adhoc

completed
2026-09-22T22:32:54.564848+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 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
260.2 s
total steps
318
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteObjects: two plush toys and a yellow marker (left), blue pen and black marker (right); two baskets far. Classes: plush toys vs pens/markers. Right arm approaching the black marker just ahead of it.
move_to
right_x0.3300right_y0.0100right_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, 0.6163, -0.3801, -0.0223, -0.0292, 0.9996, -0.0154, 0.7967, 0.6106, -0.3782, -0.0189, -0.0257, 0.9998] state[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9996 right_x=0.296 right_y=0.0024 right_z=0.1826 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.5812, -1.6479, 9.3333, 1.7998, 0.0122, 0.1245, -0.0562, -0.7726, -1.4564, 9.7983, 1.746, -0.0513, 0.0708, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.01, "right_z": 0.08}, "note": "Objects: two plush toys and a yellow marker (left), blue pen and black marker (right); two baskets far. Classes: plush toys vs pens/markers. Right arm approaching the black marker just ahead of it."})
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 noteBlack marker is just ahead and slightly left of the jaw column in the right wrist view; shifting left ~1.5 cm and descending to table level to grasp it.
move_to
right_x0.3300right_y0.0250right_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, 0.804, 0.6151, -0.3805, -0.0219, -0.0341, 0.9996, 0.0208, 1.1587, 0.3141, 0.2413, 0.0002, -0.0181, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1822 left_yaw=0.0028 left_pitch=-0.0068 left_roll=-0.0037 left_gripper=0.9996 right_x=0.325 right_y=0.0103 right_z=0.0707 right_yaw=0.0162 right_pitch=-0.039 right_roll=-0.0043 right_gripper=0.9998 state[joint_eff]: [-0.1162, -1.7299, 7.1316, 1.7411, -0.0415, 0.0171, -0.0122, 0.6222, -3.6581, 6.3795, 1.9267, 0.1245, 0.1148, -0.0122] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.025, "right_z": 0.0}, "note": "Black marker is just ahead and slightly left of the jaw column in the right wrist view; shifting left ~1.5 cm and descending to table level to grasp 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 noteMarker is now centred between the jaws in the wrist view; pressing to table level before closing.
move_to
right_z-0.0050right_x0.3300
agent noteClosing on the black marker.
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, 0.8062, 0.6151, -0.3805, -0.0219, -0.0376, 0.9996, 0.0925, 1.6108, 0.2108, 0.8402, 0.0383, 0.0265, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1816 left_yaw=0.0047 left_pitch=-0.0091 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3393 right_y=0.0283 right_z=0.0138 right_yaw=0.0319 right_pitch=0.0048 right_roll=0.0135 right_gripper=0.9998 state[joint_eff]: [-0.1573, -0.9641, 7.0632, 1.7314, -0.0366, -0.0024, -0.0171, 0.3624, -3.5487, 2.7145, 1.0427, 0.2466, -0.0855, -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": -0.005, "right_x": 0.33}, "note": "Marker is now centred between the jaws in the wrist view; pressing to table level before closing."})
move_to({"targets": {"right_gripper": 0.0}, "note": "Closing on the black marker."})
tool
executing move_to over 2 steps (0.2s)
tool
ignored: one tool call per turn
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteDescent stopped at z≈1.4 cm with the marker centred between the jaws; closing to grasp it.
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, 0.8062, 0.6147, -0.3805, -0.0219, -0.0376, 0.9996, 0.0925, 1.7199, 0.1806, 1.0466, 0.0338, 0.0383, 0.9997] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1814 left_yaw=0.0047 left_pitch=-0.0095 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3431 right_y=0.0294 right_z=0.0136 right_yaw=0.0292 right_pitch=0.0714 right_roll=0.0302 right_gripper=0.9997 state[joint_eff]: [-0.0342, -1.0872, 7.0496, 1.7802, -0.0513, -0.0611, -0.0122, 0.2393, -3.2342, 1.7299, 1.0183, 0.0611, -0.1343, -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 z\u22481.4 cm with the marker centred between the jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteGripper settled at 0.147 (~1.4 cm), so the black marker is held. Lifting straight up before carrying to the right basket.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6147, -0.3805, -0.0223, -0.038, 0.9996, 0.0914, 1.7206, 0.1772, 1.0573, 0.0257, 0.0376, 0.1471] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1815 left_yaw=0.0052 left_pitch=-0.0091 left_roll=-0.0067 left_gripper=0.9996 right_x=0.343 right_y=0.0305 right_z=0.0147 right_yaw=0.0353 right_pitch=0.0777 right_roll=0.0337 right_gripper=0.1471 state[joint_eff]: [-0.1436, -1.1145, 7.0632, 1.7118, -0.0513, -0.0366, -0.0122, -0.2256, -5.2034, 3.6855, 1.6581, 0.0317, -0.0562, 0.989] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.147 (~1.4 cm), so the black marker is held. Lifting straight up before carrying to the right basket."})
tool
executing move_to over 12 steps (1.2s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteMarker is held and lifted; right basket appears ahead and to the left in the wrist view. Carrying over the basket.
move_to
right_x0.4700right_y0.1300right_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, 0.8116, 0.6113, -0.3805, -0.0219, -0.0376, 0.9996, 0.0914, 0.9966, 0.6483, -0.1764, 0.0219, 0.0299, 0.1518] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1784 left_yaw=0.0047 left_pitch=-0.0183 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3396 right_y=0.0308 right_z=0.183 right_yaw=0.0427 right_pitch=0.0393 right_roll=0.0268 right_gripper=0.1518 state[joint_eff]: [-0.1299, -1.7162, 7.5282, 1.7314, -0.0513, -0.0269, -0.0122, -0.2256, -3.412, 9.5111, 1.7705, -0.0317, 0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.13, "right_z": 0.2}, "note": "Marker is held and lifted; right basket appears ahead and to the left in the wrist view. Carrying over the basket."})
tool
executing move_to over 11 steps (1.1s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
Marker is over the basket interior. Opening to drop.
agent noteRight wrist view shows the marker directly above the right basket's interior; releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8169, 0.6109, -0.3805, -0.0216, -0.0376, 0.9996, 0.3477, 1.6203, 1.14, -0.1162, 0.2276, 0.1432, 0.1533] state[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1767 left_yaw=0.0043 left_pitch=-0.024 left_roll=-0.0064 left_gripper=0.9996 right_x=0.4623 right_y=0.129 right_z=0.1798 right_yaw=0.0654 right_pitch=-0.0148 right_roll=0.0038 right_gripper=0.1533 state[joint_eff]: [-0.1709, -1.6889, 7.0769, 1.7265, -0.022, -0.0073, -0.0171, 0.1846, -8.294, 9.5658, 1.9512, 0.1734, 0.1099, 1.033] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
Marker is over the basket interior. Opening to drop.
move_to({"targets": {"right_gripper": 1.0}, "note": "Right wrist view shows the marker directly above the right basket's interior; releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe marker missed: top view shows it back on the table beside the blue pen (the grasp point was short of the basket, which only looked centred in the forward-tilted wrist cam). Returning to re-grasp it.
move_to
right_x0.3300right_y0.0700right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8173, 0.6109, -0.3805, -0.0219, -0.038, 0.9996, 0.3477, 1.6203, 1.1378, -0.1223, 0.2245, 0.136, 0.9952] state[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1766 left_yaw=0.0049 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9996 right_x=0.461 right_y=0.1291 right_z=0.1775 right_yaw=0.0718 right_pitch=-0.0233 right_roll=-0.0029 right_gripper=0.9952 state[joint_eff]: [-0.0615, -1.2239, 7.0632, 1.7118, -0.0415, -0.0708, -0.0171, -0.1162, -7.8154, 7.3094, 1.7265, 0.0269, 0.0171, -0.1099] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.07, "right_z": 0.08}, "note": "The marker missed: top view shows it back on the table beside the blue pen (the grasp point was short of the basket, which only looked centred in the forward-tilted wrist cam). Returning to re-grasp it."})
tool
executing move_to over 11 steps (1.1s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteWrist view shows the white/black marker slanting just left of the jaw column with the blue pen further left; shifting ~2 cm left and descending onto the marker.
move_to
right_y0.0930right_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, 0.8249, 0.6106, -0.3805, -0.0216, -0.0376, 0.9996, 0.2985, 1.2282, 0.3931, 0.2119, 0.1787, 0.1085, 0.9963] state[eef_state]: left_x=0.2975 left_y=0.0018 left_z=0.1743 left_yaw=0.0043 left_pitch=-0.0324 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3316 right_y=0.0729 right_z=0.0771 right_yaw=0.0754 right_pitch=-0.0474 right_roll=-0.0045 right_gripper=0.9963 state[joint_eff]: [-0.212, -1.5521, 7.3778, 1.7167, -0.022, -0.022, -0.0171, -0.9094, -4.041, 6.2154, 1.9316, -0.0073, -0.0806, 0.105] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.093, "right_z": 0.0}, "note": "Wrist view shows the white/black marker slanting just left of the jaw column with the blue pen further left; shifting ~2 cm left and descending onto the marker."})
tool
executing move_to over 5 steps (0.5s)
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 noteMarker is between the jaws near centre (the blue pen is at the left jaw edge; grabbing both would be fine since they go in the same basket). Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.831, 0.6102, -0.3805, -0.0219, -0.038, 0.9996, 0.3866, 1.6497, 0.2886, 0.7757, 0.2352, 0.1627, 0.9964] state[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1725 left_yaw=0.0049 left_pitch=-0.0389 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3404 right_y=0.098 right_z=0.0146 right_yaw=0.0876 right_pitch=-0.0032 right_roll=0.0193 right_gripper=0.9964 state[joint_eff]: [-0.2393, -1.4017, 7.1043, 1.7314, -0.0317, -0.0659, -0.0171, 0.4171, -3.6581, 3.0427, 0.9988, 0.2222, -0.0073, -0.0024] 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_gripper": 0.0}, "note": "Marker is between the jaws near centre (the blue pen is at the left jaw edge; grabbing both would be fine since they go in the same basket). Closing."})
tool
executing move_to over 10 steps (1.0s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteMarker grasped (gripper 0.144). Lifting high enough to clear the basket rim.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8307, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.3859, 1.6588, 0.2871, 0.791, 0.2317, 0.1577, 0.144] state[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1724 left_yaw=0.0049 left_pitch=-0.0389 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3409 right_y=0.0986 right_z=0.0141 right_yaw=0.0923 right_pitch=0.0007 right_roll=0.0182 right_gripper=0.144 state[joint_eff]: [-0.0342, -1.4154, 7.0906, 1.6777, -0.0122, -0.0708, -0.0122, -0.1299, -6.1333, 4.041, 1.5311, 0.0464, 0.0024, 1.0085] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Marker grasped (gripper 0.144). Lifting high enough to clear the basket rim."})
tool
executing move_to over 14 steps (1.4s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteMarker held high; the right basket is ahead-left. Going further forward this time (x≈0.53) so the grasp point itself is over the basket interior, not just the wrist cam view.
move_to
right_x0.5300right_y0.1500right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8314, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.3859, 1.1084, 0.8478, -0.3523, 0.2241, 0.1539, 0.1468] state[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0396 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3403 right_y=0.0997 right_z=0.2039 right_yaw=0.1006 right_pitch=-0.0312 right_roll=0.01 right_gripper=0.1468 state[joint_eff]: [-0.1436, -1.5248, 7.2547, 1.7558, -0.0513, -0.0415, -0.0171, -0.253, -4.7932, 9.7026, 1.5751, 0.0855, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.53, "right_y": 0.15, "right_z": 0.22}, "note": "Marker held high; the right basket is ahead-left. Going further forward this time (x\u22480.53) so the grasp point itself is over the basket interior, not just the wrist cam view."})
tool
executing move_to over 15 steps (1.5s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
Gripper is now over the middle of the basket in both views. Releasing.
agent noteTop view shows the right gripper over the right basket's interior, and the wrist cam sees the basket all around. Dropping the 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]: [-0.0189, 0.8375, 0.6094, -0.3809, -0.0219, -0.038, 0.9995, 0.3313, 1.8523, 1.5505, -0.342, 0.1719, 0.112, 0.1468] state[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1702 left_yaw=0.0049 left_pitch=-0.0465 left_roll=-0.006 left_gripper=0.9995 right_x=0.5197 right_y=0.1506 right_z=0.2037 right_yaw=0.1119 right_pitch=-0.0684 right_roll=-0.0023 right_gripper=0.1468 state[joint_eff]: [-0.1846, -1.9761, 7.2274, 1.6679, -0.0513, -0.0171, -0.0171, -0.8274, -10.5094, 9.4291, 1.6239, 0.0562, 0.0122, 1.0281] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
Gripper is now over the middle of the basket in both views. Releasing.
move_to({"targets": {"right_gripper": 1.0}, "note": "Top view shows the right gripper over the right basket's interior, and the wrist cam sees the basket all around. Dropping the marker."})
tool
executing move_to over 9 steps (0.9s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteMarker is in the right basket. Heading to the blue pen, which lies about 4–5 cm left of where the marker was.
