985 left_yaw=-0.0001 left_pitch=-0.1649 left_roll=0.0062 left_gripper=0.1318 right_x=0.2978 right_y=0.0497 right_z=0.1631 right_yaw=0.0319 right_pitch=-0.0096 right_roll=0.0396 right_gripper=0.5966\nstate[joint_eff]: [-0.1026, -12.6291, 8.335, 0.9792, -0.4469, 0.0806, 1.0281, -0.1983, -1.7983, 7.1863, 1.7265, 0.0122, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d126a9fc2052dc480fe854da45a948fd103803300bc44d98c5075e88e6f67fe1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cc16177ab0eaa6fddff03b2accaf566f1c031621f0c86703a6cc339e3692594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb137a02badfce99e0264589d1201bff55c0f988c855174fd980c0dc186c7054",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ey2zGU6RM8EeWEigx9tVLL",
      "input": {
        "note": "Marker lifted; the yellow pen is visible in the left basket. Carrying the black marker over the left basket.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.12,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01Ey2zGU6RM8EeWEigx9tVLL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3996, 1.6531, 1.4124, -0.5945, -0.321, -0.321, 0.1318, 0.2379, 0.8471, 0.5625, -0.3031, 0.1448, 0.1272, 0.5966]\nstate[eef_state]: left_x=0.4409 left_y=-0.1218 left_z=0.1989 left_yaw=0.0368 left_pitch=-0.2154 left_roll=0.0202 left_gripper=0.1318 right_x=0.2978 right_y=0.0497 right_z=0.163 right_yaw=0.0333 right_pitch=-0.0099 right_roll=0.0372 right_gripper=0.5966\nstate[joint_eff]: [0.1983, -11.5624, 6.5573, 1.6825, -0.105, 0.1148, 1.0281, -0.1709, -1.5932, 7.0632, 1.6874, -0.0269, -0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b010d41c8d6905a737bcdfb32cb562964abea364e61156c660dc4b8c1a5653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fafa5fca3cddd2d8267837a6f2f2bd9f4bd5270b64a0905cd9e1df4f9bc39186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd88693a94db657ab1808aa6fae4d43e923f8686aa41844f6fe3bad9cbd2beb6",
        "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 · 4.508 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]: [-0.9001, 2.1517, 1.2362, -0.0208, -0.6437, -0.7036, 0.1242, 0.2379, 0.8444, 0.5625, -0.3027, 0.1478, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3886 left_y=-0.3134 left_z=0.0049 left_yaw=-0.0029 left_pitch=-0.1346 left_roll=-0.0041 left_gripper=0.1242 right_x=0.2978 right_y=0.0491 right_z=0.1639 right_yaw=0.0293 right_pitch=-0.0066 right_roll=0.0385 right_gripper=0.5966\nstate[joint_eff]: [-0.3897, -10.5641, 7.2, 1.2283, -0.2613, 0.0659, 1.0232, -0.1299, -1.5385, 7.241, 1.6777, 0.0513, -0.0415, -0.0073]",
      "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]: [-0.8982, 1.9491, 1.7752, -0.7963, -0.6292, -0.7155, 0.1318, 0.2379, 0.8471, 0.5625, -0.3027, 0.1448, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3891 left_y=-0.3159 left_z=0.1985 left_yaw=-0.0001 left_pitch=-0.1649 left_roll=0.0062 left_gripper=0.1318 right_x=0.2978 right_y=0.0497 right_z=0.1631 right_yaw=0.0319 right_pitch=-0.0096 right_roll=0.0396 right_gripper=0.5966\nstate[joint_eff]: [-0.1026, -12.6291, 8.335, 0.9792, -0.4469, 0.0806, 1.0281, -0.1983, -1.7983, 7.1863, 1.7265, 0.0122, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3996, 1.6531, 1.4124, -0.5945, -0.321, -0.321, 0.1318, 0.2379, 0.8471, 0.5625, -0.3031, 0.1448, 0.1272, 0.5966]\nstate[eef_state]: left_x=0.4409 left_y=-0.1218 left_z=0.1989 left_yaw=0.0368 left_pitch=-0.2154 left_roll=0.0202 left_gripper=0.1318 right_x=0.2978 right_y=0.0497 right_z=0.163 right_yaw=0.0333 right_pitch=-0.0099 right_roll=0.0372 right_gripper=0.5966\nstate[joint_eff]: [0.1983, -11.5624, 6.5573, 1.6825, -0.105, 0.1148, 1.0281, -0.1709, -1.5932, 7.0632, 1.6874, -0.0269, -0.0024, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b010d41c8d6905a737bcdfb32cb562964abea364e61156c660dc4b8c1a5653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fafa5fca3cddd2d8267837a6f2f2bd9f4bd5270b64a0905cd9e1df4f9bc39186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd88693a94db657ab1808aa6fae4d43e923f8686aa41844f6fe3bad9cbd2beb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Aom93gAZ3iRrZHupkh3sT8",
      "input": {
        "note": "Black marker is over the left basket (yellow pen visible inside). Releasing.",
        "targets": {
          "left_gripper": 0.8
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Aom93gAZ3iRrZHupkh3sT8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5907, -0.3134, -0.3294, 0.7955, 0.2379, 0.8471, 0.5625, -0.3027, 0.1448, 0.1268, 0.5966]\nstate[eef_state]: left_x=0.4409 left_y=-0.1228 left_z=0.2003 left_yaw=0.0353 left_pitch=-0.2118 left_roll=0.006 left_gripper=0.7955 right_x=0.2978 right_y=0.0497 right_z=0.1631 right_yaw=0.0335 right_pitch=-0.0095 right_roll=0.037 right_gripper=0.5966\nstate[joint_eff]: [-0.3077, -7.9248, 7.0359, 1.4628, -0.2711, 0.0513, 0.0659, -0.0342, -1.6068, 7.0632, 1.7167, -0.0171, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de5611272249d26960ab6a301b85715d78939aa272f030ae44197676f49f173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac1ca5ba83f4abe7554ed8b95434dbc2e535b9a5117c1ee1db4c0468993a1d3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:baa8604efa3b9cb88704037bd58aac97524ec71fee040ac01f39895b1f92d555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.604 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]: [-0.8982, 1.9491, 1.7752, -0.7963, -0.6292, -0.7155, 0.1318, 0.2379, 0.8471, 0.5625, -0.3027, 0.1448, 0.1299, 0.5966]\nstate[eef_state]: left_x=0.3891 left_y=-0.3159 left_z=0.1985 left_yaw=-0.0001 left_pitch=-0.1649 left_roll=0.0062 left_gripper=0.1318 right_x=0.2978 right_y=0.0497 right_z=0.1631 right_yaw=0.0319 right_pitch=-0.0096 right_roll=0.0396 right_gripper=0.5966\nstate[joint_eff]: [-0.1026, -12.6291, 8.335, 0.9792, -0.4469, 0.0806, 1.0281, -0.1983, -1.7983, 7.1863, 1.7265, 0.0122, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3996, 1.6531, 1.4124, -0.5945, -0.321, -0.321, 0.1318, 0.2379, 0.8471, 0.5625, -0.3031, 0.1448, 0.1272, 0.5966]\nstate[eef_state]: left_x=0.4409 left_y=-0.1218 left_z=0.1989 left_yaw=0.0368 left_pitch=-0.2154 left_roll=0.0202 left_gripper=0.1318 right_x=0.2978 right_y=0.0497 right_z=0.163 right_yaw=0.0333 right_pitch=-0.0099 right_roll=0.0372 right_gripper=0.5966\nstate[joint_eff]: [0.1983, -11.5624, 6.5573, 1.6825, -0.105, 0.1148, 1.0281, -0.1709, -1.5932, 7.0632, 1.6874, -0.0269, -0.0024, -0.0073]",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5907, -0.3134, -0.3294, 0.7955, 0.2379, 0.8471, 0.5625, -0.3027, 0.1448, 0.1268, 0.5966]\nstate[eef_state]: left_x=0.4409 left_y=-0.1228 left_z=0.2003 left_yaw=0.0353 left_pitch=-0.2118 left_roll=0.006 left_gripper=0.7955 right_x=0.2978 right_y=0.0497 right_z=0.1631 right_yaw=0.0335 right_pitch=-0.0095 right_roll=0.037 right_gripper=0.5966\nstate[joint_eff]: [-0.3077, -7.9248, 7.0359, 1.4628, -0.2711, 0.0513, 0.0659, -0.0342, -1.6068, 7.0632, 