adhoc

completed
2026-09-22T23:42:22.330455+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
340.6 s
total steps
347
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI can see two teal baskets and two kinds of objects: plush toys and pens. The yellow pen looks like it's right under the left gripper and lies along the forward axis, so I'm lowering the left arm straight down to grab it.
move_to
left_z0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8013, 0.617, -0.3794, -0.0216, -0.0292, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0132, -0.0162, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.853, 9.265, 1.7753, -0.0122, 0.1538, -0.0562, -0.7863, -1.306, 9.7983, 1.7314, -0.1343, -0.0269, -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_z": 0.005}, "note": "I can see two teal baskets and two kinds of objects: plush toys and pens. The yellow pen looks like it's right under the left gripper and lies along the forward axis, so I'm lowering the left arm straight down to grab it."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe yellow pen is between the left jaws but sits a bit to the right of centre, so I'm shifting the left arm about 2 cm right before closing.
move_to
left_y-0.0180
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]: [-0.0227, 1.5185, 0.0479, 0.8875, -0.0254, -0.0231, 0.9995, -0.0193, 0.8032, 0.6086, -0.384, -0.0124, -0.0162, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0013 left_z=0.0022 left_yaw=-0.0038 left_pitch=-0.0195 left_roll=0.0076 left_gripper=0.9995 right_x=0.2954 right_y=0.0001 right_z=0.1787 right_yaw=-0.0045 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.1983, -2.7145, 2.7556, 1.9707, 0.0415, -0.1294, -0.022, 0.1299, -1.6479, 7.665, 1.8486, -0.0415, -0.0415, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.018}, "note": "The yellow pen is between the left jaws but sits a bit to the right of centre, so I'm shifting the left arm about 2 cm right before closing."})
tool
executing move_to over 2 steps (0.2s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
Centred now. Close.
agent noteThe yellow pen is now centred between the left jaws, so I'm closing the gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1505, 1.5185, 0.0437, 0.8902, -0.1047, -0.0776, 0.9995, -0.02, 0.8032, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2945 left_y=-0.0223 left_z=0.0021 left_yaw=-0.0355 left_pitch=-0.0176 left_roll=0.0057 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1786 right_yaw=-0.0055 right_pitch=-0.0172 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.212, -3.3299, 4.1915, 1.58, -0.0855, -0.0855, -0.022, -0.1026, -0.9915, 7.0359, 1.746, -0.0415, -0.0708, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
Centred now. Close.
move_to({"targets": {"left_gripper": 0.0}, "note": "The yellow pen is now centred between the left jaws, so I'm closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe gripper settled at 0.16, so the pen is held. I'm lifting it high enough to clear the basket wall in front.
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]: [-0.1501, 1.5185, 0.0437, 0.8845, -0.1116, -0.0792, 0.1591, -0.02, 0.8032, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2938 left_y=-0.0209 left_z=0.001 left_yaw=-0.0285 left_pitch=-0.0228 left_roll=0.0089 left_gripper=0.1591 right_x=0.2953 right_y=-0.0002 right_z=0.1786 right_yaw=-0.0055 right_pitch=-0.0172 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2256, -3.6308, 3.412, 1.746, -0.022, -0.0073, 1.3016, -0.0068, -1.1556, 7.0496, 1.746, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "The gripper settled at 0.16, so the pen is held. I'm lifting it high enough to clear the basket wall in front."})
tool
executing move_to over 15 steps (1.5s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe pen is held up in the air, and the left basket is ahead of it and a little to the right. I'm carrying the pen over the middle of that basket.
move_to
left_x0.4200left_y-0.0700left_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]: [-0.1501, 0.836, 0.7597, -0.5308, -0.1123, -0.0834, 0.1602, -0.02, 0.8078, 0.6083, -0.392, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2939 left_y=-0.0208 left_z=0.2091 left_yaw=-0.0255 left_pitch=-0.0393 left_roll=0.0079 left_gripper=0.1602 right_x=0.2946 right_y=-0.0002 right_z=0.1757 right_yaw=-0.0053 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1299, -1.2103, 8.9778, 1.7363, -0.0659, -0.022, 1.0232, -0.0479, -1.7026, 7.0359, 1.8144, -0.0269, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.07, "left_z": 0.22}, "note": "The pen is held up in the air, and the left basket is ahead of it and a little to the right. I'm carrying the pen over the middle of that basket."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe left wrist camera shows the pen hanging over the inside of the left basket, so I'm opening the gripper to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2527, 1.396, 1.079, -0.3481, -0.1879, -0.1509, 0.1673, -0.02, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4133 left_y=-0.069 left_z=0.2024 left_yaw=-0.0277 left_pitch=-0.088 left_roll=0.0075 left_gripper=0.1673 right_x=0.2946 right_y=-0.0002 right_z=0.174 right_yaw=-0.0055 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3624, -6.2564, 9.5521, 1.8877, -0.1832, 0.0317, 1.033, -0.1026, -1.4427, 7.0632, 1.6874, -0.0562, -0.0415, -0.0122] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The left wrist camera shows the pen hanging over the inside of the left basket, so I'm opening the gripper to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe yellow pen dropped into the left basket, but the other pens are far off on the right side, out of the left arm's reach, and the right arm can't reach the left basket. New plan: pens go in the right basket and plush toys in the left, so I'm lowering into the left basket to pick the yellow pen back up.
move_to
left_z0.0600left_x0.4000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2531, 1.3991, 1.079, -0.3527, -0.1871, -0.1581, 0.9954, -0.02, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4128 left_y=-0.0691 left_z=0.2003 left_yaw=-0.0247 left_pitch=-0.0954 left_roll=0.003 left_gripper=0.9954 right_x=0.2946 right_y=-0.0002 right_z=0.174 right_yaw=-0.0055 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1026, -6.3248, 7.2137, 1.7167, -0.149, 0.0269, -0.2466, -0.1846, -1.3197, 7.0359, 1.7216, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06, "left_x": 0.4}, "note": "The yellow pen dropped into the left basket, but the other pens are far off on the right side, out of the left arm's reach, and the right arm can't reach the left basket. New plan: pens go in the right basket and plush toys in the left, so I'm lowering into the left basket to pick the yellow pen back up."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe yellow pen is lying on the basket floor just ahead of the left jaws and well centred, so I'm lowering further to grasp height.
move_to
left_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]: [-0.2607, 1.5581, 0.6601, 0.2653, -0.1883, -0.1802, 0.9967, -0.02, 0.8146, 0.6075, -0.3923, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4083 left_y=-0.071 left_z=0.0779 left_yaw=-0.0202 left_pitch=-0.0563 left_roll=-0.0235 left_gripper=0.9967 right_x=0.2949 right_y=-0.0002 right_z=0.1733 right_yaw=-0.0053 right_pitch=-0.0374 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.7179, -5.0803, 4.1641, 1.37, -0.188, 0.188, 0.1294, -0.0615, -1.4427, 7.4188, 1.6923, -0.0366, -0.0562, -0.0171] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "The yellow pen is lying on the basket floor just ahead of the left jaws and well centred, so I'm lowering further to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe descent stopped at z≈0.056, which looks like the basket floor, and the pen is between the jaws at the bottom of the wrist view. 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]: [-0.2588, 1.7283, 0.5926, 0.6224, -0.1879, -0.1844, 0.9968, -0.02, 0.8177, 0.6075, -0.3923, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4265 left_y=-0.0751 left_z=0.0564 left_yaw=-0.0164 left_pitch=0.0595 left_roll=-0.0557 left_gripper=0.9968 right_x=0.295 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0059 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.2256, -3.9863, 3.2205, 1.2088, -0.0904, -0.022, 0.0024, -0.0342, -1.5795, 7.0769, 1.7265, -0.0317, -0.0171, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The descent stopped at z\u22480.056, which looks like the basket floor, and the pen is between the jaws at the bottom of the wrist view. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThat close came up empty: the pen is about 2 cm left of the jaws and slightly ahead. I'm opening and moving left and forward over it.
move_to
left_gripper1.0000left_y-0.0500left_x0.4400left_z0.0700
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]: [-0.2588, 1.7264, 0.5991, 0.6151, -0.1844, -0.1917, 0.0119, -0.02, 0.8185, 0.6075, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4277 left_y=-0.076 left_z=0.058 left_yaw=-0.0154 left_pitch=0.06 left_roll=-0.064 left_gripper=0.0119 right_x=0.2951 right_y=-0.0002 right_z=0.1723 right_yaw=-0.0055 right_pitch=-0.0412 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.0342, -6.9538, 4.6564, 1.8095, -0.105, 0.0415, 0.9109, -0.1299, -1.4291, 7.0496, 1.7411, -0.022, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.05, "left_x": 0.44, "left_z": 0.07}, "note": "That close came up empty: the pen is about 2 cm left of the jaws and slightly ahead. I'm opening and moving left and forward over it."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe yellow pen is now centred on the jaw column and runs down to the fingertips. 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]: [-0.1673, 1.726, 0.6209, 0.5632, -0.1184, -0.1581, 0.9952, -0.02, 0.8192, 0.6075, -0.392, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4329 left_y=-0.0483 left_z=0.0544 left_yaw=0.0023 left_pitch=0.025 left_roll=-0.0613 left_gripper=0.9952 right_x=0.2952 right_y=-0.0002 right_z=0.1722 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.4171, -9.0735, 7.3504, 1.8046, 0.0952, 0.0513, -0.0366, -0.1299, -1.1009, 7.1179, 1.7363, -0.0269, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The yellow pen is now centred on the jaw column and runs down to the fingertips. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteSecond empty close. The pen shows just left of the jaws and may be sitting under the fingertips, so I'm opening, shifting about 1 cm left and slightly back, and pressing a little lower.
move_to
left_gripper1.0000left_y-0.0380left_x0.4250left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1631, 1.726, 0.6228, 0.5591, -0.1162, -0.1581, 0.0119, -0.02, 0.8249, 0.6067, -0.3962, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4332 left_y=-0.0469 left_z=0.0542 left_yaw=0.0046 left_pitch=0.0226 left_roll=-0.0621 left_gripper=0.0119 right_x=0.2948 right_y=-0.0002 right_z=0.1694 right_yaw=-0.0053 right_pitch=-0.0523 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.6632, -7.3368, 5.0803, 1.7705, -0.0513, -0.0073, 1.0574, -0.1162, -1.853, 7.1043, 1.7607, -0.0513, -0.0806, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.038, "left_x": 0.425, "left_z": 0.04}, "note": "Second empty close. The pen shows just left of the jaws and may be sitting under the fingertips, so I'm opening, shifting about 1 cm left and slightly back, and pressing a little lower."})
tool
executing move_to over 10 steps (1.0s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe pen sits right in front of the jaws, but the descent keeps stopping around z=0.06, probably because the gripper body is catching on the basket's near wall. I'm tilting the tool back so the body leans forward, away from that wall, and pressing lower.
move_to
left_pitch-0.3000left_z0.0300left_x0.4400
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]: [-0.144, 1.7283, 0.5873, 0.6529, -0.1032, -0.1532, 0.9957, -0.02, 0.8249, 0.6067, -0.4, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4339 left_y=-0.0409 left_z=0.0599 left_yaw=0.0105 left_pitch=0.0771 left_roll=-0.0731 left_gripper=0.9957 right_x=0.2943 right_y=-0.0003 right_z=0.1686 right_yaw=-0.0058 right_pitch=-0.0561 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.7726, -5.1487, 3.5487, 1.7118, 0.022, 0.0757, -0.1929, -0.0752, -1.1556, 7.0085, 1.7949, -0.0171, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": -0.3, "left_z": 0.03, "left_x": 0.44}, "note": "The pen sits right in front of the jaws, but the descent keeps stopping around z=0.06, probably because the gripper body is catching on the basket's near wall. I'm tilting the tool back so the body leans forward, away from that wall, and pressing lower."})
tool
executing move_to over 13 steps (1.3s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteWith the tool tilted back it reached z=0.02, and the yellow highlighter sits squarely between the 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]: [-0.1272, 1.7977, 0.8825, 0.0265, -0.0662, -0.1806, 0.9968, -0.02, 0.8257, 0.6067, -0.4007, -0.0116, -0.0166, 0.9997] state[eef_state]: left_x=0.4301 left_y=-0.0396 left_z=0.0205 left_yaw=0.0177 left_pitch=-0.3233 left_roll=-0.0581 left_gripper=0.9968 right_x=0.2942 right_y=-0.0002 right_z=0.1683 right_yaw=-0.0056 right_pitch=-0.0576 right_roll=-0.0003 right_gripper=0.9997 state[joint_eff]: [0.2393, -8.1846, 8.3624, 1.3748, 0.0415, -0.0464, 0.105, -0.1299, -1.4974, 7.0359, 1.7314, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "With the tool tilted back it reached z=0.02, and the yellow highlighter sits squarely between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteEmpty again: the jaws closed just above the highlighter, which is still under them. I'm opening and pressing lower so the fingertips get down to pen level.
move_to
left_gripper1.0000left_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]: [-0.1276, 1.7916, 0.8829, 0.0452, -0.0704, -0.1875, 0.012, -0.02, 0.8307, 0.6022, -0.408, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4343 left_y=-0.0396 left_z=0.0262 left_yaw=0.0237 left_pitch=-0.2982 left_roll=-0.0633 left_gripper=0.012 right_x=0.2928 right_y=-0.0002 right_z=0.1634 right_yaw=-0.0053 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0342, -7.9111, 5.6684, 1.3065, 0.0366, 0.0464, 0.9841, -0.1162, -1.853, 7.3641, 1.7118, -0.0317, -0.0611, -0.0073] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": -0.005}, "note": "Empty again: the jaws closed just above the highlighter, which is still under them. I'm opening and pressing lower so the fingertips get down to pen level."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe arm has slid forward to x=0.454 and the highlighter sits centred between the open jaws. Trying one more close from here.
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]: [-0.1276, 1.8362, 0.8677, 0.205, -0.0708, -0.1955, 0.9989, -0.02, 0.8307, 0.6014, -0.408, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4538 left_y=-0.042 left_z=0.0287 left_yaw=0.0246 left_pitch=-0.1996 left_roll=-0.0843 left_gripper=0.9989 right_x=0.2927 right_y=-0.0002 right_z=0.163 right_yaw=-0.0058 right_pitch=-0.0752 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.253, -5.1897, 3.3299, 1.2674, -0.0952, 0.0171, -0.1392, -0.1026, -1.265, 7.0632, 1.7021, -0.0366, -0.0171, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The arm has slid forward to x=0.454 and the highlighter sits centred between the open jaws. Trying one more close from here."})
tool
executing move_to over 10 steps (1.0s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteAfter several empty closes, the yellow highlighter in the left basket can't be picked out: the descent keeps stopping about 3 cm up. I'm leaving it there and lifting the left arm out, while the right arm moves over the black marker on the right.
move_to
left_gripper1.0000left_z0.2000left_pitch0.0000right_x0.2800right_y0.0500right_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1276, 1.8366, 0.8795, 0.1898, -0.0704, -0.1989, 0.012, -0.02, 0.8314, 0.601, -0.4084, -0.0116, -0.0166, 0.9998] state[eef_state]: left_x=0.4552 left_y=-0.0423 left_z=0.0301 left_yaw=0.0263 left_pitch=-0.2035 left_roll=-0.0865 left_gripper=0.012 right_x=0.2926 right_y=-0.0002 right_z=0.1626 right_yaw=-0.0056 right_pitch=-0.0767 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1026, -8.5812, 4.7111, 1.707, -0.0415, -0.0122, 0.9695, -0.1573, -1.3197, 7.1863, 1.6581, -0.0366, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.2, "left_pitch": 0.0, "right_x": 0.28, "right_y": 0.05, "right_z": 0.06}, "note": "After several empty closes, the yellow highlighter in the left basket can't be picked out: the descent keeps stopping about 3 cm up. I'm leaving it there and lifting the left arm out, while the right arm moves over the black marker on the right."})
tool
executing move_to over 11 steps (1.1s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteIn the right wrist view the black marker is about 3 cm left of the jaws and runs up to the fingertips. I'm shifting left and lowering to table level to grab it.
move_to
right_y0.0850right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1352, 1.5291, 1.0492, -0.1535, -0.0967, -0.1947, 0.9988, 0.3264, 0.9726, 0.2268, 0.0643, 0.2466, 0.181, 0.9997] state[eef_state]: left_x=0.451 left_y=-0.0405 left_z=0.1705 left_yaw=0.0359 left_pitch=-0.0685 left_roll=-0.0882 left_gripper=0.9988 right_x=0.2775 right_y=0.0522 right_z=0.0561 right_yaw=0.0163 right_pitch=-0.0952 right_roll=-0.0052 right_gripper=0.9997 state[joint_eff]: [-0.4855, -9.853, 9.7436, 1.7118, -0.0757, 0.0904, -0.1392, -0.0615, -1.8393, 6.4342, 1.7607, 0.2027, 0.105, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.085, "right_z": 0.0}, "note": "In the right wrist view the black marker is about 3 cm left of the jaws and runs up to the fingertips. I'm shifting left and lowering to table level to grab it."})
tool
executing move_to over 4 steps (0.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe black marker is centred between the right 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]: [-0.1349, 1.5333, 1.0485, -0.1642, -0.0971, -0.1993, 0.9983, 0.5007, 1.3666, 0.1646, 0.4995, 0.3561, 0.2867, 0.9996] state[eef_state]: left_x=0.4495 left_y=-0.0401 left_z=0.1662 left_yaw=0.0392 left_pitch=-0.084 left_roll=-0.0889 left_gripper=0.9983 right_x=0.2829 right_y=0.0887 right_z=0.0115 right_yaw=0.043 right_pitch=-0.0885 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [-0.2393, -7.4598, 6.9265, 1.917, -0.0562, 0.0171, -0.0562, 0.3897, -2.441, 2.4137, 0.0366, 0.0513, -0.2271, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The black marker is centred between the right jaws at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe black marker is held (gripper reading 0.135). Lifting it above the height of the right basket's wall.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.165, -0.0967, -0.2031, 0.9983, 0.5018, 1.3724, 0.1539, 0.5255, 0.355, 0.2855, 0.1353] state[eef_state]: left_x=0.4494 left_y=-0.0401 left_z=0.1661 left_yaw=0.041 left_pitch=-0.085 left_roll=-0.0921 left_gripper=0.9983 right_x=0.2823 right_y=0.089 right_z=0.0112 right_yaw=0.0461 right_pitch=-0.0802 right_roll=0.01 right_gripper=0.1353 state[joint_eff]: [-0.0889, -7.2547, 6.9402, 1.6386, -0.0708, -0.0366, -0.0171, -0.294, -3.6444, 5.4085, 1.3602, 0.0855, -0.0611, 0.9841] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "The black marker is held (gripper reading 0.135). Lifting it above the height of the right basket's wall."})
tool
executing move_to over 14 steps (1.4s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe black marker is lifted, and the right basket is ahead and to the left in the right wrist view. Carrying the marker over the middle of the basket.
move_to
right_x0.4100right_y0.1500right_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]: [-0.1349, 1.5333, 1.0485, -0.1715, -0.0967, -0.2031, 0.9983, 0.5026, 0.9241, 0.823, -0.5812, 0.3473, 0.2848, 0.1403] state[eef_state]: left_x=0.4485 left_y=-0.04 left_z=0.1648 left_yaw=0.0411 left_pitch=-0.0914 left_roll=-0.091 left_gripper=0.9983 right_x=0.285 right_y=0.0921 right_z=0.2089 right_yaw=0.0538 right_pitch=-0.0727 right_roll=0.0185 right_gripper=0.1403 state[joint_eff]: [-0.1162, -6.9949, 7.0222, 1.7118, -0.1001, -0.0708, -0.0171, -0.4171, -1.5658, 9.1145, 1.4335, 0.149, -0.022, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.15, "right_z": 0.22}, "note": "The black marker is lifted, and the right basket is ahead and to the left in the right wrist view. Carrying the marker over the middle of the basket."})
tool
executing move_to over 10 steps (1.0s)
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 noteThe right wrist camera shows the black marker over the middle of the right basket. Opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1741, -0.0971, -0.2031, 0.9983, 0.4816, 1.467, 1.161, -0.4389, 0.3187, 0.2619, 0.1403] state[eef_state]: left_x=0.4481 left_y=-0.0399 left_z=0.1643 left_yaw=0.0414 left_pitch=-0.094 left_roll=-0.0903 left_gripper=0.9983 right_x=0.3956 right_y=0.1483 right_z=0.1969 right_yaw=0.0658 right_pitch=-0.1373 right_roll=-0.0089 right_gripper=0.1403 state[joint_eff]: [-0.1983, -7.241, 6.8718, 1.6874, -0.0855, -0.0611, -0.0122, -1.0462, -7.159, 9.5932, 1.6435, 0.1343, -0.0122, 1.0379] 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_gripper": 1.0}, "note": "The right wrist camera shows the black marker over the middle of the right basket. Opening to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe black marker is in the right basket. The other dark pen lies just in front of the right basket, around 9 cm left of where the marker was, so I'm moving the right arm low over it.
move_to
right_x0.2800right_y0.1800right_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1719, -0.0967, -0.2031, 0.9983, 0.4782, 1.4868, 1.1629, -0.4358, 0.3096, 0.2543, 0.9952] state[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0918 left_roll=-0.0909 left_gripper=0.9983 right_x=0.3979 right_y=0.1496 right_z=0.19 right_yaw=0.0731 right_pitch=-0.1535 right_roll=-0.0149 right_gripper=0.9952 state[joint_eff]: [-0.0205, -7.2684, 7.0085, 1.6728, -0.0855, -0.022, -0.0122, 0.0752, -8.4034, 6.7214, 1.4774, 0.1294, 0.0073, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.18, "right_z": 0.05}, "note": "The black marker is in the right basket. The other dark pen lies just in front of the right basket, around 9 cm left of where the marker was, so I'm moving the right arm low over it."})
tool
executing move_to over 10 steps (1.0s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe blue pen runs under the right jaws, a little left of centre. Nudging left, straightening the yaw, and lowering to table level.
move_to
right_y0.1950right_z0.0000right_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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.8261, 1.4132, 0.5495, -0.0494, 0.5137, 0.498, 0.9962] state[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.2782 right_y=0.1791 right_z=0.0484 right_yaw=0.1136 right_pitch=-0.1991 right_roll=-0.0448 right_gripper=0.9962 state[joint_eff]: [-0.0615, -7.2274, 7.0222, 1.6874, -0.0708, -0.0366, -0.0122, 0.1436, -4.3829, 6.0376, 1.5018, 0.4615, 0.105, 0.0952] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.195, "right_z": 0.0, "right_yaw": 0.0}, "note": "The blue pen runs under the right jaws, a little left of centre. Nudging left, straightening the yaw, and lowering to table level."})
tool
executing move_to over 4 steps (0.4s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
assistant
Pen centered. Close.
agent noteThe blue pen is centred between the right 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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.8974, 1.6402, 0.5694, 0.1017, 0.6075, 0.6407, 0.9964] state[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.2819 right_y=0.1975 right_z=0.0119 right_yaw=0.0342 right_pitch=-0.1819 right_roll=-0.0337 right_gripper=0.9964 state[joint_eff]: [-0.1846, -7.241, 7.0632, 1.6142, -0.0806, -0.0708, -0.0171, 0.5675, -4.3145, 4.6154, 0.4274, 0.1636, -0.0024, 0.0024] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
Pen centered. Close.
move_to({"targets": {"right_gripper": 0.0}, "note": "The blue pen is centred between the right jaws at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent noteThe blue pen is held (gripper 0.14) and the basket wall is right in front of it, so I'm lifting straight up first.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1719, -0.0967, -0.2031, 0.9983, 0.9039, 1.6722, 0.5789, 0.1173, 0.6209, 0.6888, 0.1439] state[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0918 left_roll=-0.0909 left_gripper=0.9983 right_x=0.2835 right_y=0.1998 right_z=0.0077 right_yaw=0.0049 right_pitch=-0.1772 right_roll=-0.0102 right_gripper=0.1439 state[joint_eff]: [-0.1709, -6.9675, 6.9812, 1.707, -0.0806, -0.0073, -0.0122, 0.212, -5.3675, 4.4239, 0.9792, 0.2857, 0.0073, 0.9988] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "The blue pen is held (gripper 0.14) and the basket wall is right in front of it, so I'm lifting straight up first."})
tool
executing move_to over 14 steps (1.4s)
step 251
assistant
agent noteThe blue pen is lifted, and the right basket, with the black marker inside, is just ahead. Moving over the basket's centre.
move_to
right_x0.4000right_y0.1700right_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]: [-0.1349, 1.5333, 1.0485, -0.1715, -0.0967, -0.2031, 0.9983, 0.9031, 1.3594, 1.1671, -0.7708, 0.609, 0.6838, 0.1488] state[eef_state]: left_x=0.4485 left_y=-0.04 left_z=0.1648 left_yaw=0.0411 left_pitch=-0.0914 left_roll=-0.091 left_gripper=0.9983 right_x=0.2866 right_y=0.2061 right_z=0.2059 right_yaw=0.0164 right_pitch=-0.1767 right_roll=0.0026 right_gripper=0.1488 state[joint_eff]: [-0.0889, -7.2, 6.9402, 1.707, -0.105, -0.0708, -0.0122, -0.294, -5.9556, 8.841, 1.0867, 0.3297, 0.0366, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.17, "right_z": 0.22}, "note": "The blue pen is lifted, and the right basket, with the black marker inside, is just ahead. Moving over the basket's centre."})
tool
executing move_to over 9 steps (0.9s)
step 260
assistant
agent noteThe blue pen is over the inside of the right basket. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1734, -0.0967, -0.2031, 0.9983, 0.5598, 1.5505, 1.3308, -0.6521, 0.3973, 0.3958, 0.1488] state[eef_state]: left_x=0.4482 left_y=-0.04 left_z=0.1644 left_yaw=0.0411 left_pitch=-0.0933 left_roll=-0.0906 left_gripper=0.9983 right_x=0.3875 right_y=0.1664 right_z=0.2029 right_yaw=-0.003 right_pitch=-0.2218 right_roll=-0.0202 right_gripper=0.1488 state[joint_eff]: [-0.212, -7.2274, 7.1043, 1.6728, -0.0611, -0.0269, -0.0171, -0.3761, -6.9538, 9.7162, 1.453, 0.105, -0.0024, 1.0379] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The blue pen is over the inside of the right basket. Releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 269
assistant
agent noteBoth dark pens are now in the right basket. The plush toys, with the teddy bear the biggest, sit in the middle of the table, so I'm moving the left arm above the teddy to put it in the left basket.
move_to
left_x0.3000left_y-0.2700left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000
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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.5552, 1.5635, 1.3334, -0.6453, 0.3832, 0.3855, 0.996] state[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.39 right_y=0.1684 right_z=0.1991 right_yaw=0.0088 right_pitch=-0.2305 right_roll=-0.02 right_gripper=0.996 state[joint_eff]: [-0.0342, -7.1863, 6.9265, 1.6825, -0.0855, -0.0659, -0.0122, 0.1573, -8.3897, 6.7214, 1.326, 0.3053, 0.0952, -0.1294] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.27, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Both dark pens are now in the right basket. The plush toys, with the teddy bear the biggest, sit in the middle of the table, so I'm moving the left arm above the teddy to put it in the left basket."})
tool
executing move_to over 21 steps (2.1s)
step 290
assistant
agent noteThe teddy's head fills the view right under the left jaws. Lowering onto it so the jaws can squeeze the soft head.
move_to
left_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0569, 1.6272, 0.9375, -0.2314, -0.799, -0.7616, 0.9982, 0.5552, 1.5635, 1.3334, -0.6449, 0.3798, 0.3813, 0.9968] state[eef_state]: left_x=0.2997 left_y=-0.2661 left_z=0.1122 left_yaw=-0.0302 left_pitch=-0.0253 left_roll=0.0083 left_gripper=0.9982 right_x=0.3899 right_y=0.169 right_z=0.199 right_yaw=0.0138 right_pitch=-0.2316 right_roll=-0.0205 right_gripper=0.9968 state[joint_eff]: [-0.294, -6.7897, 8.294, 1.1209, -0.5006, -0.0317, -0.0171, -0.0615, -7.3915, 6.9265, 1.3504, 0.1685, -0.0171, 0.0806] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04}, "note": "The teddy's head fills the view right under the left jaws. Lowering onto it so the jaws can squeeze the soft head."})
tool
executing move_to over 5 steps (0.5s)
step 295
assistant
agent noteThe jaws are resting on the teddy's head (the descent stopped at z≈0.056). Closing to squeeze the plush.
