adhoc

completed
2026-09-22T23:35:53.781354+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
294.4 s
total steps
330
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: two teal baskets at back, plush toys (teddy, bunnies) in the middle, pens/markers scattered (yellow left, blue and black right). Plan: plush into left basket, pens into right. Lowering the right arm toward the black marker seen just left of its jaws.
move_to
right_x0.3100right_y0.0300right_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]: [-0.0193, 0.7986, 0.6155, -0.3794, -0.0216, -0.0162, 0.9996, -0.0154, 0.7975, 0.6109, -0.3737, -0.0124, -0.0162, 0.9995] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0012 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [-0.4855, -1.5248, 9.5248, 1.7607, -0.022, -0.0171, -0.0611, -1.0462, -1.4427, 9.7846, 1.7363, -0.1197, -0.0122, -0.0659] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.03, "right_z": 0.08}, "note": "Scene: two teal baskets at back, plush toys (teddy, bunnies) in the middle, pens/markers scattered (yellow left, blue and black right). Plan: plush into left basket, pens into right. Lowering the right arm toward the black marker seen just left of its jaws."})
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 noteRight wrist cam shows the black marker at the bottom-left, just inside the left jaw. Shifting slightly left and back and descending to table level to straddle it.
move_to
right_y0.0550right_x0.2900right_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]: [-0.0189, 0.8005, 0.6163, -0.3805, -0.0223, -0.0166, 0.9996, 0.1581, 1.0492, 0.2653, 0.1802, 0.1234, 0.0647, 0.9995] state[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1837 left_yaw=0.0012 left_pitch=-0.0023 left_roll=0.0001 left_gripper=0.9996 right_x=0.3055 right_y=0.0303 right_z=0.0713 right_yaw=0.0156 right_pitch=-0.0383 right_roll=-0.0095 right_gripper=0.9995 state[joint_eff]: [-0.1436, -1.4154, 7.1179, 1.7851, -0.0122, -0.0611, -0.0122, 0.3897, -2.9607, 6.4205, 1.9414, 0.1685, 0.1001, -0.0171] 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": 0.055, "right_x": 0.29, "right_z": 0.0}, "note": "Right wrist cam shows the black marker at the bottom-left, just inside the left jaw. Shifting slightly left and back and descending to table level to straddle it."})
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 noteBlack marker now sits between the jaws in the right wrist view. Pressing to table level before closing.
move_to
right_z-0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8051, 0.6151, -0.3794, -0.0223, -0.0166, 0.9996, 0.3256, 1.4872, 0.0982, 0.812, 0.2432, 0.1642, 0.9995] state[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9996 right_x=0.3003 right_y=0.0603 right_z=0.0134 right_yaw=0.0295 right_pitch=0.0021 right_roll=0.0146 right_gripper=0.9995 state[joint_eff]: [-0.1026, -1.347, 7.241, 1.79, -0.0562, -0.0317, -0.0171, 0.253, -2.4547, 2.3179, 0.9402, 0.1538, -0.0122, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.01}, "note": "Black marker now sits between the jaws in the right wrist view. Pressing to table level before closing."})
tool
executing move_to over 2 steps (0.2s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteDescent stopped at ~1.3 cm (contact); marker is between the jaws. Closing the right 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, 0.8108, 0.614, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 1.734, 0.0914, 1.1645, 0.239, 0.173, 0.9994] state[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1798 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9996 right_x=0.3153 right_y=0.0664 right_z=0.0128 right_yaw=0.0277 right_pitch=0.0958 right_roll=0.0533 right_gripper=0.9994 state[joint_eff]: [-0.1026, -1.7983, 7.1179, 1.7167, -0.022, -0.0317, -0.0122, -0.1162, -3.1658, 1.4427, 1.1209, 0.0366, -0.1001, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Descent stopped at ~1.3 cm (contact); marker is between the jaws. Closing the right gripper."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteGripper settled at 0.15 (~1.4 cm) — marker grasped. Lifting high to clear the right basket wall.
move_to
right_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]: [-0.0189, 0.8169, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 1.7344, 0.0856, 1.174, 0.2359, 0.1616, 0.1521] state[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.176 left_yaw=0.0006 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9996 right_x=0.3143 right_y=0.0666 right_z=0.0132 right_yaw=0.0362 right_pitch=0.099 right_roll=0.0453 right_gripper=0.1521 state[joint_eff]: [-0.1983, -1.8803, 7.4325, 1.7265, -0.0269, -0.0611, -0.0171, -0.1436, -3.1385, 1.8393, 1.0916, 0.149, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "Gripper settled at 0.15 (~1.4 cm) \u2014 marker grasped. Lifting high to clear the right basket wall."})
tool
executing move_to over 16 steps (1.6s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteMarker lifted (gone from its table spot). Right basket is ahead-left in the wrist view; carrying the marker over its centre.
move_to
right_x0.4300right_y0.1400right_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]: [-0.0193, 0.8238, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 0.9028, 0.7952, -0.392, 0.2272, 0.1574, 0.1577] state[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.1741 left_yaw=0.0002 left_pitch=-0.0324 left_roll=0.0003 left_gripper=0.9996 right_x=0.314 right_y=0.0681 right_z=0.2368 right_yaw=0.0465 right_pitch=0.0742 right_roll=0.0385 right_gripper=0.1577 state[joint_eff]: [-0.1299, -1.9624, 7.0359, 1.707, -0.0171, -0.0269, -0.0122, -0.1846, -2.5094, 9.5795, 1.7216, 0.1099, 0.022, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.14, "right_z": 0.25}, "note": "Marker lifted (gone from its table spot). Right basket is ahead-left in the wrist view; carrying the marker over its centre."})
tool
executing move_to over 9 steps (0.9s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteTop view shows the gripper over the right edge of the right basket; shifting further left to be over its centre.
move_to
right_x0.4400right_y0.2000right_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]: [-0.0193, 0.8295, 0.6094, -0.3809, -0.0223, -0.0166, 0.9996, 0.4236, 1.4437, 1.1347, -0.268, 0.292, 0.1848, 0.1577] state[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1725 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0009 left_gripper=0.9996 right_x=0.4195 right_y=0.1373 right_z=0.2262 right_yaw=0.0758 right_pitch=0.0105 right_roll=0.0068 right_gripper=0.1577 state[joint_eff]: [-0.1846, -1.8667, 7.0359, 1.6777, -0.0122, -0.0611, -0.0122, 0.253, -7.5009, 9.7573, 1.8095, 0.2955, 0.1832, 1.033] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.2, "right_z": 0.22}, "note": "Top view shows the gripper over the right edge of the right basket; shifting further left to be over its centre."})
tool
executing move_to over 6 steps (0.6s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
Gripper is over the basket. Releasing.
agent noteRight gripper now appears over the middle of the right basket in the top view. Opening to drop the black marker.
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]: [-0.0193, 0.8303, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.556, 1.6276, 1.2564, -0.2844, 0.3729, 0.239, 0.1578] state[eef_state]: left_x=0.2977 left_y=0.0017 left_z=0.1723 left_yaw=0.0002 left_pitch=-0.0389 left_roll=0.0004 left_gripper=0.9996 right_x=0.4322 right_y=0.197 right_z=0.1998 right_yaw=0.1121 right_pitch=-0.0437 right_roll=-0.0212 right_gripper=0.1578 state[joint_eff]: [-0.1299, -1.5248, 7.2547, 1.7411, -0.0269, -0.0513, -0.0171, 0.2803, -8.1026, 9.8667, 1.7118, 0.3101, 0.1734, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
Gripper is over the basket. Releasing.
move_to({"targets": {"right_gripper": 1.0}, "note": "Right gripper now appears over the middle of the right basket in the top view. Opening to drop the black marker."})
tool
executing move_to over 9 steps (0.9s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteMarker released into the right basket. Next pen: the blue pen lying lengthwise right of the teddies; moving above it for a wrist-camera check.
move_to
right_x0.3600right_y0.1500right_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]: [-0.0193, 0.8307, 0.6094, -0.3805, -0.0223, -0.0166, 0.9996, 0.561, 1.6348, 1.2591, -0.2867, 0.3656, 0.2295, 0.9955] state[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1722 left_yaw=0.0009 left_pitch=-0.0393 left_roll=0.0009 left_gripper=0.9996 right_x=0.4316 right_y=0.2008 right_z=0.197 right_yaw=0.1279 right_pitch=-0.052 right_roll=-0.0279 right_gripper=0.9955 state[joint_eff]: [-0.2256, -1.4838, 7.0359, 1.7167, -0.0122, -0.022, -0.0171, -0.4581, -8.7726, 6.7214, 1.6435, 0.1587, 0.0464, -0.1832] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.15, "right_z": 0.08}, "note": "Marker released into the right basket. Next pen: the blue pen lying lengthwise right of the teddies; moving above it for a wrist-camera check."})
tool
executing move_to over 8 steps (0.8s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteWrist view still shows the basket, so the gripper is too far forward; the blue pen is below/behind it in the top view. Pulling back toward the base above the pen.
move_to
right_x0.2800right_y0.1500right_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8322, 0.6075, -0.3801, -0.0219, -0.0166, 0.9996, 0.5476, 1.4696, 0.659, 0.2462, 0.3542, 0.2386, 0.9962] state[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.171 left_yaw=0.0009 left_pitch=-0.0423 left_roll=0.0007 left_gripper=0.9996 right_x=0.3758 right_y=0.1616 right_z=0.1125 right_yaw=0.1194 right_pitch=0.0344 right_roll=0.0267 right_gripper=0.9962 state[joint_eff]: [-0.0479, -1.4701, 7.159, 1.7558, -0.0122, -0.0611, -0.0171, -0.8274, -4.3009, 3.8769, 0.3394, 0.0122, -0.2759, 0.0562] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.15, "right_z": 0.07}, "note": "Wrist view still shows the basket, so the gripper is too far forward; the blue pen is below/behind it in the top view. Pulling back toward the base above the pen."})
tool
executing move_to over 8 steps (0.8s)
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 right basket has been dragged toward the base — the gripper appears to be inside it (wrist cam sees basket interior). Lifting straight up to free the gripper.
move_to
right_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8375, 0.6075, -0.3798, -0.0223, -0.0166, 0.9996, 0.7494, 1.2293, 0.3283, 0.3859, 0.5117, 0.3492, 0.9963] state[eef_state]: left_x=0.298 left_y=0.0019 left_z=0.1696 left_yaw=0.0013 left_pitch=-0.0473 left_roll=0.001 left_gripper=0.9996 right_x=0.2951 right_y=0.1613 right_z=0.0957 right_yaw=0.1305 right_pitch=0.1144 right_roll=0.0792 right_gripper=0.9963 state[joint_eff]: [-0.0889, -1.4564, 7.0632, 1.7949, -0.0415, -0.0366, -0.0171, 0.3761, -2.6325, 5.053, 1.1746, 0.2711, 0.0562, 0.0024] approver: 1 step(s) modified (delta_clamped). 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_z": 0.3}, "note": "The right basket has been dragged toward the base \u2014 the gripper appears to be inside it (wrist cam sees basket interior). Lifting straight up to free the gripper."})
tool
executing move_to over 14 steps (1.4s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteGripper freed; the right basket got dragged ~closer and the black marker appears to be back on the table (dark stick near the bunny). Going for the blue pen first, descending above it.
move_to
right_x0.2900right_y0.1450right_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8379, 0.6071, -0.3805, -0.0223, -0.0166, 0.9996, 0.7513, 1.0458, 1.0351, -0.4957, 0.5049, 0.3447, 0.9965] state[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1692 left_yaw=0.0009 left_pitch=-0.0488 left_roll=0.0011 left_gripper=0.9996 right_x=0.297 right_y=0.1654 right_z=0.289 right_yaw=0.1399 right_pitch=0.1198 right_roll=0.0829 right_gripper=0.9965 state[joint_eff]: [-0.2393, -1.5111, 7.2684, 1.707, -0.0611, -0.0708, -0.0122, -0.5128, -2.5915, 9.0188, 1.5067, 0.1636, 0.0269, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.145, "right_z": 0.06}, "note": "Gripper freed; the right basket got dragged ~closer and the black marker appears to be back on the table (dark stick near the bunny). Going for the blue pen first, descending above it."})
tool
executing move_to over 15 steps (1.5s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteBlue pen is visible at the lower-left of the right wrist view, ~3-4 cm left of the jaw column. Shifting left and lowering.
move_to
right_y0.1750right_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8398, 0.6067, -0.3809, -0.0223, -0.0166, 0.9996, 0.6987, 1.3239, 0.2024, 0.5205, 0.4553, 0.318, 0.9966] state[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1684 left_yaw=0.0009 left_pitch=-0.0515 left_roll=0.0011 left_gripper=0.9996 right_x=0.281 right_y=0.1393 right_z=0.0442 right_yaw=0.1459 right_pitch=0.0272 right_roll=0.0289 right_gripper=0.9966 state[joint_eff]: [-0.2667, -1.6342, 7.0496, 1.6825, -0.0464, -0.0513, -0.0171, -0.6906, -4.5333, 4.9573, 2.0342, 0.1441, -0.0952, -0.0073] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.175, "right_z": 0.03}, "note": "Blue pen is visible at the lower-left of the right wrist view, ~3-4 cm left of the jaw column. Shifting left and lowering."})
tool
executing move_to over 3 steps (0.3s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteBlue pen is now near the jaw column in the wrist view. Descending to table level to grasp it.
move_to
right_z-0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8444, 0.6067, -0.3809, -0.0219, -0.0162, 0.9996, 0.8162, 1.5112, 0.252, 0.6189, 0.5121, 0.3676, 0.9966] state[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1671 left_yaw=0.0007 left_pitch=-0.0561 left_roll=0.0013 left_gripper=0.9996 right_x=0.2771 right_y=0.1736 right_z=0.027 right_yaw=0.1918 right_pitch=0.0122 right_roll=0.0221 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.8667, 7.1179, 1.707, -0.0513, 0.0024, -0.0171, 0.1983, -5.2444, 5.7915, 1.5751, 0.4713, 0.105, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.01}, "note": "Blue pen is now near the jaw column in the wrist view. Descending to table level to grasp it."})
tool
executing move_to over 3 steps (0.3s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
Pen between jaws; closing.
agent noteBlue pen centred between the jaws at table level. Closing the right 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, 0.8471, 0.6067, -0.3813, -0.0216, -0.0166, 0.9996, 0.8207, 1.7367, 0.2417, 0.9123, 0.535, 0.3958, 0.9966] state[eef_state]: left_x=0.2982 left_y=0.0018 left_z=0.1663 left_yaw=0.0006 left_pitch=-0.0591 left_roll=0.0008 left_gripper=0.9996 right_x=0.2865 right_y=0.1807 right_z=0.0106 right_yaw=0.1617 right_pitch=0.0656 right_roll=0.0706 right_gripper=0.9966 state[joint_eff]: [-0.1983, -1.4017, 7.1316, 1.6825, -0.0513, -0.0415, -0.0171, -0.4444, -3.5214, 1.2376, -0.0122, -0.0708, -0.2906, -0.0073] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
Pen between jaws; closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Blue pen centred between the jaws at table level. Closing the right gripper."})
tool
executing move_to over 10 steps (1.0s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteGripper settled at 0.16 — blue pen grasped. Lifting straight up well above the basket wall (basket is right in front).
move_to
right_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8494, 0.6067, -0.3805, -0.0216, -0.0166, 0.9996, 0.8207, 1.7432, 0.2348, 0.9428, 0.524, 0.3935, 0.1586] state[eef_state]: left_x=0.2984 left_y=0.0016 left_z=0.1658 left_yaw=0.0002 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9996 right_x=0.2862 right_y=0.1828 right_z=0.012 right_yaw=0.1711 right_pitch=0.0756 right_roll=0.0838 right_gripper=0.1586 state[joint_eff]: [-0.212, -1.7573, 7.0359, 1.6484, -0.0269, -0.0464, -0.0171, -0.2667, -5.9692, 3.7812, 1.3748, 0.232, -0.0415, 0.9988] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3}, "note": "Gripper settled at 0.16 \u2014 blue pen grasped. Lifting straight up well above the basket wall (basket is right in front)."})
tool
executing move_to over 19 steps (1.9s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent notePen lifted; right basket lies straight ahead in the wrist view. Moving forward over its centre.
move_to
right_x0.3700right_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8509, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, 0.8207, 1.0912, 1.0893, -0.5583, 0.5125, 0.3893, 0.1633] state[eef_state]: left_x=0.2985 left_y=0.0018 left_z=0.1654 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0011 left_gripper=0.9996 right_x=0.2879 right_y=0.1872 right_z=0.2869 right_yaw=0.1824 right_pitch=0.0764 right_roll=0.0882 right_gripper=0.1633 state[joint_eff]: [-0.1299, -1.7026, 7.0359, 1.6972, -0.0073, -0.0611, -0.0122, -0.1709, -2.8923, 9.3197, 1.5458, 0.2662, -0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_z": 0.28}, "note": "Pen lifted; right basket lies straight ahead in the wrist view. Moving forward over its centre."})
tool
executing move_to over 7 steps (0.7s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteWrist view looks straight down into the right basket, so the gripper is over it. Opening to drop the blue pen.
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]: [-0.0193, 0.8562, 0.6067, -0.3813, -0.0223, -0.0166, 0.9996, 0.6041, 1.306, 1.1389, -0.4423, 0.337, 0.2749, 0.1633] state[eef_state]: left_x=0.2987 left_y=0.0018 left_z=0.1637 left_yaw=0.0009 left_pitch=-0.0683 left_roll=0.0015 left_gripper=0.9996 right_x=0.3577 right_y=0.1802 right_z=0.2498 right_yaw=0.1711 right_pitch=-0.0112 right_roll=0.0475 right_gripper=0.1633 state[joint_eff]: [-0.2256, -1.9624, 7.0222, 1.7411, -0.0562, -0.0513, -0.0171, -0.3761, -5.4496, 10.5641, 2.0391, 0.1343, -0.0269, 1.0281] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Wrist view looks straight down into the right basket, so the gripper is over it. Opening to drop the blue pen."})
tool
executing move_to over 9 steps (0.9s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent notePen released over the right basket. Moving the right arm aside so the top camera can check what is in the basket and what remains on the table.
move_to
right_x0.2500right_y0.0000right_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, 0.8566, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, 0.5991, 1.3224, 1.137, -0.4366, 0.3244, 0.2665, 0.995] state[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1638 left_yaw=0.001 left_pitch=-0.0679 left_roll=0.0012 left_gripper=0.9996 right_x=0.3602 right_y=0.1821 right_z=0.2435 right_yaw=0.1809 right_pitch=-0.0254 right_roll=0.0419 right_gripper=0.995 state[joint_eff]: [-0.1846, -1.6615, 7.0359, 1.6532, -0.0269, -0.0171, -0.0171, 0.212, -6.5436, 7.1863, 1.6142, 0.1587, 0.0269, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.0, "right_z": 0.2}, "note": "Pen released over the right basket. Moving the right arm aside so the top camera can check what is in the basket and what remains on the table."})
tool
executing move_to over 16 steps (1.6s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteTop view shows the right basket is still empty — both pens slipped out (blue pen now lengthwise right of the teddies, grey marker in front of them). Retrying the blue pen, approaching above it.
move_to
right_x0.2900right_y0.1300right_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8585, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, -0.2741, 0.6662, 0.688, -0.6399, -0.3206, -0.1879, 0.996] state[eef_state]: left_x=0.2989 left_y=0.0018 left_z=0.1633 left_yaw=0.001 left_pitch=-0.0698 left_roll=0.0013 left_gripper=0.9996 right_x=0.2567 right_y=-0.0106 right_z=0.2029 right_yaw=0.0919 right_pitch=-0.0226 right_roll=0.0343 right_gripper=0.996 state[joint_eff]: [-0.0479, -1.6205, 7.0632, 1.6923, -0.0269, -0.0513, -0.0122, 0.0615, -0.2803, 6.8034, 1.707, -0.4225, -0.1099, 0.0904] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.13, "right_z": 0.04}, "note": "Top view shows the right basket is still empty \u2014 both pens slipped out (blue pen now lengthwise right of the teddies, grey marker in front of them). Retrying the blue pen, approaching above it."})
tool
executing move_to over 12 steps (1.2s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteBlue pen runs diagonally between the jaws in the right wrist view. Pressing down firmly to table level so the jaws straddle the pen low.
move_to
right_z-0.0150
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]: [-0.0174, 0.8619, 0.6067, -0.3817, -0.0219, -0.0166, 0.9996, 0.6308, 1.3121, 0.2565, 0.2947, 0.3798, 0.3019, 0.9961] state[eef_state]: left_x=0.2989 left_y=0.0023 left_z=0.1621 left_yaw=0.0025 left_pitch=-0.0744 left_roll=0.0014 left_gripper=0.9996 right_x=0.2748 right_y=0.124 right_z=0.0223 right_yaw=0.1434 right_pitch=-0.1351 right_roll=-0.0223 right_gripper=0.9961 state[joint_eff]: [-0.2803, -1.8393, 7.0222, 1.6777, -0.0317, -0.0269, -0.0171, 0.1983, -5.5453, 5.2444, 1.8242, 0.3053, 0.1832, 0.0024] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.015}, "note": "Blue pen runs diagonally between the jaws in the right wrist view. Pressing down firmly to table level so the jaws straddle the pen low."})
tool
executing move_to over 3 steps (0.3s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteAt table contact the pen sits near the right jaw; shifting 1.5 cm right to centre it between the jaws before closing.
move_to
right_y0.1180right_z-0.0150
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]: [-0.0174, 0.8646, 0.6064, -0.3817, -0.0227, -0.0166, 0.9996, 0.6353, 1.5169, 0.2203, 0.622, 0.3977, 0.3279, 0.9961] state[eef_state]: left_x=0.299 left_y=0.0024 left_z=0.1612 left_yaw=0.0031 left_pitch=-0.0774 left_roll=0.0019 left_gripper=0.9996 right_x=0.2895 right_y=0.1329 right_z=0.0107 right_yaw=0.1235 right_pitch=-0.0538 right_roll=0.0295 right_gripper=0.9961 state[joint_eff]: [-0.1846, -1.7846, 7.0359, 1.6679, -0.0464, -0.022, -0.0171, -0.3487, -1.8667, 1.853, -0.022, -0.0464, -0.2418, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.118, "right_z": -0.015}, "note": "At table contact the pen sits near the right jaw; shifting 1.5 cm right to centre it between the jaws before closing."})
tool
executing move_to over 2 steps (0.2s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteArm won't move sideways at contact — the right jaw is likely resting on the pen. Lifting slightly and shifting right so the pen falls between the jaws.
move_to
right_y0.1050right_z0.0400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0223, -0.0166, 0.9996, 0.6338, 1.5543, 0.2138, 0.7017, 0.3885, 0.3218, 0.9962] state[eef_state]: left_x=0.2992 left_y=0.0023 left_z=0.1613 left_yaw=0.0028 left_pitch=-0.0767 left_roll=0.0016 left_gripper=0.9996 right_x=0.2934 right_y=0.1371 right_z=0.012 right_yaw=0.1334 right_pitch=-0.025 right_roll=0.0467 right_gripper=0.9962 state[joint_eff]: [-0.0479, -1.5795, 6.9949, 1.6825, -0.0122, -0.0659, -0.0122, -0.4171, -2.906, 2.3179, 0.8669, 0.0073, -0.1978, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.105, "right_z": 0.04}, "note": "Arm won't move sideways at contact \u2014 the right jaw is likely resting on the pen. Lifting slightly and shifting right so the pen falls between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteRight arm did not respond to the last target (joints unchanged). Trying a pure lift to unstick it.
move_to
right_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]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0216, -0.017, 0.9996, 0.6338, 1.5543, 0.2138, 0.7013, 0.3885, 0.3222, 0.9962] state[eef_state]: left_x=0.2992 left_y=0.0022 left_z=0.1613 left_yaw=0.0024 left_pitch=-0.0767 left_roll=0.0009 left_gripper=0.9996 right_x=0.2934 right_y=0.137 right_z=0.012 right_yaw=0.1332 right_pitch=-0.0253 right_roll=0.0468 right_gripper=0.9962 state[joint_eff]: [-0.2256, -1.6889, 7.2274, 1.7118, -0.0464, -0.0806, -0.0171, -0.4581, -2.906, 2.1812, 0.8913, -0.0073, -0.2369, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Right arm did not respond to the last target (joints unchanged). Trying a pure lift to unstick it."})
tool
executing move_to over 6 steps (0.6s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteRight arm appears frozen (joints unchanged over two commands). Testing the left arm: the yellow marker is straight below its jaws in the left wrist view, so lowering toward it.
move_to
left_z0.0400left_x0.3100
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]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0219, -0.0166, 0.9996, 0.6338, 1.5543, 0.2138, 0.7017, 0.3885, 0.3218, 0.9962] state[eef_state]: left_x=0.2992 left_y=0.0023 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.0767 left_roll=0.0014 left_gripper=0.9996 right_x=0.2934 right_y=0.1371 right_z=0.012 right_yaw=0.1334 right_pitch=-0.025 right_roll=0.0467 right_gripper=0.9962 state[joint_eff]: [-0.1709, -1.6752, 7.1453, 1.6679, -0.0269, -0.0757, -0.0171, -0.2803, -2.7419, 2.2632, 0.8962, -0.0073, -0.2173, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_x": 0.31}, "note": "Right arm appears frozen (joints unchanged over two commands). Testing the left arm: the yellow marker is straight below its jaws in the left wrist view, so lowering toward it."})
tool
executing move_to over 8 steps (0.8s)
step 210
assistant
agent noteLeft arm responds. Yellow marker lies lengthwise just right of the jaw column; shifting ~1.5 cm right and descending to table level.
move_to
left_y-0.0150left_z-0.0150
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]: [-0.017, 1.1862, 0.2451, 0.2165, -0.0219, -0.0162, 0.9996, 0.6338, 1.5524, 0.2199, 0.6945, 0.3817, 0.326, 0.9962] state[eef_state]: left_x=0.2986 left_y=0.0024 left_z=0.0307 left_yaw=0.0029 left_pitch=-0.1621 left_roll=0.0034 left_gripper=0.9996 right_x=0.2942 right_y=0.139 right_z=0.0128 right_yaw=0.1368 right_pitch=-0.0264 right_roll=0.0542 right_gripper=0.9962 state[joint_eff]: [0.2667, -3.6308, 4.9709, 1.7753, -0.0269, -0.0317, -0.0171, -0.0889, -4.4513, 3.6034, 1.707, 0.2369, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.015, "left_z": -0.015}, "note": "Left arm responds. Yellow marker lies lengthwise just right of the jaw column; shifting ~1.5 cm right and descending to table level."})
tool
executing move_to over 3 steps (0.3s)
step 213
assistant
agent noteLeft jaws at table level with the yellow marker between them (right of centre but inside the 9.5 cm opening). Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1085, 1.4502, 0.1833, 0.5564, -0.0788, -0.0502, 0.9988, 0.6338, 1.5524, 0.2195, 0.6964, 0.3813, 0.326, 0.9962] state[eef_state]: left_x=0.3056 left_y=-0.0157 left_z=-0.0021 left_yaw=-0.0219 left_pitch=-0.1457 left_roll=0.0145 left_gripper=0.9988 right_x=0.2943 right_y=0.1392 right_z=0.013 right_yaw=0.1371 right_pitch=-0.0252 right_roll=0.0551 right_gripper=0.9962 state[joint_eff]: [0.1983, -2.5641, 2.1538, -0.1001, 0.1636, -0.3004, -0.105, -0.1983, -4.547, 4.0957, 1.6581, 0.0855, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Left jaws at table level with the yellow marker between them (right of centre but inside the 9.5 cm opening). Closing."})
tool
executing move_to over 10 steps (1.0s)
step 223
assistant
agent noteYellow marker is held in the left jaws (reading 0.15). Lifting clear before carrying it to the left basket (pens go left since the right arm is unresponsive).