move_to
right_x0.3300right_y0.1400right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8379, 0.6094, -0.3805, -0.0223, -0.038, 0.9996, 0.3325, 1.8713, 1.5509, -0.347, 0.1719, 0.1043, 0.9949] state[eef_state]: left_x=0.2982 left_y=0.0019 left_z=0.1702 left_yaw=0.0052 left_pitch=-0.0465 left_roll=-0.0058 left_gripper=0.9996 right_x=0.5205 right_y=0.1515 right_z=0.193 right_yaw=0.1167 right_pitch=-0.0915 right_roll=-0.0135 right_gripper=0.9949 state[joint_eff]: [-0.0752, -1.5385, 7.159, 1.7411, -0.0317, -0.0757, -0.0171, -0.4308, -11.8222, 6.9402, 1.7167, 0.0269, 0.1245, 0.022] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.14, "right_z": 0.08}, "note": "Marker is in the right basket. Heading to the blue pen, which lies about 4\u20135 cm left of where the marker was."})
tool
executing move_to over 15 steps (1.5s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteBlue pen is visible just left of the jaw column in the wrist view; shifting ~2.5 cm left and descending to grasp it.
move_to
right_y0.1650right_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, 0.8436, 0.6094, -0.3794, -0.0223, -0.038, 0.9996, 0.5465, 1.3758, 0.5591, 0.0723, 0.3145, 0.2256, 0.9962] state[eef_state]: left_x=0.2986 left_y=0.0019 left_z=0.1688 left_yaw=0.0052 left_pitch=-0.0511 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3302 right_y=0.1411 right_z=0.0723 right_yaw=0.1439 right_pitch=-0.136 right_roll=-0.0307 right_gripper=0.9962 state[joint_eff]: [-0.0479, -1.5795, 7.0496, 1.7753, -0.0269, -0.0415, -0.0171, 0.335, -5.9009, 6.5983, 1.8535, 0.315, 0.1294, 0.1294] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.165, "right_z": 0.0}, "note": "Blue pen is visible just left of the jaw column in the wrist view; shifting ~2.5 cm left and descending to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
Pen now between the jaws, near centre. Closing.
agent noteBlue pen runs between the jaws, close to the centre column, and the descent stopped at table level. Closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.849, 0.6094, -0.3809, -0.0223, -0.038, 0.9996, 0.6182, 1.6623, 0.4957, 0.4278, 0.3588, 0.2756, 0.9963] state[eef_state]: left_x=0.2987 left_y=0.0019 left_z=0.167 left_yaw=0.0052 left_pitch=-0.0579 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3353 right_y=0.1667 right_z=0.0148 right_yaw=0.1529 right_pitch=-0.1179 right_roll=-0.0168 right_gripper=0.9963 state[joint_eff]: [-0.1846, -2.0034, 7.0496, 1.6972, -0.0464, -0.0415, -0.0122, 0.4991, -4.2051, 3.8359, 0.4615, 0.149, -0.0708, 0.0073] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
Pen now between the jaws, near centre. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Blue pen runs between the jaws, close to the centre column, and the descent stopped at table level. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent notePen is held (gripper 0.149, pen centred in jaws). Lifting clear of the basket rim.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8494, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6228, 1.6947, 0.4885, 0.4938, 0.3595, 0.2852, 0.1485] state[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.167 left_yaw=0.0049 left_pitch=-0.0579 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3382 right_y=0.1708 right_z=0.0127 right_yaw=0.1529 right_pitch=-0.0941 right_roll=0.0022 right_gripper=0.1485 state[joint_eff]: [-0.0615, -1.6205, 7.0085, 1.6581, -0.0464, -0.0611, -0.0171, 0.4581, -4.9299, 4.0274, 1.3455, 0.2906, -0.0317, 1.0134] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Pen is held (gripper 0.149, pen centred in jaws). Lifting clear of the basket rim."})
tool
executing move_to over 14 steps (1.4s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent notePen lifted; marker is visible in the right basket ahead. Carrying the pen to the same drop point that worked for the marker.
move_to
right_x0.5300right_y0.1400right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8501, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6216, 1.2991, 1.021, -0.4454, 0.355, 0.2848, 0.1534] state[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1668 left_yaw=0.0049 left_pitch=-0.0587 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3409 right_y=0.1731 right_z=0.2009 right_yaw=0.1552 right_pitch=-0.1054 right_roll=-0.0005 right_gripper=0.1534 state[joint_eff]: [-0.2256, -1.6615, 7.2, 1.6874, -0.0611, -0.0708, -0.0171, -0.1299, -6.6393, 9.347, 1.5214, 0.1099, -0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.53, "right_y": 0.14, "right_z": 0.22}, "note": "Pen lifted; marker is visible in the right basket ahead. Carrying the pen to the same drop point that worked for the marker."})
tool
executing move_to over 15 steps (1.5s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe pen hangs over the inside of the right basket, next to the marker already in it. Releasing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8562, 0.6094, -0.3809, -0.0219, -0.038, 0.9996, 0.292, 1.8767, 1.6405, -0.474, 0.1005, 0.0662, 0.1562] state[eef_state]: left_x=0.2991 left_y=0.0018 left_z=0.165 left_yaw=0.0049 left_pitch=-0.0652 left_roll=-0.0055 left_gripper=0.9996 right_x=0.5195 right_y=0.1414 right_z=0.2046 right_yaw=0.1563 right_pitch=-0.1415 right_roll=-0.0059 right_gripper=0.1562 state[joint_eff]: [-0.1846, -2.1265, 6.9949, 1.6484, -0.0317, -0.0708, -0.0171, -0.7316, -10.0718, 9.6205, 1.5995, 0.0855, -0.0415, 1.0281] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The pen hangs over the inside of the right basket, next to the marker already in it. Releasing."})
tool
executing move_to over 9 steps (0.9s)
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 noteBoth dark pens are in the right basket. The yellow marker also belongs with the pens, but it's out of the right arm's reach, so the left arm will grab it and bring it to the middle. Parking the right arm and moving the left arm over the marker.
move_to
right_x0.3000right_y0.0000right_z0.1800left_x0.3200left_y-0.0220left_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]: [-0.0189, 0.8566, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.2886, 1.8946, 1.6409, -0.4812, 0.0959, 0.0586, 0.9951] state[eef_state]: left_x=0.2992 left_y=0.0018 left_z=0.165 left_yaw=0.0049 left_pitch=-0.0652 left_roll=-0.0055 left_gripper=0.9996 right_x=0.5203 right_y=0.1405 right_z=0.1941 right_yaw=0.1604 right_pitch=-0.1664 right_roll=-0.012 right_gripper=0.9951 state[joint_eff]: [-0.0752, -1.4701, 7.159, 1.6484, -0.0464, -0.0757, -0.0122, -0.0615, -11.9863, 6.9128, 1.6581, 0.0415, 0.1099, -0.0659] 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_x": 0.3, "right_y": 0.0, "right_z": 0.18, "left_x": 0.32, "left_y": -0.022, "left_z": 0.03}, "note": "Both dark pens are in the right basket. The yellow marker also belongs with the pens, but it's out of the right arm's reach, so the left arm will grab it and bring it to the middle. Parking the right arm and moving the left arm over the marker."})
tool
executing move_to over 17 steps (1.7s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteYellow marker is at the bottom right of the left wrist view, still right of the jaw column; shifting right about 2 cm and descending to grasp it.
move_to
left_y-0.0450left_x0.3250left_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]: [-0.1501, 1.3113, 0.2607, 0.4759, -0.1356, -0.0864, 0.9996, -0.1253, 0.9848, 0.7975, -0.5434, -0.1787, -0.1955, 0.9963] state[eef_state]: left_x=0.3324 left_y=-0.0225 left_z=0.0513 left_yaw=-0.0045 left_pitch=-0.0066 left_roll=0.014 left_gripper=0.9996 right_x=0.3096 right_y=-0.0037 right_z=0.1826 right_yaw=0.1187 right_pitch=-0.1522 right_roll=-0.0194 right_gripper=0.9963 state[joint_eff]: [-0.0479, -2.4957, 2.8923, 1.0085, -0.0024, -0.3101, -0.0171, -0.1846, -2.2359, 7.0632, 1.6386, -0.1685, -0.0317, 0.1099] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.045, "left_x": 0.325, "left_z": 0.0}, "note": "Yellow marker is at the bottom right of the left wrist view, still right of the jaw column; shifting right about 2 cm and descending to grasp it."})
tool
executing move_to over 4 steps (0.4s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteDescent stalled at 3 cm with x overshooting, so a jaw may be resting on the marker. Yellow marker is still slightly right of centre; pulling back 3 cm, nudging right, and descending again.
move_to
left_x0.3150left_y-0.0550left_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2764, 1.6108, 0.2146, 0.9146, -0.2302, -0.0975, 0.9996, -0.1303, 0.9871, 0.7918, -0.564, -0.1905, -0.2123, 0.9964] state[eef_state]: left_x=0.3457 left_y=-0.0524 left_z=0.033 left_yaw=-0.0443 left_pitch=0.0939 left_roll=0.0338 left_gripper=0.9996 right_x=0.3054 right_y=-0.0027 right_z=0.1761 right_yaw=0.1341 right_pitch=-0.178 right_roll=-0.017 right_gripper=0.9964 state[joint_eff]: [0.7179, -3.0154, 0.6496, 0.3834, -0.0562, -0.6374, -0.0122, 0.212, -2.4957, 7.3504, 1.7656, 0.0317, 0.1734, -0.0024] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.315, "left_y": -0.055, "left_z": -0.005}, "note": "Descent stalled at 3 cm with x overshooting, so a jaw may be resting on the marker. Yellow marker is still slightly right of centre; pulling back 3 cm, nudging right, and descending again."})
tool
executing move_to over 3 steps (0.3s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteThe yellow marker now runs between the left jaws, almost centred, and the gripper is at table level. 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]: [-0.3401, 1.8576, 0.1291, 1.2564, -0.2672, -0.1123, 0.9994, -0.1314, 0.9905, 0.7918, -0.5659, -0.1883, -0.21, 0.9964] state[eef_state]: left_x=0.3277 left_y=-0.0627 left_z=0.0047 left_yaw=-0.0686 left_pitch=0.1077 left_roll=0.0345 left_gripper=0.9994 right_x=0.3053 right_y=-0.0034 right_z=0.1747 right_yaw=0.13 right_pitch=-0.1835 right_roll=-0.0154 right_gripper=0.9964 state[joint_eff]: [0.4308, -5.559, 1.3197, 0.3932, -0.1685, 0.5641, -0.0317, -0.1026, -2.5368, 6.9812, 1.5507, -0.1587, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The yellow marker now runs between the left jaws, almost centred, and the gripper is at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
assistant
agent noteEmpty close (0.017): the yellow marker sits just past the jaw tips, so the grasp point was short. Opening and lifting slightly before moving forward.
move_to
left_gripper1.0000left_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]: [-0.3424, 1.9053, 0.0963, 1.409, -0.2966, -0.1291, 0.017, -0.1314, 0.9932, 0.7918, -0.5655, -0.1883, -0.21, 0.9964] state[eef_state]: left_x=0.3271 left_y=-0.0579 left_z=0.0163 left_yaw=-0.034 left_pitch=0.1807 left_roll=0.0102 left_gripper=0.017 right_x=0.3056 right_y=-0.0034 right_z=0.174 right_yaw=0.1301 right_pitch=-0.1858 right_roll=-0.0148 right_gripper=0.9964 state[joint_eff]: [-0.1983, -3.6171, 0.9915, 0.7643, -0.0024, -0.0317, 0.3346, -0.0615, -2.4547, 7.1453, 1.5556, -0.1392, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.04}, "note": "Empty close (0.017): the yellow marker sits just past the jaw tips, so the grasp point was short. Opening and lifting slightly before moving forward."})
tool
executing move_to over 10 steps (1.0s)
step 232
assistant
agent noteWith the jaws open, the yellow marker shows up by the left jaw, just ahead. Shifting about 2 cm left and 1.5 cm forward, then descending.
move_to
left_y-0.0350left_x0.3400left_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3424, 1.6627, 0.0952, 1.1656, -0.2958, -0.1318, 0.9952, -0.1314, 0.9932, 0.7918, -0.5655, -0.1883, -0.2104, 0.9964] state[eef_state]: left_x=0.3249 left_y=-0.0573 left_z=0.0368 left_yaw=-0.0333 left_pitch=0.1788 left_roll=0.008 left_gripper=0.9952 right_x=0.3056 right_y=-0.0034 right_z=0.174 right_yaw=0.1303 right_pitch=-0.1858 right_roll=-0.0151 right_gripper=0.9964 state[joint_eff]: [-0.0889, -5.3538, 3.9453, 1.7509, -0.1343, 0.022, -0.0464, -0.1573, -2.2769, 6.8991, 1.6044, -0.1392, -0.0757, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.035, "left_x": 0.34, "left_z": -0.005}, "note": "With the jaws open, the yellow marker shows up by the left jaw, just ahead. Shifting about 2 cm left and 1.5 cm forward, then descending."})
tool
executing move_to over 3 steps (0.3s)
step 235
assistant
agent noteYellow marker is now centred on the jaw column and runs down to the jaws, with the gripper at table level. 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]: [-0.2157, 2.046, 0.1455, 1.4979, -0.2295, -0.0837, 0.9966, -0.1314, 0.9977, 0.7914, -0.5678, -0.1883, -0.21, 0.9964] state[eef_state]: left_x=0.3426 left_y=-0.0303 left_z=0.0008 left_yaw=0.0107 left_pitch=0.1704 left_roll=0.028 left_gripper=0.9966 right_x=0.3054 right_y=-0.0034 right_z=0.1722 right_yaw=0.1305 right_pitch=-0.1928 right_roll=-0.0129 right_gripper=0.9964 state[joint_eff]: [-0.0479, -4.6427, 0.2803, 0.6374, 0.2711, -0.3297, 0.1392, -0.1983, -2.359, 6.8718, 1.7265, -0.1392, -0.0269, -0.0122] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Yellow marker is now centred on the jaw column and runs down to the jaws, with the gripper at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 245
assistant
agent noteSecond empty close on the thin yellow marker; the jaws ride up over it. With the call budget running low I'm switching to the plush toys, which go in the left basket. The gray koala is ahead-left of the left gripper, so I'm moving over it.