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]: [-1.0504, 1.7679, 0.82, 0.0311, -0.8192, -0.7746, 0.9982, 0.5552, 1.5635, 1.3334, -0.6445, 0.3794, 0.3809, 0.9969] state[eef_state]: left_x=0.3037 left_y=-0.2632 left_z=0.0557 left_yaw=-0.0045 left_pitch=-0.0093 left_roll=0.002 left_gripper=0.9982 right_x=0.3899 right_y=0.1691 right_z=0.199 right_yaw=0.0144 right_pitch=-0.2314 right_roll=-0.0204 right_gripper=0.9969 state[joint_eff]: [-0.8684, -5.7915, 3.8496, 0.9255, -0.1441, 0.1001, -0.0073, -0.0889, -7.4188, 6.8855, 1.3895, 0.1099, -0.0464, -0.0024] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The jaws are resting on the teddy's head (the descent stopped at z\u22480.056). Closing to squeeze the plush."})
tool
executing move_to over 10 steps (1.0s)
step 305
assistant
agent noteThe gripper settled at 0.047, which suggests it's pinching the teddy's plush. Lifting straight up to check the grip and clear the basket.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0496, 1.7744, 0.8112, 0.0654, -0.8314, -0.7792, 0.047, 0.5552, 1.5635, 1.3334, -0.6445, 0.3798, 0.3809, 0.9969] state[eef_state]: left_x=0.3057 left_y=-0.2631 left_z=0.0559 left_yaw=0.0063 left_pitch=0.0086 left_roll=-0.0136 left_gripper=0.047 right_x=0.39 right_y=0.1691 right_z=0.199 right_yaw=0.0141 right_pitch=-0.2313 right_roll=-0.0206 right_gripper=0.9969 state[joint_eff]: [-0.212, -8.4308, 6.0239, 0.9451, -0.2076, 0.0122, 1.2869, -0.0068, -7.3231, 6.9675, 1.409, 0.1734, -0.0562, -0.0122] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "The gripper settled at 0.047, which suggests it's pinching the teddy's plush. Lifting straight up to check the grip and clear the basket."})
tool
executing move_to over 13 steps (1.3s)
step 318
assistant
agent noteThe teddy is lifted in the left gripper, and the left basket is ahead and to the left. Carrying the teddy over the basket.
move_to
left_x0.4100left_y-0.0700left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0496, 1.5631, 1.3304, -0.6815, -0.8146, -0.7864, 0.052, 0.5552, 1.5639, 1.3334, -0.6445, 0.3794, 0.3805, 0.9969] state[eef_state]: left_x=0.3072 left_y=-0.2698 left_z=0.2265 left_yaw=-0.0002 left_pitch=-0.011 left_roll=-0.012 left_gripper=0.052 right_x=0.39 right_y=0.1691 right_z=0.1989 right_yaw=0.0146 right_pitch=-0.2318 right_roll=-0.0208 right_gripper=0.9969 state[joint_eff]: [-0.0342, -9.1282, 9.0872, 1.2088, -0.486, 0.0317, 1.033, -0.1299, -7.4188, 6.8991, 1.3993, 0.0904, -0.0708, -0.0122] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.07, "left_z": 0.25}, "note": "The teddy is lifted in the left gripper, and the left basket is ahead and to the left. Carrying the teddy over the basket."})
tool
executing move_to over 18 steps (1.8s)
step 336
assistant
agent noteThe teddy is hanging over the left basket. Opening to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2913, 1.3609, 1.1366, -0.4534, -0.2741, -0.2287, 0.0583, 0.5552, 1.5639, 1.3334, -0.6449, 0.3794, 0.3809, 0.9969] state[eef_state]: left_x=0.4021 left_y=-0.0669 left_z=0.2238 left_yaw=0.0477 left_pitch=-0.0845 left_roll=0.0005 left_gripper=0.0583 right_x=0.3899 right_y=0.1691 right_z=0.1988 right_yaw=0.0143 right_pitch=-0.2321 right_roll=-0.0208 right_gripper=0.9969 state[joint_eff]: [0.0889, -6.7761, 9.4974, 2.0488, -0.0366, 0.2027, 1.033, -0.1709, -7.3915, 6.7761, 1.3602, 0.1001, -0.0464, -0.0122] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The teddy is hanging over the left basket. Opening to drop it in."})
tool
executing move_to over 10 steps (1.0s)
step 346
assistant
agent noteI sorted the objects into pens and plush toys, but only partly finished. The black marker and the blue pen are in the right basket, and the teddy bear is in the left basket. Two things are wrong. The yellow highlighter is also in the left basket, with the teddy: I dropped it there early, then failed four times to pick it back out. The small monkey plush is still on the table because I ran out of calls. To finish, someone needs to move the highlighter to the right basket and the monkey to the left basket.
done
hindsightPlan the sorting from reach before the first pick. Each arm can only reach the basket on its own side: the left arm reaches the left basket (about left (0.41,-0.07) at z 0.2) and the right arm reaches the right basket (about right (0.40,0.16) at z 0.2). Neither arm can reach the other basket. So give each basket the class whose objects that arm can reach, or plan handoffs at the centre line. In this layout the dark pens were close to the right arm (right (0.28,0.09) and (0.28,0.20)), the teddy was at about left (0.30,-0.27), and the yellow pen was at about left (0.29,-0.02). The better split would have been pens to the right basket and toys to the left, with the yellow pen handed across. Picking something out of a basket went badly: descents stopped at z≈0.03–0.06, probably because the gripper body hit the basket walls, and four closes came up empty. Avoid dropping an object in the wrong basket. Top-cam scale at row ~150 is about 2.1 px/cm in image-x. Pens grasp reliably at z≈0 with yaw 0 (gripper reads ~0.14). Plush can be grasped by squeezing its head from z≈0.056 (reads ~0.05), and it holds. Lift straight up before moving over the basket wall. Budget calls tightly: each pick-and-place costs about 5 calls.
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]: [-0.292, 1.3613, 1.1328, -0.4664, -0.2657, -0.2359, 0.9954, 0.5552, 1.5639, 1.3334, -0.6449, 0.3794, 0.3809, 0.9969] state[eef_state]: left_x=0.3995 left_y=-0.0679 left_z=0.2193 left_yaw=0.0444 left_pitch=-0.1024 left_roll=-0.0046 left_gripper=0.9954 right_x=0.3899 right_y=0.1691 right_z=0.1988 right_yaw=0.0143 right_pitch=-0.2321 right_roll=-0.0208 right_gripper=0.9969 state[joint_eff]: [0.0479, -5.6821, 7.2274, 1.7509, -0.2173, 0.0366, -0.0073, -0.0479, -7.3368, 6.735, 1.4188, 0.1245, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
done({"summary": "I sorted the objects into pens and plush toys, but only partly finished. The black marker and the blue pen are in the right basket, and the teddy bear is in the left basket. Two things are wrong. The yellow highlighter is also in the left basket, with the teddy: I dropped it there early, then failed four times to pick it back out. The small monkey plush is still on the table because I ran out of calls. To finish, someone needs to move the highlighter to the right basket and the monkey to the left basket.", "hindsight": "Plan the sorting from reach before the first pick. Each arm can only reach the basket on its own side: the left arm reaches the left basket (about left (0.41,-0.07) at z 0.2) and the right arm reaches the right basket (about right (0.40,0.16) at z 0.2). Neither arm can reach the other basket. So give each basket the class whose objects that arm can reach, or plan handoffs at the centre line. In this layout the dark pens were close to the right arm (right (0.28,0.09) and (0.28,0.20)), the teddy was at about left (0.30,-0.27), and the yellow pen was at about left (0.29,-0.02). The better split would have been pens to the right basket and toys to the left, with the yellow pen handed across. Picking something out of a basket went badly: descents stopped at z\u22480.03\u20130.06, probably because the gripper body hit the basket walls, and four closes came up empty. Avoid dropping an object in the wrong basket. Top-cam scale at row ~150 is about 2.1 px/cm in image-x. Pens grasp reliably at z\u22480 with yaw 0 (gripper reads ~0.14). Plush can be grasped by squeezing its head from z\u22480.056 (reads ~0.05), and it holds. Lift straight up before moving over the basket wall. Budget calls tightly: each pick-and-place costs about 5 calls."})
tool
done: I sorted the objects into pens and plush toys, but only partly finished. The black marker and the blue pen are in the right basket, and the teddy bear is in the left basket. Two things are wrong. The yellow highlighter is also in the left basket, with the teddy: I dropped it there early, then failed four times to pick it back out. The small monkey plush is still on the table because I ran out of calls. To finish, someone needs to move the highlighter to the right basket and the monkey to the left basket.
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 · 14.62 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]: [-0.0189, 0.8013, 0.617, -0.3794, -0.0216, -0.0292, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.853, 9.265, 1.7753, -0.0122, 0.1538, -0.0562, -0.7863, -1.306, 9.7983, 1.7314, -0.1343, -0.0269, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f446f82731afc8eb6ae471d3cbcfab66a02124cf89ac966e40a0a68c5a3d6688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3efa8e7c67b445e652f890f3ebe782648df51488e1628dc46514747f9518fc19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e07c3c4021865454b49fe4258e7612b1f95774f2c42682521735609e5c514cd7",
        "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 · 4.525 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]: [-0.0189, 0.8013, 0.617, -0.3794, -0.0216, -0.0292, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.853, 9.265, 1.7753, -0.0122, 0.1538, -0.0562, -0.7863, -1.306, 9.7983, 1.7314, -0.1343, -0.0269, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f446f82731afc8eb6ae471d3cbcfab66a02124cf89ac966e40a0a68c5a3d6688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3efa8e7c67b445e652f890f3ebe782648df51488e1628dc46514747f9518fc19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07c3c4021865454b49fe4258e7612b1f95774f2c42682521735609e5c514cd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UH9JvHDJk3g3MKU8jUZerP",
      "input": {
        "note": "I can see two teal baskets and two kinds of objects: plush toys and pens. The yellow pen looks like it's right under the left gripper and lies along the forward axis, so I'm lowering the left arm straight down to grab it.",
        "targets": {
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01UH9JvHDJk3g3MKU8jUZerP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.5185, 0.0479, 0.8875, -0.0254, -0.0231, 0.9995, -0.0193, 0.8032, 0.6086, -0.384, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0013 left_z=0.0022 left_yaw=-0.0038 left_pitch=-0.0195 left_roll=0.0076 left_gripper=0.9995 right_x=0.2954 right_y=0.0001 right_z=0.1787 right_yaw=-0.0045 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.7145, 2.7556, 1.9707, 0.0415, -0.1294, -0.022, 0.1299, -1.6479, 7.665, 1.8486, -0.0415, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cbe7c1a65ad3c086736b5684ff821fad757534981c1d64ebe88cc76003a732e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc218d5da6cedc02c66ab3832cf7a54a2a018fd8b6eb3cb4e7669b5a2a0da34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:486f8469319373143772a353d87a3f5e45bfa64040f9b84ea6da3a1d1505b9ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 2.748 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]: [-0.0189, 0.8013, 0.617, -0.3794, -0.0216, -0.0292, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.853, 9.265, 1.7753, -0.0122, 0.1538, -0.0562, -0.7863, -1.306, 9.7983, 1.7314, -0.1343, -0.0269, -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]: [-0.0227, 1.5185, 0.0479, 0.8875, -0.0254, -0.0231, 0.9995, -0.0193, 0.8032, 0.6086, -0.384, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0013 left_z=0.0022 left_yaw=-0.0038 left_pitch=-0.0195 left_roll=0.0076 left_gripper=0.9995 right_x=0.2954 right_y=0.0001 right_z=0.1787 right_yaw=-0.0045 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.7145, 2.7556, 1.9707, 0.0415, -0.1294, -0.022, 0.1299, -1.6479, 7.665, 1.8486, -0.0415, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cbe7c1a65ad3c086736b5684ff821fad757534981c1d64ebe88cc76003a732e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc218d5da6cedc02c66ab3832cf7a54a2a018fd8b6eb3cb4e7669b5a2a0da34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:486f8469319373143772a353d87a3f5e45bfa64040f9b84ea6da3a1d1505b9ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAgKEAgSGAI4AUIIdGhpbmtpbmcSDBV0ABlx7/cbGDH3WBoMxphF/+FkmrElfBsoIjBqKhEJ/UlCCDV/zfHdSPxfGU3Sp9XbemuKed5No1+S9PSxAgEbp8wEIglCRkzVRIsq5QehSWOJVCZHtUpZG+goRPyDP10HdgiI+VTDDekLNNgQjESyVMplM0BPZhYNUeBlLtdEinbAqr2mvK/ImVmQxsGnw4XzDTBObcdTgU2mbGZScnF9e4dBTgDBAxY54ZSBnjdJl9m3bOWOePuuqbqmG1g/rrM85GRPyKcc98JdU2yQSuQ36JCFqo0KZj3qDzkEgxKDbiBubaQZvF9KLoAD+OTetRS8k4H8z8Whpu3/sGzYUdOZ+Lxwd4597515ISn4SHYZu7S+2g3E4ni58oRhiS8cDdHZKK9hHXe7zgmkX8d8J8asuRzfHHWKmEpK+9NEfwPnX9iOCHKhbMEe8i9kFtX3qwXKCoeuhvKDqv0zc6407T+6g/k9u4WuxQ4GkKs+LlEJnzJUFhxJb8VkTcmmYnisfHCht1hCtWkc1AdecMy6/xzS6U4eX+MNHZM+AR78tsr21booG2gXcKlj9zPsnKqu4UWyP8hkNNzP6TxTVHpkDRDXID4DchdYHE5/lEXTgsY2APkhmX/QzZe0S83xG8gAmthtZdDLB8e2XnenMPS2i6FxwM8RlponCO7u2BDciBv0DKdvqybYxVlDGvCHyZhdDK2kT96MrmZ6x9R0ndyif0qsm7nu8sHZgro/W38Y5+kD+u0QQE0BIAI30we4m/JycN49NXIB2WcZzh7R1JUEwkD+S4Q77A2rzwvmQC3inzclgarEZSz6YJ7E1T9LeYst9jIy7xx/rcIPlf1Z6b1BVzQqR3tkXdWXZcAAUBnPv9Ef/CpM6jSgCwWzwk4HS3wR46Ma4pBHaahxZ1DZZJP4gUzmfT+eoVs72SFGIrqp70f0EIj7OEGETqw35UpLXFiAZ/iuo5TxxArkzWlO+k7H45QbvnEvh1uK5F7iFo29fDwNeJ4MHePXog5y3p3oJCbzSD2wO/BhwT6a61Y9I5rd7yjnmcz+4FOSIz5Excf21jEAC9MREo79mAyKO5eQRtSP4mbl/VmL1oli3iH+y1V6ybsr0rRJdC1TyghXPTZSbg9zODcyT388BC9w/t3bkrzC60lC5A3RpiLzJ0YRLJ4LoEDwcjR/ZZWOb13REQcKdJLFvUxJbXioLDlO4i5SdM0rE9dW7sSH0WVWXch8DlAAPWTEF4hvg6Dq6D0hbJybInIPcfau4WGgGQ47Un6J8WIx2CUFWGnXD0spTP+V2oudDwpnqpN5B7WsqaCK4x9SC+vdmL+dlOs9k2PEMZ0L5tZLM62tkS/TVACRW+URX2qMOayDkyG/X0l25JrAn5B6+dQJ+1OHWKheSShs2nXmo6nda5eAM0LEqGQXolRCs02MLS6XSFZ5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Voxmd3HVymMjFw1P6qEDAc",
      "input": {
        "note": "The yellow pen is between the left jaws but sits a bit to the right of centre, so I'm shifting the left arm about 2 cm right before closing.",
        "targets": {
          "left_y": -0.018
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Voxmd3HVymMjFw1P6qEDAc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1505, 1.5185, 0.0437, 0.8902, -0.1047, -0.0776, 0.9995, -0.02, 0.8032, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2945 left_y=-0.0223 left_z=0.0021 left_yaw=-0.0355 left_pitch=-0.0176 left_roll=0.0057 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1786 right_yaw=-0.0055 right_pitch=-0.0172 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.3299, 4.1915, 1.58, -0.0855, -0.0855, -0.022, -0.1026, -0.9915, 7.0359, 1.746, -0.0415, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c861eaa1eea9eddd6822583880ddb24d57b2c0952b75af66721371dad1106736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de22fc9d98ae472443eea7822ffdc3961375a56c1e0a3cd549804f861ff57d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16f53ade05bea20840e8d7f8cd1da903f26cf71f8e465b26cca28852cfe9f73a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.376 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]: [-0.0189, 0.8013, 0.617, -0.3794, -0.0216, -0.0292, 0.9996, -0.0154, 0.7986, 0.6106, -0.374, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0013 right_z=0.1829 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.853, 9.265, 1.7753, -0.0122, 0.1538, -0.0562, -0.7863, -1.306, 9.7983, 1.7314, -0.1343, -0.0269, -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]: [-0.0227, 1.5185, 0.0479, 0.8875, -0.0254, -0.0231, 0.9995, -0.0193, 0.8032, 0.6086, -0.384, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0013 left_z=0.0022 left_yaw=-0.0038 left_pitch=-0.0195 left_roll=0.0076 left_gripper=0.9995 right_x=0.2954 right_y=0.0001 right_z=0.1787 right_yaw=-0.0045 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.7145, 2.7556, 1.9707, 0.0415, -0.1294, -0.022, 0.1299, -1.6479, 7.665, 1.8486, -0.0415, -0.0415, -0.0171]",
      "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]: [-0.1505, 1.5185, 0.0437, 0.8902, -0.1047, -0.0776, 0.9995, -0.02, 0.8032, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2945 left_y=-0.0223 left_z=0.0021 left_yaw=-0.0355 left_pitch=-0.0176 left_roll=0.0057 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1786 right_yaw=-0.0055 right_pitch=-0.0172 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.3299, 4.1915, 1.58, -0.0855, -0.0855, -0.022, -0.1026, -0.9915, 7.0359, 1.746, -0.0415, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c861eaa1eea9eddd6822583880ddb24d57b2c0952b75af66721371dad1106736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de22fc9d98ae472443eea7822ffdc3961375a56c1e0a3cd549804f861ff57d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16f53ade05bea20840e8d7f8cd1da903f26cf71f8e465b26cca28852cfe9f73a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Centred now. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XR7ME1patdGvvaYLgsn97s",
      "input": {
        "note": "The yellow pen is now centred between the left jaws, so I'm closing the gripper on it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XR7ME1patdGvvaYLgsn97s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1501, 1.5185, 0.0437, 0.8845, -0.1116, -0.0792, 0.1591, -0.02, 0.8032, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2938 left_y=-0.0209 left_z=0.001 left_yaw=-0.0285 left_pitch=-0.0228 left_roll=0.0089 left_gripper=0.1591 right_x=0.2953 right_y=-0.0002 right_z=0.1786 right_yaw=-0.0055 right_pitch=-0.0172 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.6308, 3.412, 1.746, -0.022, -0.0073, 1.3016, -0.0068, -1.1556, 7.0496, 1.746, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12213b75ab373d925755dfd291d2922ec3da7f75d5220d1e7925462acb4b1be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cf328be91cd831e58a9d1933b316f1485c1ad4485745fba9af5cb15da4e6997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4d8d880b64711d1e9990757985483a73971d0bc8f4e7a27bb7bb8d5e53fcdcc",
        "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 · 4.815 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]: [-0.0227, 1.5185, 0.0479, 0.8875, -0.0254, -0.0231, 0.9995, -0.0193, 0.8032, 0.6086, -0.384, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0013 left_z=0.0022 left_yaw=-0.0038 left_pitch=-0.0195 left_roll=0.0076 left_gripper=0.9995 right_x=0.2954 right_y=0.0001 right_z=0.1787 right_yaw=-0.0045 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -2.7145, 2.7556, 1.9707, 0.0415, -0.1294, -0.022, 0.1299, -1.6479, 7.665, 1.8486, -0.0415, -0.0415, -0.0171]",
      "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]: [-0.1505, 1.5185, 0.0437, 0.8902, -0.1047, -0.0776, 0.9995, -0.02, 0.8032, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2945 left_y=-0.0223 left_z=0.0021 left_yaw=-0.0355 left_pitch=-0.0176 left_roll=0.0057 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1786 right_yaw=-0.0055 right_pitch=-0.0172 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.3299, 4.1915, 1.58, -0.0855, -0.0855, -0.022, -0.1026, -0.9915, 7.0359, 1.746, -0.0415, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1501, 1.5185, 0.0437, 0.8845, -0.1116, -0.0792, 0.1591, -0.02, 0.8032, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2938 left_y=-0.0209 left_z=0.001 left_yaw=-0.0285 left_pitch=-0.0228 left_roll=0.0089 left_gripper=0.1591 right_x=0.2953 right_y=-0.0002 right_z=0.1786 right_yaw=-0.0055 right_pitch=-0.0172 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.6308, 3.412, 1.746, -0.022, -0.0073, 1.3016, -0.0068, -1.1556, 7.0496, 1.746, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12213b75ab373d925755dfd291d2922ec3da7f75d5220d1e7925462acb4b1be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cf328be91cd831e58a9d1933b316f1485c1ad4485745fba9af5cb15da4e6997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4d8d880b64711d1e9990757985483a73971d0bc8f4e7a27bb7bb8d5e53fcdcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NNSRHLxvNKi8hDSgF2B2Ln",
      "input": {