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]: [-0.112, 1.4574, 0.1757, 0.5926, -0.0895, -0.0528, 0.1516, 0.6338, 1.5524, 0.2195, 0.6968, 0.3805, 0.326, 0.9962] state[eef_state]: left_x=0.3077 left_y=-0.0151 left_z=0.0003 left_yaw=-0.015 left_pitch=-0.1237 left_roll=0.0174 left_gripper=0.1516 right_x=0.2943 right_y=0.1393 right_z=0.0131 right_yaw=0.1377 right_pitch=-0.025 right_roll=0.0557 right_gripper=0.9962 state[joint_eff]: [-0.0889, -4.1778, 4.8889, 1.2967, 0.0415, 0.0024, 1.0476, -0.0615, -4.4239, 4.2598, 1.6093, 0.0659, -0.0269, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Yellow marker is held in the left jaws (reading 0.15). Lifting clear before carrying it to the left basket (pens go left since the right arm is unresponsive)."})
tool
executing move_to over 17 steps (1.7s)
step 240
assistant
agent noteMarker lifted; the left basket is straight ahead and slightly right in the left wrist view. Carrying the marker over its centre.
move_to
left_x0.4300left_y-0.0400left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1127, 0.9947, 1.0004, -0.6891, -0.0898, -0.0544, 0.1516, 0.6338, 1.5524, 0.2195, 0.6971, 0.3805, 0.3264, 0.9962] state[eef_state]: left_x=0.3119 left_y=-0.0158 left_z=0.2396 left_yaw=-0.0147 left_pitch=-0.118 left_roll=0.0159 left_gripper=0.1516 right_x=0.2943 right_y=0.1394 right_z=0.0132 right_yaw=0.1375 right_pitch=-0.0247 right_roll=0.0562 right_gripper=0.9962 state[joint_eff]: [-0.0752, -2.441, 8.4718, 1.5018, -0.0659, -0.0415, 1.033, -0.2803, -4.6154, 4.0821, 1.6288, 0.1001, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.04, "left_z": 0.25}, "note": "Marker lifted; the left basket is straight ahead and slightly right in the left wrist view. Carrying the marker over its centre."})
tool
executing move_to over 10 steps (1.0s)
step 250
assistant
Over the basket interior. Releasing.
agent noteLeft wrist view looks down into the left basket with the marker above its interior. Opening to drop 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]: [-0.1448, 1.4483, 1.2968, -0.5972, -0.1097, -0.0837, 0.1516, 0.6338, 1.5524, 0.2195, 0.6971, 0.3809, 0.326, 0.9962] state[eef_state]: left_x=0.418 left_y=-0.0378 left_z=0.2293 left_yaw=-0.0129 left_pitch=-0.1809 left_roll=0.014 left_gripper=0.1516 right_x=0.2943 right_y=0.1393 right_z=0.0132 right_yaw=0.1374 right_pitch=-0.0246 right_roll=0.0556 right_gripper=0.9962 state[joint_eff]: [-0.4855, -6.8991, 9.3333, 1.7118, -0.188, 0.0024, 1.033, -0.0615, -4.4103, 4.2188, 1.6435, 0.1294, -0.0171, -0.0122] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
Over the basket interior. Releasing.
move_to({"targets": {"left_gripper": 1.0}, "note": "Left wrist view looks down into the left basket with the marker above its interior. Opening to drop it."})
tool
executing move_to over 9 steps (0.9s)
step 259
assistant
agent noteYellow marker is now in the left basket (pens basket). Next class: plush toys go to the right basket; moving the left arm above the teddy bear beside the right basket.
move_to
left_x0.3300left_y-0.2000left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1471, 1.4708, 1.2995, -0.6025, -0.1116, -0.0906, 0.9954, 0.6338, 1.5524, 0.2195, 0.6971, 0.3805, 0.326, 0.9963] state[eef_state]: left_x=0.4199 left_y=-0.0387 left_z=0.2205 left_yaw=-0.0091 left_pitch=-0.2056 left_roll=0.0137 left_gripper=0.9954 right_x=0.2943 right_y=0.1394 right_z=0.0132 right_yaw=0.1377 right_pitch=-0.0247 right_roll=0.0558 right_gripper=0.9963 state[joint_eff]: [0.0479, -8.2803, 6.9265, 1.6142, -0.0904, 0.0024, -0.2222, -0.0615, -4.4786, 4.1094, 1.6142, 0.1001, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.2, "left_z": 0.13}, "note": "Yellow marker is now in the left basket (pens basket). Next class: plush toys go to the right basket; moving the left arm above the teddy bear beside the right basket."})
tool
executing move_to over 15 steps (1.5s)
step 274
assistant
agent noteTeddy bear sits just below and slightly right of the left jaws. Shifting slightly right and descending around its body.
move_to
left_y-0.2200left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7795, 1.4902, 1.0019, -0.4541, -0.4999, -0.5598, 0.9967, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.326, 0.9963] state[eef_state]: left_x=0.3292 left_y=-0.2013 left_z=0.1312 left_yaw=-0.0514 left_pitch=-0.2274 left_roll=0.0174 left_gripper=0.9967 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.138 right_pitch=-0.0248 right_roll=0.056 right_gripper=0.9963 state[joint_eff]: [-0.1573, -6.2154, 6.1197, 1.4237, -0.5104, -0.0611, 0.1197, -0.0342, -4.6154, 4.0821, 1.6679, 0.0708, -0.0415, -0.0171] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.22, "left_z": 0.03}, "note": "Teddy bear sits just below and slightly right of the left jaws. Shifting slightly right and descending around its body."})
tool
executing move_to over 7 steps (0.7s)
step 281
assistant
agent noteTeddy bear fills the space between the left jaws (descent stopped on it at 5 cm). Closing to grab it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8215, 1.689, 0.8349, -0.0811, -0.5247, -0.6022, 0.9968, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.3264, 0.9962] state[eef_state]: left_x=0.3328 left_y=-0.2226 left_z=0.0496 left_yaw=-0.0535 left_pitch=-0.2081 left_roll=-0.0035 left_gripper=0.9968 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.1378 right_pitch=-0.0248 right_roll=0.0564 right_gripper=0.9962 state[joint_eff]: [-0.1846, -5.0803, 4.0137, 0.823, -0.2662, 0.0415, -0.0024, -0.0479, -4.3966, 4.2462, 1.6288, 0.0659, -0.0317, -0.0171] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Teddy bear fills the space between the left jaws (descent stopped on it at 5 cm). Closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteGripper closed on the soft teddy (plush compresses, so reading is low). Lifting it high to clear the right basket wall.
move_to
left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8253, 1.6997, 0.8265, -0.025, -0.524, -0.6106, 0.016, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.326, 0.9962] state[eef_state]: left_x=0.3364 left_y=-0.2288 left_z=0.0503 left_yaw=-0.0583 left_pitch=-0.1819 left_roll=-0.0364 left_gripper=0.016 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.138 right_pitch=-0.0248 right_roll=0.056 right_gripper=0.9962 state[joint_eff]: [0.1299, -8.4991, 6.4205, 0.7888, -0.2271, 0.0513, 0.6764, -0.0479, -4.5744, 4.1504, 1.6142, 0.0611, -0.0659, -0.0073] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "Gripper closed on the soft teddy (plush compresses, so reading is low). Lifting it high to clear the right basket wall."})
tool
executing move_to over 15 steps (1.5s)
step 306
assistant
agent noteTeddy is lifted and hanging from the left jaws. Carrying it right over the centre of the right basket.
move_to
left_x0.4200left_y-0.3700left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8253, 1.557, 1.5799, -0.9138, -0.5167, -0.6189, 0.0169, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.3264, 0.9962] state[eef_state]: left_x=0.3385 left_y=-0.2327 left_z=0.2678 left_yaw=-0.06 left_pitch=-0.1808 left_roll=-0.0519 left_gripper=0.0169 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.1378 right_pitch=-0.0248 right_roll=0.0564 right_gripper=0.9962 state[joint_eff]: [-0.1983, -6.2291, 8.5128, 1.2234, -0.359, 0.0269, 1.033, -0.0889, -4.3966, 4.3692, 1.6093, 0.0659, -0.0317, -0.0073] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.37, "left_z": 0.28}, "note": "Teddy is lifted and hanging from the left jaws. Carrying it right over the centre of the right basket."})
tool
executing move_to over 13 steps (1.3s)
step 319
assistant
Teddy is over the right basket. Releasing.
agent noteTop view shows the teddy hanging over the right basket interior. Opening to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8928, 2.4756, 2.8258, -1.3636, -0.5415, -0.6926, 0.0203, 0.6338, 1.5524, 0.2195, 0.6975, 0.3737, 0.3264, 0.9963] state[eef_state]: left_x=0.4213 left_y=-0.3723 left_z=0.2277 left_yaw=-0.0504 left_pitch=-0.2519 left_roll=-0.0009 left_gripper=0.0203 right_x=0.294 right_y=0.1405 right_z=0.013 right_yaw=0.1432 right_pitch=-0.0263 right_roll=0.0599 right_gripper=0.9963 state[joint_eff]: [-0.5128, -15.6376, 8.2667, 0.8181, -0.4811, 0.0269, 1.0281, -0.212, -4.5197, 4.041, 1.6044, 0.188, -0.0317, -0.0073] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
Teddy is over the right basket. Releasing.
move_to({"targets": {"left_gripper": 1.0}, "note": "Top view shows the teddy hanging over the right basket interior. Opening to drop it in."})
tool
executing move_to over 10 steps (1.0s)
step 329
assistant
agent noteI only partly finished the task. I sorted the objects into two groups: pens/markers go in the left basket and plush toys go in the right basket. So far one of each is in place: the yellow marker is in the left basket and the teddy bear is in the right basket. Still on the table: the blue pen, the grey/black marker and the bunny plush toys (I think two). My first two tries with the right arm (black marker, then blue pen) both came up empty, even though the gripper reading (0.15) looked like a grasp. It also snagged the right basket and dragged it about 10 cm toward the base. After that the right arm stopped responding: its joints didn't change across several commands. I did the rest with the left arm and ran out of calls.
done
hindsight- Check that an object actually went into the basket by moving the arm aside and looking at the top camera before moving on. Both right-arm grasps read 0.15, which looked like a hold, but the basket turned out empty. - If a descent stops at z≈0.012 over a thin pen, a fingertip is probably resting on the pen, not straddling it. Lift, shift sideways, and try again rather than closing there. - Don't lower the gripper into a basket. I dropped from z=0.20 over the right basket and then moved low, which caught the basket rim and dragged it. Lift to z≥0.28 before any sideways move near a basket; baskets are about 12 cm tall. - The right arm stopped responding after a table-contact press at z=-0.015 (same joints across several commands). The left arm could still be driven. Avoid pressing below the table with the right arm, and if an arm freezes, switch to the other one right away. - Rough map from the top camera to left-arm coordinates at table level: left_y ≈ -0.04 - (px_x - 60)/290, about 2.9 px/cm sideways. The right basket (image x≈145) was at about left_y=-0.37, left_x=0.42, and the left arm reached it fine. Plush toys need the gripper fully closed (it reads about 0.02 when holding one) and lift fine. - With 40 calls, plan for about 5 calls per object. This scene had 6 or more objects, so combine moves, e.g. approach and descend in one call when nothing is in the way.
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]: [-0.8928, 2.5202, 2.8223, -1.3735, -0.5392, -0.7078, 0.9953, 0.6338, 1.5524, 0.2195, 0.6975, 0.3729, 0.326, 0.9963] state[eef_state]: left_x=0.4227 left_y=-0.3746 left_z=0.2014 left_yaw=-0.0313 left_pitch=-0.2914 left_roll=0.0324 left_gripper=0.9953 right_x=0.2939 right_y=0.1406 right_z=0.0129 right_yaw=0.144 right_pitch=-0.0265 right_roll=0.06 right_gripper=0.9963 state[joint_eff]: [-0.2393, -17.388, 5.7778, 1.2234, -0.359, 0.0952, -0.1245, -0.0205, -4.6017, 4.2325, 1.6679, 0.0855, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
done({"summary": "I only partly finished the task. I sorted the objects into two groups: pens/markers go in the left basket and plush toys go in the right basket. So far one of each is in place: the yellow marker is in the left basket and the teddy bear is in the right basket. Still on the table: the blue pen, the grey/black marker and the bunny plush toys (I think two). My first two tries with the right arm (black marker, then blue pen) both came up empty, even though the gripper reading (0.15) looked like a grasp. It also snagged the right basket and dragged it about 10 cm toward the base. After that the right arm stopped responding: its joints didn't change across several commands. I did the rest with the left arm and ran out of calls.", "hindsight": "- Check that an object actually went into the basket by moving the arm aside and looking at the top camera before moving on. Both right-arm grasps read 0.15, which looked like a hold, but the basket turned out empty.\n- If a descent stops at z\u22480.012 over a thin pen, a fingertip is probably resting on the pen, not straddling it. Lift, shift sideways, and try again rather than closing there.\n- Don't lower the gripper into a basket. I dropped from z=0.20 over the right basket and then moved low, which caught the basket rim and dragged it. Lift to z\u22650.28 before any sideways move near a basket; baskets are about 12 cm tall.\n- The right arm stopped responding after a table-contact press at z=-0.015 (same joints across several commands). The left arm could still be driven. Avoid pressing below the table with the right arm, and if an arm freezes, switch to the other one right away.\n- Rough map from the top camera to left-arm coordinates at table level: left_y \u2248 -0.04 - (px_x - 60)/290, about 2.9 px/cm sideways. The right basket (image x\u2248145) was at about left_y=-0.37, left_x=0.42, and the left arm reached it fine. Plush toys need the gripper fully closed (it reads about 0.02 when holding one) and lift fine.\n- With 40 calls, plan for about 5 calls per object. This scene had 6 or more objects, so combine moves, e.g. approach and descend in one call when nothing is in the way."})
tool
done: I only partly finished the task. I sorted the objects into two groups: pens/markers go in the left basket and plush toys go in the right basket. So far one of each is in place: the yellow marker is in the left basket and the teddy bear is in the right basket. Still on the table: the blue pen, the grey/black marker and the bunny plush toys (I think two). My first two tries with the right arm (black marker, then blue pen) both came up empty, even though the gripper reading (0.15) looked like a grasp. It also snagged the right basket and dragged it about 10 cm toward the base. After that the right arm stopped responding: its joints didn't change across several commands. I did the rest with the left arm and ran out of calls.
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 · 33.89 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3794, -0.0216, -0.0162, 0.9996, -0.0154, 0.7975, 0.6109, -0.3737, -0.0124, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0012 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -1.5248, 9.5248, 1.7607, -0.022, -0.0171, -0.0611, -1.0462, -1.4427, 9.7846, 1.7363, -0.1197, -0.0122, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ec1a19f3e2a8af88d63bdfec0e9a3d1613a24e09b631f34d2504f47ca3426b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e91fe6e9c2ed997e855381a13b20c36542002246adb0fcb89d7f7a1db312c82c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4eca9596e392775b413841a5bad0d8225533db48b5bca6afc15c854c5dc974ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.192 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3794, -0.0216, -0.0162, 0.9996, -0.0154, 0.7975, 0.6109, -0.3737, -0.0124, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0012 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -1.5248, 9.5248, 1.7607, -0.022, -0.0171, -0.0611, -1.0462, -1.4427, 9.7846, 1.7363, -0.1197, -0.0122, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ec1a19f3e2a8af88d63bdfec0e9a3d1613a24e09b631f34d2504f47ca3426b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e91fe6e9c2ed997e855381a13b20c36542002246adb0fcb89d7f7a1db312c82c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eca9596e392775b413841a5bad0d8225533db48b5bca6afc15c854c5dc974ca",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
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  "role": "user"
}
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{
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      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J2hXLsnfCcs5fgUQcT9qAu",
      "input": {
        "note": "Scene: two teal baskets at back, plush toys (teddy, bunnies) in the middle, pens/markers scattered (yellow left, blue and black right). Plan: plush into left basket, pens into right. Lowering the right arm toward the black marker seen just left of its jaws.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.03,
          "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_01J2hXLsnfCcs5fgUQcT9qAu",
      "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, 0.8005, 0.6163, -0.3805, -0.0223, -0.0166, 0.9996, 0.1581, 1.0492, 0.2653, 0.1802, 0.1234, 0.0647, 0.9995]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1837 left_yaw=0.0012 left_pitch=-0.0023 left_roll=0.0001 left_gripper=0.9996 right_x=0.3055 right_y=0.0303 right_z=0.0713 right_yaw=0.0156 right_pitch=-0.0383 right_roll=-0.0095 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -1.4154, 7.1179, 1.7851, -0.0122, -0.0611, -0.0122, 0.3897, -2.9607, 6.4205, 1.9414, 0.1685, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afb51406c24c8dd7946d061e087826e075d33c2dbd4f17e3399f5a3e2adddfe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1fe99a5a99a079b39045719f27cf12fef6e1d9ec63766b4a3150ad8f0561e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d04b1f5fe09f121f7d990e89a19c376d6774c84c6f491418eac05b5f6472d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.636 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3794, -0.0216, -0.0162, 0.9996, -0.0154, 0.7975, 0.6109, -0.3737, -0.0124, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0012 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -1.5248, 9.5248, 1.7607, -0.022, -0.0171, -0.0611, -1.0462, -1.4427, 9.7846, 1.7363, -0.1197, -0.0122, -0.0659]",
      "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, 0.8005, 0.6163, -0.3805, -0.0223, -0.0166, 0.9996, 0.1581, 1.0492, 0.2653, 0.1802, 0.1234, 0.0647, 0.9995]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1837 left_yaw=0.0012 left_pitch=-0.0023 left_roll=0.0001 left_gripper=0.9996 right_x=0.3055 right_y=0.0303 right_z=0.0713 right_yaw=0.0156 right_pitch=-0.0383 right_roll=-0.0095 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -1.4154, 7.1179, 1.7851, -0.0122, -0.0611, -0.0122, 0.3897, -2.9607, 6.4205, 1.9414, 0.1685, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afb51406c24c8dd7946d061e087826e075d33c2dbd4f17e3399f5a3e2adddfe3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1fe99a5a99a079b39045719f27cf12fef6e1d9ec63766b4a3150ad8f0561e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d04b1f5fe09f121f7d990e89a19c376d6774c84c6f491418eac05b5f6472d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwkKEAgSGAI4AUIIdGhpbmtpbmcSDJ6/kgs4QvPJZgFQdhoMb1rR3zYt5IO4pZ2SIjCLEKlfnLvieQt2JR7k+V2LZngYrJzLudbenQivy/jq9Cxd+4f625Cne2/Z2Uax7cUq4AiXD8rtnN1kfa4sdzM2JU9n/t9rDNR+GW5YOPB1ntM3IfVUbjZ3JC48kx9MV0cWCHNUq8rp17wMvANyLQHfhhEMMSV8iv5iijgpGXebh+5MW9wiZ/4czl0Tg+R7J3gsqOk19yGagd8MJLOW+cg9WEf2SZ+3JuGWTOr8mGDPO3usHTaXvl1IVMRJwzQI2Tc8AvlAOPwHum9jyhCcp40wmVUXdo781ajncviGN/TgXgR5gNFBbxfo/Q6SURdfe4urjmQG1bBSyD3v2war0vl1wbDhlN8Y7FpSl0X2A7umj6NFnsB/dYm1L/JPhVuR8P+QI+rrxYZk+0baw0Eyyhflr1/e72k8n8LHYA9YUrPozhVEc9VZu+7lR5Mg7Qb745LgC965DHqY2WbSghF9RkueGZKNQTkcbDnsUOloRhioxq8yplwJ6G04j19LrvwA5ihJ/nagzSyvnv0EeDUbecwqMHl0ORZXqS3JOwjDElfsP+N+513XPeyYWlhIehqtbAnLem2xbAlhyVoLj6TlnGF3or0CC7rtUkW3h3Vp7OkzU0UXOBvqGOQMKpG7uGC4dRkzbiUwwxDXFGHwYG3QKvP6LcTcx2tJ72njTKXunyeCnyk7pvtfOKaGN2dHwTCazynqLrVopfLwxRTKemQkmsldrI3HIt0OVBpVFMfKkluR4kKDttJw4Uzqi/jy7CDkf5hl5iNwpMDMX42qyAGlzPCpZ1TqMKTNCLxCaI87RNc8znDoMLHLSvOMujnE2Wq1fqKpKPE5PxRIJroQ7KEY/tnNDJHuFBh20jDG7DXLcYXMWcEV3sASvCeAiGThCHxo30mJwXCyYfP8RY7FJNBj4gi20Aw+nzC5jPJSLZJoER68Mhy4UJ4u0g3pQINGHwHmEHF2HBwRNBPiB1UE49IXeM37REx7mw7mgvdZO9fp2Y7r3AiNPCMoae/UK7DmkU3fX72S9/VkxNRn96etBwdEx3akjoFR9We/fKIvfR8f48SYfS+pfk4pvrzatduc3r28AEUJJc6+10andfD2sxiAqgUVFqgl5O8++PWrxT6raW8POeYKr90Y0PoTfHamaZ0qPOW6t4KskA9iZAdiAXfm9W7U1gam8N7ECPExClHbGltPmseca2auoUVx64tG10AOQsUMa7fSUGQz5QxqjJQ1H4jaiorEEekZUfeq5CKNjBOoeVvhSe8jnPD4rYCN3TjTr/Vckdg4HjUCBXtRloI8CINILGFBWa0t2ncLf1eiaEDPg8/RQD0HMPJvYt2Ad1U8l43iIzCBavBpZd/M+pSGAKv3ne/Pfo4buFm730sqO6nPOtxkK3VTh3x2B17BLPPjuk7qVh39lzBsKnkO+gM5/vaND4JH0yP2sQuRy3suwnAlnGTrmjc9Wb33M73Wc8tRf1vWqP5dykPLgZ/f+Ta5dcwXPwr6ZcJ5SmyNUTyxiB8+gZk+qWXICLSLj/6YJzV5rZrYYpst6/uc/apfc2B1mBYZ0V47GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P3rhHM2rrF9WEcmp3tPNj1",
      "input": {
        "note": "Right wrist cam shows the black marker at the bottom-left, just inside the left jaw. Shifting slightly left and back and descending to table level to straddle it.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.055,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01P3rhHM2rrF9WEcmp3tPNj1",
      "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]: [-0.0193, 0.8051, 0.6151, -0.3794, -0.0223, -0.0166, 0.9996, 0.3256, 1.4872, 0.0982, 0.812, 0.2432, 0.1642, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9996 right_x=0.3003 right_y=0.0603 right_z=0.0134 right_yaw=0.0295 right_pitch=0.0021 right_roll=0.0146 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -1.347, 7.241, 1.79, -0.0562, -0.0317, -0.0171, 0.253, -2.4547, 2.3179, 0.9402, 0.1538, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:549aab087a4cab75b9c5f0b6c96f345dc317450d3a747374b891fb3d3937ff11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8aca6a277757e885f04d118d949d1bd2c982a8dcedc4143ce359f32527ccbca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0454418f9560e2425a765ed9bfbdfe18c1b17d22122bad309a3871bc819ba545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.582 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3794, -0.0216, -0.0162, 0.9996, -0.0154, 0.7975, 0.6109, -0.3737, -0.0124, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1841 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2967 right_y=0.0012 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.4855, -1.5248, 9.5248, 1.7607, -0.022, -0.0171, -0.0611, -1.0462, -1.4427, 9.7846, 1.7363, -0.1197, -0.0122, -0.0659]",
      "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, 0.8005, 0.6163, -0.3805, -0.0223, -0.0166, 0.9996, 0.1581, 1.0492, 0.2653, 0.1802, 0.1234, 0.0647, 0.9995]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1837 left_yaw=0.0012 left_pitch=-0.0023 left_roll=0.0001 left_gripper=0.9996 right_x=0.3055 right_y=0.0303 right_z=0.0713 right_yaw=0.0156 right_pitch=-0.0383 right_roll=-0.0095 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -1.4154, 7.1179, 1.7851, -0.0122, -0.0611, -0.0122, 0.3897, -2.9607, 6.4205, 1.9414, 0.1685, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8051, 0.6151, -0.3794, -0.0223, -0.0166, 0.9996, 0.3256, 1.4872, 0.0982, 0.812, 0.2432, 0.1642, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9996 right_x=0.3003 right_y=0.0603 right_z=0.0134 right_yaw=0.0295 right_pitch=0.0021 right_roll=0.0146 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -1.347, 7.241, 1.79, -0.0562, -0.0317, -0.0171, 0.253, -2.4547, 2.3179, 0.9402, 0.1538, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:549aab087a4cab75b9c5f0b6c96f345dc317450d3a747374b891fb3d3937ff11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8aca6a277757e885f04d118d949d1bd2c982a8dcedc4143ce359f32527ccbca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0454418f9560e2425a765ed9bfbdfe18c1b17d22122bad309a3871bc819ba545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AYKEAgSGAI4AUIIdGhpbmtpbmcSDAo+93Tze/onfj6UPhoMnlCraCtfAc8wSDkLIjAtr5FLWcYKaGM8ZR8hR4bnESzGJAmBRggi4apgfhYUDLuvbc2p43fJGYmOKrQDE2AqgQZhvFRSCTs3FAT4WGc5yy4Emhcp4AnkapktoeGqPu7XRX56UnFs6aH7v0Lu7ll6cKIPHuW2cLDHOLEIyVct7V8dLj4yAyHnWUgGE3joPamKkW124tXY+cONiqCZbS3Kl7qBr26uj6iO9vtcC2DHh3EYxgRr5aL3hwB2L++CCOp1uSp/xZufU77FAyQJnJSfrOs1WnXsr9OAV10dGUsk8AU3Q5U4DB5CUjchDiXa+e1mcxR25kdZKg+8Udn1co/RZkRHeLGLMNTpiGLMskMuKmb88aVBX+usK1JD92RrY4izb4xRmw3W0uyyV31um6Mf5WERMeaKrVgFIqML65NhV3XZdboQ5JzNrVFuSyTWWVzICK1zzA7BH32fbFeRxARqfKO14y0m4uIrLEeqO2CX9pWaF5QBmvq2697s8cRNp5j1Sp2UuLF31dk90a8x4RAt80BFshDHw3KvBMlpJ0DNzj5iBF7rAOpLtprtSqq9H5ZLKleQXWNs6njJ3IYmbnjvSttQhQ3EuNywP3Jsyd1ukFnafZWqG/XA5ne1CgWLd2n7ssvAcZS7yipe+6zCjMA/uieHOZZFdo0EI0ynV9/g7d1XfWg/flHxVZjU4TBU+YBN5n9wUMdGJahNMwAXRl+PTy83POjh95NFQrv5F2VqqKuogUnyLj9fu00GUYoteFWSxZuVozh/aqXYnRZPD2KMCEu0J2STtE9jdIgieThxXmBROoOKItuBoumCjK4mOtVqk5Y/l5FYNu181HQ1rey4I+GNiVwsWRDLBhu83dhjw2JYFlpcFzQQyOx8zlSTFUt3TFeoQ5xh9YvuNKuYFcuMgmZ4voz0O7vhVqelQ/O3AaTfWm3MDYS0HAUCqMJY5FmBKQHYZKz30/GmIUl5DwJooB6AIan5NICwGWw5u4pzkwGISsTw20Ux2XW0Q/2x/QvE3A1Ym+dSAYI2+/BO6JiYfWayjKWmfiXyJHpbGsdnp2/CWaZRw+NuP1D49NdjaCy3WU6GaPVxzpPKuixeXTst4Q/dGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QcJ75cAu7XpTcXkuTn3JFo",
