adhoc

completed
2026-09-23T00:09:51.884240+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
223.3 s
total steps
299
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two kinds of objects: plush toys (a teddy bear and small stuffed animals, on the left) and pens/sticks (on the right). Plan: plush toys go in the left basket and pens in the right one. Moving the right arm lower and a little left, above the white pen, to line up a grasp.
move_to
right_y0.0400right_z0.0800right_x0.3200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8013, 0.6163, -0.3798, -0.0219, -0.0334, 0.9991, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0158, 0.9992] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1837 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9991 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9992 state[joint_eff]: [-0.6085, -1.8667, 9.347, 1.7851, -0.0171, 0.1441, -0.105, -0.7043, -1.6479, 9.7846, 1.7118, -0.1245, -0.0122, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.04, "right_z": 0.08, "right_x": 0.32}, "note": "I see two kinds of objects: plush toys (a teddy bear and small stuffed animals, on the left) and pens/sticks (on the right). Plan: plush toys go in the left basket and pens in the right one. Moving the right arm lower and a little left, above the white pen, to line up a grasp."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe right wrist camera shows a black-capped marker lying front-to-back just left of the jaw column, with a blue pen further left. Descending onto the marker with a small shift left and forward.
move_to
right_y0.0500right_x0.3300right_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8051, 0.6159, -0.3805, -0.0223, -0.0376, 0.9991, 0.2092, 1.124, 0.2943, 0.2226, 0.1574, 0.091, 0.9991] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1823 left_yaw=0.0028 left_pitch=-0.0049 left_roll=-0.0038 left_gripper=0.9991 right_x=0.3147 right_y=0.0422 right_z=0.0705 right_yaw=0.0242 right_pitch=-0.0403 right_roll=-0.0077 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.5385, 7.1043, 1.7118, -0.0415, -0.0317, -0.0171, 0.0342, -3.1795, 6.4752, 1.9609, 0.2173, 0.1392, -0.0122] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.05, "right_x": 0.33, "right_z": -0.005}, "note": "The right wrist camera shows a black-capped marker lying front-to-back just left of the jaw column, with a blue pen further left. Descending onto the marker with a small shift left and forward."})
tool
executing move_to over 5 steps (0.5s)
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 marker is centred between the jaws in the right wrist view and the descent stopped at z≈1.4 cm. Closing the gripper.
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]: [-0.0189, 0.8112, 0.614, -0.3805, -0.0219, -0.038, 0.9991, 0.2298, 1.668, 0.2268, 0.9009, 0.1555, 0.1135, 0.9991] state[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1797 left_yaw=0.0027 left_pitch=-0.0129 left_roll=-0.0041 left_gripper=0.9991 right_x=0.343 right_y=0.0558 right_z=0.0139 right_yaw=0.0346 right_pitch=0.0249 right_roll=0.0249 right_gripper=0.9991 state[joint_eff]: [-0.0615, -1.4017, 7.2684, 1.7753, -0.0464, -0.0513, -0.0122, 0.4034, -3.4393, 2.4137, 0.9744, 0.2222, -0.1636, -0.0122] 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": {"right_gripper": 0.0}, "note": "The marker is centred between the jaws in the right wrist view and the descent stopped at z\u22481.4 cm. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe gripper settled at 0.15, which means it is holding something about 1.4 cm thick, so the marker is grasped. Lifting it high enough to clear the basket wall.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8108, 0.6132, -0.3805, -0.0219, -0.0383, 0.9991, 0.2291, 1.6711, 0.2214, 0.9173, 0.149, 0.1116, 0.1514] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1795 left_yaw=0.0029 left_pitch=-0.0133 left_roll=-0.0044 left_gripper=0.9991 right_x=0.3427 right_y=0.0567 right_z=0.0147 right_yaw=0.0403 right_pitch=0.0322 right_roll=0.0281 right_gripper=0.1514 state[joint_eff]: [-0.1983, -1.3197, 7.1179, 1.7118, -0.022, -0.0757, -0.0122, 0.0068, -5.2718, 3.9863, 1.6142, 0.0415, -0.0122, 0.9988] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "The gripper settled at 0.15, which means it is holding something about 1.4 cm thick, so the marker is grasped. Lifting it high enough to clear the basket wall."})
tool
executing move_to over 14 steps (1.4s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe marker is lifted and gone from the table in the overhead view. The right basket is ahead and to the left in the wrist view, so I'm carrying the marker over the basket centre.
move_to
right_x0.4400right_y0.1400right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8154, 0.6132, -0.3805, -0.0219, -0.0383, 0.9991, 0.2291, 1.0412, 0.7822, -0.3027, 0.1459, 0.1089, 0.1571] state[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1782 left_yaw=0.0029 left_pitch=-0.0179 left_roll=-0.0043 left_gripper=0.9991 right_x=0.3422 right_y=0.0571 right_z=0.2048 right_yaw=0.0443 right_pitch=0.0031 right_roll=0.0219 right_gripper=0.1571 state[joint_eff]: [-0.1299, -1.1556, 7.0632, 1.7167, -0.0415, -0.0366, -0.0122, -0.0615, -4.1504, 9.5521, 1.6044, 0.0122, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.14, "right_z": 0.2}, "note": "The marker is lifted and gone from the table in the overhead view. The right basket is ahead and to the left in the wrist view, so I'm carrying the marker over the basket centre."})
tool
executing move_to over 8 steps (0.8s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
Directly over the basket. Release.
agent noteThe right wrist view shows the basket's interior right below the jaws. Opening to drop the marker into the right (pens) basket.
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]: [-0.0189, 0.8181, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4122, 1.5448, 1.0916, -0.1856, 0.2806, 0.1921, 0.1606] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1766 left_yaw=0.0029 left_pitch=-0.0225 left_roll=-0.0042 left_gripper=0.9991 right_x=0.4326 right_y=0.1397 right_z=0.1798 right_yaw=0.0698 right_pitch=-0.0518 right_roll=-0.0021 right_gripper=0.1606 state[joint_eff]: [-0.1846, -1.6068, 7.2137, 1.6972, -0.022, -0.0269, -0.0122, 0.1162, -7.8564, 9.4564, 1.7998, 0.2857, 0.149, 1.0281] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
Directly over the basket. Release.
move_to({"targets": {"right_gripper": 1.0}, "note": "The right wrist view shows the basket's interior right below the jaws. Opening to drop the marker into the right (pens) basket."})
tool
executing move_to over 9 steps (0.9s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe marker is in the right basket. Next is the blue pen lying front-to-back just right of the teddy bear, roughly 6–7 cm left of where the marker was. Moving above it to check alignment.
move_to
right_x0.3300right_y0.1150right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8185, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4122, 1.5448, 1.0904, -0.1898, 0.2768, 0.1837, 0.9953] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1765 left_yaw=0.0029 left_pitch=-0.0229 left_roll=-0.0042 left_gripper=0.9991 right_x=0.4317 right_y=0.14 right_z=0.1783 right_yaw=0.0773 right_pitch=-0.0576 right_roll=-0.0086 right_gripper=0.9953 state[joint_eff]: [-0.0205, -1.4017, 7.241, 1.6874, -0.0122, -0.0366, -0.0122, -0.1983, -7.3778, 7.0359, 1.7363, 0.0611, -0.0024, -0.188] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.115, "right_z": 0.08}, "note": "The marker is in the right basket. Next is the blue pen lying front-to-back just right of the teddy bear, roughly 6\u20137 cm left of where the marker was. Moving above it to check alignment."})
tool
executing move_to over 8 steps (0.8s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe descent stopped at z≈0.11, probably on the basket's front wall, and the wrist camera is still looking into the basket. The blue pen sits closer to the base in the overhead view, so I'm pulling back to x≈0.25.
move_to
right_x0.2500right_y0.1200right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8246, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4873, 1.285, 0.4942, 0.2642, 0.3332, 0.2447, 0.9962] state[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1748 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3484 right_y=0.1233 right_z=0.1144 right_yaw=0.0729 right_pitch=0.0624 right_roll=0.0571 right_gripper=0.9962 state[joint_eff]: [-0.1709, -1.8393, 7.0222, 1.6874, -0.0317, -0.0757, -0.0122, 0.4991, -3.2205, 3.9316, 0.8278, 0.1734, -0.1245, 0.0806] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.12, "right_z": 0.1}, "note": "The descent stopped at z\u22480.11, probably on the basket's front wall, and the wrist camera is still looking into the basket. The blue pen sits closer to the base in the overhead view, so I'm pulling back to x\u22480.25."})
tool
executing move_to over 8 steps (0.8s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe speed limiter clamped the last move and only part of it happened. The blue pen now shows at the bottom of the wrist view, close to the jaw column, so I'm finishing the pull-back to line up above it.
move_to
right_x0.2600right_y0.1200right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8268, 0.6113, -0.3805, -0.0223, -0.038, 0.9991, 0.5377, 1.1912, 0.4225, 0.2287, 0.3592, 0.2634, 0.9963] state[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.1741 left_yaw=0.003 left_pitch=-0.0312 left_roll=-0.0035 left_gripper=0.9991 right_x=0.3238 right_y=0.125 right_z=0.1091 right_yaw=0.0921 right_pitch=0.0552 right_roll=0.056 right_gripper=0.9963 state[joint_eff]: [-0.2393, -1.5932, 7.0496, 1.6923, -0.0464, -0.0464, -0.0122, 0.2393, -4.0137, 6.3385, 1.7363, 0.3004, 0.0708, 0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_y": 0.12, "right_z": 0.08}, "note": "The speed limiter clamped the last move and only part of it happened. The blue pen now shows at the bottom of the wrist view, close to the jaw column, so I'm finishing the pull-back to line up above it."})
tool
executing move_to over 5 steps (0.5s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe right arm isn't moving; it may be caught on the basket's front wall. Raising it straight up to free it.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8268, 0.6113, -0.3805, -0.0219, -0.0376, 0.9991, 0.5373, 1.1912, 0.4225, 0.2287, 0.3588, 0.2634, 0.9963] state[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1741 left_yaw=0.0025 left_pitch=-0.0313 left_roll=-0.0034 left_gripper=0.9991 right_x=0.3238 right_y=0.1249 right_z=0.1091 right_yaw=0.092 right_pitch=0.0551 right_roll=0.0562 right_gripper=0.9963 state[joint_eff]: [-0.1709, -1.4564, 7.2, 1.7509, -0.0562, -0.0122, -0.0122, 0.0889, -3.9179, 6.2974, 1.6874, 0.232, 0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "The right arm isn't moving; it may be caught on the basket's front wall. Raising it straight up to free it."})
tool
executing move_to over 6 steps (0.6s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe arm is free and back up at z≈0.19. The blue pen is visible just below the basket's front wall in the wrist view, so I'm pulling back toward the base above it.
move_to
right_x0.2500right_y0.1200right_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8322, 0.6102, -0.3805, -0.0216, -0.0383, 0.9991, 0.5411, 1.0622, 0.701, -0.2012, 0.3542, 0.2619, 0.9964] state[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1721 left_yaw=0.0026 left_pitch=-0.0377 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3224 right_y=0.1264 right_z=0.1866 right_yaw=0.1009 right_pitch=0.0338 right_roll=0.0474 right_gripper=0.9964 state[joint_eff]: [-0.1436, -1.8256, 7.4051, 1.6923, -0.0415, -0.0269, -0.0122, -0.3214, -4.0684, 9.388, 1.6142, 0.1392, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.12, "right_z": 0.18}, "note": "The arm is free and back up at z\u22480.19. The blue pen is visible just below the basket's front wall in the wrist view, so I'm pulling back toward the base above it."})
tool
executing move_to over 6 steps (0.6s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe blue pen runs front-to-back from the basket's front wall down through the jaw column in the wrist view. Descending onto its near end.
move_to
right_x0.2600right_y0.1280right_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8368, 0.6094, -0.3805, -0.0219, -0.038, 0.9991, 0.7658, 0.7811, 0.5869, -0.4133, 0.5148, 0.382, 0.9963] state[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1705 left_yaw=0.0027 left_pitch=-0.0431 left_roll=-0.0035 left_gripper=0.9991 right_x=0.2513 right_y=0.1259 right_z=0.1819 right_yaw=0.1314 right_pitch=0.0375 right_roll=0.0524 right_gripper=0.9963 state[joint_eff]: [0.0615, -1.5385, 7.2137, 1.7314, -0.0366, -0.0415, -0.0122, 0.335, -1.388, 6.7487, 1.4872, 0.3639, 0.1001, -0.0171] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_y": 0.128, "right_z": -0.005}, "note": "The blue pen runs front-to-back from the basket's front wall down through the jaw column in the wrist view. Descending onto its near end."})
tool
executing move_to over 13 steps (1.3s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
Pen centered between jaws. Close.
agent noteThe blue pen is centred between the jaws right below the basket wall. Closing the gripper.
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]: [-0.0189, 0.8417, 0.6094, -0.3805, -0.0223, -0.0383, 0.9991, 0.7391, 1.7027, 0.062, 1.1015, 0.5076, 0.3717, 0.9963] state[eef_state]: left_x=0.2984 left_y=0.0019 left_z=0.1691 left_yaw=0.0033 left_pitch=-0.048 left_roll=-0.0034 left_gripper=0.9991 right_x=0.2699 right_y=0.1347 right_z=0.01 right_yaw=0.1135 right_pitch=0.0907 right_roll=0.0868 right_gripper=0.9963 state[joint_eff]: [-0.212, -1.3607, 7.2684, 1.707, -0.0317, -0.0366, -0.0122, -0.4034, -2.7145, 0.841, 0.9841, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
Pen centered between jaws. Close.
move_to({"targets": {"right_gripper": 0.0}, "note": "The blue pen is centred between the jaws right below the basket wall. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
Grasped (0.148). Lift high.
agent noteThe gripper settled at 0.15, so the blue pen is held. Lifting well above the basket rim.
move_to
right_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8436, 0.6094, -0.3805, -0.0219, -0.0383, 0.9991, 0.7383, 1.7092, 0.0551, 1.1263, 0.5049, 0.3641, 0.1478] state[eef_state]: left_x=0.2985 left_y=0.0021 left_z=0.1686 left_yaw=0.0037 left_pitch=-0.0499 left_roll=-0.0036 left_gripper=0.9991 right_x=0.2697 right_y=0.1347 right_z=0.0114 right_yaw=0.1183 right_pitch=0.0996 right_roll=0.0877 right_gripper=0.1478 state[joint_eff]: [-0.2256, -1.6889, 7.0496, 1.7021, -0.0317, -0.0269, -0.0122, -0.1709, -4.8342, 2.947, 1.4335, 0.1245, 0.0269, 1.0085] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
Grasped (0.148). Lift high.
move_to({"targets": {"right_z": 0.24}, "note": "The gripper settled at 0.15, so the blue pen is held. Lifting well above the basket rim."})
tool
executing move_to over 15 steps (1.5s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe blue pen is held and the right basket is straight ahead in the wrist view. Carrying it forward to the same drop point as the marker.
move_to
right_x0.4300right_y0.1400right_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]: [-0.0181, 0.8452, 0.6094, -0.3805, -0.0219, -0.0383, 0.9991, 0.7383, 0.8639, 0.7509, -0.4599, 0.4892, 0.3595, 0.1522] state[eef_state]: left_x=0.2986 left_y=0.0021 left_z=0.1682 left_yaw=0.0037 left_pitch=-0.0515 left_roll=-0.0036 left_gripper=0.9991 right_x=0.2671 right_y=0.1356 right_z=0.2224 right_yaw=0.1356 right_pitch=0.0582 right_roll=0.0645 right_gripper=0.1522 state[joint_eff]: [-0.0342, -1.5248, 7.2137, 1.663, -0.0317, -0.0659, -0.0171, -0.1846, -2.0308, 9.6479, 1.7216, 0.2466, 0.022, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.14, "right_z": 0.22}, "note": "The blue pen is held and the right basket is straight ahead in the wrist view. Carrying it forward to the same drop point as the marker."})
tool
executing move_to over 13 steps (1.3s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe pen is over the middle 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]: [-0.0181, 0.8497, 0.609, -0.3813, -0.0219, -0.0383, 0.9991, 0.3847, 1.4395, 1.021, -0.1688, 0.1883, 0.1673, 0.1541] state[eef_state]: left_x=0.2987 left_y=0.0021 left_z=0.1666 left_yaw=0.0037 left_pitch=-0.0572 left_roll=-0.0035 left_gripper=0.9991 right_x=0.4158 right_y=0.1365 right_z=0.1942 right_yaw=0.1333 right_pitch=-0.0179 right_roll=0.0432 right_gripper=0.1541 state[joint_eff]: [-0.212, -1.9624, 7.0359, 1.6923, -0.0317, -0.0708, -0.0122, -0.4718, -6.8718, 10.0171, 1.8535, -0.0073, 0.0317, 1.033] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The pen is over the middle of the right basket. Releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteBoth pens are in the right basket. The left wrist camera shows a yellow pen just right of the jaws, beside a grey koala plush. Parking the right arm at home and lowering the left arm onto the yellow pen.
move_to
right_x0.3000right_y0.0000right_z0.1800left_x0.3100left_y-0.0050left_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8501, 0.609, -0.3805, -0.0219, -0.0383, 0.9991, 0.3801, 1.459, 1.0225, -0.1738, 0.1745, 0.1604, 0.9951] state[eef_state]: left_x=0.2988 left_y=0.002 left_z=0.1666 left_yaw=0.0037 left_pitch=-0.0568 left_roll=-0.0035 left_gripper=0.9991 right_x=0.4169 right_y=0.1374 right_z=0.1855 right_yaw=0.1438 right_pitch=-0.0418 right_roll=0.0394 right_gripper=0.9951 state[joint_eff]: [-0.212, -1.4427, 6.9812, 1.6972, -0.0317, -0.0366, -0.0171, 0.1299, -8.0068, 7.0085, 1.7265, 0.1245, -0.0024, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "left_x": 0.31, "left_y": -0.005, "left_z": 0.0}, "note": "Both pens are in the right basket. The left wrist camera shows a yellow pen just right of the jaws, beside a grey koala plush. Parking the right arm at home and lowering the left arm onto the yellow pen."})
tool
executing move_to over 12 steps (1.2s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe left descent stopped at z≈3.7 cm on top of the grey koala plush, which fills the space between the jaws. Grabbing the koala now and leaving the yellow pen for later.
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]: [-0.0536, 1.4483, 0.1703, 0.7696, -0.0967, -0.0277, 0.9991, -0.1455, 0.8906, 0.6624, -0.3752, -0.2108, -0.1104, 0.9962] state[eef_state]: left_x=0.3315 left_y=0.0029 left_z=0.0373 left_yaw=0.0258 left_pitch=0.0581 left_roll=0.0398 left_gripper=0.9991 right_x=0.3089 right_y=-0.0043 right_z=0.1827 right_yaw=0.0879 right_pitch=-0.0302 right_roll=0.034 right_gripper=0.9962 state[joint_eff]: [-0.4855, -0.4444, 1.4154, -0.1685, 0.4713, -0.4127, -0.0122, -0.4855, -2.0991, 6.9265, 1.79, -0.2613, -0.0708, 0.1001] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The left descent stopped at z\u22483.7 cm on top of the grey koala plush, which fills the space between the jaws. Grabbing the koala now and leaving the yellow pen for later."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe left gripper settled at 0.41, so it is holding about 4 cm of plush, which is the koala. Lifting to clear the basket rim.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0517, 1.4433, 0.1703, 0.8509, -0.1234, -0.0227, 0.4107, -0.1478, 0.8948, 0.6586, -0.3992, -0.2176, -0.1272, 0.9963] state[eef_state]: left_x=0.3406 left_y=0.0077 left_z=0.0569 left_yaw=0.0485 left_pitch=0.1449 left_roll=0.0485 left_gripper=0.4107 right_x=0.3053 right_y=-0.0033 right_z=0.1752 right_yaw=0.1006 right_pitch=-0.0601 right_roll=0.0317 right_gripper=0.9963 state[joint_eff]: [-0.4034, -3.6855, 4.547, 1.0085, 0.2173, -0.105, 1.033, 0.0479, -2.1265, 7.2821, 1.917, -0.0611, 0.1001, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "The left gripper settled at 0.41, so it is holding about 4 cm of plush, which is the koala. Lifting to clear the basket rim."})
tool
executing move_to over 13 steps (1.3s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe koala is lifted and the left basket is ahead and to the right in the wrist view. Carrying it over the basket centre.
move_to
left_x0.4400left_y-0.1400left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0513, 0.9546, 0.7437, -0.2382, -0.1307, -0.0269, 0.4125, -0.1478, 0.8978, 0.6586, -0.4076, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.3416 left_y=0.0091 left_z=0.2285 left_yaw=0.0569 left_pitch=0.1184 left_roll=0.0506 left_gripper=0.4125 right_x=0.3042 right_y=-0.003 right_z=0.1727 right_yaw=0.1015 right_pitch=-0.0711 right_roll=0.0341 right_gripper=0.9963 state[joint_eff]: [-0.3761, -3.3162, 9.8393, 1.9951, 0.0122, 0.0269, 0.1734, -0.0615, -2.1538, 7.0222, 1.7753, -0.1343, -0.0317, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.14, "left_z": 0.24}, "note": "The koala is lifted and the left basket is ahead and to the right in the wrist view. Carrying it over the basket centre."})
tool
executing move_to over 14 steps (1.4s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe koala is hanging over the left basket in both views. Releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5079, 1.5234, 1.1446, -0.2028, -0.5106, -0.2485, 0.4132, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.4324 left_y=-0.1378 left_z=0.2179 left_yaw=0.032 left_pitch=0.0627 left_roll=0.0718 left_gripper=0.4132 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963 state[joint_eff]: [-0.3077, -8.0068, 9.6342, 1.7558, -0.2906, -0.0562, 0.0464, -0.0615, -2.0581, 7.0359, 1.6874, -0.149, -0.0562, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The koala is hanging over the left basket in both views. Releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe koala is in the left basket. Next is the teddy bear in the middle of the table, just in front of the gap between the baskets. Moving the left arm above it to line up a grasp.
move_to
left_x0.3700left_y-0.2400left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5091, 1.5391, 1.1488, -0.2081, -0.5163, -0.2596, 0.9952, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.4337 left_y=-0.1381 left_z=0.2123 left_yaw=0.0408 left_pitch=0.0505 left_roll=0.0736 left_gripper=0.9952 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963 state[joint_eff]: [0.1026, -8.6085, 6.6393, 1.6923, -0.188, 0.0611, -0.2466, -0.0205, -1.6752, 7.0906, 1.6874, -0.1245, -0.0659, -0.0171] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.24, "left_z": 0.15}, "note": "The koala is in the left basket. Next is the teddy bear in the middle of the table, just in front of the gap between the baskets. Moving the left arm above it to line up a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe teddy bear's head shows at the bottom right of the left wrist view, just right of the jaws and near the fingertips. Shifting right and descending onto the head.
move_to
left_y-0.2620left_x0.3700left_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]: [-0.8623, 1.6627, 1.0805, -0.189, -0.7586, -0.5152, 0.9963, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.371 left_y=-0.2407 left_z=0.1522 left_yaw=0.0039 left_pitch=0.0317 left_roll=0.0805 left_gripper=0.9963 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963 state[joint_eff]: [-0.1846, -6.9812, 6.2838, 1.58, -0.486, -0.0611, 0.1001, -0.0615, -1.9077, 6.9538, 1.6581, -0.1294, -0.0513, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.262, "left_x": 0.37, "left_z": 0.02}, "note": "The teddy bear's head shows at the bottom right of the left wrist view, just right of the jaws and near the fingertips. Shifting right and descending onto the head."})
tool
executing move_to over 9 steps (0.9s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe descent stopped at z≈0.10, probably on the corner of the left basket; the bear only shows at the very bottom of the wrist view, closer to the base. Backing up to x≈0.32 above the bear.
move_to
left_x0.3200left_y-0.2550left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8913, 1.9209, 0.9703, 0.3355, -0.9493, -0.4858, 0.9964, -0.1478, 0.8997, 0.6586, -0.4091, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.393 left_y=-0.2522 left_z=0.0958 left_yaw=0.1131 left_pitch=0.2208 left_roll=0.0542 left_gripper=0.9964 right_x=0.3041 right_y=-0.003 right_z=0.1718 right_yaw=0.1016 right_pitch=-0.0745 right_roll=0.035 right_gripper=0.9963 state[joint_eff]: [-1.1419, -2.5094, 2.0855, 0.2222, 1.8242, -0.9353, -0.0024, -0.0205, -1.9077, 6.9949, 1.6728, -0.1343, -0.0562, -0.0171] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.255, "left_z": 0.12}, "note": "The descent stopped at z\u22480.10, probably on the corner of the left basket; the bear only shows at the very bottom of the wrist view, closer to the base. Backing up to x\u22480.32 above the bear."})
tool
executing move_to over 6 steps (0.6s)
step 226
top_cam
camera top_cam step 226
assistant
agent noteThe teddy bear's face fills the bottom centre of the left wrist view: it is lying face-up with its head pointing forward. Advancing slightly and descending to grip the head.
move_to
left_x0.3450left_z0.0250
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]: [-1.0599, 1.776, 0.9039, 0.1055, -1.0481, -0.6632, 0.9964, -0.1478, 0.9035, 0.6586, -0.4084, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.328 left_y=-0.2648 left_z=0.1118 left_yaw=0.0823 left_pitch=0.21 left_roll=0.0505 left_gripper=0.9964 right_x=0.3045 right_y=-0.0031 right_z=0.1709 right_yaw=0.1016 right_pitch=-0.0774 right_roll=0.0357 right_gripper=0.9963 state[joint_eff]: [-0.4581, -10.2359, 5.4359, 1.3602, -0.4713, -0.0855, -0.022, -0.335, -1.8667, 7.0222, 1.6581, -0.1197, -0.0611, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_z": 0.025}, "note": "The teddy bear's face fills the bottom centre of the left wrist view: it is lying face-up with its head pointing forward. Advancing slightly and descending to grip the head."})
tool
executing move_to over 6 steps (0.6s)
step 232
assistant
agent noteThe left arm didn't respond to the last target and has drifted to pitch 0.2 rad. Re-sending the position with pitch, yaw and roll set back to zero, descending toward the bear's head.