1.7167, -0.0171, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de5611272249d26960ab6a301b85715d78939aa272f030ae44197676f49f173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac1ca5ba83f4abe7554ed8b95434dbc2e535b9a5117c1ee1db4c0468993a1d3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baa8604efa3b9cb88704037bd58aac97524ec71fee040ac01f39895b1f92d555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsgkKEAgSGAI4AUIIdGhpbmtpbmcSDEhcpqB+Gn1hrDpk9RoMELv8vHY+y2BFwqXBIjDY72P4paagrUZS05QbMJ3IZ1rsSJDGpOrZgFGxq7+vuYxoKBAWUo/ZiHcyvcen84cqzwjh7nzwvQqzZj88/rw42PmxrO4477aqJE4WYmzTfCXi7AsOv2jXHBo0TxiYS35+zL+EhRPKbcBiEAkTBrWPt3191Z8NohebzXAzc4/drzFqJ5MFId+Gaq/xpebUCL3cTGOexfqx7DqqOJtbRuGwI4l4OwPRb0kzTMg1iUwlPJUDdJ4c3DZ/0ylg+2DMhHjbx9FOrMiwlYVL/a/TTcBh9zUOowB7XU3GQZKaA3WICFoL72u7Y6mPz+c3sAxtlTRs5AGDJh/ORBY/4ZcMoIzP2VjKbpTKbPI030NC0UnGnFpqESZ2tN7TaKgylOBcMQYUILeUBst/BpQGo5l4yjBYImXesQIhfdMQVju9kArS5iaRcfLj+OI3/Ii7P3HG5LKLPBw3tg5xLlCfDfwfA0UszHzt7ea6FPXhB2THiJly+bEJKkbrjexzkOJypHz7iK8tRldr/Y5sJSBL2fb49wYLrewyzPl05vYADNpzDXSXYX++F50LStMlWn8GrN4DwHhU4Xj+lfuFeP+zoqlWwX1nzjlYjniKyvxzzmJiqVEeYX3Ljd0ufZY6CDvTiadnlBgKy/HhRf4exkd3cSpYtIIaA4UXXvK2AIciS93Ui4W/QFeo2iHuz76RHARAzu/WXYdg3TMb8ioH8ydiMhCINhznMn/Yv/PsC9qg/vDcTMtXUcmQE9ceGHDRdUCs6vFWqelisdnHL/F452+5Kzl/GLjra6zOLKyAxkLFHroJXz/PFN57RuDd95+BorOi2FPEPmQSxEifhkA/cDMsS/PzgFyyc/vqB1hCE+2fvU4Bbo/nYLYxhtU6KPI5ozX9n56W6EVwmsqjn+Zl/fTX838hxcIdVByyusXKQsls+7QFrF5hgQ2CjVuhkRpywrEpSSXSFkzKuQ/cVMTtDZg59L0wFpRfE4Px97xJmWWGe/pK6crfR4WwRu44o1nPn6tg4rjHOoneflKZ0VnUDcGzpDfifTycRnwaTtahtQqXccI7ulu+SnUYSoXT7HaHAAjw8AFE96pHkQqvpzHcUO4h9A/Ss+71LmKpVYuPYwwwuaI7s9On+itX1TB5r8iIw8KXE3Rbj6IaIJTvJB0DYnSoH7T/IOiT3w2dD0VW0xmnX9jrCSINnJcvq0Sp6GndScjM0qerOI4kf/enCKaLjDBwJmLrWWIO5xD2Z84mP+Lokx0h7QWndWyURCgPAQQg9zFGuiVHTOd25Znf+kbRDHFw30G3ebYDB/L1rWrd9oWrrJzwHmI4buhUyZ/zu2z1LQ+3qugvcK6NuTA4D7+SkIu5AfKh5kO10unKX/ze8PTHyRnuwFvJ4gwk7wtym+Zl1nDN1xEcOjejshvtsf/OuKziLxNL4P4IRJEDGFFY5M/7sP18GyqIMsWzuJpF8CW1ji2j/osbCitTiiiibICdJsGZIxtgVWpXmS/TVJwCtBtXJHHN4qxYeLluQSffCD4H06uO51JPEZKy1BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jrb3nySQh9rBJD1KsgNUKJ",
      "input": {
        "note": "Both pens are in the left basket. The blue marker is just below and left of the right jaws; shifting ~3 cm left and descending to grasp it.",
        "targets": {
          "right_x": 0.295,
          "right_y": 0.075,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Jrb3nySQh9rBJD1KsgNUKJ",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5945, -0.313, -0.3328, 0.7965, 0.3874, 1.557, 0.1234, 0.8562, 0.2623, 0.2138, 0.5966]\nstate[eef_state]: left_x=0.4403 left_y=-0.1226 left_z=0.1997 left_yaw=0.0372 left_pitch=-0.2153 left_roll=0.0049 left_gripper=0.7965 right_x=0.304 right_y=0.0784 right_z=0.0103 right_yaw=0.038 right_pitch=0.0151 right_roll=0.0509 right_gripper=0.5966\nstate[joint_eff]: [-0.1573, -8.212, 6.8308, 1.7314, -0.1148, 0.0073, 0.0952, 0.3077, -2.4684, 1.0325, -0.232, 0.0513, -0.1685, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:655cba673a2a7d4badf8b0b8114a5b3e07c93fbca240429aed4b3b5b62ec7b85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:142944e48c081d53599df6e3dffbffe3ed71a2c62740e2ce37748adcf1c76b01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e12cb1954d84caf1774537b8132f792ebe7c2b7511e53ca323b38a3000aebc9",
        "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 · 3.411 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]: [-0.3996, 1.6531, 1.4124, -0.5945, -0.321, -0.321, 0.1318, 0.2379, 0.8471, 0.5625, -0.3031, 0.1448, 0.1272, 0.5966]\nstate[eef_state]: left_x=0.4409 left_y=-0.1218 left_z=0.1989 left_yaw=0.0368 left_pitch=-0.2154 left_roll=0.0202 left_gripper=0.1318 right_x=0.2978 right_y=0.0497 right_z=0.163 right_yaw=0.0333 right_pitch=-0.0099 right_roll=0.0372 right_gripper=0.5966\nstate[joint_eff]: [0.1983, -11.5624, 6.5573, 1.6825, -0.105, 0.1148, 1.0281, -0.1709, -1.5932, 7.0632, 1.6874, -0.0269, -0.0024, -0.0073]",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5907, -0.3134, -0.3294, 0.7955, 0.2379, 0.8471, 0.5625, -0.3027, 0.1448, 0.1268, 0.5966]\nstate[eef_state]: left_x=0.4409 left_y=-0.1228 left_z=0.2003 left_yaw=0.0353 left_pitch=-0.2118 left_roll=0.006 left_gripper=0.7955 right_x=0.2978 right_y=0.0497 right_z=0.1631 right_yaw=0.0335 right_pitch=-0.0095 right_roll=0.037 right_gripper=0.5966\nstate[joint_eff]: [-0.3077, -7.9248, 7.0359, 1.4628, -0.2711, 0.0513, 0.0659, -0.0342, -1.6068, 7.0632, 1.7167, -0.0171, -0.0513, -0.0171]",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5945, -0.313, -0.3328, 0.7965, 0.3874, 1.557, 0.1234, 0.8562, 0.2623, 0.2138, 0.5966]\nstate[eef_state]: left_x=0.4403 left_y=-0.1226 left_z=0.1997 left_yaw=0.0372 left_pitch=-0.2153 left_roll=0.0049 left_gripper=0.7965 right_x=0.304 right_y=0.0784 right_z=0.0103 right_yaw=0.038 right_pitch=0.0151 right_roll=0.0509 right_gripper=0.5966\nstate[joint_eff]: [-0.1573, -8.212, 6.8308, 1.7314, -0.1148, 0.0073, 0.0952, 0.3077, -2.4684, 1.0325, -0.232, 0.0513, -0.1685, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:655cba673a2a7d4badf8b0b8114a5b3e07c93fbca240429aed4b3b5b62ec7b85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:142944e48c081d53599df6e3dffbffe3ed71a2c62740e2ce37748adcf1c76b01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e12cb1954d84caf1774537b8132f792ebe7c2b7511e53ca323b38a3000aebc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuggKEAgSGAI4AUIIdGhpbmtpbmcSDADXlWlsi8ii024I+hoMQ3VfWBmitoDCwe0VIjC3HPEfiBwqIEKubntOh440wG9JPhmgy8wDxgYJF7odCp45pdWlzUH/PwdVFFgFbB0q1wemz8T51s79YNb91207N5b5Q4he7GsEK2T9FYvxeDiKbvvsFBrjd+fs94O2nV4Sk9pdlFwe11FBq96Z6rIS5D4YQleFWB5qkS5Ou4GtPARuyzNkDiHByxBfNZ1GQwqgcuRMxlcRRJdLig7oTYcGvuWFEOykkQPX46QOO8zzcBDhGplUQmrwZAXk9t0MQnyLzm9TKfuVrNwXHguQfCVjCW7tvrFFO9mEXG5cLjhQFRHwUA5HYnUztbXc7+nVlS7gzTCxUYbCtkVKv6nhk26fYkgsPlp6yI+FXCA2feBW0Nh5gtR94WhyO20giftArM68Yum48CWSLeGK9EtnT57Ey9MerwLqfyyva1VXYTC56QsP6OSEACKcdhN6puvQSY5XZkOdza+peQG2ekqtey7vRLpj6RaH9hC8eSOZtCUCQaRDHy6JouObWvkik0KsUjNk5nb79J/yZRtBZK4XKv6t0SG0iUVWwqCQhZ2Fpjd82kn1N8YX++9+wuPzjM/5fWGhEFTOULgAqnVyIKYpGL+YTDTGWBtss8R3pcNbFEQjMYOzAID7eBWxUhKcW0nFZbV0aL3NsA4RHqrvn6EXVjkqpNB21LyqBnCTBRr0YtNJFY5geHCrhBbGSCl0sNdnT7TNaEEaLd6tU/pkfK9aDkQNgfPrU6G1s20wDnK02+O4M+Nt+Wz1+dovN+FpktohnL+5PJm17FgZLfCHBVUlXGb/e6nZrSIt8m62Qor392XcsdzOY7gK6x0fjxeOXS8+L0SF3BurmukAjrXpRPsD5NehzQKp1ebq6VpAbj0fe/zwaFpRlJs6pe4Hi1iIyhyrDA+DRNpDKTt5radCrinMaJwR3/dlRg6GZPoM/U3UfVvkQZpKa0DDBAWINjFKnL0jGQ8DKNhbEeRET0ZY8lxduXAiZocUXxOE51jb3yC5Ttj2dVit31rnQHK8YXH7j09ZKXOfDMRCLIywZ1DmpafEZq4sn5z0VC+BrnpXOCajM+jnQisV5j81DEZaQH6IE5/I48U6RkTfue5ShP6tJ4IKW4Uo+E/ky5BpTmOeEH89Gq0nuBqkJGoXpJ/l4nxz0F8g50xauNmY3JyUtumiA63qnRG1Y0/us0fIOQvzRdbqcEbJZP+DVdUyhU8UtDd1DeIxpLN9Kcs+uZ+uohtCgmuqnEYPDy2v8r3ok4R1I7SgPMjgIZakI1YFURq/kg6MQPgdkPgfyecjMKTFNvWUxKrd8qFJ4F5wCHc5jvSYgO4A1mTnM5RYphWiFp+nxKO0qU9ytn/ExsyO8CdxPC3cZDmUP3XjLWMnsgmYYbQv9RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EhyNen5DjJAsu7nKBx8WuN",
      "input": {
        "note": "Blue marker is still left of the right jaw centre in the wrist view. Shifting 3 cm further left, slightly raised to avoid hitting it.",
        "targets": {
          "right_y": 0.105,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EhyNen5DjJAsu7nKBx8WuN",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3332, 0.7967, 0.5079, 1.5234, 0.1677, 0.8204, 0.3252, 0.2554, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.037 left_pitch=-0.2108 left_roll=0.0025 left_gripper=0.7967 right_x=0.3077 right_y=0.1108 right_z=0.0282 right_yaw=0.0833 right_pitch=0.0649 right_roll=0.0718 right_gripper=0.5966\nstate[joint_eff]: [-0.1299, -8.2667, 6.8308, 1.4921, -0.1441, -0.0366, -0.0024, 0.0479, -4.547, 4.8889, 1.5604, 0.2955, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e80b5f26a59fe47935b543ca04ef2fc2ff07ec46d461abdc3d53c300111e6844",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb772041c31f1f784688f5e372c7228221f26622e6475cf165fb1da6f2829607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0edc85dbce579d3122e4914a9dc4cdb9036abdcb0321c346f3f54edb86ce91ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 6.683 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]: [-0.3988, 1.6497, 1.4117, -0.5907, -0.3134, -0.3294, 0.7955, 0.2379, 0.8471, 0.5625, -0.3027, 0.1448, 0.1268, 0.5966]\nstate[eef_state]: left_x=0.4409 left_y=-0.1228 left_z=0.2003 left_yaw=0.0353 left_pitch=-0.2118 left_roll=0.006 left_gripper=0.7955 