        "note": "The gripper settled at 0.16, so the pen is held. I'm lifting it high enough to clear the basket wall in front.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01NNSRHLxvNKi8hDSgF2B2Ln",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1501, 0.836, 0.7597, -0.5308, -0.1123, -0.0834, 0.1602, -0.02, 0.8078, 0.6083, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2939 left_y=-0.0208 left_z=0.2091 left_yaw=-0.0255 left_pitch=-0.0393 left_roll=0.0079 left_gripper=0.1602 right_x=0.2946 right_y=-0.0002 right_z=0.1757 right_yaw=-0.0053 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.2103, 8.9778, 1.7363, -0.0659, -0.022, 1.0232, -0.0479, -1.7026, 7.0359, 1.8144, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a32e0340ba08b3eb0bbed7a4ad28a0854f26a287f591c373e0de0af13685704a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d86908efa9e251efeabc2c0b3984d6e932cff37d3383d5c30a7ae7028009031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a669c9ffe69783e3839b9312e6ee081e7c843af9d4d972eb8f76fe1bc41e242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 2.798 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]: [-0.1505, 1.5185, 0.0437, 0.8902, -0.1047, -0.0776, 0.9995, -0.02, 0.8032, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2945 left_y=-0.0223 left_z=0.0021 left_yaw=-0.0355 left_pitch=-0.0176 left_roll=0.0057 left_gripper=0.9995 right_x=0.2953 right_y=-0.0002 right_z=0.1786 right_yaw=-0.0055 right_pitch=-0.0172 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -3.3299, 4.1915, 1.58, -0.0855, -0.0855, -0.022, -0.1026, -0.9915, 7.0359, 1.746, -0.0415, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1501, 1.5185, 0.0437, 0.8845, -0.1116, -0.0792, 0.1591, -0.02, 0.8032, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2938 left_y=-0.0209 left_z=0.001 left_yaw=-0.0285 left_pitch=-0.0228 left_roll=0.0089 left_gripper=0.1591 right_x=0.2953 right_y=-0.0002 right_z=0.1786 right_yaw=-0.0055 right_pitch=-0.0172 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.6308, 3.412, 1.746, -0.022, -0.0073, 1.3016, -0.0068, -1.1556, 7.0496, 1.746, -0.0122, -0.0513, -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]: [-0.1501, 0.836, 0.7597, -0.5308, -0.1123, -0.0834, 0.1602, -0.02, 0.8078, 0.6083, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2939 left_y=-0.0208 left_z=0.2091 left_yaw=-0.0255 left_pitch=-0.0393 left_roll=0.0079 left_gripper=0.1602 right_x=0.2946 right_y=-0.0002 right_z=0.1757 right_yaw=-0.0053 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.2103, 8.9778, 1.7363, -0.0659, -0.022, 1.0232, -0.0479, -1.7026, 7.0359, 1.8144, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a32e0340ba08b3eb0bbed7a4ad28a0854f26a287f591c373e0de0af13685704a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d86908efa9e251efeabc2c0b3984d6e932cff37d3383d5c30a7ae7028009031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a669c9ffe69783e3839b9312e6ee081e7c843af9d4d972eb8f76fe1bc41e242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wkKEAgSGAI4AUIIdGhpbmtpbmcSDG7H94d/rShyQloL9xoMHaSJTIwxIZZyP3OLIjA0JJ8kPCTVA50YROa8tvy5NcxLcNZliKd9Pwn+ijdJj9TmHpVe7kv4r5gHy2vuXYkq+AhEKIM1q//ebELtaxY8dPYsPcpUUabgWa0urrT6fX/D2HIqxVxm13dGTzc7NBAeloeT5G/h/fob46RRKqQ9kwg+fdm8vEI9UlWudPGUP5lilNbnK8qD9C0VOi+nZ/cef6nlGciuA90foOeb1HeLU2jLxuHcVfzOxOB37zjBnRuhmNH+g42Nb2LZ/AqMyfzcOCV3QLzdpIn1Jw9kACHE5ZRi1aEWI/nsx06DfXD4e23fu7cMut5fwSwldmkae1FPqwe45RG2LM9riB7j1poEPRKVOnCWxRqbO+Ean7pb3cdJudqimJwxLBGtzBswd0W47l7FCEvSvbdDAE89ujRmtRyPes9QH8a24qE/BqDKZxp1vgRfa6JnG0q3P7ohwThy/0xEA0d2Q4jIyHLsGsAMwRCR3fqPxPdQUe0gMbKBM6zvSMAnm8KdVLPbwuHZEIQMD0PTChQQY2ET37xesZmtuV/atDEbaHePnTrKmFt/x617r7n835jlJCJ+ujOedzvld1OiykEmUi/2bKY4W07Xlf1mhywFVjTFALO2IGxCe86/DzXJMlfYYta8EvCgq56Q8M4R4jrTwHcYXVUVBHygSMA41inZlfI+EjSbV/4YGz9eKPAWQE+302EhotzEWThp0iw+u9vGO1LNKoivPiNiLPhovlMjHGBbQV83F0jkbB7kTV3d1Y1EPAS6EA1RIauzWFRg5wKEUUc3pAwy9jQnoQKI6jIvVPgumR5qogRlpO/XkBVH4ti8RLmELWoQJnVbeEu9Ia+/LvoBguvRExzkjfcCUbVxdkEmqZ6UuM/6FNP/FjKRyMu0V9eow+qjx/EX5bu9CnJm2MdF53TK2UeslLlpM7kZLVfyPXcl4nWiNotBnTQlb4SpW/lEqd/V4c3OQ0BpGWCMulOu5ySc3+0vIUnqvqnigZnr4DShYXRWRTITcIgkTwGaAtuztQzKAth4Ty/PNxbQEwX4agKdV5YYXBJTrGWQa8sXrESJ5KMjSmxL5yBfxf42+ujhNx2pbB4HbR395mooYMo9YSn/potQSddnnq6DCg7lk70uFnyzz4iJ4Lua9iBgBFcpsUcIvGiyPYfdrVUxQqVks6n8OCqH0biKfvikJN3hvtJRHKfo+ifBnNicdDJPB7yr4eEGeYV1ftGsaoYLYZ4JyZEoijAgUkILeA94Fs0uTvvcejoMjDIiInde0eKPbS0CxvUF9xAAIzM6Czth/zXZ1NYVh8hREeJAltj8OxwtYiVwbhzSRvZK7tKuR876q4cAFrYFc225DxLHdd7A/XAYTmprdUvRTzrWjzBVn9oKXRGWVgvrV5nkhDi8uL5SrtScchbrC64QRSQyCVl7BanwCvkWC7/kpQmR4vC4jgJ0Z8l93ap/w6lXaHflu8SUbv9cdFEGe7XMVg8ryiUwtAivjX4DS1nBX7T5i1l3qX1jA74zQUMm1c9TbVTACLI6chj6oZ4AHziphgp8sw+VSN/xLTr4mxZw5EXYX84edmSdIXDYQHGpD99DmTLiu4PyXlWpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FgpLVJ1UC8G2dXP4q1iNxq",
      "input": {
        "note": "The pen is held up in the air, and the left basket is ahead of it and a little to the right. I'm carrying the pen over the middle of that basket.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.07,
          "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_01FgpLVJ1UC8G2dXP4q1iNxq",
      "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]: [-0.2527, 1.396, 1.079, -0.3481, -0.1879, -0.1509, 0.1673, -0.02, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4133 left_y=-0.069 left_z=0.2024 left_yaw=-0.0277 left_pitch=-0.088 left_roll=0.0075 left_gripper=0.1673 right_x=0.2946 right_y=-0.0002 right_z=0.174 right_yaw=-0.0055 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.2564, 9.5521, 1.8877, -0.1832, 0.0317, 1.033, -0.1026, -1.4427, 7.0632, 1.6874, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c40e81c81f6d5b9c5ffe2a856fbeafcf7fba6dbcc85f18d4fe20a1deb59aa1bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c738d8f502493abfb89cad2fd5d9d6603d9eccb363d17441125de523cf9d90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad4df89a5a4cc9df996a598075d7b793b583e4f663c62251565f28751b1dcc50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 37.92 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]: [-0.1501, 1.5185, 0.0437, 0.8845, -0.1116, -0.0792, 0.1591, -0.02, 0.8032, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2938 left_y=-0.0209 left_z=0.001 left_yaw=-0.0285 left_pitch=-0.0228 left_roll=0.0089 left_gripper=0.1591 right_x=0.2953 right_y=-0.0002 right_z=0.1786 right_yaw=-0.0055 right_pitch=-0.0172 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.6308, 3.412, 1.746, -0.022, -0.0073, 1.3016, -0.0068, -1.1556, 7.0496, 1.746, -0.0122, -0.0513, -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]: [-0.1501, 0.836, 0.7597, -0.5308, -0.1123, -0.0834, 0.1602, -0.02, 0.8078, 0.6083, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2939 left_y=-0.0208 left_z=0.2091 left_yaw=-0.0255 left_pitch=-0.0393 left_roll=0.0079 left_gripper=0.1602 right_x=0.2946 right_y=-0.0002 right_z=0.1757 right_yaw=-0.0053 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.2103, 8.9778, 1.7363, -0.0659, -0.022, 1.0232, -0.0479, -1.7026, 7.0359, 1.8144, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2527, 1.396, 1.079, -0.3481, -0.1879, -0.1509, 0.1673, -0.02, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4133 left_y=-0.069 left_z=0.2024 left_yaw=-0.0277 left_pitch=-0.088 left_roll=0.0075 left_gripper=0.1673 right_x=0.2946 right_y=-0.0002 right_z=0.174 right_yaw=-0.0055 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.2564, 9.5521, 1.8877, -0.1832, 0.0317, 1.033, -0.1026, -1.4427, 7.0632, 1.6874, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c40e81c81f6d5b9c5ffe2a856fbeafcf7fba6dbcc85f18d4fe20a1deb59aa1bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c738d8f502493abfb89cad2fd5d9d6603d9eccb363d17441125de523cf9d90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4df89a5a4cc9df996a598075d7b793b583e4f663c62251565f28751b1dcc50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wYKEAgSGAI4AUIIdGhpbmtpbmcSDDiK3RWr+cBLS6ho6BoMPKvojknPN/+orQ2BIjCTrlo5ITQqo9c7+3+QSxb7UlZXcSzeLePolq2G21bzrdB9M6SC5i+5DJ1/dipzagMq+AU3LF6qxV2IVLPQzOneDGbyo5j5r38XWcYeEsUzcN4K5nrWo7/7UyfiSLU0CrTcnSFXG+E5Ii9IEoo/hdTxhz8Kb0XyRlQX/HaDxRcnehQcBuuQbSU6F3gLIYM3Zu1uX8/t2fFAor1WtWfpN9AncsX5KL378a3nvanxuqhXhyhHsHT6tw4VoUyxpH6Da/RqIh8ENZTqeQbIFvvy5LBRarV0eniB4ILCDaUyL4rx850IejdptFbgV0n8O13WwAYBak4LMB0WM6Nat2eKn0ujxmBkJj+XgWojixmaATFfimm/3ojC0IA7UfO06i55I47CubLmluWOSu3v1VUN5V5ZOyX5hJwGn12fGOrDdgJZ920aq4fntnlpQr16RPeCHMkMOEQouTEzovHZ3mtQPwSlnvOGDnOHOz+I99jE0fSFiPQJirKF4BVb4wb/X5Id+uzMohwiXcIdqaOjs6yQNcJN1uhMV0fn3LKLkZGhClFHnuBjinPdLBFVK8P2ySRwulkUJkxXCtlHpG8LklzM0Ww3KsqpMub+cOnOBeNFlea75C28VeycralEPpyYSWrJoGsTyMCubM3uDxnknjBlG3u7fWpZCPs596hLLAHg497irjmSPqCvno0dqurPQ70feC9S9v86+3X7FW4kIeW5L3E4moAlOnSVLHnUqtutHmMsIG9tykAKvbJeJgr8rwvMv6A63l3vt6QhyEl5CVgJzz3gYA8xplC+AxlydMi2HLbYU9oeZG3MksxlCyVW0kqWWN7gpRcyXgl1diHOQtGT4LclNf06pXcVASShemlGdWerOsJhDYPjPQmTj4o79uhczMQkrZG6mSOpEk5MEUu8zI33HAB6NSp0ElW+bY7lTAGC/w+NAMFf6kNZehmna0yUgbbSP6ofAEDPYSGMWE9Q2EBSyoGZUIjkxH2HZJ4/uaH4NeaXUKHghEWIl08gHrAe7wg35YQhCW3UAFMwBsSktIhhd71s4Wsr5mf+J5gv0siSk14OQiMBLhyu/UqzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012eviAkxueenfoNSmsgaWGk",
      "input": {
        "note": "The left wrist camera shows the pen hanging over the inside of the left basket, so I'm opening the gripper to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_012eviAkxueenfoNSmsgaWGk",
      "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]: [-0.2531, 1.3991, 1.079, -0.3527, -0.1871, -0.1581, 0.9954, -0.02, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4128 left_y=-0.0691 left_z=0.2003 left_yaw=-0.0247 left_pitch=-0.0954 left_roll=0.003 left_gripper=0.9954 right_x=0.2946 right_y=-0.0002 right_z=0.174 right_yaw=-0.0055 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.3248, 7.2137, 1.7167, -0.149, 0.0269, -0.2466, -0.1846, -1.3197, 7.0359, 1.7216, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d76c35545ce7656c19ce3adcab83452887831e7a91cc27729dae40429ef12f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b910be294e9542242f0846d98eb5e448f78a86ecc80a724df4e6d242e87b4404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6aa54e51bf55cea035545042c18bbd42fd93208ba7fa238a067290e72ed069bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 4.993 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]: [-0.1501, 0.836, 0.7597, -0.5308, -0.1123, -0.0834, 0.1602, -0.02, 0.8078, 0.6083, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2939 left_y=-0.0208 left_z=0.2091 left_yaw=-0.0255 left_pitch=-0.0393 left_roll=0.0079 left_gripper=0.1602 right_x=0.2946 right_y=-0.0002 right_z=0.1757 right_yaw=-0.0053 right_pitch=-0.0294 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.2103, 8.9778, 1.7363, -0.0659, -0.022, 1.0232, -0.0479, -1.7026, 7.0359, 1.8144, -0.0269, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2527, 1.396, 1.079, -0.3481, -0.1879, -0.1509, 0.1673, -0.02, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4133 left_y=-0.069 left_z=0.2024 left_yaw=-0.0277 left_pitch=-0.088 left_roll=0.0075 left_gripper=0.1673 right_x=0.2946 right_y=-0.0002 right_z=0.174 right_yaw=-0.0055 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.2564, 9.5521, 1.8877, -0.1832, 0.0317, 1.033, -0.1026, -1.4427, 7.0632, 1.6874, -0.0562, -0.0415, -0.0122]",
      "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]: [-0.2531, 1.3991, 1.079, -0.3527, -0.1871, -0.1581, 0.9954, -0.02, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4128 left_y=-0.0691 left_z=0.2003 left_yaw=-0.0247 left_pitch=-0.0954 left_roll=0.003 left_gripper=0.9954 right_x=0.2946 right_y=-0.0002 right_z=0.174 right_yaw=-0.0055 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.3248, 7.2137, 1.7167, -0.149, 0.0269, -0.2466, -0.1846, -1.3197, 7.0359, 1.7216, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d76c35545ce7656c19ce3adcab83452887831e7a91cc27729dae40429ef12f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b910be294e9542242f0846d98eb5e448f78a86ecc80a724df4e6d242e87b4404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa54e51bf55cea035545042c18bbd42fd93208ba7fa238a067290e72ed069bb",
        "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_01UET8CJvs51t8FUeREaMeYK",
      "input": {
        "note": "The yellow pen dropped into the left basket, but the other pens are far off on the right side, out of the left arm's reach, and the right arm can't reach the left basket. New plan: pens go in the right basket and plush toys in the left, so I'm lowering into the left basket to pick the yellow pen back up.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UET8CJvs51t8FUeREaMeYK",
      "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]: [-0.2607, 1.5581, 0.6601, 0.2653, -0.1883, -0.1802, 0.9967, -0.02, 0.8146, 0.6075, -0.3923, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4083 left_y=-0.071 left_z=0.0779 left_yaw=-0.0202 left_pitch=-0.0563 left_roll=-0.0235 left_gripper=0.9967 right_x=0.2949 right_y=-0.0002 right_z=0.1733 right_yaw=-0.0053 right_pitch=-0.0374 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -5.0803, 4.1641, 1.37, -0.188, 0.188, 0.1294, -0.0615, -1.4427, 7.4188, 1.6923, -0.0366, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5d9345bd91e697b0d187a7959c60d54b31f28edf978fb67c7898ead54c966ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ead2ebd675675e2f8989b5a913a08e45d6e6929cf5480b874a9d0821c30375a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92ecac3b7f57cf4f2eabd2c29530a4f4412588209dce09759568a6fc27e3edb4",
        "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 · 4.166 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]: [-0.2527, 1.396, 1.079, -0.3481, -0.1879, -0.1509, 0.1673, -0.02, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4133 left_y=-0.069 left_z=0.2024 left_yaw=-0.0277 left_pitch=-0.088 left_roll=0.0075 left_gripper=0.1673 right_x=0.2946 right_y=-0.0002 right_z=0.174 right_yaw=-0.0055 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -6.2564, 9.5521, 1.8877, -0.1832, 0.0317, 1.033, -0.1026, -1.4427, 7.0632, 1.6874, -0.0562, -0.0415, -0.0122]",
      "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]: [-0.2531, 1.3991, 1.079, -0.3527, -0.1871, -0.1581, 0.9954, -0.02, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4128 left_y=-0.0691 left_z=0.2003 left_yaw=-0.0247 left_pitch=-0.0954 left_roll=0.003 left_gripper=0.9954 right_x=0.2946 right_y=-0.0002 right_z=0.174 right_yaw=-0.0055 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.3248, 7.2137, 1.7167, -0.149, 0.0269, -0.2466, -0.1846, -1.3197, 7.0359, 1.7216, -0.0269, -0.0269, -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]: [-0.2607, 1.5581, 0.6601, 0.2653, -0.1883, -0.1802, 0.9967, -0.02, 0.8146, 0.6075, -0.3923, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4083 left_y=-0.071 left_z=0.0779 left_yaw=-0.0202 left_pitch=-0.0563 left_roll=-0.0235 left_gripper=0.9967 right_x=0.2949 right_y=-0.0002 right_z=0.1733 right_yaw=-0.0053 right_pitch=-0.0374 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -5.0803, 4.1641, 1.37, -0.188, 0.188, 0.1294, -0.0615, -1.4427, 7.4188, 1.6923, -0.0366, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5d9345bd91e697b0d187a7959c60d54b31f28edf978fb67c7898ead54c966ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ead2ebd675675e2f8989b5a913a08e45d6e6929cf5480b874a9d0821c30375a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92ecac3b7f57cf4f2eabd2c29530a4f4412588209dce09759568a6fc27e3edb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2gkKEAgSGAI4AUIIdGhpbmtpbmcSDDC7JytFHKH3p06KqhoMi+r6xkyJrNzvyHxuIjCIEimcuS+jD/VrW8NB7iaZ9pDMLlaV2lAysBYct/l6f2tIwksAIotN1xMpoBUVt+Uq9wienBDuSyiL0275Jxq2lyxK9mHcy+b6tvVEWJgTJ7jN3yEqLag4h/PFfDu26tynIyTpt4p03KEhCikb3e9NSDDBG/OXP+ki2zygYQTQrxocNfKazzMuwKu3hVUk2oXEPqFSLodDEKf/xRn9qPianJ7UaNu8EVVIaUwMYTAF+IKGbYutm3mc7pK37DqWGq32G2iBxXPAdvbU1AUpwvzEDSsTrhYk1OV+RitGB0c5RT1ImQcLl2auWBTQtdmp2qKhD6PXU5nlzqjf7+DgunOwul9hEVaqBv1o34Q1Cg9RM9ukETb4lj7ISMxWNVlxvnVDnwex8h88mBLHwk1nTBUnop4aN9yI0bQ7ut3iuMwsF24zz+hiZMZZ3AgCz7AajyftoDFM7SUtk6JUhhIoPx4LlTtqHqFSMYnp+kn5yLYGzsl2Ki8/E+i0myRUpvQ5CW9diaRkJnj4aMeW6uRt8t8c42lOcS+365YxKIR9ifoBooeZwPufsFzIDIjNWN/jznbctyk8nBRYYhWtToEXqAPzE33pQGopP3I3ZaAQsl9/pYDE/RAoNvXf60YGiN/EQngfXiVMHMG8iNl7D795SrO9OKmMc8wG0b3hQF5bLZC2GrYNfVVM2chmQNv0E0J2I8ZZelvgZQtQnGhftIyk1SEExQqpMzMDAlfwUXLFgONJytbY16qaveb3IDD8H0AS6mDPHvF0ovDWQKYywx6Q8WFxMR1VEOE8bLeoE4e6ZBWotY/7b0KvvZlmwqncE50xTNilfR/5kQ+g/fV3FRCzl8GNmp+aSZYhMCvcXW5PgNosnr5C9L5QpU6ANJJb30Vye3G7UPty0b8qC1XsFJjJEANPerUHcCkdByGSeA8ZBVV9sZSNEygwQK+E91LBpOF7TW+77SdFTzphhrZbzxSqRAMMfDek5Io457h1Rv+ZtO+3UlBrO+KfzOvxbTki8GKZP4DY0a8k1CVINPqMrETaldh4VXrtJRauW+u/ggZQ+WCMrvyYfRbThD0QETm5nmGWqAf/13F0HDPQ6IumHcpC6PnT7C20n+iiFMB73pHI9sQXDbjsNFfdEiRKOWXRUtz9DwPBzyJav8GWT0C44/nBWvhAVGbh6wN1WH8t6U9cELPJrUREuWpP1AgjOKsit8rkIM530TG7kGw47txh6xWF58czg0x2WMi8wjc3z24czmuhejXjOQm/Wm96IsRjFcemz/a2oV8BCdnbCIegBGvdYY2lilXmDpAD3AyCzALcsPBR0T3QQCdAEJMKBUDrt9tW/9/db+6oKmBYgqcjlPMBqk1e5uGPSN0ZC3vuXl5SMPE8o2Xh0gK26U1bi8Oa+E1+gBQudkyBN+ZNXR7td9mfjFj6tPgfEydfB3X08+ZQe1eXZUZX/ilnB71KiK+QPR4dsfoD3WBrSSKez5WZLF5kuZ/JSJ/0oKqGsi6JVT35GM7pGJL3YlQPNWA6HIVH+zNxgv4ucXwLs+aWWap0UflWFC7nt1XjxyutZDoLWwn3WsX9CiYrHqCH8PuKFDMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VnVpJcQQEQVCraWnhnohWe",
      "input": {
        "note": "The yellow pen is lying on the basket floor just ahead of the left jaws and well centred, so I'm lowering further to grasp height.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VnVpJcQQEQVCraWnhnohWe",
      "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]: [-0.2588, 1.7283, 0.5926, 0.6224, -0.1879, -0.1844, 0.9968, -0.02, 0.8177, 0.6075, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4265 left_y=-0.0751 left_z=0.0564 left_yaw=-0.0164 left_pitch=0.0595 left_roll=-0.0557 left_gripper=0.9968 right_x=0.295 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0059 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.9863, 3.2205, 1.2088, -0.0904, -0.022, 0.0024, -0.0342, -1.5795, 7.0769, 1.7265, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c74742794f82660daffede476382d7c1fd005df7e2b61abb5a658e16e371d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce2eaa3fd302e6cf37292970f2e4d70d7ba80d319030004f5e6e71cfe584e15e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:897d0734a291a67ea002db4d55afa31a1bc42a6ddbd35d92dba300fe2ef9ffa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 5.497 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]: [-0.2531, 1.3991, 1.079, -0.3527, -0.1871, -0.1581, 0.9954, -0.02, 0.812, 0.6075, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4128 left_y=-0.0691 left_z=0.2003 left_yaw=-0.0247 left_pitch=-0.0954 left_roll=0.003 left_gripper=0.9954 right_x=0.2946 right_y=-0.0002 right_z=0.174 right_yaw=-0.0055 right_pitch=-0.0351 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.3248, 7.2137, 1.7167, -0.149, 0.0269, -0.2466, -0.1846, -1.3197, 7.0359, 1.7216, -0.0269, -0.0269, -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]: [-0.2607, 1.5581, 0.6601, 0.2653, -0.1883, -0.1802, 0.9967, -0.02, 0.8146, 0.6075, -0.3923, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4083 left_y=-0.071 left_z=0.0779 left_yaw=-0.0202 left_pitch=-0.0563 left_roll=-0.0235 left_gripper=0.9967 right_x=0.2949 right_y=-0.0002 right_z=0.1733 right_yaw=-0.0053 right_pitch=-0.0374 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -5.0803, 4.1641, 1.37, -0.188, 0.188, 0.1294, -0.0615, -1.4427, 7.4188, 1.6923, -0.0366, -0.0562, -0.0171]",
      "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]: [-0.2588, 1.7283, 0.5926, 0.6224, -0.1879, -0.1844, 0.9968, -0.02, 0.8177, 0.6075, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4265 left_y=-0.0751 left_z=0.0564 left_yaw=-0.0164 left_pitch=0.0595 left_roll=-0.0557 left_gripper=0.9968 right_x=0.295 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0059 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.9863, 3.2205, 1.2088, -0.0904, -0.022, 0.0024, -0.0342, -1.5795, 7.0769, 1.7265, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c74742794f82660daffede476382d7c1fd005df7e2b61abb5a658e16e371d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce2eaa3fd302e6cf37292970f2e4d70d7ba80d319030004f5e6e71cfe584e15e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:897d0734a291a67ea002db4d55afa31a1bc42a6ddbd35d92dba300fe2ef9ffa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwgKEAgSGAI4AUIIdGhpbmtpbmcSDK+lTu8sv09vVJRxNRoMByyAM8tv80aDsajAIjAICxPnVdnp8Ek4Mv4FJKlADdvzJmqu+y1mrmCPX5MNjKQ1Yae8ka3qhCzD3HlAs4AqrAfu3yTXGX1ZvOgMgUvMcC3Z+lbzM4tmYNjjV+l0+JS4dC8BEA9kemBGf1A1wJyfTaY+7NA4Pc/CxW+2zmrU8QWbW3aXd6GclcKBzJATrsxODAbLCyLxkGHi/EEYDSj73fOeZc5g2g9nB6Qm9jhI71deJvcgwecoFrAb667W0L+5lwojbHnDHt6HwrlDl7LOSSFh72YY5nGV1Jtgk0h7GR9zK87+pXNJ8e/csddB0JF8c1UNt9lQmKHNrb97Tra8B5uz5A5N+xJxAZx/PcMWmkED9V9xlAvroQMeXvO2GLsD9MwfkAtGxqs3GhPqOA4DKC1Qy6Rf/FwrUuiWdzNWoFbKDdhM4d9GZxZzjCvwZzG+UeLZCbeBrcQvGenH0V0/jaiqCkFeAu2e9mfPQvVniUvZGPNkxVGh/xHa5YtUo1ZB1CzRuhf50HTni4u6FDeW/n2HHfBdpOjXWGYzSV3nZ8YfQn0Dk3+0l4uajExz2o6K/DGB/8Orbf3oRDl+c4qNX2tDFy1Me9xCTvmNKX1hL+NUrrnnqYrHF9CdrOkETIfSpZzbfAXe5uCZVd71DnJczQewdESxLPopIjXZASzdkeJ47MsRk9iUEkaJCFpv89hYv+WhhBSh7hL47MJoTqVWTlq+ogwQ1Y9J4EbqXe3ppwyu4x2oN9GLMQFP0+GBhastTQu7xYZT/EV91xUlS32zBNBnm5ZOzXv52EWYv7LPNi4TKUQCnpvPV3SSZ/zwSpV+YJVBPyxO821sdQEn6/PEYRyP7oHc59SzDWj7cT9ths2EbkXC7REjCQ4Sajn1HN4ZWjocEGjKwoA1bo6pORU45+ZDXkFKCL0Xdw367Wc3Ty+rCivyyRA54xYsQZcABXIrGIhT/TCsgBsbljaLV206v4zlk86v7TlofUjH7PuByTeVZj+GeGC0+Gf72UXZ1DesHbGsngMpoE+mUmDmZ9aob+030KDpwu5UmD93AEXCer4DiPm/2kVTDl6L2GRbMTmynj5mrgLuhUklute7cYdslCvQ8PIlFSNwvdbT97N5PZD8xwSXjaj+GnKMvbpMbDFUf6ver6ZG+Ali70cmnt6y4nHOsCUiay4L+dmDrIDUkIrh8tCctSDMAOk/l1oNJEHLCtzNFPm/Qbtmom3raFofa8EBdV2VYCmyV9/oZ0f3nL9/dfwhbYDe/WRsE3utHSShorCMgg0dIZ4cZjH9XrcFp6XkjfjSHE9AyDHbyCxrd9si/Q/KMbnuPf9J9n5LGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0187tBYrZ7GUwSPSRq1gCw2r",