move_to
left_x0.3400left_y-0.2600left_z0.0500left_pitch0.0000left_yaw0.0000left_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]: [-1.076, 1.7592, 0.9028, 0.0372, -1.0714, -0.7116, 0.9964, -0.1478, 0.9035, 0.6586, -0.4088, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.3205 left_y=-0.2599 left_z=0.1127 left_yaw=0.0975 left_pitch=0.2058 left_roll=0.0602 left_gripper=0.9964 right_x=0.3044 right_y=-0.0031 right_z=0.1708 right_yaw=0.1016 right_pitch=-0.0778 right_roll=0.0358 right_gripper=0.9963 state[joint_eff]: [-0.1573, -9.812, 5.2718, 1.1551, -0.569, -0.0317, -0.0171, -0.0479, -1.6479, 7.0085, 1.6728, -0.1392, -0.0562, -0.0122] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.26, "left_z": 0.05, "left_pitch": 0.0, "left_yaw": 0.0, "left_roll": 0.0}, "note": "The left arm didn't respond to the last target and has drifted to pitch 0.2 rad. Re-sending the position with pitch, yaw and roll set back to zero, descending toward the bear's head."})
tool
executing move_to over 7 steps (0.7s)
step 239
assistant
agent noteThe bear's head sits squarely between the jaws in the left wrist view. Lowering a little and closing to grab it.
move_to
left_z0.0300left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9527, 1.8278, 0.8745, 0.1192, -0.8875, -0.6895, 0.9964, -0.1478, 0.9054, 0.6586, -0.4091, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.3463 left_y=-0.2445 left_z=0.0679 left_yaw=0.0907 left_pitch=0.0774 left_roll=0.0331 left_gripper=0.9964 right_x=0.3045 right_y=-0.0031 right_z=0.1702 right_yaw=0.1017 right_pitch=-0.08 right_roll=0.0364 right_gripper=0.9963 state[joint_eff]: [-2.0581, -8.2256, 4.8889, 1.2234, -0.1783, 0.1197, -0.022, -0.0342, -1.8667, 6.9538, 1.6484, -0.1099, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03, "left_gripper": 0.0}, "note": "The bear's head sits squarely between the jaws in the left wrist view. Lowering a little and closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 249
assistant
agent noteThe gripper settled at 0.29 with the bear's head between the jaws, so it is grasped. Lifting straight up to clear the basket rim.
move_to
left_z0.2700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9562, 1.906, 0.8551, 0.3096, -0.902, -0.6926, 0.289, -0.1478, 0.9054, 0.6586, -0.4084, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.3544 left_y=-0.2556 left_z=0.0573 left_yaw=0.1071 left_pitch=0.1323 left_roll=-0.0455 left_gripper=0.289 right_x=0.3046 right_y=-0.0031 right_z=0.1704 right_yaw=0.1017 right_pitch=-0.0793 right_roll=0.0362 right_gripper=0.9963 state[joint_eff]: [-0.0068, -5.8462, 3.0017, 0.8718, -0.1636, -0.0171, 0.6862, -0.0342, -1.9487, 6.9675, 1.6972, -0.149, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.27}, "note": "The gripper settled at 0.29 with the bear's head between the jaws, so it is grasped. Lifting straight up to clear the basket rim."})
tool
executing move_to over 14 steps (1.4s)
step 263
assistant
agent noteThe bear is lifted and hanging from the gripper, with the left basket (koala inside) ahead-left in the wrist view. Carrying the bear over the basket.
move_to
left_x0.4400left_y-0.1200left_z0.2600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9558, 1.6417, 1.3716, -0.5011, -0.8906, -0.701, 0.2916, -0.1478, 0.9062, 0.6586, -0.4088, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.3579 left_y=-0.2624 left_z=0.2417 left_yaw=0.101 left_pitch=0.1108 left_roll=-0.0309 left_gripper=0.2916 right_x=0.3046 right_y=-0.0031 right_z=0.1701 right_yaw=0.1017 right_pitch=-0.0804 right_roll=0.0365 right_gripper=0.9963 state[joint_eff]: [-0.1846, -10.7966, 9.0735, 1.3309, -0.4762, 0.0366, 0.2613, -0.0479, -2.0171, 6.9949, 1.6239, -0.1538, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.12, "left_z": 0.26}, "note": "The bear is lifted and hanging from the gripper, with the left basket (koala inside) ahead-left in the wrist view. Carrying the bear over the basket."})
tool
executing move_to over 13 steps (1.3s)
step 276
assistant
agent noteThe overhead view shows the bear hanging over the left basket. Releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4679, 1.5311, 1.2301, -0.3183, -0.5247, -0.3553, 0.2938, -0.1478, 0.9081, 0.6586, -0.4088, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.4369 left_y=-0.1176 left_z=0.2312 left_yaw=0.1395 left_pitch=0.0382 left_roll=0.0059 left_gripper=0.2938 right_x=0.3047 right_y=-0.0031 right_z=0.1696 right_yaw=0.1017 right_pitch=-0.0822 right_roll=0.0369 right_gripper=0.9963 state[joint_eff]: [-0.0068, -10.5368, 7.7744, 2.1856, -0.1343, 0.1734, 0.2222, -0.1983, -2.1128, 6.9538, 1.6679, -0.1197, -0.0757, -0.0122] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The overhead view shows the bear hanging over the left basket. Releasing it."})
tool
executing move_to over 8 steps (0.8s)
step 284
assistant
agent noteThe bear is in the left basket. A brown monkey plush was last seen just in front of the basket, slightly right of the left arm's start position. Lowering onto it in one move because only a few calls are left.
move_to
left_x0.3200left_y-0.0650left_z0.0200left_pitch0.0000left_yaw0.0000left_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]: [-0.4698, 1.5314, 1.2297, -0.3256, -0.5194, -0.3634, 0.9964, -0.1478, 0.9081, 0.6586, -0.4088, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.4358 left_y=-0.1189 left_z=0.2293 left_yaw=0.1374 left_pitch=0.0299 left_roll=0.001 left_gripper=0.9964 right_x=0.3047 right_y=-0.0031 right_z=0.1696 right_yaw=0.1017 right_pitch=-0.0822 right_roll=0.0369 right_gripper=0.9963 state[joint_eff]: [0.0752, -7.3504, 6.9538, 1.7021, -0.2759, 0.022, -0.0659, -0.1846, -2.0034, 6.9675, 1.6728, -0.0757, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.065, "left_z": 0.02, "left_pitch": 0.0, "left_yaw": 0.0, "left_roll": 0.0}, "note": "The bear is in the left basket. A brown monkey plush was last seen just in front of the basket, slightly right of the left arm's start position. Lowering onto it in one move because only a few calls are left."})
tool
executing move_to over 14 steps (1.4s)
step 298
assistant
agent notePartly done. I sorted the objects into two types: pens (right basket) and plush toys (left basket). Placed so far: the black-capped marker and the blue pen in the right basket (both confirmed by gripper readings and seen inside the basket), and the grey koala and the teddy bear in the left basket. Two objects are probably still on the table in front of the left basket: a small brown monkey plush and a yellow pen. The last move toward the monkey stopped at z≈0.115, which looks like contact with the basket or the bear, and I ran out of call budget before I could place either one. The yellow pen is also far from the right basket (right_y ≈ 0.65 is out of range), so the left arm would have to move it toward the centre first and hand off to the right arm.
done
hindsight- Layout: the left basket centre is at about left (x 0.44, y −0.13) and the right basket at about right (x 0.43, y 0.14). Opening the gripper at z≈0.2 over those points drops objects in reliably. - Top camera: the left grasp point at start (0.30, 0) shows at about image (35, 140) and the right one at about (190, 140). Scale is about 3.2 px/cm across the image; forward distance is about 5 px/cm near the baskets. - Descents in front of a basket often stop on its front wall at z≈0.1. Objects just in front of a basket are closer to the base than they look, so aim at x ≈ 0.26–0.33 for them. - The speed limiter (delta clamp) often truncates a move, and once the arm stalled completely. Raising z, or re-sending the target with pitch/yaw/roll explicitly set to 0, got it moving again, because the wrist had drifted to pitch ~0.2. - Plush toys grip well: the settled reading was 0.29–0.41, and pens read 0.15. - Budget: count on about 5 calls per object (approach, descend, close, lift, carry, open). Combine lift+carry and approach+descend when the path is clear. Sort the objects closest to each basket first. An object far out on the opposite side (like the yellow pen near the left arm that belongs in the right basket) needs a hand-off, so plan for it early. - Take one clear overhead look with both arms parked before starting, so you have a full object list.
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]: [-0.3874, 1.4288, 0.2962, 0.8639, -0.3798, -0.3244, 0.9976, -0.1478, 0.91, 0.6586, -0.4091, -0.218, -0.128, 0.9963] state[eef_state]: left_x=0.3658 left_y=-0.0747 left_z=0.115 left_yaw=0.1116 left_pitch=0.3056 left_roll=-0.2049 left_gripper=0.9976 right_x=0.3047 right_y=-0.0031 right_z=0.1689 right_yaw=0.1018 right_pitch=-0.0845 right_roll=0.0375 right_gripper=0.9963 state[joint_eff]: [-0.1983, 0.7453, -0.7179, -1.4383, 0.2564, 0.823, 0.1099, -0.0615, -2.1265, 7.1316, 1.6093, -0.1343, -0.0659, -0.0171] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
done({"summary": "Partly done. I sorted the objects into two types: pens (right basket) and plush toys (left basket). Placed so far: the black-capped marker and the blue pen in the right basket (both confirmed by gripper readings and seen inside the basket), and the grey koala and the teddy bear in the left basket. Two objects are probably still on the table in front of the left basket: a small brown monkey plush and a yellow pen. The last move toward the monkey stopped at z\u22480.115, which looks like contact with the basket or the bear, and I ran out of call budget before I could place either one. The yellow pen is also far from the right basket (right_y \u2248 0.65 is out of range), so the left arm would have to move it toward the centre first and hand off to the right arm.", "hindsight": "- Layout: the left basket centre is at about left (x 0.44, y \u22120.13) and the right basket at about right (x 0.43, y 0.14). Opening the gripper at z\u22480.2 over those points drops objects in reliably.\n- Top camera: the left grasp point at start (0.30, 0) shows at about image (35, 140) and the right one at about (190, 140). Scale is about 3.2 px/cm across the image; forward distance is about 5 px/cm near the baskets.\n- Descents in front of a basket often stop on its front wall at z\u22480.1. Objects just in front of a basket are closer to the base than they look, so aim at x \u2248 0.26\u20130.33 for them.\n- The speed limiter (delta clamp) often truncates a move, and once the arm stalled completely. Raising z, or re-sending the target with pitch/yaw/roll explicitly set to 0, got it moving again, because the wrist had drifted to pitch ~0.2.\n- Plush toys grip well: the settled reading was 0.29\u20130.41, and pens read 0.15.\n- Budget: count on about 5 calls per object (approach, descend, close, lift, carry, open). Combine lift+carry and approach+descend when the path is clear. Sort the objects closest to each basket first. An object far out on the opposite side (like the yellow pen near the left arm that belongs in the right basket) needs a hand-off, so plan for it early.\n- Take one clear overhead look with both arms parked before starting, so you have a full object list."})
tool
done: Partly done. I sorted the objects into two types: pens (right basket) and plush toys (left basket). Placed so far: the black-capped marker and the blue pen in the right basket (both confirmed by gripper readings and seen inside the basket), and the grey koala and the teddy bear in the left basket. Two objects are probably still on the table in front of the left basket: a small brown monkey plush and a yellow pen. The last move toward the monkey stopped at z≈0.115, which looks like contact with the basket or the bear, and I ran out of call budget before I could place either one. The yellow pen is also far from the right basket (right_y ≈ 0.65 is out of range), so the left arm would have to move it toward the centre first and hand off to the right arm.
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 · 18.38 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6163, -0.3798, -0.0219, -0.0334, 0.9991, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1837 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9991 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.6085, -1.8667, 9.347, 1.7851, -0.0171, 0.1441, -0.105, -0.7043, -1.6479, 9.7846, 1.7118, -0.1245, -0.0122, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:151f565d7809ae366053c2343deda1e3e36c9405b92534e7b773edf6a30fc55c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54a7c337eb9532928183a1d09066c137a799bba48908d4cf64e35b4d21fca096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35ec65252f5106a86e68b74c2778ae3afcff47b7adad48bd89689a5e9ab1bc98",
        "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 · 4.526 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6163, -0.3798, -0.0219, -0.0334, 0.9991, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1837 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9991 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.6085, -1.8667, 9.347, 1.7851, -0.0171, 0.1441, -0.105, -0.7043, -1.6479, 9.7846, 1.7118, -0.1245, -0.0122, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:151f565d7809ae366053c2343deda1e3e36c9405b92534e7b773edf6a30fc55c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54a7c337eb9532928183a1d09066c137a799bba48908d4cf64e35b4d21fca096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35ec65252f5106a86e68b74c2778ae3afcff47b7adad48bd89689a5e9ab1bc98",
        "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_01WSsehXbovTYL8ynZuuZcCS",
      "input": {
        "note": "I see two kinds of objects: plush toys (a teddy bear and small stuffed animals, on the left) and pens/sticks (on the right). Plan: plush toys go in the left basket and pens in the right one. Moving the right arm lower and a little left, above the white pen, to line up a grasp.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.04,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01WSsehXbovTYL8ynZuuZcCS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6159, -0.3805, -0.0223, -0.0376, 0.9991, 0.2092, 1.124, 0.2943, 0.2226, 0.1574, 0.091, 0.9991]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1823 left_yaw=0.0028 left_pitch=-0.0049 left_roll=-0.0038 left_gripper=0.9991 right_x=0.3147 right_y=0.0422 right_z=0.0705 right_yaw=0.0242 right_pitch=-0.0403 right_roll=-0.0077 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.5385, 7.1043, 1.7118, -0.0415, -0.0317, -0.0171, 0.0342, -3.1795, 6.4752, 1.9609, 0.2173, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d245578aca9c19a1949e4de992cbdf806fa2f184a347d57d88c10cd7f52d4727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98607572ce5975eb359e0cbdf238f5e292172441f99935315b280cec4f57c1aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:093893073e5abdaea1f77d21b9f34c317041f8756ad8380b15194ea82b471647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 2.905 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6163, -0.3798, -0.0219, -0.0334, 0.9991, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1837 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9991 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.6085, -1.8667, 9.347, 1.7851, -0.0171, 0.1441, -0.105, -0.7043, -1.6479, 9.7846, 1.7118, -0.1245, -0.0122, -0.0952]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6159, -0.3805, -0.0223, -0.0376, 0.9991, 0.2092, 1.124, 0.2943, 0.2226, 0.1574, 0.091, 0.9991]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1823 left_yaw=0.0028 left_pitch=-0.0049 left_roll=-0.0038 left_gripper=0.9991 right_x=0.3147 right_y=0.0422 right_z=0.0705 right_yaw=0.0242 right_pitch=-0.0403 right_roll=-0.0077 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.5385, 7.1043, 1.7118, -0.0415, -0.0317, -0.0171, 0.0342, -3.1795, 6.4752, 1.9609, 0.2173, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d245578aca9c19a1949e4de992cbdf806fa2f184a347d57d88c10cd7f52d4727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98607572ce5975eb359e0cbdf238f5e292172441f99935315b280cec4f57c1aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:093893073e5abdaea1f77d21b9f34c317041f8756ad8380b15194ea82b471647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AcKEAgSGAI4AUIIdGhpbmtpbmcSDKO95BprEOHEZ/TEaBoMYtmggoh5sCSBImcvIjDJeRsE7Erp/ej/NQPj1QY2XYpuVA/lDMZ/xt9BRVzrWLEIPvqiDIBEN25lbzTkdhgqkQfOIWLpzRGEahXdrvsWEPbiomGTsoqMGfZR5CXh4ykNNlIFyYKCsl89Q3IN6lmc3vu5uNGujPfmTN72jK5+o5kSG/3ChhdEJOk5wGsJiEQRu75GsbjdjH2JRy3f8ZUiaJn/THHO/xCwYtmEtoQyJWt59nrovjRCZfG94XSAooEv3tyhavUGyi6fohoTuKu5ZsXEvJkaZl8Z3U/U6nTIKQjdWcH3w7adTK0YEppL7KE2L6YldTlwnm2QUOLwvRcBwmx0WlFuz5cjmakIYY8t4C52C2Rg1kanVmE1cZcL9iCsmaSMWgBalMeH7BMFG960reEhY1G3RYnUBJOb6TpMJSbPCfRdGKMHsdzWQmt7c83Wp0LpU0a17N8kWeRlUDt9GYY2g7G8gAWX/jHLP+xvZLd77NWa7IHoWCprBX92+s5BSGgOAk6D4ux5nt5f3ASmpex4CrP3Szkll2Ac7wtJv/LI4bVH/yx4zXIyMGGwxE4EDNShTaK/kA7iGJ7fd3SjXaXGLEdYdUj+B3Xj+2bXfMN2V855DjZqrjJW5KBTndAK+COe8ZOaSn96J7cthpkEg+HpY1VtVl81aztgbmUCfDGWImZpqVzufyVuwmS8P8YrzaOC9d8zNN3X/0cSWCZyc15OzHw2MH8d2bNCGimhQt+XutOc1tE2kz4K2Hv34ylF4nG6QWkTWi4Ld7m2iX4wyEK0UybfxWcWEo5xD5V9q9WJqedtH7kvV+XDE3FeX8bPpb1IGsKCjBkVxaVEZEiIjzn/CcbV2354+bu5y64y6zPgVGMhCAaOU34uw19/oseOyZQB0oBAQ/zhTVodELrVb4VZ0jx1xki0zKtVwhujFryaylYXpaT09bZ7ntSJY6Cpiu9/RZjGixEUJjxYeLqBLbddIPsDYOKdmVoQIRwKh31GjTkverbV3xSldTLfHWNZQVo62c4vv1JvvBPjFa/2IvA/GURmdUBLXJBOby2jn3ayX4cz1/krOqHsPtSfqmVMlpqpQub4l/PG7OAI0GK8HrloZmFVOBtDD56/7hTs37v178O9Qf5wqQMNODDaY49/F6H/hdVHUhmASwxK+gc3W7Vb9iKI8eJX3r+8T7KxgS8x2sEwNDxSD3xSzacJ00nr/9AlXKxJoUPh/kzl0t7GV2pSjFkfx/KXSdyOPLustaaKLnbMtaEBrSLleXDK3uwaq1U3KqAaoMvtwzDqouV8IMKgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B5gbgpKHQHREotZFa7mPT8",
      "input": {
        "note": "The right wrist camera shows a black-capped marker lying front-to-back just left of the jaw column, with a blue pen further left. Descending onto the marker with a small shift left and forward.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.05,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01B5gbgpKHQHREotZFa7mPT8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8112, 0.614, -0.3805, -0.0219, -0.038, 0.9991, 0.2298, 1.668, 0.2268, 0.9009, 0.1555, 0.1135, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1797 left_yaw=0.0027 left_pitch=-0.0129 left_roll=-0.0041 left_gripper=0.9991 right_x=0.343 right_y=0.0558 right_z=0.0139 right_yaw=0.0346 right_pitch=0.0249 right_roll=0.0249 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.4017, 7.2684, 1.7753, -0.0464, -0.0513, -0.0122, 0.4034, -3.4393, 2.4137, 0.9744, 0.2222, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cb560988e6cf7d8fea96f91022abbd44cd571b21904099a60821748185c4ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1366a0a5f2d902a07a360a24f278d2c215da57182fcf0596f51c8c75c1006d5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d05f94d80033da96e63a75de399decee591a7f3c7613ffa3590d5bba9c17a12",