right_x=0.2978 right_y=0.0497 right_z=0.1631 right_yaw=0.0335 right_pitch=-0.0095 right_roll=0.037 right_gripper=0.5966\nstate[joint_eff]: [-0.3077, -7.9248, 7.0359, 1.4628, -0.2711, 0.0513, 0.0659, -0.0342, -1.6068, 7.0632, 1.7167, -0.0171, -0.0513, -0.0171]",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5945, -0.313, -0.3328, 0.7965, 0.3874, 1.557, 0.1234, 0.8562, 0.2623, 0.2138, 0.5966]\nstate[eef_state]: left_x=0.4403 left_y=-0.1226 left_z=0.1997 left_yaw=0.0372 left_pitch=-0.2153 left_roll=0.0049 left_gripper=0.7965 right_x=0.304 right_y=0.0784 right_z=0.0103 right_yaw=0.038 right_pitch=0.0151 right_roll=0.0509 right_gripper=0.5966\nstate[joint_eff]: [-0.1573, -8.212, 6.8308, 1.7314, -0.1148, 0.0073, 0.0952, 0.3077, -2.4684, 1.0325, -0.232, 0.0513, -0.1685, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3332, 0.7967, 0.5079, 1.5234, 0.1677, 0.8204, 0.3252, 0.2554, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.037 left_pitch=-0.2108 left_roll=0.0025 left_gripper=0.7967 right_x=0.3077 right_y=0.1108 right_z=0.0282 right_yaw=0.0833 right_pitch=0.0649 right_roll=0.0718 right_gripper=0.5966\nstate[joint_eff]: [-0.1299, -8.2667, 6.8308, 1.4921, -0.1441, -0.0366, -0.0024, 0.0479, -4.547, 4.8889, 1.5604, 0.2955, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e80b5f26a59fe47935b543ca04ef2fc2ff07ec46d461abdc3d53c300111e6844",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb772041c31f1f784688f5e372c7228221f26622e6475cf165fb1da6f2829607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0edc85dbce579d3122e4914a9dc4cdb9036abdcb0321c346f3f54edb86ce91ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AcKEAgSGAI4AUIIdGhpbmtpbmcSDHqLhmaJYDPUcEZWChoMtpQ/3DasJpbJhn35IjC47SSIiD/pzwhlj9x/+rMZ9pIL/qtphVPrentxYd64m26LYxOsVr6q41gorGDQWrkq/Qa5dj1hRYOAWmvZoJz3Ejn5OcrO9pLE/5fxTKcjJJGKx9qSLd5c/ZQYWpykm49J9B/OXRdFlW4N7FPHYM6HXKPaZrDF/RpityQTkYxhMcqwLeyFIiVis1qrLfc3Xygt0HQaYsx/TBK6HkmFWkeNDEkTEK8C0M0/XQsOMOHVwrEzli59k9rSPWwZQPSBkZ+daMPiOHybeaaf8MBeNMGkkN2x32Tia94JhbiF12Z08sVHQv0aemSnLZuDE/ybbtrEhsrH7Spqw4y0g7saQzGNEVfdTnJh0eEEJykp+JecW746F0CNiev41fGFB57Pyr4RquuLbr1KzgI04AzXj83hEyGfsRB+6jh/uIAvMdANggLaCZ5gZL3eqsZ4jDkM6Q9fn4QRyJ8WHOwIaMsBpv66xZzjxB4qPOZ4+mw50voarcvjks4Jpa8WZBw8GIT3L2qemmyvWFNjCpUi7wUEyIR4m6dg8A/WdN0X14eR3SsdFjBgKLMBWN/0+6aBdf/x4PgEuu92YE4RXVPrTgvNFzTQ7o1O6OLgtx4rVk+E+od/uGRmNC5fHEmSmE1UpwtmpI3cCBfyFmTGt+5UBIwkRhC7egnLBLwmYQ6Yp9sR7EpHn0+/sC4SLjxO/vr5W8prxTySaApQSR9FyCDMWoUeQGTjKpc80FlekseqSotiv8p7oAE9yCKQAGrEgL7lguUMudlCwo2wjEfR8Vwno7NEQAqsXAmuIpMREAmmuayAjoTYrqUpURAapaqdldVw/jYQUV6KnwfBNA4+9gseawUhtXJgZGEjL/w9xwWkLHbCE192w5vn93dY72EptUzRMxAnqMVVqoHJv+FQlVCwCDBowuRYZFRwFpgBC+rzHqYl3LHW5TSKTTfU9Q+t9po6PSYYGdtgp574tGc1c3x8uh+g7q+YBAYIAouGb+IfaidGwNwQDWX5rUDzTnH91BWDaUBBcxSInVjbgCfy9KOFR1POEjolpOL3ZVEry/duwYmBOwP8Hz3Pwj/6J8jSfN7sA5tpbuSSKJ3rinu2+pac7/ibe6ed2SeUYAgrq990QB2xRZIp9d6tHkAevfGZzEuO7VPvVvgcntcpuqDoHly9BB1V3VhyYyxLaXSSyRVPP2iVU+5SkCV7TFjsekKS26qcDv0itin+RBPOqhBwqhGsxqLZr/oCdOJ3DHbJDMiBLolDncDuTRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nd8JC3vxCQhvcFYKh44mZK",
      "input": {
        "note": "Blue marker is under the left jaw now; shifting 2 cm more left and descending to table level.",
        "targets": {
          "right_y": 0.13,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Nd8JC3vxCQhvcFYKh44mZK",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5915, -0.3134, -0.3367, 0.7967, 0.5312, 1.6218, 0.1749, 0.8806, 0.3542, 0.2768, 0.5966]\nstate[eef_state]: left_x=0.4408 left_y=-0.1228 left_z=0.2002 left_yaw=0.0393 left_pitch=-0.2124 left_roll=0.0011 left_gripper=0.7967 right_x=0.3072 right_y=0.1136 right_z=0.0136 right_yaw=0.0717 right_pitch=0.0425 right_roll=0.0634 right_gripper=0.5966\nstate[joint_eff]: [-0.1299, -8.2256, 7.1726, 1.4042, -0.1685, -0.022, -0.0122, 0.5402, -3.8359, 3.0427, 1.8681, 0.0855, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd8d818daa51ad465941642cf4a8d6ce738ada26bd1ba57e0818d773b3164869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7f6caeacf95ea8827f7521dc6106594ac9aef707eaba8bd131300b95dc51d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1cfe4787392ecca179beb247e00d37bb50a796c2c6dbeeea4e5d5cc4b011f939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 3.378 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]: [-0.3988, 1.6497, 1.4117, -0.5945, -0.313, -0.3328, 0.7965, 0.3874, 1.557, 0.1234, 0.8562, 0.2623, 0.2138, 0.5966]\nstate[eef_state]: left_x=0.4403 left_y=-0.1226 left_z=0.1997 left_yaw=0.0372 left_pitch=-0.2153 left_roll=0.0049 left_gripper=0.7965 right_x=0.304 right_y=0.0784 right_z=0.0103 right_yaw=0.038 right_pitch=0.0151 right_roll=0.0509 right_gripper=0.5966\nstate[joint_eff]: [-0.1573, -8.212, 6.8308, 1.7314, -0.1148, 0.0073, 0.0952, 0.3077, -2.4684, 1.0325, -0.232, 0.0513, -0.1685, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3332, 0.7967, 0.5079, 1.5234, 0.1677, 0.8204, 0.3252, 0.2554, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.037 left_pitch=-0.2108 left_roll=0.0025 left_gripper=0.7967 right_x=0.3077 right_y=0.1108 right_z=0.0282 right_yaw=0.0833 right_pitch=0.0649 right_roll=0.0718 right_gripper=0.5966\nstate[joint_eff]: [-0.1299, -8.2667, 6.8308, 1.4921, -0.1441, -0.0366, -0.0024, 0.0479, -4.547, 4.8889, 1.5604, 0.2955, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5915, -0.3134, -0.3367, 0.7967, 0.5312, 1.6218, 0.1749, 0.8806, 0.3542, 0.2768, 0.5966]\nstate[eef_state]: left_x=0.4408 left_y=-0.1228 left_z=0.2002 left_yaw=0.0393 left_pitch=-0.2124 left_roll=0.0011 left_gripper=0.7967 right_x=0.3072 right_y=0.1136 right_z=0.0136 right_yaw=0.0717 right_pitch=0.0425 right_roll=0.0634 right_gripper=0.5966\nstate[joint_eff]: [-0.1299, -8.2256, 7.1726, 1.4042, -0.1685, -0.022, -0.0122, 0.5402, -3.8359, 3.0427, 1.8681, 0.0855, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd8d818daa51ad465941642cf4a8d6ce738ada26bd1ba57e0818d773b3164869",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7f6caeacf95ea8827f7521dc6106594ac9aef707eaba8bd131300b95dc51d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cfe4787392ecca179beb247e00d37bb50a796c2c6dbeeea4e5d5cc4b011f939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8QsKEAgSGAI4AUIIdGhpbmtpbmcSDFKD2s+HvrJeqMk4nxoMu1L2HDp1WCaRtQd7IjBdubb67GebcEsnP0j+9Ni0QTTX2WMSCZc40/VtrPUFaF/7M++D0wDoTTCh7+Ivd+Mqjgtg12gos9fUxQqs9PLjbh7YXqN6KregTpGKeZBRTXJXunRZ/yWrUp6JkEAPQqrdqf2A19wNTz2C85o1d46Kc3Cg/JcRxQfyI3DfrPMR4xA/BbRz4d1fzdgsDJBDBHjkFW5a35rGOnH91oyGqAiWy95x4tDcQ68qhIZoOVX2RVlHCB3vOHJAtiRui7Quo9F1FUY2s+Z1bcMAxVAF46wB6gvss8cd9xCXMuz6YzgWWiNziX9FCFIxoyKJgqQAHEUV4zqlQG1kXWO7cogqIXQQdxlwWP7MnesKqeKp4aMiTrmCjo2K/f7kg9/jD3fpLKeViK8N2uAWWU+TZQ53wLtVwciaTe9XlzyOc3j9xVdJCeKHjS9wDLjhSBsg6FtTrXLxOKm8+35lfNvFBRwxe/A7Dgg6+COGBrSVFaN+nmKwElcbYaTJNW+jU6/W8Ea2x+H3vda9Sc0F7KyqkbAREUykz5qmsw2HJV7c5rUmPAwky1rLn2i5GpkeZCQNt6WY5R0tsD6GlmOb93nQa7sb/qzZc8XnGYIpNc8ztcgZgRHEoYvFPdYMEOTV6soJeC49pklsDUus5/pqSFtKyNiIz/lHM3r8LFWh7R7e92znfmTi4/joSgu9Ewm6hcVPdr6Gs/ySF9Ij2UiMh8F3QjofHkUJy60Tm4M/cOaIqaTHUyk/5tq2olL8jixSV3arzxYIUln+K+UI5feEkpgIm5wGcuUDw1dw1P6MaOBBwtE9AWuqQ8qkmZw937N6JLzurWB0SBNWzCz8szUS9ER+1yvzEqPNHy+uibjmnPDVTL6789GjeE0O03P6423tVcDO5e++xcoAgMMNvIEyE6LIuyWJ1i4C4m+V1PL5tXcJT7lZVinAbgD5Bv24Xob6+S+xbGKsGqtrthkm+Wopt0o0XW/zyfnwHTm57MjI+Arrr5xWNJOYqzSjIrxownbq3q6vuFCNK2I9FeFWjIZCcqYD4UcOBihnfmrKurN0xVeENb5zPw0CIAX05u4T2RMIBDfnWZNQe5qZeLuOjGBUF64OXxIT+okQxPcvqLKqGNfhlCUSnBLtXyKui2X34KrTMPh9IWjxQHSg3tUOxIr0Xman3QNXJx0/qljL+FMffNBL88z775oY6C9rZvt69WT30DjPanbN6ulnQ6omzg+Y3VYRMwTf0x85LoCH6bTJNHl14KAItWyU6o6X76VP8WEsq2a8N5PXjbqUY9YXLzaPYwqL/oxOe1636sHctMPV1kn9J5hjO9i8MQOmev/DVYoyd92eisJ9/45qffmSZuW3F/FgHPEsmg3cmIbR7LGbgSaYvNcJSBiZnUmWT7bwpStc4DkhCF18hpvOMgIem2oVFKuElNi8x+vC8p3TyffdwATAoL44TjAwQF8QQBPXPttKpHDvyxSzkuwIPalGuXRlF+vbDxHqgAWduaezIVRUW2+a/AXSU04+G+zCTQ+z3vHLoP1vwDxgs/8M3aIn+oEeKfPD5ZwvV44y0oP5auq39pOsLDH8b87eD0Ut+3iMNVKwaqiBfb9oYR0/YN/Pxqlo9Ozmm+KP9IMtokGiqwwXlmcz5t6T5YYQktIsZPvnMYorTjxQu8LWA8Y3YBerQpqC2XHCanNrTveZlE78q7xlWZl1AZpWvd/uuZ2OVM86chlp6Kj/jkmdk1K0jk2UG2D0IyZuMbiq8b0bPOluf2+S+D8G9+c3DAqv2/tljcjKVsgdvyZdrYBkmlqE/ztcMoZm5x6dzUK0/5EmC0pl8NDQNgYWaJSDCgImxPz7OV7nLuP62puwYFa1abrp5UdlJ3AUB/ksXGeA8TU5PyR3oMPaYRkEdcJ/KDysokug4/eQfHq3tJYfJHXMUELRYo7+ZcYZulTSVt8GO1Cb5sNz69nHpZsiyKg1gZqwnvIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018aov83XDEN2d5RSVGV1nMQ",