move_to
left_gripper1.0000left_z0.0800left_x0.4000left_y0.0300
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]: [-0.2146, 2.0434, 0.1501, 1.5669, -0.2394, -0.0826, 0.0099, -0.1314, 0.9989, 0.7918, -0.5671, -0.1883, -0.21, 0.9964] state[eef_state]: left_x=0.3503 left_y=-0.0298 left_z=0.0184 left_yaw=0.0235 left_pitch=0.2455 left_roll=0.0146 left_gripper=0.0099 right_x=0.3057 right_y=-0.0034 right_z=0.1721 right_yaw=0.1305 right_pitch=-0.1928 right_roll=-0.0129 right_gripper=0.9964 state[joint_eff]: [-0.2667, -5.8735, 1.1829, 1.2137, 0.0415, -0.0269, 0.8327, -0.1846, -2.6598, 6.8308, 1.5556, -0.1197, -0.0415, -0.0122] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.08, "left_x": 0.4, "left_y": 0.03}, "note": "Second empty close on the thin yellow marker; the jaws ride up over it. With the call budget running low I'm switching to the plush toys, which go in the left basket. The gray koala is ahead-left of the left gripper, so I'm moving over it."})
tool
executing move_to over 10 steps (1.0s)
step 255
assistant
agent noteGray koala plush is under the left jaw area at the bottom-left of the wrist view. Shifting left to the y bound and descending into it.
move_to
left_y0.0500left_x0.3800left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0772, 1.6791, 0.3321, 1.0203, 0.0059, -0.0071, 0.9953, -0.1314, 1.0, 0.7918, -0.5674, -0.1883, -0.2104, 0.9964] state[eef_state]: left_x=0.3939 left_y=0.033 left_z=0.0699 left_yaw=0.0605 left_pitch=0.2355 left_roll=0.0081 left_gripper=0.9953 right_x=0.3057 right_y=-0.0034 right_z=0.1718 right_yaw=0.1307 right_pitch=-0.1942 right_roll=-0.0128 right_gripper=0.9964 state[joint_eff]: [0.1162, -7.7744, 5.8462, 1.8339, 0.1783, 0.1392, -0.0806, -0.1436, -2.6598, 7.159, 1.5018, -0.1245, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.05, "left_x": 0.38, "left_z": 0.02}, "note": "Gray koala plush is under the left jaw area at the bottom-left of the wrist view. Shifting left to the y bound and descending into it."})
tool
executing move_to over 4 steps (0.4s)
step 259
assistant
agent noteThe gray koala fills the left half of the jaw opening at table level. Closing to squeeze 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]: [0.1459, 1.985, 0.2752, 1.2999, 0.0673, 0.0143, 0.9967, -0.1314, 1.0035, 0.7918, -0.5674, -0.1879, -0.21, 0.9964] state[eef_state]: left_x=0.375 left_y=0.0467 left_z=0.0048 left_yaw=0.0653 left_pitch=0.1534 left_roll=0.0018 left_gripper=0.9967 right_x=0.3059 right_y=-0.0035 right_z=0.1708 right_yaw=0.1304 right_pitch=-0.1976 right_roll=-0.0118 right_gripper=0.9964 state[joint_eff]: [0.8137, -6.653, 1.8256, 1.453, 0.0073, -0.1392, 0.1245, -0.0479, -2.8513, 6.8581, 1.5018, -0.105, -0.0269, -0.0122] 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_gripper": 0.0}, "note": "The gray koala fills the left half of the jaw opening at table level. Closing to squeeze it."})
tool
executing move_to over 10 steps (1.0s)
step 269
assistant
agent noteEmpty close: the koala sits further out, just past the jaw tips and to the left. Opening and moving 5 cm forward so the right side of its body ends up between the jaws.
move_to
left_gripper1.0000left_x0.4300left_y0.0500left_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]: [0.1562, 2.0083, 0.2707, 1.3861, 0.0792, 0.0158, 0.0104, -0.1314, 1.0046, 0.7918, -0.5671, -0.1883, -0.21, 0.9964] state[eef_state]: left_x=0.3786 left_y=0.0491 left_z=0.015 left_yaw=0.0637 left_pitch=0.2119 left_roll=0.0039 left_gripper=0.0104 right_x=0.306 right_y=-0.0035 right_z=0.1705 right_yaw=0.1308 right_pitch=-0.1983 right_roll=-0.0114 right_gripper=0.9964 state[joint_eff]: [0.3487, -6.3248, 1.9624, 2.2051, 0.0659, -0.0171, 0.862, -0.212, -2.6735, 6.8581, 1.5604, -0.149, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.43, "left_y": 0.05, "left_z": 0.03}, "note": "Empty close: the koala sits further out, just past the jaw tips and to the left. Opening and moving 5 cm forward so the right side of its body ends up between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 279
assistant
agent noteThe koala is pressed against the fence, past the left arm's y bound, so it can't be reached cleanly. Switching to the large teddy bear in the middle of the table and moving above it.
move_to
left_x0.3600left_y-0.1700left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1295, 1.9968, 0.45, 1.1625, 0.0593, -0.0002, 0.995, -0.1314, 1.0046, 0.7918, -0.5671, -0.1883, -0.21, 0.9964] state[eef_state]: left_x=0.4209 left_y=0.0479 left_z=0.0167 left_yaw=0.0633 left_pitch=0.1787 left_roll=-0.0067 left_gripper=0.995 right_x=0.306 right_y=-0.0035 right_z=0.1705 right_yaw=0.1308 right_pitch=-0.1983 right_roll=-0.0114 right_gripper=0.9964 state[joint_eff]: [-0.0889, -9.2376, 4.9299, 2.0293, -0.0659, 0.0122, -0.1636, -0.1573, -2.5915, 6.8581, 1.4872, -0.1245, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.17, "left_z": 0.12}, "note": "The koala is pressed against the fence, past the left arm's y bound, so it can't be reached cleanly. Switching to the large teddy bear in the middle of the table and moving above it."})
tool
executing move_to over 20 steps (2.0s)
step 299
assistant
agent noteFrom the top view the left gripper is above the small bear and yellow marker; the large teddy is about 8–10 cm to the right. Moving onto it and descending to grip its body.
move_to
left_x0.3600left_y-0.2500left_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]: [-0.7433, 1.5414, 0.5919, 0.4171, -0.7029, -0.3836, 0.9967, -0.1314, 1.008, 0.7918, -0.5667, -0.1883, -0.21, 0.9964] state[eef_state]: left_x=0.3597 left_y=-0.1707 left_z=0.1078 left_yaw=0.0291 left_pitch=0.1647 left_roll=-0.0026 left_gripper=0.9967 right_x=0.3062 right_y=-0.0035 right_z=0.1696 right_yaw=0.1309 right_pitch=-0.2012 right_roll=-0.0106 right_gripper=0.9964 state[joint_eff]: [-0.0889, -7.6923, 7.4598, 1.4676, -0.3687, -0.0269, 0.1636, -0.1983, -2.9197, 6.9402, 1.5507, -0.0952, -0.0708, -0.0122] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.25, "left_z": 0.03}, "note": "From the top view the left gripper is above the small bear and yellow marker; the large teddy is about 8\u201310 cm to the right. Moving onto it and descending to grip its body."})
tool
executing move_to over 8 steps (0.8s)
step 307
assistant
agent noteThe teddy's head is at the right jaw in the wrist view. I'm almost out of calls, so closing now to try to catch part of it.
move_to
left_gripper0.0000left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9138, 1.9625, 0.7448, 0.6071, -0.8604, -0.4885, 0.9967, -0.1314, 1.0107, 0.7918, -0.5667, -0.1883, -0.21, 0.9964] state[eef_state]: left_x=0.3616 left_y=-0.2436 left_z=0.0408 left_yaw=0.0281 left_pitch=0.179 left_roll=0.0153 left_gripper=0.9967 right_x=0.3064 right_y=-0.0035 right_z=0.1689 right_yaw=0.1311 right_pitch=-0.2038 right_roll=-0.0099 right_gripper=0.9964 state[joint_eff]: [-0.3077, -7.3231, 4.9162, 1.2869, -0.1099, -0.2662, -0.0024, -0.1162, -2.8513, 6.8581, 1.5067, -0.1294, -0.022, -0.0122] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": 0.02}, "note": "The teddy's head is at the right jaw in the wrist view. I'm almost out of calls, so closing now to try to catch part of it."})
tool
executing move_to over 10 steps (1.0s)
step 317
assistant
agent noteI ran out of call budget, so the task is only partly done. I sorted the objects into two groups: pens/markers (black marker, blue pen, yellow marker) and plush toys (gray koala, small bear, large teddy). The black marker and blue pen are in the right basket. The black marker's first drop missed; I picked it up again and dropped it in. The rest are still on the table. Both closes on the thin yellow marker came up empty. The koala is against the left fence, beyond the left arm's y limit. My close on the large teddy was about 8 cm short, to its left. The left basket is still empty.