      "input": {
        "note": "Black marker now sits between the jaws in the right wrist view. Pressing to table level before closing.",
        "targets": {
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QcJ75cAu7XpTcXkuTn3JFo",
      "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, 0.614, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 1.734, 0.0914, 1.1645, 0.239, 0.173, 0.9994]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1798 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9996 right_x=0.3153 right_y=0.0664 right_z=0.0128 right_yaw=0.0277 right_pitch=0.0958 right_roll=0.0533 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.7983, 7.1179, 1.7167, -0.022, -0.0317, -0.0122, -0.1162, -3.1658, 1.4427, 1.1209, 0.0366, -0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3521a0f9b98f6dfd135d896d07fe09c4c5b6ad302eabae6623c5ff970ab700c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b10923fd70eed212c56f63061b6c79717d1944e212e48c77d055ae6898bcbddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14bb698b641f8862b6aa358444fd9cec402a0ec98c7a5cf2b58ac0e6eae499e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 5.028 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, 0.8005, 0.6163, -0.3805, -0.0223, -0.0166, 0.9996, 0.1581, 1.0492, 0.2653, 0.1802, 0.1234, 0.0647, 0.9995]\nstate[eef_state]: left_x=0.2966 left_y=0.0019 left_z=0.1837 left_yaw=0.0012 left_pitch=-0.0023 left_roll=0.0001 left_gripper=0.9996 right_x=0.3055 right_y=0.0303 right_z=0.0713 right_yaw=0.0156 right_pitch=-0.0383 right_roll=-0.0095 right_gripper=0.9995\nstate[joint_eff]: [-0.1436, -1.4154, 7.1179, 1.7851, -0.0122, -0.0611, -0.0122, 0.3897, -2.9607, 6.4205, 1.9414, 0.1685, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8051, 0.6151, -0.3794, -0.0223, -0.0166, 0.9996, 0.3256, 1.4872, 0.0982, 0.812, 0.2432, 0.1642, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9996 right_x=0.3003 right_y=0.0603 right_z=0.0134 right_yaw=0.0295 right_pitch=0.0021 right_roll=0.0146 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -1.347, 7.241, 1.79, -0.0562, -0.0317, -0.0171, 0.253, -2.4547, 2.3179, 0.9402, 0.1538, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.614, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 1.734, 0.0914, 1.1645, 0.239, 0.173, 0.9994]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1798 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9996 right_x=0.3153 right_y=0.0664 right_z=0.0128 right_yaw=0.0277 right_pitch=0.0958 right_roll=0.0533 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.7983, 7.1179, 1.7167, -0.022, -0.0317, -0.0122, -0.1162, -3.1658, 1.4427, 1.1209, 0.0366, -0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3521a0f9b98f6dfd135d896d07fe09c4c5b6ad302eabae6623c5ff970ab700c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b10923fd70eed212c56f63061b6c79717d1944e212e48c77d055ae6898bcbddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14bb698b641f8862b6aa358444fd9cec402a0ec98c7a5cf2b58ac0e6eae499e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiAcKEAgSGAI4AUIIdGhpbmtpbmcSDM+o+yMIc5yr1bNhLxoMy4sKM7lMbEJbHKCwIjAbjALlJGty2kgD9YJqKz3sbEvytSqpidoV7srqr25UL1T3fkcY0jfir/pTvXjnJDgqpQazvCQDv4DLpRbwmBVfWzsDDWPTI928fdQsS6XENbxaZvHDqRJgzMNjE8pqVsOUeCTzVpXtkibMjLk9/BcyL5whzoND8P98qamzXNht3+z1UJzaA3gYjexSf1gz/cEnYmGeP3M+R+JsOECOR43p1QT8+cv0FJZDvWhbWSaZ5ygDf/CMW+tNVhX9fs2+0z267OTsCNBI7XqHx84j9F1XeZdbKDQ1LN0n9DvlkYC8/n/CB93lLnkyfpBFf1RFFwFEUlBXj4SI6xog2wcyatHZ05pFJL9kxUr1dcMfwht9SRytnKemrrfW0pSEnsSqittd09b3f+x4Ku9yqprlBmorJVt+8fCGt6icf0SUV7Pn64i6b+aQKYSKnAwWi+ihXEYC4yo7g9cXNxegZOp3Pf5yudXag7JK+xMoyuv6hKi/mAI/AoGLygB80cMKnW0/fGCPP7eUdU6igzbQ307UJcT95EqMToYfta3P8X2/TRpuZ1skBBntCRr9e85cawqQtZ9m5ErRmIxG8qaBajmj2tnr34bY1xd2qjt/8A4z4831mLQIaC4S9WPSGgw5hJ31BVc48zLQmHkahwiHBSW5kBkEbgS7JAwL8BaeqTYWo1DkK/1DUHzQ4LaKirFSnkF0F6d6r8DWGvEh64dwEjU48R8UuNp2LOiIIxvbUqVQI4Kebgd1l9uJ/wkfukIM5opusmtdVRNbMTvI+nQaAPOO04i9pUkGzXNosSaZgVFMqdS1ao5ALFbK6qc86FBalAULS7jdjVxY00YAL0wwc2nMap0OU9S7SA434zvSaYDxYrt6rtGIuRBeVK/5HzJONbZuZP0VXklffFOjK3foIw4/A4ld20eGtKjsImvLpO1Y1eTMoDZvOty/CUJDl/m0npQ4oLtZ2xdkL/R+tnVp1VwuhXnFcGAofv8lTXx/52KymmEChgMaDAeoDRwqZCahTZ9eNy/nxveTzgDXrd31I10xw9tbxCutIe4G2RJ5G8XBwHn8lT3c/k2vney09xkeinhW9rqyToGPLe+1yZie507zl8TxZqZ9BnHFttV2TBdkkHumluwyvlgsHmDrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R2ygU4J326YdGuquXSod8P",
      "input": {
        "note": "Descent stopped at ~1.3 cm (contact); marker is between the jaws. Closing the right 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_01R2ygU4J326YdGuquXSod8P",
      "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, 0.8169, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 1.7344, 0.0856, 1.174, 0.2359, 0.1616, 0.1521]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.176 left_yaw=0.0006 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9996 right_x=0.3143 right_y=0.0666 right_z=0.0132 right_yaw=0.0362 right_pitch=0.099 right_roll=0.0453 right_gripper=0.1521\nstate[joint_eff]: [-0.1983, -1.8803, 7.4325, 1.7265, -0.0269, -0.0611, -0.0171, -0.1436, -3.1385, 1.8393, 1.0916, 0.149, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab2be27a6e3123842145a153f5cc397348e437de1938890cfb4d3e96694b220a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21795bae51719be5c9390e080aa5238bd9647a2bcb86f0f262a23c58db5a65dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a68a837e5cf288ed940c493d222552709c8e849d9aceed8b0b461e203c09de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 4.278 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]: [-0.0193, 0.8051, 0.6151, -0.3794, -0.0223, -0.0166, 0.9996, 0.3256, 1.4872, 0.0982, 0.812, 0.2432, 0.1642, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0018 left_z=0.1822 left_yaw=0.0008 left_pitch=-0.0069 left_roll=0.0002 left_gripper=0.9996 right_x=0.3003 right_y=0.0603 right_z=0.0134 right_yaw=0.0295 right_pitch=0.0021 right_roll=0.0146 right_gripper=0.9995\nstate[joint_eff]: [-0.1026, -1.347, 7.241, 1.79, -0.0562, -0.0317, -0.0171, 0.253, -2.4547, 2.3179, 0.9402, 0.1538, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.614, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 1.734, 0.0914, 1.1645, 0.239, 0.173, 0.9994]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1798 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9996 right_x=0.3153 right_y=0.0664 right_z=0.0128 right_yaw=0.0277 right_pitch=0.0958 right_roll=0.0533 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.7983, 7.1179, 1.7167, -0.022, -0.0317, -0.0122, -0.1162, -3.1658, 1.4427, 1.1209, 0.0366, -0.1001, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8169, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 1.7344, 0.0856, 1.174, 0.2359, 0.1616, 0.1521]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.176 left_yaw=0.0006 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9996 right_x=0.3143 right_y=0.0666 right_z=0.0132 right_yaw=0.0362 right_pitch=0.099 right_roll=0.0453 right_gripper=0.1521\nstate[joint_eff]: [-0.1983, -1.8803, 7.4325, 1.7265, -0.0269, -0.0611, -0.0171, -0.1436, -3.1385, 1.8393, 1.0916, 0.149, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab2be27a6e3123842145a153f5cc397348e437de1938890cfb4d3e96694b220a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21795bae51719be5c9390e080aa5238bd9647a2bcb86f0f262a23c58db5a65dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a68a837e5cf288ed940c493d222552709c8e849d9aceed8b0b461e203c09de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AgKEAgSGAI4AUIIdGhpbmtpbmcSDDA1Nf6yy3MR2PqxiBoM6ELOexRPCVad1he/IjBRaJDkxFHDcen4mY2mI546pKKrMG5uiTvgl62WvmwrXZMSuTs6UjXp4NgTzPNj+XAqjQjNGw4SQpTUhwV8CtuiYOyP4P+UnB/vrt0bOkf0mtlK/BUIubrMU7aYYuBigzgmBkMO4vUWep1Pet7m4xnpz9SJrtoZxyfnbgJBGvQsj96ds4cjldHcfhJGMeG2l58jYrYfV9SJD2fs4GOswArmnH4tD9BgR6akS12vgwc3zevxOUC30Kyyj+Lr2xv+eNhE3b615F+uVuvI51M+w8PutLoqaM2Ov+PJHYraVR7zQx64dFlBljny1w8tXuJvqjCDcJeq+UGqFm1PqrONj/NKU4dYgMx6dmtHEtmeY0+SkbzrpQS3vv5yXx3SEiNiHyoMzH2mqi65MHPYSIWiL8GpxTNkqRsrmCSBF75aTKvWm9Zcr9BizDWzx/U/BVpdiMTc+0auJUAunMo5ghjK3ump3OhGoElEMpYuN2g2JM6pcepHunSqVIiP5Uwb7c8RAUx/ijijof1u9R+K2LrW3iUyBUaW337gOz0EMAhPsUC5OzaaNxBD5bEDgc+snWvJ26OD5t+D+SAm4oEilbl7Z0eADgcbCCMruY4tGdQcJVEF5FONT7kJhswQXpCN5Xn807lq/umcCTT8RbgoHdbhA0YHYeHz9qb+JFjRcpNWiVewBaeTtOB9l1vb9D2/rqoSQD1ZxysAe314DfdtVVg9RIRaDr3Q615kLRy50VVRG7JkIYwDBuD57/4eC/j0m8jLL8ZKlNMRfnQ8OfkYAqBXmfaVh+7ik3KThyB5p89EqMwHQj2eg+j9wDow/7RSXNiPGRGTF+J0XZg/QCw/VamHbUZO/9j7zKf4ic5c5NvTh8UkZ8rwZbshgwq5OFWZeENEjE/wp+4ejXttMA4abBC8inJ+prV+5FbVuWsRnc+m1V11+j3STENXzX54jfwgco5RyOsk2G5pOQd11sDb+CvRg2Uwpu4ydSLWUdhEUzgFCGuIM3vNafEL1j0H2sjitxaLZoKa/xxu5OJrSwu9IkRpxdTxsQLdxen71jqcZXonDeZq+ESWWiMSaGK4r82Bow4ExvTo60Yy5BwagLX3qkExarLV2HIUH9mzt9sbYRJhCPaUH6ZJn4PPNgWHhuq3JzlH+8VjxDTKeIaw3hUukYTzNEcIQ3sBUKAqxiwKwErTlNOGqWThC4n/VexbWL1e8gcI8OW4K+8AKOOdbWQAGGC1EICUC2gLmv2t/YFnNXBbaNP7ysCqCAmE/zlpl36ZjyIpDBMgAOuwUP1M0bj5gxMaM9Q5wRFykUqtwGWYT7TVEtaOdSgCtkVl4fbDvOMs/+o75h0kGuxPvR0VUK4kPh6dOF44jvS04sJow3aHrA+vLIEwfc6BWpmfR8ydag/82zCRWgul8wHPS8y7Hc5RTh1uRRbF31fzGilTDV827by8WQNCyxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JEhmWcwP2Ydg7REBjgBbQh",
      "input": {
        "note": "Gripper settled at 0.15 (~1.4 cm) — marker grasped. Lifting high to clear the right basket wall.",
        "targets": {
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01JEhmWcwP2Ydg7REBjgBbQh",
      "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]: [-0.0193, 0.8238, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 0.9028, 0.7952, -0.392, 0.2272, 0.1574, 0.1577]\nstate[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.1741 left_yaw=0.0002 left_pitch=-0.0324 left_roll=0.0003 left_gripper=0.9996 right_x=0.314 right_y=0.0681 right_z=0.2368 right_yaw=0.0465 right_pitch=0.0742 right_roll=0.0385 right_gripper=0.1577\nstate[joint_eff]: [-0.1299, -1.9624, 7.0359, 1.707, -0.0171, -0.0269, -0.0122, -0.1846, -2.5094, 9.5795, 1.7216, 0.1099, 0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ccc31755582eb16f06e13cf48b5d011910ce3240521676aad61606d4723762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:687ea82d3f2ae19a609c0d0647e54d5aa78125cc4ac78a22fd09c7610fcee849",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e205cd224c30bb9ec27f490d6b2dcd9d99a0e86f4757843e26064d4b3dc0719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.724 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, 0.614, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 1.734, 0.0914, 1.1645, 0.239, 0.173, 0.9994]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1798 left_yaw=0.0006 left_pitch=-0.0149 left_roll=-0.0 left_gripper=0.9996 right_x=0.3153 right_y=0.0664 right_z=0.0128 right_yaw=0.0277 right_pitch=0.0958 right_roll=0.0533 right_gripper=0.9994\nstate[joint_eff]: [-0.1026, -1.7983, 7.1179, 1.7167, -0.022, -0.0317, -0.0122, -0.1162, -3.1658, 1.4427, 1.1209, 0.0366, -0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8169, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 1.7344, 0.0856, 1.174, 0.2359, 0.1616, 0.1521]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.176 left_yaw=0.0006 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9996 right_x=0.3143 right_y=0.0666 right_z=0.0132 right_yaw=0.0362 right_pitch=0.099 right_roll=0.0453 right_gripper=0.1521\nstate[joint_eff]: [-0.1983, -1.8803, 7.4325, 1.7265, -0.0269, -0.0611, -0.0171, -0.1436, -3.1385, 1.8393, 1.0916, 0.149, -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]: [-0.0193, 0.8238, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 0.9028, 0.7952, -0.392, 0.2272, 0.1574, 0.1577]\nstate[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.1741 left_yaw=0.0002 left_pitch=-0.0324 left_roll=0.0003 left_gripper=0.9996 right_x=0.314 right_y=0.0681 right_z=0.2368 right_yaw=0.0465 right_pitch=0.0742 right_roll=0.0385 right_gripper=0.1577\nstate[joint_eff]: [-0.1299, -1.9624, 7.0359, 1.707, -0.0171, -0.0269, -0.0122, -0.1846, -2.5094, 9.5795, 1.7216, 0.1099, 0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ccc31755582eb16f06e13cf48b5d011910ce3240521676aad61606d4723762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:687ea82d3f2ae19a609c0d0647e54d5aa78125cc4ac78a22fd09c7610fcee849",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e205cd224c30bb9ec27f490d6b2dcd9d99a0e86f4757843e26064d4b3dc0719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5gcKEAgSGAI4AUIIdGhpbmtpbmcSDM9MBAGiyTIl4vcGPhoMm1Qy7VyvHU0fI3J7IjDweB5gIMDngPWlzfGanSBiFFiqg7PZrpg1RRovPtkeYCqgSwqpEorZM4YGxW3C6oYqgwdaaCwY7O/wK5RXExlq6HX6TVHG5QWLLorvWKVLHnCvnbKmkJaLlF0VnlFTgz5hNp1ONL4bVNcJL8SSQcscuSLrkmrutyWnWMaD/USgOz5LZWupCQi9RXHOSIyIpe/JjNtnuCUK2zEptW/hTb603npAF1mpIP08OKQrFBg39yWzn2jwayP7Tq+we1IEDF3syZ8uvvlDA9jDhzMYvNqGNZiWrWFrCJxzpPXSPcVKzIkWh8VQ5R8Q/XygM3ODtGhIPWPEdsFK0q/CG+7ALl7lpvp3X6tKbgsYzu7WDw0mGtabrK1rQdwpv+d4Rs+fyi8F9eMUi+hsdhxomGUgKsAl2lK/uQ9lcMZ7lZk6OYUgqQ55CbZSkcfSycZoxdthjhS8tv7GPCbScV2vhfpI2hwX6AsItW6YwHCo6p/lIlgBi3bmWRvvt2xIMO0eGSBQ+9Xi5AUJjjmAyYqQ2xLpLxjGDm9oMFmEirqcX6NlyQwMYID62wQuqMxclXBFJilvbznrostuqb6CuJ/+Yaep9F/mPCbXH9o+oFVYooqfwztaOnSXn3PoVU35RKuN8c+R7+ff4KvAPYYLNlMSHLBOKeLprnllQWwpFb5fRGg3QM6hvYIx/3d74plbr+uTalARhLCfm5unFTxifbkKmuMwsYkuhhnFHiT/dJSyjhxJdqkY9IjKpETZ1o/+Xvq61ZVNNKbIBounEEp2V7F27Muiyf4q5AGLmtosuKSMPJT4bolBG9JR7nNFKi0dmc6kxVhuKP2Zwhf5XZ2yYaZM7FJFpDV/R8IX3hf7Dd+9lrmlQ2kyqiGXV40iTAWZ86KZbtylPxFrxYykPAkJoLvx5MogTLLG4CSFh+F6HCd3GXKIP1JIUnECLKbbNQO+xJvgzPjK3WmKolDSt9QZ2M9uevsnwlO06WdD0EtnrBMVbOw+47Vlvp3mtwK0rqomlK+Ykxp7zrdBZgO1XNeKwo2envXu3RSDmdZkf9aJwH/L4Rk+RPdKBUrw1nDswyhdNxG6XgN8jJdTcPrZhKuGkAI5y+VJAiycJfUo1AAKNQt6PuFUYz1RxaJp2Q8gcaoXNfZVpRElr5coksPmivifkoOpyP33ea1HjK3ubXi5AvltCB8EA0DH2f5mEJOD5BoXMwrAUduVmLAZgz3G/sgA4DdwJRYPD+gN3ocYcb6zmWSuloOdRchWdHHvQlGJtRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017vDXruT2gDNFdX3Cru2cre",
      "input": {
        "note": "Marker lifted (gone from its table spot). Right basket is ahead-left in the wrist view; carrying the marker over its centre.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.14,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017vDXruT2gDNFdX3Cru2cre",
      "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]: [-0.0193, 0.8295, 0.6094, -0.3809, -0.0223, -0.0166, 0.9996, 0.4236, 1.4437, 1.1347, -0.268, 0.292, 0.1848, 0.1577]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1725 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0009 left_gripper=0.9996 right_x=0.4195 right_y=0.1373 right_z=0.2262 right_yaw=0.0758 right_pitch=0.0105 right_roll=0.0068 right_gripper=0.1577\nstate[joint_eff]: [-0.1846, -1.8667, 7.0359, 1.6777, -0.0122, -0.0611, -0.0122, 0.253, -7.5009, 9.7573, 1.8095, 0.2955, 0.1832, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b41671ec68c96f35eb4a23b21630ba1828a839a1a7f1e018919a2733a4bae6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e25bd307ec9e34dcc89c9e06d8834779d14f648958d672a2a3e5b328bf8fff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec1c93c42bbb269d848280891bf017410d291fa5e8650dd73ec2c1b28f79ccb7",
        "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 · 3.052 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, 0.8169, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 1.7344, 0.0856, 1.174, 0.2359, 0.1616, 0.1521]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.176 left_yaw=0.0006 left_pitch=-0.0256 left_roll=0.0002 left_gripper=0.9996 right_x=0.3143 right_y=0.0666 right_z=0.0132 right_yaw=0.0362 right_pitch=0.099 right_roll=0.0453 right_gripper=0.1521\nstate[joint_eff]: [-0.1983, -1.8803, 7.4325, 1.7265, -0.0269, -0.0611, -0.0171, -0.1436, -3.1385, 1.8393, 1.0916, 0.149, -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]: [-0.0193, 0.8238, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 0.9028, 0.7952, -0.392, 0.2272, 0.1574, 0.1577]\nstate[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.1741 left_yaw=0.0002 left_pitch=-0.0324 left_roll=0.0003 left_gripper=0.9996 right_x=0.314 right_y=0.0681 right_z=0.2368 right_yaw=0.0465 right_pitch=0.0742 right_roll=0.0385 right_gripper=0.1577\nstate[joint_eff]: [-0.1299, -1.9624, 7.0359, 1.707, -0.0171, -0.0269, -0.0122, -0.1846, -2.5094, 9.5795, 1.7216, 0.1099, 0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0193, 0.8295, 0.6094, -0.3809, -0.0223, -0.0166, 0.9996, 0.4236, 1.4437, 1.1347, -0.268, 0.292, 0.1848, 0.1577]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1725 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0009 left_gripper=0.9996 right_x=0.4195 right_y=0.1373 right_z=0.2262 right_yaw=0.0758 right_pitch=0.0105 right_roll=0.0068 right_gripper=0.1577\nstate[joint_eff]: [-0.1846, -1.8667, 7.0359, 1.6777, -0.0122, -0.0611, -0.0122, 0.253, -7.5009, 9.7573, 1.8095, 0.2955, 0.1832, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b41671ec68c96f35eb4a23b21630ba1828a839a1a7f1e018919a2733a4bae6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e25bd307ec9e34dcc89c9e06d8834779d14f648958d672a2a3e5b328bf8fff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec1c93c42bbb269d848280891bf017410d291fa5e8650dd73ec2c1b28f79ccb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQkKEAgSGAI4AUIIdGhpbmtpbmcSDCQOzF3hE85roRD7PRoMH1XcFxuS8PoiMxXUIjCib387yWHvFf0vDewZonh4NHRKTl6QSJ6D4GTYIFAvDvVc8j9SmCdxNXTsWIUDSCsqnggrZOPYpvIn3LukY/x2UFHM1Bv6jq57NL7YIOOgV2xccxqNTZ96xSvUTlAwcS2I7wyMwBlfnwCPPj/GGo8VvAFOWMM0IiYeEWK4+v4YJ0zLnQc8uhKU0z5e0zDPSy+RIdQVHG/ecrFWYhtblz5qv7qcK3pM+M3h5LFoJHnkBop0/8ItAh9JNv9AGn5heHvOswiTNkNeg6o04Ufw/3aXnxwhK66enMnAAyli5h5XQ/Cbe6W1Tj82O52KTXAB3+se7ozkhHWnp8TlwcpFagOYTCZzeU36OOmBnbVD2FBugvTK+T038MfYLaljqBDKjJ3Z04wO+N4IGwv6sb5u4VdMUet2ARwkoEtgE0A7xYolgzjlGH/vygzxLhmbQejQgucWhqubf6SOQyd6CNg74/4aEdrzQu2eSMLS2vx/z8CF/a+DOJp+bQcY2rksk3f6V8wp+coPnfJB4PJVYw6gPffJtzvdLnhxPfk6deho+pM0xWpzSSaIPr6xZJcZiILFQCpFrDZYSgY9pLvmLAd4QiXYM2oQ+HVRIvTl94r2cpFs5fbx96D6j921P7rgtKHjcET6K38PoqHi/jVUgVoCFUJieBVf7bqQ9Pgik/mWWTbrSZy4zhZAgcWFD/bjckkiPbShM1g4zOtcZlExqeOBYnoMbkJFCQ5N0u2HjzyVXOPMQkj2rOlWy8lI27Nq4o6u/Eo736Gkz41WMChKmo9PuTBU/vMaJApC3TmOWylF9hXu55jDPfuw9MNzr4HfBU5qx1H0mgFvmdgtOhSpYXu3F9RmRsY+jgEKdzrAzp5iWfmNw2fUl+VPGqUx8lfO979/51VtYVyEHX52K4oXllMYLCUsC54T7oU0P8YNQvOzgVgBItJEwGbtCD4dRtC7Quwhaf9shOGAqt0aFebBLsad67t1ySdHDaGnxyqqMSLTCke4thR62JCcVVHJ0sl9dy+D7JIk6HIw0yKn8rqGcbReSW0Jf50b0heiRFMQmJczg63I3bNym7mjbQg7wjfHZBRgmR7mWnf9DQu1RKGNezcbSHAcEgdl3pA01i8leu6BlsCChJ0foWSw2jQNur5YNTDxL/T+hlLucyZAe4v5r+RrMyjDUiEvmNqjq6WSvezI16N51lGpWYHwWOLOB1Tr2yzfot7APRDrWseZJFBP5XgMtf4lq+Of/3hcvyKUzgfp2KdeJBjw2ItBQ+iSwJxSCsgi96IpWQU0JP6zMb2hdwlzNse4pB2myyO3PVPX1TES7e1JfmWJzz0UoDFSMtFT78L5KPbh7A62yTc0VIL4ADeXZ7i50HkUNK8hsOe31sgQSCNyXjeR82k2PeUzWg/rGb7Z8WtK+np25fobM0cbWcjPFuxrIvTDh5by3erQ92BCtu9rsTDxtMpAzTOZ0UhqGZ8hjFTeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QFPQANAuBBFK7Bx1cmj1F4",
      "input": {
        "note": "Top view shows the gripper over the right edge of the right basket; shifting further left to be over its centre.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.2,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QFPQANAuBBFK7Bx1cmj1F4",
      "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]: [-0.0193, 0.8303, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.556, 1.6276, 1.2564, -0.2844, 0.3729, 0.239, 0.1578]\nstate[eef_state]: left_x=0.2977 left_y=0.0017 left_z=0.1723 left_yaw=0.0002 left_pitch=-0.0389 left_roll=0.0004 left_gripper=0.9996 right_x=0.4322 right_y=0.197 right_z=0.1998 right_yaw=0.1121 right_pitch=-0.0437 right_roll=-0.0212 right_gripper=0.1578\nstate[joint_eff]: [-0.1299, -1.5248, 7.2547, 1.7411, -0.0269, -0.0513, -0.0171, 0.2803, -8.1026, 9.8667, 1.7118, 0.3101, 0.1734, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baa87b6352846bbd195be4dc8688fd1f19adadd5eaff0cbbff415920fd672a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6691cb805963aa2f982b61deef8bc194df0e27e43751510793c148873497c40b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee7ec419cfe1a89940828f35d0585e024bcc1081c2f043d6b4fc7ff076582846",
        "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 · 8.771 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]: [-0.0193, 0.8238, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.3264, 0.9028, 0.7952, -0.392, 0.2272, 0.1574, 0.1577]\nstate[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.1741 left_yaw=0.0002 left_pitch=-0.0324 left_roll=0.0003 left_gripper=0.9996 right_x=0.314 right_y=0.0681 right_z=0.2368 right_yaw=0.0465 right_pitch=0.0742 right_roll=0.0385 right_gripper=0.1577\nstate[joint_eff]: [-0.1299, -1.9624, 7.0359, 1.707, -0.0171, -0.0269, -0.0122, -0.1846, -2.5094, 9.5795, 1.7216, 0.1099, 0.022, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8295, 0.6094, -0.3809, -0.0223, -0.0166, 0.9996, 0.4236, 1.4437, 1.1347, -0.268, 0.292, 0.1848, 0.1577]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1725 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0009 left_gripper=0.9996 right_x=0.4195 right_y=0.1373 right_z=0.2262 right_yaw=0.0758 right_pitch=0.0105 right_roll=0.0068 right_gripper=0.1577\nstate[joint_eff]: [-0.1846, -1.8667, 7.0359, 1.6777, -0.0122, -0.0611, -0.0122, 0.253, -7.5009, 9.7573, 1.8095, 0.2955, 0.1832, 1.033]",
      "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]: [-0.0193, 0.8303, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.556, 1.6276, 1.2564, -0.2844, 0.3729, 0.239, 0.1578]\nstate[eef_state]: left_x=0.2977 left_y=0.0017 left_z=0.1723 left_yaw=0.0002 left_pitch=-0.0389 left_roll=0.0004 left_gripper=0.9996 right_x=0.4322 right_y=0.197 right_z=0.1998 right_yaw=0.1121 right_pitch=-0.0437 right_roll=-0.0212 right_gripper=0.1578\nstate[joint_eff]: [-0.1299, -1.5248, 7.2547, 1.7411, -0.0269, -0.0513, -0.0171, 0.2803, -8.1026, 9.8667, 1.7118, 0.3101, 0.1734, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baa87b6352846bbd195be4dc8688fd1f19adadd5eaff0cbbff415920fd672a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6691cb805963aa2f982b61deef8bc194df0e27e43751510793c148873497c40b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee7ec419cfe1a89940828f35d0585e024bcc1081c2f043d6b4fc7ff076582846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper is over the basket. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HV1ZKG34Jrh9C6x3TjTwiH",
      "input": {
        "note": "Right gripper now appears over the middle of the right basket in the top view. Opening to drop the black marker.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HV1ZKG34Jrh9C6x3TjTwiH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8307, 0.6094, -0.3805, -0.0223, -0.0166, 0.9996, 0.561, 1.6348, 1.2591, -0.2867, 0.3656, 0.2295, 0.9955]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1722 left_yaw=0.0009 left_pitch=-0.0393 left_roll=0.0009 left_gripper=0.9996 right_x=0.4316 right_y=0.2008 right_z=0.197 right_yaw=0.1279 right_pitch=-0.052 right_roll=-0.0279 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -1.4838, 7.0359, 1.7167, -0.0122, -0.022, -0.0171, -0.4581, -8.7726, 6.7214, 1.6435, 0.1587, 0.0464, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d069edc1bdd1338bcbcab4b93e37b5a2da2a1e69172b0547753141f07244b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76ecc141fbdb72dfb69df96a45405af98c69c49959a0572c1ac7adfb3428e06f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fec55df71b50072e062848bf1065662b598c6f47e733596b0bd7f78886a6f635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.833 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]: [-0.0193, 0.8295, 0.6094, -0.3809, -0.0223, -0.0166, 0.9996, 0.4236, 1.4437, 1.1347, -0.268, 0.292, 0.1848, 0.1577]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1725 left_yaw=0.0009 left_pitch=-0.0385 left_roll=0.0009 left_gripper=0.9996 right_x=0.4195 right_y=0.1373 right_z=0.2262 right_yaw=0.0758 right_pitch=0.0105 right_roll=0.0068 right_gripper=0.1577\nstate[joint_eff]: [-0.1846, -1.8667, 7.0359, 1.6777, -0.0122, -0.0611, -0.0122, 0.253, -7.5009, 9.7573, 1.8095, 0.2955, 0.1832, 1.033]",