      "input": {
        "note": "Right arm stalled at z 0.014, probably touching the blue marker, which appears further left in both views. Raising a bit and shifting ~4.5 cm left over it.",
        "targets": {
          "right_y": 0.16,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018aov83XDEN2d5RSVGV1nMQ",
      "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]: [-0.3988, 1.6497, 1.4117, -0.59, -0.313, -0.337, 0.7967, 0.5312, 1.6245, 0.1707, 0.9028, 0.3473, 0.2699, 0.5966]\nstate[eef_state]: left_x=0.441 left_y=-0.1229 left_z=0.2004 left_yaw=0.0391 left_pitch=-0.2111 left_roll=-0.0001 left_gripper=0.7967 right_x=0.3078 right_y=0.1152 right_z=0.0158 right_yaw=0.0808 right_pitch=0.0549 right_roll=0.0674 right_gripper=0.5966\nstate[joint_eff]: [-0.3487, -8.2256, 6.8034, 1.453, -0.1734, -0.0269, -0.0073, 0.5265, -4.1641, 3.4256, 1.8779, 0.0708, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b501969fd2631f6f82671dc5f09602b56735ee279723907048b089a52ab85b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d7bfdb687f6931ed677ac0981145e0960b2f59b73523053b70ebf49f169160",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db72a64d486f6d23d6f782457a80c1f001870f698a036acc76e494207dc01ead",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 7.63 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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3332, 0.7967, 0.5079, 1.5234, 0.1677, 0.8204, 0.3252, 0.2554, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.037 left_pitch=-0.2108 left_roll=0.0025 left_gripper=0.7967 right_x=0.3077 right_y=0.1108 right_z=0.0282 right_yaw=0.0833 right_pitch=0.0649 right_roll=0.0718 right_gripper=0.5966\nstate[joint_eff]: [-0.1299, -8.2667, 6.8308, 1.4921, -0.1441, -0.0366, -0.0024, 0.0479, -4.547, 4.8889, 1.5604, 0.2955, 0.1734, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5915, -0.3134, -0.3367, 0.7967, 0.5312, 1.6218, 0.1749, 0.8806, 0.3542, 0.2768, 0.5966]\nstate[eef_state]: left_x=0.4408 left_y=-0.1228 left_z=0.2002 left_yaw=0.0393 left_pitch=-0.2124 left_roll=0.0011 left_gripper=0.7967 right_x=0.3072 right_y=0.1136 right_z=0.0136 right_yaw=0.0717 right_pitch=0.0425 right_roll=0.0634 right_gripper=0.5966\nstate[joint_eff]: [-0.1299, -8.2256, 7.1726, 1.4042, -0.1685, -0.022, -0.0122, 0.5402, -3.8359, 3.0427, 1.8681, 0.0855, -0.0806, -0.0171]",
      "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]: [-0.3988, 1.6497, 1.4117, -0.59, -0.313, -0.337, 0.7967, 0.5312, 1.6245, 0.1707, 0.9028, 0.3473, 0.2699, 0.5966]\nstate[eef_state]: left_x=0.441 left_y=-0.1229 left_z=0.2004 left_yaw=0.0391 left_pitch=-0.2111 left_roll=-0.0001 left_gripper=0.7967 right_x=0.3078 right_y=0.1152 right_z=0.0158 right_yaw=0.0808 right_pitch=0.0549 right_roll=0.0674 right_gripper=0.5966\nstate[joint_eff]: [-0.3487, -8.2256, 6.8034, 1.453, -0.1734, -0.0269, -0.0073, 0.5265, -4.1641, 3.4256, 1.8779, 0.0708, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b501969fd2631f6f82671dc5f09602b56735ee279723907048b089a52ab85b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d7bfdb687f6931ed677ac0981145e0960b2f59b73523053b70ebf49f169160",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db72a64d486f6d23d6f782457a80c1f001870f698a036acc76e494207dc01ead",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSngcKEAgSGAI4AUIIdGhpbmtpbmcSDDOmraSXDG3x4/S/mxoMWCHuAD5LPwMIhAqGIjB/vjOwDSnelh0PiQ+ra+fih37v9QmywVvliWNVhCr22veyOYI3bXkS2Gn+IsojQOkquwaxuuqt6ojWMly950cH7GsHP8ZgyTfCY0BZXZmbyCQwVJcgx5TVldHnG2ex/tvqantDgHjLdtr1iL753EOvHx8JUI6WNCKRqAUToKCplCmO1a94x9ltK70zRObc78ZaGmiPypp7TzLILD0nKcYBpyn2peoJ3ikVlBA/yuavCvgPAGxVWdqBtnUtnIk85JcI20GoN5vnc8NasaFXE7Tq2DB2RgY6tHN4x4LC1nSsJhnQLc1ng863N/c6w+VDEcFnhBoDUZSuArSOOwehYAm2XYXyyxPsNif9Ifo6Ctcuje8yUdB7cy5XhWGnHk+2jG4toqyrkjWKG1Nt/8lI6VXJA0XEnitlAbPD/HqdCJbpty6GRg7Bs/p5lJ9OMoTJ9GfpOGqX8S0GTReyYG0wSqg3oqxrAEmmrqi7+HgKx+lQvtYHP+2c2e7Px7eHeNatGfrQxkHrCwSfXPoEhG51Ctj3TGiNHk6M61e2u9Qcoq51ga0TS1u+BWFSC4CmGx8p2em1rlA3Mk/zg3/OcQHGnblJszmFz+BBvq/VIC5Yn4/qkxEryo2rielsEDsV0Xl98DP3Qg/UFDfzszxGNCluYDLQslz4pnaOlrQIl5CPzjHLmsV7WQyugQojTD+Hb9cbYF8Bi2Cd38NfPSiBdVAGNvm5L1GO6qW99kHm0e1r9AJkdSLfX+fjWz/lCKTh090ltwyi5X/0RuEo4uFUkMMJ45UlhE3Mdc1IXYvFqxwOD9isI3s879JOUNT2AD3DAceRL3DphfB3SeIVFuu1Kaz7Svze0JQ7UKEjtin+qLF5hYEVQffJsU32SxkuAU+a3zGUP/pHXT1cWmSCjg9MTC+F5PqtiKfYG+PUOqbIVb5UCD1JYh6tjud0/ZNgML8azhudV5I2S8WYjYEg1NUUpLqpnDAO/6BW1mqZhkH3Ad1+4WtrEUZb4+FX74wpEGVFUJEFY1NdV2Zm+IUgs/j7E8Bqh8FwaOsJugO5uOh2uvKLJTzUtpwgo7Tv1c86TFN3x5opFaoNTPkl1BzVhIRTg6ULLqkcZz6zZ4RJojCXRApYXCf0tDRd3/4TlDvsTcy8sYDJwEvk5HIc9HWmAn0jCduHKRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019sqkiXPr6JU5BNotzHTCgy",
      "input": {
        "note": "The right arm did not respond to the last move (stuck near the table). Raising it straight up to free it before repositioning over the blue marker.",
        "targets": {
          "right_y": 0.11,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019sqkiXPr6JU5BNotzHTCgy",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5873, -0.3126, -0.337, 0.7967, 0.511, 1.3346, 0.3622, 0.6487, 0.3214, 0.2584, 0.5966]\nstate[eef_state]: left_x=0.4415 left_y=-0.1232 left_z=0.2009 left_yaw=0.0385 left_pitch=-0.2088 left_roll=-0.0016 left_gripper=0.7967 right_x=0.3495 right_y=0.1361 right_z=0.1247 right_yaw=0.0735 right_pitch=0.2565 right_roll=0.1655 right_gripper=0.5966\nstate[joint_eff]: [-0.1983, -8.0342, 6.8581, 1.5556, -0.2564, -0.0317, -0.0122, -0.4444, -3.2342, 5.8462, 1.5067, 0.1685, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c15e2b97a477f107f249de96317f51a58daa687a8acc388031b33a0ff66c8f72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc60a98509eb6841694018ef711a3f4d7cdb31be7aec22583b51b67f9f0d0cf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a2c33969dcc403186e6de94338ad7dcd920686a60577b2d23afbe70894f7534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 2.899 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]: [-0.3988, 1.6497, 1.4117, -0.5915, -0.3134, -0.3367, 0.7967, 0.5312, 1.6218, 0.1749, 0.8806, 0.3542, 0.2768, 0.5966]\nstate[eef_state]: left_x=0.4408 left_y=-0.1228 left_z=0.2002 left_yaw=0.0393 left_pitch=-0.2124 left_roll=0.0011 left_gripper=0.7967 right_x=0.3072 right_y=0.1136 right_z=0.0136 right_yaw=0.0717 right_pitch=0.0425 right_roll=0.0634 right_gripper=0.5966\nstate[joint_eff]: [-0.1299, -8.2256, 7.1726, 1.4042, -0.1685, -0.022, -0.0122, 0.5402, -3.8359, 3.0427, 1.8681, 0.0855, -0.0806, -0.0171]",