give_up
hindsight- Drops: when the gripper is at z≈0.2, the wrist camera shows a basket ahead of the grasp point, not under it. My first drop at right (0.46, 0.13) hit the basket rim. For the right basket, x≈0.52, y≈0.14–0.15, z≈0.22 worked. By symmetry the left basket is probably around left x≈0.52, y≈−0.02 (unverified). - Frames: in the top camera, left-arm y=−0.17 at x≈0.36 showed the gripper near image (85–100, 125). The large teddy at image x≈125 is about y≈−0.32 in the left frame, farther than I estimated. Top-camera x-scale here was only ~2 px/cm, so my offsets came out short. - Yellow marker: it can't reach the right basket with either arm (left arm y≥−0.4, right arm y≤0.4). Plan a handoff: the left arm sets it down near the centre line and the right arm picks it up. Or put all pens in the left basket instead. Decide early which basket gets which class, based on reach. - Thin markers: when the left gripper descends, pitch drifts up to +0.18–0.25 and the jaws ride over the marker. The right arm grasped markers well at z≈0.014 when the object was on the jaw column. - Out of reach: the gray koala sits against the left fence, beyond the left_y bound of 0.05. - Budget: 40 calls is tight for 6 objects. Don't spend calls on separate lift moves; combine lift and carry in one move.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9176, 2.0274, 0.7414, 0.6785, -0.8574, -0.4938, 0.0104, -0.1314, 1.0107, 0.7918, -0.5667, -0.1883, -0.21, 0.9964] state[eef_state]: left_x=0.3614 left_y=-0.2466 left_z=0.0249 left_yaw=0.0254 left_pitch=0.1794 left_roll=0.0068 left_gripper=0.0104 right_x=0.3064 right_y=-0.0035 right_z=0.1689 right_yaw=0.1311 right_pitch=-0.2038 right_roll=-0.0099 right_gripper=0.9964 state[joint_eff]: [0.212, -7.4598, 3.7128, 1.707, -0.3248, 0.0073, 0.8327, -0.0479, -2.6598, 6.8444, 1.5263, -0.1099, -0.0269, -0.0122] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget, so the task is only partly done. I sorted the objects into two groups: pens/markers (black marker, blue pen, yellow marker) and plush toys (gray koala, small bear, large teddy). The black marker and blue pen are in the right basket. The black marker's first drop missed; I picked it up again and dropped it in. The rest are still on the table. Both closes on the thin yellow marker came up empty. The koala is against the left fence, beyond the left arm's y limit. My close on the large teddy was about 8 cm short, to its left. The left basket is still empty.", "hindsight": "- Drops: when the gripper is at z\u22480.2, the wrist camera shows a basket ahead of the grasp point, not under it. My first drop at right (0.46, 0.13) hit the basket rim. For the right basket, x\u22480.52, y\u22480.14\u20130.15, z\u22480.22 worked. By symmetry the left basket is probably around left x\u22480.52, y\u2248\u22120.02 (unverified).\n- Frames: in the top camera, left-arm y=\u22120.17 at x\u22480.36 showed the gripper near image (85\u2013100, 125). The large teddy at image x\u2248125 is about y\u2248\u22120.32 in the left frame, farther than I estimated. Top-camera x-scale here was only ~2 px/cm, so my offsets came out short.\n- Yellow marker: it can't reach the right basket with either arm (left arm y\u2265\u22120.4, right arm y\u22640.4). Plan a handoff: the left arm sets it down near the centre line and the right arm picks it up. Or put all pens in the left basket instead. Decide early which basket gets which class, based on reach.\n- Thin markers: when the left gripper descends, pitch drifts up to +0.18\u20130.25 and the jaws ride over the marker. The right arm grasped markers well at z\u22480.014 when the object was on the jaw column.\n- Out of reach: the gray koala sits against the left fence, beyond the left_y bound of 0.05.\n- Budget: 40 calls is tight for 6 objects. Don't spend calls on separate lift moves; combine lift and carry in one move."})
tool
give_up: I ran out of call budget, so the task is only partly done. I sorted the objects into two groups: pens/markers (black marker, blue pen, yellow marker) and plush toys (gray koala, small bear, large teddy). The black marker and blue pen are in the right basket. The black marker's first drop missed; I picked it up again and dropped it in. The rest are still on the table. Both closes on the thin yellow marker came up empty. The koala is against the left fence, beyond the left arm's y limit. My close on the large teddy was about 8 cm short, to its left. The left basket is still empty.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 14.59 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, 0.6163, -0.3801, -0.0223, -0.0292, 0.9996, -0.0154, 0.7967, 0.6106, -0.3782, -0.0189, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9996 right_x=0.296 right_y=0.0024 right_z=0.1826 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.6479, 9.3333, 1.7998, 0.0122, 0.1245, -0.0562, -0.7726, -1.4564, 9.7983, 1.746, -0.0513, 0.0708, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b6c33696d55c11c332f57b4c0d7720a9956bea8fec26cb4495705d99b405b5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:676f8e2fb7de6df4cbd2d768e077d2c35774580516d055ff81d8cf76948c7e44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a9c5b5f7b928a08473ab8fa52ae9b103f2d06c97f6d384100c1f2bb9ed63e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 5.174 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, 0.6163, -0.3801, -0.0223, -0.0292, 0.9996, -0.0154, 0.7967, 0.6106, -0.3782, -0.0189, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9996 right_x=0.296 right_y=0.0024 right_z=0.1826 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.6479, 9.3333, 1.7998, 0.0122, 0.1245, -0.0562, -0.7726, -1.4564, 9.7983, 1.746, -0.0513, 0.0708, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b6c33696d55c11c332f57b4c0d7720a9956bea8fec26cb4495705d99b405b5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:676f8e2fb7de6df4cbd2d768e077d2c35774580516d055ff81d8cf76948c7e44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a9c5b5f7b928a08473ab8fa52ae9b103f2d06c97f6d384100c1f2bb9ed63e9a",
        "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_01RME8YieV2Miu8bYNYB2x4a",
      "input": {
        "note": "Objects: two plush toys and a yellow marker (left), blue pen and black marker (right); two baskets far. Classes: plush toys vs pens/markers. Right arm approaching the black marker just ahead of it.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.01,
          "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_01RME8YieV2Miu8bYNYB2x4a",
      "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, 0.804, 0.6151, -0.3805, -0.0219, -0.0341, 0.9996, 0.0208, 1.1587, 0.3141, 0.2413, 0.0002, -0.0181, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1822 left_yaw=0.0028 left_pitch=-0.0068 left_roll=-0.0037 left_gripper=0.9996 right_x=0.325 right_y=0.0103 right_z=0.0707 right_yaw=0.0162 right_pitch=-0.039 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.7299, 7.1316, 1.7411, -0.0415, 0.0171, -0.0122, 0.6222, -3.6581, 6.3795, 1.9267, 0.1245, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdea29766474ca64c6107a41f513670ee0d591252a31add07748a15db2308a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f58b576af6efbb06f364ae7e400fc14ccc243eb0a23fb395564c9399cc9b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c98da88dab345b9ff3e35dc163e07d05679a3d02fdf94caddde6019b4e89ba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.39 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, 0.6163, -0.3801, -0.0223, -0.0292, 0.9996, -0.0154, 0.7967, 0.6106, -0.3782, -0.0189, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9996 right_x=0.296 right_y=0.0024 right_z=0.1826 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.6479, 9.3333, 1.7998, 0.0122, 0.1245, -0.0562, -0.7726, -1.4564, 9.7983, 1.746, -0.0513, 0.0708, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.804, 0.6151, -0.3805, -0.0219, -0.0341, 0.9996, 0.0208, 1.1587, 0.3141, 0.2413, 0.0002, -0.0181, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1822 left_yaw=0.0028 left_pitch=-0.0068 left_roll=-0.0037 left_gripper=0.9996 right_x=0.325 right_y=0.0103 right_z=0.0707 right_yaw=0.0162 right_pitch=-0.039 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.7299, 7.1316, 1.7411, -0.0415, 0.0171, -0.0122, 0.6222, -3.6581, 6.3795, 1.9267, 0.1245, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdea29766474ca64c6107a41f513670ee0d591252a31add07748a15db2308a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f58b576af6efbb06f364ae7e400fc14ccc243eb0a23fb395564c9399cc9b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c98da88dab345b9ff3e35dc163e07d05679a3d02fdf94caddde6019b4e89ba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAgKEAgSGAI4AUIIdGhpbmtpbmcSDDBmPyjN+hGko29ZexoM93FD3+oVWoh9tMz/IjDLWhbcWQnu0JdvomRSrMFStYB75P9BJxZOUDxY+dyG1X6e77XF+K6LdDBCKWA2bLoqpQfxjVPQT8cKX+2YtQT6ToF+Zpd4wNgdeW9sgcZ8Hcq7QagS33yRB25YR6Z/2m9egTz25Hp6hUsyuRR+LH14f11A7vC76QKjT3fdv55A9HHGeEz8Ap0MpKpkkrOjCW8lAiuJQNDBecOet5vfIttQLWtFhHhi9fp2cyNBMifvT6VDIzrk4iRb9jshha9558/79WAYCihXyJUjfCdX2VBXvG61xsMa4nUEqq9X5XMjG8LeA3iJan3K+cRXq+PxKXm5laa+rQthydpQktkCNGtlasRzTYKUG+HaPjqsPH55BTJ1RnLPSCyrjgKN1ryO4njh9DfjmDolP0a1DVt4Ru1mXelavlB3an+RWre5t82W/259d7aSq+N4UlC+STsqpYfRpadHtP9A3pu1qs8hzO9qB8qUNSdFSS06QlfT5BWzfBB31xAumF+8vH2FOfIm+Axtql6FuLFq+pzAKlGpZvRxohFiRVmsdPlBAtmEVloAzluiaMxc4XSWPRaEM5JxVP/pGt4gZipLIX2X71sVtaya/+HqamuJCHCh6wjYRSv0dNN8ZmU9nZSXzZU2fefLGd3/RlkBD0kVzizeaqLQGSJS52Pb+gHpwNnVvX94fQ/Mjc2j2HGup8H4mG28Fr8dWtliVa6yLbrVo7VAIryRKgN9iBjt/AsEXBbTPvptUtjPs1+hs6A3BtYKaHwi+yOvSMDzxnpKVnSCDimvEdorc3x4gUUVLOJopiXlaIGeL5EYq3HKPxRbqNZ/zWaK1Lw7JflDn+Lhgd1N8cB9kYgjUVXNjebjrLQO9ErqJHhKsNxmH15o8y4HWtG64fl6g6WsCO08NzCCqVWpqLMGwpMpJqUMksUv2VZ/v06kgCmHTPKRwJxTBZpeMXZY5VeyeJcmUcShFIJg6VFxk4VhJHbwGoylzaPpg1mIsHt6+R4X30NC5pPua3AYlMDFWD8h4JwCFy9NS+Twzl8lJofxFffdom4mVp4ukDzWjoeemvpJpalMbBLbbbHkxT/cbUC6iSfs9K0QtKrOyVXImtCU1oiLG2aS8a+wlPNczLLkaOHF0+bKhioSa22flGQmbVi/g9qVy1HXwsumzBG4QJiXIobPlQhys10knwT2CNOP12rxylB+jojIhq9/D5vsj2ZgMqwDcfydn9DWamklFTs+fEBYQPIMtyrr3fZjqOdYL72FsCl8auGKFyMsNgVKOIkoL/rKYrSWTghLzzCZGmOYiAZQcX+lT3VuJMHXkqUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0161a2ZJzj1TsgADu5UaQae5",
      "input": {
        "note": "Black marker is just ahead and slightly left of the jaw column in the right wrist view; shifting left ~1.5 cm and descending to table level to grasp it.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.025,
          "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_0161a2ZJzj1TsgADu5UaQae5",