        "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 · 4.876 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6163, -0.3798, -0.0219, -0.0334, 0.9991, -0.0154, 0.7986, 0.6109, -0.3706, -0.012, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1837 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9991 right_x=0.2972 right_y=0.0011 right_z=0.1838 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.6085, -1.8667, 9.347, 1.7851, -0.0171, 0.1441, -0.105, -0.7043, -1.6479, 9.7846, 1.7118, -0.1245, -0.0122, -0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6159, -0.3805, -0.0223, -0.0376, 0.9991, 0.2092, 1.124, 0.2943, 0.2226, 0.1574, 0.091, 0.9991]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1823 left_yaw=0.0028 left_pitch=-0.0049 left_roll=-0.0038 left_gripper=0.9991 right_x=0.3147 right_y=0.0422 right_z=0.0705 right_yaw=0.0242 right_pitch=-0.0403 right_roll=-0.0077 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.5385, 7.1043, 1.7118, -0.0415, -0.0317, -0.0171, 0.0342, -3.1795, 6.4752, 1.9609, 0.2173, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8112, 0.614, -0.3805, -0.0219, -0.038, 0.9991, 0.2298, 1.668, 0.2268, 0.9009, 0.1555, 0.1135, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1797 left_yaw=0.0027 left_pitch=-0.0129 left_roll=-0.0041 left_gripper=0.9991 right_x=0.343 right_y=0.0558 right_z=0.0139 right_yaw=0.0346 right_pitch=0.0249 right_roll=0.0249 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.4017, 7.2684, 1.7753, -0.0464, -0.0513, -0.0122, 0.4034, -3.4393, 2.4137, 0.9744, 0.2222, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cb560988e6cf7d8fea96f91022abbd44cd571b21904099a60821748185c4ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1366a0a5f2d902a07a360a24f278d2c215da57182fcf0596f51c8c75c1006d5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d05f94d80033da96e63a75de399decee591a7f3c7613ffa3590d5bba9c17a12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AYKEAgSGAI4AUIIdGhpbmtpbmcSDHrUzL61KkVH3tKO3xoM6wbZKH9cf+/oPeXfIjCFX0I046uPcuWhI8jJ8iBzHjPeU75jVdxf3QnoUpgT//kzfcn+jkm/hjAMxsKJW0cq8QUWz3BjGrEV3deMwng7drUuM7KVCkUUFbjMWDAC/wSQ6pWl/dw8dpU3X1xsIYzltVxxMR5/3K6tuqiXOMMyQXwSFT6fyNA7w1X7FGm6/6BI4pSt5d6ue1XwFiu6GkN05ByMtrUqqGfTQLc9oXSZBro2LVCT65oQLdjsFuszD74PpcVH6kX13V+Q7Nma4bY0xF9yXFbges+Bca/PH3QJ03i3Vu01aqPvC0nn8wQlze3jB2biBtmfNfwZIP3rt+rXhjNna+nwAhd74v9l5DKc9wzOBFrhrfMWywVvNVpIgzDy5JfaMxFyTpxcmatqlrnHZX0xXVknfoRRL3tKae2MESuGL0Z8QCU/tLpG2RlQWxHGEMXGA/An7+BBwR5Ulgzd2xBgqtXhP8QZeLorjIWmDTpsrGgG2C7XJUQ0yg7r/nAH/ZbP2/NZ8eB4QDvxVl3MueqHmFoXkYGrH3F7izgNGbf6tKLwmQ/5q4Ebppsp7FBt+XC+2ap0q/H3U0jl3Ah6RCtfSkNA8sktkCiQZQ6XEL7CBvqns2CApO8e71Sgcnl8lx8SVijBwYSI6gzxEOLVA6wwfchWoaQflPtxQg59TJ0TumXHRJ7v1WepU+rqvoJUl6Btbn2HIHgpaHh3YcfU9uouv4pf7uWWEalHV2Jo4ezyjZ6kj/NXk+NHXUJZ9IUwhZ68lUKVMRxtj4SlyJJ6+s1xQEQHOz9P+J/fhnzEB6RLhjlEg733WbubaTzWlbALivZlUJTw6rpxKSrM3Kt6uJTeIhwxskfLXp7yeHwF4G1NKTu8gsJg+xsCO6Kepw/hfaPbK1SmQ3mo9HSdFWn/L3i+ryH7csWLEfjgWE4fda6DHJ3d5OTG8xMg4hxpb6XjO0bXGMWanbOSOvtUaFyAvfOeqt9oGyOOamyPn4ZsIBrz5EPGyPLnPJh0ohTr7LuvADdmlnAQaoU0QpEbp+d+Z2aYlad+hZghKE8/4qkXg7X5rwFNRoH615jQ+YEiiBk/d/QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0131LpEGqyweqhZbVjWfZgqk",
      "input": {
        "note": "The marker is centred between the jaws in the right wrist view and the descent stopped at z≈1.4 cm. Closing the gripper.",
        "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_0131LpEGqyweqhZbVjWfZgqk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6132, -0.3805, -0.0219, -0.0383, 0.9991, 0.2291, 1.6711, 0.2214, 0.9173, 0.149, 0.1116, 0.1514]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1795 left_yaw=0.0029 left_pitch=-0.0133 left_roll=-0.0044 left_gripper=0.9991 right_x=0.3427 right_y=0.0567 right_z=0.0147 right_yaw=0.0403 right_pitch=0.0322 right_roll=0.0281 right_gripper=0.1514\nstate[joint_eff]: [-0.1983, -1.3197, 7.1179, 1.7118, -0.022, -0.0757, -0.0122, 0.0068, -5.2718, 3.9863, 1.6142, 0.0415, -0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf4458ac8b00e655ba5c76b95baf42257d0d78309f47928fffc7face5a094ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f1f087a6ea7ccebb21faa5e72eb47635f596766c8357724ac617b1592a9143a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d780e653e346feb93e797a798be8c361d11b2b598c7b5547cffe664ec1cb4526",
        "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 · 3.319 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.6159, -0.3805, -0.0223, -0.0376, 0.9991, 0.2092, 1.124, 0.2943, 0.2226, 0.1574, 0.091, 0.9991]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1823 left_yaw=0.0028 left_pitch=-0.0049 left_roll=-0.0038 left_gripper=0.9991 right_x=0.3147 right_y=0.0422 right_z=0.0705 right_yaw=0.0242 right_pitch=-0.0403 right_roll=-0.0077 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.5385, 7.1043, 1.7118, -0.0415, -0.0317, -0.0171, 0.0342, -3.1795, 6.4752, 1.9609, 0.2173, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8112, 0.614, -0.3805, -0.0219, -0.038, 0.9991, 0.2298, 1.668, 0.2268, 0.9009, 0.1555, 0.1135, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1797 left_yaw=0.0027 left_pitch=-0.0129 left_roll=-0.0041 left_gripper=0.9991 right_x=0.343 right_y=0.0558 right_z=0.0139 right_yaw=0.0346 right_pitch=0.0249 right_roll=0.0249 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.4017, 7.2684, 1.7753, -0.0464, -0.0513, -0.0122, 0.4034, -3.4393, 2.4137, 0.9744, 0.2222, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6132, -0.3805, -0.0219, -0.0383, 0.9991, 0.2291, 1.6711, 0.2214, 0.9173, 0.149, 0.1116, 0.1514]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1795 left_yaw=0.0029 left_pitch=-0.0133 left_roll=-0.0044 left_gripper=0.9991 right_x=0.3427 right_y=0.0567 right_z=0.0147 right_yaw=0.0403 right_pitch=0.0322 right_roll=0.0281 right_gripper=0.1514\nstate[joint_eff]: [-0.1983, -1.3197, 7.1179, 1.7118, -0.022, -0.0757, -0.0122, 0.0068, -5.2718, 3.9863, 1.6142, 0.0415, -0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf4458ac8b00e655ba5c76b95baf42257d0d78309f47928fffc7face5a094ebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f1f087a6ea7ccebb21faa5e72eb47635f596766c8357724ac617b1592a9143a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d780e653e346feb93e797a798be8c361d11b2b598c7b5547cffe664ec1cb4526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5gkKEAgSGAI4AUIIdGhpbmtpbmcSDMpVrPfkqFJUhCWv9RoMzDdvloxD9YWEzZU/IjDWq78uhoPI+VruoM83DXI6+PIRJNzX8vvf4EUYsFH/sLLowYDSAfB2t3mxBnOILpwqgwle+jnnf4cVC7pA2z5zNda9wFI/5p8/Om0w71sw3EU3443BCLYBJYLlVZDFTlv4WqjNStUF9AEGzaUyeiJ+jLBcB/XBeX94cl6DncdhzJGkMnYEQUBS3G4FAqCeDULQ3AoOSV16ASNbSQ1OvT2y7V4F4BIiFueSWLyky8nEibf7xvj5oMz5UGjpcmdUk2BFNt51rOvcU8oJTJtj3qtxnC2d1uD1zpGbl3McHD/KByvrjIePyB/0ib0RUa5hzGUVZKKZtChR+CCRMreIxpRwQga2HPFUJnK74+tBqUUKswPVom55ht2UshuJqEvkfjqUIaKX0iqWVuWI8OzJ2324DgIY/0aDTR+T2HSHfGGdVdOauapMlDgKcx2Kmh5dPVPzXhONzc/HOR+7QiADTruvo3TDBX8IBjmT1QaASIbuKc2/54QrbN/H25YKjaZUDEf59Qi+fDLzgnReWmGKp8u3ejhra0a3nmeyTR0Om+laL6yHEnLBQmoSPyGg6yaDy44W02Ti3h0r3A/NejxGhfRw6BHvvNPRCV+ucyHyP0MugbC/JjHUQLcPiSCpwKFv4PGSoxjAKcvYhGeN9qTKYlyEy3aCeK7XN4Jh73k0f+25nJf4LaARThTemYdt/+XJd/ikx2xebKHkN4HfAKPuzZJPaF6gl4gJfaQpJ0axj5S7LbU9ksAt1x4PwWIRGWIxwDWDz3dT8Iz8E5iPmh0SSv3v65O08W0oAV3oZopKfXtZLnGY2dYPrSjPIpOiOEUO6ADVLBKwBZ0IL5TPzrSk9HQMf7dVaOy1xOXAhr+Tl0YAUilSV57lkhntxIJjiQt8+hvQYhiD2uWyxh1DMvLeZYg/NXyng5Tr58ZX4QGkro5dxc9Y9qUx3EE62C+Mbv/ZyGp0Lvuzn+Zud19izray57NUI2VUr01ZYl5yhmsoNsoyO6YUJm9KSwktX3bnTzSU0NJiJdaPnezr0zEC/1QouMZVmEADvRnF0Ezd+FFPKWySM/sTXwOnGa5oVz171I+OBZ389V5OS0+yHvZlaPuwx81OnLaa57kZ32cRb5grHvNWDKZlDWHbJaBdLOXCBg8N02s3wzL0vygiTysMo8stSe3gaSNVhmezAuFY0yQcGjSoUzERQKkhy6iJmHnIbsOcUANXVOc0cayNtplxLb9+P8WW/yp0dE7Ih7MoVeNOA9cfP1bVPrywWWpjEqKeOtVlU3/4T+XtniGJzbJ8HKtT6dVW81DQoVTt2MRuxDp2cUtV+HH8r4jfsiPzRJf/t/tOPDg6BIpSoxlEEs6168Ub3qxCMZpFd8vDMTXEyflwRl/lRvOHJCfnHBSbHHPwHQ3h0RqbCkUMb15ZkFj4Mc2LOqo6LRUQalwe1QFIRFBzIvweAq//llW+WgLj16MnkrHmoibZcsnAQ1+rx8W1rBQn1XATL6Nctwonr9cGq/4tqVn7xj0QTbM1DBqehNwJ3DUh+dFE+iLECIy6sOeMSV4E1baRK7UAP9vrw6f+J5M3gXNQfx8St/JIUy9on9emq8wzCqAQwbmT4TsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SbZkjKTVtAYhfXokztm6k9",
      "input": {
        "note": "The gripper settled at 0.15, which means it is holding something about 1.4 cm thick, so the marker is grasped. Lifting it high enough to clear the basket wall.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01SbZkjKTVtAYhfXokztm6k9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8154, 0.6132, -0.3805, -0.0219, -0.0383, 0.9991, 0.2291, 1.0412, 0.7822, -0.3027, 0.1459, 0.1089, 0.1571]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1782 left_yaw=0.0029 left_pitch=-0.0179 left_roll=-0.0043 left_gripper=0.9991 right_x=0.3422 right_y=0.0571 right_z=0.2048 right_yaw=0.0443 right_pitch=0.0031 right_roll=0.0219 right_gripper=0.1571\nstate[joint_eff]: [-0.1299, -1.1556, 7.0632, 1.7167, -0.0415, -0.0366, -0.0122, -0.0615, -4.1504, 9.5521, 1.6044, 0.0122, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d6ef2ecb0e337cf84c92714390ad50d851094827c27d76ee5e425b73fccf73b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0208291277d4695073ffa70d55a40ee720fea1ccc736bd82733160bc7256c3d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1b68478ac1e538b459094bb748d4d8ebd9f7ab78231064fda2a766d59be44ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 2.509 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]: [-0.0189, 0.8112, 0.614, -0.3805, -0.0219, -0.038, 0.9991, 0.2298, 1.668, 0.2268, 0.9009, 0.1555, 0.1135, 0.9991]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1797 left_yaw=0.0027 left_pitch=-0.0129 left_roll=-0.0041 left_gripper=0.9991 right_x=0.343 right_y=0.0558 right_z=0.0139 right_yaw=0.0346 right_pitch=0.0249 right_roll=0.0249 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.4017, 7.2684, 1.7753, -0.0464, -0.0513, -0.0122, 0.4034, -3.4393, 2.4137, 0.9744, 0.2222, -0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6132, -0.3805, -0.0219, -0.0383, 0.9991, 0.2291, 1.6711, 0.2214, 0.9173, 0.149, 0.1116, 0.1514]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1795 left_yaw=0.0029 left_pitch=-0.0133 left_roll=-0.0044 left_gripper=0.9991 right_x=0.3427 right_y=0.0567 right_z=0.0147 right_yaw=0.0403 right_pitch=0.0322 right_roll=0.0281 right_gripper=0.1514\nstate[joint_eff]: [-0.1983, -1.3197, 7.1179, 1.7118, -0.022, -0.0757, -0.0122, 0.0068, -5.2718, 3.9863, 1.6142, 0.0415, -0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8154, 0.6132, -0.3805, -0.0219, -0.0383, 0.9991, 0.2291, 1.0412, 0.7822, -0.3027, 0.1459, 0.1089, 0.1571]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1782 left_yaw=0.0029 left_pitch=-0.0179 left_roll=-0.0043 left_gripper=0.9991 right_x=0.3422 right_y=0.0571 right_z=0.2048 right_yaw=0.0443 right_pitch=0.0031 right_roll=0.0219 right_gripper=0.1571\nstate[joint_eff]: [-0.1299, -1.1556, 7.0632, 1.7167, -0.0415, -0.0366, -0.0122, -0.0615, -4.1504, 9.5521, 1.6044, 0.0122, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d6ef2ecb0e337cf84c92714390ad50d851094827c27d76ee5e425b73fccf73b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0208291277d4695073ffa70d55a40ee720fea1ccc736bd82733160bc7256c3d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1b68478ac1e538b459094bb748d4d8ebd9f7ab78231064fda2a766d59be44ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgcKEAgSGAI4AUIIdGhpbmtpbmcSDCHpc5SakJG/qZE67BoMQU7yaX8fyfnbF3oBIjBxrIgew8ILOQEBUhjt1b8EhRn3kec+mkmwjGtezalfwJEH52QNTjQWHG7qUgjWk5wqswZMA8Wir0602TCNU2il3QDJvlDMu6XHGyoCM/02AqnWr6n9y3pb6vdhFn2teUjIfPhQVtpMEjW1OX2KjNvXUn4xx0f01yMN9YjbNUfjB+0y1iIrK1V+FNeG9+BXwQpxHz57+y+YrAZ726lAz0K4XHp7fxNdodOJ+wcxPNo73IgMZmZ0Qb1zjIH3u6clLSvBoXxorORkM1fBrC1Lj0g6CzeLs3M+flsJQcinnYg1/z++8CEUjZuGMqcpC1HzV9+lf22poxk/20q0Uvb6iFA6G9MNE+Cgk/ysoSoJzhnnNK0wiM7E5RScvTH7IX9+0ArNTOXDCDKAs5AzJWtYA46dSq0poE2fNq2mIMa97DLz9wezQvi21RaR2boPYDAfrYjw6GjpqtgKZZooMpfwGdyiKoxXGDWvJH98jAf5geQh2Kxr7GkBZLKcs7VPjt+r6FEJ1c3L/QwnNBrxCyg4Tw/MXx5KacyfdkOCTjXqfQhphrdee+rjNdtpGepD6GUb3/wfOvMqTYjVgOK62Yq26Rq9bJH94jE44A/6xTvvNnwzVYhOGVpLOuspNVKj3ZRpf80cy9hSxcxopxtceuOyT0ZL7tbOyUZ/QWRohvZmfdVExmq+4xpKgMV0YBFgXI5mK5Oxlz1DyIy+lJGypQwicxkwnEjPQU+zfPRouDb0GXl/1+L0J5k+2d3VUwXysmU6D90UHNLxM8/Gj3gCj3tZnq4YzAI79AI0IUOIRLteIF9avI7tmOwXSFwxUpZYooPVMz22+Rds59A96NjGu9F4zR00yvSZwVJhnGkQQO7uej8Q3pNiTvWYOYY1S9sYy4IiwfvRxUQUmKvocI/Z0s3rMdb6JP9e3tR+ZYS/h3s0bJBMQrZrBsm673xHXDvwXYRoRLbE8LWhRewxTbeMhcFuqMVkS+im9L3/jjX8NqRVL+UIRdo3s8dRWFQIizkaLPFa5gvx2Ab/6PiO9Z8b+V6fizj0ZaSmrtM9Yo6pGJYM6rUSW1/hfNBpfRafIeTTma0fgL9e6bJBNrD9Xbuyful08pnnf1ilqfbGHaorVEOvF64qvsFJOrHCiGZbAnWeBYY9Wqjs4tzf8/cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JGVGW1XRfbqQPf9zq6mMrS",
      "input": {
        "note": "The marker is lifted and gone from the table in the overhead view. The right basket is ahead and to the left in the wrist view, so I'm carrying the marker over the basket centre.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.14,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01JGVGW1XRfbqQPf9zq6mMrS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8181, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4122, 1.5448, 1.0916, -0.1856, 0.2806, 0.1921, 0.1606]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1766 left_yaw=0.0029 left_pitch=-0.0225 left_roll=-0.0042 left_gripper=0.9991 right_x=0.4326 right_y=0.1397 right_z=0.1798 right_yaw=0.0698 right_pitch=-0.0518 right_roll=-0.0021 right_gripper=0.1606\nstate[joint_eff]: [-0.1846, -1.6068, 7.2137, 1.6972, -0.022, -0.0269, -0.0122, 0.1162, -7.8564, 9.4564, 1.7998, 0.2857, 0.149, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfc78c94ef3890941e0542fc48cecb3b54754489e7a714d1d8dbe16acc947e59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d74fbd450301189ab89949233ca738a7a1072cd132dcc059a58f3120dbbddfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1373e52178c9a6fc0fa8d9fdda3692b75125dd5f41f94d864a6b2e0e36230dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.716 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]: [-0.0189, 0.8108, 0.6132, -0.3805, -0.0219, -0.0383, 0.9991, 0.2291, 1.6711, 0.2214, 0.9173, 0.149, 0.1116, 0.1514]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1795 left_yaw=0.0029 left_pitch=-0.0133 left_roll=-0.0044 left_gripper=0.9991 right_x=0.3427 right_y=0.0567 right_z=0.0147 right_yaw=0.0403 right_pitch=0.0322 right_roll=0.0281 right_gripper=0.1514\nstate[joint_eff]: [-0.1983, -1.3197, 7.1179, 1.7118, -0.022, -0.0757, -0.0122, 0.0068, -5.2718, 3.9863, 1.6142, 0.0415, -0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8154, 0.6132, -0.3805, -0.0219, -0.0383, 0.9991, 0.2291, 1.0412, 0.7822, -0.3027, 0.1459, 0.1089, 0.1571]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1782 left_yaw=0.0029 left_pitch=-0.0179 left_roll=-0.0043 left_gripper=0.9991 right_x=0.3422 right_y=0.0571 right_z=0.2048 right_yaw=0.0443 right_pitch=0.0031 right_roll=0.0219 right_gripper=0.1571\nstate[joint_eff]: [-0.1299, -1.1556, 7.0632, 1.7167, -0.0415, -0.0366, -0.0122, -0.0615, -4.1504, 9.5521, 1.6044, 0.0122, -0.0171, 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 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]: [-0.0189, 0.8181, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4122, 1.5448, 1.0916, -0.1856, 0.2806, 0.1921, 0.1606]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1766 left_yaw=0.0029 left_pitch=-0.0225 left_roll=-0.0042 left_gripper=0.9991 right_x=0.4326 right_y=0.1397 right_z=0.1798 right_yaw=0.0698 right_pitch=-0.0518 right_roll=-0.0021 right_gripper=0.1606\nstate[joint_eff]: [-0.1846, -1.6068, 7.2137, 1.6972, -0.022, -0.0269, -0.0122, 0.1162, -7.8564, 9.4564, 1.7998, 0.2857, 0.149, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfc78c94ef3890941e0542fc48cecb3b54754489e7a714d1d8dbe16acc947e59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d74fbd450301189ab89949233ca738a7a1072cd132dcc059a58f3120dbbddfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1373e52178c9a6fc0fa8d9fdda3692b75125dd5f41f94d864a6b2e0e36230dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Directly over the basket. Release.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NoYsnQUs8mdZxpQFJucr2Z",
      "input": {
        "note": "The right wrist view shows the basket's interior right below the jaws. Opening to drop the marker into the right (pens) basket.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01NoYsnQUs8mdZxpQFJucr2Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4122, 1.5448, 1.0904, -0.1898, 0.2768, 0.1837, 0.9953]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1765 left_yaw=0.0029 left_pitch=-0.0229 left_roll=-0.0042 left_gripper=0.9991 right_x=0.4317 right_y=0.14 right_z=0.1783 right_yaw=0.0773 right_pitch=-0.0576 right_roll=-0.0086 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.4017, 7.241, 1.6874, -0.0122, -0.0366, -0.0122, -0.1983, -7.3778, 7.0359, 1.7363, 0.0611, -0.0024, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dae377ddc7a5355c6a46443289ffcea7c6d7921edbf4f16fee61cdd4c3ebb532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e527152c7ab351e4f1f8c3e77b9607627d328c4f3e54b41c79eb3f00729a72a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7695c91f1dcd0b83b66a7565f388884d24b0fccf273816b1e81a1a358ddf3834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.855 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]: [-0.0189, 0.8154, 0.6132, -0.3805, -0.0219, -0.0383, 0.9991, 0.2291, 1.0412, 0.7822, -0.3027, 0.1459, 0.1089, 0.1571]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1782 left_yaw=0.0029 left_pitch=-0.0179 left_roll=-0.0043 left_gripper=0.9991 right_x=0.3422 right_y=0.0571 right_z=0.2048 right_yaw=0.0443 right_pitch=0.0031 right_roll=0.0219 right_gripper=0.1571\nstate[joint_eff]: [-0.1299, -1.1556, 7.0632, 1.7167, -0.0415, -0.0366, -0.0122, -0.0615, -4.1504, 9.5521, 1.6044, 0.0122, -0.0171, 1.0281]\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]: [-0.0189, 0.8181, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4122, 1.5448, 1.0916, -0.1856, 0.2806, 0.1921, 0.1606]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1766 left_yaw=0.0029 left_pitch=-0.0225 left_roll=-0.0042 left_gripper=0.9991 right_x=0.4326 right_y=0.1397 right_z=0.1798 right_yaw=0.0698 right_pitch=-0.0518 right_roll=-0.0021 right_gripper=0.1606\nstate[joint_eff]: [-0.1846, -1.6068, 7.2137, 1.6972, -0.022, -0.0269, -0.0122, 0.1162, -7.8564, 9.4564, 1.7998, 0.2857, 0.149, 1.0281]",
      "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]: [-0.0189, 0.8185, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4122, 1.5448, 1.0904, -0.1898, 0.2768, 0.1837, 0.9953]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1765 left_yaw=0.0029 left_pitch=-0.0229 left_roll=-0.0042 left_gripper=0.9991 right_x=0.4317 right_y=0.14 right_z=0.1783 right_yaw=0.0773 right_pitch=-0.0576 right_roll=-0.0086 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.4017, 7.241, 1.6874, -0.0122, -0.0366, -0.0122, -0.1983, -7.3778, 7.0359, 1.7363, 0.0611, -0.0024, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dae377ddc7a5355c6a46443289ffcea7c6d7921edbf4f16fee61cdd4c3ebb532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e527152c7ab351e4f1f8c3e77b9607627d328c4f3e54b41c79eb3f00729a72a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7695c91f1dcd0b83b66a7565f388884d24b0fccf273816b1e81a1a358ddf3834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0116Sx7uKWj4CbtB94NkPUUf",
      "input": {
        "note": "The marker is in the right basket. Next is the blue pen lying front-to-back just right of the teddy bear, roughly 6–7 cm left of where the marker was. Moving above it to check alignment.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.115,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0116Sx7uKWj4CbtB94NkPUUf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4873, 1.285, 0.4942, 0.2642, 0.3332, 0.2447, 0.9962]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1748 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3484 right_y=0.1233 right_z=0.1144 right_yaw=0.0729 right_pitch=0.0624 right_roll=0.0571 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.8393, 7.0222, 1.6874, -0.0317, -0.0757, -0.0122, 0.4991, -3.2205, 3.9316, 0.8278, 0.1734, -0.1245, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb57aff285b4b683e1ae1b4683bd98e54e0dbe50ea4dd35e17f898fbda87fb35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b3d87bc91c800da71e793e5160483118a793d6e6e181ac0bbe3ea737f52bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00427242c9dd3693ba6cc5acc93f054cb15d3110ea1ac9f3a288041085893330",
        "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 · 4.14 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]: [-0.0189, 0.8181, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4122, 1.5448, 1.0916, -0.1856, 0.2806, 0.1921, 0.1606]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1766 left_yaw=0.0029 left_pitch=-0.0225 left_roll=-0.0042 left_gripper=0.9991 right_x=0.4326 right_y=0.1397 right_z=0.1798 right_yaw=0.0698 right_pitch=-0.0518 right_roll=-0.0021 right_gripper=0.1606\nstate[joint_eff]: [-0.1846, -1.6068, 7.2137, 1.6972, -0.022, -0.0269, -0.0122, 0.1162, -7.8564, 9.4564, 1.7998, 0.2857, 0.149, 1.0281]",
      "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]: [-0.0189, 0.8185, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4122, 1.5448, 1.0904, -0.1898, 0.2768, 0.1837, 0.9953]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1765 left_yaw=0.0029 left_pitch=-0.0229 left_roll=-0.0042 left_gripper=0.9991 right_x=0.4317 right_y=0.14 right_z=0.1783 right_yaw=0.0773 right_pitch=-0.0576 right_roll=-0.0086 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.4017, 7.241, 1.6874, -0.0122, -0.0366, -0.0122, -0.1983, -7.3778, 7.0359, 1.7363, 0.0611, -0.0024, -0.188]",