      "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]: [-0.3988, 1.6497, 1.4117, -0.59, -0.313, -0.337, 0.7967, 0.5312, 1.6245, 0.1707, 0.9028, 0.3473, 0.2699, 0.5966]\nstate[eef_state]: left_x=0.441 left_y=-0.1229 left_z=0.2004 left_yaw=0.0391 left_pitch=-0.2111 left_roll=-0.0001 left_gripper=0.7967 right_x=0.3078 right_y=0.1152 right_z=0.0158 right_yaw=0.0808 right_pitch=0.0549 right_roll=0.0674 right_gripper=0.5966\nstate[joint_eff]: [-0.3487, -8.2256, 6.8034, 1.453, -0.1734, -0.0269, -0.0073, 0.5265, -4.1641, 3.4256, 1.8779, 0.0708, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5873, -0.3126, -0.337, 0.7967, 0.511, 1.3346, 0.3622, 0.6487, 0.3214, 0.2584, 0.5966]\nstate[eef_state]: left_x=0.4415 left_y=-0.1232 left_z=0.2009 left_yaw=0.0385 left_pitch=-0.2088 left_roll=-0.0016 left_gripper=0.7967 right_x=0.3495 right_y=0.1361 right_z=0.1247 right_yaw=0.0735 right_pitch=0.2565 right_roll=0.1655 right_gripper=0.5966\nstate[joint_eff]: [-0.1983, -8.0342, 6.8581, 1.5556, -0.2564, -0.0317, -0.0122, -0.4444, -3.2342, 5.8462, 1.5067, 0.1685, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c15e2b97a477f107f249de96317f51a58daa687a8acc388031b33a0ff66c8f72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc60a98509eb6841694018ef711a3f4d7cdb31be7aec22583b51b67f9f0d0cf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a2c33969dcc403186e6de94338ad7dcd920686a60577b2d23afbe70894f7534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rh3NgvMWif2RH8z4AFFZ8R",
      "input": {
        "note": "Top cam shows the blue marker lying diagonally left of the right gripper, near the teddy. Re-levelling the tool and moving above the marker.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.29,
          "right_y": 0.19,
          "right_yaw": 0.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Rh3NgvMWif2RH8z4AFFZ8R",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3405, 0.7967, 0.8932, 1.4174, 0.5308, 0.1509, 0.6701, 0.5243, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.0409 left_pitch=-0.2108 left_roll=-0.0028 left_gripper=0.7967 right_x=0.2931 right_y=0.195 right_z=0.0812 right_yaw=0.0538 right_pitch=0.0174 right_roll=0.0218 right_gripper=0.5966\nstate[joint_eff]: [-0.1709, -8.2256, 6.8718, 1.4432, -0.1978, -0.0122, -0.0122, 0.4581, -4.588, 7.8017, 1.2967, 0.4176, 0.1245, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d734e0a5cb4d101ba09a686a1f6d5ee1ec75b40b93a2f2115cac5180416f93ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c265afca5e0e69029b0b1d0f98fdfee03c42e8a1b469ca98dd5ab3d0279d13d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e0a049043ebba56dbcbae2f7dd9ede798dd783cd7a6159045d3b059a0eada1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 3.126 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]: [-0.3988, 1.6497, 1.4117, -0.59, -0.313, -0.337, 0.7967, 0.5312, 1.6245, 0.1707, 0.9028, 0.3473, 0.2699, 0.5966]\nstate[eef_state]: left_x=0.441 left_y=-0.1229 left_z=0.2004 left_yaw=0.0391 left_pitch=-0.2111 left_roll=-0.0001 left_gripper=0.7967 right_x=0.3078 right_y=0.1152 right_z=0.0158 right_yaw=0.0808 right_pitch=0.0549 right_roll=0.0674 right_gripper=0.5966\nstate[joint_eff]: [-0.3487, -8.2256, 6.8034, 1.453, -0.1734, -0.0269, -0.0073, 0.5265, -4.1641, 3.4256, 1.8779, 0.0708, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5873, -0.3126, -0.337, 0.7967, 0.511, 1.3346, 0.3622, 0.6487, 0.3214, 0.2584, 0.5966]\nstate[eef_state]: left_x=0.4415 left_y=-0.1232 left_z=0.2009 left_yaw=0.0385 left_pitch=-0.2088 left_roll=-0.0016 left_gripper=0.7967 right_x=0.3495 right_y=0.1361 right_z=0.1247 right_yaw=0.0735 right_pitch=0.2565 right_roll=0.1655 right_gripper=0.5966\nstate[joint_eff]: [-0.1983, -8.0342, 6.8581, 1.5556, -0.2564, -0.0317, -0.0122, -0.4444, -3.2342, 5.8462, 1.5067, 0.1685, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3405, 0.7967, 0.8932, 1.4174, 0.5308, 0.1509, 0.6701, 0.5243, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.0409 left_pitch=-0.2108 left_roll=-0.0028 left_gripper=0.7967 right_x=0.2931 right_y=0.195 right_z=0.0812 right_yaw=0.0538 right_pitch=0.0174 right_roll=0.0218 right_gripper=0.5966\nstate[joint_eff]: [-0.1709, -8.2256, 6.8718, 1.4432, -0.1978, -0.0122, -0.0122, 0.4581, -4.588, 7.8017, 1.2967, 0.4176, 0.1245, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d734e0a5cb4d101ba09a686a1f6d5ee1ec75b40b93a2f2115cac5180416f93ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c265afca5e0e69029b0b1d0f98fdfee03c42e8a1b469ca98dd5ab3d0279d13d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e0a049043ebba56dbcbae2f7dd9ede798dd783cd7a6159045d3b059a0eada1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AYKEAgSGAI4AUIIdGhpbmtpbmcSDK45MU16cHuIpPgnORoMXkzNcJ38TUo6Gia+IjBYstWMcBHhRTs3Sz8t2Kx0A7WrAxc0UNMoKz6F0Z3CWxnU0WkrMi1DWFJYzyOymmoqmQZN7VIcZe2Op2PyfxPguCUNQPbWlTAv6gazbzEEs2AnmJfZCjuy7bPaOuDwClwwOVUDxn5NBLPw+FsYcr+RNDgRkZOulkKQNtL62x3MVOsj3Y7bAIarWNKsvExgIkVP4w3WegCq/hQSZ6QNPEUodwL2RG5B/qEaJcgpnGBDQcHKnjft9m5bO1DOQpHpKBoGh2P2oBUG/LUJiJD83ZeqVcZdWnWCTQH9B0vdZXdJjK4EiD8mX5EUchMD4lFdbCZ3UPKtF19PDm5UttwLzkDDR3wJJ1IDApX8xSVEkOhA3mrcLqc7p6lixVxF1hojUIsCngrvCNJd12HI3jgB+HJq7RK7XgU435uVQcMY1GQr5Kh2Nhmivsfk1ndusc2zQEHlpH7y0JGECTsDrXcLHNKwcS3pitElXa2t371wa2EFDq+Zk9oy/rN/Y2aFwW46dgo5/7HwloS+5zb2gtqj13rq/EnjgQpkAMP5KdXqaDMPVYlAsjIhOFflORTUbBjgZOgz7XF5IT9s5KyYiXdr6FpNdt8+kPwBhHTDuofwt/9nbIFFxxbi9AiDKNBH/T9CGrf8IAAWxDepfFXrlaOBLdYCvC5DkQvKT6awxEyXNLzicDojvOeCTMgdivI07iFTxbtRxL626qnX2Ik5DCmzJqdcnzmCkzVudENBKZdTyJBHNab2Eu7pxxMj5SbEzLak4pRGkbJhQukUutpuPMjH6VZEZsxAh2uoSbuKu4XbaRseyG3186+oHuAJUDXd7sGKwpaAp0KS5i65qkOiD7zvH0JO9tAC9Hir7jP7sHnjt2k9j/sJColSFmHfUS0G4wPbJ/oW4KKL15/jbVtHAyoyMbNBzDFVMkaTCMzMNdcphz1HnBY+Imd4iFR11vqi1XMheCqRmdds5w5fg/gsmoOpMfVNTVsa4c3Cu2Rq6YfPR2CFc2ut2JRyM5IJ2Vzl3JwCFFckdN2NqGTTaqZxB5/xIiE8IyCV+f/Qu7P4J7l32nZW3UfpWzCELL5IoJ5ksSTiP4qm8Ba+bGslv6cv8DtUy7u6c9iy4VBUiCfFdSAqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QhcneEU7qomnw5QtRmzWmQ",
      "input": {
        "note": "Blue marker is now centred between the right jaws and aligned radially. Descending to grasp.",
        "targets": {
          "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_01QhcneEU7qomnw5QtRmzWmQ",
      "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]: [-0.3981, 1.6497, 1.4117, -0.59, -0.313, -0.3405, 0.7967, 0.8955, 1.7641, 0.4213, 0.6212, 0.693, 0.5323, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.1226 left_z=0.2004 left_yaw=0.0417 left_pitch=-0.2111 left_roll=-0.0026 left_gripper=0.7967 right_x=0.2974 right_y=0.1965 right_z=0.0101 right_yaw=0.0347 right_pitch=0.038 right_roll=0.0292 right_gripper=0.5966\nstate[joint_eff]: [-0.253, -8.2393, 7.0222, 1.4286, -0.1441, -0.0269, -0.0073, -0.1573, -4.2872, 2.0991, 0.3248, -0.1148, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d4199ab9fbe0b23e8bd4d8a0e1e7963379ba21a92b99ca3770dc22f0b70be49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53b2add9ee619485b77d38b10e6636b0c407afbbcefbddc5b6de98479b26460b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:707cd813004dccf9c068ebb464f6e186e6394f69a467cb183c66b92f9b7ca943",
        "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 · 5.577 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]: [-0.3988, 1.6497, 1.4117, -0.5873, -0.3126, -0.337, 0.7967, 0.511, 1.3346, 0.3622, 0.6487, 0.3214, 0.2584, 0.5966]\nstate[eef_state]: left_x=0.4415 left_y=-0.1232 left_z=0.2009 left_yaw=0.0385 left_pitch=-0.2088 left_roll=-0.0016 left_gripper=0.7967 right_x=0.3495 right_y=0.1361 right_z=0.1247 right_yaw=0.0735 right_pitch=0.2565 right_roll=0.1655 right_gripper=0.5966\nstate[joint_eff]: [-0.1983, -8.0342, 6.8581, 1.5556, -0.2564, -0.0317, -0.0122, -0.4444, -3.2342, 5.8462, 1.5067, 0.1685, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3405, 0.7967, 0.8932, 1.4174, 0.5308, 0.1509, 0.6701, 0.5243, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.0409 left_pitch=-0.2108 left_roll=-0.0028 left_gripper=0.7967 right_x=0.2931 right_y=0.195 right_z=0.0812 right_yaw=0.0538 right_pitch=0.0174 right_roll=0.0218 right_gripper=0.5966\nstate[joint_eff]: [-0.1709, -8.2256, 6.8718, 1.4432, -0.1978, -0.0122, -0.0122, 0.4581, -4.588, 7.8017, 1.2967, 0.4176, 0.1245, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3981, 1.6497, 1.4117, -0.59, -0.313, -0.3405, 0.7967, 0.8955, 1.7641, 0.4213, 0.6212, 0.693, 0.5323, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.1226 left_z=0.2004 left_yaw=0.0417 left_pitch=-0.2111 left_roll=-0.0026 left_gripper=0.7967 right_x=0.2974 right_y=0.1965 right_z=0.0101 right_yaw=0.0347 right_pitch=0.038 right_roll=0.0292 right_gripper=0.5966\nstate[joint_eff]: [-0.253, -8.2393, 7.0222, 1.4286, -0.1441, -0.0269, -0.0073, -0.1573, -4.2872, 2.0991, 0.3248, -0.1148, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d4199ab9fbe0b23e8bd4d8a0e1e7963379ba21a92b99ca3770dc22f0b70be49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53b2add9ee619485b77d38b10e6636b0c407afbbcefbddc5b6de98479b26460b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:707cd813004dccf9c068ebb464f6e186e6394f69a467cb183c66b92f9b7ca943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MLv2ZBniqaVStFdszEffj6",