      "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]: [-0.0193, 0.8303, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.556, 1.6276, 1.2564, -0.2844, 0.3729, 0.239, 0.1578]\nstate[eef_state]: left_x=0.2977 left_y=0.0017 left_z=0.1723 left_yaw=0.0002 left_pitch=-0.0389 left_roll=0.0004 left_gripper=0.9996 right_x=0.4322 right_y=0.197 right_z=0.1998 right_yaw=0.1121 right_pitch=-0.0437 right_roll=-0.0212 right_gripper=0.1578\nstate[joint_eff]: [-0.1299, -1.5248, 7.2547, 1.7411, -0.0269, -0.0513, -0.0171, 0.2803, -8.1026, 9.8667, 1.7118, 0.3101, 0.1734, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0193, 0.8307, 0.6094, -0.3805, -0.0223, -0.0166, 0.9996, 0.561, 1.6348, 1.2591, -0.2867, 0.3656, 0.2295, 0.9955]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1722 left_yaw=0.0009 left_pitch=-0.0393 left_roll=0.0009 left_gripper=0.9996 right_x=0.4316 right_y=0.2008 right_z=0.197 right_yaw=0.1279 right_pitch=-0.052 right_roll=-0.0279 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -1.4838, 7.0359, 1.7167, -0.0122, -0.022, -0.0171, -0.4581, -8.7726, 6.7214, 1.6435, 0.1587, 0.0464, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d069edc1bdd1338bcbcab4b93e37b5a2da2a1e69172b0547753141f07244b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76ecc141fbdb72dfb69df96a45405af98c69c49959a0572c1ac7adfb3428e06f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fec55df71b50072e062848bf1065662b598c6f47e733596b0bd7f78886a6f635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VbBZ4WRPJTW7GeFmuVKWaK",
      "input": {
        "note": "Marker released into the right basket. Next pen: the blue pen lying lengthwise right of the teddies; moving above it for a wrist-camera check.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.15,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01VbBZ4WRPJTW7GeFmuVKWaK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6075, -0.3801, -0.0219, -0.0166, 0.9996, 0.5476, 1.4696, 0.659, 0.2462, 0.3542, 0.2386, 0.9962]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.171 left_yaw=0.0009 left_pitch=-0.0423 left_roll=0.0007 left_gripper=0.9996 right_x=0.3758 right_y=0.1616 right_z=0.1125 right_yaw=0.1194 right_pitch=0.0344 right_roll=0.0267 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.4701, 7.159, 1.7558, -0.0122, -0.0611, -0.0171, -0.8274, -4.3009, 3.8769, 0.3394, 0.0122, -0.2759, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e22261cacae8f8e4072c14cc7eda34826bd0e6b08bfd47b5e028733fa74c170b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1edecc4543de063e8572dba07c531b1a4d588fecac43a0163d5d5e2c7195538b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1acd87f92008b0dc6be7fa6572405523dfdf6b4c4ac9dadc986fbfefaf941e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.798 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]: [-0.0193, 0.8303, 0.6094, -0.3805, -0.0216, -0.0166, 0.9996, 0.556, 1.6276, 1.2564, -0.2844, 0.3729, 0.239, 0.1578]\nstate[eef_state]: left_x=0.2977 left_y=0.0017 left_z=0.1723 left_yaw=0.0002 left_pitch=-0.0389 left_roll=0.0004 left_gripper=0.9996 right_x=0.4322 right_y=0.197 right_z=0.1998 right_yaw=0.1121 right_pitch=-0.0437 right_roll=-0.0212 right_gripper=0.1578\nstate[joint_eff]: [-0.1299, -1.5248, 7.2547, 1.7411, -0.0269, -0.0513, -0.0171, 0.2803, -8.1026, 9.8667, 1.7118, 0.3101, 0.1734, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8307, 0.6094, -0.3805, -0.0223, -0.0166, 0.9996, 0.561, 1.6348, 1.2591, -0.2867, 0.3656, 0.2295, 0.9955]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1722 left_yaw=0.0009 left_pitch=-0.0393 left_roll=0.0009 left_gripper=0.9996 right_x=0.4316 right_y=0.2008 right_z=0.197 right_yaw=0.1279 right_pitch=-0.052 right_roll=-0.0279 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -1.4838, 7.0359, 1.7167, -0.0122, -0.022, -0.0171, -0.4581, -8.7726, 6.7214, 1.6435, 0.1587, 0.0464, -0.1832]",
      "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, 0.8322, 0.6075, -0.3801, -0.0219, -0.0166, 0.9996, 0.5476, 1.4696, 0.659, 0.2462, 0.3542, 0.2386, 0.9962]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.171 left_yaw=0.0009 left_pitch=-0.0423 left_roll=0.0007 left_gripper=0.9996 right_x=0.3758 right_y=0.1616 right_z=0.1125 right_yaw=0.1194 right_pitch=0.0344 right_roll=0.0267 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.4701, 7.159, 1.7558, -0.0122, -0.0611, -0.0171, -0.8274, -4.3009, 3.8769, 0.3394, 0.0122, -0.2759, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e22261cacae8f8e4072c14cc7eda34826bd0e6b08bfd47b5e028733fa74c170b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1edecc4543de063e8572dba07c531b1a4d588fecac43a0163d5d5e2c7195538b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1acd87f92008b0dc6be7fa6572405523dfdf6b4c4ac9dadc986fbfefaf941e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAkKEAgSGAI4AUIIdGhpbmtpbmcSDGpvssBshb2NV6UWfhoMe+fcIHTa1q0Ju43bIjDbsLlQra6hG2b39S5XYa77+LFixBzkiXL84aTvmXHNKZem55wn4Fv0RtTG5w8g5WsqxQiaM6U6i8e+3XUBcfwi6b5m7A5DB2Hn36CFRwAlOprYModDqw09s1E2pod53jzMY+LagXCo0E0QIbk+A/2nuj6qmUf0Q3aQNQ6JIVlwtI6V4/6XAQQHL9Ow2m8C2yfBWOILOIhgHclSu2aIjFtmKl+xbKsNPBZyGCfnHr9LzT0qDkZheSgD4jMtChEp3/hQeR9/7e6akE8N03Nsh9/fXtyRvUFvEWoOP2B5VT4TCPP7X9UNajiHyXVy143PG7wmCGs7MwToCogFtVtbyDKx7eaJ+nrVus6hZQOWzOhTax5GekbsQ+X+Ll8i8shkltSPKBQ5X8rzefYbKrLjzRBgo9GjSTjusLLhqUAVCzleCgYnO3QDc4TtqWKUBFiDsPH7+FjpUyqu2BW11BxzSJ8MT8irN/BApo1isB46oivdrpdgL1BvdG9LxtwGu8nYMTfgbtE1iWxT8CLuAV0xmxb0TJnBUemDDs8dEot7vSH/0kbr7UCy9m8S0T9ElEpZ9YHkh5d7VksGm6KsO9cGR/Ylmb2HXbTi/d8P6iQaCVC0qVqvVNEhqcGaGsJyRX+f9/APLq0C5WBtuTsG8YkP5JSe5QR5YIhgcrOn7sm3oa92Y8MmnDsjN3wmWhBV0oIMvFz4cyhA8S/KM5pb3or+AdkDUkNLwPF4+YYsZlHeAGJswtWrdfYQiKX5tjqxmO1jUc14dbu/o4F64hvPuUtavwnu3NfFssHvfV5X/zgXG7xYoNqxrHxF44RmOgG1E1PegFJWDBNCtBG6IgCJLof3UptZ78cYZFG03Yv9QOjX9dDw5HYMtPFaEN7vCsblLuFMdo1ofF8OHbg5cudphqF4hI5nf6c0RL2GTU8Of/y7/Hp3ktfunk/gWDYbuAmqPe/I6ahZoxy64um9BsE/1n5ePcv+cvafz9r1b0HuvABVrVF1uSIud6y9MsV7NBOHjhWMnOD/O9Iio8G1N80xJHy1wx8jlUlaQePC+eg+jlMVppCCSHEi0ywzvKfMZ/jHdTRxrCsOiBLPcEFpDbaYD1f3CniG6eto84m4tjNwkB33Cn2OasRViUMEbx+TPB2iA6ML7dPxyGANXhmAXuqXwA7WiAWoqDcUYvyOTBUu8i6nU+N0nvCLxbLKfo5nm0NDX2beSGHJZxh73NuRkFqqUySz7bZRHe6WDjDg9YzKQ3uTfOFQFUS0d9XzX2JK8yXYnLlkiLbgoODeNau/dmFEZ+94LMVYY3uQN/E9bYqL0jVoobwu8e8Pe0Fqv3k0XYTGwlN4HAeSmfSZuGzJ3vVYFNRiqF9l8HXJ/igOILD78ll5/05ozTT9VqhFz0vwCmiRwM3Ea7rB24OesEMJHm8hhQFuO1Xr2XwqHgkRmwoSADf30ltXcC8xLEqosOmlRbasnH+zGTjFxMKsIUVEaAPRGbUyaYn076oi4nNpuMJKUl0Z8AEmnqTEcuB5jMQxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014xWuTd1BMefV5F9pwHGLay",
      "input": {
        "note": "Wrist view still shows the basket, so the gripper is too far forward; the blue pen is below/behind it in the top view. Pulling back toward the base above the pen.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.15,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014xWuTd1BMefV5F9pwHGLay",
      "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, 0.8375, 0.6075, -0.3798, -0.0223, -0.0166, 0.9996, 0.7494, 1.2293, 0.3283, 0.3859, 0.5117, 0.3492, 0.9963]\nstate[eef_state]: left_x=0.298 left_y=0.0019 left_z=0.1696 left_yaw=0.0013 left_pitch=-0.0473 left_roll=0.001 left_gripper=0.9996 right_x=0.2951 right_y=0.1613 right_z=0.0957 right_yaw=0.1305 right_pitch=0.1144 right_roll=0.0792 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.4564, 7.0632, 1.7949, -0.0415, -0.0366, -0.0171, 0.3761, -2.6325, 5.053, 1.1746, 0.2711, 0.0562, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60c3a50c634d38673a7b1e096bf000cdb27428049350c4ed40596a061dd0a7f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd5e682611937a6a91760583b46c91c35d120e506982e0acfbf5371b0345a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8251c71247bd160056ee04a6aca937eb9b82ce9f4e167dc3680d5fec045937e8",
        "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 · 10.46 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]: [-0.0193, 0.8307, 0.6094, -0.3805, -0.0223, -0.0166, 0.9996, 0.561, 1.6348, 1.2591, -0.2867, 0.3656, 0.2295, 0.9955]\nstate[eef_state]: left_x=0.2977 left_y=0.0018 left_z=0.1722 left_yaw=0.0009 left_pitch=-0.0393 left_roll=0.0009 left_gripper=0.9996 right_x=0.4316 right_y=0.2008 right_z=0.197 right_yaw=0.1279 right_pitch=-0.052 right_roll=-0.0279 right_gripper=0.9955\nstate[joint_eff]: [-0.2256, -1.4838, 7.0359, 1.7167, -0.0122, -0.022, -0.0171, -0.4581, -8.7726, 6.7214, 1.6435, 0.1587, 0.0464, -0.1832]",
      "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, 0.8322, 0.6075, -0.3801, -0.0219, -0.0166, 0.9996, 0.5476, 1.4696, 0.659, 0.2462, 0.3542, 0.2386, 0.9962]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.171 left_yaw=0.0009 left_pitch=-0.0423 left_roll=0.0007 left_gripper=0.9996 right_x=0.3758 right_y=0.1616 right_z=0.1125 right_yaw=0.1194 right_pitch=0.0344 right_roll=0.0267 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.4701, 7.159, 1.7558, -0.0122, -0.0611, -0.0171, -0.8274, -4.3009, 3.8769, 0.3394, 0.0122, -0.2759, 0.0562]",
      "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, 0.8375, 0.6075, -0.3798, -0.0223, -0.0166, 0.9996, 0.7494, 1.2293, 0.3283, 0.3859, 0.5117, 0.3492, 0.9963]\nstate[eef_state]: left_x=0.298 left_y=0.0019 left_z=0.1696 left_yaw=0.0013 left_pitch=-0.0473 left_roll=0.001 left_gripper=0.9996 right_x=0.2951 right_y=0.1613 right_z=0.0957 right_yaw=0.1305 right_pitch=0.1144 right_roll=0.0792 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.4564, 7.0632, 1.7949, -0.0415, -0.0366, -0.0171, 0.3761, -2.6325, 5.053, 1.1746, 0.2711, 0.0562, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60c3a50c634d38673a7b1e096bf000cdb27428049350c4ed40596a061dd0a7f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd5e682611937a6a91760583b46c91c35d120e506982e0acfbf5371b0345a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8251c71247bd160056ee04a6aca937eb9b82ce9f4e167dc3680d5fec045937e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQoKEAgSGAI4AUIIdGhpbmtpbmcSDIQ1U4Ci86WYt9FpxhoMKO1r59ytSNxnEpEDIjCrvwr97n4PVcVzRvg4p29HcqQsx9pGTsKHCm9ok0Ddl9kxoPG6RDson8xgvN77zD0qyglmOTHQ9D+QiVvcuMnErdEo49VqtEmdOozxwVfWt+6LIATEpGboh3H5FnAFXlqhRnGIQ2nM0rTo0yspqggVGdVuBbH+SJYBh2Ahlxa8WS0npXMICXhImRz1TVIr6hnVEkP/KDvuUsEzmS6zD42DxV2w2twSSnSDUV5WiHCslf7LE3X88bWAMq7ygQf8fyYPt7C0KI1BYzOTl1jJuUdNg0+VXMZI1NoY5sZH1nBXX0fiqgVilnMXYMc5R7Mko+mkMuBNHqeDw/dWPKKOEoy3jktho6/Yk1hn8mTNlu5o40MY56QYRDxqw1X3caexaS9rPIfwGBqZ8Ioxpru53c/v1IQvmx62FbXYnJXI2ry7tI5nwVMU5gsobUHm8Om09HzpnTHEtewM2RypxwU4dREbba5sfTihwJ1amjVrmAgLdDz/tbenZcpO+HC/OuHMqSUgbzzZA9sETGdkzQvR6ivGQTjCQOLKd+4ueP96IHbtTx8whN1SkezAhuD9MRyRJVBcpOK9R9NdTTD5gRsqrjV6KHnm7DF/9jciKUNG1A7EqQj0u90DGLl4niI178BimZoDZ1eIaPxveMuRY6vrJ8BnvJzroc4xgci9nQzVyBsTc+HfLeTC3/MmWDhOTHjIcxyqL/Vcz0secCUKvh+9+3lV+Furu0OG4SnTizSkFRQwb/Mv1as8/eP9SJ8GlHlLQG+BykAJLoqWHrN0RFHV8nSB304Ohf+ijyk2UMpjF2m/wcQSseApT3YTbbzDI3nMChEyF15JbFRuQHzlkQjedp4x50DLWIg2pkTUuLMLDdFkcXpw5ylmG6DVZscz5YDwEfaR0EU78tcP9eRDX0w94unsdMLvy+b++inuKhX5qItcYNjNbncVsugcB8cZGZHGXSO6wtao0Ms30bwcWfPD2LT7UhrXhMKdF9gioX0D6WweXBCvsbswtBZjJkNkT0BzbcQABezF9IaJN+equTO26aHmCz9ajUANSG4D4tBlC7qiOzxt8DLs5Db6Gln4T8Qmk3N+lrZ9nOjGtHzVbz4Orm57JHii4b8BeU9pRw1phW0mt0fJUvbdFkoMr61UKcIi0EU+6he1CvTFqZ0UGCVxOfPPlko3+vVx7b8Os8Uvbo0r6Kvs85nuYBd2+sikst8rv9TTWQWQMUQ1Bz/Ei2A1JRxhP3Kms+uuUOw603c+Ac6Z5lRw9uiwMBgq41kfy8tso+7+MNBbC+8ctEffRk65SLia5NXktIDsmQmPoII8GvjYpWr9PshQL9FLCaLMvHQGYUIM007yIsXAEIwVYPcb1HnmkMkZqh1tqb5QKl1/pkpyBtYRaQN1Dv6DnMsOLZdkL33c3dogSUOO2AXVLrET/jdefwMpUiOU3ndp92tsLjjlYOjsU9rJ9cuNijfibjY8krG+Xw1m9HF0CtzJL1NdG8WViekVygV3zvxCp1aCKYsSvb5d3dbppfDVQTuhARCpBLE34dYDHoemY8nkTHdbc1ENmVudnAnlImODJr9iAKFF8+EMWm/H0M/apPjINFucP12tvNEcwxW0stprunxyscx4FjhjB0zwPFKj9LijtLVfQksi+Vd7tKfdXUfPRoKYTXcq/jXfD9zrYa/4/qHzPk9bWA2CjBPmpeaSXIXsIhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LNLRuhpVnqkLZNM9eZYNvh",
      "input": {
        "note": "The right basket has been dragged toward the base — the gripper appears to be inside it (wrist cam sees basket interior). Lifting straight up to free the gripper.",
        "targets": {
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01LNLRuhpVnqkLZNM9eZYNvh",
      "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]: [-0.0193, 0.8379, 0.6071, -0.3805, -0.0223, -0.0166, 0.9996, 0.7513, 1.0458, 1.0351, -0.4957, 0.5049, 0.3447, 0.9965]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1692 left_yaw=0.0009 left_pitch=-0.0488 left_roll=0.0011 left_gripper=0.9996 right_x=0.297 right_y=0.1654 right_z=0.289 right_yaw=0.1399 right_pitch=0.1198 right_roll=0.0829 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.5111, 7.2684, 1.707, -0.0611, -0.0708, -0.0122, -0.5128, -2.5915, 9.0188, 1.5067, 0.1636, 0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc1f186caec1f447659207309dde11d553801c24656ece43edc79047133f3227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2d3c970e6c94ccf46c408e7190ff1d49d4ddfd849f588e02058261abd600219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9613b81efdb8dccd2d67d4d4df758024ffb027733cadc14450901d8370a2d425",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.602 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, 0.8322, 0.6075, -0.3801, -0.0219, -0.0166, 0.9996, 0.5476, 1.4696, 0.659, 0.2462, 0.3542, 0.2386, 0.9962]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.171 left_yaw=0.0009 left_pitch=-0.0423 left_roll=0.0007 left_gripper=0.9996 right_x=0.3758 right_y=0.1616 right_z=0.1125 right_yaw=0.1194 right_pitch=0.0344 right_roll=0.0267 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.4701, 7.159, 1.7558, -0.0122, -0.0611, -0.0171, -0.8274, -4.3009, 3.8769, 0.3394, 0.0122, -0.2759, 0.0562]",
      "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, 0.8375, 0.6075, -0.3798, -0.0223, -0.0166, 0.9996, 0.7494, 1.2293, 0.3283, 0.3859, 0.5117, 0.3492, 0.9963]\nstate[eef_state]: left_x=0.298 left_y=0.0019 left_z=0.1696 left_yaw=0.0013 left_pitch=-0.0473 left_roll=0.001 left_gripper=0.9996 right_x=0.2951 right_y=0.1613 right_z=0.0957 right_yaw=0.1305 right_pitch=0.1144 right_roll=0.0792 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.4564, 7.0632, 1.7949, -0.0415, -0.0366, -0.0171, 0.3761, -2.6325, 5.053, 1.1746, 0.2711, 0.0562, 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 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]: [-0.0193, 0.8379, 0.6071, -0.3805, -0.0223, -0.0166, 0.9996, 0.7513, 1.0458, 1.0351, -0.4957, 0.5049, 0.3447, 0.9965]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1692 left_yaw=0.0009 left_pitch=-0.0488 left_roll=0.0011 left_gripper=0.9996 right_x=0.297 right_y=0.1654 right_z=0.289 right_yaw=0.1399 right_pitch=0.1198 right_roll=0.0829 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.5111, 7.2684, 1.707, -0.0611, -0.0708, -0.0122, -0.5128, -2.5915, 9.0188, 1.5067, 0.1636, 0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc1f186caec1f447659207309dde11d553801c24656ece43edc79047133f3227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2d3c970e6c94ccf46c408e7190ff1d49d4ddfd849f588e02058261abd600219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9613b81efdb8dccd2d67d4d4df758024ffb027733cadc14450901d8370a2d425",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W8D42qopiPyfp4rYaByzm1",
      "input": {
        "note": "Gripper freed; the right basket got dragged ~closer and the black marker appears to be back on the table (dark stick near the bunny). Going for the blue pen first, descending above it.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.145,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01W8D42qopiPyfp4rYaByzm1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8398, 0.6067, -0.3809, -0.0223, -0.0166, 0.9996, 0.6987, 1.3239, 0.2024, 0.5205, 0.4553, 0.318, 0.9966]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1684 left_yaw=0.0009 left_pitch=-0.0515 left_roll=0.0011 left_gripper=0.9996 right_x=0.281 right_y=0.1393 right_z=0.0442 right_yaw=0.1459 right_pitch=0.0272 right_roll=0.0289 right_gripper=0.9966\nstate[joint_eff]: [-0.2667, -1.6342, 7.0496, 1.6825, -0.0464, -0.0513, -0.0171, -0.6906, -4.5333, 4.9573, 2.0342, 0.1441, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56449d2741dff6b25f9c30be415b6b96d8185b45a6c7c06cd8d7ea2ad2f367fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1305594dda270368cfa3a8e6a0c2fd0803bf745f755130e322910f746c472aea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c95d0a9699d2ad187aa46f7e418e81932723a6cefdf1e0dd600fbea2e39cae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 3.375 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, 0.8375, 0.6075, -0.3798, -0.0223, -0.0166, 0.9996, 0.7494, 1.2293, 0.3283, 0.3859, 0.5117, 0.3492, 0.9963]\nstate[eef_state]: left_x=0.298 left_y=0.0019 left_z=0.1696 left_yaw=0.0013 left_pitch=-0.0473 left_roll=0.001 left_gripper=0.9996 right_x=0.2951 right_y=0.1613 right_z=0.0957 right_yaw=0.1305 right_pitch=0.1144 right_roll=0.0792 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.4564, 7.0632, 1.7949, -0.0415, -0.0366, -0.0171, 0.3761, -2.6325, 5.053, 1.1746, 0.2711, 0.0562, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0193, 0.8379, 0.6071, -0.3805, -0.0223, -0.0166, 0.9996, 0.7513, 1.0458, 1.0351, -0.4957, 0.5049, 0.3447, 0.9965]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1692 left_yaw=0.0009 left_pitch=-0.0488 left_roll=0.0011 left_gripper=0.9996 right_x=0.297 right_y=0.1654 right_z=0.289 right_yaw=0.1399 right_pitch=0.1198 right_roll=0.0829 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.5111, 7.2684, 1.707, -0.0611, -0.0708, -0.0122, -0.5128, -2.5915, 9.0188, 1.5067, 0.1636, 0.0269, 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 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]: [-0.0193, 0.8398, 0.6067, -0.3809, -0.0223, -0.0166, 0.9996, 0.6987, 1.3239, 0.2024, 0.5205, 0.4553, 0.318, 0.9966]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1684 left_yaw=0.0009 left_pitch=-0.0515 left_roll=0.0011 left_gripper=0.9996 right_x=0.281 right_y=0.1393 right_z=0.0442 right_yaw=0.1459 right_pitch=0.0272 right_roll=0.0289 right_gripper=0.9966\nstate[joint_eff]: [-0.2667, -1.6342, 7.0496, 1.6825, -0.0464, -0.0513, -0.0171, -0.6906, -4.5333, 4.9573, 2.0342, 0.1441, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56449d2741dff6b25f9c30be415b6b96d8185b45a6c7c06cd8d7ea2ad2f367fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1305594dda270368cfa3a8e6a0c2fd0803bf745f755130e322910f746c472aea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c95d0a9699d2ad187aa46f7e418e81932723a6cefdf1e0dd600fbea2e39cae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/ggKEAgSGAI4AUIIdGhpbmtpbmcSDJAtPujoOWXeGiHrTRoMsInCbcqwQZi8VatqIjCZfU50uqpJXGNfvWrK5mVIDMgmJPn2hAtVlAzrAh8KAKBQbt3EOCdj6oGJnIeIgv0qmwiDgwSqipJ3O2tgWCfGtNkISklG29mCM8RDkk/2mWZNJ/z5QYyUXkaQzbXRaS5YxWJUIr6P7lxLpyPBkPm9tdf2cED8pQyo6zBAkiiN3FtJB1Q0s0J221QpW9hhnxGtpO1OET40JXd5cBxEx5YzlM+3IldyZVK+jvGRkQP8jIjtMJ89uJ7FHzMWzl8gnVGpj4A5+dxI95qUI3+wSa9y5fB1+hFyOKRa7BwgIZZ2Jgs0fZm6edynHJOVdBMaLX/7LTbTJjVQ/i1J5R95lO7kNwJzm9njm4AhtDetB24GdwmdkXsUNEAtXOElrNjlBCuVaafc4dgQLCSHUyQ/yxk18KKpCP1l4RMjq6MVx2e5PYxcVOHQxsu9eyhy5xsn6QZHBvWDIIoPFJQ9psMmwJNMZB6a+RgR0Qkk7gkDNfWyRXRa4GxeC1n6i1CcKpdD6BefnsW6zH8EjKM5znxv+I4XqLDloC2PXlcPbeEzG7smkbmn9mJWqQ1aEYdGEOs/E68x7Whu9xXK/vumD7a7lXGeqCeMGXQoV2V2KDtAQNfeeRbZvxpseSJRiAI5sdF7QiF/0g+eVjbcGQ31wkpvrugWr3pdf4isUycjjyIDU1aXf9gIoI/vUgEbAE+p2K/WoKzqtG3gqnUYX8Gkxc7cA1zEMeQCOQrurziiIwo+yZTptk9sDlZAxzN69KBP98VuYZ8z+k6dcDoXuofB+f2CHc99e0kWCigMslxcyHCl7LVNLJJYqQWDSLajOCGN+XJSZBLsMhKN5rBmWVjaZ1o++LtB4qQjwPhqp/PhevwtPKwdOIiqOxy6UOHlEBj2S6FrEfemrljmO4XR9AJN3iX/qYSLtjG2X2RBBD/ChkxfYmpe6gE8Lkyn85cCkrhlgFmE1x7h1UF7qUd3lNpMctJy1bYh/kWEbbvAgiTN3EOlBF8EdXMcrMrkm84eRsZQL+OKJnRDyQaXGsIqMLlGFIa09Urc/EQVVVkycO4/jIa6rye9E3i8tZ5qLQOQmYtv8OnBr/e8YSEG7m9UUsu0jQFxqgbvldZ4tZ3gQVVVsP+3ft75saKG2+6B3P0nURsWgfxB2LVy0A+POpVMfohx2h01SrBP8GftxliiEvuSlo6KJ5U4IF99slWfpAkEiEQGuM9MUgCyXPiiWfOexMyGriB0COpyD6iSXzEMsxzecID+MaIZXEtcPDH2H2zvtsBkBDDQSGFz2UVFda96lskNw/qh6pg1JfusNDjL5egT3aqwg8avAJrgQTP5cWofzGUeYSJWfIihR3fRoU+Z+zmzLY4XvwsGDt6t6svw2kkJmCYqwrmmXoigMzLOi8u2X1gobNtP12/VsQHg0pRIemeSr92J1DM+syMvsnMgFKqWRFZi4QlZDg/s6IhZg3E+6Men6FmsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DMtheSwz5HYRFipiUnk9hd",
      "input": {
        "note": "Blue pen is visible at the lower-left of the right wrist view, ~3-4 cm left of the jaw column. Shifting left and lowering.",
        "targets": {
          "right_y": 0.175,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DMtheSwz5HYRFipiUnk9hd",
      "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, 0.8444, 0.6067, -0.3809, -0.0219, -0.0162, 0.9996, 0.8162, 1.5112, 0.252, 0.6189, 0.5121, 0.3676, 0.9966]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1671 left_yaw=0.0007 left_pitch=-0.0561 left_roll=0.0013 left_gripper=0.9996 right_x=0.2771 right_y=0.1736 right_z=0.027 right_yaw=0.1918 right_pitch=0.0122 right_roll=0.0221 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.8667, 7.1179, 1.707, -0.0513, 0.0024, -0.0171, 0.1983, -5.2444, 5.7915, 1.5751, 0.4713, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd9172f4dbe63f448b88dd66bb36f0af64ad12894639569ec23477e852bd035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f75103a2ba4fc0e1a45746950b357fcaf72e7011387d9289a9714ca0d8b818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e635c3675eeec682f0237fda60d0cb4933cde6af0af62f707adb71ab241184d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.24 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]: [-0.0193, 0.8379, 0.6071, -0.3805, -0.0223, -0.0166, 0.9996, 0.7513, 1.0458, 1.0351, -0.4957, 0.5049, 0.3447, 0.9965]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1692 left_yaw=0.0009 left_pitch=-0.0488 left_roll=0.0011 left_gripper=0.9996 right_x=0.297 right_y=0.1654 right_z=0.289 right_yaw=0.1399 right_pitch=0.1198 right_roll=0.0829 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.5111, 7.2684, 1.707, -0.0611, -0.0708, -0.0122, -0.5128, -2.5915, 9.0188, 1.5067, 0.1636, 0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8398, 0.6067, -0.3809, -0.0223, -0.0166, 0.9996, 0.6987, 1.3239, 0.2024, 0.5205, 0.4553, 0.318, 0.9966]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1684 left_yaw=0.0009 left_pitch=-0.0515 left_roll=0.0011 left_gripper=0.9996 right_x=0.281 right_y=0.1393 right_z=0.0442 right_yaw=0.1459 right_pitch=0.0272 right_roll=0.0289 right_gripper=0.9966\nstate[joint_eff]: [-0.2667, -1.6342, 7.0496, 1.6825, -0.0464, -0.0513, -0.0171, -0.6906, -4.5333, 4.9573, 2.0342, 0.1441, -0.0952, -0.0073]",
      "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]: [-0.0189, 0.8444, 0.6067, -0.3809, -0.0219, -0.0162, 0.9996, 0.8162, 1.5112, 0.252, 0.6189, 0.5121, 0.3676, 0.9966]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1671 left_yaw=0.0007 left_pitch=-0.0561 left_roll=0.0013 left_gripper=0.9996 right_x=0.2771 right_y=0.1736 right_z=0.027 right_yaw=0.1918 right_pitch=0.0122 right_roll=0.0221 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.8667, 7.1179, 1.707, -0.0513, 0.0024, -0.0171, 0.1983, -5.2444, 5.7915, 1.5751, 0.4713, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dd9172f4dbe63f448b88dd66bb36f0af64ad12894639569ec23477e852bd035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f75103a2ba4fc0e1a45746950b357fcaf72e7011387d9289a9714ca0d8b818",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e635c3675eeec682f0237fda60d0cb4933cde6af0af62f707adb71ab241184d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQcKEAgSGAI4AUIIdGhpbmtpbmcSDKE0ooZ6kKeMEyoVvBoM6jjin/cgD6TNhuvZIjDuhtzoxOFq+RNcOjwN4uDi2Q9y/bNdfsPSjORU+hddRFPqxrRaZfG4ICQF6JBLPN8qtgYkqKjSrcvtkA8CMkQAUIPNTbumyGq+QReQUuU55qKvzRcjbOidOjNcwG2Ijx2ICdDflT7cQhtmvDApMzZNjVcqfCLLGjM42fcBkLAK9Ilj/h6V6E/lKoZehY2w5pzKmTz5ZEia38GPhZYYHKiHCDuFt3A1KH7IpHAQyKv1ZPQtdVpTUicZCSgGc/o6kTSW4sm3mbWlu+Flr/y/yvWCfoojrsYWJAmoxG3Lg91AZ8wxk8I8FeN6rqQvMW9yVeqSA2ecjHmNlGis1DNKKEKAM8H7JR2TdFvifRVSNG6unjlSbfz66/d3LKcXD5qGg4h+4fpxIS/g6KymKsPDKi8/RCHghB5IaSPVybUWN5uM5eJsxvie6waPfVnZgsVhOtcmKl+bgy0Fe/fy2mVGmV4wA/ywmHjHfgF74GaaAnoCgUEIM/qZjY75F54twcGCJQfqwY7JDyv0NtixGsb8RIPMMFb4PUF1ZMvf1b2tJ76VyJpde89r7oPXz3k0CYEqAI9u2gsK3OvjR2eLL67lkzrjXIpfDOw8Wa1H0gVYDNd1DiPiQ+ON8ok/bZB+r+3V4/AVLdDBiv9WWrhwrnPQcq34hdshR6r9tGyuYAIy8J8quChUM8U1cXMIqzZgilBBJQflCldh4D+XZmdygmF3YTRbSWeTfA6Rzm0qmVSlIDz0pr+PgLW1Cv9hX7obXJE/+ZB+f+XlY+tF9uVlf2YYOUzHjTQeGWFBg6SG9++zB3iAeZmphHmjWDIUVg0wFEVnrmO6mNbMRCv2C5qNIrU67uIbVMXyVDGnfRA/GUUzkPt4xJZlDXwyR3J3xyuUdjQ1MSz61MFOl4OFujCpcztT3VHduQtfXRBdtNmDCPV8Hiwz5N1mvv4RNzuuucVgR4pitrchWfczOJXRwXpPROcUCVFD10v7vLFMLZsekN2n64fgR/q0t2NiPv2Pvc1YnYkpwHTyWdgu7K6YBLgIfLP2C2oc1Hgk7eohmNFGWaHFtIQJ9WbZuKr+2rtMliQbmuJiF07ZYHTza3A0P8r4TdwLwDkITEzkc9Jp47xYh2cTQBtcgygR2H+F8M0zCh580jogQT2DnTuOL/FPVIoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EW4xKpbq9jKJMj6odWyRCq",