      "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]: [-0.0189, 0.8246, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4873, 1.285, 0.4942, 0.2642, 0.3332, 0.2447, 0.9962]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1748 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3484 right_y=0.1233 right_z=0.1144 right_yaw=0.0729 right_pitch=0.0624 right_roll=0.0571 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.8393, 7.0222, 1.6874, -0.0317, -0.0757, -0.0122, 0.4991, -3.2205, 3.9316, 0.8278, 0.1734, -0.1245, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb57aff285b4b683e1ae1b4683bd98e54e0dbe50ea4dd35e17f898fbda87fb35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b3d87bc91c800da71e793e5160483118a793d6e6e181ac0bbe3ea737f52bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00427242c9dd3693ba6cc5acc93f054cb15d3110ea1ac9f3a288041085893330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywkKEAgSGAI4AUIIdGhpbmtpbmcSDNd07p+mRnJmNiooDhoMJoN9EPGooJ7OG03kIjDN0hpNy/YAlkd4I7FNNGEV+TVuQkocwujAxokGhP3B2dewMhZKpSH8v3q8tzvoP1kq6AheAsRhLS2K2cwPD87kW54eAOFr9mGE4Lvs4kBMmEI05dGxjY7muMNZZk3QaR14FIA0HcPm1DF3/gwV5Iya8xt214Eivs6XA6QWBrydpg10xT7DHdNaQhFndNtt96eqyGGPb9w2QkWp0VXRybRnUv/WB8ktkVdhlkfJThWM5xgnQBLAJRo4xEClqgQxBPEw2LWGWjk78+9SxJQc4FbJUQlgl1cR+Ua9CVKMkXwHCvxj/WvBM5B4iOnc59RCb+c8DLT1pXU6XoIgAcMT3oYaiUbogc8S6rdr2NkMcUe/E2WS7q0tNxFRMRTOng8OXo33CeLxsA83TGH3J1VkZMWXo2NJU3pNj2yn3kt2QmSGDMbYwQAGN77TtXxY+O0+oLTYnLmxFaiM9MNkbGYVZ3d/0TTq31qcIWss9LtnKlUdjiOfrzFZ5YxlFPGcDHQbGoL5eMvBxFbiVz990j9Y2PDAV0a6U11tERHgJiPIPFMv5Ly/buHbtc1VjLg/NgTq1jGQdbEzSxtwuvewN90KdCSwqvD5K20nZtVqyAGbqNkis74eKsbxm63XmuihhO1zRrLpN27yWEOFoNP/EjBhQYysKu6N3PTojFUu80t4iqq+J8LSTdGKr/wYWDJjCPOhyZBW7B98hLx0MisMqwzKbTdpPtb7PW4G2Vzv+th0QMpZSDEr8dJEjZZCEAuDFpY10vOHYzuba66QwwBCSlfD1k6OsjlIlJAubnQUv6Zf90db6uQEcfsmPPgObO1rVv6reQAulHSZRGvGiHy6WXBfGSBr9jtbhushSXFDcfiC5jDnTiTlvT6xU3EGlt4TWdg5hlZA3aFfUjbgYYwGJWfvT3kaH4IVDrz51wHBRiyUR2Lr2a8cmk2MbPzFaEfK2wsfD98ixKa/Bt9TaE+O12UWmGXF35ALXTACBw3oK8aT+I8BEGgE1eRJo6T2Bu0DsLYtFN03OD7NIPgSXjIlSwBHEdea++c+jDuXNwsO0u6UwaliYnqU/1a134M62/l3W4Z7R827fHGKhCTaasxCEn1F+IuJnR9UIroqTKyJzJwCqzYjcKJjvgdRW/flhOw2ehGREOFcUNHsAMRLW0g6BubmNJZjlfjaUilWSb0oultFi2YA4A15oD8ESAKbnEDO2XQZD9fVzYlhQUht7F73JU0ZQ04LcTkoKgmYebkoNa24JCRDhHmD3Gn2q7TYVjqHiRFWiyrme84KOBW3D/kZ1DBr2cONZX9Vozn00DGH+Ty0d0wquz3iNqxCIQBkASsp9KDyvD9bRHBNwgHVRXxiiWrh/YsrP8ljsaQTDFMWzVzBSvcV95Fp16hU7O1rk0opNqp6grLEsPruHWT73GFY1lPuNe57dyKrW9cw1c/X6ueqJX3bzlp3WuAGyjOh8iPbfni+cd9rwyTpqs+iwAnDpq+EOGANNuPIyMcYNUiV6u10tk6uj9N8B2k/OwKKNfo6u8rDGvXl8bO4ZdNqi5sDNrDGx4v45VvciLPfRWhAn7AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QJqEZHUNuULHteFyYpiFF2",
      "input": {
        "note": "The descent stopped at z≈0.11, probably on the basket's front wall, and the wrist camera is still looking into the basket. The blue pen sits closer to the base in the overhead view, so I'm pulling back to x≈0.25.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.12,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QJqEZHUNuULHteFyYpiFF2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8268, 0.6113, -0.3805, -0.0223, -0.038, 0.9991, 0.5377, 1.1912, 0.4225, 0.2287, 0.3592, 0.2634, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.1741 left_yaw=0.003 left_pitch=-0.0312 left_roll=-0.0035 left_gripper=0.9991 right_x=0.3238 right_y=0.125 right_z=0.1091 right_yaw=0.0921 right_pitch=0.0552 right_roll=0.056 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.5932, 7.0496, 1.6923, -0.0464, -0.0464, -0.0122, 0.2393, -4.0137, 6.3385, 1.7363, 0.3004, 0.0708, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61f3e8536a950726b9b7b6c39df98ae48652075b883668387ef5ad4c885cb5ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbebcb4c6353963a667996f204a1cdd37ecacfde564efecb3e6d6a950405bda7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:884f662daf19bd8dc0eff1815e03afc0fcde1078d3813011a14004b71744c27b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 2.907 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]: [-0.0189, 0.8185, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4122, 1.5448, 1.0904, -0.1898, 0.2768, 0.1837, 0.9953]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1765 left_yaw=0.0029 left_pitch=-0.0229 left_roll=-0.0042 left_gripper=0.9991 right_x=0.4317 right_y=0.14 right_z=0.1783 right_yaw=0.0773 right_pitch=-0.0576 right_roll=-0.0086 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.4017, 7.241, 1.6874, -0.0122, -0.0366, -0.0122, -0.1983, -7.3778, 7.0359, 1.7363, 0.0611, -0.0024, -0.188]",
      "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]: [-0.0189, 0.8246, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4873, 1.285, 0.4942, 0.2642, 0.3332, 0.2447, 0.9962]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1748 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3484 right_y=0.1233 right_z=0.1144 right_yaw=0.0729 right_pitch=0.0624 right_roll=0.0571 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.8393, 7.0222, 1.6874, -0.0317, -0.0757, -0.0122, 0.4991, -3.2205, 3.9316, 0.8278, 0.1734, -0.1245, 0.0806]",
      "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]: [-0.0189, 0.8268, 0.6113, -0.3805, -0.0223, -0.038, 0.9991, 0.5377, 1.1912, 0.4225, 0.2287, 0.3592, 0.2634, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.1741 left_yaw=0.003 left_pitch=-0.0312 left_roll=-0.0035 left_gripper=0.9991 right_x=0.3238 right_y=0.125 right_z=0.1091 right_yaw=0.0921 right_pitch=0.0552 right_roll=0.056 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.5932, 7.0496, 1.6923, -0.0464, -0.0464, -0.0122, 0.2393, -4.0137, 6.3385, 1.7363, 0.3004, 0.0708, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61f3e8536a950726b9b7b6c39df98ae48652075b883668387ef5ad4c885cb5ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbebcb4c6353963a667996f204a1cdd37ecacfde564efecb3e6d6a950405bda7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:884f662daf19bd8dc0eff1815e03afc0fcde1078d3813011a14004b71744c27b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQgKEAgSGAI4AUIIdGhpbmtpbmcSDGijZ46wJw/sTk1VRBoMolNr/k7jDurnneBVIjBVheOjTxNWQQRSelERl1bkdv+YXuHJv11gUDPhXwOEgWuU5K4ww6x+YrFzDpaVJR8qogeuvu8sauOHhBwUm9xzmzD38JyNAS8Tb26h4cRJ2Ybtz88IJpgwtcOI3fKzBXso35wm+oJpuVKj4PxriJ8bssj9hoRDrKLRayC1fCYNZy37rQy7RUJIpDrzDbCcme5eLn0Chqc0gFZxsZ9GqwecJEKur5HDsD/5ZqUCsD4X4RP2myqfSkFlCiTjpMz6k0DKOs+1p9I5aKD9gNG5UYd1CBkCwvUTTE3NxR9zaliKNVqSyXWXE4f21bkoYDI2ieXXmlyAv9PYxRZJ0YeYwj3QSFlwpjW3zcjHa/qXunEp8uwCj4J656BxlWveyd4381uh32DjQ2H9fxiJc6dWUCMXIAuJIEJg8EWEB7U5O1/Vr5ko07T0D4OAvMG8EWDuTT8pIRd7mmYhi4UYCZ8grXy99Bf5H9IaOf+tJJ1AAqPPc/UYu+GO37tfXHFAsH/8G8fD1QpKVbzYqTU9q/GogQa9XVLLs3IfXpe/f4wFYoJb3xwB8G2m4xM5/is7zonVedbaESvs+GRp4FQ9dASx4Zt2SEJk7n0PFpOc5Tk3KnAmpotE1rFZu8QYqEIkvdeUZRcDcu6J/PAgrrIH25TZ4kwxKj34Oipdu0yEmFmgIph8fMRPggngniCuYFSv8qzuSPXDEvVaFfGxP8pu6WIkTP3cKFa4BdL16rnkmmbKhEjGvMURHlWsVT1HbMNiAwGqy6572TkVGeI4CPSN4Ms9wMgqZ7Pjp1LHbkAdvwcECrj78fzhz18so0VwAuPpHtvnnAfEU7yezf6l07qOzAMIdentrpPnTW/3W/3m9Kh4AemYWaYJYHAbqxMqHL76//D2PNObkeJssTQNxr/8qR1RnU0o1wEbxc4xOSEBgbr02y/OP1lYTenCjwfYzWQ3QWv1uByfS1/sOGIMvEWjllgjFSrrKPX94+DgaKobfgjKDlBq5eTqQfLn/l7qC+yhA24d+gygFH9JSHAhkWEHVyDOZQ23Oyhs08SAMrn6zMkxocY8d4E4Tvp8Tv3ByZuySZixSzdsDG3SUWgFzrhaL3nwAIPMKFE/mw/ZdKFYSW21RA73g/4D28ahvMJ7W8OyKwviSFgofRfaiZa+SbGur9WfTUYw2yPo5JK6W/XPYjrk70wbilLjc3GOSqWF364O6Q1tefIjPzQd2RbrMy4/fHYfFm8JZGcFLTRvaLWx6u48/GYwmu2H7fAZbalK6AMoNLpJAeHoR0yi1eqoyBFirdM1uSBne3on7JQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0193NKpPSJFQjvordTxtqF7D",
      "input": {
        "note": "The speed limiter clamped the last move and only part of it happened. The blue pen now shows at the bottom of the wrist view, close to the jaw column, so I'm finishing the pull-back to line up above it.",
        "targets": {
          "right_x": 0.26,
          "right_y": 0.12,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0193NKpPSJFQjvordTxtqF7D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8268, 0.6113, -0.3805, -0.0219, -0.0376, 0.9991, 0.5373, 1.1912, 0.4225, 0.2287, 0.3588, 0.2634, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1741 left_yaw=0.0025 left_pitch=-0.0313 left_roll=-0.0034 left_gripper=0.9991 right_x=0.3238 right_y=0.1249 right_z=0.1091 right_yaw=0.092 right_pitch=0.0551 right_roll=0.0562 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.4564, 7.2, 1.7509, -0.0562, -0.0122, -0.0122, 0.0889, -3.9179, 6.2974, 1.6874, 0.232, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e49f735de767a921c2b1f5267794358fafb29248ecb5c12a27410b8bdd6f68a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff87606bd72c85b613a3700b6301717c754736b6f1a5d7c9782cd8168f47d60d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79168378ea6b8dce00fc2577ed140a25d2ce3440dcecd366bb6786ffaf46acdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.159 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]: [-0.0189, 0.8246, 0.6113, -0.3805, -0.0219, -0.0383, 0.9991, 0.4873, 1.285, 0.4942, 0.2642, 0.3332, 0.2447, 0.9962]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1748 left_yaw=0.0029 left_pitch=-0.029 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3484 right_y=0.1233 right_z=0.1144 right_yaw=0.0729 right_pitch=0.0624 right_roll=0.0571 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.8393, 7.0222, 1.6874, -0.0317, -0.0757, -0.0122, 0.4991, -3.2205, 3.9316, 0.8278, 0.1734, -0.1245, 0.0806]",
      "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]: [-0.0189, 0.8268, 0.6113, -0.3805, -0.0223, -0.038, 0.9991, 0.5377, 1.1912, 0.4225, 0.2287, 0.3592, 0.2634, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.1741 left_yaw=0.003 left_pitch=-0.0312 left_roll=-0.0035 left_gripper=0.9991 right_x=0.3238 right_y=0.125 right_z=0.1091 right_yaw=0.0921 right_pitch=0.0552 right_roll=0.056 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.5932, 7.0496, 1.6923, -0.0464, -0.0464, -0.0122, 0.2393, -4.0137, 6.3385, 1.7363, 0.3004, 0.0708, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0189, 0.8268, 0.6113, -0.3805, -0.0219, -0.0376, 0.9991, 0.5373, 1.1912, 0.4225, 0.2287, 0.3588, 0.2634, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1741 left_yaw=0.0025 left_pitch=-0.0313 left_roll=-0.0034 left_gripper=0.9991 right_x=0.3238 right_y=0.1249 right_z=0.1091 right_yaw=0.092 right_pitch=0.0551 right_roll=0.0562 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.4564, 7.2, 1.7509, -0.0562, -0.0122, -0.0122, 0.0889, -3.9179, 6.2974, 1.6874, 0.232, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e49f735de767a921c2b1f5267794358fafb29248ecb5c12a27410b8bdd6f68a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff87606bd72c85b613a3700b6301717c754736b6f1a5d7c9782cd8168f47d60d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79168378ea6b8dce00fc2577ed140a25d2ce3440dcecd366bb6786ffaf46acdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQcKEAgSGAI4AUIIdGhpbmtpbmcSDC5xs0WhOyLd5Oi3LxoMIUPX543MtjQ1lzOTIjBrh7QtPhWRmyQNtj+tB+P5ZuZycm4NYKareCCW/EZjmxqlCGhrwVmEC8HIuEianXwqugbrs7I8285CjSM3Ffcvtj7BLjYZ1kAuc52fvIidBhSYOmn2KjuplGcxR9A1ZtTLnJpBUxnrZlOjANCbBxlikMYMdnGHhPpn2QGlgi7v4GG2IWEAl3UsXLOE4g/qOXQHIRLG2+b2qRSuLSamCua0whwAgnqOryK5TJadY3IBjCMujXIdEVNLM1WNgfQ04aYQ7QNhQAGDtuplEiBUM/ovWZn1TB416/FJnFp+3rSHik3OI7LU3duIt2BXXg2DgYPRyHmBcaisF8KetcsYH0Hrb0v7sGYPf3QwFSkV2bWjIz8g9ZFwHpqJvsKCC4yp5lUTDTTWEVMQphu4fRjNh038d4lqKSyY19uuk6Qq0/GvYVAKe/OVy1sB/sW361kjiI5wW+i/oP2KVfGx2Mf9iwkc0/adL5tQIVCwaR889dJ+K8JD8mEaG7Ov8E+gMskw3I3ns4WNIDg0FWcicy9QrYx61ilVhmvaKtxLj7cFnXASeX0DNofoUDEZ94GG0QeXwmuYDdMDBT6QdPszSZL7vr7Qyg7PvINwvx89Cg3A6mbCx8xe+Lig58ud44MUnvn4UbPDQBfMLj888z7NzWguwdq2YV1DAizCxYzDbEjUqINv7D5XpUfkyiqnbUYGHfFiHf3H8bomgthmJf5Wv86GZQ7EDVcmkAy/9IkPYGIVjiieSCKLoMridJoqglsGUeOzCq9Y28Gd39Exgae3lqSawwhBFc60e7IS+COQjwCH1N8ThoLtOj2it/qtUvwnJmrCa/aP+GBFjSzqLQYDS/BkGAhFiiLou7jPAA+BVuWnEXquHYYdNbFbSlJm0R4Yj1rYpsCn4gHb3prsp1llY08dCXBOUchXEd/5LLP86lsujBmwqA/M/oWnWhdaqyPk+V4Aunf6NhsTtigvnJXA3im8TJEwWeuBGzwDb72lLYZ4mJIMhPweK5RrjMF1ERcGe8E3LXWCid3m8yA8whHF8IcVXgtIM5gre4xpM9KIkXZp2RGVZ1Y9T/1Un6uCJNNV57JQ1DAJcH3VmwMvat1PcY/Rlub92HeATJd6My6h/9kfxvmpMYYGaRUsfG3+tIqwzGnF81ye6LajQRIaYWAvYjLiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C27pgzfdJgN1XRTARCjFbz",
      "input": {
        "note": "The right arm isn't moving; it may be caught on the basket's front wall. Raising it straight up to free it.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01C27pgzfdJgN1XRTARCjFbz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6102, -0.3805, -0.0216, -0.0383, 0.9991, 0.5411, 1.0622, 0.701, -0.2012, 0.3542, 0.2619, 0.9964]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1721 left_yaw=0.0026 left_pitch=-0.0377 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3224 right_y=0.1264 right_z=0.1866 right_yaw=0.1009 right_pitch=0.0338 right_roll=0.0474 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.8256, 7.4051, 1.6923, -0.0415, -0.0269, -0.0122, -0.3214, -4.0684, 9.388, 1.6142, 0.1392, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1340f9f49705e83225b0590a480432937d681a49efd0a6d72024ed0a49652f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83299be54c08bca1a87d05a73117b0aed6e811a403037846fdf7adfbfb2b0d4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f43b231cf90530b34680b1d52b7fd0874c93ed629e917c55dfed30c060755b1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 3.992 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]: [-0.0189, 0.8268, 0.6113, -0.3805, -0.0223, -0.038, 0.9991, 0.5377, 1.1912, 0.4225, 0.2287, 0.3592, 0.2634, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0019 left_z=0.1741 left_yaw=0.003 left_pitch=-0.0312 left_roll=-0.0035 left_gripper=0.9991 right_x=0.3238 right_y=0.125 right_z=0.1091 right_yaw=0.0921 right_pitch=0.0552 right_roll=0.056 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -1.5932, 7.0496, 1.6923, -0.0464, -0.0464, -0.0122, 0.2393, -4.0137, 6.3385, 1.7363, 0.3004, 0.0708, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0189, 0.8268, 0.6113, -0.3805, -0.0219, -0.0376, 0.9991, 0.5373, 1.1912, 0.4225, 0.2287, 0.3588, 0.2634, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1741 left_yaw=0.0025 left_pitch=-0.0313 left_roll=-0.0034 left_gripper=0.9991 right_x=0.3238 right_y=0.1249 right_z=0.1091 right_yaw=0.092 right_pitch=0.0551 right_roll=0.0562 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.4564, 7.2, 1.7509, -0.0562, -0.0122, -0.0122, 0.0889, -3.9179, 6.2974, 1.6874, 0.232, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0189, 0.8322, 0.6102, -0.3805, -0.0216, -0.0383, 0.9991, 0.5411, 1.0622, 0.701, -0.2012, 0.3542, 0.2619, 0.9964]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1721 left_yaw=0.0026 left_pitch=-0.0377 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3224 right_y=0.1264 right_z=0.1866 right_yaw=0.1009 right_pitch=0.0338 right_roll=0.0474 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.8256, 7.4051, 1.6923, -0.0415, -0.0269, -0.0122, -0.3214, -4.0684, 9.388, 1.6142, 0.1392, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1340f9f49705e83225b0590a480432937d681a49efd0a6d72024ed0a49652f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83299be54c08bca1a87d05a73117b0aed6e811a403037846fdf7adfbfb2b0d4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f43b231cf90530b34680b1d52b7fd0874c93ed629e917c55dfed30c060755b1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wYKEAgSGAI4AUIIdGhpbmtpbmcSDIpjDs/1Po2fxVXkCRoMU7kIWX5EnaIzFfI1IjBvavzYCfU9PffVjIa615E5KWtqORbnr6YAzm+YsGnv04oCmKZbYdWW/obCz+GIblEq8AXjvQ+ua6tA1A2wvrPbUk86jYz9e92epKpzXxLPfEX9mAu3ullUzQiH/JMlbvGLIcv6vgMuNj1PozhlpdIRVIfua9bac7LcZ2k8LN2oW1v1aLgApqUr348swRWoBtgtYfNQyUefZ9sI5hPN/R7GNEfzbMOxQnwyNFnxCMOyQV5Lpu5H+cXDLAbqe0VnQtqSim107RTy31WXLnl8fKrTztpNifnCYTBq3TNzyYBuW7PsJUE+PVxaW4yVkaIX3kfO163lHBeE8K3JW+IWgI9pVDj1ATJkHufVKkMehhUxxMQl/8+WGbGMyspQumPYjsdCQQ3g18zznOPz2PpyRDWiKxY/3I5JvVGJKOFKIeeiy5MTWDzV2uBNyrXfL6HEuZlP+IDZpnHIga782MFYlsVq7cp6WcRWaRRUTZt+imIrCHNKiUOqppEnFpSrNjqk1XK3QhWTk65BGcsSrXp2tbJvqIarIC3FtQhNrmTcCnaTDBlo46RHErndJOFDzfbuKimHqoR2nstez00Lu8HT65DVimNyhwlEg8BkiJW3O6ukXuPPQn3sYjOUK1YT/9iZgpt6UpPCi8GwB233cVHAPC6B1RzBosRplARYTWdLglD4lW1bUT/okaqKQ5wTuucoQyfmc5EYE59FpSNC74KVVjzcoM/W+NLpxcUDxYBepRJnIZ2xXvpb0oBZ3mCl8OdgIcn5qvfKu0QN2RAKed1eNnCAH1lzdf3qPFrDKz8IE7trqsMVhjLBC15mBRSKNxz4OcIblhC4D4uqzGUvZovOXxie2H+0oGCLBisrzCxQOkxBpRqNlh3XgzmDxxnJY/6BMwaT1X5uztu889H2iJlJMabWo4ztDsWflbGX37QiqNDLIcgW9nRu3uNOkHFBVOTTwgvGapUDYNkbIAscGr8jJqS3nE12/Pv/s3AUeNVIQqutCG7W8uj00MxZDXeqURUfNNQlIHtQaHyo5NsOSf/mKJtZG51upEDWYYJ5jroQmKkGF6CAUxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T6HxeuxWfDgu447zinHsjd",
      "input": {
        "note": "The arm is free and back up at z≈0.19. The blue pen is visible just below the basket's front wall in the wrist view, so I'm pulling back toward the base above it.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.12,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01T6HxeuxWfDgu447zinHsjd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6094, -0.3805, -0.0219, -0.038, 0.9991, 0.7658, 0.7811, 0.5869, -0.4133, 0.5148, 0.382, 0.9963]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1705 left_yaw=0.0027 left_pitch=-0.0431 left_roll=-0.0035 left_gripper=0.9991 right_x=0.2513 right_y=0.1259 right_z=0.1819 right_yaw=0.1314 right_pitch=0.0375 right_roll=0.0524 right_gripper=0.9963\nstate[joint_eff]: [0.0615, -1.5385, 7.2137, 1.7314, -0.0366, -0.0415, -0.0122, 0.335, -1.388, 6.7487, 1.4872, 0.3639, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053bd5293b52f604ad06b66f8dc5c8f52ca780648cc19ac41acbe81f366f57c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6702470f3dd892e5639202f633f4bf32fd05dfb7a1856918e7160a84de467fb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c5a661d709174170325edef3b157615b51ccc2d227de8f91c57fd28b2a80582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 2.597 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]: [-0.0189, 0.8268, 0.6113, -0.3805, -0.0219, -0.0376, 0.9991, 0.5373, 1.1912, 0.4225, 0.2287, 0.3588, 0.2634, 0.9963]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1741 left_yaw=0.0025 left_pitch=-0.0313 left_roll=-0.0034 left_gripper=0.9991 right_x=0.3238 right_y=0.1249 right_z=0.1091 right_yaw=0.092 right_pitch=0.0551 right_roll=0.0562 right_gripper=0.9963\nstate[joint_eff]: [-0.1709, -1.4564, 7.2, 1.7509, -0.0562, -0.0122, -0.0122, 0.0889, -3.9179, 6.2974, 1.6874, 0.232, 0.0464, -0.0122]\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]: [-0.0189, 0.8322, 0.6102, -0.3805, -0.0216, -0.0383, 0.9991, 0.5411, 1.0622, 0.701, -0.2012, 0.3542, 0.2619, 0.9964]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1721 left_yaw=0.0026 left_pitch=-0.0377 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3224 right_y=0.1264 right_z=0.1866 right_yaw=0.1009 right_pitch=0.0338 right_roll=0.0474 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.8256, 7.4051, 1.6923, -0.0415, -0.0269, -0.0122, -0.3214, -4.0684, 9.388, 1.6142, 0.1392, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0189, 0.8368, 0.6094, -0.3805, -0.0219, -0.038, 0.9991, 0.7658, 0.7811, 0.5869, -0.4133, 0.5148, 0.382, 0.9963]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1705 left_yaw=0.0027 left_pitch=-0.0431 left_roll=-0.0035 left_gripper=0.9991 right_x=0.2513 right_y=0.1259 right_z=0.1819 right_yaw=0.1314 right_pitch=0.0375 right_roll=0.0524 right_gripper=0.9963\nstate[joint_eff]: [0.0615, -1.5385, 7.2137, 1.7314, -0.0366, -0.0415, -0.0122, 0.335, -1.388, 6.7487, 1.4872, 0.3639, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053bd5293b52f604ad06b66f8dc5c8f52ca780648cc19ac41acbe81f366f57c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6702470f3dd892e5639202f633f4bf32fd05dfb7a1856918e7160a84de467fb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c5a661d709174170325edef3b157615b51ccc2d227de8f91c57fd28b2a80582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgkKEAgSGAI4AUIIdGhpbmtpbmcSDIlcEZ+tZmFndkzIvBoMqRRXAVbU/FPkPFm8IjD3uiz/mBxILQgP0N/vQeqffIjEOwrgP6YrtUWoev3lfNviSbz1IYGR1qJRcFsNrAAqqwiocwNgNaYuu57jpoggfCLFCPDiWgxPrXB3DGYUEYoft64kD32L0XyMH9CDyDhj7X5wXDxkSC+7X7VJBfWd+ZXpxbAyUUn+tedU9fe+JMJhtz7NoEd9QsxfBGubnzpUfGQenqh/JCJDs9MsvwsP5o6lIFzPNi5iljQ4rAjWPbFVGCkRJ6jOjEaWVMrIvQhlbQpc6eo6P96u38rz4235EVjgghKnsYUzM9twN1yJLH8U98lmnpKR03aHMjzYg8/8y49cTL12BfSX5lt3NUE/gJD34/5OqN8h7NWV4FB+RsljkYrZfVfhhWrGdvn+PldaIJsUGkhNg2a5qfZ1aOzf4ZXay1z5DpFG2WY+o0JjAMDuYni7w7z6CwFXGBBO8vyZyKPdGJuYBdN9lYJc+bfovUSkpDCM8LGYZk1pk9wMti2fs4iZevvn+skkx5s7lgI1JVmpLgoJR+KG1zFs4SENaZI9YLcadmkL4yzzjQ1ui/Yb3u6cZL1Dq6heMDbW1vvLKA5ujxAdXMCIR2EfmliYnoTUDrn8qrBPq/RpZgrsG9fxdbGP3Hjb+toE9K7KiS/YtmktHzNfM8uF8weYTMOpgGeI2jwS+sH5BUKBVBrvTiaiG9oMMzfsmyTIKMTwkqQMdSkSr0+vVC67wqwvKlgR/YxGhjqgthmUqxuTzXtvak1oTrMX2zYXRKvDATfsFUESmsq+zmMD6T8fdX92sDlqnbmDSD53h8M6KCLCzn3fiClShlV0QqzVs7MpPU7AyQ+NhRa4j2rrJVRX/HGka7uu+ufhmK7iW8lL3HkJ0coZiKgWST1GfKaPJ2+Q+IQm4q/MkF2K2gxHuDC2MeMNXcTea4gjrMQQuT5F43sKYCXhtlKQbndYyDv+8dCXrcfrqtP+i9A6IBKHncCH76a/+NKJ8fbvxJ5aUt2yYnaK1dkCSdErbaLxB6txlvGOIEYNzrTnaY8MTbSz3s1Yn3Zd0oGOzTkxcZsDEybSY3kmZjdCDsN24Hy+SxWrztV9Lr67cyrq+zDnlYQlE1P4k6xtiZAX2gBmdsTvFGphLngqqGNOYQdig3oFtf0UfQORh3prRJoAipC7JAshu/zYQjHqziaY8g6ENa8XZDA3wgR9mEUG2fp39UKpNL1tObruBYVHJ0hgDsoXkf+VEQKi5ly8aZ3bFibiAEdSevoWqRfHwBTS6M0x3c+i0hIz3Ypg3MsXooZgt68SSF2F7NeMTkq2Q7RtNrF6haTH3LaPh7QnsBc/o/leEssldaZzetFfoF1Y5LiEst7U1XzhqTi80SEYfYcsEZVf9FJ89aF6FAKj0cvdpewgZJmo1Q4rx8uS9cFifGg1C5PaaMn51Lybn9R9u70TVO8kUqXJ31QUmLgNjVWWPMLRKQsJzgVAFZ4Wmo5r60PtxW1uRBe61pDaBzOWCBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QKUCHYi4rwDFyCtnjhL7F7",