      "input": {
        "note": "Blue marker is between the jaws at table level. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MLv2ZBniqaVStFdszEffj6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.3134, -0.3405, 0.7967, 0.8955, 1.7767, 0.4133, 0.6636, 0.6888, 0.5312, 0.1634]\nstate[eef_state]: left_x=0.4411 left_y=-0.1229 left_z=0.2005 left_yaw=0.0413 left_pitch=-0.2106 left_roll=-0.0025 left_gripper=0.7967 right_x=0.2981 right_y=0.1984 right_z=0.0102 right_yaw=0.0377 right_pitch=0.0501 right_roll=0.0464 right_gripper=0.1634\nstate[joint_eff]: [-0.1983, -8.2667, 6.9949, 1.4823, -0.1685, -0.0122, -0.0122, -0.1709, -7.3641, 4.4786, 1.0525, 0.2662, -0.0366, 1.1502]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38005dfff6dcc918f64c784aae1c03853598725e5afbae10923a235fab2b8b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f58154e43e4abe18103a4c51808b5648e018701da0f119a07a649dcf6b455274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a9662f1901200bd360361fa1703f86b0ad1ac36cb145c3080bb3aa1a30c5d3fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 19.74 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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3405, 0.7967, 0.8932, 1.4174, 0.5308, 0.1509, 0.6701, 0.5243, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.0409 left_pitch=-0.2108 left_roll=-0.0028 left_gripper=0.7967 right_x=0.2931 right_y=0.195 right_z=0.0812 right_yaw=0.0538 right_pitch=0.0174 right_roll=0.0218 right_gripper=0.5966\nstate[joint_eff]: [-0.1709, -8.2256, 6.8718, 1.4432, -0.1978, -0.0122, -0.0122, 0.4581, -4.588, 7.8017, 1.2967, 0.4176, 0.1245, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3981, 1.6497, 1.4117, -0.59, -0.313, -0.3405, 0.7967, 0.8955, 1.7641, 0.4213, 0.6212, 0.693, 0.5323, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.1226 left_z=0.2004 left_yaw=0.0417 left_pitch=-0.2111 left_roll=-0.0026 left_gripper=0.7967 right_x=0.2974 right_y=0.1965 right_z=0.0101 right_yaw=0.0347 right_pitch=0.038 right_roll=0.0292 right_gripper=0.5966\nstate[joint_eff]: [-0.253, -8.2393, 7.0222, 1.4286, -0.1441, -0.0269, -0.0073, -0.1573, -4.2872, 2.0991, 0.3248, -0.1148, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.3134, -0.3405, 0.7967, 0.8955, 1.7767, 0.4133, 0.6636, 0.6888, 0.5312, 0.1634]\nstate[eef_state]: left_x=0.4411 left_y=-0.1229 left_z=0.2005 left_yaw=0.0413 left_pitch=-0.2106 left_roll=-0.0025 left_gripper=0.7967 right_x=0.2981 right_y=0.1984 right_z=0.0102 right_yaw=0.0377 right_pitch=0.0501 right_roll=0.0464 right_gripper=0.1634\nstate[joint_eff]: [-0.1983, -8.2667, 6.9949, 1.4823, -0.1685, -0.0122, -0.0122, -0.1709, -7.3641, 4.4786, 1.0525, 0.2662, -0.0366, 1.1502]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38005dfff6dcc918f64c784aae1c03853598725e5afbae10923a235fab2b8b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f58154e43e4abe18103a4c51808b5648e018701da0f119a07a649dcf6b455274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9662f1901200bd360361fa1703f86b0ad1ac36cb145c3080bb3aa1a30c5d3fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AoKEAgSGAI4AUIIdGhpbmtpbmcSDA197uVUT2Dlz0oxZRoMLqjQ0iiENZo9VYtDIjBphLx45J6OfyIuDZVhzBr9A2ClS4o/yR0izYecm3SRuAC3Y13ke+uw2Xejb56b7n8q7Ql2yJuw46bUvxy3uZuWSqUJ33HNe0N7P2zGVfyVL9MXcNs+uqIV18FdqpbVShMdn2aiIYLEBC5EnesymlAYRju3hA1lU1qT7n8+mpAnX9I1jrUIli0X2RWceOf4XHGzVZ9+29ip8IN4yZL007Pv+aJOY6BNidVpvRqZBSgLLK1A/H6Zb9UTohHsmD+Ucckgvq5cCoEHGsCpZd+umr1Xvq8TaRUzhYILMifD6MfcUs7Olp5mgXsudydFqvRUW38r1YA14/+mrbafOtIdp6DjkbYr3E3jL+SM7NQ8a7v0AcyoMSTsqHsk/AJ7jjGDZopYF1BthanUszQC80whXlO60Ee5XAmvSIfaMCK6rRJQmxUOCc5RHh0ggJsB1L2p4kv6V8PC+tHxTEpvtYosnQJSkL33yLZOv3xXp8/HioBHU5lBI+SdFLpR6Yxz/Z3ouhFwHJ+O1TZqi0KpsqStUuJXKjPWwKhwcI8jtbnjBZtE39QnLPhv5KCh/NwoP1AHwzYFgDKwOo5W+sFwXYwNTe8PVQhBknIiaKg170gFoN7cxYkRghqRQ3wYd+n+wdyStHiG9OrynJRkBES9hBHi9EAzbyymD0lYZ2ZXA5mYvS2HtHCa2kndMCP0PwhbX6pK/VM3Yt2RuGmav+Ze0m71Cz7HtD6/fbz7l0dI1VAfyQy0CILU/xHO2YE0Sjd7vjl24b9PWPr0BqjJoJRfzSgO0+M5CVQ/OuzQqit1MoOXBtqnICbPjMP1zGi+qoBd/9NmBG8XKavtJKcWCCMazHhnrKh6zm4DnUZzLBenM6uomWrJ2IUxKH8ewGD496S0dP+LCsnuFtLHb7b5LYddXrn+BJlmNWAA4euMHxy2+LVHBgFrymtFLk45Bddlmk7J2NLKVv7X6bsu8WwilvWme4oURAx5rqQZVeHLSEPgty//CH8G8HUDRZlOysOSoo5jzX8ugvH6uwSJsOSKp3WSLBYNWgctkeXddnvtSOX1w5dFAQURX3LgEnbnBDjfjY3A8ro7r8Tq0hrcxGdpgcI47SmHSni3LX/sDmnTwxCR4IRcX3v89Vgu2ghODZUJx8mBh3pFP97/nCnzLcNa0u4ygb3Z5lzCwuupwhJIXnLCYT8ZbR179YUN6bh2iaKitEzBlLgo5eZrrgmYSovkHcXixhL6tP4+J1o71rDoThIrkzAh2O9k3VFORo7l8hqnV+dJv4YwAOp3ZQogD0VBh7D3m92QOZLf1S4CRjVMJKI2oxbE1JuUPSLyWeV18oxyAGHeAHsSwsQ3YrvsznLhLbkAlxK0CdUjo/efP40ARlyFaDYY1zrnh/gL2zYdQyq+ai1dAaSwOmMKI6tflPFRdNqjfG/nMFGF7vPwovs7pJsMUeM9t5ZlED79VgbY22pivwOv0HOHG/ZW/C6F8+abSZtBlOFR8gADBvqWFbPV88JKo4ba+fsTDQYShpzOoAALK/VWOLxCb5nh6kgQVUH26QDKKB1vR6fn4eDLhlRMKNFpuvehMRTX68O5TjV05p+6mWm3ocKS0BbJJNOQjxypRDoLylxAeeevfYNTjXDoMU4TZ3A0AwZDG61fj+ft2r4Yk6t+sdaP8PNWON39QZIFeQtYwjrvwS6HUF0GGPrke3hT8xNAwrwZ4wWq0k+KmgKaRTarpC5gwaq1ALte0jgj80Rja0GyJVHEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GHACLuc9kSUuVbvXpoP2X6",
      "input": {
        "note": "Blue marker grasped (0.16). Lifting it before carrying it to the centre handoff spot.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GHACLuc9kSUuVbvXpoP2X6",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3405, 0.7967, 0.8955, 1.3106, 0.664, -0.0471, 0.6765, 0.5274, 0.1666]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.0409 left_pitch=-0.2108 left_roll=-0.0028 left_gripper=0.7967 right_x=0.2984 right_y=0.2013 right_z=0.1347 right_yaw=0.0486 right_pitch=0.0484 right_roll=0.0529 right_gripper=0.1666\nstate[joint_eff]: [-0.2393, -8.1026, 6.8308, 1.4921, -0.1734, -0.022, -0.0122, -0.335, -6.0239, 9.0188, 1.4676, 0.3443, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a0c89ac691c2d651be9418b8f028ce10d8a3e54ab9edde10c9e38a739498ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3686197aa2e1d35253317c6e6f561a4a5ca2463c92f5c36e39682c1772bd666c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c981c673a0ebe33cd8c4a402a6d96d1d2bd176b126035853e5be721f4950e5de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 3.058 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]: [-0.3981, 1.6497, 1.4117, -0.59, -0.313, -0.3405, 0.7967, 0.8955, 1.7641, 0.4213, 0.6212, 0.693, 0.5323, 0.5966]\nstate[eef_state]: left_x=0.4411 left_y=-0.1226 left_z=0.2004 left_yaw=0.0417 left_pitch=-0.2111 left_roll=-0.0026 left_gripper=0.7967 right_x=0.2974 right_y=0.1965 right_z=0.0101 right_yaw=0.0347 right_pitch=0.038 right_roll=0.0292 right_gripper=0.5966\nstate[joint_eff]: [-0.253, -8.2393, 7.0222, 1.4286, -0.1441, -0.0269, -0.0073, -0.1573, -4.2872, 2.0991, 0.3248, -0.1148, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.3134, -0.3405, 0.7967, 0.8955, 1.7767, 0.4133, 0.6636, 0.6888, 0.5312, 