      "input": {
        "note": "Blue pen is now near the jaw column in the wrist view. Descending to table level to grasp it.",
        "targets": {
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EW4xKpbq9jKJMj6odWyRCq",
      "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, 0.8471, 0.6067, -0.3813, -0.0216, -0.0166, 0.9996, 0.8207, 1.7367, 0.2417, 0.9123, 0.535, 0.3958, 0.9966]\nstate[eef_state]: left_x=0.2982 left_y=0.0018 left_z=0.1663 left_yaw=0.0006 left_pitch=-0.0591 left_roll=0.0008 left_gripper=0.9996 right_x=0.2865 right_y=0.1807 right_z=0.0106 right_yaw=0.1617 right_pitch=0.0656 right_roll=0.0706 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.4017, 7.1316, 1.6825, -0.0513, -0.0415, -0.0171, -0.4444, -3.5214, 1.2376, -0.0122, -0.0708, -0.2906, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7b2d9e23c5a62989b7a5744c14165ef715de445d42ea8d44e9082fb87c603f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a954b68533495124d8677d00b6dfc01d3f62292c3983046d7bc7c8adad4f71d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9186e60bcf6030ba409cf36f5506da994dc102aab7c504db05f7537be8a550c2",
        "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 · 4.845 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]: [-0.0193, 0.8398, 0.6067, -0.3809, -0.0223, -0.0166, 0.9996, 0.6987, 1.3239, 0.2024, 0.5205, 0.4553, 0.318, 0.9966]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1684 left_yaw=0.0009 left_pitch=-0.0515 left_roll=0.0011 left_gripper=0.9996 right_x=0.281 right_y=0.1393 right_z=0.0442 right_yaw=0.1459 right_pitch=0.0272 right_roll=0.0289 right_gripper=0.9966\nstate[joint_eff]: [-0.2667, -1.6342, 7.0496, 1.6825, -0.0464, -0.0513, -0.0171, -0.6906, -4.5333, 4.9573, 2.0342, 0.1441, -0.0952, -0.0073]",
      "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]: [-0.0189, 0.8444, 0.6067, -0.3809, -0.0219, -0.0162, 0.9996, 0.8162, 1.5112, 0.252, 0.6189, 0.5121, 0.3676, 0.9966]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1671 left_yaw=0.0007 left_pitch=-0.0561 left_roll=0.0013 left_gripper=0.9996 right_x=0.2771 right_y=0.1736 right_z=0.027 right_yaw=0.1918 right_pitch=0.0122 right_roll=0.0221 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.8667, 7.1179, 1.707, -0.0513, 0.0024, -0.0171, 0.1983, -5.2444, 5.7915, 1.5751, 0.4713, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0189, 0.8471, 0.6067, -0.3813, -0.0216, -0.0166, 0.9996, 0.8207, 1.7367, 0.2417, 0.9123, 0.535, 0.3958, 0.9966]\nstate[eef_state]: left_x=0.2982 left_y=0.0018 left_z=0.1663 left_yaw=0.0006 left_pitch=-0.0591 left_roll=0.0008 left_gripper=0.9996 right_x=0.2865 right_y=0.1807 right_z=0.0106 right_yaw=0.1617 right_pitch=0.0656 right_roll=0.0706 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.4017, 7.1316, 1.6825, -0.0513, -0.0415, -0.0171, -0.4444, -3.5214, 1.2376, -0.0122, -0.0708, -0.2906, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7b2d9e23c5a62989b7a5744c14165ef715de445d42ea8d44e9082fb87c603f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a954b68533495124d8677d00b6dfc01d3f62292c3983046d7bc7c8adad4f71d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9186e60bcf6030ba409cf36f5506da994dc102aab7c504db05f7537be8a550c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen between jaws; closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FijqYPQ8j7w4QLbCrUxyaE",
      "input": {
        "note": "Blue pen centred between the jaws at table level. Closing the right gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FijqYPQ8j7w4QLbCrUxyaE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8494, 0.6067, -0.3805, -0.0216, -0.0166, 0.9996, 0.8207, 1.7432, 0.2348, 0.9428, 0.524, 0.3935, 0.1586]\nstate[eef_state]: left_x=0.2984 left_y=0.0016 left_z=0.1658 left_yaw=0.0002 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9996 right_x=0.2862 right_y=0.1828 right_z=0.012 right_yaw=0.1711 right_pitch=0.0756 right_roll=0.0838 right_gripper=0.1586\nstate[joint_eff]: [-0.212, -1.7573, 7.0359, 1.6484, -0.0269, -0.0464, -0.0171, -0.2667, -5.9692, 3.7812, 1.3748, 0.232, -0.0415, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242ddadfe5c9ef528fe11ed11d3b5e7e4f9cd0f8fbf0362a6e37131c64eae8cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f11d0f281a09b8d2c2afcf50d128185111b39b0a394960c37849cb46ee44a0fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7837604bcdf7e2044f61e408a6ffc83fefc822314be7a609e7e428cb5b83686",
        "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 · 3.893 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]: [-0.0189, 0.8444, 0.6067, -0.3809, -0.0219, -0.0162, 0.9996, 0.8162, 1.5112, 0.252, 0.6189, 0.5121, 0.3676, 0.9966]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1671 left_yaw=0.0007 left_pitch=-0.0561 left_roll=0.0013 left_gripper=0.9996 right_x=0.2771 right_y=0.1736 right_z=0.027 right_yaw=0.1918 right_pitch=0.0122 right_roll=0.0221 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.8667, 7.1179, 1.707, -0.0513, 0.0024, -0.0171, 0.1983, -5.2444, 5.7915, 1.5751, 0.4713, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8471, 0.6067, -0.3813, -0.0216, -0.0166, 0.9996, 0.8207, 1.7367, 0.2417, 0.9123, 0.535, 0.3958, 0.9966]\nstate[eef_state]: left_x=0.2982 left_y=0.0018 left_z=0.1663 left_yaw=0.0006 left_pitch=-0.0591 left_roll=0.0008 left_gripper=0.9996 right_x=0.2865 right_y=0.1807 right_z=0.0106 right_yaw=0.1617 right_pitch=0.0656 right_roll=0.0706 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.4017, 7.1316, 1.6825, -0.0513, -0.0415, -0.0171, -0.4444, -3.5214, 1.2376, -0.0122, -0.0708, -0.2906, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8494, 0.6067, -0.3805, -0.0216, -0.0166, 0.9996, 0.8207, 1.7432, 0.2348, 0.9428, 0.524, 0.3935, 0.1586]\nstate[eef_state]: left_x=0.2984 left_y=0.0016 left_z=0.1658 left_yaw=0.0002 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9996 right_x=0.2862 right_y=0.1828 right_z=0.012 right_yaw=0.1711 right_pitch=0.0756 right_roll=0.0838 right_gripper=0.1586\nstate[joint_eff]: [-0.212, -1.7573, 7.0359, 1.6484, -0.0269, -0.0464, -0.0171, -0.2667, -5.9692, 3.7812, 1.3748, 0.232, -0.0415, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242ddadfe5c9ef528fe11ed11d3b5e7e4f9cd0f8fbf0362a6e37131c64eae8cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f11d0f281a09b8d2c2afcf50d128185111b39b0a394960c37849cb46ee44a0fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7837604bcdf7e2044f61e408a6ffc83fefc822314be7a609e7e428cb5b83686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsgkKEAgSGAI4AUIIdGhpbmtpbmcSDKLZCaSss1I/56FQ1xoMpbqyd0uLJ2WN3s7HIjDMw6zxnNv0zjAQhjwfLI9ioJWgeD8+hE3qB1hiPDNFMsLu/CsN6dBwGf2STxUjH5gqzwiyn3un88UpexxYSiJVFa1Ie+oR131a9cxs15l3RByYklyQKxM6M7luGJOFBUPxEFlajI0cWlZz1uece2fe/3r+OjvKeqR2mK/BucI5b/yN6TAb20ZP7uZUhBC4oLCkNxVbKvAXWNAu5TzaR2e4bNiP/lSH7egKDPFQoIRwRsxtBsBKCvkXPXXp97TmlV6mMvd4KwzIjSO5IFQKtVYborEB5BuPAtGLEV0kuJLaWZbOz1zt/V9MA4A9tWqyxF5gjJnGkoqpIcDLZqi3SzTgcwQw2rXgafXXicf6whHv7aAd92baC0TfFp3oRqW+Tr3ZSCLQ4ooXueFHM9MlaOsm+k5m4rqdPetM8A2+0S15eHH8Afa6yOmuh6y1TnYSISFvDZN1T7helsv7l2UBV+1nY2SAt6/0TJZw9lgkr13wZ0WN7a12cQz2i3FAtPoLi02QXoo32NM6MTYV4zNvS23g2zqZQXRJWocY/rUK839G6rfR/0BoVhRK9sy4aNOP+Cn528GyR8dmalWKSTPOc/ur86Q0FmU5H6LT+xsXwraA5h7KNnqp/kJH+3kH1xbvudeABZiuP0iYQiV6wUcygmLqxWgf1av8Y0PMymTzYytojbKyLo8McL3+MFNBy0NjpByUiL0OnWUst0qeVk5TUXowjYxVtfIIo76kW1qIzoZf9CUS/oPZdEYg0jpIgtUZDGEZ0G/LnO57nTk+VKjo3JgiR30grMjZd9JyoB1LvyjiRgQVIcY/ELbEHfKSErtDGYgqWe/DXXS5VZmFCMxMYaOdX1yb8QTqD5metTPAzhIvqfIKbC4EKWUS839OQfNAeszpuXObDublhlfUTRWDdCiXogfwelcTkiMQeBEAYm/5UJAtlacvIUo64YHXkGmwllH9cAZI81O//hwlx2Ba26ifMG+J9jF8EuYc7YLSDYK1DB++Lw+Qc44b6pEon1aqUseJJzPmCnBUPHrZ6jyb3rK9nQA92Ly6q+44V0621LU/Q53iJYtm4mS449vLXIPyiwJ9n23Y0csNX465hKjl4GmwWzd9XKPJ0pyhKm3A5MNLh/IKZ4OSmnvCJBVHgTS1Ec6ACk22vXoXTq2bX0AzZvfoVvJCa8yCwz4x8ropJhaDj+tEDj1azB8TAM/zaSluV57+EgswzYBMv/iA8PyVIcVxAiuATS7qWZ7YxSMIi0+dFkuqj8qmBZlNT1IGKFfxepOeGYd2fPJMYgYYZ5Do3C5Di0L2cdCfUBwyFtuMjsFBmsrTl+W8+PUY2Sco5unFvYEkRlqKr/t/ZG8TzcZBuSoDzz8jH3BlIcmyraa/X9NhwmTOeZ95pcYaXpWoF0+RqaDWrneGuT33YzJ3JPmFajcxBdrBuY3CqKTnWyHXNvUvLAe1PIDeENT7tnQDJ22hJI5CY74G7/WIt9CILfU3pKj4nbPuv6arsUfSp0X94tnCJ4x3feUcQAySOBwcKs1pcxCOSRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014j4PXrA6xJof3rRCs8LfoU",
      "input": {
        "note": "Gripper settled at 0.16 — blue pen grasped. Lifting straight up well above the basket wall (basket is right in front).",
        "targets": {
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_014j4PXrA6xJof3rRCs8LfoU",
      "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, 0.8509, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, 0.8207, 1.0912, 1.0893, -0.5583, 0.5125, 0.3893, 0.1633]\nstate[eef_state]: left_x=0.2985 left_y=0.0018 left_z=0.1654 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0011 left_gripper=0.9996 right_x=0.2879 right_y=0.1872 right_z=0.2869 right_yaw=0.1824 right_pitch=0.0764 right_roll=0.0882 right_gripper=0.1633\nstate[joint_eff]: [-0.1299, -1.7026, 7.0359, 1.6972, -0.0073, -0.0611, -0.0122, -0.1709, -2.8923, 9.3197, 1.5458, 0.2662, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f10e65065c4e4fd875e1d0981170ad088b73b26cbf43f2a4530f910b8ba0416a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ae39408fff5fe75346151a7813cf783d035bb942556a8137c275c5e94b4b0ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65a94ea65cdc5c4ea1a55ef75e872425e6026d93fbc40f79557b85ce4e3e9cd2",
        "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 · 3.87 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]: [-0.0189, 0.8471, 0.6067, -0.3813, -0.0216, -0.0166, 0.9996, 0.8207, 1.7367, 0.2417, 0.9123, 0.535, 0.3958, 0.9966]\nstate[eef_state]: left_x=0.2982 left_y=0.0018 left_z=0.1663 left_yaw=0.0006 left_pitch=-0.0591 left_roll=0.0008 left_gripper=0.9996 right_x=0.2865 right_y=0.1807 right_z=0.0106 right_yaw=0.1617 right_pitch=0.0656 right_roll=0.0706 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.4017, 7.1316, 1.6825, -0.0513, -0.0415, -0.0171, -0.4444, -3.5214, 1.2376, -0.0122, -0.0708, -0.2906, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8494, 0.6067, -0.3805, -0.0216, -0.0166, 0.9996, 0.8207, 1.7432, 0.2348, 0.9428, 0.524, 0.3935, 0.1586]\nstate[eef_state]: left_x=0.2984 left_y=0.0016 left_z=0.1658 left_yaw=0.0002 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9996 right_x=0.2862 right_y=0.1828 right_z=0.012 right_yaw=0.1711 right_pitch=0.0756 right_roll=0.0838 right_gripper=0.1586\nstate[joint_eff]: [-0.212, -1.7573, 7.0359, 1.6484, -0.0269, -0.0464, -0.0171, -0.2667, -5.9692, 3.7812, 1.3748, 0.232, -0.0415, 0.9988]",
      "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]: [-0.0189, 0.8509, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, 0.8207, 1.0912, 1.0893, -0.5583, 0.5125, 0.3893, 0.1633]\nstate[eef_state]: left_x=0.2985 left_y=0.0018 left_z=0.1654 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0011 left_gripper=0.9996 right_x=0.2879 right_y=0.1872 right_z=0.2869 right_yaw=0.1824 right_pitch=0.0764 right_roll=0.0882 right_gripper=0.1633\nstate[joint_eff]: [-0.1299, -1.7026, 7.0359, 1.6972, -0.0073, -0.0611, -0.0122, -0.1709, -2.8923, 9.3197, 1.5458, 0.2662, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f10e65065c4e4fd875e1d0981170ad088b73b26cbf43f2a4530f910b8ba0416a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ae39408fff5fe75346151a7813cf783d035bb942556a8137c275c5e94b4b0ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65a94ea65cdc5c4ea1a55ef75e872425e6026d93fbc40f79557b85ce4e3e9cd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgcKEAgSGAI4AUIIdGhpbmtpbmcSDIvEMl/KDKJ/5bclSxoMaI9Bu7MzBcT7AFYqIjBdR2ALRBImwN7r4LXKSglni4+GPwaDotVQ/D7+AUUgtKQyJfc4w8SCUvzANEVpQWMq6wbP5mWf9mOKHx6AsuCChf7YaBAv49DJXAwM6WbJAm5PR8nrFPTiJggs/oOMxJLOcmnVHWID+/6nj4iy5SVETyE7ov4fuHBETK490kRUuegOW+aa0s7BM9fcohpmy5QQWnGhFWmdaAx0hHcHKGLLN5cCpkobeTFdC3S9zHq7HdUBK+e+AahedHh8hL3V4Ky9TK9wC1eAwGute5BRNXLo0irajoOHxLwXZgMJIWIyfmjKX3e/szcFGBUE978vRtz/BoRzz4TwY6+q65sXW6VImV5epzlwhdyFWl6zXmFN9oftjgXr840UDE9FUCjYsAXSheDCHH98QT1+96hS2rmlq+QwXSeXY+Kw3tWGCtFW7frwDCfcEuJ2alh6XDFkHqPS2nFa/ytVeFkqujv49v61hE2AK3655LzDh0ctF3baCcjMGnm3McxEtLCXHlt3Bl+/A1tkT2Ocuz4dAaqGO9V3ru5qcAaDkk6EhFdyhahDNiLYtF3c1AEOPNvQ9vI5GpnmisXPRNOw8WY9sfqN+kXAwoAshpU56iYuVKU5KOhPi6B6pZFiEJv7bQm93NUsGxOqf9f+OVv1k7XYDqtQ0cRz3IrkqkvprnImquVlASYy3PUOegF3zodZrlI7EdmprRKb0nKbTQ8Vb3zY0MTmCZX8xtlSdyfFfCOHmpx7pPl4wbePP35nbl4LpVGm+Sj+3RbwPSYbt22ANrMmcXnYvBjTXiPqLFcj95SmWTmxJFau8VUDxGz4qLVVZkDqtgXUhB3+DiJlO7XrUEoGQFii+ziGJL/r2sCQO3craNN0PXPAUmp261L6ajyQeOSUfZcsM8LwTHhBsuRZDSs+n6Q6kJlR03TwpdsjWgxHCIbL2zyKf3MW7fBizg3GVWZms1dUMPa8nUrJddkv0b3LpfPBWA1DKcvMAtnt3nd/+KHI4xzqoZ+zwJ155wkBLXFOx/6N0AsivqpamhMf43nNK8MSJ/+clW/X6TItsNTYFr1WF41ZYR1U4PGPvaFhKEbTx9/eEJvrYXZHZICLHJhnVaMnkVhkERbR5bshFmW1X6BWotkzssaQj2pT3Ma+h4fWkh6tczH7joRp0P72xFK+L83eUovmCRP98JEkxtY7r3wPH0vh526D0R2LE/CsBDQ4hJdlQIyMx27WTy5vRHum4IU5whgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VYpSUGofEXkkSBpbs4BVdR",
      "input": {
        "note": "Pen lifted; right basket lies straight ahead in the wrist view. Moving forward over its centre.",
        "targets": {
          "right_x": 0.37,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VYpSUGofEXkkSBpbs4BVdR",
      "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]: [-0.0193, 0.8562, 0.6067, -0.3813, -0.0223, -0.0166, 0.9996, 0.6041, 1.306, 1.1389, -0.4423, 0.337, 0.2749, 0.1633]\nstate[eef_state]: left_x=0.2987 left_y=0.0018 left_z=0.1637 left_yaw=0.0009 left_pitch=-0.0683 left_roll=0.0015 left_gripper=0.9996 right_x=0.3577 right_y=0.1802 right_z=0.2498 right_yaw=0.1711 right_pitch=-0.0112 right_roll=0.0475 right_gripper=0.1633\nstate[joint_eff]: [-0.2256, -1.9624, 7.0222, 1.7411, -0.0562, -0.0513, -0.0171, -0.3761, -5.4496, 10.5641, 2.0391, 0.1343, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0f9d725a800577d47c99be0055f09493f9e42a1bbfa6f08d42b06ee819811f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72d673ca586034127619ea13631d00dd4950117b25c5e7d98a2ec9edd8760f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebd155ce68a9e9a124914a0e607bdad3cc2d90e2d050514cd1605ce7a4ef1bf5",
        "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 · 9.072 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]: [-0.0193, 0.8494, 0.6067, -0.3805, -0.0216, -0.0166, 0.9996, 0.8207, 1.7432, 0.2348, 0.9428, 0.524, 0.3935, 0.1586]\nstate[eef_state]: left_x=0.2984 left_y=0.0016 left_z=0.1658 left_yaw=0.0002 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9996 right_x=0.2862 right_y=0.1828 right_z=0.012 right_yaw=0.1711 right_pitch=0.0756 right_roll=0.0838 right_gripper=0.1586\nstate[joint_eff]: [-0.212, -1.7573, 7.0359, 1.6484, -0.0269, -0.0464, -0.0171, -0.2667, -5.9692, 3.7812, 1.3748, 0.232, -0.0415, 0.9988]",
      "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]: [-0.0189, 0.8509, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, 0.8207, 1.0912, 1.0893, -0.5583, 0.5125, 0.3893, 0.1633]\nstate[eef_state]: left_x=0.2985 left_y=0.0018 left_z=0.1654 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0011 left_gripper=0.9996 right_x=0.2879 right_y=0.1872 right_z=0.2869 right_yaw=0.1824 right_pitch=0.0764 right_roll=0.0882 right_gripper=0.1633\nstate[joint_eff]: [-0.1299, -1.7026, 7.0359, 1.6972, -0.0073, -0.0611, -0.0122, -0.1709, -2.8923, 9.3197, 1.5458, 0.2662, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0193, 0.8562, 0.6067, -0.3813, -0.0223, -0.0166, 0.9996, 0.6041, 1.306, 1.1389, -0.4423, 0.337, 0.2749, 0.1633]\nstate[eef_state]: left_x=0.2987 left_y=0.0018 left_z=0.1637 left_yaw=0.0009 left_pitch=-0.0683 left_roll=0.0015 left_gripper=0.9996 right_x=0.3577 right_y=0.1802 right_z=0.2498 right_yaw=0.1711 right_pitch=-0.0112 right_roll=0.0475 right_gripper=0.1633\nstate[joint_eff]: [-0.2256, -1.9624, 7.0222, 1.7411, -0.0562, -0.0513, -0.0171, -0.3761, -5.4496, 10.5641, 2.0391, 0.1343, -0.0269, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0f9d725a800577d47c99be0055f09493f9e42a1bbfa6f08d42b06ee819811f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72d673ca586034127619ea13631d00dd4950117b25c5e7d98a2ec9edd8760f59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebd155ce68a9e9a124914a0e607bdad3cc2d90e2d050514cd1605ce7a4ef1bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwcKEAgSGAI4AUIIdGhpbmtpbmcSDFzgBcOt0fHAJ3Ye+xoMo52wFxMAI4095Fn4IjA0HMQdQy0ZxHMShTOVK1xDMeDncm0oH7bSnj2iAlTvpX5CR5nktiYTqotgKzV2fd0q3AaxB0xZrdzjtoToAOs86ufepEjn0oygbJH47JUv9FF7b96+cbaKUknw8r/5Z1hrBJs0Pz7tryBamXiczVxes9BLPZjAx7ihVbvvWkDwGE23CFTHxQF7Hag96YpS2oJwu8rqg8JNpybMlX9MhBQWZwDXAeoYGyU1kFZa328t1zifBz+ga821V7Qbk9S75EhqXJyg42WdD6EL46SLngk7YJLlZkdiIsgbMVJlH08MZ3c6j3elyWrofTlsfbAEpLfRwzP3ILF4e+hNluZHMpxsBphsSsKXNizvm7YW6srPY2mjfCcx7p0Xs0/5cnrN5GL1smywMp/BmZ15h7IYdvD4SCtJdwfyReKwtA7l3LJzqF95HX3nNZebC4TlBSUOoTQIJ8ROOexhCyvLUAYaTb410GP1UrMPLykdpcx2zGIWL341Z5UmTJ3lzBKXh6/YIYjTTxdGLsyeF/Wmw35DeF8710akRPjKoSX4Yzrby2ecU7Oo8PSQHO+Yh+7EgzgV4P0CL7KMftbNUeZnrvO8y6hK8rm/9wH7SMtQJLbTB6Mc9VYMPfC0x1h39MEbT+6Ekq1YIuyNDVgwtFmOSuXe4icfiz2V+xXNWznudzWbuQrzsl4lyXNXlGcI/kR1txnACh0YbS1KllL0MFn3OK8AckRp0cl+qfU8g6OBsFGXQ/SWE9ITn9hdU0tnZ1iegRU0+QKtQkL1RLdc//ZpANBpXRlMyqgR5oa0fi9UQlPKjK4QZO7MIm4xeyuack+Yv30YWS622vJy4xkT7b7jQsj1vy4SueZ7ckk9oD4QYRLtIO8l6dn+hVb4kEtjSjd64ptMyvjBc3vBPGMzrJF13w0gcXIK+dpbWmfEOsej+KbVreKCzVbcw3ksjQeRLYs1vnwtTZl8HaxdnF1gO67JdvhDWv2ylb4UEVOOf05zmC1ALqT/5u6wRLZUV7DsMlm+vpUi7qbx9Ul1aZ6GfNbIGVpM8ZOKZCBlO4NvpdB7hR6FJ2O5RarYHdm28Pvq4JqQnEppBSQ0lnQoXYXIIdw8l3482lfxvuGG0W/TPg4x5EZFWHJ5OShxYM3J8/nHsDv8jQb7O7NsZltulcDeRxzQhX8aaBCyHZ17u9EV7IRFzHAKM8FMOvNmWW8Xn5YqfLkJ5l/ZMxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017VAhRdKqXX9PA1KZEJZixK",
      "input": {
        "note": "Wrist view looks straight down into the right basket, so the gripper is over it. Opening to drop the blue pen.",
        "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_017VAhRdKqXX9PA1KZEJZixK",
      "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, 0.8566, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, 0.5991, 1.3224, 1.137, -0.4366, 0.3244, 0.2665, 0.995]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1638 left_yaw=0.001 left_pitch=-0.0679 left_roll=0.0012 left_gripper=0.9996 right_x=0.3602 right_y=0.1821 right_z=0.2435 right_yaw=0.1809 right_pitch=-0.0254 right_roll=0.0419 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.6615, 7.0359, 1.6532, -0.0269, -0.0171, -0.0171, 0.212, -6.5436, 7.1863, 1.6142, 0.1587, 0.0269, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da04d5e10a20b3ed4dac604319b615ffe63897098a9f36d4b737b58b156da774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc0f65c06127fec1ac243b3797013e2f76aed635cb4522be8401b06b9a5d2914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:333ea7df2acbcca33022eb9f02df5d03eae8e02f8f1a8b3db4f548048fa9a907",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 9.998 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]: [-0.0189, 0.8509, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, 0.8207, 1.0912, 1.0893, -0.5583, 0.5125, 0.3893, 0.1633]\nstate[eef_state]: left_x=0.2985 left_y=0.0018 left_z=0.1654 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0011 left_gripper=0.9996 right_x=0.2879 right_y=0.1872 right_z=0.2869 right_yaw=0.1824 right_pitch=0.0764 right_roll=0.0882 right_gripper=0.1633\nstate[joint_eff]: [-0.1299, -1.7026, 7.0359, 1.6972, -0.0073, -0.0611, -0.0122, -0.1709, -2.8923, 9.3197, 1.5458, 0.2662, -0.0073, 1.033]\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]: [-0.0193, 0.8562, 0.6067, -0.3813, -0.0223, -0.0166, 0.9996, 0.6041, 1.306, 1.1389, -0.4423, 0.337, 0.2749, 0.1633]\nstate[eef_state]: left_x=0.2987 left_y=0.0018 left_z=0.1637 left_yaw=0.0009 left_pitch=-0.0683 left_roll=0.0015 left_gripper=0.9996 right_x=0.3577 right_y=0.1802 right_z=0.2498 right_yaw=0.1711 right_pitch=-0.0112 right_roll=0.0475 right_gripper=0.1633\nstate[joint_eff]: [-0.2256, -1.9624, 7.0222, 1.7411, -0.0562, -0.0513, -0.0171, -0.3761, -5.4496, 10.5641, 2.0391, 0.1343, -0.0269, 1.0281]",
      "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]: [-0.0189, 0.8566, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, 0.5991, 1.3224, 1.137, -0.4366, 0.3244, 0.2665, 0.995]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1638 left_yaw=0.001 left_pitch=-0.0679 left_roll=0.0012 left_gripper=0.9996 right_x=0.3602 right_y=0.1821 right_z=0.2435 right_yaw=0.1809 right_pitch=-0.0254 right_roll=0.0419 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.6615, 7.0359, 1.6532, -0.0269, -0.0171, -0.0171, 0.212, -6.5436, 7.1863, 1.6142, 0.1587, 0.0269, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da04d5e10a20b3ed4dac604319b615ffe63897098a9f36d4b737b58b156da774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc0f65c06127fec1ac243b3797013e2f76aed635cb4522be8401b06b9a5d2914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:333ea7df2acbcca33022eb9f02df5d03eae8e02f8f1a8b3db4f548048fa9a907",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P8oNSVxHtpiiy3itio7wdt",
      "input": {
        "note": "Pen released over the right basket. Moving the right arm aside so the top camera can check what is in the basket and what remains on the table.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01P8oNSVxHtpiiy3itio7wdt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8585, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, -0.2741, 0.6662, 0.688, -0.6399, -0.3206, -0.1879, 0.996]\nstate[eef_state]: left_x=0.2989 left_y=0.0018 left_z=0.1633 left_yaw=0.001 left_pitch=-0.0698 left_roll=0.0013 left_gripper=0.9996 right_x=0.2567 right_y=-0.0106 right_z=0.2029 right_yaw=0.0919 right_pitch=-0.0226 right_roll=0.0343 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.6205, 7.0632, 1.6923, -0.0269, -0.0513, -0.0122, 0.0615, -0.2803, 6.8034, 1.707, -0.4225, -0.1099, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c46adc77e46b3193f45e8ec4e8aabade586617f6825b5a35105631604bd73694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8e680d6ca1126e757ff441bcde062e565f1b5c05bef1286ae2e3f9fcd0d465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71044342a8f9b5c662d49a0d0d8e7b94b71d1c1c6558c1e50a1b2db804309a18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.603 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]: [-0.0193, 0.8562, 0.6067, -0.3813, -0.0223, -0.0166, 0.9996, 0.6041, 1.306, 1.1389, -0.4423, 0.337, 0.2749, 0.1633]\nstate[eef_state]: left_x=0.2987 left_y=0.0018 left_z=0.1637 left_yaw=0.0009 left_pitch=-0.0683 left_roll=0.0015 left_gripper=0.9996 right_x=0.3577 right_y=0.1802 right_z=0.2498 right_yaw=0.1711 right_pitch=-0.0112 right_roll=0.0475 right_gripper=0.1633\nstate[joint_eff]: [-0.2256, -1.9624, 7.0222, 1.7411, -0.0562, -0.0513, -0.0171, -0.3761, -5.4496, 10.5641, 2.0391, 0.1343, -0.0269, 1.0281]",
      "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]: [-0.0189, 0.8566, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, 0.5991, 1.3224, 1.137, -0.4366, 0.3244, 0.2665, 0.995]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1638 left_yaw=0.001 left_pitch=-0.0679 left_roll=0.0012 left_gripper=0.9996 right_x=0.3602 right_y=0.1821 right_z=0.2435 right_yaw=0.1809 right_pitch=-0.0254 right_roll=0.0419 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.6615, 7.0359, 1.6532, -0.0269, -0.0171, -0.0171, 0.212, -6.5436, 7.1863, 1.6142, 0.1587, 0.0269, -0.1538]\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]: [-0.0189, 0.8585, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, -0.2741, 0.6662, 0.688, -0.6399, -0.3206, -0.1879, 0.996]\nstate[eef_state]: left_x=0.2989 left_y=0.0018 left_z=0.1633 left_yaw=0.001 left_pitch=-0.0698 left_roll=0.0013 left_gripper=0.9996 right_x=0.2567 right_y=-0.0106 right_z=0.2029 right_yaw=0.0919 right_pitch=-0.0226 right_roll=0.0343 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.6205, 7.0632, 1.6923, -0.0269, -0.0513, -0.0122, 0.0615, -0.2803, 6.8034, 1.707, -0.4225, -0.1099, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c46adc77e46b3193f45e8ec4e8aabade586617f6825b5a35105631604bd73694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8e680d6ca1126e757ff441bcde062e565f1b5c05bef1286ae2e3f9fcd0d465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71044342a8f9b5c662d49a0d0d8e7b94b71d1c1c6558c1e50a1b2db804309a18",