      "input": {
        "note": "The blue pen runs front-to-back from the basket's front wall down through the jaw column in the wrist view. Descending onto its near end.",
        "targets": {
          "right_x": 0.26,
          "right_y": 0.128,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01QKUCHYi4rwDFyCtnjhL7F7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8417, 0.6094, -0.3805, -0.0223, -0.0383, 0.9991, 0.7391, 1.7027, 0.062, 1.1015, 0.5076, 0.3717, 0.9963]\nstate[eef_state]: left_x=0.2984 left_y=0.0019 left_z=0.1691 left_yaw=0.0033 left_pitch=-0.048 left_roll=-0.0034 left_gripper=0.9991 right_x=0.2699 right_y=0.1347 right_z=0.01 right_yaw=0.1135 right_pitch=0.0907 right_roll=0.0868 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.3607, 7.2684, 1.707, -0.0317, -0.0366, -0.0122, -0.4034, -2.7145, 0.841, 0.9841, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aa1d69170c822288072551f39fe074821564a957a19f48ffb40ba7c9cc1bd09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f1f26313c84d69305069f0522b44010704e35c7787a85e48bf7e981b9561711",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1349e4c8692e007c35d3770b533b058d9bc8e91edf99b1cc77de04591216b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 2.655 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]: [-0.0189, 0.8322, 0.6102, -0.3805, -0.0216, -0.0383, 0.9991, 0.5411, 1.0622, 0.701, -0.2012, 0.3542, 0.2619, 0.9964]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1721 left_yaw=0.0026 left_pitch=-0.0377 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3224 right_y=0.1264 right_z=0.1866 right_yaw=0.1009 right_pitch=0.0338 right_roll=0.0474 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.8256, 7.4051, 1.6923, -0.0415, -0.0269, -0.0122, -0.3214, -4.0684, 9.388, 1.6142, 0.1392, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0189, 0.8368, 0.6094, -0.3805, -0.0219, -0.038, 0.9991, 0.7658, 0.7811, 0.5869, -0.4133, 0.5148, 0.382, 0.9963]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1705 left_yaw=0.0027 left_pitch=-0.0431 left_roll=-0.0035 left_gripper=0.9991 right_x=0.2513 right_y=0.1259 right_z=0.1819 right_yaw=0.1314 right_pitch=0.0375 right_roll=0.0524 right_gripper=0.9963\nstate[joint_eff]: [0.0615, -1.5385, 7.2137, 1.7314, -0.0366, -0.0415, -0.0122, 0.335, -1.388, 6.7487, 1.4872, 0.3639, 0.1001, -0.0171]",
      "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]: [-0.0189, 0.8417, 0.6094, -0.3805, -0.0223, -0.0383, 0.9991, 0.7391, 1.7027, 0.062, 1.1015, 0.5076, 0.3717, 0.9963]\nstate[eef_state]: left_x=0.2984 left_y=0.0019 left_z=0.1691 left_yaw=0.0033 left_pitch=-0.048 left_roll=-0.0034 left_gripper=0.9991 right_x=0.2699 right_y=0.1347 right_z=0.01 right_yaw=0.1135 right_pitch=0.0907 right_roll=0.0868 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.3607, 7.2684, 1.707, -0.0317, -0.0366, -0.0122, -0.4034, -2.7145, 0.841, 0.9841, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aa1d69170c822288072551f39fe074821564a957a19f48ffb40ba7c9cc1bd09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f1f26313c84d69305069f0522b44010704e35c7787a85e48bf7e981b9561711",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1349e4c8692e007c35d3770b533b058d9bc8e91edf99b1cc77de04591216b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "text": "Pen centered between jaws. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WgmYzeVbd5QsqLJWTMwYYU",
      "input": {
        "note": "The blue pen is centred between the jaws right below the basket wall. Closing the gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WgmYzeVbd5QsqLJWTMwYYU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8436, 0.6094, -0.3805, -0.0219, -0.0383, 0.9991, 0.7383, 1.7092, 0.0551, 1.1263, 0.5049, 0.3641, 0.1478]\nstate[eef_state]: left_x=0.2985 left_y=0.0021 left_z=0.1686 left_yaw=0.0037 left_pitch=-0.0499 left_roll=-0.0036 left_gripper=0.9991 right_x=0.2697 right_y=0.1347 right_z=0.0114 right_yaw=0.1183 right_pitch=0.0996 right_roll=0.0877 right_gripper=0.1478\nstate[joint_eff]: [-0.2256, -1.6889, 7.0496, 1.7021, -0.0317, -0.0269, -0.0122, -0.1709, -4.8342, 2.947, 1.4335, 0.1245, 0.0269, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3d22af79374d4be6c6206b43eaf6c7898cae5d8f515977cee7582e950eea0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe027d0b56a9a89f222762ab40b459cf202c89c8fa8c9c4bbe8b55a482bbabba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af54fc4813486c73b59023b7f53a0d7fa8332adfd4a61ecb85cbc01255fd75e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 2.884 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]: [-0.0189, 0.8368, 0.6094, -0.3805, -0.0219, -0.038, 0.9991, 0.7658, 0.7811, 0.5869, -0.4133, 0.5148, 0.382, 0.9963]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1705 left_yaw=0.0027 left_pitch=-0.0431 left_roll=-0.0035 left_gripper=0.9991 right_x=0.2513 right_y=0.1259 right_z=0.1819 right_yaw=0.1314 right_pitch=0.0375 right_roll=0.0524 right_gripper=0.9963\nstate[joint_eff]: [0.0615, -1.5385, 7.2137, 1.7314, -0.0366, -0.0415, -0.0122, 0.335, -1.388, 6.7487, 1.4872, 0.3639, 0.1001, -0.0171]",
      "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]: [-0.0189, 0.8417, 0.6094, -0.3805, -0.0223, -0.0383, 0.9991, 0.7391, 1.7027, 0.062, 1.1015, 0.5076, 0.3717, 0.9963]\nstate[eef_state]: left_x=0.2984 left_y=0.0019 left_z=0.1691 left_yaw=0.0033 left_pitch=-0.048 left_roll=-0.0034 left_gripper=0.9991 right_x=0.2699 right_y=0.1347 right_z=0.01 right_yaw=0.1135 right_pitch=0.0907 right_roll=0.0868 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.3607, 7.2684, 1.707, -0.0317, -0.0366, -0.0122, -0.4034, -2.7145, 0.841, 0.9841, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8436, 0.6094, -0.3805, -0.0219, -0.0383, 0.9991, 0.7383, 1.7092, 0.0551, 1.1263, 0.5049, 0.3641, 0.1478]\nstate[eef_state]: left_x=0.2985 left_y=0.0021 left_z=0.1686 left_yaw=0.0037 left_pitch=-0.0499 left_roll=-0.0036 left_gripper=0.9991 right_x=0.2697 right_y=0.1347 right_z=0.0114 right_yaw=0.1183 right_pitch=0.0996 right_roll=0.0877 right_gripper=0.1478\nstate[joint_eff]: [-0.2256, -1.6889, 7.0496, 1.7021, -0.0317, -0.0269, -0.0122, -0.1709, -4.8342, 2.947, 1.4335, 0.1245, 0.0269, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3d22af79374d4be6c6206b43eaf6c7898cae5d8f515977cee7582e950eea0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe027d0b56a9a89f222762ab40b459cf202c89c8fa8c9c4bbe8b55a482bbabba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af54fc4813486c73b59023b7f53a0d7fa8332adfd4a61ecb85cbc01255fd75e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Grasped (0.148). Lift high.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DjSiHY3krpgjN8437gGFpo",
      "input": {
        "note": "The gripper settled at 0.15, so the blue pen is held. Lifting well above the basket rim.",
        "targets": {
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01DjSiHY3krpgjN8437gGFpo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8452, 0.6094, -0.3805, -0.0219, -0.0383, 0.9991, 0.7383, 0.8639, 0.7509, -0.4599, 0.4892, 0.3595, 0.1522]\nstate[eef_state]: left_x=0.2986 left_y=0.0021 left_z=0.1682 left_yaw=0.0037 left_pitch=-0.0515 left_roll=-0.0036 left_gripper=0.9991 right_x=0.2671 right_y=0.1356 right_z=0.2224 right_yaw=0.1356 right_pitch=0.0582 right_roll=0.0645 right_gripper=0.1522\nstate[joint_eff]: [-0.0342, -1.5248, 7.2137, 1.663, -0.0317, -0.0659, -0.0171, -0.1846, -2.0308, 9.6479, 1.7216, 0.2466, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97d246da53afa7240f1cb927b02291fbd1b49bcb752f878ed5a75447ff881558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:790bb59b000f1a0d4b10427ba707759d6479f957c070c8d4864e6174a2ff1d08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3aaffce6d3cf13264374d04b39a40a4940095675e77e8e4ed1d9b5401be43582",
        "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 · 2.93 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]: [-0.0189, 0.8417, 0.6094, -0.3805, -0.0223, -0.0383, 0.9991, 0.7391, 1.7027, 0.062, 1.1015, 0.5076, 0.3717, 0.9963]\nstate[eef_state]: left_x=0.2984 left_y=0.0019 left_z=0.1691 left_yaw=0.0033 left_pitch=-0.048 left_roll=-0.0034 left_gripper=0.9991 right_x=0.2699 right_y=0.1347 right_z=0.01 right_yaw=0.1135 right_pitch=0.0907 right_roll=0.0868 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.3607, 7.2684, 1.707, -0.0317, -0.0366, -0.0122, -0.4034, -2.7145, 0.841, 0.9841, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8436, 0.6094, -0.3805, -0.0219, -0.0383, 0.9991, 0.7383, 1.7092, 0.0551, 1.1263, 0.5049, 0.3641, 0.1478]\nstate[eef_state]: left_x=0.2985 left_y=0.0021 left_z=0.1686 left_yaw=0.0037 left_pitch=-0.0499 left_roll=-0.0036 left_gripper=0.9991 right_x=0.2697 right_y=0.1347 right_z=0.0114 right_yaw=0.1183 right_pitch=0.0996 right_roll=0.0877 right_gripper=0.1478\nstate[joint_eff]: [-0.2256, -1.6889, 7.0496, 1.7021, -0.0317, -0.0269, -0.0122, -0.1709, -4.8342, 2.947, 1.4335, 0.1245, 0.0269, 1.0085]",
      "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]: [-0.0181, 0.8452, 0.6094, -0.3805, -0.0219, -0.0383, 0.9991, 0.7383, 0.8639, 0.7509, -0.4599, 0.4892, 0.3595, 0.1522]\nstate[eef_state]: left_x=0.2986 left_y=0.0021 left_z=0.1682 left_yaw=0.0037 left_pitch=-0.0515 left_roll=-0.0036 left_gripper=0.9991 right_x=0.2671 right_y=0.1356 right_z=0.2224 right_yaw=0.1356 right_pitch=0.0582 right_roll=0.0645 right_gripper=0.1522\nstate[joint_eff]: [-0.0342, -1.5248, 7.2137, 1.663, -0.0317, -0.0659, -0.0171, -0.1846, -2.0308, 9.6479, 1.7216, 0.2466, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97d246da53afa7240f1cb927b02291fbd1b49bcb752f878ed5a75447ff881558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:790bb59b000f1a0d4b10427ba707759d6479f957c070c8d4864e6174a2ff1d08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aaffce6d3cf13264374d04b39a40a4940095675e77e8e4ed1d9b5401be43582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JpyyxS8PncSV1Soi4DoGQu",
      "input": {
        "note": "The blue pen is held and the right basket is straight ahead in the wrist view. Carrying it forward to the same drop point as the marker.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.14,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01JpyyxS8PncSV1Soi4DoGQu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8497, 0.609, -0.3813, -0.0219, -0.0383, 0.9991, 0.3847, 1.4395, 1.021, -0.1688, 0.1883, 0.1673, 0.1541]\nstate[eef_state]: left_x=0.2987 left_y=0.0021 left_z=0.1666 left_yaw=0.0037 left_pitch=-0.0572 left_roll=-0.0035 left_gripper=0.9991 right_x=0.4158 right_y=0.1365 right_z=0.1942 right_yaw=0.1333 right_pitch=-0.0179 right_roll=0.0432 right_gripper=0.1541\nstate[joint_eff]: [-0.212, -1.9624, 7.0359, 1.6923, -0.0317, -0.0708, -0.0122, -0.4718, -6.8718, 10.0171, 1.8535, -0.0073, 0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b53c43c58a6ffe4f64c4a067ef132cb0fc4b8825c16e569e963d206f529b6aae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a70ce917b1583f3f2d1de006a329869e221a3316101e4209feee7fc47424331b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0386aa6116378a9bff145a5c7604fa16f70fc147664f4e0929d742a3ece3ade9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 10.69 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8436, 0.6094, -0.3805, -0.0219, -0.0383, 0.9991, 0.7383, 1.7092, 0.0551, 1.1263, 0.5049, 0.3641, 0.1478]\nstate[eef_state]: left_x=0.2985 left_y=0.0021 left_z=0.1686 left_yaw=0.0037 left_pitch=-0.0499 left_roll=-0.0036 left_gripper=0.9991 right_x=0.2697 right_y=0.1347 right_z=0.0114 right_yaw=0.1183 right_pitch=0.0996 right_roll=0.0877 right_gripper=0.1478\nstate[joint_eff]: [-0.2256, -1.6889, 7.0496, 1.7021, -0.0317, -0.0269, -0.0122, -0.1709, -4.8342, 2.947, 1.4335, 0.1245, 0.0269, 1.0085]",
      "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]: [-0.0181, 0.8452, 0.6094, -0.3805, -0.0219, -0.0383, 0.9991, 0.7383, 0.8639, 0.7509, -0.4599, 0.4892, 0.3595, 0.1522]\nstate[eef_state]: left_x=0.2986 left_y=0.0021 left_z=0.1682 left_yaw=0.0037 left_pitch=-0.0515 left_roll=-0.0036 left_gripper=0.9991 right_x=0.2671 right_y=0.1356 right_z=0.2224 right_yaw=0.1356 right_pitch=0.0582 right_roll=0.0645 right_gripper=0.1522\nstate[joint_eff]: [-0.0342, -1.5248, 7.2137, 1.663, -0.0317, -0.0659, -0.0171, -0.1846, -2.0308, 9.6479, 1.7216, 0.2466, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0181, 0.8497, 0.609, -0.3813, -0.0219, -0.0383, 0.9991, 0.3847, 1.4395, 1.021, -0.1688, 0.1883, 0.1673, 0.1541]\nstate[eef_state]: left_x=0.2987 left_y=0.0021 left_z=0.1666 left_yaw=0.0037 left_pitch=-0.0572 left_roll=-0.0035 left_gripper=0.9991 right_x=0.4158 right_y=0.1365 right_z=0.1942 right_yaw=0.1333 right_pitch=-0.0179 right_roll=0.0432 right_gripper=0.1541\nstate[joint_eff]: [-0.212, -1.9624, 7.0359, 1.6923, -0.0317, -0.0708, -0.0122, -0.4718, -6.8718, 10.0171, 1.8535, -0.0073, 0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b53c43c58a6ffe4f64c4a067ef132cb0fc4b8825c16e569e963d206f529b6aae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a70ce917b1583f3f2d1de006a329869e221a3316101e4209feee7fc47424331b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0386aa6116378a9bff145a5c7604fa16f70fc147664f4e0929d742a3ece3ade9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pvw452oUg9Bdb2f1TLq4UK",
      "input": {
        "note": "The pen is over the middle of the right basket. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Pvw452oUg9Bdb2f1TLq4UK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8501, 0.609, -0.3805, -0.0219, -0.0383, 0.9991, 0.3801, 1.459, 1.0225, -0.1738, 0.1745, 0.1604, 0.9951]\nstate[eef_state]: left_x=0.2988 left_y=0.002 left_z=0.1666 left_yaw=0.0037 left_pitch=-0.0568 left_roll=-0.0035 left_gripper=0.9991 right_x=0.4169 right_y=0.1374 right_z=0.1855 right_yaw=0.1438 right_pitch=-0.0418 right_roll=0.0394 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.4427, 6.9812, 1.6972, -0.0317, -0.0366, -0.0171, 0.1299, -8.0068, 7.0085, 1.7265, 0.1245, -0.0024, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45feb39fe5ee21d2b3b564ed395a681b276adb5c83b9388aeba96be2d4f60d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efa3b55b3362421f3423913e4bbfeffdeb469e1037a8620554a9abeb7bdb6eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be8e75888ed0716fae57c8c440d4089077b18aec952d8f1844ae8f119cb1ce8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.505 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]: [-0.0181, 0.8452, 0.6094, -0.3805, -0.0219, -0.0383, 0.9991, 0.7383, 0.8639, 0.7509, -0.4599, 0.4892, 0.3595, 0.1522]\nstate[eef_state]: left_x=0.2986 left_y=0.0021 left_z=0.1682 left_yaw=0.0037 left_pitch=-0.0515 left_roll=-0.0036 left_gripper=0.9991 right_x=0.2671 right_y=0.1356 right_z=0.2224 right_yaw=0.1356 right_pitch=0.0582 right_roll=0.0645 right_gripper=0.1522\nstate[joint_eff]: [-0.0342, -1.5248, 7.2137, 1.663, -0.0317, -0.0659, -0.0171, -0.1846, -2.0308, 9.6479, 1.7216, 0.2466, 0.022, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8497, 0.609, -0.3813, -0.0219, -0.0383, 0.9991, 0.3847, 1.4395, 1.021, -0.1688, 0.1883, 0.1673, 0.1541]\nstate[eef_state]: left_x=0.2987 left_y=0.0021 left_z=0.1666 left_yaw=0.0037 left_pitch=-0.0572 left_roll=-0.0035 left_gripper=0.9991 right_x=0.4158 right_y=0.1365 right_z=0.1942 right_yaw=0.1333 right_pitch=-0.0179 right_roll=0.0432 right_gripper=0.1541\nstate[joint_eff]: [-0.212, -1.9624, 7.0359, 1.6923, -0.0317, -0.0708, -0.0122, -0.4718, -6.8718, 10.0171, 1.8535, -0.0073, 0.0317, 1.033]",
      "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]: [-0.0181, 0.8501, 0.609, -0.3805, -0.0219, -0.0383, 0.9991, 0.3801, 1.459, 1.0225, -0.1738, 0.1745, 0.1604, 0.9951]\nstate[eef_state]: left_x=0.2988 left_y=0.002 left_z=0.1666 left_yaw=0.0037 left_pitch=-0.0568 left_roll=-0.0035 left_gripper=0.9991 right_x=0.4169 right_y=0.1374 right_z=0.1855 right_yaw=0.1438 right_pitch=-0.0418 right_roll=0.0394 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.4427, 6.9812, 1.6972, -0.0317, -0.0366, -0.0171, 0.1299, -8.0068, 7.0085, 1.7265, 0.1245, -0.0024, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45feb39fe5ee21d2b3b564ed395a681b276adb5c83b9388aeba96be2d4f60d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efa3b55b3362421f3423913e4bbfeffdeb469e1037a8620554a9abeb7bdb6eaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be8e75888ed0716fae57c8c440d4089077b18aec952d8f1844ae8f119cb1ce8e",
        "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_01J99L5vgQ1YiRyijUaqqfTj",
      "input": {
        "note": "Both pens are in the right basket. The left wrist camera shows a yellow pen just right of the jaws, beside a grey koala plush. Parking the right arm at home and lowering the left arm onto the yellow pen.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.005,
          "left_z": 0.0,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01J99L5vgQ1YiRyijUaqqfTj",
      "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]: [-0.0536, 1.4483, 0.1703, 0.7696, -0.0967, -0.0277, 0.9991, -0.1455, 0.8906, 0.6624, -0.3752, -0.2108, -0.1104, 0.9962]\nstate[eef_state]: left_x=0.3315 left_y=0.0029 left_z=0.0373 left_yaw=0.0258 left_pitch=0.0581 left_roll=0.0398 left_gripper=0.9991 right_x=0.3089 right_y=-0.0043 right_z=0.1827 right_yaw=0.0879 right_pitch=-0.0302 right_roll=0.034 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -0.4444, 1.4154, -0.1685, 0.4713, -0.4127, -0.0122, -0.4855, -2.0991, 6.9265, 1.79, -0.2613, -0.0708, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93249df5585f8cd1c7a815c9cad06fd8f526276f119335ac2605868e05e7b959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7720d5c29545c670811cabee4495aae681b94d28df2fa55e23a5c39a381840f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0cc8c2a4f16d77bfe05edcf040fa10e5baed79b98d0a253f4424d4d49a2c50dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.935 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]: [-0.0181, 0.8497, 0.609, -0.3813, -0.0219, -0.0383, 0.9991, 0.3847, 1.4395, 1.021, -0.1688, 0.1883, 0.1673, 0.1541]\nstate[eef_state]: left_x=0.2987 left_y=0.0021 left_z=0.1666 left_yaw=0.0037 left_pitch=-0.0572 left_roll=-0.0035 left_gripper=0.9991 right_x=0.4158 right_y=0.1365 right_z=0.1942 right_yaw=0.1333 right_pitch=-0.0179 right_roll=0.0432 right_gripper=0.1541\nstate[joint_eff]: [-0.212, -1.9624, 7.0359, 1.6923, -0.0317, -0.0708, -0.0122, -0.4718, -6.8718, 10.0171, 1.8535, -0.0073, 0.0317, 1.033]",