      "input": {
        "note": "The descent stopped at z≈0.056, which looks like the basket floor, and the pen is between the jaws at the bottom of the wrist view. Closing the gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0187tBYrZ7GUwSPSRq1gCw2r",
      "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]: [-0.2588, 1.7264, 0.5991, 0.6151, -0.1844, -0.1917, 0.0119, -0.02, 0.8185, 0.6075, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4277 left_y=-0.076 left_z=0.058 left_yaw=-0.0154 left_pitch=0.06 left_roll=-0.064 left_gripper=0.0119 right_x=0.2951 right_y=-0.0002 right_z=0.1723 right_yaw=-0.0055 right_pitch=-0.0412 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -6.9538, 4.6564, 1.8095, -0.105, 0.0415, 0.9109, -0.1299, -1.4291, 7.0496, 1.7411, -0.022, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:611f447db716d445b19d3bad06b939c6150f99b75a0f166f648f6c90641335ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a0727c6669aa8dc3a892f685b95e97d842f910796610f7d8f9401d52419700c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f953274e920c360834720f868356ac67142fe6631ce25af259ac2794e14e849",
        "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 · 4.183 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]: [-0.2607, 1.5581, 0.6601, 0.2653, -0.1883, -0.1802, 0.9967, -0.02, 0.8146, 0.6075, -0.3923, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4083 left_y=-0.071 left_z=0.0779 left_yaw=-0.0202 left_pitch=-0.0563 left_roll=-0.0235 left_gripper=0.9967 right_x=0.2949 right_y=-0.0002 right_z=0.1733 right_yaw=-0.0053 right_pitch=-0.0374 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -5.0803, 4.1641, 1.37, -0.188, 0.188, 0.1294, -0.0615, -1.4427, 7.4188, 1.6923, -0.0366, -0.0562, -0.0171]",
      "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]: [-0.2588, 1.7283, 0.5926, 0.6224, -0.1879, -0.1844, 0.9968, -0.02, 0.8177, 0.6075, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4265 left_y=-0.0751 left_z=0.0564 left_yaw=-0.0164 left_pitch=0.0595 left_roll=-0.0557 left_gripper=0.9968 right_x=0.295 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0059 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.9863, 3.2205, 1.2088, -0.0904, -0.022, 0.0024, -0.0342, -1.5795, 7.0769, 1.7265, -0.0317, -0.0171, -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]: [-0.2588, 1.7264, 0.5991, 0.6151, -0.1844, -0.1917, 0.0119, -0.02, 0.8185, 0.6075, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4277 left_y=-0.076 left_z=0.058 left_yaw=-0.0154 left_pitch=0.06 left_roll=-0.064 left_gripper=0.0119 right_x=0.2951 right_y=-0.0002 right_z=0.1723 right_yaw=-0.0055 right_pitch=-0.0412 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -6.9538, 4.6564, 1.8095, -0.105, 0.0415, 0.9109, -0.1299, -1.4291, 7.0496, 1.7411, -0.022, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:611f447db716d445b19d3bad06b939c6150f99b75a0f166f648f6c90641335ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a0727c6669aa8dc3a892f685b95e97d842f910796610f7d8f9401d52419700c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f953274e920c360834720f868356ac67142fe6631ce25af259ac2794e14e849",
        "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/QkKEAgSGAI4AUIIdGhpbmtpbmcSDKHt7anTsOW3VN1LURoMLqvMJg2PjvY4HxbsIjDr1pOppe09EeHhMp9AOxp5OuwimViU9MD43HcKqcibSh6AssI+ZexOfNeqGbO9h9AqmgnhYrxtkA7Fe6XFt1CyAOKZfB0baA50piiFRmjFH7ZxG0VjDZ/1pjFq5O85Ibk35XNvYM4bFdx/+Scizoj//rGpXs9YIqQQsuauMUdSiNA2iWNOvhwbppYFHhmuNXdxfYwc6tL+sHpzItIv9CptB2/fwo/RwL6o3A0yMnJxL3T6GlwgsVJ9prNH4Ituqk5tvUsV/688A3IsWCgJ1LaXeCDdUdJkBK6glR5zsQN9YeZ8VPxRowzek/nAcefrHEb6bQr7d32BkHJUB6IZ9VZCCu//ATlClsfJtrmjD6+E1E2nrGv2+oR7dlL3x+MT6f6gzs1QsRYXwXcJ/Doo5Ge8fV7rN0qIhkvYn+nNnhb5aizLIgx/rGnSGcRh+KeXgnT1YwOh5Id0JajY+1kOUlcBjmKUAcEeZhp38dba6UgDw4lado7MmHzZir2c8lNYBNhlkOhGtYbg/u1q1pjNrCg+pQhayqGIByIQZvnT4sr0mNHjSWwJSFNOj10894UIJILCbsMWy40nXygbINh+kZgouNx0ws92zRrBvrIUnh18ZCuh7GiufysXGS8CDRPWYoZzDNih+CErrWvhg5+jWZ9zZDDizwILBsNi2PdncNBkaFsdi44FKLRIEbif+FrM2OlW1Oy6ad84A0kdHy7s1drMQ/63HfK1bcAKtJVRt1f6x6GbGH9LeNbWuoDW0S2inpWFmOxKSfVggGK6dNgO3Se5WphnLDT8GZuuCm45dZ2eN0/C3jybz9iAIhQS0koFq5he+aca4W04MUxGUR5JwQdeELUvHBfvicNRYTK6EGY7g1BC3bTPslPk8OfGP73tAM2ws8IXdrf5w0S5s5ortEbGoAkY4+9Ty2xuvBl4rRbJEXa0b8TCdFpqO6l4YIk3tn/uFFUvrVUm/AikZK3SMWRJoIZoxP79hgHzH4ZDAkA1BDbP0fHzxXwbIcn1FYY/10OlBtfMOeaz2uGwT/RbsCjkzEETmGsxLZP9okf3rMPOT3tkpb7/fAFHFxrfCzVAHJ6bMauz659li1bNX7QVf5Xbi6HH7XO+jZFGFSCA6q1uviN94Lt8Vam4G9omSVF5zUrVlGdZqJs/GSNKRYcZQKB25wRAw0fYaWuN9qydVn98PTPDMZRdac5oP3kYASAxHERJzYznW+JenqvUorerBqM/NJZPvrnzEDEf6NLoOCT1blZUk1fOE1qYoWlyqLE0RmH2VP0YoTNw52K4+ExugWlFe0TrVaWnVXGZ9Bf7GKgcGVVrkIbU+N5PgqPmlGBHYANvlY2L91Rq09hl/+ZSXa+F4I9uZZaPdBOfzihG8o+Ap539V+ndB8RfDNWN9as0q3Kbvd9OwgF6H3Nw+ebfcF8Bp3cpjgvBH+1zEUon1rYUUTkQDzAjIasS7UzKvWmXzT3S1BOg9rwABB5q0vh/R18Q99I3q4BpoYkeYUf7z6ljqBKIwN9Dwc40ZMGQFJz066N4Fie+8JGliwU/0+YgOE9ZF8TPA/j0+JQZrWSLkdARoOA+9OevdKEGo1ZfKJAZ5iTDc9peUt+l8TBNd+DZMVG0gt6RGD4KvP04LaZwmxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HY6E9NmMyb5DDuiHcxsQK",
      "input": {
        "note": "That close came up empty: the pen is about 2 cm left of the jaws and slightly ahead. I'm opening and moving left and forward over it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.44,
          "left_y": -0.05,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016HY6E9NmMyb5DDuiHcxsQK",
      "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]: [-0.1673, 1.726, 0.6209, 0.5632, -0.1184, -0.1581, 0.9952, -0.02, 0.8192, 0.6075, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4329 left_y=-0.0483 left_z=0.0544 left_yaw=0.0023 left_pitch=0.025 left_roll=-0.0613 left_gripper=0.9952 right_x=0.2952 right_y=-0.0002 right_z=0.1722 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -9.0735, 7.3504, 1.8046, 0.0952, 0.0513, -0.0366, -0.1299, -1.1009, 7.1179, 1.7363, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d37a450aa4f20ac2d2913a25e7ade0b333d8f8df8e11bf5b1f5b42601401ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0304d54e01fcdc59d856bdfd8f347231d1a643a89655d94146428e8321ece4a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08053360f1aa29c4fcdd2a571b4370478ae8015397345abf77bb7782438e5716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 15.57 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]: [-0.2588, 1.7283, 0.5926, 0.6224, -0.1879, -0.1844, 0.9968, -0.02, 0.8177, 0.6075, -0.3923, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4265 left_y=-0.0751 left_z=0.0564 left_yaw=-0.0164 left_pitch=0.0595 left_roll=-0.0557 left_gripper=0.9968 right_x=0.295 right_y=-0.0003 right_z=0.1725 right_yaw=-0.0059 right_pitch=-0.0404 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.9863, 3.2205, 1.2088, -0.0904, -0.022, 0.0024, -0.0342, -1.5795, 7.0769, 1.7265, -0.0317, -0.0171, -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]: [-0.2588, 1.7264, 0.5991, 0.6151, -0.1844, -0.1917, 0.0119, -0.02, 0.8185, 0.6075, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4277 left_y=-0.076 left_z=0.058 left_yaw=-0.0154 left_pitch=0.06 left_roll=-0.064 left_gripper=0.0119 right_x=0.2951 right_y=-0.0002 right_z=0.1723 right_yaw=-0.0055 right_pitch=-0.0412 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -6.9538, 4.6564, 1.8095, -0.105, 0.0415, 0.9109, -0.1299, -1.4291, 7.0496, 1.7411, -0.022, -0.0366, -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 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]: [-0.1673, 1.726, 0.6209, 0.5632, -0.1184, -0.1581, 0.9952, -0.02, 0.8192, 0.6075, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4329 left_y=-0.0483 left_z=0.0544 left_yaw=0.0023 left_pitch=0.025 left_roll=-0.0613 left_gripper=0.9952 right_x=0.2952 right_y=-0.0002 right_z=0.1722 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -9.0735, 7.3504, 1.8046, 0.0952, 0.0513, -0.0366, -0.1299, -1.1009, 7.1179, 1.7363, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d37a450aa4f20ac2d2913a25e7ade0b333d8f8df8e11bf5b1f5b42601401ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0304d54e01fcdc59d856bdfd8f347231d1a643a89655d94146428e8321ece4a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08053360f1aa29c4fcdd2a571b4370478ae8015397345abf77bb7782438e5716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1ggKEAgSGAI4AUIIdGhpbmtpbmcSDMrun0BCELYwcyd2pRoM4nYcfptmdFvG4gL3IjBC2H59256fkcH2w8aQCvikvaz3832i7mUQZ7sENlxKXwgErSGjPC4WQPxeYxBMYlEq8wfFS6VLLRpFddN6Ke2CMoUBWMIEDCMGNszbsJzW8/t8rmCwFKFtv2T+DV7VEDiM3Tmfr/TqEnrfRn82FDX6VH64Xgl55dE+kZyGgfBkLoTacRO+0xLwJj7nWL7gWhHMY81VUqeCGmMsdrooGmwf90O6pDuCqIWtKplhKkPNiCW5RSYruJbxWZWb6JOrDjLukb+A243zWF8dshVFOg27CV/svgUCZ3d/mvz+flGZh8oB0wlZsHy0QKZrMC2bNbcBjYzPzElnUScKcI8tWKctm0u91EcdEXcN3jKs38BI/7XbyAhoX+zesZnaljO4bV6pBVlMRHOcJJpE4qHQoiqs+v8K+HH4GDmVfrXWSk2d5LVdbBfen+x2GwQAL19K+iMO1hDtCNATaSYJ6aMrPBFOC/+0ZGLZ+nErF5YS2ay2/wlnkzeHzQK2wct74G7PGVGiOlBOqElIu3nzZDx0wGUQ0AAT1wpkZCcK1qoYDwBIFv4gGmzGSFSM6k/C1CF7/90m7cOb//qJYmH4/OSKKMhZod4pgoIHbbuMg0GEXWDAfHb71Q95i3uY+mw/eOtQZU+WlM63NQ8EE0cTioADEq3qY9KwGaHk4kHlJqHgSbDEh9Ht/RvwxnGkt3UD/fdzK/Di1yuHAdgOZPK+26CC74MffojYbAlCWc3WxLvw31Afv9cXArTesgcm+s8H5l8t8yz7ScqXyk0Ev5UbgLlnf3dMt16MfaHAJ9kMCVAzAVcIn9m2+NrX/pe7/swMvMel2khK/6CCl1Ssz+8LsOGUCX5CGAaDiIXLjWWGqDYTu5xL6pWHcZV9vmgB9z59kxvR5blqwZUUXp7MazxkJQKW4qRGZWIz0c8Ux4jPL70zo58Sa+ctRGD+1AKJd7IRcDSnMvf2z2KMuX5f5sx5ta8W09sSW2Zwx+xK5qPIhRjrmbTJ08CqRAGzYpja6eMcoa2x11ALiTFBwsvj+e24wCMFn9XnihC9Bdpg2G0Lfu8uvzO7pfQLw8uQult8waHp0FdG+/cFidXgtJIZ7UMqQXryAILDCxewN1AdNktYBhFwJhr9ntN17r/Rtq1oCnl+7nYXYOplJz9fTW2i9KknP8DUzZyKF3NMrrNaUecjRxRreT13DA9DpPBVG6LI/DnWLtGfAfuVRZ+6m7a+zOMS3ZnZLRee8Pl0bR243/BQkdk7yQUMTzBUKn8+GdxqaRSu15zEIdTH56N0vLYOnhheXy4CMCW0yWx91wt258j03WDnyK1cBwUfE+ruRwtL4Y2xEvQnv9aSvWLteSgkwRq3+mc98EpqulofeYPRMWRGgeNOkKV6PC0a6BSop/NHGEcPTt5Qioc+bnSFNpkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RKFRCgH4o3GkUMzQvhaaCM",
      "input": {
        "note": "The yellow pen is now centred on the jaw column and runs down to the fingertips. Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RKFRCgH4o3GkUMzQvhaaCM",
      "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]: [-0.1631, 1.726, 0.6228, 0.5591, -0.1162, -0.1581, 0.0119, -0.02, 0.8249, 0.6067, -0.3962, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4332 left_y=-0.0469 left_z=0.0542 left_yaw=0.0046 left_pitch=0.0226 left_roll=-0.0621 left_gripper=0.0119 right_x=0.2948 right_y=-0.0002 right_z=0.1694 right_yaw=-0.0053 right_pitch=-0.0523 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -7.3368, 5.0803, 1.7705, -0.0513, -0.0073, 1.0574, -0.1162, -1.853, 7.1043, 1.7607, -0.0513, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f82b5971203174b6d21792b8db089a0b9fd8ef6c6e995b4b4d197fa3a07872da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3464793cd6939e8da5c3746fd7e49abb91af52d22bc9339123c977ca886ead50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0d3911b06ce8f753c8a88c71a9f28cc6c8a6eca0308fa15f9b81a6f8a6dbc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 11.68 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]: [-0.2588, 1.7264, 0.5991, 0.6151, -0.1844, -0.1917, 0.0119, -0.02, 0.8185, 0.6075, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4277 left_y=-0.076 left_z=0.058 left_yaw=-0.0154 left_pitch=0.06 left_roll=-0.064 left_gripper=0.0119 right_x=0.2951 right_y=-0.0002 right_z=0.1723 right_yaw=-0.0055 right_pitch=-0.0412 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -6.9538, 4.6564, 1.8095, -0.105, 0.0415, 0.9109, -0.1299, -1.4291, 7.0496, 1.7411, -0.022, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1673, 1.726, 0.6209, 0.5632, -0.1184, -0.1581, 0.9952, -0.02, 0.8192, 0.6075, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4329 left_y=-0.0483 left_z=0.0544 left_yaw=0.0023 left_pitch=0.025 left_roll=-0.0613 left_gripper=0.9952 right_x=0.2952 right_y=-0.0002 right_z=0.1722 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -9.0735, 7.3504, 1.8046, 0.0952, 0.0513, -0.0366, -0.1299, -1.1009, 7.1179, 1.7363, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1631, 1.726, 0.6228, 0.5591, -0.1162, -0.1581, 0.0119, -0.02, 0.8249, 0.6067, -0.3962, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4332 left_y=-0.0469 left_z=0.0542 left_yaw=0.0046 left_pitch=0.0226 left_roll=-0.0621 left_gripper=0.0119 right_x=0.2948 right_y=-0.0002 right_z=0.1694 right_yaw=-0.0053 right_pitch=-0.0523 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -7.3368, 5.0803, 1.7705, -0.0513, -0.0073, 1.0574, -0.1162, -1.853, 7.1043, 1.7607, -0.0513, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f82b5971203174b6d21792b8db089a0b9fd8ef6c6e995b4b4d197fa3a07872da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3464793cd6939e8da5c3746fd7e49abb91af52d22bc9339123c977ca886ead50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0d3911b06ce8f753c8a88c71a9f28cc6c8a6eca0308fa15f9b81a6f8a6dbc4b",
        "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_01HP432Vd7GaidpC9SHbuu1E",
      "input": {
        "note": "Second empty close. The pen shows just left of the jaws and may be sitting under the fingertips, so I'm opening, shifting about 1 cm left and slightly back, and pressing a little lower.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.425,
          "left_y": -0.038,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HP432Vd7GaidpC9SHbuu1E",
      "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]: [-0.144, 1.7283, 0.5873, 0.6529, -0.1032, -0.1532, 0.9957, -0.02, 0.8249, 0.6067, -0.4, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.0409 left_z=0.0599 left_yaw=0.0105 left_pitch=0.0771 left_roll=-0.0731 left_gripper=0.9957 right_x=0.2943 right_y=-0.0003 right_z=0.1686 right_yaw=-0.0058 right_pitch=-0.0561 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.7726, -5.1487, 3.5487, 1.7118, 0.022, 0.0757, -0.1929, -0.0752, -1.1556, 7.0085, 1.7949, -0.0171, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d10e56e897d4ba5b517f81709c27f784fb061f767f50e9b68a0908ca7fd5fdac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c528b9c3c3e945144a61a899140b10b7dbc849a4814f67e3feb47cd011623a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7496f7a64a229d883e098718ab3cfdd1d9d0a8a741983fdc766fdd963d24de74",
        "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 · 3.454 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]: [-0.1673, 1.726, 0.6209, 0.5632, -0.1184, -0.1581, 0.9952, -0.02, 0.8192, 0.6075, -0.392, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4329 left_y=-0.0483 left_z=0.0544 left_yaw=0.0023 left_pitch=0.025 left_roll=-0.0613 left_gripper=0.9952 right_x=0.2952 right_y=-0.0002 right_z=0.1722 right_yaw=-0.0055 right_pitch=-0.0416 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -9.0735, 7.3504, 1.8046, 0.0952, 0.0513, -0.0366, -0.1299, -1.1009, 7.1179, 1.7363, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1631, 1.726, 0.6228, 0.5591, -0.1162, -0.1581, 0.0119, -0.02, 0.8249, 0.6067, -0.3962, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4332 left_y=-0.0469 left_z=0.0542 left_yaw=0.0046 left_pitch=0.0226 left_roll=-0.0621 left_gripper=0.0119 right_x=0.2948 right_y=-0.0002 right_z=0.1694 right_yaw=-0.0053 right_pitch=-0.0523 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -7.3368, 5.0803, 1.7705, -0.0513, -0.0073, 1.0574, -0.1162, -1.853, 7.1043, 1.7607, -0.0513, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.144, 1.7283, 0.5873, 0.6529, -0.1032, -0.1532, 0.9957, -0.02, 0.8249, 0.6067, -0.4, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.0409 left_z=0.0599 left_yaw=0.0105 left_pitch=0.0771 left_roll=-0.0731 left_gripper=0.9957 right_x=0.2943 right_y=-0.0003 right_z=0.1686 right_yaw=-0.0058 right_pitch=-0.0561 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.7726, -5.1487, 3.5487, 1.7118, 0.022, 0.0757, -0.1929, -0.0752, -1.1556, 7.0085, 1.7949, -0.0171, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d10e56e897d4ba5b517f81709c27f784fb061f767f50e9b68a0908ca7fd5fdac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c528b9c3c3e945144a61a899140b10b7dbc849a4814f67e3feb47cd011623a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7496f7a64a229d883e098718ab3cfdd1d9d0a8a741983fdc766fdd963d24de74",
        "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_01Ubu3HT2qHHeHShLDnCu3pg",
      "input": {
        "note": "The pen sits right in front of the jaws, but the descent keeps stopping around z=0.06, probably because the gripper body is catching on the basket's near wall. I'm tilting the tool back so the body leans forward, away from that wall, and pressing lower.",
        "targets": {
          "left_pitch": -0.3,
          "left_x": 0.44,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Ubu3HT2qHHeHShLDnCu3pg",
      "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]: [-0.1272, 1.7977, 0.8825, 0.0265, -0.0662, -0.1806, 0.9968, -0.02, 0.8257, 0.6067, -0.4007, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4301 left_y=-0.0396 left_z=0.0205 left_yaw=0.0177 left_pitch=-0.3233 left_roll=-0.0581 left_gripper=0.9968 right_x=0.2942 right_y=-0.0002 right_z=0.1683 right_yaw=-0.0056 right_pitch=-0.0576 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -8.1846, 8.3624, 1.3748, 0.0415, -0.0464, 0.105, -0.1299, -1.4974, 7.0359, 1.7314, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85ae5b35bb13ed53096dd0cbe2faaa6cc875e06f1fd9a3b81930293c261c3cb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb800c78620f9da37e1db1d5dfd92e07876fc78c936598f6eb4415a19bd8759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2019bebc1a58ce72d7b9f6cab38d4c9b8f25665b3498f155ee1a134a7e642113",
        "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 · 9.595 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]: [-0.1631, 1.726, 0.6228, 0.5591, -0.1162, -0.1581, 0.0119, -0.02, 0.8249, 0.6067, -0.3962, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4332 left_y=-0.0469 left_z=0.0542 left_yaw=0.0046 left_pitch=0.0226 left_roll=-0.0621 left_gripper=0.0119 right_x=0.2948 right_y=-0.0002 right_z=0.1694 right_yaw=-0.0053 right_pitch=-0.0523 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6632, -7.3368, 5.0803, 1.7705, -0.0513, -0.0073, 1.0574, -0.1162, -1.853, 7.1043, 1.7607, -0.0513, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.144, 1.7283, 0.5873, 0.6529, -0.1032, -0.1532, 0.9957, -0.02, 0.8249, 0.6067, -0.4, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.0409 left_z=0.0599 left_yaw=0.0105 left_pitch=0.0771 left_roll=-0.0731 left_gripper=0.9957 right_x=0.2943 right_y=-0.0003 right_z=0.1686 right_yaw=-0.0058 right_pitch=-0.0561 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.7726, -5.1487, 3.5487, 1.7118, 0.022, 0.0757, -0.1929, -0.0752, -1.1556, 7.0085, 1.7949, -0.0171, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1272, 1.7977, 0.8825, 0.0265, -0.0662, -0.1806, 0.9968, -0.02, 0.8257, 0.6067, -0.4007, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4301 left_y=-0.0396 left_z=0.0205 left_yaw=0.0177 left_pitch=-0.3233 left_roll=-0.0581 left_gripper=0.9968 right_x=0.2942 right_y=-0.0002 right_z=0.1683 right_yaw=-0.0056 right_pitch=-0.0576 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -8.1846, 8.3624, 1.3748, 0.0415, -0.0464, 0.105, -0.1299, -1.4974, 7.0359, 1.7314, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85ae5b35bb13ed53096dd0cbe2faaa6cc875e06f1fd9a3b81930293c261c3cb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb800c78620f9da37e1db1d5dfd92e07876fc78c936598f6eb4415a19bd8759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2019bebc1a58ce72d7b9f6cab38d4c9b8f25665b3498f155ee1a134a7e642113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7gYKEAgSGAI4AUIIdGhpbmtpbmcSDPgHSLM9i2SKy1EizhoMh1YRYXDrwmug0ckaIjCAslKqsKa3BkZc4nJIeVPV8p/u4dGMLDDfuC8OOR+lSUbR5XhNXzDGWnnALtDbO/EqiwZvVUM0anYr/+RpmgNriQrqUHY/hYWeuscKFqYFC0Ryh88KLj0K99oR+H6fuMbTTbK0+d0oS3fef8yY/JD89AqtadJxE9FN0iPScmiFJLUk071WJwa6BkaJ5oDuymCCcetiToy4ixnWp8nwIcuF4s6tZv/6/pfUOj9ZPrlz3DPrtvFJ/6b2ABp3F+J1Hvv51OAMeqtt4MPRsVjq2+TY8tHYTM5iFpWwFs+wmwT5Y8OzaA8HwWFP1l3aM7Bt+x9uh6jX8PB3PwXLED3N+47zlJpzWvlKG7FudiTpN+0osa+MkUgrJf7wHTj61P4eB46uSOE7Aubu14q5/USYUZAq6v6KQktZlz1r+y2Pu0sq/laDOVsXoUHNvYqPl9qlYnOlsEdexo4+Ydj1AnPVEVHusDit0Obn5VdDwpToz/cFgolhpogxcO4BQpsba2nAXzNyIg4J92OtNVQZmTGKFY5U89eZI4TTOUGN/lThRq00VWXYRIvL0A6N5pJN7qPITQXO2gbM3amCG+LQvzu/zKbbkhtDtS4Aw2T7JhIXSUoRckHQON14VOrORiRBsYHv1zyHjPy11OLtcJclUfBH7P0K/5mKRqnZGj9raYS6WIByzDrfENdzLmQzCWbX91wnfiGZ/gsvToM3paROEM/EY1zg3juEYjo1ewYSbfXvw6QmQGIGbAb4fJzhxZ5xVXRFQUDsUcYpIrP4qS9JE+rQXeOG2LhEnT4YDNiE2/8AVPp/TiVtt3Jpg4UgPrE1Z8kht6L5qcydaDt+xPtWomIODzKplbQz1YJA2L/PQf4r+6H7kn4c0mpGDDrmQUbmJ9JWAa3R/unqHRBNP5BjrjZsEz7kz4rjMkVlUGu2dJXBKB3x2jptRAuXUuaycy8kC8AO+K1vHzJ6xIsMO9V0PYmlJH9nDTpmF1oN78aLRdkjDA5shRWdNscgtQp/QlqEg4KvpJJmdxCHNdR7NlT2wr4kDIVmO+uwG5sDiWoi09u7zwKAIyiPVSqwcFN6+Le14mK6CtxSkvuwUlqgubC5ajUpnxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0154tkMCgpL5cEFgUQygrRna",