        "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_0192vM9RvonTRyjPS8SJPM3B",
      "input": {
        "note": "Top view shows the right basket is still empty — both pens slipped out (blue pen now lengthwise right of the teddies, grey marker in front of them). Retrying the blue pen, approaching above it.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.13,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_0192vM9RvonTRyjPS8SJPM3B",
      "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]: [-0.0174, 0.8619, 0.6067, -0.3817, -0.0219, -0.0166, 0.9996, 0.6308, 1.3121, 0.2565, 0.2947, 0.3798, 0.3019, 0.9961]\nstate[eef_state]: left_x=0.2989 left_y=0.0023 left_z=0.1621 left_yaw=0.0025 left_pitch=-0.0744 left_roll=0.0014 left_gripper=0.9996 right_x=0.2748 right_y=0.124 right_z=0.0223 right_yaw=0.1434 right_pitch=-0.1351 right_roll=-0.0223 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -1.8393, 7.0222, 1.6777, -0.0317, -0.0269, -0.0171, 0.1983, -5.5453, 5.2444, 1.8242, 0.3053, 0.1832, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55b25fcb28043793e26c5a9a18b66547b6a606fc32f9bc89227085291e08cc8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e5fdd5e89cd6ed165e6151ffa608f11331ab8b66a0195e703c7c31942ffb211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34fc600393d0d0c41c9bf28de447d3767a96506e7070699fb658565dac413674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.848 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]: [-0.0189, 0.8566, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, 0.5991, 1.3224, 1.137, -0.4366, 0.3244, 0.2665, 0.995]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1638 left_yaw=0.001 left_pitch=-0.0679 left_roll=0.0012 left_gripper=0.9996 right_x=0.3602 right_y=0.1821 right_z=0.2435 right_yaw=0.1809 right_pitch=-0.0254 right_roll=0.0419 right_gripper=0.995\nstate[joint_eff]: [-0.1846, -1.6615, 7.0359, 1.6532, -0.0269, -0.0171, -0.0171, 0.212, -6.5436, 7.1863, 1.6142, 0.1587, 0.0269, -0.1538]\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]: [-0.0189, 0.8585, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, -0.2741, 0.6662, 0.688, -0.6399, -0.3206, -0.1879, 0.996]\nstate[eef_state]: left_x=0.2989 left_y=0.0018 left_z=0.1633 left_yaw=0.001 left_pitch=-0.0698 left_roll=0.0013 left_gripper=0.9996 right_x=0.2567 right_y=-0.0106 right_z=0.2029 right_yaw=0.0919 right_pitch=-0.0226 right_roll=0.0343 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.6205, 7.0632, 1.6923, -0.0269, -0.0513, -0.0122, 0.0615, -0.2803, 6.8034, 1.707, -0.4225, -0.1099, 0.0904]",
      "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]: [-0.0174, 0.8619, 0.6067, -0.3817, -0.0219, -0.0166, 0.9996, 0.6308, 1.3121, 0.2565, 0.2947, 0.3798, 0.3019, 0.9961]\nstate[eef_state]: left_x=0.2989 left_y=0.0023 left_z=0.1621 left_yaw=0.0025 left_pitch=-0.0744 left_roll=0.0014 left_gripper=0.9996 right_x=0.2748 right_y=0.124 right_z=0.0223 right_yaw=0.1434 right_pitch=-0.1351 right_roll=-0.0223 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -1.8393, 7.0222, 1.6777, -0.0317, -0.0269, -0.0171, 0.1983, -5.5453, 5.2444, 1.8242, 0.3053, 0.1832, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55b25fcb28043793e26c5a9a18b66547b6a606fc32f9bc89227085291e08cc8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e5fdd5e89cd6ed165e6151ffa608f11331ab8b66a0195e703c7c31942ffb211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34fc600393d0d0c41c9bf28de447d3767a96506e7070699fb658565dac413674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAkKEAgSGAI4AUIIdGhpbmtpbmcSDCmF8JHNn3rmNEqJERoMTa3kdzCVFDBLVOSqIjDu/KA8YBTQA6m0fb0DUc+2ab2urbuwPaA1mba+mXIzU1rnAZnC1gUwWRf6ugfaZrAq4QjmpXX2Vq4jzuG9bj/jCxVSHQmDMpoyRzq6hPbRCqHWl76ucWmHHWBoZMTsPvxEc55iDOpr1FarzjZsljN+FTgZC8/cWJSlfZ1OCOaXdip/7kKqBRS2iCC4TGk3ETNAYolMWJy1f7pdCUtPcF/Qk46wYuXv41Ahk48nLNLnyEuT7wqxVch9fgXOG8qtslLUV7NarT9TmIJhvqe07T2VL5T7TwKWXYI8d2f9rcmWe9gXwxZN8ZHHhA0yUEy5oYKsbYja6W9TRSBmwWuCP6IuJykI9pUyMkHSyecDoiY2sTi12WNCbyLdvnaBIFb5KQNog2WIExCe2ckC5xMYx1POi6/A5I/XzYQexyyRMY3QJMxKNSVQGsUfnmpUiRsRW2S4yp4hOZ62EmidTUW+UR9ROv23qbuJ9ern8BWcQ9H66ZD904PNz9qCaL3ntPnDP8jQUSViwXOPJww1hlvzz2RF2DShYR57MzX/E4k0HGU/d5unxMVxnQ3aB06JQfRPPmRaGyhloeDHlXWkQzTEAaC9gvi9ySU0XZ1MzAf69ctZr0IGOdN1PQp5N4+0tBUpbAKnrhjEe8QWqBd42Y8oKsuLNetPyrUC6/LEAnIc6ZIbeh284DkX+PKholQYWSfzVq54zhxKjiXG/D9RAf2QmsnIb8Ujth0hP5l3ZiBbcZ3buHG+LgYK4m2F26jdmCh/342FSAxZYh7b4OLkJHsg5Qh144wanDuLVbHe79OWLoS15cJ6E6QiuvJCpfhDP4NjjC7obi+Vce75jXUcOKR/BId21PjgZSTNdqMAw1/v673+zwBisXyCBlwiXgtJMZZh7OmhtwvaToVWMeKjU/3nNJWmPCsif+zYU6CJQzXZ4rUOJln0Cw1UfwSJbhozSviRzkbKOqi6kYbmRNr1RkGN835Jbc5WSUrXwaZeScUmTTfLLelkaG9UNUdvcWdTWy580UATCxAdgLPLtaHf8g1LY4X5pMcfJtNZuirnKDcCNDVHKRYyNDZljdC3l2bFSxroUPHmviMXG00XTJNelHctwOvooJxLgnG7Ku6ndkzfQH72RgE+e3zvTH4iPy1huhoxLZLRxhgr/gmyeW2j2AFi3/x+PC8QOVbLeRlJcA/4K+G8+z8VtgdAWe9r3uGeJ5B7CIS5Huc0+5qmG2hcjvtMNWEE4eBMntX+7IAYvHcStDThjyN5jtc7XTfwkcrYJgge/DLrAveZTUlCD+5pZe1iYD7hxuh8Kd6yZyUgJfoXwl+kctiLDRUqQBWXZfIm4oCiby0baIjejD+M9dry6OG6dFlF5UohI9Mc6qKKXO8Q5q3HYANy+w8PrGUdconED9Wd+nUxs6WS0x2kiHf/GJOpKWHJ/PNCRI8/moRX1s8fy700yAQblPfQBW7UgZjJHjSLKARZA1ktXlBtGrsrl8gVzefJM/XeyTwOINRuDzr28l4rz1jHhMpp1OiYWefL/BOtZQ73eO1UdYMUcxNexXN9JHDjT3SdNhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011gMwqxdznkiyZL7yDivd3c",
      "input": {
        "note": "Blue pen runs diagonally between the jaws in the right wrist view. Pressing down firmly to table level so the jaws straddle the pen low.",
        "targets": {
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011gMwqxdznkiyZL7yDivd3c",
      "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]: [-0.0174, 0.8646, 0.6064, -0.3817, -0.0227, -0.0166, 0.9996, 0.6353, 1.5169, 0.2203, 0.622, 0.3977, 0.3279, 0.9961]\nstate[eef_state]: left_x=0.299 left_y=0.0024 left_z=0.1612 left_yaw=0.0031 left_pitch=-0.0774 left_roll=0.0019 left_gripper=0.9996 right_x=0.2895 right_y=0.1329 right_z=0.0107 right_yaw=0.1235 right_pitch=-0.0538 right_roll=0.0295 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -1.7846, 7.0359, 1.6679, -0.0464, -0.022, -0.0171, -0.3487, -1.8667, 1.853, -0.022, -0.0464, -0.2418, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb42d8b695f62ae77ee3d9458425b708bb4011596085b10cce591e6913ccac12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d1d01207caadbe977a8808753b90be129cfd743a0803fc1f707ecd749f37f0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99bf0c42852abb57f309f5dd96af3727ecfb07cf4c98d2647ad2f534342ff2f8",
        "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 · 4.834 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]: [-0.0189, 0.8585, 0.6067, -0.3805, -0.0219, -0.0166, 0.9996, -0.2741, 0.6662, 0.688, -0.6399, -0.3206, -0.1879, 0.996]\nstate[eef_state]: left_x=0.2989 left_y=0.0018 left_z=0.1633 left_yaw=0.001 left_pitch=-0.0698 left_roll=0.0013 left_gripper=0.9996 right_x=0.2567 right_y=-0.0106 right_z=0.2029 right_yaw=0.0919 right_pitch=-0.0226 right_roll=0.0343 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.6205, 7.0632, 1.6923, -0.0269, -0.0513, -0.0122, 0.0615, -0.2803, 6.8034, 1.707, -0.4225, -0.1099, 0.0904]",
      "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]: [-0.0174, 0.8619, 0.6067, -0.3817, -0.0219, -0.0166, 0.9996, 0.6308, 1.3121, 0.2565, 0.2947, 0.3798, 0.3019, 0.9961]\nstate[eef_state]: left_x=0.2989 left_y=0.0023 left_z=0.1621 left_yaw=0.0025 left_pitch=-0.0744 left_roll=0.0014 left_gripper=0.9996 right_x=0.2748 right_y=0.124 right_z=0.0223 right_yaw=0.1434 right_pitch=-0.1351 right_roll=-0.0223 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -1.8393, 7.0222, 1.6777, -0.0317, -0.0269, -0.0171, 0.1983, -5.5453, 5.2444, 1.8242, 0.3053, 0.1832, 0.0024]",
      "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]: [-0.0174, 0.8646, 0.6064, -0.3817, -0.0227, -0.0166, 0.9996, 0.6353, 1.5169, 0.2203, 0.622, 0.3977, 0.3279, 0.9961]\nstate[eef_state]: left_x=0.299 left_y=0.0024 left_z=0.1612 left_yaw=0.0031 left_pitch=-0.0774 left_roll=0.0019 left_gripper=0.9996 right_x=0.2895 right_y=0.1329 right_z=0.0107 right_yaw=0.1235 right_pitch=-0.0538 right_roll=0.0295 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -1.7846, 7.0359, 1.6679, -0.0464, -0.022, -0.0171, -0.3487, -1.8667, 1.853, -0.022, -0.0464, -0.2418, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb42d8b695f62ae77ee3d9458425b708bb4011596085b10cce591e6913ccac12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d1d01207caadbe977a8808753b90be129cfd743a0803fc1f707ecd749f37f0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99bf0c42852abb57f309f5dd96af3727ecfb07cf4c98d2647ad2f534342ff2f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3QoKEAgSGAI4AUIIdGhpbmtpbmcSDKRbCCwk0Gx1xR40fhoM1Ss8Z+jFgTSXlrm9IjCSi5jGk2ux0cprR0Y1O6k+Zu15L45BbI+QNYv1R/VSxC1AgI9MSEA35vms7qrn60gq+gleB+tjQn3WFHWSHmj3vc8qQFW6SsiThWdIbrptKUrZi+JLa0J/MsssYzAAJOej+F047QP07KAXjtCTgUWlZnwKgVA32cvXlkdoCUELhB9QJbxjeUz+STdhhUIqHSWSo1X7lF343yvnuWYota7sBKRwSasoRjRLqBPZJVCqqvDosEntsvFq1PSGdALtkJY0W7fNI5btSH/VMfgln5sdH0dtnjS93ejsm94WRNcUnW3Xx6izT1dIRSCKcLHjPBQaLGjVCR4EwHZfFC/wln5X1u+96PzqlsnDLcY2MDiHqxJje49qTGLGkE3Ydm38Bw93YZkPWCwLiktR0l/Un2TA0M1jL07WU/tQ2ZuZrJS/oO38ZdtA32Pd6xJbnK68RohJPdf3B791Jn+kSvcJn0QumWGNlTWy90H8Qyqa9I6OnF4/bJmnX7aZpUwTCcEqwyJux1m/maL6dVpLxnwwghmOdfmg/yc1OmwTObO3hVWs36uRa2jyxM2pyHjJLYHZ8itBXXZKZ+jaySng+XPqUeXCRU4m956l9MuXs7nn4uT9DWs/YlKo0H4z04h64ISChH4Wlhi1oqVQd4XZ9MfAksyLkHic04FueeXMTqAO8RjZZGepEper6bMWs1OYb+7cEHwuMoe2+zU32MXJ1NOmhgp9M9LnEpDULItG6iFpTi6lnCDYJD7PkPWo4HN9fMF0mpadVd4fB6lRRMlxvJ98+K9cV1tkw4obsWOdkd4u9LFA5QXqcQm0tpAcFRxT3spM4QMhFSg27YosjPoOdW1FKbJW4haMz8z0NlPC0qXoUteQ83GiSCtLcj3Trkvv0p+r/RWzbd69FDPylWq/GFFatUe5W7r5k7YzVjmvkZqo5+SQx4HpjZe+9a2xbWFKiZeMrVkOdYtmsw42e9/X0ZGQfnPhFIHBj5XfWB/pdlDRtY8r+dgt5anx81IeDWkueFErqxIFyRjY7lpTmpcnTW762nhAM7y4wL5K/kUWnqdqqcjL2H7EAFevxaa8mSV+nUMdS6WEOtSF4kp57R+583vdgSf22LAKgsBzRr0+nXtur6eTLvE9UTjYAOQ6FNGS2P01X3pjU/tHRycc+S6PuetL3eCQcl4INleeiyZAI02vdO6ijxMk+61jl/FaymMwmkDakEy5wOPMP7sIVtOOrQ8D1z4REM60+EsyZWCLGRuhHYLIqMoYPGRW8RXFfEo/u70VoQ5SOwN34uE5V6Ux72jGU5UdZ4yOnEBsptmpC0Nj9tqVh/XQNh/i+913ER4binWenxb8Q6/Z53OAa91QkAYjr9Y0Q7pwLMkUiT4uRF6OVj1GnTqfpV91vFSMWEaDSrXIKq7qIafQSw+1dUv6ypD4LIVKRmYL0V9UmUSee7Jx1GtCBsyCcYNd51sBGOumrAQTTJM9m7TLHLkpnxhPmrWazGCoJoFD7fLRcFeKeJYx06lwjtsN/KY7k9I2IyQ3A6d24cLrp/KewH5S5nHd+tcQHz0aMu7LBER9tJlymqRjFEt/dIWfgxJQPA+TuzvZY6NWv6rc/mt+lR7x+vANrhHVM7328hqBykf1/7L4tE0i2Um/L8XnJI62Q0qbu0hRxu3SFQM+28Z/kpnuuR+Rr7wZCcqc9fSEOmfufFXTd1wu1Ic/s1yzJbSsJNTbQwcTat+kIYlPnZlD/IxHxtU+f1Q0jUUuQdcH1FwBrKgC8z2NNhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TjAhc7kHL8Vg4xiQLV4yiL",
      "input": {
        "note": "At table contact the pen sits near the right jaw; shifting 1.5 cm right to centre it between the jaws before closing.",
        "targets": {
          "right_y": 0.118,
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01TjAhc7kHL8Vg4xiQLV4yiL",
      "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]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0223, -0.0166, 0.9996, 0.6338, 1.5543, 0.2138, 0.7017, 0.3885, 0.3218, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0023 left_z=0.1613 left_yaw=0.0028 left_pitch=-0.0767 left_roll=0.0016 left_gripper=0.9996 right_x=0.2934 right_y=0.1371 right_z=0.012 right_yaw=0.1334 right_pitch=-0.025 right_roll=0.0467 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.5795, 6.9949, 1.6825, -0.0122, -0.0659, -0.0122, -0.4171, -2.906, 2.3179, 0.8669, 0.0073, -0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a942a060b9fb2c4e7a6751012884b19e9c7c04fe1fb95ebd17712d9954b390d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09778aa85d8cca2257777d8f020bdc531876c879f35bd5fb5c8a785cafd1c545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58affa92b9ac4e49740d973b624da678b37fc198c035a5e62c585b935ad0c395",
        "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 · 3.63 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]: [-0.0174, 0.8619, 0.6067, -0.3817, -0.0219, -0.0166, 0.9996, 0.6308, 1.3121, 0.2565, 0.2947, 0.3798, 0.3019, 0.9961]\nstate[eef_state]: left_x=0.2989 left_y=0.0023 left_z=0.1621 left_yaw=0.0025 left_pitch=-0.0744 left_roll=0.0014 left_gripper=0.9996 right_x=0.2748 right_y=0.124 right_z=0.0223 right_yaw=0.1434 right_pitch=-0.1351 right_roll=-0.0223 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -1.8393, 7.0222, 1.6777, -0.0317, -0.0269, -0.0171, 0.1983, -5.5453, 5.2444, 1.8242, 0.3053, 0.1832, 0.0024]",
      "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]: [-0.0174, 0.8646, 0.6064, -0.3817, -0.0227, -0.0166, 0.9996, 0.6353, 1.5169, 0.2203, 0.622, 0.3977, 0.3279, 0.9961]\nstate[eef_state]: left_x=0.299 left_y=0.0024 left_z=0.1612 left_yaw=0.0031 left_pitch=-0.0774 left_roll=0.0019 left_gripper=0.9996 right_x=0.2895 right_y=0.1329 right_z=0.0107 right_yaw=0.1235 right_pitch=-0.0538 right_roll=0.0295 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -1.7846, 7.0359, 1.6679, -0.0464, -0.022, -0.0171, -0.3487, -1.8667, 1.853, -0.022, -0.0464, -0.2418, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0223, -0.0166, 0.9996, 0.6338, 1.5543, 0.2138, 0.7017, 0.3885, 0.3218, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0023 left_z=0.1613 left_yaw=0.0028 left_pitch=-0.0767 left_roll=0.0016 left_gripper=0.9996 right_x=0.2934 right_y=0.1371 right_z=0.012 right_yaw=0.1334 right_pitch=-0.025 right_roll=0.0467 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.5795, 6.9949, 1.6825, -0.0122, -0.0659, -0.0122, -0.4171, -2.906, 2.3179, 0.8669, 0.0073, -0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a942a060b9fb2c4e7a6751012884b19e9c7c04fe1fb95ebd17712d9954b390d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09778aa85d8cca2257777d8f020bdc531876c879f35bd5fb5c8a785cafd1c545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58affa92b9ac4e49740d973b624da678b37fc198c035a5e62c585b935ad0c395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQgKEAgSGAI4AUIIdGhpbmtpbmcSDP5zs7FX9ad3mSm1YBoMiMXKBCftA2HwELJyIjAp+ZBcA6iayE/D0oWyz3+FgTuWtZnmzR92nz/QLIU21oHzGKo1+5KmbWP/WdLTEwIqxgcGsw00HgTC/kMMXhIpQWUjs2x+y5cv6goOxt8h94YeAjxrw8LpOEq6I+3IuMO6m7aKMdQuNEg+Ayol27B1F+E1Wyt3ZbS5ja7BJSBRryxngNtGHvT9YsziGxSocZmZqp+xzLBSM+x1QfuqHqhZpVra+1ksW4vtWzTurmNVdNoBVF2rmdwLnJ0mNp5Mx8Mxn2qhQhDE4k2YNCucPETXZrQ48JXUUMPJq0GmcSOyrhFMaHlAOvW3KIs9olnfoCSxvywbBOf3dqsFayRiw7+INOiWQTvhWLt/zKV5ADX+0ecYreXhVvFQNnex7+4hQImhHYpEpVnrIx9/gtwH9FYR2vbc/GETp+qnbioFBN8WUlSwaA38cRTIGGElHNrT0LbSiQP5+tZvz8wKVoF7IszfTPctxE+qeqh99bZCauE3NAqD7IhI1dnUr6f0NYUJuG3UM982EU/kyASS6m6yO75xG2Z+RsqEP2iMqMYrys1wjzNWff5/F2vbV90j9LtWtvi9FbOxISaIcGPM9CW0Gu5AdlU1lUYsW1VDPftZUolj6Y25Wcbxiv1AebqMAzGZSRtxr3nZ7Kow6BJqjCEGp3L7X3g6K1Y/y5ejePvj9klcSi/sIY4KQJZJ+5uMg4ULVYu56rqjp2n3cX5oV+JjONRkNw5DBIzQM6b444WCG2lQddzNL/nkHbzJWVEQ4Inv7kJyaaxPDLT1q9jCaatBw7wGCLZXUiPJKXE+GaDTRvE8aIwFmdU22fcl1evZrpYvz+/+38v0toBOaXTBwVDiQP/00fKIkxFY9zr0UyVy9FCRsW97ljlmNTkJ2wrkQVXRnq9n8eG9hOvgXDpspRb84WcR2wbxwJ6RGRUjVKATrLGYVl8s03i6b5eteRiM8QUhEnAHnkyid1HYykSz2hkwXNBuIA5ZUhyJfbUTt13Eh+G6KuO+sXRtBbmtIXHBOmcsGGyPqQirZz9ZRINjpDUurfoHlZnGvc+NAykWE4uW5d7ZwxP5+moNLLAeY1YMgEqmSHuzdU9O4MrDr48VkyJ1CXEkJRwEDYW3rYUOcM6AaGuvWC4KszH1Ewh4bZMBguW+zT/BEgW1dAxDsnqeqSOjk6kLyatd0slqXVwNf8A+7enBQnYJcxmyzcGhp5aaNEy4aU0yiLm3M3GA/rRgvmTKJfpbP2T2A378iehZrAV/ePs7ZQzx2aH0qDaFVppSaCCPB+/qvoGiMYfI9rKQJ4lPJD+qY2LRtYSuRHnIFcXvWg26YOA6fmrY339o3ePP6hF3Zr4oyQzWZbwqnyIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UsDb2a8Lf9fq5kRHUFwPnQ",
      "input": {
        "note": "Arm won't move sideways at contact — the right jaw is likely resting on the pen. Lifting slightly and shifting right so the pen falls between the jaws.",
        "targets": {
          "right_y": 0.105,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UsDb2a8Lf9fq5kRHUFwPnQ",
      "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]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0216, -0.017, 0.9996, 0.6338, 1.5543, 0.2138, 0.7013, 0.3885, 0.3222, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0022 left_z=0.1613 left_yaw=0.0024 left_pitch=-0.0767 left_roll=0.0009 left_gripper=0.9996 right_x=0.2934 right_y=0.137 right_z=0.012 right_yaw=0.1332 right_pitch=-0.0253 right_roll=0.0468 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.6889, 7.2274, 1.7118, -0.0464, -0.0806, -0.0171, -0.4581, -2.906, 2.1812, 0.8913, -0.0073, -0.2369, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16f290d863a1f931012008f9469c33d9f1cd7da33b0f940b4fbd9a32d8e9bb2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6efd2fe831cb83a1ef20a51efc3e1482ccb89637b2f5c316f1a4797198b7c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b15ea2da9b72d3ae1790524478c01b56eeef2cf3d2717941c283cb8dc7aeafa5",
        "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 · 5.012 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]: [-0.0174, 0.8646, 0.6064, -0.3817, -0.0227, -0.0166, 0.9996, 0.6353, 1.5169, 0.2203, 0.622, 0.3977, 0.3279, 0.9961]\nstate[eef_state]: left_x=0.299 left_y=0.0024 left_z=0.1612 left_yaw=0.0031 left_pitch=-0.0774 left_roll=0.0019 left_gripper=0.9996 right_x=0.2895 right_y=0.1329 right_z=0.0107 right_yaw=0.1235 right_pitch=-0.0538 right_roll=0.0295 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -1.7846, 7.0359, 1.6679, -0.0464, -0.022, -0.0171, -0.3487, -1.8667, 1.853, -0.022, -0.0464, -0.2418, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0223, -0.0166, 0.9996, 0.6338, 1.5543, 0.2138, 0.7017, 0.3885, 0.3218, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0023 left_z=0.1613 left_yaw=0.0028 left_pitch=-0.0767 left_roll=0.0016 left_gripper=0.9996 right_x=0.2934 right_y=0.1371 right_z=0.012 right_yaw=0.1334 right_pitch=-0.025 right_roll=0.0467 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.5795, 6.9949, 1.6825, -0.0122, -0.0659, -0.0122, -0.4171, -2.906, 2.3179, 0.8669, 0.0073, -0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0216, -0.017, 0.9996, 0.6338, 1.5543, 0.2138, 0.7013, 0.3885, 0.3222, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0022 left_z=0.1613 left_yaw=0.0024 left_pitch=-0.0767 left_roll=0.0009 left_gripper=0.9996 right_x=0.2934 right_y=0.137 right_z=0.012 right_yaw=0.1332 right_pitch=-0.0253 right_roll=0.0468 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.6889, 7.2274, 1.7118, -0.0464, -0.0806, -0.0171, -0.4581, -2.906, 2.1812, 0.8913, -0.0073, -0.2369, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16f290d863a1f931012008f9469c33d9f1cd7da33b0f940b4fbd9a32d8e9bb2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6efd2fe831cb83a1ef20a51efc3e1482ccb89637b2f5c316f1a4797198b7c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b15ea2da9b72d3ae1790524478c01b56eeef2cf3d2717941c283cb8dc7aeafa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgcKEAgSGAI4AUIIdGhpbmtpbmcSDDBs8MnNTrHZSIYBXBoMUaF82ZTdICVe+ib5IjDjsb4lPyWS6cLO99t0HWcVtVf0RcZqGM4ZneNH1UZN34oCLBFzk6Fxjc4Pr/VAiaMqxwYS9FrjSbnNJ5a5VuaPNKCFk0ZRWCfZvMtpbi6QOuaD4m8X96EPwF7mk6hnnPks4QEnq4hUelXxesDs7YVT3t0XSaOSchfOeOhlan4+JBonmGvtqTLsaC5o5EcHT/R8KfO227F6s7Ji1XzYNaCBavWtLzS54fg/6+uvqgolrR/29g/889Bmj9rWtrfhm8WQXVXiKOLedszzefnUZsCZTU6IVf9G7sPLYdFdYvuzLabZ3YOuaukgu7i68yatJz9t4KoPz7Dtdcr/pqY5d+G7didLr9j2oeAZBoR2zrX3X7LMF04ATwswDAccR9/1XXHcR/RdSY8GpILA4opHY3HxaICQrqnWCCpNd9WudpGVaxYs2A2a3O94LdVUHV4rJQoz2m/p/moym8RU7hFsSZgXVFBFwJlGxvCzSNDEFelh0yOh7U/p5TNWGY3DUPvaXPj+PrvHs0jOlYqH0ZuUVoqsxNn4JnWyQ7007qrN2feuUKyxCcclkzWkcuaGC17m7o0WZ+KXIyC3LCZvC6iL3/q4x4XVgFBmeGmLoRbFMKp35r9KVT9nMGsMPX9Fg47X5awswYi0MSRhGh+Rv4dEykUxLwmk7ybX8e1pgebcPutgPW9TDEEp1DkhQMtM3rPgfDRDOa/ubWB79sgudgT/BBfaviesBOFOEfZlEAY9/avEnSfdsFlxRuaCkIDBQKQDpjDmuhi8N3nLU5HkpdpL4Yd7wuqFGSiCyrf5UDHBo/tMAOq0ufYdfldxlpDY6749AI/BaUUJGao/wtVWvT+gTB1tIThByYsbOtHP0/KajXxK9K33MMp82z+2dWMfJdKq3EL0CQtJpVVfkfU+IZB/iv8sIbmdz//f3fzhnaqsLHIZfpQzpvk+GDSRZqtnT6ot+dwjH+QQFuZX+r1sKr9zd62VxmxMGfX+FHRz3RA3xpsdjya+NdYVt+O4RCp+tLdgsDbFNEBZYl3A/3kLA/qwWDikjbuwBvJpvpPYc+PqmLLIxc3JKEgEeUqMQZShE6a672pjjqMjo/eP1RtSneAPKHgUAtox9lDT31Cz/CcyUK/VH7ywOyitqfZQQCmhAKOU+702Z5vZQyAzL61tUUDS9jQHUMkYfiTr0LYrExgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019N3adaVth21ZCs5Kt6cmxL",
      "input": {
        "note": "Right arm did not respond to the last target (joints unchanged). Trying a pure lift to unstick it.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019N3adaVth21ZCs5Kt6cmxL",
      "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]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0219, -0.0166, 0.9996, 0.6338, 1.5543, 0.2138, 0.7017, 0.3885, 0.3218, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0023 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.0767 left_roll=0.0014 left_gripper=0.9996 right_x=0.2934 right_y=0.1371 right_z=0.012 right_yaw=0.1334 right_pitch=-0.025 right_roll=0.0467 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.6752, 7.1453, 1.6679, -0.0269, -0.0757, -0.0171, -0.2803, -2.7419, 2.2632, 0.8962, -0.0073, -0.2173, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:028bb0a358401cc9dc7309ed197e6bc3da9d60193bae3853a2ed8d5e7c37ea00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db90e003f95b4cd0a3ec4bf89581be0e0baf23c900f759e1018a40cb79a9ce9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3e9d484cbd8b20479825d5159df9e42f12b8aff8af1554ace7c89d83dc8e53e",
        "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 · 4.094 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]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0223, -0.0166, 0.9996, 0.6338, 1.5543, 0.2138, 0.7017, 0.3885, 0.3218, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0023 left_z=0.1613 left_yaw=0.0028 left_pitch=-0.0767 left_roll=0.0016 left_gripper=0.9996 right_x=0.2934 right_y=0.1371 right_z=0.012 right_yaw=0.1334 right_pitch=-0.025 right_roll=0.0467 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.5795, 6.9949, 1.6825, -0.0122, -0.0659, -0.0122, -0.4171, -2.906, 2.3179, 0.8669, 0.0073, -0.1978, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0216, -0.017, 0.9996, 0.6338, 1.5543, 0.2138, 0.7013, 0.3885, 0.3222, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0022 left_z=0.1613 left_yaw=0.0024 left_pitch=-0.0767 left_roll=0.0009 left_gripper=0.9996 right_x=0.2934 right_y=0.137 right_z=0.012 right_yaw=0.1332 right_pitch=-0.0253 right_roll=0.0468 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.6889, 7.2274, 1.7118, -0.0464, -0.0806, -0.0171, -0.4581, -2.906, 2.1812, 0.8913, -0.0073, -0.2369, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0219, -0.0166, 0.9996, 0.6338, 1.5543, 0.2138, 0.7017, 0.3885, 0.3218, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0023 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.0767 left_roll=0.0014 left_gripper=0.9996 right_x=0.2934 right_y=0.1371 right_z=0.012 right_yaw=0.1334 right_pitch=-0.025 right_roll=0.0467 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.6752, 7.1453, 1.6679, -0.0269, -0.0757, -0.0171, -0.2803, -2.7419, 2.2632, 0.8962, -0.0073, -0.2173, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:028bb0a358401cc9dc7309ed197e6bc3da9d60193bae3853a2ed8d5e7c37ea00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db90e003f95b4cd0a3ec4bf89581be0e0baf23c900f759e1018a40cb79a9ce9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3e9d484cbd8b20479825d5159df9e42f12b8aff8af1554ace7c89d83dc8e53e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwkKEAgSGAI4AUIIdGhpbmtpbmcSDHx1mdwRSQ0H+mDj7hoMFqHVvXR71BYsNsKXIjDaqENwmXzh8WwfRFE0Q0EwW2ZSLFnJpMuSEKuYLrWw0ivkDChuwJbr4bzsIwtDPNgq2AgOjIyhYqHWav+FjzZtOR5mBFPC3wBI3XdQWMZR0ag1ZpoIcIIRjL45rmKJi1aNLL1KHqbpmOO/Af0qqkY+E5KCRaT7TJ4da2uVAUWnwsxZx+VEcrUeLhyPfKk5gnYx4CKQ2WcyDS3Qb0ifV0UrtrCcsGUyLWo0HV++41yaqNeD45Bw+1WaoYmzjFa18Yi19BHFTwuq+PKQz6Lz2sj/GizQkFyx8h26Hxd+yAlwLJ57rxOJTPmZFt36GT0Z9+VIHB7cZKeaK/D+Q8EyrGxPWlMP7VVYDY07Vmxe/YgDu701yu/Nv4cb9TkZbtI5VW249K3DJ2/KSBlTV1W9QoRrpTIbByUibBx+GzGcb602X0sIn4+LgR6hXjaZTH42FMnsqEd3hGPWdf9AQ9NmL+754vH4LhLNLKlPrgspGx62u/WMayirkpIwIU9ATa2yEObJXqmenPKWFVqZOfz5xNRvB1M/NrznZ1mZ+1qsUDhuiHoOCZ4HtEM1PUE6tKzvmaZCYZ7YzoyLud10vEhsf7s0+FaNfCpV1x9VkPnlgRe5SLPi5U7ewgCN7McHvEkaGFqwWv+Xpq7ltUCJmqw2CpIbA6EJilxYSnUEgQO8qy7BFEC+YnFB8OwbE3B3CWbz9xO2ixIPc3lx6AbTPTvAfnVv0iDi4brlpTSpHJ0NXm5WAvfloHwNrBTZeSIj7HsaZrvcH3975FVWKs9BlNOAcRiCWFm9vWmTQxYPNv35/iuECZyoRAJQEbRXJapecRPBtiGICOZENdivslqxRRxpWTIo0yttivWpLsCjh6mFLSeI+p3yMhjMf6VddPm5+/4kuowU8LvNggjd2WRiMpRFhEbqPZARYi6CZQWD9ArTyEMM0CNplpgImpCddnh9IkN6yOiQ0qF+cWK+ATB26KPH+t6fsoLiru5P5sbGGZaqzW5mILvUVm4xAzkplYCxqqSsPPVAoo7GcjRUVehwrsgk4kVaNtp4p2e6XN1p7tQEP1DUo7woTpZUNHtf1EKONRoHrwltMgwq7xFITcv+yKA32Pw7ED/W776qYk9MY/Uy5kD1ESShR5M34AluxFdJ6Ct9AsB3TrdrFOnpeSt8euKqHeaz7y5VJXvPj4HA2yfx6ktffi19/oX6T6PaZQmy2o+oLMD3wDlasLc9ILdHpeTMIXO5c+QTT/r3Sz7HWFKfWYsh4S/UMyFQm9A3n9aU3FMGAiVXiH7XcbsxI6cYuYwNsNoNSYLaV9loOaSjZHRPIAeSxtvzRUvucx7euIpNgsrh1e3xaKGb4YHCPVRntKER2at0g2BGSYzOQ9upf0JdhSa0E2GquTAWkzyypXAik5ApbcFKs3EcfE3/5c2znQcDGBFLF+scFOHT2asnj5y9FPBrd8+VGL75Qd3LNZqV9/Z7OfFqZNPB29rK7cKXlkBep1cS7QjexZv+2iw8T3V7wzloQ6ZO2+Ao6RSmc+mkkhmmIUW7hPL2wHmi8TnNHRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0191BA3s85BY1KsdTqvFR7ko",