      "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, 0.8062, 0.6151, -0.3805, -0.0219, -0.0376, 0.9996, 0.0925, 1.6108, 0.2108, 0.8402, 0.0383, 0.0265, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1816 left_yaw=0.0047 left_pitch=-0.0091 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3393 right_y=0.0283 right_z=0.0138 right_yaw=0.0319 right_pitch=0.0048 right_roll=0.0135 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -0.9641, 7.0632, 1.7314, -0.0366, -0.0024, -0.0171, 0.3624, -3.5487, 2.7145, 1.0427, 0.2466, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:435389a1efb648379b904677f92e1965ee448c308089f5c3787e6f9945215a42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba83a46d42248cfce2592ae4f03c371f6f2fd4bf436bc0dc3e413a9015a49ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4d98d0a9a043b5cabb49922f1e33edfb49e8fd240136add16d609eb12d07f78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 4.887 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, 0.6163, -0.3801, -0.0223, -0.0292, 0.9996, -0.0154, 0.7967, 0.6106, -0.3782, -0.0189, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2965 left_y=0.0018 left_z=0.1843 left_yaw=0.0001 left_pitch=0.0 left_roll=0.0005 left_gripper=0.9996 right_x=0.296 right_y=0.0024 right_z=0.1826 right_yaw=0.0002 right_pitch=0.0 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.6479, 9.3333, 1.7998, 0.0122, 0.1245, -0.0562, -0.7726, -1.4564, 9.7983, 1.746, -0.0513, 0.0708, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.804, 0.6151, -0.3805, -0.0219, -0.0341, 0.9996, 0.0208, 1.1587, 0.3141, 0.2413, 0.0002, -0.0181, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1822 left_yaw=0.0028 left_pitch=-0.0068 left_roll=-0.0037 left_gripper=0.9996 right_x=0.325 right_y=0.0103 right_z=0.0707 right_yaw=0.0162 right_pitch=-0.039 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.7299, 7.1316, 1.7411, -0.0415, 0.0171, -0.0122, 0.6222, -3.6581, 6.3795, 1.9267, 0.1245, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6151, -0.3805, -0.0219, -0.0376, 0.9996, 0.0925, 1.6108, 0.2108, 0.8402, 0.0383, 0.0265, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1816 left_yaw=0.0047 left_pitch=-0.0091 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3393 right_y=0.0283 right_z=0.0138 right_yaw=0.0319 right_pitch=0.0048 right_roll=0.0135 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -0.9641, 7.0632, 1.7314, -0.0366, -0.0024, -0.0171, 0.3624, -3.5487, 2.7145, 1.0427, 0.2466, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:435389a1efb648379b904677f92e1965ee448c308089f5c3787e6f9945215a42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba83a46d42248cfce2592ae4f03c371f6f2fd4bf436bc0dc3e413a9015a49ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4d98d0a9a043b5cabb49922f1e33edfb49e8fd240136add16d609eb12d07f78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wYKEAgSGAI4AUIIdGhpbmtpbmcSDGip70w0RZreMLSwoRoMupaMH26liXrtqh0QIjCu+cgwZo1k45Zotrnf/sekyFChfAYPfneGKgtE5STRrBNYj3e6zO7Ezq+94kR0CHoq+AUf9hDQaJrvg4MGNZYCCvtPto8PKmSMx+lHuqRwU1+X4RHxS6VSDLkDCgt59ooN1qICgKojCPBoPExtj5txODkb6AoxqHxX2odWFG6Z0S0QyvAXK4B3l+E1+osrO1RICH/6ulLQvMWe9jbfCLY+uwDOZKanm9+e2xwkssIdKCxFE0kdd39SX26Vycr1+mI+QYJ26JEXkLVV0EMcebtyQ6h3X1QMsnzYdCbhS07jlD59JFUf7JrUtgOfJjfToQHGVwrnlSrkHETQfPZf57UvsAFaY1hTwlgMUcRvM5YsX5zsmsIXFh07I2m6G1dj9GymPZcYYo1PquECzNgLym4uUxezGZruwEnFcBDyFUhohO2blDIie0J/npDaDJuJkzkPM+7vTeB/SypYfqm3zw51H9q7xuNio6w3cl9v/b2VR4DdffYQb3pIdBvQp2YNI+3mfXS2OPZmaqiNtZZxcWpNnA0UZ195yFx0/oPC6tCSFNdM0M6A4aQaJteYG0btleY45pIrziN9geF68Skt3UnE+sp8wUe992rNAjipmItjm647/UnPUZ860hUictt0+pExbaWftvQ/EWtEt9Owx6GhSY4BS3KWIWC5lNd9gLS5MtX5zYgze/U+7AHzlRfTgOc03J+azWRIgSkkddSvhTpxomhHk75e/+2STPSMgx5YGKYRu7THX/kPqwEoHo6y0uy159pUSk1RgPO1w4ewi+CbgXbosLGekTyz5orzyjk62AZ7LP/PpmkANrH+qhGNzcZWtbSQI5rKHe4wRROMeKHY5CTiq/L4FhRV2p3lCXxuQl6OEE3ljGRbmUs+RnTj9Ao/etSc5RlaOkHxozduWVjpysdV4jdnhPc1n86Ro2xQm00+YQRj/McSbzeeqjUG+xJab7TdZL03aakdEFfnM2D9rhW78jibzYQeg5L0W10GoRcmr6bLMLHXmtC5GZU7FB9AC4W4YMEEhZsF+Mfx5pwrudlQoeBSs3kz1amSi2e2ftW5pxiqIpdueImmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017FngscQrPSZG4uiKyKrq47",
      "input": {
        "note": "Marker is now centred between the jaws in the wrist view; pressing to table level before closing.",
        "targets": {
          "right_x": 0.33,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015CYvVSSRT2PAqDAN3eW9Pn",
      "input": {
        "note": "Closing on the black marker.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017FngscQrPSZG4uiKyKrq47",
      "type": "tool_result"
    },
    {
      "content": "ignored: one tool call per turn",
      "tool_use_id": "toolu_015CYvVSSRT2PAqDAN3eW9Pn",
      "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, 0.8062, 0.6147, -0.3805, -0.0219, -0.0376, 0.9996, 0.0925, 1.7199, 0.1806, 1.0466, 0.0338, 0.0383, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1814 left_yaw=0.0047 left_pitch=-0.0095 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3431 right_y=0.0294 right_z=0.0136 right_yaw=0.0292 right_pitch=0.0714 right_roll=0.0302 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -1.0872, 7.0496, 1.7802, -0.0513, -0.0611, -0.0122, 0.2393, -3.2342, 1.7299, 1.0183, 0.0611, -0.1343, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367918c0690a145c23761c4201f3affea34e98ce38630da5f5929d279d097b97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:519f54c9d59316673ff0f114bed480fc40bbe22db342ec97380f54aa828f2530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c78790bbadbd1d5541bb47da686e8f80c779bc45a70641e00bd8d61ea4cd2a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 6.077 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, 0.804, 0.6151, -0.3805, -0.0219, -0.0341, 0.9996, 0.0208, 1.1587, 0.3141, 0.2413, 0.0002, -0.0181, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0019 left_z=0.1822 left_yaw=0.0028 left_pitch=-0.0068 left_roll=-0.0037 left_gripper=0.9996 right_x=0.325 right_y=0.0103 right_z=0.0707 right_yaw=0.0162 right_pitch=-0.039 right_roll=-0.0043 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -1.7299, 7.1316, 1.7411, -0.0415, 0.0171, -0.0122, 0.6222, -3.6581, 6.3795, 1.9267, 0.1245, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6151, -0.3805, -0.0219, -0.0376, 0.9996, 0.0925, 1.6108, 0.2108, 0.8402, 0.0383, 0.0265, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1816 left_yaw=0.0047 left_pitch=-0.0091 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3393 right_y=0.0283 right_z=0.0138 right_yaw=0.0319 right_pitch=0.0048 right_roll=0.0135 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -0.9641, 7.0632, 1.7314, -0.0366, -0.0024, -0.0171, 0.3624, -3.5487, 2.7145, 1.0427, 0.2466, -0.0855, -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, 0.8062, 0.6147, -0.3805, -0.0219, -0.0376, 0.9996, 0.0925, 1.7199, 0.1806, 1.0466, 0.0338, 0.0383, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1814 left_yaw=0.0047 left_pitch=-0.0095 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3431 right_y=0.0294 right_z=0.0136 right_yaw=0.0292 right_pitch=0.0714 right_roll=0.0302 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -1.0872, 7.0496, 1.7802, -0.0513, -0.0611, -0.0122, 0.2393, -3.2342, 1.7299, 1.0183, 0.0611, -0.1343, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367918c0690a145c23761c4201f3affea34e98ce38630da5f5929d279d097b97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:519f54c9d59316673ff0f114bed480fc40bbe22db342ec97380f54aa828f2530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c78790bbadbd1d5541bb47da686e8f80c779bc45a70641e00bd8d61ea4cd2a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDMj0g0Ky+p7FKqjv+hoMZd10B1jwKTZgLWP3IjDJ8ohh0avsF1Fyb9kEocqhDGrHP0cL3IihPCEFW4A7FvBDnPzc4nmDaiMs+ZPULvIqggfkOQArJnEjoE7oTmtdlip2kbjj5XRl/CVhL22fEV2p+FPlgXQ9kb4WkBOwP7kFivoJdkqRtqWSwejPmSMeVdo0NUurUZJpeVxH7S/CSs1lALiwh74XGEh0216rMlYNcM7VxAWhjdu77XpwiaZnslUhh/VCJdJdlXcYzHIA/j4TIo95uv6rh/pITpjdn+Lc0DQDSJ1y/lqnnIsz+mjgiN/83e82sRFg8jwMQ1D2a8lssiQDVhOOVokqDwL2McNOLEllf4XObrpecoE87dbKBy/Vk2A0ADYM874Y+rfP8e7T7tx8uofvg7OIjpXOU5SklWgTaYeDRU/eTTz4y34LfKFbDs1IbPhdD6HyuS/ysSWxfexe9MU5xccwGzHavIzIVVVRGygCexw9iAjs8cvDHvk/C5r4CyNiyXpb7CbTdMRTCVJzuk2XtJuyGkZdzo0nkRyiwd1InktcZVaKJOvMtIXkdHZ8OrQHZchd+J8VNlIynMrfn6JMONmOzhKgXT1nehCVztN0FJCXMe02xcwyYXitkReIjlUsakNCO5VpZfO18BD/th6TfkdljaE9U+PWoPdJnE4IBZvnvSJ+Yq+46d9wt+qJ+Dd3dWwykQn0YN1QoX7K7i9nvkpkJ4ffoTqNTqsBJuM9AF/I13Oqdp9ipRcQ/hp3Ify1hSj4pX/cVsdUKGtobgDRY3rXmW3bjuO0XWN+MbsKpR5TGZw2nVMNsjvTvg6SG+o5YmCZzClptXEW2cT4K+jXuWWpWwgfm+CYWCgFbT+g6GitCJoPehP4YApz+E7SQ2DF4HSjuAhnyA0e3LlC4ObE1yN3koHOMJbFkpC3NSAI9h2lvUjnC/tJ14e4qP8BMHbwcmHgUe9P6sCqx+E+iLnv7DNO+/Rg3p49djfQ7DSA5phySXEHWqtjLjOKyI+gLqzRMNo4Cs8Xe523YguiyktiGV5DF/TO9RW/4T+ftn0yxUVun5PUrdAYfmBKoZeHBJquwwElJt5TC4EM6HFgJVlYwwvIXM1FrzmJhtYzuqVC7L3oXswCUlyt6tIXJLMfaGY3/VcHevHDp24XtuSLmIaMvkJEOOuQIcjUcVEaMcWRd+FwtjIsjJ66EVdw5+co8DQTFkYgL+uy1i56OV3AyS1LR+/hOhUoyk9wFu31/oXqM49LxwONAgSXY/l+67dj8fKDsV702JupjPyScUXSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011jFgfPCN15SJE4uwvt3Ld4",
      "input": {
        "note": "Descent stopped at z≈1.4 cm with the marker centred between the jaws; closing to grasp it.",
        "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_011jFgfPCN15SJE4uwvt3Ld4",
      "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, 0.8059, 0.6147, -0.3805, -0.0223, -0.038, 0.9996, 0.0914, 1.7206, 0.1772, 1.0573, 0.0257, 0.0376, 0.1471]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1815 left_yaw=0.0052 left_pitch=-0.0091 left_roll=-0.0067 left_gripper=0.9996 right_x=0.343 right_y=0.0305 right_z=0.0147 right_yaw=0.0353 right_pitch=0.0777 right_roll=0.0337 right_gripper=0.1471\nstate[joint_eff]: [-0.1436, -1.1145, 7.0632, 1.7118, -0.0513, -0.0366, -0.0122, -0.2256, -5.2034, 3.6855, 1.6581, 0.0317, -0.0562, 0.989]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:128faed97e3f768b5cb4a967478c4e5bc3dc67d2e990e92d2da3a325ba7cbc3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e28ad7f5f7fe3a32f53220ad7162d975b77ba029f0ab34d111e75d13089fe52d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f28dd0eb098ed522736445979278aeb3f0187fd86d45ea9b1b29d0afc4da4671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 4.411 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6151, -0.3805, -0.0219, -0.0376, 0.9996, 0.0925, 1.6108, 0.2108, 0.8402, 0.0383, 0.0265, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1816 left_yaw=0.0047 left_pitch=-0.0091 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3393 right_y=0.0283 right_z=0.0138 right_yaw=0.0319 right_pitch=0.0048 right_roll=0.0135 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -0.9641, 7.0632, 1.7314, -0.0366, -0.0024, -0.0171, 0.3624, -3.5487, 2.7145, 1.0427, 0.2466, -0.0855, -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, 0.8062, 0.6147, -0.3805, -0.0219, -0.0376, 0.9996, 0.0925, 