      "input": {
        "note": "With the tool tilted back it reached z=0.02, and the yellow highlighter sits squarely between the jaws. Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0154tkMCgpL5cEFgUQygrRna",
      "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]: [-0.1276, 1.7916, 0.8829, 0.0452, -0.0704, -0.1875, 0.012, -0.02, 0.8307, 0.6022, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4343 left_y=-0.0396 left_z=0.0262 left_yaw=0.0237 left_pitch=-0.2982 left_roll=-0.0633 left_gripper=0.012 right_x=0.2928 right_y=-0.0002 right_z=0.1634 right_yaw=-0.0053 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -7.9111, 5.6684, 1.3065, 0.0366, 0.0464, 0.9841, -0.1162, -1.853, 7.3641, 1.7118, -0.0317, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fef38f4f60749d23a0ee9541f751798358ad30606a9abba38320b841c4cf794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af39251c5e5a4c171162ed586584f3be9e4e0733f36ddac80db3e1881608a50a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:212e99655202a12847a66b99943c756018df3a3e5dc9935c4d3d714be5460aaf",
        "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 · 20.82 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]: [-0.144, 1.7283, 0.5873, 0.6529, -0.1032, -0.1532, 0.9957, -0.02, 0.8249, 0.6067, -0.4, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4339 left_y=-0.0409 left_z=0.0599 left_yaw=0.0105 left_pitch=0.0771 left_roll=-0.0731 left_gripper=0.9957 right_x=0.2943 right_y=-0.0003 right_z=0.1686 right_yaw=-0.0058 right_pitch=-0.0561 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.7726, -5.1487, 3.5487, 1.7118, 0.022, 0.0757, -0.1929, -0.0752, -1.1556, 7.0085, 1.7949, -0.0171, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1272, 1.7977, 0.8825, 0.0265, -0.0662, -0.1806, 0.9968, -0.02, 0.8257, 0.6067, -0.4007, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4301 left_y=-0.0396 left_z=0.0205 left_yaw=0.0177 left_pitch=-0.3233 left_roll=-0.0581 left_gripper=0.9968 right_x=0.2942 right_y=-0.0002 right_z=0.1683 right_yaw=-0.0056 right_pitch=-0.0576 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -8.1846, 8.3624, 1.3748, 0.0415, -0.0464, 0.105, -0.1299, -1.4974, 7.0359, 1.7314, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.1276, 1.7916, 0.8829, 0.0452, -0.0704, -0.1875, 0.012, -0.02, 0.8307, 0.6022, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4343 left_y=-0.0396 left_z=0.0262 left_yaw=0.0237 left_pitch=-0.2982 left_roll=-0.0633 left_gripper=0.012 right_x=0.2928 right_y=-0.0002 right_z=0.1634 right_yaw=-0.0053 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -7.9111, 5.6684, 1.3065, 0.0366, 0.0464, 0.9841, -0.1162, -1.853, 7.3641, 1.7118, -0.0317, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fef38f4f60749d23a0ee9541f751798358ad30606a9abba38320b841c4cf794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af39251c5e5a4c171162ed586584f3be9e4e0733f36ddac80db3e1881608a50a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212e99655202a12847a66b99943c756018df3a3e5dc9935c4d3d714be5460aaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014cUS6fJtmoGAaXSXfWXWbc",
      "input": {
        "note": "Empty again: the jaws closed just above the highlighter, which is still under them. I'm opening and pressing lower so the fingertips get down to pen level.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014cUS6fJtmoGAaXSXfWXWbc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1276, 1.8362, 0.8677, 0.205, -0.0708, -0.1955, 0.9989, -0.02, 0.8307, 0.6014, -0.408, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4538 left_y=-0.042 left_z=0.0287 left_yaw=0.0246 left_pitch=-0.1996 left_roll=-0.0843 left_gripper=0.9989 right_x=0.2927 right_y=-0.0002 right_z=0.163 right_yaw=-0.0058 right_pitch=-0.0752 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.1897, 3.3299, 1.2674, -0.0952, 0.0171, -0.1392, -0.1026, -1.265, 7.0632, 1.7021, -0.0366, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20527bb441228756abb384cc8ba530bd74b613aa573e7956a506acae733c87d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e362c7b36c66bf19b8f3250d37bcdc58f6b6d2d51648eb4c57a44a47bafea15f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8353780f2571585a7b53aee07f723b75609eb97da470ff22e30dc2f520b7592a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 14.96 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]: [-0.1272, 1.7977, 0.8825, 0.0265, -0.0662, -0.1806, 0.9968, -0.02, 0.8257, 0.6067, -0.4007, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4301 left_y=-0.0396 left_z=0.0205 left_yaw=0.0177 left_pitch=-0.3233 left_roll=-0.0581 left_gripper=0.9968 right_x=0.2942 right_y=-0.0002 right_z=0.1683 right_yaw=-0.0056 right_pitch=-0.0576 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.2393, -8.1846, 8.3624, 1.3748, 0.0415, -0.0464, 0.105, -0.1299, -1.4974, 7.0359, 1.7314, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.1276, 1.7916, 0.8829, 0.0452, -0.0704, -0.1875, 0.012, -0.02, 0.8307, 0.6022, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4343 left_y=-0.0396 left_z=0.0262 left_yaw=0.0237 left_pitch=-0.2982 left_roll=-0.0633 left_gripper=0.012 right_x=0.2928 right_y=-0.0002 right_z=0.1634 right_yaw=-0.0053 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -7.9111, 5.6684, 1.3065, 0.0366, 0.0464, 0.9841, -0.1162, -1.853, 7.3641, 1.7118, -0.0317, -0.0611, -0.0073]",
      "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]: [-0.1276, 1.8362, 0.8677, 0.205, -0.0708, -0.1955, 0.9989, -0.02, 0.8307, 0.6014, -0.408, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4538 left_y=-0.042 left_z=0.0287 left_yaw=0.0246 left_pitch=-0.1996 left_roll=-0.0843 left_gripper=0.9989 right_x=0.2927 right_y=-0.0002 right_z=0.163 right_yaw=-0.0058 right_pitch=-0.0752 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.1897, 3.3299, 1.2674, -0.0952, 0.0171, -0.1392, -0.1026, -1.265, 7.0632, 1.7021, -0.0366, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20527bb441228756abb384cc8ba530bd74b613aa573e7956a506acae733c87d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e362c7b36c66bf19b8f3250d37bcdc58f6b6d2d51648eb4c57a44a47bafea15f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8353780f2571585a7b53aee07f723b75609eb97da470ff22e30dc2f520b7592a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NagNYxRFLqmXhMcz1zGhpw",
      "input": {
        "note": "The arm has slid forward to x=0.454 and the highlighter sits centred between the open jaws. Trying one more close from here.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NagNYxRFLqmXhMcz1zGhpw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1276, 1.8366, 0.8795, 0.1898, -0.0704, -0.1989, 0.012, -0.02, 0.8314, 0.601, -0.4084, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4552 left_y=-0.0423 left_z=0.0301 left_yaw=0.0263 left_pitch=-0.2035 left_roll=-0.0865 left_gripper=0.012 right_x=0.2926 right_y=-0.0002 right_z=0.1626 right_yaw=-0.0056 right_pitch=-0.0767 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.5812, 4.7111, 1.707, -0.0415, -0.0122, 0.9695, -0.1573, -1.3197, 7.1863, 1.6581, -0.0366, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a678f39ab67e00c5de76a8087c6d927bfa82c5a572879e32e90a70039a2a3603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af3a9dde8114b91db26a59d29b9295e65c805f3b54f2811cf9d88d3588a18126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:988969f390ea12bc4d02018b564120c10112894dc2617211e08e99b0e8c10343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 4.948 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]: [-0.1276, 1.7916, 0.8829, 0.0452, -0.0704, -0.1875, 0.012, -0.02, 0.8307, 0.6022, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4343 left_y=-0.0396 left_z=0.0262 left_yaw=0.0237 left_pitch=-0.2982 left_roll=-0.0633 left_gripper=0.012 right_x=0.2928 right_y=-0.0002 right_z=0.1634 right_yaw=-0.0053 right_pitch=-0.0744 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -7.9111, 5.6684, 1.3065, 0.0366, 0.0464, 0.9841, -0.1162, -1.853, 7.3641, 1.7118, -0.0317, -0.0611, -0.0073]",
      "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]: [-0.1276, 1.8362, 0.8677, 0.205, -0.0708, -0.1955, 0.9989, -0.02, 0.8307, 0.6014, -0.408, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4538 left_y=-0.042 left_z=0.0287 left_yaw=0.0246 left_pitch=-0.1996 left_roll=-0.0843 left_gripper=0.9989 right_x=0.2927 right_y=-0.0002 right_z=0.163 right_yaw=-0.0058 right_pitch=-0.0752 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.1897, 3.3299, 1.2674, -0.0952, 0.0171, -0.1392, -0.1026, -1.265, 7.0632, 1.7021, -0.0366, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1276, 1.8366, 0.8795, 0.1898, -0.0704, -0.1989, 0.012, -0.02, 0.8314, 0.601, -0.4084, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4552 left_y=-0.0423 left_z=0.0301 left_yaw=0.0263 left_pitch=-0.2035 left_roll=-0.0865 left_gripper=0.012 right_x=0.2926 right_y=-0.0002 right_z=0.1626 right_yaw=-0.0056 right_pitch=-0.0767 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.5812, 4.7111, 1.707, -0.0415, -0.0122, 0.9695, -0.1573, -1.3197, 7.1863, 1.6581, -0.0366, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a678f39ab67e00c5de76a8087c6d927bfa82c5a572879e32e90a70039a2a3603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af3a9dde8114b91db26a59d29b9295e65c805f3b54f2811cf9d88d3588a18126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:988969f390ea12bc4d02018b564120c10112894dc2617211e08e99b0e8c10343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LGYqfRn9Dxt5bTHh5X1MPP",
      "input": {
        "note": "After several empty closes, the yellow highlighter in the left basket can't be picked out: the descent keeps stopping about 3 cm up. I'm leaving it there and lifting the left arm out, while the right arm moves over the black marker on the right.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_z": 0.2,
          "right_x": 0.28,
          "right_y": 0.05,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01LGYqfRn9Dxt5bTHh5X1MPP",
      "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]: [-0.1352, 1.5291, 1.0492, -0.1535, -0.0967, -0.1947, 0.9988, 0.3264, 0.9726, 0.2268, 0.0643, 0.2466, 0.181, 0.9997]\nstate[eef_state]: left_x=0.451 left_y=-0.0405 left_z=0.1705 left_yaw=0.0359 left_pitch=-0.0685 left_roll=-0.0882 left_gripper=0.9988 right_x=0.2775 right_y=0.0522 right_z=0.0561 right_yaw=0.0163 right_pitch=-0.0952 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -9.853, 9.7436, 1.7118, -0.0757, 0.0904, -0.1392, -0.0615, -1.8393, 6.4342, 1.7607, 0.2027, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:657200c8a17df5333c5802572659bc7b60354c3b10c989453c392d912030feff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f51193cac150c75d224c59e54a7d8d0df1e6390a217a8e0fed7e4c2cecaec736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d950dcf48e3ab9f581de5e738939fd5a3e8c5b6edd810ea3c5be5903835036b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 3.007 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]: [-0.1276, 1.8362, 0.8677, 0.205, -0.0708, -0.1955, 0.9989, -0.02, 0.8307, 0.6014, -0.408, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4538 left_y=-0.042 left_z=0.0287 left_yaw=0.0246 left_pitch=-0.1996 left_roll=-0.0843 left_gripper=0.9989 right_x=0.2927 right_y=-0.0002 right_z=0.163 right_yaw=-0.0058 right_pitch=-0.0752 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -5.1897, 3.3299, 1.2674, -0.0952, 0.0171, -0.1392, -0.1026, -1.265, 7.0632, 1.7021, -0.0366, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1276, 1.8366, 0.8795, 0.1898, -0.0704, -0.1989, 0.012, -0.02, 0.8314, 0.601, -0.4084, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4552 left_y=-0.0423 left_z=0.0301 left_yaw=0.0263 left_pitch=-0.2035 left_roll=-0.0865 left_gripper=0.012 right_x=0.2926 right_y=-0.0002 right_z=0.1626 right_yaw=-0.0056 right_pitch=-0.0767 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.5812, 4.7111, 1.707, -0.0415, -0.0122, 0.9695, -0.1573, -1.3197, 7.1863, 1.6581, -0.0366, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1352, 1.5291, 1.0492, -0.1535, -0.0967, -0.1947, 0.9988, 0.3264, 0.9726, 0.2268, 0.0643, 0.2466, 0.181, 0.9997]\nstate[eef_state]: left_x=0.451 left_y=-0.0405 left_z=0.1705 left_yaw=0.0359 left_pitch=-0.0685 left_roll=-0.0882 left_gripper=0.9988 right_x=0.2775 right_y=0.0522 right_z=0.0561 right_yaw=0.0163 right_pitch=-0.0952 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -9.853, 9.7436, 1.7118, -0.0757, 0.0904, -0.1392, -0.0615, -1.8393, 6.4342, 1.7607, 0.2027, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:657200c8a17df5333c5802572659bc7b60354c3b10c989453c392d912030feff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f51193cac150c75d224c59e54a7d8d0df1e6390a217a8e0fed7e4c2cecaec736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d950dcf48e3ab9f581de5e738939fd5a3e8c5b6edd810ea3c5be5903835036b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQkKEAgSGAI4AUIIdGhpbmtpbmcSDEIZkKA8HZHeF6sKGhoMbMgAat8wDz1iFewlIjAtZmXUbkH6yYfL6iUJtqvDP8FnPT6/FkUeVdSlx9cbaVFsovCUV1XDOFkvR50BD/wqsgiTt+Gj02852zWvrKH4o3jq2+VACpZo5qTOAjq3KtUnS3OxjVQxtrDJB+akObND8eiI9e9REPCoa1qSonwA4IK0QxcrQU2UGZwHapDwIgja3EDTh3ntzdAZCErgKEskEpXZjcNe1XY8ajBUD9poltivTab/NZmhkwFEQmkOUshArmCX9QRED1rdxBpvxL0tRMZsr91YQtc5CMUv3+UhucUEze3bIUJ07M5xwy+i3IaRp9qevkbEYxoZNeDUhZD7cbT+oXBtvpwhna5XO4tHRqXaR/8QiI4p092+WMAqRQQjeJdwiLNbRwCM66hzJ+yZKoS0qaOGHce4Fir6e9GyOyUIs7AJgXC8U395tlV+mDTdImwRSqdU5LAHWhfV2eyiWvfZy+Z0yTSP5Y534MTRHbTMK1hR/DnLEpLNreUmk0AxAL4KoLAYZR/O12CbcfjamaRrT02afFZ7+tLpkUACMZ3cLnYD0rnie9bWAvR3Al5E2Xvyu6BzQ6ebbk1ED9+860/pCrqQOwwB2B80LmL2itvOXrh36eXLx2jMTR9VAy3y4xaePMhwiqbNi4jWXoSRFXBvVe0J9kb/otmow/aFXjkr7a2QA2Ye00AR/o/zZf/Zth47bxN43ZUYJ97ohQfqLt94bgzseO9sL2f5qUIjdfsvsQa/M7pRCYMrmIb/YMavia736cfojkC/9l7GD54pjXO3U/h14vCTWPj2R6/ILvsRdGAlYB7DWD7PbpZdQsYKdPgWQ++X0Sx8vPU4oF3Cv5LPq5o+SIThdMvvTZfAjsHeA18QRCsB9TiJCCpgG5VxzMMWIwZg43caBnlC/bnZf6elIOylI6ylvjFRBQ2DVX6ugCfL2pP1mBAQ1z09Pl5KSESZ7MD2mCTnbm6ZoMoev4Ka+bZPdI1311fnpT5jkqu5FZ1Xsv/s+GMA/wD8psCWkoAzCX8lLhkxmnst+RmaVUNvTHY7Gao2ZySA3K0TxxHk2cLYF+6li+mkbyA73+Ut0kgoj2g/C4FuPTuM4dMaK5yL1iyF9zjMlv8QZN2SfP9hAmLgcbzCIIYWhemyaZOAZS/LkFZXLExrKirGWxy9pbf1CP/mDTkUSOzdPAmR2CnbZem7uKk1auISAD1xNcWWBW42RfXboRYZOsPQIpofOcOUUYEYfjZ36N7mhs1XjADJbG1yLQFsPm5dCDM2gSDKFejaNsjYVW6AFonyDwZaOHD470QeOhE+MTzxeptjfYa+euixw/lbQDu2i5mUQPu0e2WMBfnn8P3Aezo6r5wsc6Bnfced5XRp1ngYrTrCu1Z2Fyglp6JaI58bFdtHIkYS5lq2TXI7o0uvePSIeCIfG1+Hi9i9AnLErci9ABPoU2McHEsiyD5QexSYBP1zxQMh2kGA3XwvvJLRv/ExU9zY28syemqd7rVy5Mgb29ohYlgK+3oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GzPG825vRKE8tsHQwHNgF4",
      "input": {
        "note": "In the right wrist view the black marker is about 3 cm left of the jaws and runs up to the fingertips. I'm shifting left and lowering to table level to grab it.",
        "targets": {
          "right_y": 0.085,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GzPG825vRKE8tsHQwHNgF4",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1642, -0.0971, -0.1993, 0.9983, 0.5007, 1.3666, 0.1646, 0.4995, 0.3561, 0.2867, 0.9996]\nstate[eef_state]: left_x=0.4495 left_y=-0.0401 left_z=0.1662 left_yaw=0.0392 left_pitch=-0.084 left_roll=-0.0889 left_gripper=0.9983 right_x=0.2829 right_y=0.0887 right_z=0.0115 right_yaw=0.043 right_pitch=-0.0885 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.4598, 6.9265, 1.917, -0.0562, 0.0171, -0.0562, 0.3897, -2.441, 2.4137, 0.0366, 0.0513, -0.2271, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79ba727504ce71d3e716e4f18519a1aadcf2760144aaa0d10d01b7398e7b21fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6ba104d553786f28cbb8725a483e0e2a3dc58d6e44d43d73339082a9c60a784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34a806b823a54a1795983a14f2236e9a51edd3a40a0423fde03e1835573e3f7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 5.37 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]: [-0.1276, 1.8366, 0.8795, 0.1898, -0.0704, -0.1989, 0.012, -0.02, 0.8314, 0.601, -0.4084, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4552 left_y=-0.0423 left_z=0.0301 left_yaw=0.0263 left_pitch=-0.2035 left_roll=-0.0865 left_gripper=0.012 right_x=0.2926 right_y=-0.0002 right_z=0.1626 right_yaw=-0.0056 right_pitch=-0.0767 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -8.5812, 4.7111, 1.707, -0.0415, -0.0122, 0.9695, -0.1573, -1.3197, 7.1863, 1.6581, -0.0366, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1352, 1.5291, 1.0492, -0.1535, -0.0967, -0.1947, 0.9988, 0.3264, 0.9726, 0.2268, 0.0643, 0.2466, 0.181, 0.9997]\nstate[eef_state]: left_x=0.451 left_y=-0.0405 left_z=0.1705 left_yaw=0.0359 left_pitch=-0.0685 left_roll=-0.0882 left_gripper=0.9988 right_x=0.2775 right_y=0.0522 right_z=0.0561 right_yaw=0.0163 right_pitch=-0.0952 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -9.853, 9.7436, 1.7118, -0.0757, 0.0904, -0.1392, -0.0615, -1.8393, 6.4342, 1.7607, 0.2027, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1642, -0.0971, -0.1993, 0.9983, 0.5007, 1.3666, 0.1646, 0.4995, 0.3561, 0.2867, 0.9996]\nstate[eef_state]: left_x=0.4495 left_y=-0.0401 left_z=0.1662 left_yaw=0.0392 left_pitch=-0.084 left_roll=-0.0889 left_gripper=0.9983 right_x=0.2829 right_y=0.0887 right_z=0.0115 right_yaw=0.043 right_pitch=-0.0885 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.4598, 6.9265, 1.917, -0.0562, 0.0171, -0.0562, 0.3897, -2.441, 2.4137, 0.0366, 0.0513, -0.2271, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79ba727504ce71d3e716e4f18519a1aadcf2760144aaa0d10d01b7398e7b21fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6ba104d553786f28cbb8725a483e0e2a3dc58d6e44d43d73339082a9c60a784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34a806b823a54a1795983a14f2236e9a51edd3a40a0423fde03e1835573e3f7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QYKEAgSGAI4AUIIdGhpbmtpbmcSDPfOLlJZGVB2/KUJJBoM3jetvpLM7UtZf/sPIjCWP+oZEX47Bio+uArP4KP+inrZsM+NgqKtG7ipQflFJWMh8h5ODbKilm8izwhT7EwqhgaaBP1MyI8ryAvjxAbZlbZGReE+jrLK7uKUGc+hG/ewgXFa5ZZ/LhNWp/8k5+aJujHIiSrXZJ/zzH7UznRIHRqqp8fGiKVd9SszNF3jx9FSkbd6MsWUSxP9UCNoGGOBhjVIQWr2IGrlhdQXElg96I89VKlRcoYfhqxdBP4Cu2qShq/N6f+s41tboL3OcJ2Aj5VUXX5akQj7QJO/dQuVXKlhDQWcvCcDdTzb1SHWGpWehUuFFvv225GGy0xGLYeS7Q3OhMqcMpSpdNEltzWk+f3hh+GqTY7W8FW1wC6HBJW7SuyTVV7Vrimpn5X5aNUgN9lEwx2iG2gApHzJoIr+BB4oXl3l/XlPoT6mXe+cMXt1mdZdGcWNvDBWoH+Wyzv2oxFGkRTFZcmysWy8RKXWHCrjfgumJp2lFWJ2xpVDZ2p1X/kzIJL8FeQzFA8VRlhvp7chfRyd60g8xoe3eeIVuIAqOUi2HN9RQ/bD5Kkpx9qDw1g7Lo2/Lcr5H9Kr9DP7ZOw5VHtkRYd5PHei0Fz2Y38xdZ5sEyXugCcuO9fdLqHk8TZ8aaxSKSA9SP1wHFFOpG+McS7DM5GQHQuXUt9SkRENfzmDkdER3mBAhwRO6dB1y2c6OeyN5DRLJGthePxEhF4jgYuC3mhEd5zPF73+ABwn7/IzpXOblLi/KOEwYpoRq1lxrPto2T8fq7TzR0QIiAgwqIehqX41jjsUo9si97GSePv7rN3DX+Tzpb8yM4PwG/x5dLGCMXTuGkgv/zRNePsKN4v2f6pAjjlkpTDkgEApf2371LHj9S/wLHG1cE8fB7f98Gbk1IV7KlE3qf63hXC3osHoLpa/TImizLBjAGpbyPv9HmMncT8dIySpgZIRNU84mWzZShVKMPAehWVGiIo7nuWGGGL4Hl74iLM4fulx0QXKQlpOkUa3nQev5dnggRrWJN9mUb0SEg1EDaaoW5hjJth5xkRaXfKE8ePxLTns/tLhmZ6jp+xOyDZwefw9Nsc/1BjcHKLgLzjynuT4PZ4KUauOOPUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TEJU5ZTcBH8ZxVLoHbMkaJ",