      "input": {
        "note": "Right arm appears frozen (joints unchanged over two commands). Testing the left arm: the yellow marker is straight below its jaws in the left wrist view, so lowering toward it.",
        "targets": {
          "left_x": 0.31,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0191BA3s85BY1KsdTqvFR7ko",
      "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]: [-0.017, 1.1862, 0.2451, 0.2165, -0.0219, -0.0162, 0.9996, 0.6338, 1.5524, 0.2199, 0.6945, 0.3817, 0.326, 0.9962]\nstate[eef_state]: left_x=0.2986 left_y=0.0024 left_z=0.0307 left_yaw=0.0029 left_pitch=-0.1621 left_roll=0.0034 left_gripper=0.9996 right_x=0.2942 right_y=0.139 right_z=0.0128 right_yaw=0.1368 right_pitch=-0.0264 right_roll=0.0542 right_gripper=0.9962\nstate[joint_eff]: [0.2667, -3.6308, 4.9709, 1.7753, -0.0269, -0.0317, -0.0171, -0.0889, -4.4513, 3.6034, 1.707, 0.2369, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:def492ec19bd913e9d45baa791c15bdc8c2a84919a6dbb38a7cfab15f7abe93e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbf86a730c9f32929743730224788f3ef9938940ae44867fba30f52ac01b6eb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7a518380c89040a9c495fb94dda78f2776c5f4a7b6159d8afe7f594ceded43a",
        "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 · 5.532 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]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0216, -0.017, 0.9996, 0.6338, 1.5543, 0.2138, 0.7013, 0.3885, 0.3222, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0022 left_z=0.1613 left_yaw=0.0024 left_pitch=-0.0767 left_roll=0.0009 left_gripper=0.9996 right_x=0.2934 right_y=0.137 right_z=0.012 right_yaw=0.1332 right_pitch=-0.0253 right_roll=0.0468 right_gripper=0.9962\nstate[joint_eff]: [-0.2256, -1.6889, 7.2274, 1.7118, -0.0464, -0.0806, -0.0171, -0.4581, -2.906, 2.1812, 0.8913, -0.0073, -0.2369, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0219, -0.0166, 0.9996, 0.6338, 1.5543, 0.2138, 0.7017, 0.3885, 0.3218, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0023 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.0767 left_roll=0.0014 left_gripper=0.9996 right_x=0.2934 right_y=0.1371 right_z=0.012 right_yaw=0.1334 right_pitch=-0.025 right_roll=0.0467 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.6752, 7.1453, 1.6679, -0.0269, -0.0757, -0.0171, -0.2803, -2.7419, 2.2632, 0.8962, -0.0073, -0.2173, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.017, 1.1862, 0.2451, 0.2165, -0.0219, -0.0162, 0.9996, 0.6338, 1.5524, 0.2199, 0.6945, 0.3817, 0.326, 0.9962]\nstate[eef_state]: left_x=0.2986 left_y=0.0024 left_z=0.0307 left_yaw=0.0029 left_pitch=-0.1621 left_roll=0.0034 left_gripper=0.9996 right_x=0.2942 right_y=0.139 right_z=0.0128 right_yaw=0.1368 right_pitch=-0.0264 right_roll=0.0542 right_gripper=0.9962\nstate[joint_eff]: [0.2667, -3.6308, 4.9709, 1.7753, -0.0269, -0.0317, -0.0171, -0.0889, -4.4513, 3.6034, 1.707, 0.2369, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:def492ec19bd913e9d45baa791c15bdc8c2a84919a6dbb38a7cfab15f7abe93e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbf86a730c9f32929743730224788f3ef9938940ae44867fba30f52ac01b6eb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7a518380c89040a9c495fb94dda78f2776c5f4a7b6159d8afe7f594ceded43a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAgKEAgSGAI4AUIIdGhpbmtpbmcSDDRgLDXznLg6z6WrcBoMhg3dtBCBAWRqNNt2IjAHDwiKPqlh8a+qfQB8UmC7/yhumOLtLNAbqRVnk0jiLrCNpac6z/m5czdHHyDKyhsqoQd0KC+c7ZTXsKWIz5DDaRQPgropz2ZUo+BcYh9/HYKKq27NQvpwING+60IIdmzCxQOqJqPaHii7m7+2ZMUt10JYHhsmIH34UxDy0m3wBMuKJY7GfmNu/ZfSWMNrFcRhw/QpghVrKT+7n+OdpWl2kqN4v0g6ZvPvrchUtXAgpKsYuKSh9gMrEipWIcBNPOiWR7bHHUeamz/vRPhYK4h8g30GkUMQ/HoXglekkqSeBF/qhoVlYky4ETVfl/+azlUnNpzwBwtCiXCnowhW62RIxnwR3P71qUH/Pe+IBB/cdm7ODr100pEZ/R6aqb+DPuYL14rkIhliR7BHe/VZo6Mk+L4LYWS+i9DFqHIIEPM8Ioe1rvCllpp+4WYrMN4xqtP6KtKbrLZNlmazaKAmGaWVvPkRh7xNES04HvKuwTpL12Tp0TTuF3mNwPl2vrEUYfhy6FVqQ7wSM1bP2MIlQ7CVPWFyHjD7B9D2pt3wnv/Dq6l4WLVlXUiFFLLPwtJXJ7DqRuL7dcuUTPdCCOXK0kVkcuS7QyUzGgr/3f5TgCcVul++wSfV1a5e1x1RbMvPE2gPzmM5tslkrVzM9p/my6EGFkVg0YIzHi5Euz4YS4btCGHcHw7rqqDZ1WBN0VddvFh022j0TJ1nWhI8Q3LPZnND0mfR8l+p1reE1NkKraHNREMrOrjSB/AtAODr/cMGmjuVr7JQReZa/I+Vk1CJV0uG7LjXxif7PID4c3c6vJ5gbTCliqiyf65pANoV3PG5SD63cMf0PMK7okZzXAy16IwYQxbQEP8A3geOfQMkCIxVgJGvRCRSjT/QDaaeBpPwp2HWsmkgbDlbIFZUdl+3L+XaBVtC5FbqsXOOvG/gGi4sbMSJDW4VCtCKqH78lI9gG8gaFhEuDj8YviF1P8kFIKK7Av9gpLV9VmNJmDGkgmrIRiER/FKBph3c5rkg32z+URtpY3MIDalAtBUou2M3ixYuQ8+xIFXGnFm7Tn6m5tSf29zdZT+rX4ko7Oakk5O25xqtbubJIcIsBf++ETjyCfQVfULItJCnZixuEjrKnrojcfxT5GXocR1b1Wb5S5bacmFa24N0EEJrOjFrl5qnkPqL/xUz7kNuyi/vSlrLxuAl7fFRgZ+GM9lbDwo/v3pUXWYusiw88Gv143W/O8bTLdaiiMmwrXSo3/8jIangtbBMllWS0X2EHMpZ9lKBjtlotGA4k4AQEelfcXUZZh+U07EevYODnRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TaJv9RaWmCsWAW6QJtZ5s2",
      "input": {
        "note": "Left arm responds. Yellow marker lies lengthwise just right of the jaw column; shifting ~1.5 cm right and descending to table level.",
        "targets": {
          "left_y": -0.015,
          "left_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TaJv9RaWmCsWAW6QJtZ5s2",
      "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]: [-0.1085, 1.4502, 0.1833, 0.5564, -0.0788, -0.0502, 0.9988, 0.6338, 1.5524, 0.2195, 0.6964, 0.3813, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3056 left_y=-0.0157 left_z=-0.0021 left_yaw=-0.0219 left_pitch=-0.1457 left_roll=0.0145 left_gripper=0.9988 right_x=0.2943 right_y=0.1392 right_z=0.013 right_yaw=0.1371 right_pitch=-0.0252 right_roll=0.0551 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -2.5641, 2.1538, -0.1001, 0.1636, -0.3004, -0.105, -0.1983, -4.547, 4.0957, 1.6581, 0.0855, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f31332f5f770435c19478d743ff3980a5f1d8b8248da1a3b266326c1269908ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19fa3e447041e1412091cad3c5f09faa717d77c1f627e897556d8482b7e15d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a206c0421eac7e735f80099a074830903ea8b5d39d3071c2e119d21accea90e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 11.94 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.865, 0.6064, -0.3805, -0.0219, -0.0166, 0.9996, 0.6338, 1.5543, 0.2138, 0.7017, 0.3885, 0.3218, 0.9962]\nstate[eef_state]: left_x=0.2992 left_y=0.0023 left_z=0.1613 left_yaw=0.0025 left_pitch=-0.0767 left_roll=0.0014 left_gripper=0.9996 right_x=0.2934 right_y=0.1371 right_z=0.012 right_yaw=0.1334 right_pitch=-0.025 right_roll=0.0467 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -1.6752, 7.1453, 1.6679, -0.0269, -0.0757, -0.0171, -0.2803, -2.7419, 2.2632, 0.8962, -0.0073, -0.2173, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.017, 1.1862, 0.2451, 0.2165, -0.0219, -0.0162, 0.9996, 0.6338, 1.5524, 0.2199, 0.6945, 0.3817, 0.326, 0.9962]\nstate[eef_state]: left_x=0.2986 left_y=0.0024 left_z=0.0307 left_yaw=0.0029 left_pitch=-0.1621 left_roll=0.0034 left_gripper=0.9996 right_x=0.2942 right_y=0.139 right_z=0.0128 right_yaw=0.1368 right_pitch=-0.0264 right_roll=0.0542 right_gripper=0.9962\nstate[joint_eff]: [0.2667, -3.6308, 4.9709, 1.7753, -0.0269, -0.0317, -0.0171, -0.0889, -4.4513, 3.6034, 1.707, 0.2369, -0.0611, -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 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]: [-0.1085, 1.4502, 0.1833, 0.5564, -0.0788, -0.0502, 0.9988, 0.6338, 1.5524, 0.2195, 0.6964, 0.3813, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3056 left_y=-0.0157 left_z=-0.0021 left_yaw=-0.0219 left_pitch=-0.1457 left_roll=0.0145 left_gripper=0.9988 right_x=0.2943 right_y=0.1392 right_z=0.013 right_yaw=0.1371 right_pitch=-0.0252 right_roll=0.0551 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -2.5641, 2.1538, -0.1001, 0.1636, -0.3004, -0.105, -0.1983, -4.547, 4.0957, 1.6581, 0.0855, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f31332f5f770435c19478d743ff3980a5f1d8b8248da1a3b266326c1269908ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19fa3e447041e1412091cad3c5f09faa717d77c1f627e897556d8482b7e15d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a206c0421eac7e735f80099a074830903ea8b5d39d3071c2e119d21accea90e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwcKEAgSGAI4AUIIdGhpbmtpbmcSDO1vU6QGhfegKnS1WRoMfqNupttZfgHL0SNXIjAgYHYgv+AuuqCr3C+aK9RQ+PvlVtJzVozcN2NAnLvMlPY2KG1qUbQdeOAWIqrHH3Yq5AYjMFZJEa2n/UHKHd/l/Dd6iMW096S05tu1/5/iVaqBod5eUy0kIH4pm3W9j2vf1rTbII3uu/w6a87yATcWrPQP5k3j2FuqoYEdM5cSsSZhUjPsJ6udqLp3mfqrvqHI3E5glTCYQdzqPr6GOReml3yKRlms4dfnOyjN/JbT5ap1T+g/FmJpp/fj9MwajF1oPJorlGh/JXkjcTz/JvgdxWuqzYIBDnMYdZ0GNxW5tBLeL0QGR+wtZ52jzCCvQCT+/gD8Ug6a4nV4po9tC3zi8hRKe1JqktEd6YZhhr8DpKQpqdS8JIspYpSpQ1rZBUwTAFR9Ee2djMjvnlZDSLRw1toM6s2pC0sL9Nq5yiDDDspI1Fp+ULiO1/plxoiBquEy9rGoBVf3ItXgNJj7rHFwZriunCNGUKyopKEqdhnzE+Qm88bWrNk9o7huiUcC70bLGLfW5Pe9QSYDh/LyaJLsQqeHufWIQZvHeISB9xLauLCMIVxb0Z81lRHR6aGc4pvZWtKACBxbj/eKWCfBNlj+RAmOePAaL0C2/gFkQrx0xnN7JpaRjTxI39r493ond02P5ajfJHq+OtWZLOrCq7oSks8tH58VM7a+JQ2Tj/lLVo34lCmjiwBVO7Jks/lzYS3nv7deNQR/Vn+B8Ojc+iuodsP6VPOdSdw90JqGlw6l/C3tCpy5VFKzctWlSMpJvXZsUOY/fA1OPR23TqzR9YqJqznnobQerRWzQdSK+/wUSTlY6EbUvqmasAln8nnf+MiRSbzL6MPHHxL4AFmAZv4CXEVuws2rO+h+2UoiDHrGZkStoE+bHIJIpa47B2ZuGuu22UEljIF+8nQXIbF/whYu1Rd/aSQDNYnWaZtCWVDakM7TgRc1ExkKFf3Kp/ggoy2OcT9uLJZu6j1X/YuKW0QHkyjhBdF4HQVGgSBPFgQrPPZAHLP12F6lWUyd60xXKGvSFpML1XwdfBapYOo+uz89Pd0N1pMhHKdg8eu6MH27N69knF1RdnoM25QQ/Srw+YSFy8jriI7x5XgQtKeNUgtNjwFl+yEfJdX/ZnbCX8+Wi0V7cSw5uEm58hMYg3H98XI1iotS2w2haz01ipZrpJhHjqGNYEdk9C000A79GHtztFNc79d+VZ0DuBTzB5z8HubfgW5sFjSDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014zUZ9S272jupBZWVYJRdGJ",
      "input": {
        "note": "Left jaws at table level with the yellow marker between them (right of centre but inside the 9.5 cm opening). Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014zUZ9S272jupBZWVYJRdGJ",
      "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]: [-0.112, 1.4574, 0.1757, 0.5926, -0.0895, -0.0528, 0.1516, 0.6338, 1.5524, 0.2195, 0.6968, 0.3805, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3077 left_y=-0.0151 left_z=0.0003 left_yaw=-0.015 left_pitch=-0.1237 left_roll=0.0174 left_gripper=0.1516 right_x=0.2943 right_y=0.1393 right_z=0.0131 right_yaw=0.1377 right_pitch=-0.025 right_roll=0.0557 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -4.1778, 4.8889, 1.2967, 0.0415, 0.0024, 1.0476, -0.0615, -4.4239, 4.2598, 1.6093, 0.0659, -0.0269, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:664cb3d89847c8c2f9ca3f204f6e37b8a751572f662de77edd52da8e500c675f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b70410165dd858ef4c7df837e391e4798745b4655e606fe4ef14789f7c52991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b47386ec661e8b986ffbce68ab9a7cd14b7f87bf1fcff1c0081a8abe13cf036e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 3.539 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.017, 1.1862, 0.2451, 0.2165, -0.0219, -0.0162, 0.9996, 0.6338, 1.5524, 0.2199, 0.6945, 0.3817, 0.326, 0.9962]\nstate[eef_state]: left_x=0.2986 left_y=0.0024 left_z=0.0307 left_yaw=0.0029 left_pitch=-0.1621 left_roll=0.0034 left_gripper=0.9996 right_x=0.2942 right_y=0.139 right_z=0.0128 right_yaw=0.1368 right_pitch=-0.0264 right_roll=0.0542 right_gripper=0.9962\nstate[joint_eff]: [0.2667, -3.6308, 4.9709, 1.7753, -0.0269, -0.0317, -0.0171, -0.0889, -4.4513, 3.6034, 1.707, 0.2369, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1085, 1.4502, 0.1833, 0.5564, -0.0788, -0.0502, 0.9988, 0.6338, 1.5524, 0.2195, 0.6964, 0.3813, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3056 left_y=-0.0157 left_z=-0.0021 left_yaw=-0.0219 left_pitch=-0.1457 left_roll=0.0145 left_gripper=0.9988 right_x=0.2943 right_y=0.1392 right_z=0.013 right_yaw=0.1371 right_pitch=-0.0252 right_roll=0.0551 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -2.5641, 2.1538, -0.1001, 0.1636, -0.3004, -0.105, -0.1983, -4.547, 4.0957, 1.6581, 0.0855, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.112, 1.4574, 0.1757, 0.5926, -0.0895, -0.0528, 0.1516, 0.6338, 1.5524, 0.2195, 0.6968, 0.3805, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3077 left_y=-0.0151 left_z=0.0003 left_yaw=-0.015 left_pitch=-0.1237 left_roll=0.0174 left_gripper=0.1516 right_x=0.2943 right_y=0.1393 right_z=0.0131 right_yaw=0.1377 right_pitch=-0.025 right_roll=0.0557 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -4.1778, 4.8889, 1.2967, 0.0415, 0.0024, 1.0476, -0.0615, -4.4239, 4.2598, 1.6093, 0.0659, -0.0269, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:664cb3d89847c8c2f9ca3f204f6e37b8a751572f662de77edd52da8e500c675f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b70410165dd858ef4c7df837e391e4798745b4655e606fe4ef14789f7c52991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b47386ec661e8b986ffbce68ab9a7cd14b7f87bf1fcff1c0081a8abe13cf036e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CM9QkBHiXUAWFQDzBjU53M",
      "input": {
        "note": "Yellow marker is held in the left jaws (reading 0.15). Lifting clear before carrying it to the left basket (pens go left since the right arm is unresponsive).",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01CM9QkBHiXUAWFQDzBjU53M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1127, 0.9947, 1.0004, -0.6891, -0.0898, -0.0544, 0.1516, 0.6338, 1.5524, 0.2195, 0.6971, 0.3805, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3119 left_y=-0.0158 left_z=0.2396 left_yaw=-0.0147 left_pitch=-0.118 left_roll=0.0159 left_gripper=0.1516 right_x=0.2943 right_y=0.1394 right_z=0.0132 right_yaw=0.1375 right_pitch=-0.0247 right_roll=0.0562 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -2.441, 8.4718, 1.5018, -0.0659, -0.0415, 1.033, -0.2803, -4.6154, 4.0821, 1.6288, 0.1001, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f18a8ff9db23c49668a70c881b8efde096ec13819b906042ee5b0064952cefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd4735fe27c9c93d1896474f9131c481e9798b0167f86e7002d8aabbc0d31c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c873f60c5eb2166b30c2ed7f082d6669a8f5597cdc134b6e3362e66ee11e50b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 3.302 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]: [-0.1085, 1.4502, 0.1833, 0.5564, -0.0788, -0.0502, 0.9988, 0.6338, 1.5524, 0.2195, 0.6964, 0.3813, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3056 left_y=-0.0157 left_z=-0.0021 left_yaw=-0.0219 left_pitch=-0.1457 left_roll=0.0145 left_gripper=0.9988 right_x=0.2943 right_y=0.1392 right_z=0.013 right_yaw=0.1371 right_pitch=-0.0252 right_roll=0.0551 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -2.5641, 2.1538, -0.1001, 0.1636, -0.3004, -0.105, -0.1983, -4.547, 4.0957, 1.6581, 0.0855, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.112, 1.4574, 0.1757, 0.5926, -0.0895, -0.0528, 0.1516, 0.6338, 1.5524, 0.2195, 0.6968, 0.3805, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3077 left_y=-0.0151 left_z=0.0003 left_yaw=-0.015 left_pitch=-0.1237 left_roll=0.0174 left_gripper=0.1516 right_x=0.2943 right_y=0.1393 right_z=0.0131 right_yaw=0.1377 right_pitch=-0.025 right_roll=0.0557 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -4.1778, 4.8889, 1.2967, 0.0415, 0.0024, 1.0476, -0.0615, -4.4239, 4.2598, 1.6093, 0.0659, -0.0269, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.1127, 0.9947, 1.0004, -0.6891, -0.0898, -0.0544, 0.1516, 0.6338, 1.5524, 0.2195, 0.6971, 0.3805, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3119 left_y=-0.0158 left_z=0.2396 left_yaw=-0.0147 left_pitch=-0.118 left_roll=0.0159 left_gripper=0.1516 right_x=0.2943 right_y=0.1394 right_z=0.0132 right_yaw=0.1375 right_pitch=-0.0247 right_roll=0.0562 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -2.441, 8.4718, 1.5018, -0.0659, -0.0415, 1.033, -0.2803, -4.6154, 4.0821, 1.6288, 0.1001, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f18a8ff9db23c49668a70c881b8efde096ec13819b906042ee5b0064952cefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd4735fe27c9c93d1896474f9131c481e9798b0167f86e7002d8aabbc0d31c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c873f60c5eb2166b30c2ed7f082d6669a8f5597cdc134b6e3362e66ee11e50b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvQcKEAgSGAI4AUIIdGhpbmtpbmcSDA/YA/TPNvJmmnYMhhoMz4Aq17oZAGe6c2/GIjAkIGwfefkFoGRpvPVV8UyF3w9iWA+9GLNaTHCshJiqIdvl62eEEeTsqacKkIPWUzUq2gaUul85dfPFSzTsilA52hpRO1e5x6rPtU2Gun6PwkxqkyqnOAHiz+4nyMC22zmxDF8mNN9dApYyNKQ+lkABl7uwb9uD5dzHKnNmujp2dBorCMlPHjWIjWXEGcnsqplXH8RqHg2AFoUB/G8Bc4MOGkK2GkPx4AjN2/e+0MIXEyZC8SMPidPpbCbH+Km5UFD0npPEU5yv5uQVcgXcbatSBndgcovlcr1pFTV6IUD1Ql32oEe8iXcEeAoIEuyIkGR4YYFkDXahN2U3MjS6lLYCRh9obHjBP9lzcF/1Eax56rDjGJyEhMVN80vBlnsVPMm+Z3cHsI/mD8kzxh81mv1T6xFXRGEy+hivGZsTdSu1uMC+WT6L30g1aumTgB/ejVXjF6IR75wVfSg8LfsA7LVU5CKF17UBNmdypo5K1EnBqW2f3DXYOr7WJMOVoNqinT/hvK3s4PzhcOnzPGdKxTp4vnYDl7dTzhP3z7sapCs8kH4id9PQaD+zoElsSxTEWTuU4JJTabhseD00asHRVDs9Wo0IJs6krL/lmVPGw2/1bklhwL2fJj6fDuXh8QI826whChZLVkjwlURsFsiaWSmsbxO2w0/XT8sxWPlxr1E7RLrRNMlZb0rQ9XjcOp9ZFhf9LpQl5A6zIG9sgLC6S0TUY2pW/o238V5E30eu5uGKFM/5tBt10MvmUh7/UTZ2KlHM5dpWEqrrPZxdvb9cufIaj54YyDFujDdyeyRNXeLZxYnKT/c8kg32i6EqjWKnKOKdFZDE533D7m788d9ZuirvQ4X6GX3TB9PtgNg9YvavV9urYzC9X5m5twUc7jERKffp1vq4ZWPfjcS+r/WVy8g1RxNjE9jbpAx8aKb8pmeYVCN2NpT/+3peNpxgGDQ0CVfdKuZbEYgzLlEpHsla8zMSNUCXUcxqDAVoxfTllvZ5eihkvhPX0bfQpl6qHgSkY8ZM9/cKDaK3WKbzkXPW6dSigaq9UP4UBFtjb3TjKHmSFS3A9RgJfoOH2GRUGIoIvMPIoSc4cks3L97Zf9JQLDhoNvzG763Prg/LswkrR9LY6zOOm9lqJWEW4A97xDZXwb8/EDbFXzO9GWMDnYqzIUaNhtrywMRsjq5+NPhSTd1Oy0zOkaPUdc+lplUy5m4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RA2UZVUeUp2otoQXUp38Pj",
      "input": {
        "note": "Marker lifted; the left basket is straight ahead and slightly right in the left wrist view. Carrying the marker over its centre.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.04,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RA2UZVUeUp2otoQXUp38Pj",
      "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]: [-0.1448, 1.4483, 1.2968, -0.5972, -0.1097, -0.0837, 0.1516, 0.6338, 1.5524, 0.2195, 0.6971, 0.3809, 0.326, 0.9962]\nstate[eef_state]: left_x=0.418 left_y=-0.0378 left_z=0.2293 left_yaw=-0.0129 left_pitch=-0.1809 left_roll=0.014 left_gripper=0.1516 right_x=0.2943 right_y=0.1393 right_z=0.0132 right_yaw=0.1374 right_pitch=-0.0246 right_roll=0.0556 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -6.8991, 9.3333, 1.7118, -0.188, 0.0024, 1.033, -0.0615, -4.4103, 4.2188, 1.6435, 0.1294, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0282ba0f39813249d3b8898a463cf2661105f10bb086128fda8a668e5b6f23a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a22bdffdaa973d4997b9b3c68c73e72b0adf76fcea582ddb0d947d83337dae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e235213becb85fbe42ff5d2aecc9aebd3f49c11394bf5b1a917b1829e661daa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 9.674 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]: [-0.112, 1.4574, 0.1757, 0.5926, -0.0895, -0.0528, 0.1516, 0.6338, 1.5524, 0.2195, 0.6968, 0.3805, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3077 left_y=-0.0151 left_z=0.0003 left_yaw=-0.015 left_pitch=-0.1237 left_roll=0.0174 left_gripper=0.1516 right_x=0.2943 right_y=0.1393 right_z=0.0131 right_yaw=0.1377 right_pitch=-0.025 right_roll=0.0557 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -4.1778, 4.8889, 1.2967, 0.0415, 0.0024, 1.0476, -0.0615, -4.4239, 4.2598, 1.6093, 0.0659, -0.0269, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.1127, 0.9947, 1.0004, -0.6891, -0.0898, -0.0544, 0.1516, 0.6338, 1.5524, 0.2195, 0.6971, 0.3805, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3119 left_y=-0.0158 left_z=0.2396 left_yaw=-0.0147 left_pitch=-0.118 left_roll=0.0159 left_gripper=0.1516 right_x=0.2943 right_y=0.1394 right_z=0.0132 right_yaw=0.1375 right_pitch=-0.0247 right_roll=0.0562 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -2.441, 8.4718, 1.5018, -0.0659, -0.0415, 1.033, -0.2803, -4.6154, 4.0821, 1.6288, 0.1001, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1448, 1.4483, 1.2968, -0.5972, -0.1097, -0.0837, 0.1516, 0.6338, 1.5524, 0.2195, 0.6971, 0.3809, 0.326, 0.9962]\nstate[eef_state]: left_x=0.418 left_y=-0.0378 left_z=0.2293 left_yaw=-0.0129 left_pitch=-0.1809 left_roll=0.014 left_gripper=0.1516 right_x=0.2943 right_y=0.1393 right_z=0.0132 right_yaw=0.1374 right_pitch=-0.0246 right_roll=0.0556 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -6.8991, 9.3333, 1.7118, -0.188, 0.0024, 1.033, -0.0615, -4.4103, 4.2188, 1.6435, 0.1294, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0282ba0f39813249d3b8898a463cf2661105f10bb086128fda8a668e5b6f23a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a22bdffdaa973d4997b9b3c68c73e72b0adf76fcea582ddb0d947d83337dae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e235213becb85fbe42ff5d2aecc9aebd3f49c11394bf5b1a917b1829e661daa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Over the basket interior. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DiSKRzNkexvfBBHC989Ur5",
      "input": {
        "note": "Left wrist view looks down into the left basket with the marker above its interior. Opening to drop it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01DiSKRzNkexvfBBHC989Ur5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 1.4708, 1.2995, -0.6025, -0.1116, -0.0906, 0.9954, 0.6338, 1.5524, 0.2195, 0.6971, 0.3805, 0.326, 0.9963]\nstate[eef_state]: left_x=0.4199 left_y=-0.0387 left_z=0.2205 left_yaw=-0.0091 left_pitch=-0.2056 left_roll=0.0137 left_gripper=0.9954 right_x=0.2943 right_y=0.1394 right_z=0.0132 right_yaw=0.1377 right_pitch=-0.0247 right_roll=0.0558 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -8.2803, 6.9265, 1.6142, -0.0904, 0.0024, -0.2222, -0.0615, -4.4786, 4.1094, 1.6142, 0.1001, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69cc25323f76d640e25844aecb60964342edbcde22544550b01327ec6ee2e058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1265410c26f23dd83deb76bee4dfc0bbfce4bf2ec5ebb40adb0eab5b7d82adb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d9c9b660d4a11202b17e8b6c2745c830f41b71009fdcfb89be142ff3181f929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 5.224 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]: [-0.1127, 0.9947, 1.0004, -0.6891, -0.0898, -0.0544, 0.1516, 0.6338, 1.5524, 0.2195, 0.6971, 0.3805, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3119 left_y=-0.0158 left_z=0.2396 left_yaw=-0.0147 left_pitch=-0.118 left_roll=0.0159 left_gripper=0.1516 right_x=0.2943 right_y=0.1394 right_z=0.0132 right_yaw=0.1375 right_pitch=-0.0247 right_roll=0.0562 right_gripper=0.9962\nstate[joint_eff]: [-0.0752, -2.441, 8.4718, 1.5018, -0.0659, -0.0415, 1.033, -0.2803, -4.6154, 4.0821, 1.6288, 0.1001, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1448, 1.4483, 1.2968, -0.5972, -0.1097, -0.0837, 0.1516, 0.6338, 1.5524, 0.2195, 0.6971, 0.3809, 0.326, 0.9962]\nstate[eef_state]: left_x=0.418 left_y=-0.0378 left_z=0.2293 left_yaw=-0.0129 left_pitch=-0.1809 left_roll=0.014 left_gripper=0.1516 right_x=0.2943 right_y=0.1393 right_z=0.0132 right_yaw=0.1374 right_pitch=-0.0246 right_roll=0.0556 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -6.8991, 9.3333, 1.7118, -0.188, 0.0024, 1.033, -0.0615, -4.4103, 4.2188, 1.6435, 0.1294, -0.0171, -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]: [-0.1471, 1.4708, 1.2995, -0.6025, -0.1116, -0.0906, 0.9954, 0.6338, 1.5524, 0.2195, 0.6971, 0.3805, 0.326, 0.9963]\nstate[eef_state]: left_x=0.4199 left_y=-0.0387 left_z=0.2205 left_yaw=-0.0091 left_pitch=-0.2056 left_roll=0.0137 left_gripper=0.9954 right_x=0.2943 right_y=0.1394 right_z=0.0132 right_yaw=0.1377 right_pitch=-0.0247 right_roll=0.0558 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -8.2803, 6.9265, 1.6142, -0.0904, 0.0024, -0.2222, -0.0615, -4.4786, 4.1094, 1.6142, 0.1001, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69cc25323f76d640e25844aecb60964342edbcde22544550b01327ec6ee2e058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1265410c26f23dd83deb76bee4dfc0bbfce4bf2ec5ebb40adb0eab5b7d82adb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d9c9b660d4a11202b17e8b6c2745c830f41b71009fdcfb89be142ff3181f929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014uTtvnbNMNrZ7eGGZjVCYn",