1.7199, 0.1806, 1.0466, 0.0338, 0.0383, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1814 left_yaw=0.0047 left_pitch=-0.0095 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3431 right_y=0.0294 right_z=0.0136 right_yaw=0.0292 right_pitch=0.0714 right_roll=0.0302 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -1.0872, 7.0496, 1.7802, -0.0513, -0.0611, -0.0122, 0.2393, -3.2342, 1.7299, 1.0183, 0.0611, -0.1343, -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, 0.8059, 0.6147, -0.3805, -0.0223, -0.038, 0.9996, 0.0914, 1.7206, 0.1772, 1.0573, 0.0257, 0.0376, 0.1471]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1815 left_yaw=0.0052 left_pitch=-0.0091 left_roll=-0.0067 left_gripper=0.9996 right_x=0.343 right_y=0.0305 right_z=0.0147 right_yaw=0.0353 right_pitch=0.0777 right_roll=0.0337 right_gripper=0.1471\nstate[joint_eff]: [-0.1436, -1.1145, 7.0632, 1.7118, -0.0513, -0.0366, -0.0122, -0.2256, -5.2034, 3.6855, 1.6581, 0.0317, -0.0562, 0.989]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:128faed97e3f768b5cb4a967478c4e5bc3dc67d2e990e92d2da3a325ba7cbc3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e28ad7f5f7fe3a32f53220ad7162d975b77ba029f0ab34d111e75d13089fe52d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28dd0eb098ed522736445979278aeb3f0187fd86d45ea9b1b29d0afc4da4671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwsKEAgSGAI4AUIIdGhpbmtpbmcSDHjNDPmN5vxjQfp2qhoMDzLKQNFJ74aLX3BEIjC86kRdLDt9zbQ5H0KAFOBelgzVzGDiC5FxytWus+MLUO5CMmYo7gBufqEQOueFSaAqyApAgQmP8ABzDylG5LJcnGFlScxpnhUCelGjpbX9XLJ63qgQksKIxtqyn9RTHihsxt+U6KfGi/At04ap/eBVlLikhEbcI9nLrDBPud4nfijAcNzVHjarrPP35iPix6GqdmyUsSZv+xHaTILArPLmCGrA64camTCe3Q5M+X1olNeigTw/faTxbF/dc9KGqKzgrpwrTxZjEHJaP/a31YW8ljrGWugkfekeA71PjBRx4/zFonM04DBFJq/hHgUOsprbcvtLPEj66DEy6ffhlZEX4Um3NqjTwTWn5P1GLiQQOP18lZK7SMGvmKNEyuSGeX/XlskHbOLmAGmhrQTqTF+pWTSu1AdaRJD0TI+mhCdQ7bZMo7jwh5ebhnFzyj+4J3ztMZA8VqUXa3IwN36l8/I9zOpBNLGVVNSrtNDZxEL+TsVTOAtpsKUJTrSAvyR+8InDGgdKbOOCUGG/Hl55ca+iXdtakh26iNPw4W7EdUZJIQceHykpziCmC01KiqejAzWpKrmMUW1vREXn0Tf/9E6xyuWRdeDCKpLaaziItH6PKxjr8QdoTHREP0yt4RbNMY0j8m2pdIrLvFPlMRUMT6GME3Q+E3ZetDkMWnvJdBSDRV1TxX85oxUvvv5+HXwrfEXx9geW2Gxoj60j4NQaRC0AucUTl/5mTtdAf72Wielki+Fi4Z0A66Rcz2T8Xcioite+FzGxGb1Kjv+HjDTE7HyswOCCUJUnnC4JO/txoV7WxM1WWkWLsuoqyvjLGX5Bx7HDJKdPb2KCBtGEm3CDwyz6BRRIEm1X/9AAc+ppeU9HTr6du2iXsv2yEVVcdFQtcnLl5+DIX00WFDdGzkJDk9I7DleO6ZtmkHg6+q+tT7x1ta+B6E+br3SZRH+K08rzSjLvpSOSPKF60AEw7vQN3vI7x8WhVv1+R/BGOinvU+dbKq6xjFlZ9sJwQo4Npc4v+FTkZinSlu0LByCIP9AYbKWPCpYMkvFCtm54u77B6aWCjtL6the82z7CLL/YWEDdegTyO1v7HMG8kHg6hRaOSya9ncJ9HFn9ipX72tZOXC8CKQo3OEN4OxrJ6EwZ/g9i1pqr7I7as/Mp4OGGq6DuDh4/ctyzE4NGRi86UWl+EATKzOJ94zrqdzKbJpVFbl+gJZ2CM9vbxFxa/sd+vyegDUcxOhglG92AFlvdC/rhr5VQiv0XcWbpzqP04YWdOIa9FIwpNfwiDKjz356R5fb/3danPkc1VdypN8MNEy5+ldMADkPO/yemoTpAFouYn4C7HX+jzjRb7RxnKupnJ7bJZYvmEEX2xFICT4oYuqotIRnc2G83R8Ce9tPuGkZCZqq7XqrkHftUMvEQ5nSxbXvhvFIToQ2DwhmoMRIJ28CKZJPdUZMivIGYVNbnCJip3Mbs29yjEEz1QIYTFZSBKy5tohVuvk7Pg3R+hukgJMaKBmauDoauzG1kF10AVcxcXeopv1eKIKGi2U4k1KQcHDv4H61eWE7CYKI3Q8mqiYBjTZxuSc4HYlMdVEvIss2dldp+A3m9PmblfO2LON99JV70ckcpb4pmlRuL86In+Sz7tjjrgOZ1Qb7uZ16RdVFXPzFOEdddslG9W0tGYRlY/D+cXLHPpOu7f5SCM9pTJ9kFYIXSWRv30mHU0+Lo1zyTMC+cRx9gzjfUX6iyiluv3G+xYKWICZYgAi9Yjj3QyitUOhWV0XaIcRh7Hal4qQYMhS8qY7MEJxuUT87NCFMlyFv2r1kna4fMI3djj7zK8vPH7Hyf/dSQbPxUfvLxXgXOUTq298V0tqHLRDAPBnSGXBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FLE96nna9BYgGw6eWNeJ8v",
      "input": {
        "note": "Gripper settled at 0.147 (~1.4 cm), so the black marker is held. Lifting straight up before carrying to the right basket.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01FLE96nna9BYgGw6eWNeJ8v",
      "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, 0.8116, 0.6113, -0.3805, -0.0219, -0.0376, 0.9996, 0.0914, 0.9966, 0.6483, -0.1764, 0.0219, 0.0299, 0.1518]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1784 left_yaw=0.0047 left_pitch=-0.0183 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3396 right_y=0.0308 right_z=0.183 right_yaw=0.0427 right_pitch=0.0393 right_roll=0.0268 right_gripper=0.1518\nstate[joint_eff]: [-0.1299, -1.7162, 7.5282, 1.7314, -0.0513, -0.0269, -0.0122, -0.2256, -3.412, 9.5111, 1.7705, -0.0317, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dd0d2f44e46b8bd45454a5c25d7b0ed1b0fdb0be178ca98e19ad123faf7abf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6502d8d0b9102e210bc5a7caf3e50aa1231da774641b275ad8194a0c802bec39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e9bff73368b7872d6fd86e7ba169fd57e7db0a286a1fe8b10a79d7bbae29477",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 3.356 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, 0.8062, 0.6147, -0.3805, -0.0219, -0.0376, 0.9996, 0.0925, 1.7199, 0.1806, 1.0466, 0.0338, 0.0383, 0.9997]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1814 left_yaw=0.0047 left_pitch=-0.0095 left_roll=-0.0066 left_gripper=0.9996 right_x=0.3431 right_y=0.0294 right_z=0.0136 right_yaw=0.0292 right_pitch=0.0714 right_roll=0.0302 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -1.0872, 7.0496, 1.7802, -0.0513, -0.0611, -0.0122, 0.2393, -3.2342, 1.7299, 1.0183, 0.0611, -0.1343, -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, 0.8059, 0.6147, -0.3805, -0.0223, -0.038, 0.9996, 0.0914, 1.7206, 0.1772, 1.0573, 0.0257, 0.0376, 0.1471]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1815 left_yaw=0.0052 left_pitch=-0.0091 left_roll=-0.0067 left_gripper=0.9996 right_x=0.343 right_y=0.0305 right_z=0.0147 right_yaw=0.0353 right_pitch=0.0777 right_roll=0.0337 right_gripper=0.1471\nstate[joint_eff]: [-0.1436, -1.1145, 7.0632, 1.7118, -0.0513, -0.0366, -0.0122, -0.2256, -5.2034, 3.6855, 1.6581, 0.0317, -0.0562, 0.989]\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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6113, -0.3805, -0.0219, -0.0376, 0.9996, 0.0914, 0.9966, 0.6483, -0.1764, 0.0219, 0.0299, 0.1518]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1784 left_yaw=0.0047 left_pitch=-0.0183 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3396 right_y=0.0308 right_z=0.183 right_yaw=0.0427 right_pitch=0.0393 right_roll=0.0268 right_gripper=0.1518\nstate[joint_eff]: [-0.1299, -1.7162, 7.5282, 1.7314, -0.0513, -0.0269, -0.0122, -0.2256, -3.412, 9.5111, 1.7705, -0.0317, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dd0d2f44e46b8bd45454a5c25d7b0ed1b0fdb0be178ca98e19ad123faf7abf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6502d8d0b9102e210bc5a7caf3e50aa1231da774641b275ad8194a0c802bec39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e9bff73368b7872d6fd86e7ba169fd57e7db0a286a1fe8b10a79d7bbae29477",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QgKEAgSGAI4AUIIdGhpbmtpbmcSDGyxuaqAA2JjkLm4ThoMpqYfp3HJY9H/B+VOIjCZDc2Sutdv9o3leAuEnnfw56CcUQVNpA5zubTinZ1/WDlGckGCZOckfbOIxKxwqyIqjghfBKCREVUF7h6q1xhBUlm3owFpM5MSI6nxMSj5j6oyVCVxQc5BO8XSew3Y5oljl3yRfdSrQeQhzvFD7rux2hBgQFP35phe2gSyZNa04WYoTA0fxS6Co7uzZ3zSY88GuUmLXP0AVuO17KhoKhI6vEj2ulUpyxxDAp4TWpnEgtWtCMzQ4v3/GkBpBjOxcwFWun3e4CNIo52Q2nUuvy2PQsdgwdJr5wza8d+R1co5RCASmNPrSxOmnYIP5JpZbWSxNCNPHdSRZeBKsTCrcQr3L/Q5x/RxNMOHeDEubVGrWJ+NZ3j5xLzLTi4NPKFPguF/YpeBUqsJBa9ZBP4J56FOyxBTHcFScSbQIdXQKqAwoxXkWQzoLVg7YYP+9hkhXHVgbXA5VBG2aIL+SVacahvPRHVMmzxs0YWgJJc+GbRzpsE4YUZXZfR0p87Q9Jw4HBCv7ua9kw2RzJx4ffb1/mPgmA0WjKfFQenD0FduYUWTLsfLAhXKdP8MeaByOI4X9rk1jRsirFrao2K5/qwgbevvaZAswMR9MKkTKEzYCQ33JRPGHp0k8QtdaYb+7ZWFKZ3Ite6RmJcOQ75mCGNpJDOxiJw2lMd1Au1yuAd4y4Qb8rfM0Fc822Mx6x4QdiGBhTL7Ga7434BoaVxKPUnb+tM4iUq6UCMq4mlwmO96TbUxMzoqOI6Pi87Y+HZJQIBBrHzya0TA9DFI1tyaYX0Otk7/7hFAhy5W980j8D1o48Mz/2wuRNt2usAifT3SwbLcow77YhcphqPZmsCM7TYIlvlyWI49bmk2F489In9JvWgu0MP1XbZ8nDOzAsfnBo6c9FkgTiCmRqfmPKXsaQ6cyFrAh3B2lOTPrzJcwvhhMvBGlfmsgtH7qAhyOsriZLYNjY+BQZNJ5ImIwA7avyC0UkxW5RaCpy1jPS4ivryZHvMkaFvAXvvtOY7Mkh/sQvh6emEB5Nkm9GEzvsb7Pvxeiwbxw1scj7JqMkyMlgudxHe4FoCkdC4wsWkg92HVkVAX2FFdjelr4zPl3+Q/f2RMUcSg20TVM4gSheXOUlRmiKquB9up0MjcuMygqRbq4QOCCkrFO2U9M3SZfiElq65MOYHfmw1IwoL4BdIkKQn4sj7oD7ViXaXj0tIUh2GUZ9NMho4j3oXA+soajK+V5jd7ANxhYHndOInQeji6BiCAr2Emkgik8/3myUjT+9Xa0vZhOYHAN8rgBqZW1IwcOdaVYtuupKsNYeRLsuJFtqzLun6Ey/E3N0zZQBN5yJskiCsLZq8aWPPms4vJ7ZFnqlSMDgcoO3WjpIHd8h5/7psEr66uTP0dD2czuO4NU7TnEdqBX24UZrER/fHUMDVhP/RHn1ziQlGq3XlL/3/XQxVLrGTGYgsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017EVQ3Lcx3pdahkaCin7BN2",
      "input": {
        "note": "Marker is held and lifted; right basket appears ahead and to the left in the wrist view. Carrying over the basket.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.13,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_017EVQ3Lcx3pdahkaCin7BN2",
      "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, 0.6109, -0.3805, -0.0216, -0.0376, 0.9996, 0.3477, 1.6203, 1.14, -0.1162, 0.2276, 0.1432, 0.1533]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1767 left_yaw=0.0043 left_pitch=-0.024 left_roll=-0.0064 left_gripper=0.9996 right_x=0.4623 right_y=0.129 right_z=0.1798 right_yaw=0.0654 right_pitch=-0.0148 right_roll=0.0038 right_gripper=0.1533\nstate[joint_eff]: [-0.1709, -1.6889, 7.0769, 1.7265, -0.022, -0.0073, -0.0171, 0.1846, -8.294, 9.5658, 1.9512, 0.1734, 0.1099, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80a3a368a9ad0e6d5249db87e1bf8eb3e505a421cba20cc368e1a25c1a28fd70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d76e81545a675ebbff3e972ce755798d85d067e738acdea95cb1f720f972d518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94c90c09c4b6501727483fcbddffc0a621d84ddb6680a85f7bca0a5f4b8b284a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 12.52 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, 0.8059, 0.6147, -0.3805, -0.0223, -0.038, 0.9996, 0.0914, 1.7206, 0.1772, 1.0573, 0.0257, 0.0376, 0.1471]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1815 left_yaw=0.0052 left_pitch=-0.0091 left_roll=-0.0067 left_gripper=0.9996 right_x=0.343 right_y=0.0305 right_z=0.0147 right_yaw=0.0353 right_pitch=0.0777 right_roll=0.0337 right_gripper=0.1471\nstate[joint_eff]: [-0.1436, -1.1145, 7.0632, 1.7118, -0.0513, -0.0366, -0.0122, -0.2256, -5.2034, 3.6855, 1.6581, 0.0317, -0.0562, 0.989]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6113, -0.3805, -0.0219, -0.0376, 0.9996, 0.0914, 0.9966, 0.6483, -0.1764, 0.0219, 0.0299, 0.1518]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1784 left_yaw=0.0047 left_pitch=-0.0183 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3396 right_y=0.0308 right_z=0.183 right_yaw=0.0427 right_pitch=0.0393 right_roll=0.0268 right_gripper=0.1518\nstate[joint_eff]: [-0.1299, -1.7162, 7.5282, 1.7314, -0.0513, -0.0269, -0.0122, -0.2256, -3.412, 9.5111, 1.7705, -0.0317, 0.0269, 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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8169, 0.6109, -0.3805, -0.0216, -0.0376, 0.9996, 0.3477, 1.6203, 1.14, -0.1162, 0.2276, 0.1432, 0.1533]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1767 left_yaw=0.0043 left_pitch=-0.024 left_roll=-0.0064 left_gripper=0.9996 right_x=0.4623 right_y=0.129 right_z=0.1798 right_yaw=0.0654 right_pitch=-0.0148 right_roll=0.0038 right_gripper=0.1533\nstate[joint_eff]: [-0.1709, -1.6889, 7.0769, 1.7265, -0.022, -0.0073, -0.0171, 0.1846, -8.294, 9.5658, 1.9512, 0.1734, 0.1099, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80a3a368a9ad0e6d5249db87e1bf8eb3e505a421cba20cc368e1a25c1a28fd70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d76e81545a675ebbff3e972ce755798d85d067e738acdea95cb1f720f972d518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94c90c09c4b6501727483fcbddffc0a621d84ddb6680a85f7bca0a5f4b8b284a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Marker is over the basket interior. Opening to drop.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01StU3JGN5BUPfyA8SwXFEvu",