      "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]: [-0.0181, 0.8501, 0.609, -0.3805, -0.0219, -0.0383, 0.9991, 0.3801, 1.459, 1.0225, -0.1738, 0.1745, 0.1604, 0.9951]\nstate[eef_state]: left_x=0.2988 left_y=0.002 left_z=0.1666 left_yaw=0.0037 left_pitch=-0.0568 left_roll=-0.0035 left_gripper=0.9991 right_x=0.4169 right_y=0.1374 right_z=0.1855 right_yaw=0.1438 right_pitch=-0.0418 right_roll=0.0394 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.4427, 6.9812, 1.6972, -0.0317, -0.0366, -0.0171, 0.1299, -8.0068, 7.0085, 1.7265, 0.1245, -0.0024, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0536, 1.4483, 0.1703, 0.7696, -0.0967, -0.0277, 0.9991, -0.1455, 0.8906, 0.6624, -0.3752, -0.2108, -0.1104, 0.9962]\nstate[eef_state]: left_x=0.3315 left_y=0.0029 left_z=0.0373 left_yaw=0.0258 left_pitch=0.0581 left_roll=0.0398 left_gripper=0.9991 right_x=0.3089 right_y=-0.0043 right_z=0.1827 right_yaw=0.0879 right_pitch=-0.0302 right_roll=0.034 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -0.4444, 1.4154, -0.1685, 0.4713, -0.4127, -0.0122, -0.4855, -2.0991, 6.9265, 1.79, -0.2613, -0.0708, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93249df5585f8cd1c7a815c9cad06fd8f526276f119335ac2605868e05e7b959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7720d5c29545c670811cabee4495aae681b94d28df2fa55e23a5c39a381840f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cc8c2a4f16d77bfe05edcf040fa10e5baed79b98d0a253f4424d4d49a2c50dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QgKEAgSGAI4AUIIdGhpbmtpbmcSDPDYcPD7v7CMzbGXWhoM9K+f9CsXyXUXYDy4IjCwTwaDuLcNcW0NCz5DxHup6yKLIhDWKNe5fAA+TuSVWZ9ePx/+Lwka0K0kBHobnj8qigiIi0FFv+XP8no1B98ZZT/S+ZkM29qIFb7+mU5vO+1bLNCYx1cLh9cnRKJCTBE35IgrfdFEzywX6tnZmiBqJT7RXVfO37Q/o+4UhbPAvV2zt/UnlJQppT95TxAdiBfAEr+jeNsFPdr0+xQ1KODlQCvWJ9uoczlVaDyCh+hVJBaRc1dxaai58ySwSTPj+AGocr/XmO2GFlIz1r3X6u/ifSaeZQrroNYa/F1tdUCY+0UVLEBfVlp+j2WBTNN5m3pdB1kmrtqT+x5yt/HXJGQYteFk5OLQXnkC/0d13AVvJPbAMdlkKwVw1Z+mZ2R1oKl7fIZK72YwGIbVp74Hf/eo9j9A8qRO8z/SnznZjal9ejMjFKB3R8uV6EA9iXGISzY/ktGpt4M1cgG6LRanRdmPJ+Iz5zO72G1fpS56SfuGuNYJ5xEfHiCeLFePanBWjKVSx2rUWuKvbd4rDF2ry295OFv3m0QRSGj/HfdGus3Db2c0mGgEX3SvJ/N765B4wqpzInts7Hs39oFdfdK5IP46JQFSsjPV78zNeP/fcA3e3E9o+Vqa0j2T3EHRK08zfgjh78czaVZcVlUzIhOdqREftxwMyUV53BOxd86LbTPk1Lra7ov1oja5pY2LDCRtrxyqM4gV+gG3YNe8MMQjIO+RUg6hgTYGg3Bk1w6bQW28Z24J0r6JzoLVJnFKHybdLDWtVKun3wchE6oAWvvPCWUdTFKUkPk13wXeLA5+7Gcw+C4mbGtNb6ZVoIHg5fcMaeezBvgn4TCfcrmBbbRgEqPmAjbyuPMUPSTN4/C9JIAASi3bBPlBsswAIdZb/uK8fWPmHTm/58SuipE9CbgKZs/o1VUDanRbAA6NetvVdVhVwS2MlCA92zfbo8WqCKV0UqOlkbsyDqw7A02xMu9Sk/gbpArS/I/udgPc2MBc6rWfZJx9qNkIn5e1JjkmQ1bqFlEaA5An/lmUWVP8AHUhBWxIkghY/Hix0faA1FTGyexL18CKNaxE2YvoDeBBMBaC5fythtLBICcfmVw5gfdGqI17AL9tpfhUhyG3vTvkaDJtE65LB8bujEFksUETQ7XbogxtXpibK1yjGdzYbbH1G3XxQCxjJbhQuuZ9omxrDEmbZZXAXFRvhUs8dG47XCidc+6+Z5jVaju416lfN0bwfg4nnYrTlKc/kHk95k+7jas+/I6GLKQarBuLPnZpMgW05XrYXLckxgD5v32Lram798Qwatff7Qkb4Bq59FRsuqTJ6J3RCyO85hQ5295ua6XDBxh8mEDzTeChB9zAvcqfVDk558y7IB/tzZo6wBExW4MKM7P8qNyEA0WGm//EJ8cKfe5hueYpEVYPqRnq0ZniIjffkhx/NamLrp9YTmgalxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011iXt34S7a99szSNNGkAzWE",
      "input": {
        "note": "The left descent stopped at z≈3.7 cm on top of the grey koala plush, which fills the space between the jaws. Grabbing the koala now and leaving the yellow pen for later.",
        "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_011iXt34S7a99szSNNGkAzWE",
      "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]: [-0.0517, 1.4433, 0.1703, 0.8509, -0.1234, -0.0227, 0.4107, -0.1478, 0.8948, 0.6586, -0.3992, -0.2176, -0.1272, 0.9963]\nstate[eef_state]: left_x=0.3406 left_y=0.0077 left_z=0.0569 left_yaw=0.0485 left_pitch=0.1449 left_roll=0.0485 left_gripper=0.4107 right_x=0.3053 right_y=-0.0033 right_z=0.1752 right_yaw=0.1006 right_pitch=-0.0601 right_roll=0.0317 right_gripper=0.9963\nstate[joint_eff]: [-0.4034, -3.6855, 4.547, 1.0085, 0.2173, -0.105, 1.033, 0.0479, -2.1265, 7.2821, 1.917, -0.0611, 0.1001, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aef9747680c936ffbad291eb17236499b5f29aa24ef2ac332de22954cef8086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfcc1336c353652512816f5f7fb91082189749f252cf174423e35d86e2fca083",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:338162a70d0b8a038c928f90215593771f7d757e4b9535e57530a68b5ee1f47d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 3.229 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]: [-0.0181, 0.8501, 0.609, -0.3805, -0.0219, -0.0383, 0.9991, 0.3801, 1.459, 1.0225, -0.1738, 0.1745, 0.1604, 0.9951]\nstate[eef_state]: left_x=0.2988 left_y=0.002 left_z=0.1666 left_yaw=0.0037 left_pitch=-0.0568 left_roll=-0.0035 left_gripper=0.9991 right_x=0.4169 right_y=0.1374 right_z=0.1855 right_yaw=0.1438 right_pitch=-0.0418 right_roll=0.0394 right_gripper=0.9951\nstate[joint_eff]: [-0.212, -1.4427, 6.9812, 1.6972, -0.0317, -0.0366, -0.0171, 0.1299, -8.0068, 7.0085, 1.7265, 0.1245, -0.0024, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0536, 1.4483, 0.1703, 0.7696, -0.0967, -0.0277, 0.9991, -0.1455, 0.8906, 0.6624, -0.3752, -0.2108, -0.1104, 0.9962]\nstate[eef_state]: left_x=0.3315 left_y=0.0029 left_z=0.0373 left_yaw=0.0258 left_pitch=0.0581 left_roll=0.0398 left_gripper=0.9991 right_x=0.3089 right_y=-0.0043 right_z=0.1827 right_yaw=0.0879 right_pitch=-0.0302 right_roll=0.034 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -0.4444, 1.4154, -0.1685, 0.4713, -0.4127, -0.0122, -0.4855, -2.0991, 6.9265, 1.79, -0.2613, -0.0708, 0.1001]",
      "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]: [-0.0517, 1.4433, 0.1703, 0.8509, -0.1234, -0.0227, 0.4107, -0.1478, 0.8948, 0.6586, -0.3992, -0.2176, -0.1272, 0.9963]\nstate[eef_state]: left_x=0.3406 left_y=0.0077 left_z=0.0569 left_yaw=0.0485 left_pitch=0.1449 left_roll=0.0485 left_gripper=0.4107 right_x=0.3053 right_y=-0.0033 right_z=0.1752 right_yaw=0.1006 right_pitch=-0.0601 right_roll=0.0317 right_gripper=0.9963\nstate[joint_eff]: [-0.4034, -3.6855, 4.547, 1.0085, 0.2173, -0.105, 1.033, 0.0479, -2.1265, 7.2821, 1.917, -0.0611, 0.1001, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aef9747680c936ffbad291eb17236499b5f29aa24ef2ac332de22954cef8086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfcc1336c353652512816f5f7fb91082189749f252cf174423e35d86e2fca083",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:338162a70d0b8a038c928f90215593771f7d757e4b9535e57530a68b5ee1f47d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwcKEAgSGAI4AUIIdGhpbmtpbmcSDD8Mv70xpOkDllFa4xoMm5b74qiszRepN42lIjA68Jg7WgpFAhC20XOFP9oxw0Hpg8qHEd9LgJp830IgNgMWNknD52hLSzB4D63zJ3Iq7Abhrh+xpBgKRohmbzFN7N4xYaVjPiFQ5YIZScTFeHpE3a0ljBzHVsKLJ3Tszfkj5yTH5KgKdHqd9b4Em6E/kDkt5Rbs6qkD1CC6j7Q5uj7LwIpNFy/+jcO0MVj4S1uYlBG9AeQwteB/AWKdy1A3uKaqcYhtQjtX8KcCiYEndJdv+I6EY4FRVXHBuzDxGfC9+LgozZxfpukJKzsmjVCn7AV6tdTF1A3R/V7evNHqJV+C9LTZZWY7Qb+qszhi8ZWtoUGv9dvT5qKr3lRiaGloyoHgYbhf7h9YiJKOqrvimUy6+zx17fc4yHEa/aWjNPVOkeB6Bq0YepLRymBFPK3A8RN0BNTS6T6+6D87+kLswRHjcfvqP5YxxvTDljffa5Aahy7Vi5QP1enHqwbUWheYj4OTS8kq/XAPKdG7B1r4eaEkeEA62fbF48OyUQW/MNOI02ftweXmhKynujYCuC116+XO/PYX3eD+944D/NlpEnmsLF2wdtJb74TQrw3+uLDEfEQCQZxuvQuX6iDphxc6dJTlWYBv8mP+iLRHL7Cgum1IC9YVBmiPGdX4cuQ5mLIW0CJEvQP/a30z9xqQPMiZrsZwJlsP9qjTNTwiFsCB/93tv/tpMd677Xpo1ZiD2s8qIcx74+QkQgMLIsj1JNlXeLPq3yuTiH6u/skc4TIOjzBMUA+eqIvvnfDgcrRZ0a4XR+Vqpw94b/clXO/yZSM0G+FbLnxS0Yb8aeM9lVpqir6Lm0VQF7bBy+xvAp3Zhnubp52VTg6sUnMji7KbxlCZVHVxG8dZNN/T83UUyUP7x0g9/Vep6yuJGTqgk7YJ5234tHTUW6QHACpK2PogaSY1HN1AqXrUwYV3AB+BCa9DEGaH8t1/usPMtsQvWQZUzyhFzTy6sSrzXk5bBgc6mTLVJWgcYHTR2kMdOp5s5i+SZgyrc7duxKCHye/QfG0wRI7uNN8HQzOZ96PegtRSxmOLeRT+E3RBkSQD41hVQ/ODZoVw3OVVfOzmu8ztlSM81ePl76riXLyc/gVu8atS7dWp1z0vd8XnSacFEfBZo6a4xy8D1xaRgnP3o5x9Q77onX3S3JGgVnZR2jV3MQIPco5kAk/PEsvQKUSVpCkPRIZ1V3w8F32h1DeZIZ+kB15LLhh8ZNEGRfBQ78iT0KeKzsEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018tHfpM29UtUvSUhHJgjjBW",
      "input": {
        "note": "The left gripper settled at 0.41, so it is holding about 4 cm of plush, which is the koala. Lifting to clear the basket rim.",
        "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_018tHfpM29UtUvSUhHJgjjBW",
      "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]: [-0.0513, 0.9546, 0.7437, -0.2382, -0.1307, -0.0269, 0.4125, -0.1478, 0.8978, 0.6586, -0.4076, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3416 left_y=0.0091 left_z=0.2285 left_yaw=0.0569 left_pitch=0.1184 left_roll=0.0506 left_gripper=0.4125 right_x=0.3042 right_y=-0.003 right_z=0.1727 right_yaw=0.1015 right_pitch=-0.0711 right_roll=0.0341 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -3.3162, 9.8393, 1.9951, 0.0122, 0.0269, 0.1734, -0.0615, -2.1538, 7.0222, 1.7753, -0.1343, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d859b9b064dcf8e3f0577d7784b85ca63a2705206adc3ffb2a876e9782e7609b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60b57248a8598e8cd6a1ac43e37489e0c4e3fb9e2d69e34ef7429d09ff6034c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45b652f5015cfac8365ccd137bfe8acc76a83d3b5653ef694ee1611cd3e3610b",
        "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 · 2.515 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]: [-0.0536, 1.4483, 0.1703, 0.7696, -0.0967, -0.0277, 0.9991, -0.1455, 0.8906, 0.6624, -0.3752, -0.2108, -0.1104, 0.9962]\nstate[eef_state]: left_x=0.3315 left_y=0.0029 left_z=0.0373 left_yaw=0.0258 left_pitch=0.0581 left_roll=0.0398 left_gripper=0.9991 right_x=0.3089 right_y=-0.0043 right_z=0.1827 right_yaw=0.0879 right_pitch=-0.0302 right_roll=0.034 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -0.4444, 1.4154, -0.1685, 0.4713, -0.4127, -0.0122, -0.4855, -2.0991, 6.9265, 1.79, -0.2613, -0.0708, 0.1001]",
      "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]: [-0.0517, 1.4433, 0.1703, 0.8509, -0.1234, -0.0227, 0.4107, -0.1478, 0.8948, 0.6586, -0.3992, -0.2176, -0.1272, 0.9963]\nstate[eef_state]: left_x=0.3406 left_y=0.0077 left_z=0.0569 left_yaw=0.0485 left_pitch=0.1449 left_roll=0.0485 left_gripper=0.4107 right_x=0.3053 right_y=-0.0033 right_z=0.1752 right_yaw=0.1006 right_pitch=-0.0601 right_roll=0.0317 right_gripper=0.9963\nstate[joint_eff]: [-0.4034, -3.6855, 4.547, 1.0085, 0.2173, -0.105, 1.033, 0.0479, -2.1265, 7.2821, 1.917, -0.0611, 0.1001, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0513, 0.9546, 0.7437, -0.2382, -0.1307, -0.0269, 0.4125, -0.1478, 0.8978, 0.6586, -0.4076, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3416 left_y=0.0091 left_z=0.2285 left_yaw=0.0569 left_pitch=0.1184 left_roll=0.0506 left_gripper=0.4125 right_x=0.3042 right_y=-0.003 right_z=0.1727 right_yaw=0.1015 right_pitch=-0.0711 right_roll=0.0341 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -3.3162, 9.8393, 1.9951, 0.0122, 0.0269, 0.1734, -0.0615, -2.1538, 7.0222, 1.7753, -0.1343, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d859b9b064dcf8e3f0577d7784b85ca63a2705206adc3ffb2a876e9782e7609b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60b57248a8598e8cd6a1ac43e37489e0c4e3fb9e2d69e34ef7429d09ff6034c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45b652f5015cfac8365ccd137bfe8acc76a83d3b5653ef694ee1611cd3e3610b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwcKEAgSGAI4AUIIdGhpbmtpbmcSDN9QkW8UFFyc9MlaRBoMzk/XIQC5WP5Y1mHRIjCJWCxIzOrDDZBbkzM/f/lfwDy16QVVNDxnTvCTq/CmPzPviiJPfiGR5txIbq7zPa0quAZzQtCdG3gBRbiMCiMlczA4s8b7brxJuoQ/AwPRurx/FokopaFkL3T3oGsTbyfWfc5ppYDy5a7RADXaSkfhGf8HlbMRr1UMm/t8UPFTELiIC/2tVY+el+i6kX+RGLGkekmCUn5uOt+21qdx26lg+kfW5m/yt3un7fmcm815wAYolCZetr8H0En89nD0dM3idPF2z5tp30pqI0CURwFMaBS+mTFXLsIzmS243JAWOWA75iIUHEXE0BqWtWUrWCHW3f7iRToXN138ZTpLTT30jc/PMr/v8mlS8J3fcwueuCqyP5lznNNnLELAzq9dNJBT5pYFSy1CXiXVLH7sdYkzn8sV2W+WzbIwTcxYMHFinGg/SY6tR0HohXob9qk+sfqxUAXs9IiLRwLT0tr/FjcvoC+v3XSOxPb/IME7nXjt5bB/GVJSMuX+WMjraAMPpcqH70K2IKY79eBsLgeqKfbDsyuY6xnu7LLkzEHXN1JFGo7Ik5PmHc3XgP8U5arZEytTAiwq/fRnB8YMk4YDmSYDj99rBAsH8sptqPxcsw0wW7GTAqfd+emHsbxJe4dmBTd9AWpsICUyoq8xe2r9mOCahlq7tCLovQcplINE6F4I1Rb5Z6H4kDKdK/DscktEzO4gJ4MpAaJ2orL+rA07k1XpqF8+Z2u1YTVvcWyIMbMbU8oHU/EIO2yDuMaFJwmQuesmNBNG4nf1z2H77PSj/Jz5zEu2ysFLPTmAiNojDSEld8a2d1n1I6HOhbYbfSMA/u/ETvq4xmNV+GHejKfhjAV2WhFxWAo8A4iPT7/SNrcRgUwSQ610zCXJtbr5Q/t2aT5ocPxot4tOZy9igOpYlJ6F5NK62hodLUV7QLVASasOvT6SFMboYydSVt1x0VTgnnJFfmjyfwVY/uYdw/tY7Zfnif25ENxMfyE0SgeBvY/rDYXDPH4t41NLym336XlGgsPoy11l8rEJ7xVVTlARBx2BM3oS68GPGp5r8XgwpX2pQhYSpXWSzQV49Lk3WKp3pUHsCSdEUdDGz+/XVUbkX5FvU8d/CseN3rB0emgbpEc3kKaCAN5j6D6mzXO5rgQLoWbdHzPJZeErwvEqWBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VZuNaEStJxntX32MciS2s6",
      "input": {
        "note": "The koala is lifted and the left basket is ahead and to the right in the wrist view. Carrying it over the basket centre.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.14,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01VZuNaEStJxntX32MciS2s6",
      "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]: [-0.5079, 1.5234, 1.1446, -0.2028, -0.5106, -0.2485, 0.4132, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4324 left_y=-0.1378 left_z=0.2179 left_yaw=0.032 left_pitch=0.0627 left_roll=0.0718 left_gripper=0.4132 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -8.0068, 9.6342, 1.7558, -0.2906, -0.0562, 0.0464, -0.0615, -2.0581, 7.0359, 1.6874, -0.149, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8113eccbba3c2e0c344d63e8f56058c0458fa3bc2c98cc48d7ea31c1695b50f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6a65e40719efdcad1670fdcf98c553ae5c5b4f432804d9655c83442210ee7f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b94cfd7a2168c5ddc4d881e1678be3bf55d4699a98e25e2e6c3e1f19fc665c9",
        "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 · 6.172 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]: [-0.0517, 1.4433, 0.1703, 0.8509, -0.1234, -0.0227, 0.4107, -0.1478, 0.8948, 0.6586, -0.3992, -0.2176, -0.1272, 0.9963]\nstate[eef_state]: left_x=0.3406 left_y=0.0077 left_z=0.0569 left_yaw=0.0485 left_pitch=0.1449 left_roll=0.0485 left_gripper=0.4107 right_x=0.3053 right_y=-0.0033 right_z=0.1752 right_yaw=0.1006 right_pitch=-0.0601 right_roll=0.0317 right_gripper=0.9963\nstate[joint_eff]: [-0.4034, -3.6855, 4.547, 1.0085, 0.2173, -0.105, 1.033, 0.0479, -2.1265, 7.2821, 1.917, -0.0611, 0.1001, 0.0024]\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]: [-0.0513, 0.9546, 0.7437, -0.2382, -0.1307, -0.0269, 0.4125, -0.1478, 0.8978, 0.6586, -0.4076, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3416 left_y=0.0091 left_z=0.2285 left_yaw=0.0569 left_pitch=0.1184 left_roll=0.0506 left_gripper=0.4125 right_x=0.3042 right_y=-0.003 right_z=0.1727 right_yaw=0.1015 right_pitch=-0.0711 right_roll=0.0341 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -3.3162, 9.8393, 1.9951, 0.0122, 0.0269, 0.1734, -0.0615, -2.1538, 7.0222, 1.7753, -0.1343, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.5079, 1.5234, 1.1446, -0.2028, -0.5106, -0.2485, 0.4132, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4324 left_y=-0.1378 left_z=0.2179 left_yaw=0.032 left_pitch=0.0627 left_roll=0.0718 left_gripper=0.4132 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -8.0068, 9.6342, 1.7558, -0.2906, -0.0562, 0.0464, -0.0615, -2.0581, 7.0359, 1.6874, -0.149, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8113eccbba3c2e0c344d63e8f56058c0458fa3bc2c98cc48d7ea31c1695b50f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6a65e40719efdcad1670fdcf98c553ae5c5b4f432804d9655c83442210ee7f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b94cfd7a2168c5ddc4d881e1678be3bf55d4699a98e25e2e6c3e1f19fc665c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L6RmGk5DXF6VYDaofwHdeo",
      "input": {
        "note": "The koala is hanging over the left basket in both views. Releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01L6RmGk5DXF6VYDaofwHdeo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5091, 1.5391, 1.1488, -0.2081, -0.5163, -0.2596, 0.9952, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4337 left_y=-0.1381 left_z=0.2123 left_yaw=0.0408 left_pitch=0.0505 left_roll=0.0736 left_gripper=0.9952 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -8.6085, 6.6393, 1.6923, -0.188, 0.0611, -0.2466, -0.0205, -1.6752, 7.0906, 1.6874, -0.1245, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5f1be69a9522a34ab843781ee6a2b3f260ce765a5059083808c06f673d0f0aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5b47e2edf582f67969d24a16e81f22dcdc48a0ee816ea722c1aff66f0ac35e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11722d5d57c5be6047741144560e757113581c15d2193b47322acb8826da65da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 4.206 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]: [-0.0513, 0.9546, 0.7437, -0.2382, -0.1307, -0.0269, 0.4125, -0.1478, 0.8978, 0.6586, -0.4076, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3416 left_y=0.0091 left_z=0.2285 left_yaw=0.0569 left_pitch=0.1184 left_roll=0.0506 left_gripper=0.4125 right_x=0.3042 right_y=-0.003 right_z=0.1727 right_yaw=0.1015 right_pitch=-0.0711 right_roll=0.0341 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -3.3162, 9.8393, 1.9951, 0.0122, 0.0269, 0.1734, -0.0615, -2.1538, 7.0222, 1.7753, -0.1343, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.5079, 1.5234, 1.1446, -0.2028, -0.5106, -0.2485, 0.4132, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4324 left_y=-0.1378 left_z=0.2179 left_yaw=0.032 left_pitch=0.0627 left_roll=0.0718 left_gripper=0.4132 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -8.0068, 9.6342, 1.7558, -0.2906, -0.0562, 0.0464, -0.0615, -2.0581, 7.0359, 1.6874, -0.149, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5091, 1.5391, 1.1488, -0.2081, -0.5163, -0.2596, 0.9952, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4337 left_y=-0.1381 left_z=0.2123 left_yaw=0.0408 left_pitch=0.0505 left_roll=0.0736 left_gripper=0.9952 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -8.6085, 6.6393, 1.6923, -0.188, 0.0611, -0.2466, -0.0205, -1.6752, 7.0906, 1.6874, -0.1245, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5f1be69a9522a34ab843781ee6a2b3f260ce765a5059083808c06f673d0f0aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5b47e2edf582f67969d24a16e81f22dcdc48a0ee816ea722c1aff66f0ac35e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11722d5d57c5be6047741144560e757113581c15d2193b47322acb8826da65da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSuAsKEAgSGAI4AUIIdGhpbmtpbmcSDH7KIEBgDLPpJpX/VhoMGqp1O4dCnA7UkfqwIjChm42/4xarxtUbC9+RMO92KYSYHQZYnb0aw5jNaoX/oGYPUy4uaUtCOpzL55vizzkq1QpL4Gcax0G0eQ2O9jaGcC761+xCNlkisW5iJwG2/NeLkZBhsKw5sjvJL9fiftx0V8zIIpeDUzChVvgLZqsouNoVWvvKr3bctkD9zFV8wAIDIsHIJR+IVAxv0mZUfFbxgMDoCpG7WOW25oM/lUdcuoIiDzaoOlgT4Ha4UM8pArpw1vZIrlf9BZd73B6QyaoYLm+R+T7lG3gLZN5odUdK+tspOaf1XVU0RKBYvnxVJXHGj27dzxxagL+3fOxgVaybvelgklqcQeKdkCRFp4dboOmLilWfqTnDeetH41AFZyiD/8QB9eU045ty6ss0iAx7wel24p6ms4/Dzx1jtFwfkp/0EHirnN47Fe9oBGAqJGPgRHI8UeKubp58MfYh+qQeZxXpaRf5BLOqfiGlujFnpwP1qyQmheKiJuKnTvKbhjkHNSWzivhBhXdmnwn4O7qoL11o2VbwPPI5vefpdxH/ehSzX7/jkRtbUh9kiqV5ImRz0a8xcEBu0OYLjMs4S9SXJNlRBNUrP6Nj0P3mck4EBK1LQ5nXo0B1xuWQTEhn4yFiQ3RVAegT3HnEUkc2c94hPxAiUxH8oseJ2LU7ac3w+98ssmwAw+a9jt+LkWeAXdplVrGVK4/xEY7U0Ik0zS2GT7aMZBoXqD1Tx4PqbE7r3cxLL4xJer3sVd+V6kSFfWXMohdjbTB971gZ6Rg47z9A9e6cf5FjZ65Lsnq5p0Zw2PLi66spdux7+7oh9skybfZQAaaoVXZMbn1XdT918weY1/+9kIanU01tmsHXKjigLZiiK9fzeLeoR7kF3OC5/YivJInzX1tI4XI9mNY6QCGErELeGnYZ31qtOG/jWqeU2dOtr5yT+I3EYWdg7Q4nkKGqFHJEbj69rewRiolvsXWm37pY2SsJ0HtmVlcsoJq3sPsVFCI37ecTmLzJmeVKiocIO5IJxAKkDx/eCX5QUopCLlSldOC30V/3aAMTEmnPil/IxwV1Q3E5/DFT2C3yzXfAs6vbvJ/5ooffYaS1vWy4jz7hArYRqG/b9rqqeFc+VQuNgd7xiz8ZiDLuTQhV4QLgDf3Bqi8WT+1B6SpeSsfynvGd+m2pU0G8Bt6pCAHTH+f3E24mxAYhLiNt9nYD069S+3T3CCjvDFSdAj0s3PQ6WCTRbErMQSEtYrEWAoU0BcgJUI+ScA33l3g/x9BtDN4wAdy6xXFxtu8o61hA6RHbjYc1ijf2NXigoEjwTnvDXsDHMscrZyU282Bglat4VuswJR3CbInlKrxKo29FFU5u2H24KTPYIMBSztVtUMem4kDXW8P9k7bGuv59+jbaWnL1AKo6WDxv+RAIT6c2aVSCjBOyfzwmaILtwLTcT5AsbuE6fa276Ap9pK2SuxwIswf5dt3FYSSyMmrXhPpjVQBiFkJNjh3vfdU2jQrNa+1b3VslVSEOHn9+6EuAxIlwsbiKlCHp69dSu5uLQx3JANV8TyOCc7Cyo2SFf+dXRs5aB9W8wwbrUaN1dHvBGbB80T1CR/DkOn4tQp5eqfJPH1iqkSWQUp7TdZKB5LigY12ssWkS4VXrJQBpzIMO8YnPkluI0EFgzjsdmYEK8QXL0AcdQWzcuvygq3tBwN5tg4TOjaouzldXZyr5A8ykxIBg9GNTGmjar5s2iZNIwtHkTRPWMkYlESkdc3OQ3nshASMrr/G9AhysFlfRSeICmsPpVhryh5rN4cglS1mEPX+L+RYCSFtfj8vCefaeRpXKB9jmU7L66OuFjeGSPJjSqRX2P3jXoMaJ9tJYNFDPUne0qNcVdH3c8yqzaNaHt6oLjBZglptPyQj+HHEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C4u746ctD1a2kShiYzgBVw",
      "input": {
        "note": "The koala is in the left basket. Next is the teddy bear in the middle of the table, just in front of the gap between the baskets. Moving the left arm above it to line up a grasp.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.24,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01C4u746ctD1a2kShiYzgBVw",