      "input": {
        "note": "Yellow marker is now in the left basket (pens basket). Next class: plush toys go to the right basket; moving the left arm above the teddy bear beside the right basket.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.2,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_014uTtvnbNMNrZ7eGGZjVCYn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7795, 1.4902, 1.0019, -0.4541, -0.4999, -0.5598, 0.9967, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.326, 0.9963]\nstate[eef_state]: left_x=0.3292 left_y=-0.2013 left_z=0.1312 left_yaw=-0.0514 left_pitch=-0.2274 left_roll=0.0174 left_gripper=0.9967 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.138 right_pitch=-0.0248 right_roll=0.056 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -6.2154, 6.1197, 1.4237, -0.5104, -0.0611, 0.1197, -0.0342, -4.6154, 4.0821, 1.6679, 0.0708, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f91150ce930f747d611a3b3ea7fd4ccd639ebf3b4d0a79be90642026b3f64e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89cd62ba51500b49ab9feb29423ca82a0c25a2179b6944e16fa2656069595b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf675723b1bb4f1c26390e1265181ff3f5be669671ee28d95296df9fc31ff243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.086 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1448, 1.4483, 1.2968, -0.5972, -0.1097, -0.0837, 0.1516, 0.6338, 1.5524, 0.2195, 0.6971, 0.3809, 0.326, 0.9962]\nstate[eef_state]: left_x=0.418 left_y=-0.0378 left_z=0.2293 left_yaw=-0.0129 left_pitch=-0.1809 left_roll=0.014 left_gripper=0.1516 right_x=0.2943 right_y=0.1393 right_z=0.0132 right_yaw=0.1374 right_pitch=-0.0246 right_roll=0.0556 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -6.8991, 9.3333, 1.7118, -0.188, 0.0024, 1.033, -0.0615, -4.4103, 4.2188, 1.6435, 0.1294, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 1.4708, 1.2995, -0.6025, -0.1116, -0.0906, 0.9954, 0.6338, 1.5524, 0.2195, 0.6971, 0.3805, 0.326, 0.9963]\nstate[eef_state]: left_x=0.4199 left_y=-0.0387 left_z=0.2205 left_yaw=-0.0091 left_pitch=-0.2056 left_roll=0.0137 left_gripper=0.9954 right_x=0.2943 right_y=0.1394 right_z=0.0132 right_yaw=0.1377 right_pitch=-0.0247 right_roll=0.0558 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -8.2803, 6.9265, 1.6142, -0.0904, 0.0024, -0.2222, -0.0615, -4.4786, 4.1094, 1.6142, 0.1001, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7795, 1.4902, 1.0019, -0.4541, -0.4999, -0.5598, 0.9967, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.326, 0.9963]\nstate[eef_state]: left_x=0.3292 left_y=-0.2013 left_z=0.1312 left_yaw=-0.0514 left_pitch=-0.2274 left_roll=0.0174 left_gripper=0.9967 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.138 right_pitch=-0.0248 right_roll=0.056 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -6.2154, 6.1197, 1.4237, -0.5104, -0.0611, 0.1197, -0.0342, -4.6154, 4.0821, 1.6679, 0.0708, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f91150ce930f747d611a3b3ea7fd4ccd639ebf3b4d0a79be90642026b3f64e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89cd62ba51500b49ab9feb29423ca82a0c25a2179b6944e16fa2656069595b9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf675723b1bb4f1c26390e1265181ff3f5be669671ee28d95296df9fc31ff243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwgKEAgSGAI4AUIIdGhpbmtpbmcSDFD3r1opIhHk6sMnBRoMeKsVvQqQizV0cFt5IjDF+EHx02W3ARlR67Eb4rrdyclmZN9gkEKQymYkUVWd9ns6KW8mhT9AnbYMZlz1uHMqpAfpdOGay6X1iHvwruV8NBw+fCyCTjXurfUjOTKhzPd2BHfPWyxwNQAa1/K1EB696ZRlptjzApE/DkO3ZAh8VmpzN4CfKezSnGtvMIlzMb1RnzVzNztZlHzFXuIcg8PZMiJmW+Nv9EAb2VgaHK63OkM6kMoPY0ZLUrFuK+0wwwCbik/GdJ3hpsZIn9CQAEVH1Xi8JZnRIkqAeQOJTaD5yeDsXF4hl6DS7rPh1sMzQt+lzUb6GAymrhYfc5G7ANGkkRGRJBtP2hrdkuJNrmFrpbPDa6x8VjnFjvzJP+YsGiMTW7LZOZXTGhM8+IkOaBXnL5tQTdlLpU5zILM/5CnWUMBBY6F0IdXcaqVNLB7XGlL14ljRIFyiK3ag9JG/rT6V/sM9sT5noynU42GEjQlQEQK1xn/kNTEpfFTqu/2mxs0fXDjMo4Eb/+Aj9P6Ote/cg3tjLpTwKUKHPa3ISf67vT4RK6SofDnGanjDnbrElv2Y7FV+NhF5zbUNFplOQR83Ql4MwmO9EF9WLRjnle+/6BHEk6MJV305mnM0vuLxc9sm5/IfJA3Gu+xhmg3OGl2QusbaMiM3HBaaK6R3UF9HQpY3edrRpL8n+nYbJl5G/QRzutTZJ+qcnTPkFcDHbfQ88zwiX6uiniDoHJYb7WOVlNTkNsbeH2IrN0Ay2w88mV4ORoK2Vzw1oKJNZYpDFT2ASucfJNUQBI7W56OxbQkemlFvnkQ6307qiTPrXCZlCkFA/oqXFNeTbn1MqD8x801R9cBh1es9WsklVKHAwSpgmC04Stb8gkUo8DBmt3QiXrokyVB9ZbmS7Yo3cdtqADKvyeGzzVtnRKQNwp6zDILmjCTgyo3dHrH1f52VpjWusebh3Vqk971YzwzGIk1oMzx8HQeuXkxrEoc2UbtpoKJs10c1uJEXAfV8OEFSjGHiGLus9klnRqmuY5uS8H2TrKCHG/ezlPV0IwnmpSMpg6cIlyUceZIE3cCLy0zuKroipOGlWQcCKZ55sJSFIVK/mf/gZFo8zg9JCRbRzmeIOeE24WWxVBmLAA8EBoFrbcrb69K9NQJbXNitrOlvQbaYjXYFDxN/hV3CyNRcywu4cSsKpzMY7kgOjBjYhJuarEUMfB+01TzD1YMdPKffrebYpbDVp1/pXkyjJw+fcpYoV2kElTHAgmIcPuVNsKdWuNQXrPn7WfuvDIzt0onuIArX8GG11g24zPRF6i/aVxQqI2xdx8kr7XpI+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019sceLeeVukWQQkzmKaVJwv",
      "input": {
        "note": "Teddy bear sits just below and slightly right of the left jaws. Shifting slightly right and descending around its body.",
        "targets": {
          "left_y": -0.22,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019sceLeeVukWQQkzmKaVJwv",
      "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]: [-0.8215, 1.689, 0.8349, -0.0811, -0.5247, -0.6022, 0.9968, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3328 left_y=-0.2226 left_z=0.0496 left_yaw=-0.0535 left_pitch=-0.2081 left_roll=-0.0035 left_gripper=0.9968 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.1378 right_pitch=-0.0248 right_roll=0.0564 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -5.0803, 4.0137, 0.823, -0.2662, 0.0415, -0.0024, -0.0479, -4.3966, 4.2462, 1.6288, 0.0659, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cee5aa53fcb8bff65360300a0d11c00f6ccada8122eb6ec9958e78f739594ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa01caddd8158f2c04ff19214b71142348d92672b182bfd2feb9c49005307314",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c5146763d575476376491a9c2509679d402e8bbe4552778eb5471786471d3c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.054 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1471, 1.4708, 1.2995, -0.6025, -0.1116, -0.0906, 0.9954, 0.6338, 1.5524, 0.2195, 0.6971, 0.3805, 0.326, 0.9963]\nstate[eef_state]: left_x=0.4199 left_y=-0.0387 left_z=0.2205 left_yaw=-0.0091 left_pitch=-0.2056 left_roll=0.0137 left_gripper=0.9954 right_x=0.2943 right_y=0.1394 right_z=0.0132 right_yaw=0.1377 right_pitch=-0.0247 right_roll=0.0558 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -8.2803, 6.9265, 1.6142, -0.0904, 0.0024, -0.2222, -0.0615, -4.4786, 4.1094, 1.6142, 0.1001, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7795, 1.4902, 1.0019, -0.4541, -0.4999, -0.5598, 0.9967, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.326, 0.9963]\nstate[eef_state]: left_x=0.3292 left_y=-0.2013 left_z=0.1312 left_yaw=-0.0514 left_pitch=-0.2274 left_roll=0.0174 left_gripper=0.9967 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.138 right_pitch=-0.0248 right_roll=0.056 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -6.2154, 6.1197, 1.4237, -0.5104, -0.0611, 0.1197, -0.0342, -4.6154, 4.0821, 1.6679, 0.0708, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8215, 1.689, 0.8349, -0.0811, -0.5247, -0.6022, 0.9968, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3328 left_y=-0.2226 left_z=0.0496 left_yaw=-0.0535 left_pitch=-0.2081 left_roll=-0.0035 left_gripper=0.9968 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.1378 right_pitch=-0.0248 right_roll=0.0564 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -5.0803, 4.0137, 0.823, -0.2662, 0.0415, -0.0024, -0.0479, -4.3966, 4.2462, 1.6288, 0.0659, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cee5aa53fcb8bff65360300a0d11c00f6ccada8122eb6ec9958e78f739594ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa01caddd8158f2c04ff19214b71142348d92672b182bfd2feb9c49005307314",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c5146763d575476376491a9c2509679d402e8bbe4552778eb5471786471d3c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QYKEAgSGAI4AUIIdGhpbmtpbmcSDHxt0dtLW8xxRFcr9hoMafPsSkZNuX7tTiYyIjCn3QMzXoODDeYC5ecae29nbx+aPqUw3JYgKieWrTuQK4IolBuyRQt7jMVvH7kKiL0q/gUrYH8JgvZtR/cDXSjIXxP8Q1tRlJhJBnONPMABx6dnD3NcvWpYAXZWtIn1gxpN73ZX6Lzbg5MGxRvIeeccjbDgKHZ42tWe0M5fvAl0j+9Mbm+TX4FxWiJzT63z0iOWoK/EC3FE5ZgfEyegucfNPEgjR5oVI/K9VAZHjOPHxYjK4kJbKh6VyleJ7i6SFhb4EpU8e/q6Xmde92FdsHUKnWYT+ChRp+WNsAXCoTS0c+hILpJ4FI9bmV8WFzJGdgACv8lNUamEPTcVYV1VQYiY4ryx+1KiEfYVNVXBjOC3lO0n2+1nNEi7Qe6fXwH4YhadPJitOA/Bf07oX2GRwGRrS2s21Q74OdEFJIMnoneIB2esU5dEWIpRyuPt0ljTOrfDo2tR1RAPcN+/NeiURekhq+KO2KLaKkCCffTt2xsbERLDMsNCFn7ifrEow7tRAsfw9aa8U2MBeL2udgRzQkKZTUjDHVAAEfNtPB9r+MFUwBqsdZ49DkYHHgDtwGOZ43S2hvc+I+fzL7X3lU986i2m3d4aMbWbt0uWb76e3GOk5U8/yZOLbo0/yLNeifW/HUYUmjzpFWFrz9K4I4MxH21FXLY0WmqBtVWNtkjXUNSMR3fMoVInuWng/BpDhUVFjxbI6+63RFf0jgYbq0KK2AVHlEOC0emm5LCWIQlimmBHV496iB/Ow3JT4ISC6ky+mbI/dAPKuw6upSlW/q1mnojhPx2nWOwFxYvsh9Q9OmUmvL+bnEvTVSD68Imkdl9xOeElp2Ndf55+WaBc2E2RCk6dmDMjLnVTWf1/KS33Yl7GWdwEj5KF9FTuBshqfLt3P2TA+8a8nsK8MIVNRUaBg+yeMcW65oGZmkACkV2ZJphS5toDohwpgl65oLSkjtO6O6pu3VN1UA5jn3xgbko17Puk6rIhxGl8nt8PUw/hWW3NhUUiE6SJLJg7L4MNVK4cx2fUyLkztqFJvSMuwkAMvKvQOZrbU3TGVulf9wD04p4e9EU8xcoktqexlHoMA90A6sMEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U3ECSSnaN95ak1UF64Nn5w",
      "input": {
        "note": "Teddy bear fills the space between the left jaws (descent stopped on it at 5 cm). Closing to grab it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01U3ECSSnaN95ak1UF64Nn5w",
      "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]: [-0.8253, 1.6997, 0.8265, -0.025, -0.524, -0.6106, 0.016, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3364 left_y=-0.2288 left_z=0.0503 left_yaw=-0.0583 left_pitch=-0.1819 left_roll=-0.0364 left_gripper=0.016 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.138 right_pitch=-0.0248 right_roll=0.056 right_gripper=0.9962\nstate[joint_eff]: [0.1299, -8.4991, 6.4205, 0.7888, -0.2271, 0.0513, 0.6764, -0.0479, -4.5744, 4.1504, 1.6142, 0.0611, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eb4e0fc6861606ab19bc251005aa7f00ef61503d5a36f53633861d0a19a3f94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af4b0ba4cc45eec29c2bc2adfd35aad662c82aa49afa3c10a7896639f2aca170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77b8d26cc94d1c3725cbbf8c7aaaabca155b47d164ea3d6943eb1084e347990a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 3.824 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7795, 1.4902, 1.0019, -0.4541, -0.4999, -0.5598, 0.9967, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.326, 0.9963]\nstate[eef_state]: left_x=0.3292 left_y=-0.2013 left_z=0.1312 left_yaw=-0.0514 left_pitch=-0.2274 left_roll=0.0174 left_gripper=0.9967 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.138 right_pitch=-0.0248 right_roll=0.056 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -6.2154, 6.1197, 1.4237, -0.5104, -0.0611, 0.1197, -0.0342, -4.6154, 4.0821, 1.6679, 0.0708, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8215, 1.689, 0.8349, -0.0811, -0.5247, -0.6022, 0.9968, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3328 left_y=-0.2226 left_z=0.0496 left_yaw=-0.0535 left_pitch=-0.2081 left_roll=-0.0035 left_gripper=0.9968 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.1378 right_pitch=-0.0248 right_roll=0.0564 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -5.0803, 4.0137, 0.823, -0.2662, 0.0415, -0.0024, -0.0479, -4.3966, 4.2462, 1.6288, 0.0659, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8253, 1.6997, 0.8265, -0.025, -0.524, -0.6106, 0.016, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3364 left_y=-0.2288 left_z=0.0503 left_yaw=-0.0583 left_pitch=-0.1819 left_roll=-0.0364 left_gripper=0.016 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.138 right_pitch=-0.0248 right_roll=0.056 right_gripper=0.9962\nstate[joint_eff]: [0.1299, -8.4991, 6.4205, 0.7888, -0.2271, 0.0513, 0.6764, -0.0479, -4.5744, 4.1504, 1.6142, 0.0611, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eb4e0fc6861606ab19bc251005aa7f00ef61503d5a36f53633861d0a19a3f94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af4b0ba4cc45eec29c2bc2adfd35aad662c82aa49afa3c10a7896639f2aca170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b8d26cc94d1c3725cbbf8c7aaaabca155b47d164ea3d6943eb1084e347990a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwoKEAgSGAI4AUIIdGhpbmtpbmcSDC9jvhIM6y6Z9u3rCRoM2p5eWItw7doUVo+zIjAnQ32skL/SkaMCZH/9so2aeidhnNwd5RsT4bZHjmbC40AynZNe1JKViN6VQrHSvakqzAkkOYqawLlMF2/yBBjYdIMOqjszLq94Hbpf+hKF9zO0x3S4FtIuhDNYtSXw+ZDIbd1DG1Wbfxy0Gurq0mvBjMFP+vTDi2QiMGNcpIz3GJCPlGiUmfNJ7E9yIB9COSgn4b99B69hGaicKMMprEzyct5X/apnnhN4yGrJpbrGrzwDtJjh/6jC5o9AkctmLF4D+J/kVuDO1IsAhQwhNJ4dPUuxae7bULiP9pV/CSyCUrmDxuqayPzdt8pGQ4DhWk/BGylCj313fuHRqTDdP1F1OXQ+Gyqf3Zql1yIlqWDuU1wYGZvFYavlV48ThXTXkDgZh8KzV/oLcPgH7A0etXYAf4QKcZJmNZfnVXpuHpsnTg/sVgXilSZXYsEtj7EQbBfzAMPnXSdAhUIoR/0VCWLhVEAmZa2WhTiOcWFgeb8GQDAX4mVzetNs7Tle/mmyQsgdJTrhL4+eWzm4sen3ZOKZKxmTKfgKB5cRzxudKCX60yC8MDHLCyM9I6jNq8eL5nSaCx/7jpz57Gb0fjNPEPSCilH2Y9CPAsGyTl2kNZgK6fRhzvjHw+dwRP4gGHRsSU97s8Ium/rUpM7DjdL/j6MHGlVLXuJsEwOiPH+wOxMpgDG6VEptHu5s7qLCLo95+2pQ0l7QiijRsSPk+fcWWCYyOSksfGk2FLrCIi8IkuRaNtc41Ise4aQ4kamSeU3xi53HWYkg1HUfGYztR3pPGwcP+vfv3gcLXMoM3KdlTS4o+T8Gli3g/KrvPU0Krek1ncrleCbkJfXlvvcECUBRC49Ohux9exg3cQdQ8n0yv3U9zG1q5bZImi404muWi7UUIpxXYLIpwS9S2IgYbaD+xfpPjyKxukhd8CKf5fUbrziy1G2JKqkiuj3c/4KY4LszSSHP2l8XZVBotZMWg3MgqiA62Kb+CwkTPF5Wo3rsyPmBQF18qhYN6T7pC0cZVUxmdo4x8OMpK/sh00Bylaap5fzhh+b6DtecnMaYMnMrbKIlvMxd8hx7toJwMXUP42yYW/AMwjBdaAnSfGkd45OfMRsnVonki61rV/3eCm1IIyNz76WMtS02qhXgcCfPjGWUXAr6t6y00Ei6b3G/cTtquiveNyXUN2JtVMzTtDklERpiz/od1abHbcZEZGjqXR1Tvh654q+12iSn7k7mBj41wbVJQGeRwz03ptAX9++nV3nrmVs7i8tMUS+Fn06s9aZKvr/ulRAHNTUlNTnk831DcgQqoc6sf/VfZn1K602Wq6EdJ1pTFZPGFUzH2kPeQh8ta/bbJMhDtJbzG8sQR65WAHbZGV61d3bWfkkWEPMjqbltAzyMxcMItZa2OHTrdDYLOCzHOzf995C4dT9+Adedl4p6MPr0ZxJgAeray9CzhB0gmjah7ozKOkvzNB7ctheqsG2Nfw6O+gMTsGmzGh83T2RBdUv+11yrxEspO9BsmrduSiUPzbv9LuO5Lv2tbZOBJ/OKcLRpSujpttGEdM1XNGdCSOtJUXiI5MpsawxePBx4Xsvf33fwx+9BvMIyZ/H2g2kzwpyhIRFGBq2VxTUZeXKGggYlR7Dnn6eZBlkuXTd+OkoD3kuNNHS3RfU+l3LkDHyCxqJ8T5ZB9c+IDycs88Qq/+exwbeauSCNPjXt9abYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012naJjegMHZVYPEQsr7vxMo",
      "input": {
        "note": "Gripper closed on the soft teddy (plush compresses, so reading is low). Lifting it high to clear the right basket wall.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_012naJjegMHZVYPEQsr7vxMo",
      "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]: [-0.8253, 1.557, 1.5799, -0.9138, -0.5167, -0.6189, 0.0169, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3385 left_y=-0.2327 left_z=0.2678 left_yaw=-0.06 left_pitch=-0.1808 left_roll=-0.0519 left_gripper=0.0169 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.1378 right_pitch=-0.0248 right_roll=0.0564 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -6.2291, 8.5128, 1.2234, -0.359, 0.0269, 1.033, -0.0889, -4.3966, 4.3692, 1.6093, 0.0659, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c30164f1213a68d04e2e04279c78bee709591de810df3b845dde97eed621d161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88bc9d33c87baefa02049723db3725a41034bdc084264f93859f43daac57f965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4714524f8141cb8d16655ae66ce10b3379e7f954796157f600d1b07470826bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 3.621 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8215, 1.689, 0.8349, -0.0811, -0.5247, -0.6022, 0.9968, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3328 left_y=-0.2226 left_z=0.0496 left_yaw=-0.0535 left_pitch=-0.2081 left_roll=-0.0035 left_gripper=0.9968 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.1378 right_pitch=-0.0248 right_roll=0.0564 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -5.0803, 4.0137, 0.823, -0.2662, 0.0415, -0.0024, -0.0479, -4.3966, 4.2462, 1.6288, 0.0659, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8253, 1.6997, 0.8265, -0.025, -0.524, -0.6106, 0.016, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3364 left_y=-0.2288 left_z=0.0503 left_yaw=-0.0583 left_pitch=-0.1819 left_roll=-0.0364 left_gripper=0.016 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.138 right_pitch=-0.0248 right_roll=0.056 right_gripper=0.9962\nstate[joint_eff]: [0.1299, -8.4991, 6.4205, 0.7888, -0.2271, 0.0513, 0.6764, -0.0479, -4.5744, 4.1504, 1.6142, 0.0611, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8253, 1.557, 1.5799, -0.9138, -0.5167, -0.6189, 0.0169, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3385 left_y=-0.2327 left_z=0.2678 left_yaw=-0.06 left_pitch=-0.1808 left_roll=-0.0519 left_gripper=0.0169 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.1378 right_pitch=-0.0248 right_roll=0.0564 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -6.2291, 8.5128, 1.2234, -0.359, 0.0269, 1.033, -0.0889, -4.3966, 4.3692, 1.6093, 0.0659, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c30164f1213a68d04e2e04279c78bee709591de810df3b845dde97eed621d161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88bc9d33c87baefa02049723db3725a41034bdc084264f93859f43daac57f965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4714524f8141cb8d16655ae66ce10b3379e7f954796157f600d1b07470826bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShQcKEAgSGAI4AUIIdGhpbmtpbmcSDA9WMspNRx8CLm27oBoMsHriUCWEEOGMm97SIjB0fdw9fPVuFXWHPaG65gsfEuq04SoNIaLiA3c4ZDR3OHSnRwTPpSbVE71VD1jeCKcqogYDXmBpoz7xwSDkRX47I3UKwslA84qRFUXtFdyOIoxXiwk2uJLQubWqaUXJaPTdWQ1pbxdjtMe8APr6WQk1202GFHoIxOmZiIwOaRAWg4Yx1zOrkIWvnJa+x7/OYYUxGKmmMGqz4FA3C6TPB5TFrsKXXTMERJsFtgTTJCSwTTY8YwRU9eKd/UaabWBTCLVbmkZIOvrmkb8ehdbN0ZQTTIXnBZr1mByW7pmmHKbJfXeOlCSKoTYC5LPdKm69m8xdNliwLhkG+9yfDfYYJH96J3P5jmy7z5Q/kOIYCEJSZTSVhk+A6PyHA6ITaK3SPbV9UgnAW6jdK2ijRcXzQPY1DIcouwdDb6iP7nS1CckTSCAMihRucKh4kWMwxwOSHrWo6ndlDTyC0Dn7h9pGp9x9FHcNO2bR0brv1fXnIskRr72EtcpwiNucvmU20zA1/FSmAvt4TSuq+gzkyLpZ+AZIzWoysZn/FDRA+5isdETE+qYn1iki1K5/vm9fIZ7CflJymMTm/PHM8rOX0AV+5Zcxy0wk6KfByraNDfknvPRrVvPEPcqrf3ZJ2ZVXWRoNJX1NAxLfA+yoKjC8l31mnZ84UMYey6z8qIvtEngF8nCjwuOM0KpGr+7IfgAMZejzjmVvwaXM3fABYpDHz4kjXNpoCP/ojVqBYt0uhTRMKBZAZyaaZhipl6O/ptJQfCOc8ZnIt2cFlpnJjrktmY/lwRSrwqsDyniEQVEKFACyuTVhkBX+qlotPxl8OUceAHVb+soNg/8XrTlCSPeU/QRuNSbCXRGZHmXC8ScpCkNUCjIYj1zyVdD8gJa97469/U+3/F6ZWbVivxSPagyMuAfixDbfrcRdXfw8MpEUS7db9IEJu8sbrb9pKlfqAkUAGYrfiXlGHogB62xWE29oEXzV6umA6uR7kSyqsX0H2/lulfsj1ByAthJe0OJ4+MVMN1A1Wf+N/xQSSU3HD5rpGGp9HP3qfvBYZmw6PuhNrxPc6f/tHzdNyckYepbcJPdsJiF0tFK2bFvPWpPbgEyMBVBs5piVeluI71l80SjkpeHfqVKrd4Qg8UbRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KvZv3arrmtXMugZgfLArvz",
      "input": {
        "note": "Teddy is lifted and hanging from the left jaws. Carrying it right over the centre of the right basket.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.37,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01KvZv3arrmtXMugZgfLArvz",
      "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]: [-0.8928, 2.4756, 2.8258, -1.3636, -0.5415, -0.6926, 0.0203, 0.6338, 1.5524, 0.2195, 0.6975, 0.3737, 0.3264, 0.9963]\nstate[eef_state]: left_x=0.4213 left_y=-0.3723 left_z=0.2277 left_yaw=-0.0504 left_pitch=-0.2519 left_roll=-0.0009 left_gripper=0.0203 right_x=0.294 right_y=0.1405 right_z=0.013 right_yaw=0.1432 right_pitch=-0.0263 right_roll=0.0599 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -15.6376, 8.2667, 0.8181, -0.4811, 0.0269, 1.0281, -0.212, -4.5197, 4.041, 1.6044, 0.188, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d8bee3a78e94fb3af0114df63f9ac789aad6981011681ff71290e74472f1da0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e723d407016f7baa9e3733da63f38e6a4deb4dd81e756120b347ca04c1c7e75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:191051db7b4173d50b0a3af095f5c43a8ad3c081cb4a7ed6547e762c553ea214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 10.24 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8253, 1.6997, 0.8265, -0.025, -0.524, -0.6106, 0.016, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.326, 0.9962]\nstate[eef_state]: left_x=0.3364 left_y=-0.2288 left_z=0.0503 left_yaw=-0.0583 left_pitch=-0.1819 left_roll=-0.0364 left_gripper=0.016 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.138 right_pitch=-0.0248 right_roll=0.056 right_gripper=0.9962\nstate[joint_eff]: [0.1299, -8.4991, 6.4205, 0.7888, -0.2271, 0.0513, 0.6764, -0.0479, -4.5744, 4.1504, 1.6142, 0.0611, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8253, 1.557, 1.5799, -0.9138, -0.5167, -0.6189, 0.0169, 0.6338, 1.5524, 0.2195, 0.6971, 0.3801, 0.3264, 0.9962]\nstate[eef_state]: left_x=0.3385 left_y=-0.2327 left_z=0.2678 left_yaw=-0.06 left_pitch=-0.1808 left_roll=-0.0519 left_gripper=0.0169 right_x=0.2943 right_y=0.1394 right_z=0.0131 right_yaw=0.1378 right_pitch=-0.0248 right_roll=0.0564 right_gripper=0.9962\nstate[joint_eff]: [-0.1983, -6.2291, 8.5128, 1.2234, -0.359, 0.0269, 1.033, -0.0889, -4.3966, 4.3692, 1.6093, 0.0659, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8928, 2.4756, 2.8258, -1.3636, -0.5415, -0.6926, 0.0203, 0.6338, 1.5524, 0.2195, 0.6975, 0.3737, 0.3264, 0.9963]\nstate[eef_state]: left_x=0.4213 left_y=-0.3723 left_z=0.2277 left_yaw=-0.0504 left_pitch=-0.2519 left_roll=-0.0009 left_gripper=0.0203 right_x=0.294 right_y=0.1405 right_z=0.013 right_yaw=0.1432 right_pitch=-0.0263 right_roll=0.0599 right_gripper=0.9963\nstate[joint_eff]: [-0.5128, -15.6376, 8.2667, 0.8181, -0.4811, 0.0269, 1.0281, -0.212, -4.5197, 4.041, 1.6044, 0.188, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d8bee3a78e94fb3af0114df63f9ac789aad6981011681ff71290e74472f1da0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e723d407016f7baa9e3733da63f38e6a4deb4dd81e756120b347ca04c1c7e75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:191051db7b4173d50b0a3af095f5c43a8ad3c081cb4a7ed6547e762c553ea214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "text": "Teddy is over the right basket. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KS5VGtvg3VzRPHuj6vyLWx",
      "input": {
        "note": "Top view shows the teddy hanging over the right basket interior. Opening to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KS5VGtvg3VzRPHuj6vyLWx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8928, 2.5202, 2.8223, -1.3735, -0.5392, -0.7078, 0.9953, 0.6338, 1.5524, 0.2195, 0.6975, 0.3729, 0.326, 0.9963]\nstate[eef_state]: left_x=0.4227 left_y=-0.3746 left_z=0.2014 left_yaw=-0.0313 left_pitch=-0.2914 left_roll=0.0324 left_gripper=0.9953 right_x=0.2939 right_y=0.1406 right_z=0.0129 right_yaw=0.144 right_pitch=-0.0265 right_roll=0.06 right_gripper=0.9963\nstate[joint_eff]: [-0.2393, -17.388, 5.7778, 1.2234, -0.359, 0.0952, -0.1245, -0.0205, -4.6017, 4.2325, 1.6679, 0.0855, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaefe692a234994b9b3903813b2ed78840524a50c041646986e3c90fc365f453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1ea97ef72288d60358e8393095d3ac6fb27cfd1d0c48319fee43a1ac6ff0a94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93e1a1f1e070a27d27d4634a97b6075823cc86a0a0c8207f23a77fc258f15076",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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