      "input": {
        "note": "Right wrist view shows the marker directly above the right basket's interior; releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01StU3JGN5BUPfyA8SwXFEvu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6109, -0.3805, -0.0219, -0.038, 0.9996, 0.3477, 1.6203, 1.1378, -0.1223, 0.2245, 0.136, 0.9952]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1766 left_yaw=0.0049 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9996 right_x=0.461 right_y=0.1291 right_z=0.1775 right_yaw=0.0718 right_pitch=-0.0233 right_roll=-0.0029 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.2239, 7.0632, 1.7118, -0.0415, -0.0708, -0.0171, -0.1162, -7.8154, 7.3094, 1.7265, 0.0269, 0.0171, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45a1facb6f1b1e55597f6d7bfcd918872759cef3daae502b93d71e1d436dc59b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48a9b9bd6d3393ad3d734c2084ddfa37bc3b4ec23bb67abfe4deb20be700b23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8db1fe5e996bff53df4c1a8ea5b4053bb29dcf5a4a41c30dc92e40e86fd73b7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.729 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6113, -0.3805, -0.0219, -0.0376, 0.9996, 0.0914, 0.9966, 0.6483, -0.1764, 0.0219, 0.0299, 0.1518]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1784 left_yaw=0.0047 left_pitch=-0.0183 left_roll=-0.0063 left_gripper=0.9996 right_x=0.3396 right_y=0.0308 right_z=0.183 right_yaw=0.0427 right_pitch=0.0393 right_roll=0.0268 right_gripper=0.1518\nstate[joint_eff]: [-0.1299, -1.7162, 7.5282, 1.7314, -0.0513, -0.0269, -0.0122, -0.2256, -3.412, 9.5111, 1.7705, -0.0317, 0.0269, 1.033]\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]: [-0.0189, 0.8169, 0.6109, -0.3805, -0.0216, -0.0376, 0.9996, 0.3477, 1.6203, 1.14, -0.1162, 0.2276, 0.1432, 0.1533]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1767 left_yaw=0.0043 left_pitch=-0.024 left_roll=-0.0064 left_gripper=0.9996 right_x=0.4623 right_y=0.129 right_z=0.1798 right_yaw=0.0654 right_pitch=-0.0148 right_roll=0.0038 right_gripper=0.1533\nstate[joint_eff]: [-0.1709, -1.6889, 7.0769, 1.7265, -0.022, -0.0073, -0.0171, 0.1846, -8.294, 9.5658, 1.9512, 0.1734, 0.1099, 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]: [-0.0189, 0.8173, 0.6109, -0.3805, -0.0219, -0.038, 0.9996, 0.3477, 1.6203, 1.1378, -0.1223, 0.2245, 0.136, 0.9952]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1766 left_yaw=0.0049 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9996 right_x=0.461 right_y=0.1291 right_z=0.1775 right_yaw=0.0718 right_pitch=-0.0233 right_roll=-0.0029 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.2239, 7.0632, 1.7118, -0.0415, -0.0708, -0.0171, -0.1162, -7.8154, 7.3094, 1.7265, 0.0269, 0.0171, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45a1facb6f1b1e55597f6d7bfcd918872759cef3daae502b93d71e1d436dc59b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48a9b9bd6d3393ad3d734c2084ddfa37bc3b4ec23bb67abfe4deb20be700b23d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db1fe5e996bff53df4c1a8ea5b4053bb29dcf5a4a41c30dc92e40e86fd73b7e",
        "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_01B1tFsmPwukuWXhEdUGoyw5",
      "input": {
        "note": "The marker missed: top view shows it back on the table beside the blue pen (the grasp point was short of the basket, which only looked centred in the forward-tilted wrist cam). Returning to re-grasp it.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.07,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01B1tFsmPwukuWXhEdUGoyw5",
      "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, 0.8249, 0.6106, -0.3805, -0.0216, -0.0376, 0.9996, 0.2985, 1.2282, 0.3931, 0.2119, 0.1787, 0.1085, 0.9963]\nstate[eef_state]: left_x=0.2975 left_y=0.0018 left_z=0.1743 left_yaw=0.0043 left_pitch=-0.0324 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3316 right_y=0.0729 right_z=0.0771 right_yaw=0.0754 right_pitch=-0.0474 right_roll=-0.0045 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.5521, 7.3778, 1.7167, -0.022, -0.022, -0.0171, -0.9094, -4.041, 6.2154, 1.9316, -0.0073, -0.0806, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dade262b0b1ef210fc2d7a6530ba1f8120a02e24b47ed88a260b4d5286d58a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:655c45ff619f1f6eaa0c596740f3c515439c2d2e5e14c23e7c011d3669a4b8a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a39147f9dd693b6ba0e027039bd64f53454a5c44ca2d5c4713dc98458473f473",
        "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 · 5.151 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8169, 0.6109, -0.3805, -0.0216, -0.0376, 0.9996, 0.3477, 1.6203, 1.14, -0.1162, 0.2276, 0.1432, 0.1533]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1767 left_yaw=0.0043 left_pitch=-0.024 left_roll=-0.0064 left_gripper=0.9996 right_x=0.4623 right_y=0.129 right_z=0.1798 right_yaw=0.0654 right_pitch=-0.0148 right_roll=0.0038 right_gripper=0.1533\nstate[joint_eff]: [-0.1709, -1.6889, 7.0769, 1.7265, -0.022, -0.0073, -0.0171, 0.1846, -8.294, 9.5658, 1.9512, 0.1734, 0.1099, 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]: [-0.0189, 0.8173, 0.6109, -0.3805, -0.0219, -0.038, 0.9996, 0.3477, 1.6203, 1.1378, -0.1223, 0.2245, 0.136, 0.9952]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1766 left_yaw=0.0049 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9996 right_x=0.461 right_y=0.1291 right_z=0.1775 right_yaw=0.0718 right_pitch=-0.0233 right_roll=-0.0029 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.2239, 7.0632, 1.7118, -0.0415, -0.0708, -0.0171, -0.1162, -7.8154, 7.3094, 1.7265, 0.0269, 0.0171, -0.1099]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6106, -0.3805, -0.0216, -0.0376, 0.9996, 0.2985, 1.2282, 0.3931, 0.2119, 0.1787, 0.1085, 0.9963]\nstate[eef_state]: left_x=0.2975 left_y=0.0018 left_z=0.1743 left_yaw=0.0043 left_pitch=-0.0324 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3316 right_y=0.0729 right_z=0.0771 right_yaw=0.0754 right_pitch=-0.0474 right_roll=-0.0045 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.5521, 7.3778, 1.7167, -0.022, -0.022, -0.0171, -0.9094, -4.041, 6.2154, 1.9316, -0.0073, -0.0806, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dade262b0b1ef210fc2d7a6530ba1f8120a02e24b47ed88a260b4d5286d58a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:655c45ff619f1f6eaa0c596740f3c515439c2d2e5e14c23e7c011d3669a4b8a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a39147f9dd693b6ba0e027039bd64f53454a5c44ca2d5c4713dc98458473f473",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wkKEAgSGAI4AUIIdGhpbmtpbmcSDHsbLH4gagetsUABiBoM0smYmyWWAOqw83F2IjD3uZKmhuuP+edcYTUSZl3wGy4ookwyvijyCuabWIWVaVj2Txv5QxAFgUdvAcaAWtkq/AhEOQPd/VO8b5JE0qWtsWLUtfCuZ7cCzV18Kl4VqwxVXcN3EMvNpj6ZT1dFad+JuMRknYQuaXOypZtLhrKfMPDZiyFsXUJ2ImqRYji3jP8J0WT8CofYKiXXMIwSYOW3mASc7U0zZ5DdQdHMINSQDcAEv2+IEdYyUt5yrSrlboVUyDGmMg6cWSZ6OoRGTPB/jsoHva2GRSPek9MomzXntQFo/bpvTRJ4KMJAbaLAFRbY6fsaXFjgTkgnZlY4faQRsuKP4JRD1z2wIooJKBAS/eUb5ixdEPP9i2wOZdTyyeNh0QJKsLN3Z+c5mFtdKao1D7rBpkwcaPjXUXQhkO0exIFZPKMhHSeW6OJi6GPWTGuopmwTL0W/vk5Rxgdd68V06MmPxrUDxecvJmqPCk+QqcwEDKCSO80jqFbUqWNO7TSHDlb641AvPF5Hq2qiYi5rO30mO/EEOurA1JMxSNJgu3KlhbDgUD4Tio1nurnleqteKQVGHnxgBSTHxSq5LFCQDX9az6O2brh4SFWE5Ichp4P2h0kev//583ZlpEPXu+3XI/tK9/rbNX1c7ua7ZcxBtt+ZwN1lKMOB/sFsYfSPuBcMAs07PtoSS9AaaO/OUt+ltaermkA+RAQBqKnSxQis2pPExkOjOU0JRfinJOBGX28mYZ0MAGrWAxcMWL4MfftPByxu97JqDe5jxG64PsBDJ8bv6Lx4PWp3rKLIsWRDDbJhk+ka+Kc78q7b4bIaSCOCZlhVbAJekAFF76oa34c+vdF+iHz8jLsqi+u6l0dL+PCHzjSHXopJcw9Vy51lGcfSA1+PVI4fzHYyJk3XV99fsZle9gnFhLMuArDaCn1mvYCX5Ke1ip5/Y8Z+i8BdfzXVsE5z49cJPugsOq+etYUJA2GqBmKa6SLcQLQ+JF7JCpsql9oU/wEQMRXPnU3BMJYPC+9RFwhv3SsaY8cSwxrs2Iq5nFNELt5kNnUVyQ6yWE3PUVVcoa+wyQpvkZvpLxdC+LEvh7exvr1IzeLCfgoM5dyUDqbFYNXhCpux1vXDOaZlVUNtpvWlJGkLyNlgAp+BC+FzyxUFEEEAkdQS0f8seyoJsR6HbCu6g5IqERhNzzLTp1UWH659aOtRa12EqHhufRkNAZgWp9+8KIumeiP6YBkStdjAY8NY4iVHc6h/loA6YZJKfKfY0+g/QSdkw/euiDsttw9/Q6DTj9+vsQRx/pHD12YMaCBVR9ddB+gzZgnYqg8XeN3oNHiBZTJPuw6FyUSrWbT6UjrmPW4wqrHMLHH7Th3My0nPCp39GI3zq7sA8T6D+ZRbGjKjDRRTT7IOrejJTZZ20TF5Y3uiM0PXqd/PArz5Qsl0vU3Fe12/zTzihc0QWFttr7fCWWjqW09xSWzvt6peDaVm1cpChUTXpJAqXxrA+VjyF3Zh2XSqioiq6CiKYUpOdP/GzaOOuxTz2jO3WjczMJKTTt2BphhzTnFBRKQZGU1X7bikx9xr4Q5nNYakH+X+efSftMY8e2pmTOPh40NQFqTWnClYfBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ZeedHAMHJpbVxZtsRRjBg",
      "input": {
        "note": "Wrist view shows the white/black marker slanting just left of the jaw column with the blue pen further left; shifting ~2 cm left and descending onto the marker.",
        "targets": {
          "right_y": 0.093,
          "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_015ZeedHAMHJpbVxZtsRRjBg",