0.1634]\nstate[eef_state]: left_x=0.4411 left_y=-0.1229 left_z=0.2005 left_yaw=0.0413 left_pitch=-0.2106 left_roll=-0.0025 left_gripper=0.7967 right_x=0.2981 right_y=0.1984 right_z=0.0102 right_yaw=0.0377 right_pitch=0.0501 right_roll=0.0464 right_gripper=0.1634\nstate[joint_eff]: [-0.1983, -8.2667, 6.9949, 1.4823, -0.1685, -0.0122, -0.0122, -0.1709, -7.3641, 4.4786, 1.0525, 0.2662, -0.0366, 1.1502]",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3405, 0.7967, 0.8955, 1.3106, 0.664, -0.0471, 0.6765, 0.5274, 0.1666]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.0409 left_pitch=-0.2108 left_roll=-0.0028 left_gripper=0.7967 right_x=0.2984 right_y=0.2013 right_z=0.1347 right_yaw=0.0486 right_pitch=0.0484 right_roll=0.0529 right_gripper=0.1666\nstate[joint_eff]: [-0.2393, -8.1026, 6.8308, 1.4921, -0.1734, -0.022, -0.0122, -0.335, -6.0239, 9.0188, 1.4676, 0.3443, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0a0c89ac691c2d651be9418b8f028ce10d8a3e54ab9edde10c9e38a739498ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3686197aa2e1d35253317c6e6f561a4a5ca2463c92f5c36e39682c1772bd666c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c981c673a0ebe33cd8c4a402a6d96d1d2bd176b126035853e5be721f4950e5de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VEzdBpevJKz5aDRoSxjpYS",
      "input": {
        "note": "Blue marker held and lifted. The left (pens) basket is out of the right arm's reach, so I'm setting the marker down on the table right in front of that basket for the left arm.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.39,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01VEzdBpevJKz5aDRoSxjpYS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3985, 1.6512, 1.4117, -0.5903, -0.313, -0.3405, 0.7967, 0.9352, 2.2917, 1.4334, 0.1184, 0.6971, 0.5549, 0.1666]\nstate[eef_state]: left_x=0.4412 left_y=-0.1228 left_z=0.1997 left_yaw=0.0415 left_pitch=-0.2128 left_roll=-0.0018 left_gripper=0.7967 right_x=0.4159 right_y=0.3788 right_z=0.0257 right_yaw=0.0596 right_pitch=0.0278 right_roll=0.0327 right_gripper=0.1666\nstate[joint_eff]: [0.0752, -8.3487, 7.1453, 1.4286, -0.1587, -0.022, -0.0122, 0.4991, -12.2872, 7.5556, 1.4676, 0.3785, 0.1099, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685079582a777301d751cb45806fc9565e30da06b275fa54407ac393f3130383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:952ff0833a22a12098be6c2e968f3f6e5f3ba5a6e6ccbac8eccbc1778f47e017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a46abd04027333caa01b732e7c560048668dc69b28bfbea650b5b29813d8c197",
        "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 · 3.558 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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.3134, -0.3405, 0.7967, 0.8955, 1.7767, 0.4133, 0.6636, 0.6888, 0.5312, 0.1634]\nstate[eef_state]: left_x=0.4411 left_y=-0.1229 left_z=0.2005 left_yaw=0.0413 left_pitch=-0.2106 left_roll=-0.0025 left_gripper=0.7967 right_x=0.2981 right_y=0.1984 right_z=0.0102 right_yaw=0.0377 right_pitch=0.0501 right_roll=0.0464 right_gripper=0.1634\nstate[joint_eff]: [-0.1983, -8.2667, 6.9949, 1.4823, -0.1685, -0.0122, -0.0122, -0.1709, -7.3641, 4.4786, 1.0525, 0.2662, -0.0366, 1.1502]",
      "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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3405, 0.7967, 0.8955, 1.3106, 0.664, -0.0471, 0.6765, 0.5274, 0.1666]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.0409 left_pitch=-0.2108 left_roll=-0.0028 left_gripper=0.7967 right_x=0.2984 right_y=0.2013 right_z=0.1347 right_yaw=0.0486 right_pitch=0.0484 right_roll=0.0529 right_gripper=0.1666\nstate[joint_eff]: [-0.2393, -8.1026, 6.8308, 1.4921, -0.1734, -0.022, -0.0122, -0.335, -6.0239, 9.0188, 1.4676, 0.3443, 0.0122, 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 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]: [-0.3985, 1.6512, 1.4117, -0.5903, -0.313, -0.3405, 0.7967, 0.9352, 2.2917, 1.4334, 0.1184, 0.6971, 0.5549, 0.1666]\nstate[eef_state]: left_x=0.4412 left_y=-0.1228 left_z=0.1997 left_yaw=0.0415 left_pitch=-0.2128 left_roll=-0.0018 left_gripper=0.7967 right_x=0.4159 right_y=0.3788 right_z=0.0257 right_yaw=0.0596 right_pitch=0.0278 right_roll=0.0327 right_gripper=0.1666\nstate[joint_eff]: [0.0752, -8.3487, 7.1453, 1.4286, -0.1587, -0.022, -0.0122, 0.4991, -12.2872, 7.5556, 1.4676, 0.3785, 0.1099, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685079582a777301d751cb45806fc9565e30da06b275fa54407ac393f3130383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:952ff0833a22a12098be6c2e968f3f6e5f3ba5a6e6ccbac8eccbc1778f47e017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a46abd04027333caa01b732e7c560048668dc69b28bfbea650b5b29813d8c197",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wYKEAgSGAI4AUIIdGhpbmtpbmcSDBdMiTSVXrmskPao1xoMYh6kAEvzfDEKaw8mIjCgj87zN2isOUiKU7HIU/UZgqu7Sof2LQTr1hKelH0X4cR5tGE8YKl1FCu7OQPEAKAqgAbW+cuVJu3M1bV1mK9Gw2TJ5WtLP+63+px/GVSrwlfvVFZkMiF++OY1Tf2iUIOzluHuPjXa43p2vTxqh3eTERV4hH0jZo3Ld/cjMPD5WgpQtkByrxla5ikuSDNNJZlBV8WOY06YI18sduGdQY8n/o2bK8R+jI+Ek89AYcrZ9QYajp65SFBEg4btIZTlhNcEhWlnnUXKm+1PHGpYLUd7SLa2Bwcgmp+wGcAzLo5q8dRtnMazDLYENfEMIw0FMB0QR65qFpuMFamDr6iDjBHN5+MF1CvwsC71zgVdOlRDIErhQVAPgqGmBXMijbBOanUoGWeUCAPsdQpA6B+RRS7YdRbl5CJ/dWWh+rpgvrtOHQXRIO54iWEzmZx9zpolSwat9Fq+Pr2G55Yg3F7RBwqqkV9RTSjewYQ8nc0579hQPx5dnEukXaHu6qZyLYkvn1t4kQfthRAQXKJtl7kv/TWmRIqa/S0eSvq79MFW70mxwLXZroQFxM1M6Oc4nUF2u6zqStiE71YOtQizIB0mY2v4nLPQWtjXFht245xqkfjjqNWoW31iWxVAMWrrrPqlfeispdEMuZhIfMbGOkIT9WV+axxbl4zl23G0mGD11Q0JxUjNdRiUx3o0aezGmzhdpJ8x2I0zRyC2fs0eCrEBg3357jNzXlPKc2b0j61t7I22hvlEV5H6C/ZtelQUho0htz43rlvFCnbrFZfmOX1kZM8FXPr69PxUuKGTFbFRSp4D8FRDT2elRrqNQDYGlUNxvzAAGqrPo/u8TuwckXkPy/L9iIPRp0ehyH/hL4KSN0d0Dz4qxoFmbJz3R+R40V9ryul9XvSVyDjfQq3+B7Gt1vGV/42XRFbr+c9vxlYigOMErxct6FA/lVEYm++K2hV7dHJybR3Ligge22fnymqq6+cvb2JskJmcINgWa2blpHFHDJ92mdRJJtRKL5i8xZ+CoJsJhL4SqX8ftS7eE2IG1Ix5wGDDuCSCo9Yc+8YxI0y5RaS4FV3pw8uTja9HIw8vryh2t54YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017e9YX4sKVqGc8dcgd8b1qo",
      "input": {
        "note": "Blue marker is at table level in the gap between the two baskets. Releasing it for the left arm.",
        "targets": {
          "right_gripper": 0.6
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017e9YX4sKVqGc8dcgd8b1qo",
      "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]: [-0.3988, 1.6512, 1.4117, -0.59, -0.313, -0.3408, 0.7967, 0.934, 2.3169, 1.4425, 0.1329, 0.696, 0.5571, 0.5952]\nstate[eef_state]: left_x=0.4412 left_y=-0.123 left_z=0.1998 left_yaw=0.0413 left_pitch=-0.2125 left_roll=-0.0023 left_gripper=0.7967 right_x=0.4177 right_y=0.3803 right_z=0.0177 right_yaw=0.0581 right_pitch=0.0261 right_roll=0.034 right_gripper=0.5952\nstate[joint_eff]: [-0.1436, -8.253, 6.9812, 1.4872, -0.1832, -0.0415, -0.0122, -0.1983, -14.8444, 5.0803, 1.2674, 0.2466, -0.0562, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14ae1df3eb5be3a98a9d0e090ad1086f1d3bddaca631c4eda3c11de053de734c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bea677994f1ffc8edc7e279005fae57929ad607beeae474ea4746d95f56954b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:640ba2ac5133a7ae6f076fb23e0f4fd1ea8ee2e05e2bd23b96aaee02c2b70b1c",