      "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]: [-0.8623, 1.6627, 1.0805, -0.189, -0.7586, -0.5152, 0.9963, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.371 left_y=-0.2407 left_z=0.1522 left_yaw=0.0039 left_pitch=0.0317 left_roll=0.0805 left_gripper=0.9963 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -6.9812, 6.2838, 1.58, -0.486, -0.0611, 0.1001, -0.0615, -1.9077, 6.9538, 1.6581, -0.1294, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89d3cebac4b74e1c56577e271c1e641d43aa8bbb8b366b6cec4b6928fa91358a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9285a12a8b28acdcc2ae01842416eeb8c2c76b13ca1d3d75262a441c7cd2f22e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc2ee346d8adfeac3792ef7014cdc1db2bd3b7a431261acf27118aecc4b65362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.973 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]: [-0.5079, 1.5234, 1.1446, -0.2028, -0.5106, -0.2485, 0.4132, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4324 left_y=-0.1378 left_z=0.2179 left_yaw=0.032 left_pitch=0.0627 left_roll=0.0718 left_gripper=0.4132 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [-0.3077, -8.0068, 9.6342, 1.7558, -0.2906, -0.0562, 0.0464, -0.0615, -2.0581, 7.0359, 1.6874, -0.149, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5091, 1.5391, 1.1488, -0.2081, -0.5163, -0.2596, 0.9952, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4337 left_y=-0.1381 left_z=0.2123 left_yaw=0.0408 left_pitch=0.0505 left_roll=0.0736 left_gripper=0.9952 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -8.6085, 6.6393, 1.6923, -0.188, 0.0611, -0.2466, -0.0205, -1.6752, 7.0906, 1.6874, -0.1245, -0.0659, -0.0171]",
      "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]: [-0.8623, 1.6627, 1.0805, -0.189, -0.7586, -0.5152, 0.9963, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.371 left_y=-0.2407 left_z=0.1522 left_yaw=0.0039 left_pitch=0.0317 left_roll=0.0805 left_gripper=0.9963 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -6.9812, 6.2838, 1.58, -0.486, -0.0611, 0.1001, -0.0615, -1.9077, 6.9538, 1.6581, -0.1294, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89d3cebac4b74e1c56577e271c1e641d43aa8bbb8b366b6cec4b6928fa91358a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9285a12a8b28acdcc2ae01842416eeb8c2c76b13ca1d3d75262a441c7cd2f22e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc2ee346d8adfeac3792ef7014cdc1db2bd3b7a431261acf27118aecc4b65362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAgKEAgSGAI4AUIIdGhpbmtpbmcSDBp46da+LrgHBb62sxoMzIyM+blLneyTcg6RIjC66HINPGZbkBaxg8HfFxUF7YJSWeSkeewYRgbSdoFlpgrRgIUfZ0NZzqjY+J6Y/AkqyQd9WfBJcajom2IybZ8cmdAEcijmkiPwgpkFzR2tuGEeP8VLm7WT68pVPWiOSnTqyIyP2l8jJtAQloeRR7AOH1ZJ38fVSTTmpXp9KYrcmDy41njMVX8j6EzGwcGaRFi6nm2j2+upnqZs4/Lv+/abEKgw8ewc//wWChy0ZLuxFTQJDyAsb8948Q6Gg1xt3jEPCdM1MInjzdYnP9j5Y6bje4krkDsugDMjXsfL7Lzd32ZKIB8nYyyp4Be+AFLh0MB29HciMFQyFkvMjVL0/VyRJQdJGKsUAKB0lERdh+9laJyy+dgWpOwj/bRm7SYo8Lpxd0hXxi9aXit1sdKK5LakMIZr29jSqt7ZY6DiQHlFWeYIHRF4ewnxaWl3yPwXy3yoTgo25CQx/kjhE0S7ncsbfQInp1rQaGfvpxkLRjN3r44oUqBfLz2aUjda8T2u6tAGgR/1Y/UlaGPG6ZIRHjt7bjUhkRQNnicRl1lCVZwJitfjOz1Mp5P0mbiGF0vF4/K4XqcfnbDd6L1/DeLHvmotFcQTr62IInja7pEi34pg6pvsWhV4cqXPbDEOnOf/HVqnG/DqcG4vGgf48GXhppo0VA5bzF1eR7cxMDxjdzmA8+5sbalWaTarQBsBlGNdQDwDENBOMofDorbdCKbqxzTqB7GjVxaetBELu4frx5q3hSaJ6fnRjpz/xqiZPNeYNw2bNemEf+irg0kRmvaAqZ4N1olsV2rPk2/aPwtzjrm4DUkqryJ86Z/NlFPkaNmKx8jcDUwyYSOZj/YRSn/svrSh+wlrM283JxTBcml4/SyhJE63IKXSOS67/z4WxlE6BotmzaeQefQyAilOcaW/7WU4uS5ytanAPx1r9Hl5TTvf0zDwqXo/rhx3gOeZLYyo5qndtmJSXhFQrMiPLFxuoocbzaVe9dQEpaanu1Pcw1WNVG3FvMShjKreJx0FVVsisrRxtVb+Z37O84lLjmQyMvcnQKnKp24rsrPyVFMQDEqlaqqHOan22lKa7vLXSY8HQ4PCucZEIbgEFsVqbpO6dECsr4uWKAOmlgHL8Boch1cR++fgBLq07i4oorG1xC9swC1xjGnRRkuy0m2fd/JutazYM9vaym8W36nWMti3U3yQiBUvHe+0gIGjE8xKMeW67ashono7IJ29lClw5NdO6E4PDLaaGCzY9FlxguPEKI0AQ9ohv4hZ2vl4HlH68gLOMKSQ+f591cj0vTNB6KXBDEGHJGDTg6d4g9vfdjJx8Ihi9EQN1TSQ3PKocxyS7e0M1O78yQZ3wWZAJ5U/6hgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vnk6jLySS86XobGbXeH64c",
      "input": {
        "note": "The teddy bear's head shows at the bottom right of the left wrist view, just right of the jaws and near the fingertips. Shifting right and descending onto the head.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.262,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Vnk6jLySS86XobGbXeH64c",
      "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]: [-0.8913, 1.9209, 0.9703, 0.3355, -0.9493, -0.4858, 0.9964, -0.1478, 0.8997, 0.6586, -0.4091, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.393 left_y=-0.2522 left_z=0.0958 left_yaw=0.1131 left_pitch=0.2208 left_roll=0.0542 left_gripper=0.9964 right_x=0.3041 right_y=-0.003 right_z=0.1718 right_yaw=0.1016 right_pitch=-0.0745 right_roll=0.035 right_gripper=0.9963\nstate[joint_eff]: [-1.1419, -2.5094, 2.0855, 0.2222, 1.8242, -0.9353, -0.0024, -0.0205, -1.9077, 6.9949, 1.6728, -0.1343, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa87fa5d2cc77b1ccdbf17c68ff06e5528af31403a6505db34c5e9e95a83cb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6797d1b354b91f0e630b455ab754b6e8c53aa650e018609715e735797e55de2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec812f2496f9be4e53585904c11273d0a083eb1e2e4049757a4f59e30d4e22c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.035 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]: [-0.5091, 1.5391, 1.1488, -0.2081, -0.5163, -0.2596, 0.9952, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4337 left_y=-0.1381 left_z=0.2123 left_yaw=0.0408 left_pitch=0.0505 left_roll=0.0736 left_gripper=0.9952 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [0.1026, -8.6085, 6.6393, 1.6923, -0.188, 0.0611, -0.2466, -0.0205, -1.6752, 7.0906, 1.6874, -0.1245, -0.0659, -0.0171]",
      "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]: [-0.8623, 1.6627, 1.0805, -0.189, -0.7586, -0.5152, 0.9963, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.371 left_y=-0.2407 left_z=0.1522 left_yaw=0.0039 left_pitch=0.0317 left_roll=0.0805 left_gripper=0.9963 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -6.9812, 6.2838, 1.58, -0.486, -0.0611, 0.1001, -0.0615, -1.9077, 6.9538, 1.6581, -0.1294, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8913, 1.9209, 0.9703, 0.3355, -0.9493, -0.4858, 0.9964, -0.1478, 0.8997, 0.6586, -0.4091, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.393 left_y=-0.2522 left_z=0.0958 left_yaw=0.1131 left_pitch=0.2208 left_roll=0.0542 left_gripper=0.9964 right_x=0.3041 right_y=-0.003 right_z=0.1718 right_yaw=0.1016 right_pitch=-0.0745 right_roll=0.035 right_gripper=0.9963\nstate[joint_eff]: [-1.1419, -2.5094, 2.0855, 0.2222, 1.8242, -0.9353, -0.0024, -0.0205, -1.9077, 6.9949, 1.6728, -0.1343, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa87fa5d2cc77b1ccdbf17c68ff06e5528af31403a6505db34c5e9e95a83cb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6797d1b354b91f0e630b455ab754b6e8c53aa650e018609715e735797e55de2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec812f2496f9be4e53585904c11273d0a083eb1e2e4049757a4f59e30d4e22c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQoKEAgSGAI4AUIIdGhpbmtpbmcSDHBWFFI26cwAcVstgxoMFgS2kc1uvmFaxCtKIjA2e/gIIdNY+yhQxlzsrrPdNZF6tf9UoLb5jvmbyqDxYtHAaaooNnF7ybRZjJxBhf8qzgnLBEi2pdP1eWo8/fKbbeNLr6D0wj/e6HLzi0FwEUAueycxK+GeAnbx/ZoysS3tF6/Z0xP2+jM/uxDsm5oDxpgDNUzawyN+uoA0ZT2nXV7NfS4Zhlk86HJFZqISV1M4aj7KM+4ySZpU666YiM2M0ERt/hVA+gKix6OGUka5QmGjbRomhDSCPNQCASggeK87q9aiR/3z11e7AwNjBuVOmsJKaN2hzq1DORNsQoQI2yMdDfqIzOIpzvy/xgX5S1FbY6CStqYQmEs/is+ZldWNSqqQqghalkU1wqPxnLOZt8S8qKLpeJWZzZGvUu4dDd2jectyHQAbSntl+hfUXMiD86Nb9p5Onp5TUpigugkCrCZ6hJ5TpKNu9zAIea+J5j6gumjxPXCnhbptjS34hq0IPXHQGk6QwZBBBNiKDCg+llcrzDJfXWfb80pmIAWtpnvwgViAciqinfhfRRTQEtkDHtANtpHpsQxF/jczb43zpmqrt86CNgNsZcReOPiXmEHb5LOd+TbUaf3htY4+XwvhKVi2+Q3OhJs50/T+A6OCnYcvYZnh1W6nQvBp4Ub7b70gAJ6QhUvflOREUvy2pHOoGS536DXiGRGKx+SJkIbJpM4W9ipETHXgq5W4YKY+Ph+ouWOdDTs3K6oRWtilzJdJrJ2JIWaaqCaNznevwoWHsfI5cjSmzjzee2XcpWSt39eYFfAAM3MXI+VAqZC8Eu24oQm+S1C+jQ7p2+jEfk1EDg22xrveicERejvEvSe+b3PZeOEVrxp5nFsP9uul8jt+KZkGvZeR0fPQiAs4CtPuOHrwmyZhI5FHxgYWIEIFCrqEeBvnRlGnsBxDdUq1h250at4vP7ckTsOkZ/PEGmp5b/wrtor194Pjt9od3/ls987WAIaIJia+JPVoYND3KnFtCPoD9O+Dqpnu6Qi/FuOpnd/toCIkP9t+A5K2YoxZULv6Rn+wSXDNX2pNYSfFN9priHS+wFj+aW4OCt41VqMQkolL0hkHkUZMiaDDEL91dRTojnyudy/M7RgiH91UdmuW33IiWqzTnHfAnI/hBwIpfbzdOrZrqeDF2ag2ByBSRD6QOxfXfxpnhL6tRjnBqID4SLRNPc9iNKPQPQFSdURmHQDiG+xNFUcl6DEwBfmHWsnidvwaOq1mo2WhYiX2NT6qAPPxDOhjYUOmyCH+/sivIT2B85lRCxCu7OByEE4diGMax98961uBL6nXTnsSWuC2o+jDNVwp3VAPMnaaLsegQ7/fACm8HTBoUmqJoYrTN15mgA+LVWVmkQG5fmH+NeeO+D1FNrbkxmmUmZ3Km6S1RdgzzPJmlpbOJf7ejlrDqnwdEO8tx0XJxte8AeJwgelkt6a3HDJ4fHVy2JMD6u86/E4S55u7xKaXzQorX9q79WiDsQQStgOp+37n7p+oH0atrQ3WOtE5Gu2ogEulAtuiSJTnkYO8Y4QHZNw1pGz6ijKG4zuQQGk0ZEk204BO7buDU09gcGwz1cR/CYD/hHLHqV53k/Osyw4f+d2NNsMwP4bjizxFi3+dSDuH4cJyXH+N6TAEsv1OLZ0nMAxNFAfEvJbv/5brOxcuZjgITfOyCWX+EFVkdq9fiX2Xyght2kKNRgYXZ1VFol15OEYAtjipuDMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013uahZ1c8HZBonLUW6ANkFp",
      "input": {
        "note": "The descent stopped at z≈0.10, probably on the corner of the left basket; the bear only shows at the very bottom of the wrist view, closer to the base. Backing up to x≈0.32 above the bear.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.255,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013uahZ1c8HZBonLUW6ANkFp",
      "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]: [-1.0599, 1.776, 0.9039, 0.1055, -1.0481, -0.6632, 0.9964, -0.1478, 0.9035, 0.6586, -0.4084, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.328 left_y=-0.2648 left_z=0.1118 left_yaw=0.0823 left_pitch=0.21 left_roll=0.0505 left_gripper=0.9964 right_x=0.3045 right_y=-0.0031 right_z=0.1709 right_yaw=0.1016 right_pitch=-0.0774 right_roll=0.0357 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -10.2359, 5.4359, 1.3602, -0.4713, -0.0855, -0.022, -0.335, -1.8667, 7.0222, 1.6581, -0.1197, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0ea86ac590a74d329e940c5244018bd9c1c8968def8836365e4bbc1e0c8be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c61223760358b2dcedb7b5e2a0a4d823345108d88e97b8a13ae21d47eb8e714d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f56e6c184824ac93d2520de6fdf5eef53fbf9a74aa8dd19dd8b98d7b998fd714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.642 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]: [-0.8623, 1.6627, 1.0805, -0.189, -0.7586, -0.5152, 0.9963, -0.1478, 0.8997, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.371 left_y=-0.2407 left_z=0.1522 left_yaw=0.0039 left_pitch=0.0317 left_roll=0.0805 left_gripper=0.9963 right_x=0.3042 right_y=-0.003 right_z=0.1719 right_yaw=0.1016 right_pitch=-0.0741 right_roll=0.0349 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -6.9812, 6.2838, 1.58, -0.486, -0.0611, 0.1001, -0.0615, -1.9077, 6.9538, 1.6581, -0.1294, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8913, 1.9209, 0.9703, 0.3355, -0.9493, -0.4858, 0.9964, -0.1478, 0.8997, 0.6586, -0.4091, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.393 left_y=-0.2522 left_z=0.0958 left_yaw=0.1131 left_pitch=0.2208 left_roll=0.0542 left_gripper=0.9964 right_x=0.3041 right_y=-0.003 right_z=0.1718 right_yaw=0.1016 right_pitch=-0.0745 right_roll=0.035 right_gripper=0.9963\nstate[joint_eff]: [-1.1419, -2.5094, 2.0855, 0.2222, 1.8242, -0.9353, -0.0024, -0.0205, -1.9077, 6.9949, 1.6728, -0.1343, -0.0562, -0.0171]",
      "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]: [-1.0599, 1.776, 0.9039, 0.1055, -1.0481, -0.6632, 0.9964, -0.1478, 0.9035, 0.6586, -0.4084, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.328 left_y=-0.2648 left_z=0.1118 left_yaw=0.0823 left_pitch=0.21 left_roll=0.0505 left_gripper=0.9964 right_x=0.3045 right_y=-0.0031 right_z=0.1709 right_yaw=0.1016 right_pitch=-0.0774 right_roll=0.0357 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -10.2359, 5.4359, 1.3602, -0.4713, -0.0855, -0.022, -0.335, -1.8667, 7.0222, 1.6581, -0.1197, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0ea86ac590a74d329e940c5244018bd9c1c8968def8836365e4bbc1e0c8be6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c61223760358b2dcedb7b5e2a0a4d823345108d88e97b8a13ae21d47eb8e714d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56e6c184824ac93d2520de6fdf5eef53fbf9a74aa8dd19dd8b98d7b998fd714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQkKEAgSGAI4AUIIdGhpbmtpbmcSDPORunC63ps7RykiRhoMZ+tqixUyRSz0m5F/IjCAd5/qBMR/CgrCVNbXYlMUptRtl2twu+RzJxjcFUCsbOPlsd5OvVQeeOanBdqrbQgq0ghGcOrw2lipoMv+ISHblXgy6Eij6PEkyALlZK+X+MSuWgIHy2v+m34BXoms4yCQ/l/PYDsb71Eu0JuUJKC9c4vK6MyEwp5/YO0wM0hEGDCLOgy73UcOAz4c2tKoYnCk5wFQpeAZLJuw885rq8kOYhlNJsqaWwHG92TF4QYQgAmvQjKqVj2m9udHcuHTfw0UFec6CWIfT7TxWSB4ZiaUv+Gof4mOvM/DbtGZVJxWS8uPp04/pxAu2cn035xqLtRoTONNIIyGvovzJgV7lAzEaSNbIMjQv6L4IGCyAVKUnYiDrHVousXgWq+iE3vbJzMazVpNemkRUSp0/1A9eulT47GTRbs5+6bgIdENUxWf4QxPH03YJOHRjp1aUbc+trutlcDpHSJsmyH+8aMnZU165/P9NyoBcTg7AZLzsSsIlU8eUeBrskOAxak2ZNWO3WqZcU72N2D/7mhcN/fGXvdOlGntXfefP26X8KJQyJUrDKhNQ1i0c7gI4NtJIBw6GMfMPWBGjHrVvFZnhlSoH4nlwkzMozgYm7G5TviYJH8OgGzuJV2DWobeDzboIhJFIYH4oCpAwMe+DWfwQcGpnMK//Pb/XNgc5399CszG04SwkcRTmLVH7lBP75jfW4i+Pr3pt86jGddDYbBjy8jPpGq7oxB8nfPvkJsrCOz/A8qlbr5cgH/qLvSO5PL3IPwgZ5U1eqOH6Kuji4m9/gzuVi7a4iMJQrLtKeLfEnpndDMkG6MguQSctlY+pRqYm8PUk0ycnIgIIKOTGSKo1ZTTIF8OrUAmUi5QlQ9q+Lg9O+6Q+KrIfo0yULdfv56tG33xKoCknJncCKbQaT6DWwPiU0S3+LjGqRc3n9MXyd3ffhFUdW5xQli4PxD7H6tNSHc7OZBdyCwjPUNq4xeVcPxKAXZ6FSWCgLVTwi4Ha91U9xiPUqocPoaE0PfmT+DWusfHzRACEeNp2N7Fdf8n5BWg7BmdW/RqaFZJtx9FSh9WDo85Sltgx/L1OVLpKtM3fmZTRwT0fnBN931Nuyna+HeihXPqHdU1Q3eSImV0Lklcrd9KYht4H9Kh6retGh5P6Xt+zMVMAdAF8eRQZci0cfc+khmTqOMcIGQHs8vo7qpRH8dR74s848Z21dNwDIT5nep+84sgVV7h7JV8bjiL6wlbT4VnHma1t94144Kvqe+4IqSl2Qoa1pOXD/wfJg2wruQvm+7wlufJxI/sXxn7gSHwi5SdIlCCETDFwUpY6vVVgzyRdxACW96TdALvZRegpkyFkzpLKqHA9jM5asJPvM65Qzg7p9XQdoKWjY42MuMuaWBeojJy2+VG6K2b2Qi4CY8c7uc2+7YZrwXeUI5pTdmsdQR29aVpZxCLQPiIWfPZCFaFCGunETib7zNYyqpeLCXlJQ+zB0is75ORCloQTl+dr73cZfa7m+Y819Uj8iaaKERxWs9ov3bI3+jAxVjht/BjwW5ufA4byxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016TsgkmbvKhiPnoHs4zKMd2",
      "input": {
        "note": "The teddy bear's face fills the bottom centre of the left wrist view: it is lying face-up with its head pointing forward. Advancing slightly and descending to grip the head.",
        "targets": {
          "left_x": 0.345,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016TsgkmbvKhiPnoHs4zKMd2",
      "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]: [-1.076, 1.7592, 0.9028, 0.0372, -1.0714, -0.7116, 0.9964, -0.1478, 0.9035, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3205 left_y=-0.2599 left_z=0.1127 left_yaw=0.0975 left_pitch=0.2058 left_roll=0.0602 left_gripper=0.9964 right_x=0.3044 right_y=-0.0031 right_z=0.1708 right_yaw=0.1016 right_pitch=-0.0778 right_roll=0.0358 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -9.812, 5.2718, 1.1551, -0.569, -0.0317, -0.0171, -0.0479, -1.6479, 7.0085, 1.6728, -0.1392, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a8794f6b9f7169111597073c79d1f8e622713fe48e8270be90ba80ee189e1a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fd450cb4329b6d664784d572e32485aa96958dfb107f76ed1a900af44ae4e6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7261d432058a56efee908d3ecd91de9c5a1f05b34a857ff09c9ae581e717914a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.338 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]: [-0.8913, 1.9209, 0.9703, 0.3355, -0.9493, -0.4858, 0.9964, -0.1478, 0.8997, 0.6586, -0.4091, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.393 left_y=-0.2522 left_z=0.0958 left_yaw=0.1131 left_pitch=0.2208 left_roll=0.0542 left_gripper=0.9964 right_x=0.3041 right_y=-0.003 right_z=0.1718 right_yaw=0.1016 right_pitch=-0.0745 right_roll=0.035 right_gripper=0.9963\nstate[joint_eff]: [-1.1419, -2.5094, 2.0855, 0.2222, 1.8242, -0.9353, -0.0024, -0.0205, -1.9077, 6.9949, 1.6728, -0.1343, -0.0562, -0.0171]",
      "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]: [-1.0599, 1.776, 0.9039, 0.1055, -1.0481, -0.6632, 0.9964, -0.1478, 0.9035, 0.6586, -0.4084, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.328 left_y=-0.2648 left_z=0.1118 left_yaw=0.0823 left_pitch=0.21 left_roll=0.0505 left_gripper=0.9964 right_x=0.3045 right_y=-0.0031 right_z=0.1709 right_yaw=0.1016 right_pitch=-0.0774 right_roll=0.0357 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -10.2359, 5.4359, 1.3602, -0.4713, -0.0855, -0.022, -0.335, -1.8667, 7.0222, 1.6581, -0.1197, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-1.076, 1.7592, 0.9028, 0.0372, -1.0714, -0.7116, 0.9964, -0.1478, 0.9035, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3205 left_y=-0.2599 left_z=0.1127 left_yaw=0.0975 left_pitch=0.2058 left_roll=0.0602 left_gripper=0.9964 right_x=0.3044 right_y=-0.0031 right_z=0.1708 right_yaw=0.1016 right_pitch=-0.0778 right_roll=0.0358 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -9.812, 5.2718, 1.1551, -0.569, -0.0317, -0.0171, -0.0479, -1.6479, 7.0085, 1.6728, -0.1392, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a8794f6b9f7169111597073c79d1f8e622713fe48e8270be90ba80ee189e1a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fd450cb4329b6d664784d572e32485aa96958dfb107f76ed1a900af44ae4e6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7261d432058a56efee908d3ecd91de9c5a1f05b34a857ff09c9ae581e717914a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAkKEAgSGAI4AUIIdGhpbmtpbmcSDA3YMOcIH4wbP7yPERoMtCiJS8fRX6sK6BdDIjBJTgDdUYvRp9xGef1c1PGWXtqahVkntb6yXZpe7EhAD2x3eAugyNTOVQfySrjRvMkqnQiom2lJlf7CZiu1jisIfcI08rR2ADNBFYhJ5HDjYzHXg/oX5kTuBED9btM+GKGld2eBIFUFvvQ3RPiAxL/EPHrIyPDKa2EL0whMjQH+Ci7Yste5S6pO+nYd2Q+KUYNUQ0/7GeJDoTbUxJEXHNL81ZHKc/10blIRMX6N/H/H42TCsNDToXQq0vGTgQ5BoJ1T5UQMlKRsbwcGHs4sgElWoI1G86D9+LIV7OxF+2m31FLEPLgRRcLcyEeYPBORgUH6ydeR4CNyBDOoyyAA32uh0Ew2RNucixkK9SRgGHWEh6EnupOIA2rb9TPXS9ql7v27ZFSIZbdmehcJhQ8ZxrGoMC/WrAqDi66VykngD3ffxGxz8kx4ENVrmOHMjiPxY8KeqwuQQF++o/DLnwWrjkY2mLLd143JmLgXzGr9BTz/9FkSCTK2ckFhD0sRv0FO3TNKNlPqWEub7cx7SpnrQzTkgGfWvOjjoJ94dc0MK/JkbVmLXqx8N/hUfvAvOn6m/9mG7xNGQJvKqevWQIfmGUNEJznwa0TihjVRQ4YmLAb6yBmhgYltI7aNLAiDI1G9agsRyEoq3Nw/zA3Fu63sYpmTf7UyUnt97tLHTOVVq5YrEc5Xa0ONS8TYhvLBWOJUiCgADrM3fhXUkPljUR091OS8b1Bo0dKtdEKP4H0T3OkH0QYvl+f/SDC2hvIMWxmvgQvYXNzuCM3D1bKR7eKkdkOZ0MZorTusGHT+TAX7gIvyjFATphg3YCereJ4E/JoxwYT3sQmmMLUoziCSgZ8vLlxW9xiWeVSy0sPUrsKg57z18KhBrB3kNhkTR+i+UsneRu1fvpdrPU+niO8qXbBTOpyqECX+OW3Y4FdH1IJApeCgYbCRPVUcL1FS7nMV2u4EOd2yNJkZV4NP1W2D2fID1JuNwtIfW20nXk5c8EC5nJdQxTUN1ywwkTZJkUcIV7wVQkt4ntUWBsPByKTAksHHCg4BYkTcZdtTZA3YFb1dDSS0BptecVy9iqxF1pSujlecmAC+naTO55kzrQhyJ4BZl+r/LvJ8+KYAPrAneGvsGuPvAibYUHlXrHQ8qOjGAw7PMdluAX1920Ls6gwXCBEm2uJwmDcW6UP+jNtZU4H9SOD0JD/598J4rmk9egRVaSNkQyoRBKwcrWW+QL2NydF/8KGZc24bFDMupV+Uqe+rTEm8aeCBuNavjzNf9OMXkvJlXTvVewThTnvFtz5RPi+4i9uQXibkwyrlKQ7IUGjBVp1M+Jb9w3tPFUwuwruqfeeqPirYkD3wgX5xG1XpDpY/CJfsJylkJdt1jh+YJqwF1otVyHMckwMXGfjIqQi1DRlRkSjHjsx5tB2SKZk/NFza1TSLOfZtG9Nnni38Su2x/CSoEXPcQZj2cYfZJlZa5m9OL0UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JzQmWr5zdpRS5yUe6dabnA",
      "input": {
        "note": "The left arm didn't respond to the last target and has drifted to pitch 0.2 rad. Re-sending the position with pitch, yaw and roll set back to zero, descending toward the bear's head.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.34,
          "left_y": -0.26,
          "left_yaw": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JzQmWr5zdpRS5yUe6dabnA",
      "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]: [-0.9527, 1.8278, 0.8745, 0.1192, -0.8875, -0.6895, 0.9964, -0.1478, 0.9054, 0.6586, -0.4091, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3463 left_y=-0.2445 left_z=0.0679 left_yaw=0.0907 left_pitch=0.0774 left_roll=0.0331 left_gripper=0.9964 right_x=0.3045 right_y=-0.0031 right_z=0.1702 right_yaw=0.1017 right_pitch=-0.08 right_roll=0.0364 right_gripper=0.9963\nstate[joint_eff]: [-2.0581, -8.2256, 4.8889, 1.2234, -0.1783, 0.1197, -0.022, -0.0342, -1.8667, 6.9538, 1.6484, -0.1099, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9223d67f96c1574a234df806c016571b76e982a11d565b3fabc1e50449872bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdeabf9cfee053645a0f23d0dfbc069cd8f790be6511a43200fb3e5ec37bc948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34645737da90872d2a4aa5647ca3ddef5831a2efb9ce86f3a9600840487a6c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.353 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]: [-1.0599, 1.776, 0.9039, 0.1055, -1.0481, -0.6632, 0.9964, -0.1478, 0.9035, 0.6586, -0.4084, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.328 left_y=-0.2648 left_z=0.1118 left_yaw=0.0823 left_pitch=0.21 left_roll=0.0505 left_gripper=0.9964 right_x=0.3045 right_y=-0.0031 right_z=0.1709 right_yaw=0.1016 right_pitch=-0.0774 right_roll=0.0357 right_gripper=0.9963\nstate[joint_eff]: [-0.4581, -10.2359, 5.4359, 1.3602, -0.4713, -0.0855, -0.022, -0.335, -1.8667, 7.0222, 1.6581, -0.1197, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-1.076, 1.7592, 0.9028, 0.0372, -1.0714, -0.7116, 0.9964, -0.1478, 0.9035, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3205 left_y=-0.2599 left_z=0.1127 left_yaw=0.0975 left_pitch=0.2058 left_roll=0.0602 left_gripper=0.9964 right_x=0.3044 right_y=-0.0031 right_z=0.1708 right_yaw=0.1016 right_pitch=-0.0778 right_roll=0.0358 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -9.812, 5.2718, 1.1551, -0.569, -0.0317, -0.0171, -0.0479, -1.6479, 7.0085, 1.6728, -0.1392, -0.0562, -0.0122]",