      "input": {
        "note": "The black marker is centred between the right jaws at table level. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TEJU5ZTcBH8ZxVLoHbMkaJ",
      "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]: [-0.1349, 1.5333, 1.0485, -0.165, -0.0967, -0.2031, 0.9983, 0.5018, 1.3724, 0.1539, 0.5255, 0.355, 0.2855, 0.1353]\nstate[eef_state]: left_x=0.4494 left_y=-0.0401 left_z=0.1661 left_yaw=0.041 left_pitch=-0.085 left_roll=-0.0921 left_gripper=0.9983 right_x=0.2823 right_y=0.089 right_z=0.0112 right_yaw=0.0461 right_pitch=-0.0802 right_roll=0.01 right_gripper=0.1353\nstate[joint_eff]: [-0.0889, -7.2547, 6.9402, 1.6386, -0.0708, -0.0366, -0.0171, -0.294, -3.6444, 5.4085, 1.3602, 0.0855, -0.0611, 0.9841]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d59aa89c3f26a74fa2975e3db0ad8633d4654cfcf2a576df67905cc5dc34319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6d6d01377288ddefe5289d0d803006268bba5ea88d39d875c8da83d2219d5c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:570de8201a0f9bb120c37f497868a6cc42cfc725d6e112ca42367c292313eeb0",
        "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 · 4.076 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]: [-0.1352, 1.5291, 1.0492, -0.1535, -0.0967, -0.1947, 0.9988, 0.3264, 0.9726, 0.2268, 0.0643, 0.2466, 0.181, 0.9997]\nstate[eef_state]: left_x=0.451 left_y=-0.0405 left_z=0.1705 left_yaw=0.0359 left_pitch=-0.0685 left_roll=-0.0882 left_gripper=0.9988 right_x=0.2775 right_y=0.0522 right_z=0.0561 right_yaw=0.0163 right_pitch=-0.0952 right_roll=-0.0052 right_gripper=0.9997\nstate[joint_eff]: [-0.4855, -9.853, 9.7436, 1.7118, -0.0757, 0.0904, -0.1392, -0.0615, -1.8393, 6.4342, 1.7607, 0.2027, 0.105, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1642, -0.0971, -0.1993, 0.9983, 0.5007, 1.3666, 0.1646, 0.4995, 0.3561, 0.2867, 0.9996]\nstate[eef_state]: left_x=0.4495 left_y=-0.0401 left_z=0.1662 left_yaw=0.0392 left_pitch=-0.084 left_roll=-0.0889 left_gripper=0.9983 right_x=0.2829 right_y=0.0887 right_z=0.0115 right_yaw=0.043 right_pitch=-0.0885 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.4598, 6.9265, 1.917, -0.0562, 0.0171, -0.0562, 0.3897, -2.441, 2.4137, 0.0366, 0.0513, -0.2271, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1349, 1.5333, 1.0485, -0.165, -0.0967, -0.2031, 0.9983, 0.5018, 1.3724, 0.1539, 0.5255, 0.355, 0.2855, 0.1353]\nstate[eef_state]: left_x=0.4494 left_y=-0.0401 left_z=0.1661 left_yaw=0.041 left_pitch=-0.085 left_roll=-0.0921 left_gripper=0.9983 right_x=0.2823 right_y=0.089 right_z=0.0112 right_yaw=0.0461 right_pitch=-0.0802 right_roll=0.01 right_gripper=0.1353\nstate[joint_eff]: [-0.0889, -7.2547, 6.9402, 1.6386, -0.0708, -0.0366, -0.0171, -0.294, -3.6444, 5.4085, 1.3602, 0.0855, -0.0611, 0.9841]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d59aa89c3f26a74fa2975e3db0ad8633d4654cfcf2a576df67905cc5dc34319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6d6d01377288ddefe5289d0d803006268bba5ea88d39d875c8da83d2219d5c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:570de8201a0f9bb120c37f497868a6cc42cfc725d6e112ca42367c292313eeb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSngoKEAgSGAI4AUIIdGhpbmtpbmcSDDgFxGs1bba7O0woMBoMQrPcDzGmWr/PiN3HIjC0uQZjjrsUSDNG7TnEaKyBootc0LEgES8Uowj7WAhfkgxHQRpcvjsoaP3m+gK1Q1Qquwn071TmLU/NpfUqLwkzu9j/uMYw2TSeBSK5aWCaE8CV3RT618bzWtWp9+xjNNOrst5dnqqoMPBo2DnQYR7Ydk4nFLxmxypvr1ShW8mioRI4E7xpEHbV/YgBm22JFZ2A2/HWPfDuGAEGsQAv+KULnFvKEzee2PyUgOaNMpaO+1JObhr0Y7lpHv8C0OwOjNbBledPYf0J/xR1gVh1qUlXTRhxD4p9liH5+yOuoZyG0kDvs3cMcWxsZ5+AEpJILxXFuDdHbdGPLGlCWYZpsHmEUQkiNqnL2obYsEU3CnGBAnacgpP23opQCS8mT9ErgiCsPPnh8jn2ixQF65ODlLj+eJ/Hq/l3Dmnmw0k5rFmORCjr4s53MS/5vtXMq3qAVtpuY3P6EmFrmlWnkWJQRDaBTfnA2XdK3X97h2IEWwzcQncpiLTPPQ8BHSwYECWptWFDB5HqCkBoH5hz+iBS9s+AN2olTkrn4135cv4s/axas3vu5oTyw+Mu4rH+hQmUAK2usSaYyc8wvtzESfB0+BbWJPexv4tq5DZmIen0JL6qRX8IJP58GVGWu5rr3/rh8/06xFLTpR40W+I9wyRsECawNTZ6nEVaKT4AOkWB60VSTxSPSamNnUUZK87WPVDMSzidEfkcjOkUy369gHWNRVEIzESVBwVF9YMngLejAQfkv6AHxmTaBrya4/3Rfw0o7HvDcG31j0rHmLAW18wLPD0TlEWvZ6Ak8gvJPiSEFom80zYJR7igp5RC6W4ajQHYCwfMUEYF3OF98Kf5QuCmltx0Aica+Gzp+RVYE1LM1YFfezzuD5+mOwfCGJtVHMZHrrmaFIVPVBKPWrav1ChawfFk57nWSwZyF3zjLHzz0v7PQ7FeMPHmJqXJPzEgmdYFHyBEoZhmjqgoURa1Iia03hlZ5Hr2UsJqTeQAo6wr8F8Vagq0Q1iWR56sicWxMJgFOhzcNZoKPMKvW6/ZVW/DQ/sBlu6Zp8hzrmo0lY1nahJcIeubH0T3QTWoiLjy6K3trYAOVpuRm39FSKb2oXlp+3rnSL8GmEt1f6lP+IIeHH8xY7t4r3eoX05jHSRTaQEWlklPah6K2pde2/rCzQlRMP+Yn8WjQAll2D+vbtIvE2QJOeXRR4kWfdq7x5pUDwIhIPL4BreSgO9TgheUHLk1zGmLkUaMtsflYbai1w12rETCqYgHHCbX4OwxxPuN87vTyeTGXmwXvmOVfD0RFDiczfjZBCU0CGpVDToSoc2BRcKQJa5j8D3VTUWeRMPrQEIcJhWZPnhbEJuJOELI1hkklD3SRsYoMtlE3peOiT7eUibtOT8f10snozXvAncf0y5Y845IOMfYxTd7qT9GjCoLskH4wH0sB+t7B2hKSehZZxIHIFT2gUI9Lpb65EO8PE1fb27zY8G9HAYEcGy06YSD+rDTefnIGy6o/ghr62J2W17daIzkWUACeMrZHs8urYRSxv7BVdtWeZjUdgvyo+pKxbSMd988gTDvV16DghHnF4auLMJsNXnFHeJgS8Fl5rsImC5lFjcNdUVpTjT99ZwvCeJK4SXJYVal0zQKf+lZ8ln/1cRxSco3vAK4Sjw9FqD5AKp/yHAxlRr4zmIR5M6inRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014scj8QDccgtXggnJ34h7Qj",
      "input": {
        "note": "The black marker is held (gripper reading 0.135). Lifting it above the height of the right basket's wall.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_014scj8QDccgtXggnJ34h7Qj",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1715, -0.0967, -0.2031, 0.9983, 0.5026, 0.9241, 0.823, -0.5812, 0.3473, 0.2848, 0.1403]\nstate[eef_state]: left_x=0.4485 left_y=-0.04 left_z=0.1648 left_yaw=0.0411 left_pitch=-0.0914 left_roll=-0.091 left_gripper=0.9983 right_x=0.285 right_y=0.0921 right_z=0.2089 right_yaw=0.0538 right_pitch=-0.0727 right_roll=0.0185 right_gripper=0.1403\nstate[joint_eff]: [-0.1162, -6.9949, 7.0222, 1.7118, -0.1001, -0.0708, -0.0171, -0.4171, -1.5658, 9.1145, 1.4335, 0.149, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60a8941a78d3fb5c917790cddc03ff72bb91fd49f891b03b7bccacfc876f7270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82bd6691699b1ca0ebdd788fd4278688d69844788e7c8efa1cad50214ff6b782",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18f9c81bb623137c4ac67c4878b673411ed75dc74484d972f0cb2bddb20b47fd",
        "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 · 2.811 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]: [-0.1349, 1.5333, 1.0485, -0.1642, -0.0971, -0.1993, 0.9983, 0.5007, 1.3666, 0.1646, 0.4995, 0.3561, 0.2867, 0.9996]\nstate[eef_state]: left_x=0.4495 left_y=-0.0401 left_z=0.1662 left_yaw=0.0392 left_pitch=-0.084 left_roll=-0.0889 left_gripper=0.9983 right_x=0.2829 right_y=0.0887 right_z=0.0115 right_yaw=0.043 right_pitch=-0.0885 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -7.4598, 6.9265, 1.917, -0.0562, 0.0171, -0.0562, 0.3897, -2.441, 2.4137, 0.0366, 0.0513, -0.2271, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.165, -0.0967, -0.2031, 0.9983, 0.5018, 1.3724, 0.1539, 0.5255, 0.355, 0.2855, 0.1353]\nstate[eef_state]: left_x=0.4494 left_y=-0.0401 left_z=0.1661 left_yaw=0.041 left_pitch=-0.085 left_roll=-0.0921 left_gripper=0.9983 right_x=0.2823 right_y=0.089 right_z=0.0112 right_yaw=0.0461 right_pitch=-0.0802 right_roll=0.01 right_gripper=0.1353\nstate[joint_eff]: [-0.0889, -7.2547, 6.9402, 1.6386, -0.0708, -0.0366, -0.0171, -0.294, -3.6444, 5.4085, 1.3602, 0.0855, -0.0611, 0.9841]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1715, -0.0967, -0.2031, 0.9983, 0.5026, 0.9241, 0.823, -0.5812, 0.3473, 0.2848, 0.1403]\nstate[eef_state]: left_x=0.4485 left_y=-0.04 left_z=0.1648 left_yaw=0.0411 left_pitch=-0.0914 left_roll=-0.091 left_gripper=0.9983 right_x=0.285 right_y=0.0921 right_z=0.2089 right_yaw=0.0538 right_pitch=-0.0727 right_roll=0.0185 right_gripper=0.1403\nstate[joint_eff]: [-0.1162, -6.9949, 7.0222, 1.7118, -0.1001, -0.0708, -0.0171, -0.4171, -1.5658, 9.1145, 1.4335, 0.149, -0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60a8941a78d3fb5c917790cddc03ff72bb91fd49f891b03b7bccacfc876f7270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82bd6691699b1ca0ebdd788fd4278688d69844788e7c8efa1cad50214ff6b782",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f9c81bb623137c4ac67c4878b673411ed75dc74484d972f0cb2bddb20b47fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDNOBDxVg99bLiE1DABoMI5I2yG3CoUsYUTzqIjCDhQtsn/o2QU1Xx6C4zoKGHl4TPztUHM/q5zwN2OPgFN0adBQJHyKeFhRWTuQwLtYqggfqcQK/zZNAGiPMhUWvDZlfB+cWFrjyd32XnqbmVllittVySJLA51zjJ7i35kf9gzElde8XHDSHXVZPYWky6VAf1aae+TD0BwtnBDR7BUxiWR+hRelMZTguXOoumFy/CQMW2Tfi8JinQgwFTvIwB8cpEssISXLJgVZ34d5o9qAPcqtv45hCvscO4cHpc0TvKXs5CINz5I+x9G6+Hh5gHkhhNxpsRlkNj994bu+Q/BADy4SRAP5KNjU9lRBjb3UsoKbOlqvQKEdQ+K4/DwCAnfnUbkJzmaFAGz/I2f+FgYopaSH55P4izWi9t1eNS7ld3CR+cLARBm470rfZnAUTVzFEXlbGUkTrp3kYTwUznFwdXd/+8WJKSN8nW09V4i5/bQ9qXnGdIaHvV3+Gtb7ffqFztK0pF09yGD8ZVz25fdfgwd6sOd+J90ZyBJ7Js5m8ZosSD7tdLbvFAtSkXtXeaCbRubvNvAK3P8xzH5pZ6N3P4HWCeeZFmu4m1RRjA5RWurk+FjFOdu51KwMIY7Ci28gUXRu74jzZ6JbckW1T0R/YKcxnIp8rxHs1yWrdzoYpCNbgB4CrUy/u3hxwlgRmhSh8vISZQdB82j7ZCDUVyk+PvMNrxbS/F9glCqsOPClV6iowY9Ei6bayMeEGxbtgqPcD+gyOE6bEoIIpDWvhs5arUQKUXSm0wyCwK4la6HjL8ZFi26pegvO1ExiFffu1DusZS27kDGDaGzqG8BI3Ho+JKjmWwLga0sEi3JL3Oq+M8bRtpjB6CAcFDNrFunUZKXfFWMLOUey5TwglxjkdS3cjfLLXJ9y5pwW6tNrjHKTtXBQBlOMdKCK1ebjcJZeXY+1PqyL22uVrFOUgEmibMR2xlbBapAATS/QNLvt1bW1YKs9smuG9PfH1T4SKKdJ/QIV/BdQsSrChprrbjL63QmFqdWrdTKtTbD9zzmFZEctIIG0nsbX3wOaYP8d5zpeOLpkVEi6CBSmJdpihJB5+SXaQJ8buTpQCYenfascTafJO2n2/Y6uGyRPeG1GzH4Wlf/kR9dTey6TLgvVEfPCa+zFeI3EtE0g30ZdJmIeXQLYenrwFdd3rEsgQSjeyHXa5CTaAARYUNO7dht/gNznuyxSLuR/VRkISMUXkW9yQDURpm7pKlKDE1Cb06Shxi5y8WEyzlEpajz3Rk1CANHnhty7CrKlXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H3dAdT4RoWxgB3WGjoxUWC",
      "input": {
        "note": "The black marker is lifted, and the right basket is ahead and to the left in the right wrist view. Carrying the marker over the middle of the basket.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.15,
          "right_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_01H3dAdT4RoWxgB3WGjoxUWC",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1741, -0.0971, -0.2031, 0.9983, 0.4816, 1.467, 1.161, -0.4389, 0.3187, 0.2619, 0.1403]\nstate[eef_state]: left_x=0.4481 left_y=-0.0399 left_z=0.1643 left_yaw=0.0414 left_pitch=-0.094 left_roll=-0.0903 left_gripper=0.9983 right_x=0.3956 right_y=0.1483 right_z=0.1969 right_yaw=0.0658 right_pitch=-0.1373 right_roll=-0.0089 right_gripper=0.1403\nstate[joint_eff]: [-0.1983, -7.241, 6.8718, 1.6874, -0.0855, -0.0611, -0.0122, -1.0462, -7.159, 9.5932, 1.6435, 0.1343, -0.0122, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c1a50bda9eaa2d3c1da0b3e80659672a502ac0981167583f84e6e0c56d395bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:668e72206a63e66622cb48af70ccba532087333efa2c17dcc941e1dadbafea60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e290cb4789daf84ab235ad875eabbc5c6ea30cb43fa3f2a30ecdd91f8bdf0258",
        "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 · 19.43 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]: [-0.1349, 1.5333, 1.0485, -0.165, -0.0967, -0.2031, 0.9983, 0.5018, 1.3724, 0.1539, 0.5255, 0.355, 0.2855, 0.1353]\nstate[eef_state]: left_x=0.4494 left_y=-0.0401 left_z=0.1661 left_yaw=0.041 left_pitch=-0.085 left_roll=-0.0921 left_gripper=0.9983 right_x=0.2823 right_y=0.089 right_z=0.0112 right_yaw=0.0461 right_pitch=-0.0802 right_roll=0.01 right_gripper=0.1353\nstate[joint_eff]: [-0.0889, -7.2547, 6.9402, 1.6386, -0.0708, -0.0366, -0.0171, -0.294, -3.6444, 5.4085, 1.3602, 0.0855, -0.0611, 0.9841]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1715, -0.0967, -0.2031, 0.9983, 0.5026, 0.9241, 0.823, -0.5812, 0.3473, 0.2848, 0.1403]\nstate[eef_state]: left_x=0.4485 left_y=-0.04 left_z=0.1648 left_yaw=0.0411 left_pitch=-0.0914 left_roll=-0.091 left_gripper=0.9983 right_x=0.285 right_y=0.0921 right_z=0.2089 right_yaw=0.0538 right_pitch=-0.0727 right_roll=0.0185 right_gripper=0.1403\nstate[joint_eff]: [-0.1162, -6.9949, 7.0222, 1.7118, -0.1001, -0.0708, -0.0171, -0.4171, -1.5658, 9.1145, 1.4335, 0.149, -0.022, 1.0379]\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]: [-0.1349, 1.5333, 1.0485, -0.1741, -0.0971, -0.2031, 0.9983, 0.4816, 1.467, 1.161, -0.4389, 0.3187, 0.2619, 0.1403]\nstate[eef_state]: left_x=0.4481 left_y=-0.0399 left_z=0.1643 left_yaw=0.0414 left_pitch=-0.094 left_roll=-0.0903 left_gripper=0.9983 right_x=0.3956 right_y=0.1483 right_z=0.1969 right_yaw=0.0658 right_pitch=-0.1373 right_roll=-0.0089 right_gripper=0.1403\nstate[joint_eff]: [-0.1983, -7.241, 6.8718, 1.6874, -0.0855, -0.0611, -0.0122, -1.0462, -7.159, 9.5932, 1.6435, 0.1343, -0.0122, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c1a50bda9eaa2d3c1da0b3e80659672a502ac0981167583f84e6e0c56d395bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:668e72206a63e66622cb48af70ccba532087333efa2c17dcc941e1dadbafea60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e290cb4789daf84ab235ad875eabbc5c6ea30cb43fa3f2a30ecdd91f8bdf0258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012uJxeFHxPJqqvhkoACath4",
      "input": {
        "note": "The right wrist camera shows the black marker over the middle of the right basket. Opening to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_012uJxeFHxPJqqvhkoACath4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1719, -0.0967, -0.2031, 0.9983, 0.4782, 1.4868, 1.1629, -0.4358, 0.3096, 0.2543, 0.9952]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0918 left_roll=-0.0909 left_gripper=0.9983 right_x=0.3979 right_y=0.1496 right_z=0.19 right_yaw=0.0731 right_pitch=-0.1535 right_roll=-0.0149 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -7.2684, 7.0085, 1.6728, -0.0855, -0.022, -0.0122, 0.0752, -8.4034, 6.7214, 1.4774, 0.1294, 0.0073, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c68af2971b066e6c93892ccc12cf403ff5c07e9a6841104851a324513f3c490c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2189f4a1dd1ec5e925380c49ecf840717de4834e6bf5d16b101caaba58194f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e1e060f3582ae364d12426ed7b5ea0c0a03a5c5aec50d938829c809b33ed01f",
        "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 · 5.05 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]: [-0.1349, 1.5333, 1.0485, -0.1715, -0.0967, -0.2031, 0.9983, 0.5026, 0.9241, 0.823, -0.5812, 0.3473, 0.2848, 0.1403]\nstate[eef_state]: left_x=0.4485 left_y=-0.04 left_z=0.1648 left_yaw=0.0411 left_pitch=-0.0914 left_roll=-0.091 left_gripper=0.9983 right_x=0.285 right_y=0.0921 right_z=0.2089 right_yaw=0.0538 right_pitch=-0.0727 right_roll=0.0185 right_gripper=0.1403\nstate[joint_eff]: [-0.1162, -6.9949, 7.0222, 1.7118, -0.1001, -0.0708, -0.0171, -0.4171, -1.5658, 9.1145, 1.4335, 0.149, -0.022, 1.0379]\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]: [-0.1349, 1.5333, 1.0485, -0.1741, -0.0971, -0.2031, 0.9983, 0.4816, 1.467, 1.161, -0.4389, 0.3187, 0.2619, 0.1403]\nstate[eef_state]: left_x=0.4481 left_y=-0.0399 left_z=0.1643 left_yaw=0.0414 left_pitch=-0.094 left_roll=-0.0903 left_gripper=0.9983 right_x=0.3956 right_y=0.1483 right_z=0.1969 right_yaw=0.0658 right_pitch=-0.1373 right_roll=-0.0089 right_gripper=0.1403\nstate[joint_eff]: [-0.1983, -7.241, 6.8718, 1.6874, -0.0855, -0.0611, -0.0122, -1.0462, -7.159, 9.5932, 1.6435, 0.1343, -0.0122, 1.0379]",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1719, -0.0967, -0.2031, 0.9983, 0.4782, 1.4868, 1.1629, -0.4358, 0.3096, 0.2543, 0.9952]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0918 left_roll=-0.0909 left_gripper=0.9983 right_x=0.3979 right_y=0.1496 right_z=0.19 right_yaw=0.0731 right_pitch=-0.1535 right_roll=-0.0149 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -7.2684, 7.0085, 1.6728, -0.0855, -0.022, -0.0122, 0.0752, -8.4034, 6.7214, 1.4774, 0.1294, 0.0073, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c68af2971b066e6c93892ccc12cf403ff5c07e9a6841104851a324513f3c490c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2189f4a1dd1ec5e925380c49ecf840717de4834e6bf5d16b101caaba58194f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e1e060f3582ae364d12426ed7b5ea0c0a03a5c5aec50d938829c809b33ed01f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DVhFTzC3LQff8p8iDeaUCB",
      "input": {
        "note": "The black marker is in the right basket. The other dark pen lies just in front of the right basket, around 9 cm left of where the marker was, so I'm moving the right arm low over it.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.18,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DVhFTzC3LQff8p8iDeaUCB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.8261, 1.4132, 0.5495, -0.0494, 0.5137, 0.498, 0.9962]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.2782 right_y=0.1791 right_z=0.0484 right_yaw=0.1136 right_pitch=-0.1991 right_roll=-0.0448 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -7.2274, 7.0222, 1.6874, -0.0708, -0.0366, -0.0122, 0.1436, -4.3829, 6.0376, 1.5018, 0.4615, 0.105, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8bbd0f57cae3de0af7f41de3a3addd4702f872afd9e10b2a80bd425a37787cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1c4d5fc16bb65b233d57f2436d02eaf35744ca71e9f9b962d980bd63078d08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47a8b1d35ad553cf538b319478859512efdbe023e96f72953279d6eb01406013",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 3.249 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]: [-0.1349, 1.5333, 1.0485, -0.1741, -0.0971, -0.2031, 0.9983, 0.4816, 1.467, 1.161, -0.4389, 0.3187, 0.2619, 0.1403]\nstate[eef_state]: left_x=0.4481 left_y=-0.0399 left_z=0.1643 left_yaw=0.0414 left_pitch=-0.094 left_roll=-0.0903 left_gripper=0.9983 right_x=0.3956 right_y=0.1483 right_z=0.1969 right_yaw=0.0658 right_pitch=-0.1373 right_roll=-0.0089 right_gripper=0.1403\nstate[joint_eff]: [-0.1983, -7.241, 6.8718, 1.6874, -0.0855, -0.0611, -0.0122, -1.0462, -7.159, 9.5932, 1.6435, 0.1343, -0.0122, 1.0379]",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1719, -0.0967, -0.2031, 0.9983, 0.4782, 1.4868, 1.1629, -0.4358, 0.3096, 0.2543, 0.9952]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0918 left_roll=-0.0909 left_gripper=0.9983 right_x=0.3979 right_y=0.1496 right_z=0.19 right_yaw=0.0731 right_pitch=-0.1535 right_roll=-0.0149 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -7.2684, 7.0085, 1.6728, -0.0855, -0.022, -0.0122, 0.0752, -8.4034, 6.7214, 1.4774, 0.1294, 0.0073, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.8261, 1.4132, 0.5495, -0.0494, 0.5137, 0.498, 0.9962]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.2782 right_y=0.1791 right_z=0.0484 right_yaw=0.1136 right_pitch=-0.1991 right_roll=-0.0448 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -7.2274, 7.0222, 1.6874, -0.0708, -0.0366, -0.0122, 0.1436, -4.3829, 6.0376, 1.5018, 0.4615, 0.105, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8bbd0f57cae3de0af7f41de3a3addd4702f872afd9e10b2a80bd425a37787cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1c4d5fc16bb65b233d57f2436d02eaf35744ca71e9f9b962d980bd63078d08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a8b1d35ad553cf538b319478859512efdbe023e96f72953279d6eb01406013",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wgKEAgSGAI4AUIIdGhpbmtpbmcSDDY1MeR9hlmkex9DvBoMYcW/0jnTKyOOommGIjBKGpG+sjk4Ro5eOToSVAxVmZENinbCThkjliCFDEMtEUOet0fgtmKvkh4eb8eY3Mwq9AdZg4XCPa1CnBwrknzV6ZimGoeq2YMXyU+qpysqlXqke9GImpCk8bWzHduCxmW0KvLOr7QSxkZTcrUaM1rPIjOrtZgU+OmO/M6CGU7cnpgi/S0IZPCgFwet2n1Cvsx9w3NZJjd9X9zXxDjjbCpFJi9Ep+NAM9DIV377ECvMvEWfXZA75lA2gFfWgeTFj6hH1UI50LTReyAHXprN4pgHeDsG2ntbZIn/1NFi5MKpwx2916dJ5CAmw0jCQ0AlsihH5t8rTJzoUp+IA3RuupfwTP/2AymocVCTIj/OB3kN0Ey0NjeBBjVqALqy7ZOoZQENkuFZOgODDO82dBPQpA+Ffz6LU94rpAku37ZUE7D7ZS4aZRaWuIab1asNdoBGj+vw9XXChreaXKIeEFI6SEthe9OoTq2AO/iXXHlvlLEm4Gmu9TCUxP2IJ8CSJ8JLEGzr4V/qKN+eMsUXSskH6xyD3hB13253KWeqo81slXosVkUHHUixxcniqFeufLISSBSHhtv81dgvNVDUYYwfKTQvabSdBtcS9DeOWVd7sszjLIrGT21eZqi2YxOlA0kDY3cTqc/pVb0BNwFaCGukwiDabTKUoV14yzxY5jpcoiUncGZ4IPqrZmDuuzG2/0+k48nP6BIlhVXkj11xlRcDGvsemmpUAZhkpwf5TNnHnIxAtn+hYUg5tsCh9tuHsWl2A6njHPr6X4riJZhpmpgH9tDEWY5pJ2bzyPPBbay4AOrE5Pw5Cpd12hYAywkCoBOH78zV0nEweB7J1MBHI2Qi9vsud/fOb9VJBkKQqprA7f2NbexhEUs4uHqHUbTKMqMiEpVslKsvT0ySCbzuEg/TGUlCeFNZw2zGewur/inD8knVdUVb5X8cRsIy0VhW6u1OgwzGdCOjA+iF95F+TODsEf8H+5tSXJ681pjiWRmUXmeO5KOxvjNYHvM+VuSw2aAYIA23obBQYVkurh2iAaHKWs/xTDwkUn+j2QpOIKkC9v/Ax3F9qggMjdIJ241Es2yhlJi//Ng00tMM5o/VIt9PFXNKr/uHYHpYwDaUFjJfC6QXg8oeCAJXb/8XL2c4VoLr0mWvnxOqhixaROK0sTBfaSjCn7B6V88heZxDEDHaYnyIAZWO53Ug2/goeedJXfteiZs8AWFksGHXmQ7e30o3H5ougWDK2NvtS/0ckZyrvHSBBDy46uYX4/Lt1PvL/ZXlvd4qfinLAGzVdzPF+wfNomrDOqdxyydxf8bSshtZOwcQ/0lckSPxhMKcdNbIv7ikKrnaI1488wzXw1HGP87Pn4SinSONPZ8JgZIEKXtucvP4JHik9GzEkr7GlvhhYkItubIB9doydRwPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017vtaQ6HSUiLPnfMKaz7d94",