        "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 · 8.029 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]: [-0.3988, 1.6497, 1.4117, -0.5896, -0.313, -0.3405, 0.7967, 0.8955, 1.3106, 0.664, -0.0471, 0.6765, 0.5274, 0.1666]\nstate[eef_state]: left_x=0.4411 left_y=-0.123 left_z=0.2005 left_yaw=0.0409 left_pitch=-0.2108 left_roll=-0.0028 left_gripper=0.7967 right_x=0.2984 right_y=0.2013 right_z=0.1347 right_yaw=0.0486 right_pitch=0.0484 right_roll=0.0529 right_gripper=0.1666\nstate[joint_eff]: [-0.2393, -8.1026, 6.8308, 1.4921, -0.1734, -0.022, -0.0122, -0.335, -6.0239, 9.0188, 1.4676, 0.3443, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3985, 1.6512, 1.4117, -0.5903, -0.313, -0.3405, 0.7967, 0.9352, 2.2917, 1.4334, 0.1184, 0.6971, 0.5549, 0.1666]\nstate[eef_state]: left_x=0.4412 left_y=-0.1228 left_z=0.1997 left_yaw=0.0415 left_pitch=-0.2128 left_roll=-0.0018 left_gripper=0.7967 right_x=0.4159 right_y=0.3788 right_z=0.0257 right_yaw=0.0596 right_pitch=0.0278 right_roll=0.0327 right_gripper=0.1666\nstate[joint_eff]: [0.0752, -8.3487, 7.1453, 1.4286, -0.1587, -0.022, -0.0122, 0.4991, -12.2872, 7.5556, 1.4676, 0.3785, 0.1099, 1.0281]",
      "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]: [-0.3988, 1.6512, 1.4117, -0.59, -0.313, -0.3408, 0.7967, 0.934, 2.3169, 1.4425, 0.1329, 0.696, 0.5571, 0.5952]\nstate[eef_state]: left_x=0.4412 left_y=-0.123 left_z=0.1998 left_yaw=0.0413 left_pitch=-0.2125 left_roll=-0.0023 left_gripper=0.7967 right_x=0.4177 right_y=0.3803 right_z=0.0177 right_yaw=0.0581 right_pitch=0.0261 right_roll=0.034 right_gripper=0.5952\nstate[joint_eff]: [-0.1436, -8.253, 6.9812, 1.4872, -0.1832, -0.0415, -0.0122, -0.1983, -14.8444, 5.0803, 1.2674, 0.2466, -0.0562, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14ae1df3eb5be3a98a9d0e090ad1086f1d3bddaca631c4eda3c11de053de734c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bea677994f1ffc8edc7e279005fae57929ad607beeae474ea4746d95f56954b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:640ba2ac5133a7ae6f076fb23e0f4fd1ea8ee2e05e2bd23b96aaee02c2b70b1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wYKEAgSGAI4AUIIdGhpbmtpbmcSDMjfr6uOm2QqY672RxoMyf0XMaPSrxpnNfufIjCymiSeRIlaT0COtHlyUq0SvurWHFr+thW0bVHdZ3ryJaRx42TvADduDm2UXqSmRsMq9AVEQCJj8hWtu6MRQW+Fh4x4/eVG+VtmtS8e6JypbFw9BKqHBt+0dButkySP74lLAzmzb5de4fsnmUN+CO2czYhFuoTBdO5c65YAricrRw8oVQEfL7/v+LOk7fUXP61LZjWWg4f2OhszAey0MkzlGt1Vf/uvzcdpFGla8EP9ppjhVgZ7ALXs6PAEkCR04ZGSCMmJUMd9J50KB1c2vl5mloLNlLCR3L4YmRQNeeIhtPsSpiAjzL/BL0zKHIvaGZBYctmBs/1L+SQEggDKubA0cfPignC0v88o4s1QYlJZpsjK/+kSA6KO3NZ4wpq9xsMxScKo8g6doeIRwzbfhpgGiuJa3A+hjHRM0sew1Wxk9M3fUY0ghGLPQx4vivlCLrcYryz5BUpQ32UtiCgk64GnehORuYJXmt1c7DdACGHGkzBX8zQVTjEMBNLi7dKKgRnTGd8yjgxWTCsrhFqMGLl0F25Zteo3Se1YtHTcR9WyJS+WvyALtfi047zEUZqiI+Ha+3pPY88iWAcCJNnJE4b+rE52EkYAno5yKtdGQ7ESga0dO8RTkTs6QUP3cATZbQljf40IbdYnAH8Jnu7dCV6J6MdZ2SQkA6xHwAZyS90LPqCzlqN/pQpku0rReZSAklmtmGdFLqun4AumDhvLYU1mu1OKdy2S9qkhCKtqd4CvfCDUVWf2j8qvbPzb3OaGS58dHIIwUs7QXa6McBX+4fA9/lYw31Dg4xPvyaAv0cn/ABy62rA0GXW7JO5Vlf3YlM6kEMmhfmIIkp6dy67RihfyFb7wEKQsvBNMMJqQeFwPztPofaa3/uHG1yiQZk9GH/HFliNYJchh6vTq4evzVguhPXyVgzB8Vron/a94WDtSFSHQUxfJRg2RIL8E1Mf2NveLBmpKNYA2O3t1z8KlRT/sSK37RN8zuz/8s/9IzQewfA83i+eIjEM4UfRSUm0EMdM+w/I8Z2vTYDNNrF7jKQMC1aaE9ZZvK6p7eT+gVB1p5vGlinpYqRQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HegRtB45gwVzEyYJmtMhbZ",
      "input": {
        "note": "Blue marker released between the baskets. Moving the right arm away so the left arm can pick it up.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01HegRtB45gwVzEyYJmtMhbZ",
      "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]: [-0.3988, 1.6512, 1.4117, -0.5888, -0.313, -0.3408, 0.7967, 0.2459, 0.8524, 0.5793, -0.2592, 0.1719, 0.1333, 0.596]\nstate[eef_state]: left_x=0.4414 left_y=-0.1231 left_z=0.2 left_yaw=0.0412 left_pitch=-0.2115 left_roll=-0.0028 left_gripper=0.7967 right_x=0.306 right_y=0.0494 right_z=0.1787 right_yaw=0.0151 right_pitch=0.0471 right_roll=0.0403 right_gripper=0.596\nstate[joint_eff]: [-0.335, -8.2393, 7.0085, 1.5311, -0.2271, -0.0464, -0.0122, -0.3487, -1.894, 8.4581, 1.7167, -0.0415, -0.0464, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dce3db7e11e91f071d8d98f8b7e4df69771c026fee85fd6476e27fb7c3e057f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa82606ba7b01cc7a0bc5f20a63909fdacf95f9138244bd035b19c4aa2fbe7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3dce64626f95e12627c8d28ba91df94c2c96700a82747e51d53b5c372e6fc7d",
        "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 · 14.4 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]: [-0.3985, 1.6512, 1.4117, -0.5903, -0.313, -0.3405, 0.7967, 0.9352, 2.2917, 1.4334, 0.1184, 0.6971, 0.5549, 0.1666]\nstate[eef_state]: left_x=0.4412 left_y=-0.1228 left_z=0.1997 left_yaw=0.0415 left_pitch=-0.2128 left_roll=-0.0018 left_gripper=0.7967 right_x=0.4159 right_y=0.3788 right_z=0.0257 right_yaw=0.0596 right_pitch=0.0278 right_roll=0.0327 right_gripper=0.1666\nstate[joint_eff]: [0.0752, -8.3487, 7.1453, 1.4286, -0.1587, -0.022, -0.0122, 0.4991, -12.2872, 7.5556, 1.4676, 0.3785, 0.1099, 1.0281]",
      "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]: [-0.3988, 1.6512, 1.4117, -0.59, -0.313, -0.3408, 0.7967, 0.934, 2.3169, 1.4425, 0.1329, 0.696, 0.5571, 0.5952]\nstate[eef_state]: left_x=0.4412 left_y=-0.123 left_z=0.1998 left_yaw=0.0413 left_pitch=-0.2125 left_roll=-0.0023 left_gripper=0.7967 right_x=0.4177 right_y=0.3803 right_z=0.0177 right_yaw=0.0581 right_pitch=0.0261 right_roll=0.034 right_gripper=0.5952\nstate[joint_eff]: [-0.1436, -8.253, 6.9812, 1.4872, -0.1832, -0.0415, -0.0122, -0.1983, -14.8444, 5.0803, 1.2674, 0.2466, -0.0562, 0.0708]",
      "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]: [-0.3988, 1.6512, 1.4117, -0.5888, -0.313, -0.3408, 0.7967, 0.2459, 0.8524, 0.5793, -0.2592, 0.1719, 0.1333, 0.596]\nstate[eef_state]: left_x=0.4414 left_y=-0.1231 left_z=0.2 left_yaw=0.0412 left_pitch=-0.2115 left_roll=-0.0028 left_gripper=0.7967 right_x=0.306 right_y=0.0494 right_z=0.1787 right_yaw=0.0151 right_pitch=0.0471 right_roll=0.0403 right_gripper=0.596\nstate[joint_eff]: [-0.335, -8.2393, 7.0085, 1.5311, -0.2271, -0.0464, -0.0122, -0.3487, -1.894, 8.4581, 1.7167, -0.0415, -0.0464, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dce3db7e11e91f071d8d98f8b7e4df69771c026fee85fd6476e27fb7c3e057f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa82606ba7b01cc7a0bc5f20a63909fdacf95f9138244bd035b19c4aa2fbe7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3dce64626f95e12627c8d28ba91df94c2c96700a82747e51d53b5c372e6fc7d",
        "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_01Qo4TW2ZJ5dAcPSFdixS4XK",
      "input": {
        "note": "Blue marker lies radially just right of the left basket (top cam). Sending the left arm straight to it at table level to grasp.",
        "targets": {
          "left_gripper": 0.6,
          "left_pitch": 0.0,
          "left_x": 0.4,
          "left_y": -0.29,
          "left_yaw": 0.0,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Qo4TW2ZJ5dAcPSFdixS4XK",
      "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]: [-0.8566, 2.1078, 1.0775, 0.2943, -0.7803, -0.5144, 0.6044, 0.2428, 0.8577, 0.5785, -0.2863, 0.1558, 0.1162, 0.5961]\nstate[eef_state]: left_x=0.4095 left_y=-0.2772 left_z=0.0284 left_yaw=0.0277 left_pitch=0.0664 left_roll=0.0607 left_gripper=0.6044 right_x=0.3028 right_y=0.0504 right_z=0.1709 right_yaw=0.035 right_pitch=0.0133 right_roll=0.0266 right_gripper=0.5961\nstate[joint_eff]: [-0.4581, -6.5162, 5.0393, 1.2088, 1.3211, -0.8718, 0.3687, 0.1573, -2.1128, 7.1179, 1.956, 0.2027, 0.1294, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73aa682f55857a05fafe0dca2fe4ee2773d6715d5a13974e5ed8cbe8022831f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d82de763a4b877c9f9f3200206785ada0580b8c9b34b2f84b55e053bb1b19bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f17dd81a03702951773322df7f0d83bf8614989cf0adeeeb897ac83c3781ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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