      "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]: [-0.9527, 1.8278, 0.8745, 0.1192, -0.8875, -0.6895, 0.9964, -0.1478, 0.9054, 0.6586, -0.4091, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3463 left_y=-0.2445 left_z=0.0679 left_yaw=0.0907 left_pitch=0.0774 left_roll=0.0331 left_gripper=0.9964 right_x=0.3045 right_y=-0.0031 right_z=0.1702 right_yaw=0.1017 right_pitch=-0.08 right_roll=0.0364 right_gripper=0.9963\nstate[joint_eff]: [-2.0581, -8.2256, 4.8889, 1.2234, -0.1783, 0.1197, -0.022, -0.0342, -1.8667, 6.9538, 1.6484, -0.1099, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9223d67f96c1574a234df806c016571b76e982a11d565b3fabc1e50449872bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdeabf9cfee053645a0f23d0dfbc069cd8f790be6511a43200fb3e5ec37bc948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34645737da90872d2a4aa5647ca3ddef5831a2efb9ce86f3a9600840487a6c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4ggKEAgSGAI4AUIIdGhpbmtpbmcSDFGEWJV+hnJM0MWGwhoMmTlzPN3CRAof5BZXIjBJB8lDc32Lp3TI77SY9/I3DdgGD3eQFOLaQ/oZntN/aeXRP3eJVNHyNpC6bujW2dAq/we32+XnuzqOiUhKBvdTphu6psM1Bl3xYE+tsPMaPFIsLhw4GrEgih4WJmXDyJgkGahRKTHsTm8SGt2C34AOppGB+0ag1nNdM+fZueWLih7aCEI+Z0ZT755OJE6ZS1NZNVlE4B53d2msI/b1YMayLr3TLl8+lFI2eHID8Rj89USvCsHCTOV7ubJnDNVKrz71LmX9gIn0I6CdB4hE/jKtLp1UBU5He0Mngx+jXZNKNoqA39ZeGVgONkCcSns+/sFMHPCiolCYAgwlv8B6lpHUW8THFC+qWljDXJtYsnpyZkQckT6LzwzGjEibeppjaIKpHtqSPi2ts735dzcbxSTGqSQrkQMyrYZzSsUONZP18SWr8GIQUgjxgsJ+kevE/7PcSTk6CzgfzzatgRR94pYGOtp/KEqNwMSSTskCe0nSDD6VMVSdjGhsWK5oOylZSYkyS/BMraCTxobXhMmVqHpKAOleauczkJ6LSsS5TKfMvDlzsPWzWXsSCgM1SQT8EZegHv0QysEi1/k9vOs79vjdlSq7uLyNgalPVdCfBKlYQLSEOC4UyAXnI3xgyzMPD1Lw/NlUswEYmIcVx63X8xl9veOrgw88DrjcwFBDBtiGHtM/l5z2obzAKCNkmkDKRzOQNoO7Kew5CtMZTM4ngJrv1qJE+qmi/d7wEbhD24Oiq4hEhsIQ+YuLwe00xjasJmCm9zj2PJG+Q6tXJXW53se8cu8e6VZTASeeLeGUxYl52hVfoRNxmQRr4HekeL8o5s+yw2z8biQCuMtn0aY7AIsZjb/Xp6B/Npm16UEobVVBRMcGczFaxeyZ1OIKTghqlacBmvWc6H5AI2xrNOeQJNWKLfnLHoo0KCruJrSvVdRE8aelYz0i7Seht+mu4S5VdIReLoByh/TTtdgkIj+C6TEwWkHN4Rr3bUFM0ngDhU29oig/soOZSsfQ/Fg2jaVJGQLBIa7S/zgP4GLuP5sVjk7g3s6OyKydDoa3OyxX/nN66IRdodwWiAQJUw+BX48IFmfEdrBXfM3cOpfJ8Fq9bFSmFRPK/HDzz/ZfAIWg0o9fm5OQ68dd4Bu861ERu6D9txCQ+1daOe0uRbnte/fDuxABakjDIdcb6VykKFQNgN9Il6BhFCYH8/LNW8RI/mNoeq91QpS6Jt6Zw7rdCrcyBuXnqdrdpPJtvPbKdezPQS0zwTD6KAdwGbu2N3mCE1N+275X2jOlKPLQnYLV/b37GpK/zu+t97a8jhHlupTuGHRqOs9c63F4myMD5LrqbTxwi0+7KRXf8dgiL+CRFt6CXV0X/84zp+wn00NvHgyTgeKB/aqVdXVQvT1pycCbOK6ekd77BobeSyDKRovX1V+4g4uBIu4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WZvThVUY1e8jeBQeXN9FCx",
      "input": {
        "note": "The bear's head sits squarely between the jaws in the left wrist view. Lowering a little and closing to grab it.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WZvThVUY1e8jeBQeXN9FCx",
      "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]: [-0.9562, 1.906, 0.8551, 0.3096, -0.902, -0.6926, 0.289, -0.1478, 0.9054, 0.6586, -0.4084, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3544 left_y=-0.2556 left_z=0.0573 left_yaw=0.1071 left_pitch=0.1323 left_roll=-0.0455 left_gripper=0.289 right_x=0.3046 right_y=-0.0031 right_z=0.1704 right_yaw=0.1017 right_pitch=-0.0793 right_roll=0.0362 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -5.8462, 3.0017, 0.8718, -0.1636, -0.0171, 0.6862, -0.0342, -1.9487, 6.9675, 1.6972, -0.149, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40961506bf4a3a0bb6832fda75a774b4a12532b0380a21ea34227f47b404ae3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f01234013bcfe07dfc53e24c84c85e1f61e5da08ced333e37f9a8e70a029fdde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:326e2214480a003ea2c4550234d542a98fa3f40b0fc6f02d783f15498e4fe621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 2.76 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]: [-1.076, 1.7592, 0.9028, 0.0372, -1.0714, -0.7116, 0.9964, -0.1478, 0.9035, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3205 left_y=-0.2599 left_z=0.1127 left_yaw=0.0975 left_pitch=0.2058 left_roll=0.0602 left_gripper=0.9964 right_x=0.3044 right_y=-0.0031 right_z=0.1708 right_yaw=0.1016 right_pitch=-0.0778 right_roll=0.0358 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -9.812, 5.2718, 1.1551, -0.569, -0.0317, -0.0171, -0.0479, -1.6479, 7.0085, 1.6728, -0.1392, -0.0562, -0.0122]",
      "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]: [-0.9527, 1.8278, 0.8745, 0.1192, -0.8875, -0.6895, 0.9964, -0.1478, 0.9054, 0.6586, -0.4091, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3463 left_y=-0.2445 left_z=0.0679 left_yaw=0.0907 left_pitch=0.0774 left_roll=0.0331 left_gripper=0.9964 right_x=0.3045 right_y=-0.0031 right_z=0.1702 right_yaw=0.1017 right_pitch=-0.08 right_roll=0.0364 right_gripper=0.9963\nstate[joint_eff]: [-2.0581, -8.2256, 4.8889, 1.2234, -0.1783, 0.1197, -0.022, -0.0342, -1.8667, 6.9538, 1.6484, -0.1099, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9562, 1.906, 0.8551, 0.3096, -0.902, -0.6926, 0.289, -0.1478, 0.9054, 0.6586, -0.4084, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3544 left_y=-0.2556 left_z=0.0573 left_yaw=0.1071 left_pitch=0.1323 left_roll=-0.0455 left_gripper=0.289 right_x=0.3046 right_y=-0.0031 right_z=0.1704 right_yaw=0.1017 right_pitch=-0.0793 right_roll=0.0362 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -5.8462, 3.0017, 0.8718, -0.1636, -0.0171, 0.6862, -0.0342, -1.9487, 6.9675, 1.6972, -0.149, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40961506bf4a3a0bb6832fda75a774b4a12532b0380a21ea34227f47b404ae3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f01234013bcfe07dfc53e24c84c85e1f61e5da08ced333e37f9a8e70a029fdde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:326e2214480a003ea2c4550234d542a98fa3f40b0fc6f02d783f15498e4fe621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAgKEAgSGAI4AUIIdGhpbmtpbmcSDCAjuPT5DInRWd/U6hoMFh7zeE1EPD1Wgo2kIjD95U8YiQltXhBsID5EoW0bCmC1/ss/WHAYnvYcRS42QiSb24nw+7+4JTJQaMoELNIqyQe9NijpL7i6BpYSeyp/8bQed0uBvBVIylqk6iChDzuVB1uvEJbHLpnhvsD5IvEzm+++TG+52D69ByPH0ddeCZ7Qv5TlBvKbkcy6OggVx4ph3dSilY3MFd5HnH/fu9Rl0dCeep+lDrQzvgmr2496E5/HvdAIY86N9o5Bk8pSYj05nf08Yu0pTuzMII6mXBxFtG6QuFvujzpL8X/Gt1iJddUFAFjJ/tQiLIDa32WW/s/9/AyBPRABubLlrlFybJjGAm5u/aCYWd2gpHdmi6WA3PJULut6Xq19yxkl2CLytVWzr572Snvgcqyr4s7KHA1pKhNhg6gC2VbSbAeq1vRcHvu/tfH0zUyRe1Z+kNUySi/XUjfZUHxsvh2Wols52pgW05SNtNpVJCaZ117aKb+l/k/75+oCGbTA+AMzriHa8by63MJ2ZGHEj1DdOt0B0BOk75EamLH0JjYKxZwkQpgHk4MTt30pEBJ8phktn0PX5n5WB48uvsCH4r+Dai1rFaRUCzKjeSpkrKOS9V3MlQhZ+Pzx1H4FciX4j9FVM/MmGj8xTfNSpcGosN1LDySBorqGoym1T8GjTCK8bhCnjQ7oSYUOPtYTIm3uVNwmgX9ZNSxGFpB2nu3Dp5dLA5Xz1Rrf/A4BWoPlEbASnH6/PvUyijbYPAoEztDR5g/EGgmbMbVovH28RBJImidV8vzBFuGyKw4SuoQBw8zHgzCid5zBum/yaLPTqmCIOGnCVdxqNQofeY2UP2A96wVDnWyXEb+FYVXVSky7TZT+K48n+VdmGVStmE9q/YDnBDwDgNUOs+/kbGdpiPgpBXxooYmH5hyemfco8w9ogLLQjoC2YjpX/9j014duO1666mIX6j3DCqtir27rn/BmT9CwWyH79WnTBhTjX03a6O7VwPQ3cONPyHhDwF4JM2CmSwZ2NBKVccJm7DvbA7EBvHoSvgKjc05tVoW2ZX5SoTPGgTo74Y+BccTmwIlohHaIbo77lsYqbZggvvYawnhiRvFazIPA3Xbs7GyuvKksjqmhdygxVsb1ZQmZbTVwT8RCtxgCpW51N1ExChfNjMCsJ5TyYE4VT9i+2ZORx1l8cp9mn9pn0UgjKDlTcVjU4rJiZ4qDLpJrgHCkAW/pLaEzYdrgO9UBJ4u0m/zEvjF06oHgZjaBRg0+v8sFBhLJOwu7fCFilEHOKWgUEUue8fWy8xFwM/vHNoZzw4vP0DVFiznB3ANCOU72iyOzFGNFoSL9sdlOc2BCIKTFCs7DnnmNnkEpN3y2Pww2f/3Du0hJxhU2N1sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KSSDqEsi7YmYdnG7PkZQdR",
      "input": {
        "note": "The gripper settled at 0.29 with the bear's head between the jaws, so it is grasped. Lifting straight up to clear the basket rim.",
        "targets": {
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01KSSDqEsi7YmYdnG7PkZQdR",
      "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]: [-0.9558, 1.6417, 1.3716, -0.5011, -0.8906, -0.701, 0.2916, -0.1478, 0.9062, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3579 left_y=-0.2624 left_z=0.2417 left_yaw=0.101 left_pitch=0.1108 left_roll=-0.0309 left_gripper=0.2916 right_x=0.3046 right_y=-0.0031 right_z=0.1701 right_yaw=0.1017 right_pitch=-0.0804 right_roll=0.0365 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -10.7966, 9.0735, 1.3309, -0.4762, 0.0366, 0.2613, -0.0479, -2.0171, 6.9949, 1.6239, -0.1538, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f8534aabe112f21af9242c48fe535af76b01517c8255251641152b928706d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053f9acdc8ba0c7c5176fe7057a11acea3e0b0c80ee254ac18029f77d63d0e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96f5b47c4069946bb36db3df3da0578dd34c48fbecb7f063d36cf615ab88a765",
        "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 · 2.85 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]: [-0.9527, 1.8278, 0.8745, 0.1192, -0.8875, -0.6895, 0.9964, -0.1478, 0.9054, 0.6586, -0.4091, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3463 left_y=-0.2445 left_z=0.0679 left_yaw=0.0907 left_pitch=0.0774 left_roll=0.0331 left_gripper=0.9964 right_x=0.3045 right_y=-0.0031 right_z=0.1702 right_yaw=0.1017 right_pitch=-0.08 right_roll=0.0364 right_gripper=0.9963\nstate[joint_eff]: [-2.0581, -8.2256, 4.8889, 1.2234, -0.1783, 0.1197, -0.022, -0.0342, -1.8667, 6.9538, 1.6484, -0.1099, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9562, 1.906, 0.8551, 0.3096, -0.902, -0.6926, 0.289, -0.1478, 0.9054, 0.6586, -0.4084, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3544 left_y=-0.2556 left_z=0.0573 left_yaw=0.1071 left_pitch=0.1323 left_roll=-0.0455 left_gripper=0.289 right_x=0.3046 right_y=-0.0031 right_z=0.1704 right_yaw=0.1017 right_pitch=-0.0793 right_roll=0.0362 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -5.8462, 3.0017, 0.8718, -0.1636, -0.0171, 0.6862, -0.0342, -1.9487, 6.9675, 1.6972, -0.149, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9558, 1.6417, 1.3716, -0.5011, -0.8906, -0.701, 0.2916, -0.1478, 0.9062, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3579 left_y=-0.2624 left_z=0.2417 left_yaw=0.101 left_pitch=0.1108 left_roll=-0.0309 left_gripper=0.2916 right_x=0.3046 right_y=-0.0031 right_z=0.1701 right_yaw=0.1017 right_pitch=-0.0804 right_roll=0.0365 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -10.7966, 9.0735, 1.3309, -0.4762, 0.0366, 0.2613, -0.0479, -2.0171, 6.9949, 1.6239, -0.1538, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f8534aabe112f21af9242c48fe535af76b01517c8255251641152b928706d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053f9acdc8ba0c7c5176fe7057a11acea3e0b0c80ee254ac18029f77d63d0e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96f5b47c4069946bb36db3df3da0578dd34c48fbecb7f063d36cf615ab88a765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013XUBVaZ4iCbAVDjyYwTqvy",
      "input": {
        "note": "The bear is lifted and hanging from the gripper, with the left basket (koala inside) ahead-left in the wrist view. Carrying the bear over the basket.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.12,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_013XUBVaZ4iCbAVDjyYwTqvy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4679, 1.5311, 1.2301, -0.3183, -0.5247, -0.3553, 0.2938, -0.1478, 0.9081, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4369 left_y=-0.1176 left_z=0.2312 left_yaw=0.1395 left_pitch=0.0382 left_roll=0.0059 left_gripper=0.2938 right_x=0.3047 right_y=-0.0031 right_z=0.1696 right_yaw=0.1017 right_pitch=-0.0822 right_roll=0.0369 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -10.5368, 7.7744, 2.1856, -0.1343, 0.1734, 0.2222, -0.1983, -2.1128, 6.9538, 1.6679, -0.1197, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b604cc872d50241720ff1ea2936eac834f963e1c910534e486db068659548ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:588f744fcf02b6d00de6b5c0e0ce4942bbea55122d0ebd2b2ba2980cc41ce03d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc110ac5738967873ecd5a078f92165a9177a380a511ede7be9fada342a3f224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 8.822 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]: [-0.9562, 1.906, 0.8551, 0.3096, -0.902, -0.6926, 0.289, -0.1478, 0.9054, 0.6586, -0.4084, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3544 left_y=-0.2556 left_z=0.0573 left_yaw=0.1071 left_pitch=0.1323 left_roll=-0.0455 left_gripper=0.289 right_x=0.3046 right_y=-0.0031 right_z=0.1704 right_yaw=0.1017 right_pitch=-0.0793 right_roll=0.0362 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -5.8462, 3.0017, 0.8718, -0.1636, -0.0171, 0.6862, -0.0342, -1.9487, 6.9675, 1.6972, -0.149, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9558, 1.6417, 1.3716, -0.5011, -0.8906, -0.701, 0.2916, -0.1478, 0.9062, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3579 left_y=-0.2624 left_z=0.2417 left_yaw=0.101 left_pitch=0.1108 left_roll=-0.0309 left_gripper=0.2916 right_x=0.3046 right_y=-0.0031 right_z=0.1701 right_yaw=0.1017 right_pitch=-0.0804 right_roll=0.0365 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -10.7966, 9.0735, 1.3309, -0.4762, 0.0366, 0.2613, -0.0479, -2.0171, 6.9949, 1.6239, -0.1538, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4679, 1.5311, 1.2301, -0.3183, -0.5247, -0.3553, 0.2938, -0.1478, 0.9081, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4369 left_y=-0.1176 left_z=0.2312 left_yaw=0.1395 left_pitch=0.0382 left_roll=0.0059 left_gripper=0.2938 right_x=0.3047 right_y=-0.0031 right_z=0.1696 right_yaw=0.1017 right_pitch=-0.0822 right_roll=0.0369 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -10.5368, 7.7744, 2.1856, -0.1343, 0.1734, 0.2222, -0.1983, -2.1128, 6.9538, 1.6679, -0.1197, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b604cc872d50241720ff1ea2936eac834f963e1c910534e486db068659548ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:588f744fcf02b6d00de6b5c0e0ce4942bbea55122d0ebd2b2ba2980cc41ce03d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc110ac5738967873ecd5a078f92165a9177a380a511ede7be9fada342a3f224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2gcKEAgSGAI4AUIIdGhpbmtpbmcSDAH5tjAscr41k9APuRoMqq0efm+ZeMDZnqr9IjCz9/qh+0iDRIIcASz8mdd4jSpfgAv5WRUyZc4hfvnfcIA02DXfs6I9k8jfC7dz1XQq9wZIqw18b54I50vFhbd1YrXtcwzdKMsMI2K8lnkjnvqOcDNr1J+78BttcmibHXaszoKEm4OBW89IttUWOT5aQG5+ypr3m0vBC0lU0+KuyvC4xlePhP668tKaTwm5TmShURs7+rlnJwfns7H3G5RwcpM5OtEIujUb6YPxOt4XOz/5RDEhmPbGLbtnXnKkGc6ocJqiN5R/2b1oSA1yZ0aZkNY3ThWlFvbPS/RB2rVfvSo7gNj7w4+Yb/DYt0lKBRhfoi1Pnfwet10u3GmZeXFhXU2jGq23uqkE4meYSOyfWVll0ABDjU2R3/sBOC7SAXiHc0GyNLtWZSIjQxBT5gbpti3CC+pyPr1Ai4P+WIYIcXuOsVWx+azt3aSsTw/qHGH55QtrsBPsBBJt2okAjphkxaNkFJ3MG4z9ca/09u6DLpkWjMRAW46uKmRTs9suzK8brHLr2rQ9F0yRsmSZ/2ADujU/yLfdK7mAUR01uVOQWM9ZKHLMKh4BP3eOLMd5Px6HqUhyY/bKQ/X/Iglkpmka5dL2nyet4uYlG9eH49bwZ+4RnRcp7JSjPCMWtTOgcCoRag/pNc3VM5V+IKLLbuTsA+X/jsRbRriVCsUN9NMjTyb0+LuTZrJvcbiv5olX86PdNA3aY2DmerouxedOQsilKWVUN682GPC7CuK7c1C8bARskHAthcT+QWJqJSmA551DVFSfyx52abuCuia4oGDyD07C836afmzXjGxHiWyX4y7opn3ljCQn3Xh3W0O79opINIXV7U+ZYv5nyFzFnIATjezINCFENfD7JD6p4ujMNt8JoO2eK0iNoy+n/rjK/hCM2OPUhrUFhQ5F5gNK2uh4PSkGinR29SzkhFUrgSZrWIwV7J/PBosY5UQkD8ePxVvX+q6/hqz+1z275VMujPb+Bzxp4XEkGYi4CTDClvYGJJZ8H+6R455c+eH5G9MnutLAn4YtnVJlFbMh5h/Q0Nv1R01m2njsmiKRZmz58EFlbb1WO+0ya2AS0zE825kBJfEfj97LorMbpDSZ/i7G8ptPZGeS+YoF3qt0I8+dlJfn3CG73RUawfVMVxJmlC0R9q6yMuvL+oHMpS1Lb3Nmw6kIDQv+zOphbh/l6QSl0O8qPt7wZpLP+KKC2EDRx7CFdzAV8yQc/c8FJeOTNitR9y8rfoq0LPD7pSzZHhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RnaoLAHt8GawjbHmeTn8tz",
      "input": {
        "note": "The overhead view shows the bear hanging over the left basket. Releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RnaoLAHt8GawjbHmeTn8tz",
      "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]: [-0.4698, 1.5314, 1.2297, -0.3256, -0.5194, -0.3634, 0.9964, -0.1478, 0.9081, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4358 left_y=-0.1189 left_z=0.2293 left_yaw=0.1374 left_pitch=0.0299 left_roll=0.001 left_gripper=0.9964 right_x=0.3047 right_y=-0.0031 right_z=0.1696 right_yaw=0.1017 right_pitch=-0.0822 right_roll=0.0369 right_gripper=0.9963\nstate[joint_eff]: [0.0752, -7.3504, 6.9538, 1.7021, -0.2759, 0.022, -0.0659, -0.1846, -2.0034, 6.9675, 1.6728, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24ebb5ff0a3b20980f4109f1c4533e2dbf455b568f0a921dd0117e37d05f2033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8f3a0fc1076e3432113a5b775db4a95b2877d03caca3cacd1175ce30b067ae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2ea58937448278fc6393bd3e5a6e1d06d19c84b5f9866131f5d0672ed067201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 11.35 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]: [-0.9558, 1.6417, 1.3716, -0.5011, -0.8906, -0.701, 0.2916, -0.1478, 0.9062, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3579 left_y=-0.2624 left_z=0.2417 left_yaw=0.101 left_pitch=0.1108 left_roll=-0.0309 left_gripper=0.2916 right_x=0.3046 right_y=-0.0031 right_z=0.1701 right_yaw=0.1017 right_pitch=-0.0804 right_roll=0.0365 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -10.7966, 9.0735, 1.3309, -0.4762, 0.0366, 0.2613, -0.0479, -2.0171, 6.9949, 1.6239, -0.1538, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4679, 1.5311, 1.2301, -0.3183, -0.5247, -0.3553, 0.2938, -0.1478, 0.9081, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4369 left_y=-0.1176 left_z=0.2312 left_yaw=0.1395 left_pitch=0.0382 left_roll=0.0059 left_gripper=0.2938 right_x=0.3047 right_y=-0.0031 right_z=0.1696 right_yaw=0.1017 right_pitch=-0.0822 right_roll=0.0369 right_gripper=0.9963\nstate[joint_eff]: [-0.0068, -10.5368, 7.7744, 2.1856, -0.1343, 0.1734, 0.2222, -0.1983, -2.1128, 6.9538, 1.6679, -0.1197, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4698, 1.5314, 1.2297, -0.3256, -0.5194, -0.3634, 0.9964, -0.1478, 0.9081, 0.6586, -0.4088, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.4358 left_y=-0.1189 left_z=0.2293 left_yaw=0.1374 left_pitch=0.0299 left_roll=0.001 left_gripper=0.9964 right_x=0.3047 right_y=-0.0031 right_z=0.1696 right_yaw=0.1017 right_pitch=-0.0822 right_roll=0.0369 right_gripper=0.9963\nstate[joint_eff]: [0.0752, -7.3504, 6.9538, 1.7021, -0.2759, 0.022, -0.0659, -0.1846, -2.0034, 6.9675, 1.6728, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24ebb5ff0a3b20980f4109f1c4533e2dbf455b568f0a921dd0117e37d05f2033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8f3a0fc1076e3432113a5b775db4a95b2877d03caca3cacd1175ce30b067ae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2ea58937448278fc6393bd3e5a6e1d06d19c84b5f9866131f5d0672ed067201",
        "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_01WBLRFV97usPv3wrftRUSJy",
      "input": {
        "note": "The bear is in the left basket. A brown monkey plush was last seen just in front of the basket, slightly right of the left arm's start position. Lowering onto it in one move because only a few calls are left.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.32,
          "left_y": -0.065,
          "left_yaw": 0.0,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01WBLRFV97usPv3wrftRUSJy",
      "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]: [-0.3874, 1.4288, 0.2962, 0.8639, -0.3798, -0.3244, 0.9976, -0.1478, 0.91, 0.6586, -0.4091, -0.218, -0.128, 0.9963]\nstate[eef_state]: left_x=0.3658 left_y=-0.0747 left_z=0.115 left_yaw=0.1116 left_pitch=0.3056 left_roll=-0.2049 left_gripper=0.9976 right_x=0.3047 right_y=-0.0031 right_z=0.1689 right_yaw=0.1018 right_pitch=-0.0845 right_roll=0.0375 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, 0.7453, -0.7179, -1.4383, 0.2564, 0.823, 0.1099, -0.0615, -2.1265, 7.1316, 1.6093, -0.1343, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:accfef133273600adeb99d2380b40a565ed5a192e1c640935b6d8c9ea836f1e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aab812a3bb0336b3fdd2b09e2e6d03221bbd9be2aae2763a85a8164d8ad798e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dff9889e628a97ebf5b59d7eafb39cb29cbd9097976210ca928b332b88476ba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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