      "input": {
        "note": "The blue pen runs under the right jaws, a little left of centre. Nudging left, straightening the yaw, and lowering to table level.",
        "targets": {
          "right_y": 0.195,
          "right_yaw": 0.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017vtaQ6HSUiLPnfMKaz7d94",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.8974, 1.6402, 0.5694, 0.1017, 0.6075, 0.6407, 0.9964]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.2819 right_y=0.1975 right_z=0.0119 right_yaw=0.0342 right_pitch=-0.1819 right_roll=-0.0337 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -7.241, 7.0632, 1.6142, -0.0806, -0.0708, -0.0171, 0.5675, -4.3145, 4.6154, 0.4274, 0.1636, -0.0024, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9327be69b1fbc71310b08d54c3aa6dd47bef743cfd61232df91c0e1beb505b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27038c4dfb0382dc8b742ca1f379e14d49ef50411fe5deaa99e8b12cfbd2349a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed6b9c11d5b3996533f1eb695344da60d6c40d64f1d65977d516fe21c676d9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.58 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]: [-0.1349, 1.5333, 1.0485, -0.1719, -0.0967, -0.2031, 0.9983, 0.4782, 1.4868, 1.1629, -0.4358, 0.3096, 0.2543, 0.9952]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0918 left_roll=-0.0909 left_gripper=0.9983 right_x=0.3979 right_y=0.1496 right_z=0.19 right_yaw=0.0731 right_pitch=-0.1535 right_roll=-0.0149 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -7.2684, 7.0085, 1.6728, -0.0855, -0.022, -0.0122, 0.0752, -8.4034, 6.7214, 1.4774, 0.1294, 0.0073, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.8261, 1.4132, 0.5495, -0.0494, 0.5137, 0.498, 0.9962]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.2782 right_y=0.1791 right_z=0.0484 right_yaw=0.1136 right_pitch=-0.1991 right_roll=-0.0448 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -7.2274, 7.0222, 1.6874, -0.0708, -0.0366, -0.0122, 0.1436, -4.3829, 6.0376, 1.5018, 0.4615, 0.105, 0.0952]",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.8974, 1.6402, 0.5694, 0.1017, 0.6075, 0.6407, 0.9964]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.2819 right_y=0.1975 right_z=0.0119 right_yaw=0.0342 right_pitch=-0.1819 right_roll=-0.0337 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -7.241, 7.0632, 1.6142, -0.0806, -0.0708, -0.0171, 0.5675, -4.3145, 4.6154, 0.4274, 0.1636, -0.0024, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9327be69b1fbc71310b08d54c3aa6dd47bef743cfd61232df91c0e1beb505b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27038c4dfb0382dc8b742ca1f379e14d49ef50411fe5deaa99e8b12cfbd2349a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed6b9c11d5b3996533f1eb695344da60d6c40d64f1d65977d516fe21c676d9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen centered. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MnJeNt8Mg5NwWMPrt82UsF",
      "input": {
        "note": "The blue pen is centred between the right jaws at table level. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MnJeNt8Mg5NwWMPrt82UsF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1719, -0.0967, -0.2031, 0.9983, 0.9039, 1.6722, 0.5789, 0.1173, 0.6209, 0.6888, 0.1439]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0918 left_roll=-0.0909 left_gripper=0.9983 right_x=0.2835 right_y=0.1998 right_z=0.0077 right_yaw=0.0049 right_pitch=-0.1772 right_roll=-0.0102 right_gripper=0.1439\nstate[joint_eff]: [-0.1709, -6.9675, 6.9812, 1.707, -0.0806, -0.0073, -0.0122, 0.212, -5.3675, 4.4239, 0.9792, 0.2857, 0.0073, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a79b69c33923ac67eb5625505258c2dc75a700173b5bf59e804334c48b7fc01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35ab6c684045109a588025343b941f56b2b28d51faf5917e3a5149460dd4eea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f9bdc5c1ad1e159e4821677369aa872170314b3acda45f60373ab9533a087df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.459 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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.8261, 1.4132, 0.5495, -0.0494, 0.5137, 0.498, 0.9962]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.2782 right_y=0.1791 right_z=0.0484 right_yaw=0.1136 right_pitch=-0.1991 right_roll=-0.0448 right_gripper=0.9962\nstate[joint_eff]: [-0.0615, -7.2274, 7.0222, 1.6874, -0.0708, -0.0366, -0.0122, 0.1436, -4.3829, 6.0376, 1.5018, 0.4615, 0.105, 0.0952]",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.8974, 1.6402, 0.5694, 0.1017, 0.6075, 0.6407, 0.9964]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.2819 right_y=0.1975 right_z=0.0119 right_yaw=0.0342 right_pitch=-0.1819 right_roll=-0.0337 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -7.241, 7.0632, 1.6142, -0.0806, -0.0708, -0.0171, 0.5675, -4.3145, 4.6154, 0.4274, 0.1636, -0.0024, 0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1719, -0.0967, -0.2031, 0.9983, 0.9039, 1.6722, 0.5789, 0.1173, 0.6209, 0.6888, 0.1439]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0918 left_roll=-0.0909 left_gripper=0.9983 right_x=0.2835 right_y=0.1998 right_z=0.0077 right_yaw=0.0049 right_pitch=-0.1772 right_roll=-0.0102 right_gripper=0.1439\nstate[joint_eff]: [-0.1709, -6.9675, 6.9812, 1.707, -0.0806, -0.0073, -0.0122, 0.212, -5.3675, 4.4239, 0.9792, 0.2857, 0.0073, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a79b69c33923ac67eb5625505258c2dc75a700173b5bf59e804334c48b7fc01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35ab6c684045109a588025343b941f56b2b28d51faf5917e3a5149460dd4eea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f9bdc5c1ad1e159e4821677369aa872170314b3acda45f60373ab9533a087df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAcKEAgSGAI4AUIIdGhpbmtpbmcSDOXtL58zHZr9L/qpnBoMswYPgil5CohwjGtJIjD2fKVLo0CW5d3BiOb81TSYRLBMCbyfvsmucyI6gqqzbrCr8kZpA9jOcFVEUoh4uO4q4QbGJIozlXnMRxPdyxBThxFjFGjlEBQ4WsuAxBZUr8a6u7sJbxsWvVYsgQSZCqW1jzu+kAIIz6tM7yHITNpP2kAYl4h+rPAiM8ilXWmd1kE1V7Ws3uUzhhyiQ8K5a09ylGur8z5WAQMiTJ3WkfipwXZsatTFw+9LaGFIs3R70q5vAJZI5RJ+cp9uqpL97Sv5hNLjwn36qkxvcuxpyS4J1shZ22Clupin31NU01uo2qwREFfCmpQ3CsXUd/mribMylzuWwU5g+kEKqJcbDFfkDHfzUIrMGVp414XiDx9tI5OsCxhzVoFi5VzEWZ89XtsMV4EtsOzwk3OeWn8Nzi6vcpjT5o85lntjrfS8qJTx/xKt6Ep9itp0Y7GvqUFnhltUqDhn/ySYNdSarPmFipA372fJjwlFqR79g1RrlWlywzGSnQ1n7NZSna+Xy9sTlwhK69AT+HDRHuJoO7zXk053rUnagrhD/PYuiTSkzTQMKrRGUX0iEiyH8skBUksNJmisFnNBhys5WzC8y6pEHxBH/ZVKiZL5Ses11wZSqdCaRsWtbjGq710YMc7RMJW/nZfryRxpjtFVIp/w0IdmeaS3BA3AwPLeRsIoYghqOZA8qF58p8SeKFOTRaNj31Kqj+0JwL7viziwPT32P4mMRHGUzCp+3z0gUV5yRl2VEZQjY4vIjaZy+owWA2wKEbbVfzOs5ZgdR/Ns6mKVmmczXw6FYZ/Wse0Pu5cFR2J47bag34cXFylb5+UNu8BrFDwB4ep/EfomPCJwoZwGtsbYkU7qG7SJRus25t+ORizm86MomdT9a7Bd4C3ksvlVFg8W90tL0VyBAhKtcx/HvfwCWs1Teid5ETnOng8/umOD9zszQlhFLTIwGHvXn9N9du8yWdY07loNFEy08x6G4QqX60EgHMKIpu+NTuLu9DTAl45Tzc33w5sDedas4fOL+JGBWYu65HdaWntUAPs1aPnjdRofDMnKflw4Ek7aGuc9t3qXvKhm4dXpoNbkK3/a4l8hYIsKMFF3yxot2CuURMZstdAoafCqDTFOgrBxFfYCjDSBThs0zIv1SnSC156hhtHOPmva3TYvog5ggmS/wHqjh63jzpHBDQFPj9qsQRpqF6Rm54S2/wBU6G0eT+zBS7ZG66AmpjgEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WXcSXUVqE5nijNsWGQ9vJM",
      "input": {
        "note": "The blue pen is held (gripper 0.14) and the basket wall is right in front of it, so I'm lifting straight up first.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01WXcSXUVqE5nijNsWGQ9vJM",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1715, -0.0967, -0.2031, 0.9983, 0.9031, 1.3594, 1.1671, -0.7708, 0.609, 0.6838, 0.1488]\nstate[eef_state]: left_x=0.4485 left_y=-0.04 left_z=0.1648 left_yaw=0.0411 left_pitch=-0.0914 left_roll=-0.091 left_gripper=0.9983 right_x=0.2866 right_y=0.2061 right_z=0.2059 right_yaw=0.0164 right_pitch=-0.1767 right_roll=0.0026 right_gripper=0.1488\nstate[joint_eff]: [-0.0889, -7.2, 6.9402, 1.707, -0.105, -0.0708, -0.0122, -0.294, -5.9556, 8.841, 1.0867, 0.3297, 0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eebeae7003dff4540f9f21db811b05ca1b90b63a1a1bf7a6b058017508ae8d14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b62bd7de468015e2353fd67ea5bca01b3b0def241ecdfb91df6d91b21fc78b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:994801f4dc7caf34f764cf085596c0fc7fdcdb5b851a7498b9e6eef6f2f68161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 2.76 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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.8974, 1.6402, 0.5694, 0.1017, 0.6075, 0.6407, 0.9964]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.2819 right_y=0.1975 right_z=0.0119 right_yaw=0.0342 right_pitch=-0.1819 right_roll=-0.0337 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -7.241, 7.0632, 1.6142, -0.0806, -0.0708, -0.0171, 0.5675, -4.3145, 4.6154, 0.4274, 0.1636, -0.0024, 0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1719, -0.0967, -0.2031, 0.9983, 0.9039, 1.6722, 0.5789, 0.1173, 0.6209, 0.6888, 0.1439]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0918 left_roll=-0.0909 left_gripper=0.9983 right_x=0.2835 right_y=0.1998 right_z=0.0077 right_yaw=0.0049 right_pitch=-0.1772 right_roll=-0.0102 right_gripper=0.1439\nstate[joint_eff]: [-0.1709, -6.9675, 6.9812, 1.707, -0.0806, -0.0073, -0.0122, 0.212, -5.3675, 4.4239, 0.9792, 0.2857, 0.0073, 0.9988]",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1715, -0.0967, -0.2031, 0.9983, 0.9031, 1.3594, 1.1671, -0.7708, 0.609, 0.6838, 0.1488]\nstate[eef_state]: left_x=0.4485 left_y=-0.04 left_z=0.1648 left_yaw=0.0411 left_pitch=-0.0914 left_roll=-0.091 left_gripper=0.9983 right_x=0.2866 right_y=0.2061 right_z=0.2059 right_yaw=0.0164 right_pitch=-0.1767 right_roll=0.0026 right_gripper=0.1488\nstate[joint_eff]: [-0.0889, -7.2, 6.9402, 1.707, -0.105, -0.0708, -0.0122, -0.294, -5.9556, 8.841, 1.0867, 0.3297, 0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eebeae7003dff4540f9f21db811b05ca1b90b63a1a1bf7a6b058017508ae8d14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b62bd7de468015e2353fd67ea5bca01b3b0def241ecdfb91df6d91b21fc78b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:994801f4dc7caf34f764cf085596c0fc7fdcdb5b851a7498b9e6eef6f2f68161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JHXepBFmkDDhzXQkD5uEHt",
      "input": {
        "note": "The blue pen is lifted, and the right basket, with the black marker inside, is just ahead. Moving over the basket's centre.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.17,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JHXepBFmkDDhzXQkD5uEHt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1734, -0.0967, -0.2031, 0.9983, 0.5598, 1.5505, 1.3308, -0.6521, 0.3973, 0.3958, 0.1488]\nstate[eef_state]: left_x=0.4482 left_y=-0.04 left_z=0.1644 left_yaw=0.0411 left_pitch=-0.0933 left_roll=-0.0906 left_gripper=0.9983 right_x=0.3875 right_y=0.1664 right_z=0.2029 right_yaw=-0.003 right_pitch=-0.2218 right_roll=-0.0202 right_gripper=0.1488\nstate[joint_eff]: [-0.212, -7.2274, 7.1043, 1.6728, -0.0611, -0.0269, -0.0171, -0.3761, -6.9538, 9.7162, 1.453, 0.105, -0.0024, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7002e963ddd87e7f61bbc93d5b5f97b6165c840cf0c4d9feab097be02dd4415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4872599384ef66b5017cb4853918193cba3e12c088a3520cc788abe74701c755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb173f5f79eb19b418cdf2968fc5e72feed61424136abf869f130e57da90d709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 14.66 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]: [-0.1349, 1.5333, 1.0485, -0.1719, -0.0967, -0.2031, 0.9983, 0.9039, 1.6722, 0.5789, 0.1173, 0.6209, 0.6888, 0.1439]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0918 left_roll=-0.0909 left_gripper=0.9983 right_x=0.2835 right_y=0.1998 right_z=0.0077 right_yaw=0.0049 right_pitch=-0.1772 right_roll=-0.0102 right_gripper=0.1439\nstate[joint_eff]: [-0.1709, -6.9675, 6.9812, 1.707, -0.0806, -0.0073, -0.0122, 0.212, -5.3675, 4.4239, 0.9792, 0.2857, 0.0073, 0.9988]",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1715, -0.0967, -0.2031, 0.9983, 0.9031, 1.3594, 1.1671, -0.7708, 0.609, 0.6838, 0.1488]\nstate[eef_state]: left_x=0.4485 left_y=-0.04 left_z=0.1648 left_yaw=0.0411 left_pitch=-0.0914 left_roll=-0.091 left_gripper=0.9983 right_x=0.2866 right_y=0.2061 right_z=0.2059 right_yaw=0.0164 right_pitch=-0.1767 right_roll=0.0026 right_gripper=0.1488\nstate[joint_eff]: [-0.0889, -7.2, 6.9402, 1.707, -0.105, -0.0708, -0.0122, -0.294, -5.9556, 8.841, 1.0867, 0.3297, 0.0366, 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 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]: [-0.1349, 1.5333, 1.0485, -0.1734, -0.0967, -0.2031, 0.9983, 0.5598, 1.5505, 1.3308, -0.6521, 0.3973, 0.3958, 0.1488]\nstate[eef_state]: left_x=0.4482 left_y=-0.04 left_z=0.1644 left_yaw=0.0411 left_pitch=-0.0933 left_roll=-0.0906 left_gripper=0.9983 right_x=0.3875 right_y=0.1664 right_z=0.2029 right_yaw=-0.003 right_pitch=-0.2218 right_roll=-0.0202 right_gripper=0.1488\nstate[joint_eff]: [-0.212, -7.2274, 7.1043, 1.6728, -0.0611, -0.0269, -0.0171, -0.3761, -6.9538, 9.7162, 1.453, 0.105, -0.0024, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7002e963ddd87e7f61bbc93d5b5f97b6165c840cf0c4d9feab097be02dd4415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4872599384ef66b5017cb4853918193cba3e12c088a3520cc788abe74701c755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb173f5f79eb19b418cdf2968fc5e72feed61424136abf869f130e57da90d709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AaXQ26ozZTWSBa97FG2eqV",
      "input": {
        "note": "The blue pen is over the inside of the right basket. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01AaXQ26ozZTWSBa97FG2eqV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.5552, 1.5635, 1.3334, -0.6453, 0.3832, 0.3855, 0.996]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.39 right_y=0.1684 right_z=0.1991 right_yaw=0.0088 right_pitch=-0.2305 right_roll=-0.02 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -7.1863, 6.9265, 1.6825, -0.0855, -0.0659, -0.0122, 0.1573, -8.3897, 6.7214, 1.326, 0.3053, 0.0952, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f5376da76281c4c82022ebce8cc5d8e5f14dd079b518a1dcff992d702956fa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd5cd57d29beb582239ad41416f6c33c94f4b2b7f027d645b75e6fe5729d688a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee04a74024e165dee6bed7ec6a626e94a60f6c95333b7f55f9f6991ed99a6132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.826 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]: [-0.1349, 1.5333, 1.0485, -0.1715, -0.0967, -0.2031, 0.9983, 0.9031, 1.3594, 1.1671, -0.7708, 0.609, 0.6838, 0.1488]\nstate[eef_state]: left_x=0.4485 left_y=-0.04 left_z=0.1648 left_yaw=0.0411 left_pitch=-0.0914 left_roll=-0.091 left_gripper=0.9983 right_x=0.2866 right_y=0.2061 right_z=0.2059 right_yaw=0.0164 right_pitch=-0.1767 right_roll=0.0026 right_gripper=0.1488\nstate[joint_eff]: [-0.0889, -7.2, 6.9402, 1.707, -0.105, -0.0708, -0.0122, -0.294, -5.9556, 8.841, 1.0867, 0.3297, 0.0366, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1349, 1.5333, 1.0485, -0.1734, -0.0967, -0.2031, 0.9983, 0.5598, 1.5505, 1.3308, -0.6521, 0.3973, 0.3958, 0.1488]\nstate[eef_state]: left_x=0.4482 left_y=-0.04 left_z=0.1644 left_yaw=0.0411 left_pitch=-0.0933 left_roll=-0.0906 left_gripper=0.9983 right_x=0.3875 right_y=0.1664 right_z=0.2029 right_yaw=-0.003 right_pitch=-0.2218 right_roll=-0.0202 right_gripper=0.1488\nstate[joint_eff]: [-0.212, -7.2274, 7.1043, 1.6728, -0.0611, -0.0269, -0.0171, -0.3761, -6.9538, 9.7162, 1.453, 0.105, -0.0024, 1.0379]",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.5552, 1.5635, 1.3334, -0.6453, 0.3832, 0.3855, 0.996]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.39 right_y=0.1684 right_z=0.1991 right_yaw=0.0088 right_pitch=-0.2305 right_roll=-0.02 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -7.1863, 6.9265, 1.6825, -0.0855, -0.0659, -0.0122, 0.1573, -8.3897, 6.7214, 1.326, 0.3053, 0.0952, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f5376da76281c4c82022ebce8cc5d8e5f14dd079b518a1dcff992d702956fa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd5cd57d29beb582239ad41416f6c33c94f4b2b7f027d645b75e6fe5729d688a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee04a74024e165dee6bed7ec6a626e94a60f6c95333b7f55f9f6991ed99a6132",
        "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_01TJgvEoERMVLp3ybm6VnLVk",
      "input": {
        "note": "Both dark pens are now in the right basket. The plush toys, with the teddy bear the biggest, sit in the middle of the table, so I'm moving the left arm above the teddy to put it in the left basket.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": -0.27,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01TJgvEoERMVLp3ybm6VnLVk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0569, 1.6272, 0.9375, -0.2314, -0.799, -0.7616, 0.9982, 0.5552, 1.5635, 1.3334, -0.6449, 0.3798, 0.3813, 0.9968]\nstate[eef_state]: left_x=0.2997 left_y=-0.2661 left_z=0.1122 left_yaw=-0.0302 left_pitch=-0.0253 left_roll=0.0083 left_gripper=0.9982 right_x=0.3899 right_y=0.169 right_z=0.199 right_yaw=0.0138 right_pitch=-0.2316 right_roll=-0.0205 right_gripper=0.9968\nstate[joint_eff]: [-0.294, -6.7897, 8.294, 1.1209, -0.5006, -0.0317, -0.0171, -0.0615, -7.3915, 6.9265, 1.3504, 0.1685, -0.0171, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ba176b0ff1c51a4c3fbcedaa644458280439cb8081471a59f7236f7ca7b1adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abdbe1072206b90f9eff85de70631df73384cc220453e591f21f203ae8002c83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cca19374596a7fe502108e878a8a71f0606c0c1c46e16cbe4a8d696a20c3856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 3.401 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]: [-0.1349, 1.5333, 1.0485, -0.1734, -0.0967, -0.2031, 0.9983, 0.5598, 1.5505, 1.3308, -0.6521, 0.3973, 0.3958, 0.1488]\nstate[eef_state]: left_x=0.4482 left_y=-0.04 left_z=0.1644 left_yaw=0.0411 left_pitch=-0.0933 left_roll=-0.0906 left_gripper=0.9983 right_x=0.3875 right_y=0.1664 right_z=0.2029 right_yaw=-0.003 right_pitch=-0.2218 right_roll=-0.0202 right_gripper=0.1488\nstate[joint_eff]: [-0.212, -7.2274, 7.1043, 1.6728, -0.0611, -0.0269, -0.0171, -0.3761, -6.9538, 9.7162, 1.453, 0.105, -0.0024, 1.0379]",
      "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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.5552, 1.5635, 1.3334, -0.6453, 0.3832, 0.3855, 0.996]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.39 right_y=0.1684 right_z=0.1991 right_yaw=0.0088 right_pitch=-0.2305 right_roll=-0.02 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -7.1863, 6.9265, 1.6825, -0.0855, -0.0659, -0.0122, 0.1573, -8.3897, 6.7214, 1.326, 0.3053, 0.0952, -0.1294]",
      "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]: [-1.0569, 1.6272, 0.9375, -0.2314, -0.799, -0.7616, 0.9982, 0.5552, 1.5635, 1.3334, -0.6449, 0.3798, 0.3813, 0.9968]\nstate[eef_state]: left_x=0.2997 left_y=-0.2661 left_z=0.1122 left_yaw=-0.0302 left_pitch=-0.0253 left_roll=0.0083 left_gripper=0.9982 right_x=0.3899 right_y=0.169 right_z=0.199 right_yaw=0.0138 right_pitch=-0.2316 right_roll=-0.0205 right_gripper=0.9968\nstate[joint_eff]: [-0.294, -6.7897, 8.294, 1.1209, -0.5006, -0.0317, -0.0171, -0.0615, -7.3915, 6.9265, 1.3504, 0.1685, -0.0171, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ba176b0ff1c51a4c3fbcedaa644458280439cb8081471a59f7236f7ca7b1adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abdbe1072206b90f9eff85de70631df73384cc220453e591f21f203ae8002c83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cca19374596a7fe502108e878a8a71f0606c0c1c46e16cbe4a8d696a20c3856",
        "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+wgKEAgSGAI4AUIIdGhpbmtpbmcSDBKGmCc2k4N5UQ7+wxoM2zeQlidqT6qgwcBwIjAGrjVXUYgWK8uyWSn30EMH/q2+dip+1vLyKzmgticoylE+wze9FexJ8hi6/tHo2poqmAgxcA8wHLkXVC6poNEaX0vlWTt1Rr2eoMonAfcMMDz/BzTVBgE6b/4tbuWPlo+YXSK1UZu0PTYxwYE3BxUvAtADZscSfXCgk5MqxLV2DacfP8MSRdhQw4HlPXxF6VxDexzMymNaIG1U/nH7Rh/QFNOnrrxTJzTh2AFMh0BWApaOvIcisgmRvfVpuhZDzEnKju5c5lCnXfwBbRBLMZvRwNxFLGFGm02LNaYAsxWnNvvdMySlxZv6S/tJrcUgj5cfHJ9jTtq47khhG8FbXllhtdUTRjVtid6ZViyyTr2qLgqMTacuPKdSCRo5ydbhB7UeMUHxqTnZXCDhdBPXW9li7m6JCFcpsfHeJAWk774v8cAwHbyOA1jWdS032YUpnmNozW8LzLtiGgfaCZJkcTIjj/N0m6RdGKwhycztrJ98b9b8U7X9V0gKKUb2gtMaAbGDIV/QfO3cazKqfSBcJe46ESSlHXCqW38pMsHa8MUlldMm6ilR34dKKz8kIYIta2G07vwIr3LHtVrrVaWGXKFZyME17+WTBBGf1TCksAlbputS55tHw6cFDFiZpyLSXOk6ZB6f5hibSVI2rEP87iBhTe4AgPYZFJ3catKPppta8gRXp3Le22w1v6Wf6rQMDNJzqX89ybb7yNfhy2H7cLz15Sp1Fir+ZH0gRrUP0Vb5SBIw1z8OpzWDaGJGQXB7sGhTia3dV3NNqTqBXGFLsx/sTGedLS8O18/RLZf6szVX53V9iueLzAV9+dF8bi518AEmqhnlzptz7v34i2ITV3e9gqBj2WQJAbcrOp/el1YhG1SYbLVgW55Bi1pGAUd2yKpsi6K1kyXR41t8v9/Q+n3QR0QTctdF4FAzFIBa7rSysmtlPQgyH6X32Fu9x8uAFfvNuUWsC7kVDdG73eCkRRWfLLvSYVEPVPTDotMf9O5jP0EBLzC937qPzfPU2P+OV2OPjsY17H/3aTSZ/WDWp0IpY9izKNkTsasWff60Xx744PTvcAlp/QrxVUYwXVc13fRbIZXCBPjosRXpiZYQBSPYd8ApDKiIZ4f6yqjoop4T7cGqmkiHJdBN/1KRsIyruFffW0gWu/mwIU2tYQIeZ3E92nunFfzXQ0sfdQcsWkaLaxrbvMu020AjHHe6TV0+Mz0+K0IrUzTIHbK8hluzjucWV4ZMqhdujVEZ4A2gz6XlW7d9kVfhN80+gGNGRbwoa8df6+An684l1iKt7R5vz/eWCoOBLst8WlHVSRX/4UpYswPbqlzkTdi8u+oBRY8NU/Mt/4ozOhkoMRCbB36QfIoCvKmO4HN4LQxEa892nY3gZseIAHscqL9vG+QVhYQpPWptd109IF96GL7408u7YLO/tJEHz0XXePdWt5Y6AmDZxalrruufUxyNV3lkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012use8gmpppahcLyqhkrQeq",
      "input": {
        "note": "The teddy's head fills the view right under the left jaws. Lowering onto it so the jaws can squeeze the soft head.",
        "targets": {
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012use8gmpppahcLyqhkrQeq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0504, 1.7679, 0.82, 0.0311, -0.8192, -0.7746, 0.9982, 0.5552, 1.5635, 1.3334, -0.6445, 0.3794, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.3037 left_y=-0.2632 left_z=0.0557 left_yaw=-0.0045 left_pitch=-0.0093 left_roll=0.002 left_gripper=0.9982 right_x=0.3899 right_y=0.1691 right_z=0.199 right_yaw=0.0144 right_pitch=-0.2314 right_roll=-0.0204 right_gripper=0.9969\nstate[joint_eff]: [-0.8684, -5.7915, 3.8496, 0.9255, -0.1441, 0.1001, -0.0073, -0.0889, -7.4188, 6.8855, 1.3895, 0.1099, -0.0464, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a1e56d56741dc336962aab8cd4f584590c5f4cfc4cb59f355c65841fd9a714b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61f6146edabf5ca65f9c8aa9b650d51dca480308a64f9913877e9133fcf081f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf7e4a8c0ce31b52c06e1576c7989b976f56f0188d0e0c0919d25cffd9ebe760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.362 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]: [-0.1349, 1.5333, 1.0485, -0.1722, -0.0967, -0.2031, 0.9983, 0.5552, 1.5635, 1.3334, -0.6453, 0.3832, 0.3855, 0.996]\nstate[eef_state]: left_x=0.4484 left_y=-0.04 left_z=0.1647 left_yaw=0.0411 left_pitch=-0.0921 left_roll=-0.0908 left_gripper=0.9983 right_x=0.39 right_y=0.1684 right_z=0.1991 right_yaw=0.0088 right_pitch=-0.2305 right_roll=-0.02 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -7.1863, 6.9265, 1.6825, -0.0855, -0.0659, -0.0122, 0.1573, -8.3897, 6.7214, 1.326, 0.3053, 0.0952, -0.1294]",
      "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]: [-1.0569, 1.6272, 0.9375, -0.2314, -0.799, -0.7616, 0.9982, 0.5552, 1.5635, 1.3334, -0.6449, 0.3798, 0.3813, 0.9968]\nstate[eef_state]: left_x=0.2997 left_y=-0.2661 left_z=0.1122 left_yaw=-0.0302 left_pitch=-0.0253 left_roll=0.0083 left_gripper=0.9982 right_x=0.3899 right_y=0.169 right_z=0.199 right_yaw=0.0138 right_pitch=-0.2316 right_roll=-0.0205 right_gripper=0.9968\nstate[joint_eff]: [-0.294, -6.7897, 8.294, 1.1209, -0.5006, -0.0317, -0.0171, -0.0615, -7.3915, 6.9265, 1.3504, 0.1685, -0.0171, 0.0806]",
      "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]: [-1.0504, 1.7679, 0.82, 0.0311, -0.8192, -0.7746, 0.9982, 0.5552, 1.5635, 1.3334, -0.6445, 0.3794, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.3037 left_y=-0.2632 left_z=0.0557 left_yaw=-0.0045 left_pitch=-0.0093 left_roll=0.002 left_gripper=0.9982 right_x=0.3899 right_y=0.1691 right_z=0.199 right_yaw=0.0144 right_pitch=-0.2314 right_roll=-0.0204 right_gripper=0.9969\nstate[joint_eff]: [-0.8684, -5.7915, 3.8496, 0.9255, -0.1441, 0.1001, -0.0073, -0.0889, -7.4188, 6.8855, 1.3895, 0.1099, -0.0464, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a1e56d56741dc336962aab8cd4f584590c5f4cfc4cb59f355c65841fd9a714b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61f6146edabf5ca65f9c8aa9b650d51dca480308a64f9913877e9133fcf081f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf7e4a8c0ce31b52c06e1576c7989b976f56f0188d0e0c0919d25cffd9ebe760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wYKEAgSGAI4AUIIdGhpbmtpbmcSDAANthivyBCOgIZTOhoMpuGyJy6wFKJGkjIhIjBZVTMHRSVaVyqPAjdHQ+AqA4t3IeKrzuV5GqF1CXziHdlrSBvzwhhVod/niC7fOF8q9AU+YJAcb1Civ0xSod802kwFaPRnyZiL9kTImPIuT72Ji0Fct+qdXs5qz5KsjCleCH120tbBEsVEsHD/KpDbIDMN/ByFicL0YUIuB3OqgZWQk++m2O9MtzMrCzrcBsOTAn9mJjXHLV5RakcfjVbpOIDomHXpDccAGb9kZyHZcEd2BgdPZaeq2/CxasoIw8ewAW8Mf3jadWflLJTn+XTELoYyMGuK0D/l9iGPnUHzcIjZ2UQJc0/YaTZCKeNf+NV/UOJOUkvtDZJwHjmaRvGmJmckeYOthfGw7T1DD8u1I9JTFt1e2I02/HqbE730uWaF4kRvBeUxOTPi5oMEQQDd5wpW+bzGjnq4tKJvVgbESk68QNrFssgIDzTBZyJm7MuUg55r56ggUgCNdT6sezfjv9C1nFNChMuBvIYB6Nf5v5Qsg4f7Dd9qCV7s8SU/1P+dgwQJHy8axBFuxeLkvAPZZ4mhtsRgLUoBLmNzHZY2BDdI+CILqbDSjRlFVf1z9WZWA+e9YeM+z7MY4T9V2OTsH6B91V+3jfWCnDGKIXjuibAJUWVEbc/jzzx44MiJbtz1LjN1Sj1ciJoDAaeZhLAO0WLkgOu2g2F2E1n9OUtPzLXiVFSgtSKzNi4Mm8UbY1We9Pa3uXL8v0vSTBpgtSTENy1ku29DTEERsknTx83Ibdxk+kPMJVJ4GdA+9+5Wt0t5altX5LKVCBmSITk61rJiW92QWngxtT0kberSxFG2UQLYJsGM46CexlKjD5oyBAgYpf5myCrt3Mlj60crvrofMRzJbNAjALpPNTv+891tIPTRMIVqXgRtqKMybn6xUNRxw/yiIVh1nRdmb9AtBQ1l65WE3ACQL5Qp8sAmmPAtJyb1FNBGCf0LUlJD1FU8sQH1ATowg036SOijpez7TwFAq73nEtf7iVSOPtdMIxBGB4vjcBeRx75s0FLWOIVqD2lwU20rRYwLK77aW+USpt+EmbbVBI6XOMSzT52ciR/dortl9ByTpoQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S1nBrEguVqSyHQkNfe1vSZ",
      "input": {
        "note": "The jaws are resting on the teddy's head (the descent stopped at z≈0.056). Closing to squeeze the plush.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S1nBrEguVqSyHQkNfe1vSZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 1.7744, 0.8112, 0.0654, -0.8314, -0.7792, 0.047, 0.5552, 1.5635, 1.3334, -0.6445, 0.3798, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.3057 left_y=-0.2631 left_z=0.0559 left_yaw=0.0063 left_pitch=0.0086 left_roll=-0.0136 left_gripper=0.047 right_x=0.39 right_y=0.1691 right_z=0.199 right_yaw=0.0141 right_pitch=-0.2313 right_roll=-0.0206 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -8.4308, 6.0239, 0.9451, -0.2076, 0.0122, 1.2869, -0.0068, -7.3231, 6.9675, 1.409, 0.1734, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f8cbc89db785fbd18312653315ddaf3c1ae03c3cebfc2c1c5bae936c531ede4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:775700aaba561e9c519d451c790c05d2c96b1384d2de4d293be8d62c940b1f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91d5e98eaea095ce5a1296c729c7cf855f89f9145bc6db537bc57ecccfa29da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.112 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]: [-1.0569, 1.6272, 0.9375, -0.2314, -0.799, -0.7616, 0.9982, 0.5552, 1.5635, 1.3334, -0.6449, 0.3798, 0.3813, 0.9968]\nstate[eef_state]: left_x=0.2997 left_y=-0.2661 left_z=0.1122 left_yaw=-0.0302 left_pitch=-0.0253 left_roll=0.0083 left_gripper=0.9982 right_x=0.3899 right_y=0.169 right_z=0.199 right_yaw=0.0138 right_pitch=-0.2316 right_roll=-0.0205 right_gripper=0.9968\nstate[joint_eff]: [-0.294, -6.7897, 8.294, 1.1209, -0.5006, -0.0317, -0.0171, -0.0615, -7.3915, 6.9265, 1.3504, 0.1685, -0.0171, 0.0806]",
      "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]: [-1.0504, 1.7679, 0.82, 0.0311, -0.8192, -0.7746, 0.9982, 0.5552, 1.5635, 1.3334, -0.6445, 0.3794, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.3037 left_y=-0.2632 left_z=0.0557 left_yaw=-0.0045 left_pitch=-0.0093 left_roll=0.002 left_gripper=0.9982 right_x=0.3899 right_y=0.1691 right_z=0.199 right_yaw=0.0144 right_pitch=-0.2314 right_roll=-0.0204 right_gripper=0.9969\nstate[joint_eff]: [-0.8684, -5.7915, 3.8496, 0.9255, -0.1441, 0.1001, -0.0073, -0.0889, -7.4188, 6.8855, 1.3895, 0.1099, -0.0464, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 1.7744, 0.8112, 0.0654, -0.8314, -0.7792, 0.047, 0.5552, 1.5635, 1.3334, -0.6445, 0.3798, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.3057 left_y=-0.2631 left_z=0.0559 left_yaw=0.0063 left_pitch=0.0086 left_roll=-0.0136 left_gripper=0.047 right_x=0.39 right_y=0.1691 right_z=0.199 right_yaw=0.0141 right_pitch=-0.2313 right_roll=-0.0206 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -8.4308, 6.0239, 0.9451, -0.2076, 0.0122, 1.2869, -0.0068, -7.3231, 6.9675, 1.409, 0.1734, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f8cbc89db785fbd18312653315ddaf3c1ae03c3cebfc2c1c5bae936c531ede4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:775700aaba561e9c519d451c790c05d2c96b1384d2de4d293be8d62c940b1f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91d5e98eaea095ce5a1296c729c7cf855f89f9145bc6db537bc57ecccfa29da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AgKEAgSGAI4AUIIdGhpbmtpbmcSDI2dYZofmViRkZQXSRoMZ8RdVGPWPOf7o5Z8IjBKgh9oF9uygdlnNQn0bxniVm4HFeoSMCihlWx6aIjBoay73YpyaFrD0akmxiGxVYoqkQgJ1v3SjC3tcPlySKqRnk4/marSS6vR5cFdX8PEYnkUtxWDTxyg9bTuj4Mtrue3gpG56TiJoZC8/qsjDES+6yKRN1f99sa4xdAF5YkQk2BdGrewcLNxQj56pFCC7IkOm5b3MBlYZ4+OZKHEOazrrQy8BQ0E2FrUx7m7iiatvBmejUdDa/QQGF86TV2RfTI1cXuzJ0/E2uJ4oRbDn/ayLAJqoILlcXqN81iWUtgKn4QSu38u+KmVHPGgeUc+k+S+6I3XYQ8/KGfQEY1Ng/I/v65J+Q+2maEqRwiyHy1V0/Pqky3YovoixR7GCFWeTI0k7D83GU98zSv93AKGCtDhFqdYo+MgWzfi1fNLbmBdSjFFLwQjCcQYF+LaXO08MGip4d+NW+MwC3JyiNF1kurppMoa0sP5/Sd8Y8K/s57o3awoTimbqXhRJYJ4mhVQ3ekvbXln7F0Q79TrVTliDHtht0qjU0z1fhdoehL/VFFJEXq3v//YF+FQ1s3UMXOz511qKRzJT9MnXdxTnNlioEjXTREGhFijb5eP+ldMLvQv8wkcsJh8bH5bh3KuC6KoldvWN12g26aswDLt685v8kMvsDPTmmp4H+O1yUbjT8t4ChpSbZOA6fkfZome9ZxqCRM16D3uIkPBi8qIHdOdG9ZfZ79N9kYRNyHfLAuv0m8SC8i706M2RMw78sXzXDcsmGqfKWsyOBnvtLx78QVA9KH64b6lCVz9DC7CyKeY5ZVw82ebWj9Mjm/FUTQVpiCv88hC/FTQKTSYACa5JBCbXv1wRsB6M8M/bmhx0JLgo0CEd5TDbKJpJyjBUaeK1nqhWpTcJAjMWuG/WiXGu8ifACtNjjupq/0jLiBXEb+DzHTDvLKzE4b0DHu/Xrj0iah3Ln2NWa7Z6oeQIRHIRZ8NacxtsOFSqpXsNCAct5tNeybnmTsGHWH1lSferieaVIhCY4LGz/a/bWzN1L1SXVNSigNbkA9M0/kAIEobqjhzMjOXTrYQh/VdX4BBe49wmAuEeJ1KFGiR1qOcxQtC6ffy2zLBJwxlJfYq4uxP0XpChmBRFAfds5RfTbiOFIWdfTSf1WhgJTg7tsoilNKxQ40REiY0y3cICqV5sfnXP1LVBG+QQV1ZFIcIWAyEDvsEY4MwKndf4gbzQoYXWL2SnQGer3w5qvWRkmk+rP7lec/Cj94oKWakY13RwolRD4MoOpLgK0y4Wx0+xs2MiPI1ihot+b55n6jQEoADaoE2DfPFM3l50HjYhFWFrnNA4/+LWzYhZTXfCZvbMwIWTWtQXn3r8ur+7JSitowKxCa0ZFXEC5a6vKGUh+4OTgegV6VUarRCA06QeZDhdJT4Hom81z7FZWGqQq8GPYLrrvnAsn+a0vdoWj1pimEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015dv5KRw2x8AjgNUPnKyXmK",
      "input": {
        "note": "The gripper settled at 0.047, which suggests it's pinching the teddy's plush. Lifting straight up to check the grip and clear the basket.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_015dv5KRw2x8AjgNUPnKyXmK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 1.5631, 1.3304, -0.6815, -0.8146, -0.7864, 0.052, 0.5552, 1.5639, 1.3334, -0.6445, 0.3794, 0.3805, 0.9969]\nstate[eef_state]: left_x=0.3072 left_y=-0.2698 left_z=0.2265 left_yaw=-0.0002 left_pitch=-0.011 left_roll=-0.012 left_gripper=0.052 right_x=0.39 right_y=0.1691 right_z=0.1989 right_yaw=0.0146 right_pitch=-0.2318 right_roll=-0.0208 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -9.1282, 9.0872, 1.2088, -0.486, 0.0317, 1.033, -0.1299, -7.4188, 6.8991, 1.3993, 0.0904, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc0b626d0d35f51b0472b6377cc9cc13bee3d4390492b347bbaaa5436a2cc800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c7f3c6fdf5599ca60a27e119ef1599402d4e295a4f4b04dfd707ace25599e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:637223bec5ca1f0da8941e1352ec243b63c06385bf98b5267b9fb15ff914a503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /messages · status 200 · 2.906 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]: [-1.0504, 1.7679, 0.82, 0.0311, -0.8192, -0.7746, 0.9982, 0.5552, 1.5635, 1.3334, -0.6445, 0.3794, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.3037 left_y=-0.2632 left_z=0.0557 left_yaw=-0.0045 left_pitch=-0.0093 left_roll=0.002 left_gripper=0.9982 right_x=0.3899 right_y=0.1691 right_z=0.199 right_yaw=0.0144 right_pitch=-0.2314 right_roll=-0.0204 right_gripper=0.9969\nstate[joint_eff]: [-0.8684, -5.7915, 3.8496, 0.9255, -0.1441, 0.1001, -0.0073, -0.0889, -7.4188, 6.8855, 1.3895, 0.1099, -0.0464, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 1.7744, 0.8112, 0.0654, -0.8314, -0.7792, 0.047, 0.5552, 1.5635, 1.3334, -0.6445, 0.3798, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.3057 left_y=-0.2631 left_z=0.0559 left_yaw=0.0063 left_pitch=0.0086 left_roll=-0.0136 left_gripper=0.047 right_x=0.39 right_y=0.1691 right_z=0.199 right_yaw=0.0141 right_pitch=-0.2313 right_roll=-0.0206 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -8.4308, 6.0239, 0.9451, -0.2076, 0.0122, 1.2869, -0.0068, -7.3231, 6.9675, 1.409, 0.1734, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 1.5631, 1.3304, -0.6815, -0.8146, -0.7864, 0.052, 0.5552, 1.5639, 1.3334, -0.6445, 0.3794, 0.3805, 0.9969]\nstate[eef_state]: left_x=0.3072 left_y=-0.2698 left_z=0.2265 left_yaw=-0.0002 left_pitch=-0.011 left_roll=-0.012 left_gripper=0.052 right_x=0.39 right_y=0.1691 right_z=0.1989 right_yaw=0.0146 right_pitch=-0.2318 right_roll=-0.0208 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -9.1282, 9.0872, 1.2088, -0.486, 0.0317, 1.033, -0.1299, -7.4188, 6.8991, 1.3993, 0.0904, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc0b626d0d35f51b0472b6377cc9cc13bee3d4390492b347bbaaa5436a2cc800",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c7f3c6fdf5599ca60a27e119ef1599402d4e295a4f4b04dfd707ace25599e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:637223bec5ca1f0da8941e1352ec243b63c06385bf98b5267b9fb15ff914a503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8QcKEAgSGAI4AUIIdGhpbmtpbmcSDKYO6DUekjKBO6t5ERoMOfBqB3KHoRiGkeBFIjA16jXPlU2rU7IfUEcveg6zuYG9hU/4BRhbFIe14e6Z8XaNfGEw3+TfiGNjmnIpo00qjgdDsD2bQN59v3Blio4cSL8aNl+mh4w3JgW8PCEUEuv41traWDCGl/t1wDvAuESgpr8eoALZWXrrqR9JMYSBmjLWefd/u97yAvPPMweC7O/KveOD1ulE4YfeEhTAAJS/Tv/B3tmwHD/pP/2tfXA7vAv3EVuogeTouydFfUxrif1Ikw7M7wSbHyTz4WTJIDSUT4kFx3zgIfQYjH8umpivlHrkujNN1kBAxafZWP7Gc6ni19UOiL20aMkPpYyV+jBzfSNPPBAsakQgFQXuMU5TFBsvQu8y1+iefbOnjk7GEMHvQrZvd29cqqE4IjwswgXxnXiVMhQGNWAcvFkuf/2uTqtYXDkN5DSOsr7coaIZKaNDTJGDQtqMJfK3rp31jWWMYmrYbjnNNF8ZSkWsoJ3soN79ppRKlzRvYCgTark+tyghRIdD8ZrMqLb+5+WhZxssHsZWcuRRGDz89F28oB29stiiXEKMTD9bqWPJlngKSxcWg0zPCJV8mvYDkFEE+OufpYh2Rl09zcLx+Ama47BHlFpBmoQdwez7AB6Lg9G3VPKHbzWL7SNaQWGDJY86WD6v4iZKuJWZfqo8EAiTv5YWaDLV0aE63OXIWKmN0ZtODDDJ+ZsrI/ylf0Xz3OKL3TxfwEvs10BYfJpQKhvjJUi6DjOmmq8bHc0wiwESOIw8LwmpJa8Unoh/1GrCJT1UGF7qzGiyA69izhAkFqfdY885/n+Z8J8/YGWksQOmcSyd8+L2kj8IiwsT3T8T6p1ra4M7GTE2qTGSc56vYjqo88mcyVTpX5hblB4W8YZQTjriZ6nkoIoAkJaAmM1tuq6zLnkHjfeAX0OyD098JS8nmUbvO0KtOTTLVPE/c2fCwqKWv7yYxVhWkLmg3mToP0B+ZhFj2RmSvBXol+EFqdnIVEbSMz1o98P35JaaJQNEsYjqxT6ZaL84Yu98UAl52YRwn9/emlbKUfJdVN8hN2gPcto+2pksVhW0WI+9RGEHY4JPDHMsfmJWyubwHWft2tUAXhPpaOWABIG4xk03/J0pWwoAwYUpwK0zC9o+/BdT0K607pLxmXrZlD/KqRBUzKrscIao6PKQm+83ElwXZC8BOPmG0OWUZKxy3TejsVPhGgOsDRlRL0gVI9B1inabmvU1R+tHLmfmFWqjRpqWmK8lci49wdcde/i4w4HEpGsM+nldMlAsYS+tLXzboYvnPicKNWWgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WdKgGXB276j2Lh8Bce9SHg",
      "input": {
        "note": "The teddy is lifted in the left gripper, and the left basket is ahead and to the left. Carrying the teddy over the basket.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.07,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01WdKgGXB276j2Lh8Bce9SHg",
      "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, 1.3609, 1.1366, -0.4534, -0.2741, -0.2287, 0.0583, 0.5552, 1.5639, 1.3334, -0.6449, 0.3794, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.4021 left_y=-0.0669 left_z=0.2238 left_yaw=0.0477 left_pitch=-0.0845 left_roll=0.0005 left_gripper=0.0583 right_x=0.3899 right_y=0.1691 right_z=0.1988 right_yaw=0.0143 right_pitch=-0.2321 right_roll=-0.0208 right_gripper=0.9969\nstate[joint_eff]: [0.0889, -6.7761, 9.4974, 2.0488, -0.0366, 0.2027, 1.033, -0.1709, -7.3915, 6.7761, 1.3602, 0.1001, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88e1b41adfba970c0618027d04253adf99d78a5efab2dabfc3806d4c4d44b59e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f4072fc51b61464c19f9b9387c71c4040cbfdf27486962fd389edf39593aaf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa427593a021b9f646e2fbdf1cddbc1127f5052329cb1f2d10ecf57af6d260e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 9.801 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 1.7744, 0.8112, 0.0654, -0.8314, -0.7792, 0.047, 0.5552, 1.5635, 1.3334, -0.6445, 0.3798, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.3057 left_y=-0.2631 left_z=0.0559 left_yaw=0.0063 left_pitch=0.0086 left_roll=-0.0136 left_gripper=0.047 right_x=0.39 right_y=0.1691 right_z=0.199 right_yaw=0.0141 right_pitch=-0.2313 right_roll=-0.0206 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -8.4308, 6.0239, 0.9451, -0.2076, 0.0122, 1.2869, -0.0068, -7.3231, 6.9675, 1.409, 0.1734, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0496, 1.5631, 1.3304, -0.6815, -0.8146, -0.7864, 0.052, 0.5552, 1.5639, 1.3334, -0.6445, 0.3794, 0.3805, 0.9969]\nstate[eef_state]: left_x=0.3072 left_y=-0.2698 left_z=0.2265 left_yaw=-0.0002 left_pitch=-0.011 left_roll=-0.012 left_gripper=0.052 right_x=0.39 right_y=0.1691 right_z=0.1989 right_yaw=0.0146 right_pitch=-0.2318 right_roll=-0.0208 right_gripper=0.9969\nstate[joint_eff]: [-0.0342, -9.1282, 9.0872, 1.2088, -0.486, 0.0317, 1.033, -0.1299, -7.4188, 6.8991, 1.3993, 0.0904, -0.0708, -0.0122]",
      "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]: [-0.2913, 1.3609, 1.1366, -0.4534, -0.2741, -0.2287, 0.0583, 0.5552, 1.5639, 1.3334, -0.6449, 0.3794, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.4021 left_y=-0.0669 left_z=0.2238 left_yaw=0.0477 left_pitch=-0.0845 left_roll=0.0005 left_gripper=0.0583 right_x=0.3899 right_y=0.1691 right_z=0.1988 right_yaw=0.0143 right_pitch=-0.2321 right_roll=-0.0208 right_gripper=0.9969\nstate[joint_eff]: [0.0889, -6.7761, 9.4974, 2.0488, -0.0366, 0.2027, 1.033, -0.1709, -7.3915, 6.7761, 1.3602, 0.1001, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88e1b41adfba970c0618027d04253adf99d78a5efab2dabfc3806d4c4d44b59e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f4072fc51b61464c19f9b9387c71c4040cbfdf27486962fd389edf39593aaf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa427593a021b9f646e2fbdf1cddbc1127f5052329cb1f2d10ecf57af6d260e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015kPpkqPNCzvwRvgHU4SDGT",
      "input": {
        "note": "The teddy is hanging over the left basket. Opening to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015kPpkqPNCzvwRvgHU4SDGT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.292, 1.3613, 1.1328, -0.4664, -0.2657, -0.2359, 0.9954, 0.5552, 1.5639, 1.3334, -0.6449, 0.3794, 0.3809, 0.9969]\nstate[eef_state]: left_x=0.3995 left_y=-0.0679 left_z=0.2193 left_yaw=0.0444 left_pitch=-0.1024 left_roll=-0.0046 left_gripper=0.9954 right_x=0.3899 right_y=0.1691 right_z=0.1988 right_yaw=0.0143 right_pitch=-0.2321 right_roll=-0.0208 right_gripper=0.9969\nstate[joint_eff]: [0.0479, -5.6821, 7.2274, 1.7509, -0.2173, 0.0366, -0.0073, -0.0479, -7.3368, 6.735, 1.4188, 0.1245, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01a531da42103c6883718ab67257595457790097d9bb582caaef72aa241374a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ef867aec4b2286be2b87ca373b036cb200378509c85ffbd83c08af47eeacff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39d3da0ef265a5e4812d5929727c33c727c85951c3a366a7381e201cc45690c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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