      "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, 0.831, 0.6102, -0.3805, -0.0219, -0.038, 0.9996, 0.3866, 1.6497, 0.2886, 0.7757, 0.2352, 0.1627, 0.9964]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1725 left_yaw=0.0049 left_pitch=-0.0389 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3404 right_y=0.098 right_z=0.0146 right_yaw=0.0876 right_pitch=-0.0032 right_roll=0.0193 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -1.4017, 7.1043, 1.7314, -0.0317, -0.0659, -0.0171, 0.4171, -3.6581, 3.0427, 0.9988, 0.2222, -0.0073, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22984e830ddc41825693d1be9fccb23075e714457e9d82687831e868d5d22755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd2eaa8ca2ac0ec3bea65f037c26df8ca017570075af6bde97db3daedf968f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a7042cb0473a31f38e8c9f9ff89b8646b4a5a2e19da2f9c2c03c29a70dd430d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.729 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6109, -0.3805, -0.0219, -0.038, 0.9996, 0.3477, 1.6203, 1.1378, -0.1223, 0.2245, 0.136, 0.9952]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1766 left_yaw=0.0049 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9996 right_x=0.461 right_y=0.1291 right_z=0.1775 right_yaw=0.0718 right_pitch=-0.0233 right_roll=-0.0029 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.2239, 7.0632, 1.7118, -0.0415, -0.0708, -0.0171, -0.1162, -7.8154, 7.3094, 1.7265, 0.0269, 0.0171, -0.1099]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6106, -0.3805, -0.0216, -0.0376, 0.9996, 0.2985, 1.2282, 0.3931, 0.2119, 0.1787, 0.1085, 0.9963]\nstate[eef_state]: left_x=0.2975 left_y=0.0018 left_z=0.1743 left_yaw=0.0043 left_pitch=-0.0324 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3316 right_y=0.0729 right_z=0.0771 right_yaw=0.0754 right_pitch=-0.0474 right_roll=-0.0045 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.5521, 7.3778, 1.7167, -0.022, -0.022, -0.0171, -0.9094, -4.041, 6.2154, 1.9316, -0.0073, -0.0806, 0.105]",
      "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, 0.831, 0.6102, -0.3805, -0.0219, -0.038, 0.9996, 0.3866, 1.6497, 0.2886, 0.7757, 0.2352, 0.1627, 0.9964]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1725 left_yaw=0.0049 left_pitch=-0.0389 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3404 right_y=0.098 right_z=0.0146 right_yaw=0.0876 right_pitch=-0.0032 right_roll=0.0193 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -1.4017, 7.1043, 1.7314, -0.0317, -0.0659, -0.0171, 0.4171, -3.6581, 3.0427, 0.9988, 0.2222, -0.0073, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22984e830ddc41825693d1be9fccb23075e714457e9d82687831e868d5d22755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd2eaa8ca2ac0ec3bea65f037c26df8ca017570075af6bde97db3daedf968f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a7042cb0473a31f38e8c9f9ff89b8646b4a5a2e19da2f9c2c03c29a70dd430d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQkKEAgSGAI4AUIIdGhpbmtpbmcSDNdoUA+UE2D7K4HnHRoMtbuqWXKN0vrE7wytIjDTZuqKykpIM+8K4JtmBf/7ycdlgKZ7ItNsJ2CljpcAbV4QVcAaYk0oDRM/Qi4kGecqoggZ4kiFEizfBZ16HVvdEq5d2aaTB15sPQ//4pAXQAmWDIxTzBHRIINGKUK7ZDR2Vt2O4cRaTUI5zsIebl4gzSXWitjIEZl4SrZYWa3W5LwJsoRnOdfyeORS/R3XIeM2cDaA3OeuNdaLQ6cWcSs+K6GgSuG9pl6w17qBSOfL3Z58fNXVwRsYtjNG2aZfn120aDl4knMFMM09FmFPFz8E3SBRZSh/5zd/n/65fDDUY9KvQH9Z342i0ZYtzibONA2FIwTtQGuHx9S0XRDvp/XguiJLMe3AP1mZdjFjMEbuLIPeUbohXWdR+blnJK6BhhrTt237/gZ6Zv6WwKRqEH/HIyhK1P+0e37A1HQ5C1IPoeN9prchBJmfEwMq3Z3NLu74pNfqBrRJ0758IxBtkkEB0rvTvCevziqGbyyiEGJ+XIhBTQvibI82wkwVy+kcbfnIMFoikaaSJWEiBiZs2JL8T3oKBCcU2bOFCYttxO2SDJsqKYKV8WulE7UpAxrxXF0HjsWc7lv/bBaFFyneCs1QTBGfW+fdnHNgiMdvtZjzH7wStmUM0asJTieT+1R99xi9J/RtddIJXDUZgN23L8j9tV/1iuOjblYPrWqqpcN6GEOJhDjzHAm/Gg+qzzpwp/fQC4j0Z291Bg4L9DMbiKvCQhhbwTGu149ZuBcMAhtz5AnLzE65Dxh7hGhFY/03iiCp8V360yI/XwJXV5t9UlJJPKl1NT9j1lUZsa/X9kknmr2L88JhlrVt72Njh/q9DCza1o4f/q31yQHtpDxdtnvUHXUm1x/vEWCdxhypzC+R0QjB2mEF1qNAo+JQp22BQ5Zw71Wy3/qZ2AqB0bxtLIIM+F2EX6x2X8MnImrz7A2sBM6Ceg69wt+klG+eFfZNTGzN6a23NQ+/m/vA9niIAIVv6vSHNnnfIGaZG2vpcx1oF/o5L/u9RR7QS6eex7CkmkQAyyF8gLnLifFeZzNnVlah5ZkKVW76Ph2+rboLuh5EUFEGFdRhfKW0Rz+Kl/x6ybBCH94akYbrzf576P3yP5Q81wdTdJVmC7b+TKfko3lDI7oSG6rLoX/0TYx/FoDXEYgaJWMi2I1r6gWp09cmxkeqLBLj6jRu6WRhWppYT9WdYR8ycXbB7t0XxapAgxzHenaZzCCP4smX9j0hvm9eI8gBhaZWUYdEOYAa/Z9Rdd5As3zeRSDzyzT/5S2u+tuFD4vINfP1GvnCUA7hnli9jcIt2sPUhwWYRWudfTdDsgZS/PZ8/dRS1Qi1imucBopIWAsL01L3+qN17H4jZZdZb1g6IQ6Y8GclEkfS5bABw8TwPkFn11mfq/0cZN5nf/amKz52Ld8Mne8zaSjsBJXeQZNhx1VuHA/Llvpr8mBi2dyb0rsvlddB05OCvu+TfXoopG5FrbHVJRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BTjZS7X4jbWukiF34ioyiW",
      "input": {
        "note": "Marker is between the jaws near centre (the blue pen is at the left jaw edge; grabbing both would be fine since they go in the same basket). Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BTjZS7X4jbWukiF34ioyiW",
      "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, 0.8307, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.3859, 1.6588, 0.2871, 0.791, 0.2317, 0.1577, 0.144]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1724 left_yaw=0.0049 left_pitch=-0.0389 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3409 right_y=0.0986 right_z=0.0141 right_yaw=0.0923 right_pitch=0.0007 right_roll=0.0182 right_gripper=0.144\nstate[joint_eff]: [-0.0342, -1.4154, 7.0906, 1.6777, -0.0122, -0.0708, -0.0122, -0.1299, -6.1333, 4.041, 1.5311, 0.0464, 0.0024, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17fc59642d5a9dc833bf2dfeed8bccb31954b380571b251f2b3d1f43ce5b3158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3f7ed4873e01e798c5626095c7a75ab4207f19481c7d62504e2a4619c9c06ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7b8a42adac6359fb4cbe8c3893a57b5039268f1d20838612c60409ae55f007f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.367 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6106, -0.3805, -0.0216, -0.0376, 0.9996, 0.2985, 1.2282, 0.3931, 0.2119, 0.1787, 0.1085, 0.9963]\nstate[eef_state]: left_x=0.2975 left_y=0.0018 left_z=0.1743 left_yaw=0.0043 left_pitch=-0.0324 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3316 right_y=0.0729 right_z=0.0771 right_yaw=0.0754 right_pitch=-0.0474 right_roll=-0.0045 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -1.5521, 7.3778, 1.7167, -0.022, -0.022, -0.0171, -0.9094, -4.041, 6.2154, 1.9316, -0.0073, -0.0806, 0.105]",
      "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, 0.831, 0.6102, -0.3805, -0.0219, -0.038, 0.9996, 0.3866, 1.6497, 0.2886, 0.7757, 0.2352, 0.1627, 0.9964]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1725 left_yaw=0.0049 left_pitch=-0.0389 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3404 right_y=0.098 right_z=0.0146 right_yaw=0.0876 right_pitch=-0.0032 right_roll=0.0193 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -1.4017, 7.1043, 1.7314, -0.0317, -0.0659, -0.0171, 0.4171, -3.6581, 3.0427, 0.9988, 0.2222, -0.0073, -0.0024]",
      "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, 0.8307, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.3859, 1.6588, 0.2871, 0.791, 0.2317, 0.1577, 0.144]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1724 left_yaw=0.0049 left_pitch=-0.0389 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3409 right_y=0.0986 right_z=0.0141 right_yaw=0.0923 right_pitch=0.0007 right_roll=0.0182 right_gripper=0.144\nstate[joint_eff]: [-0.0342, -1.4154, 7.0906, 1.6777, -0.0122, -0.0708, -0.0122, -0.1299, -6.1333, 4.041, 1.5311, 0.0464, 0.0024, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17fc59642d5a9dc833bf2dfeed8bccb31954b380571b251f2b3d1f43ce5b3158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3f7ed4873e01e798c5626095c7a75ab4207f19481c7d62504e2a4619c9c06ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7b8a42adac6359fb4cbe8c3893a57b5039268f1d20838612c60409ae55f007f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wgKEAgSGAI4AUIIdGhpbmtpbmcSDF/AD7tx2+OC73GDfxoMMQjEmjzr/xfCAA+NIjCvynaC1wNbrJxE8mbmVlhghP4TH6zJs1J09KjIYhMdxyVTm9BQ+f5h1hDhKUJ76loqiAjwcLjVECFNtl/vOvWAvz8LAJisUgOuRS/IwjDZnA1B7UvRlG3NShpZcdn+Jd/VOfHb2q2Rv6se7T9tdIYHtv7o4RAQ3YBpF+RUrPm/roJWM3slJL3J6detZifY6qkqW6qFZ9URRRoEJujn6WGrkOsCQ16MJglTzd51kKuFO0GFisLEDMEdiPfaaNtSjmPveP5lQjEOt/8962cGPbjxBftnS20ROhqyHGrCtWZN5kdX8JhRH9SFk9p6Lgf00DrF5QdZ4Ssc0zqdvR+G3tkmnYfrmnHBVZM3kWqminC6qI5YFQ3f1zKGjY+5SotZb4X1e+H989pR3MUkRRTk9Lv/yPfqikAN+HJ1eakkj4U+cj1/YFlekwMqP4oevSJjFyn0wtfxU5WeUgKVG181zn5u958kyLel2niYfqhqV/qV9gZs/NijNSskYCoEWoEWii9IRkATOiFLyax4equIJh6aNKF8WWVIJmD0djhTv1H3rjBwPSqPm+7Laprz5Z2PLzf2D0mrb9W+0otoYCTv4RQMFzcT5DEzGfR7zo0MzhXsQ1x4bFhI5zxly+VwqnUkmPsXlXDJmDJU2tJ5PsvGv5b37ZaqNdrhC3+zcqDyWGijBgtSQAwWphu/3KR68AyBoJiMrNlE95krXKhHJzsUma36CVHD0HZHYLbJUHE364uAoeAMl1VV8Rv7HqiB7pOmIw1+pvAmR8vf2Q13aASUY2mmbzz7JteN1TIdN6z2bBPONTkV1zXb6xvczyfiJoBjad5C1oBA6oOp8CbU2vOhoKJ231iZ5/wl7E/+ZqVF94oynCvcxB2YNy0/WKg2Luu/SHrapO3E8XDLlPVHlo9bo2xhA9Cn556n2Wkq2jYCHOYNwtLnqKfP9T0jV5WpdeE1WDIVFBKUCcrWv+lP4bpCc54VdaYfnC7KN8IMEvox60DD+9sajxJJYS2kUu9apS5Ad+nr6HowDpU5t72WcEmM+MGU3PJkG1qtxLl1AOd83d+W7nlGzxFsPPEn6u5uImkGcQmVpfgx5Kg/5M1cOpvmslAgdVlF7If0yYo7QBwRrCDd02d1SRD22keZnbTBWK3IjFU0MDAAUGmIud74zb/NmKQHDBJHCbrohKp2cTbSMf7jVP1p4b8TS7QhwTYU15/xaxfTQE7okJj70vJzx8Qy8e6AEu1QQAgdFmt3QufBWjxmMpMHgUd227Bofk/6yJFZqcT89ERuPM34QsSwDxrboy1jHYcGdN1Os3Hruc7WWN8Md6pRXdBCGjJUok2j6RTUZeUjvcsKycfLrWT6fJFfyA5XY9dQylH81XiBRYNsC4zHdy+OHSqkjo59/WX1ZnBs5zLWe8gEgeOL7M3PvDfqIW08N06G0mNfZLrcNocYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KhJMjhfxhX37F5889hb7hR",
      "input": {
        "note": "Marker grasped (gripper 0.144). Lifting high enough to clear the basket rim.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01KhJMjhfxhX37F5889hb7hR",
      "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, 0.8314, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.3859, 1.1084, 0.8478, -0.3523, 0.2241, 0.1539, 0.1468]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0396 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3403 right_y=0.0997 right_z=0.2039 right_yaw=0.1006 right_pitch=-0.0312 right_roll=0.01 right_gripper=0.1468\nstate[joint_eff]: [-0.1436, -1.5248, 7.2547, 1.7558, -0.0513, -0.0415, -0.0171, -0.253, -4.7932, 9.7026, 1.5751, 0.0855, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a74324a0701216fab8d44000c5d111203b121b16aaba23e65ebdcd48d50196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:217e8bd588450fde090a1ce6ce112d33c221ba92be06e25f613ce48d5d6fc0b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdcc0263474acccfdc6fac90b17fa3cc33dd8bcf14ef20eb97bdb1190fe497b2",
        "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 · 3.175 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, 0.831, 0.6102, -0.3805, -0.0219, -0.038, 0.9996, 0.3866, 1.6497, 0.2886, 0.7757, 0.2352, 0.1627, 0.9964]\nstate[eef_state]: left_x=0.2979 left_y=0.0018 left_z=0.1725 left_yaw=0.0049 left_pitch=-0.0389 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3404 right_y=0.098 right_z=0.0146 right_yaw=0.0876 right_pitch=-0.0032 right_roll=0.0193 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -1.4017, 7.1043, 1.7314, -0.0317, -0.0659, -0.0171, 0.4171, -3.6581, 3.0427, 0.9988, 0.2222, -0.0073, -0.0024]",
      "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, 0.8307, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.3859, 1.6588, 0.2871, 0.791, 0.2317, 0.1577, 0.144]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1724 left_yaw=0.0049 left_pitch=-0.0389 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3409 right_y=0.0986 right_z=0.0141 right_yaw=0.0923 right_pitch=0.0007 right_roll=0.0182 right_gripper=0.144\nstate[joint_eff]: [-0.0342, -1.4154, 7.0906, 1.6777, -0.0122, -0.0708, -0.0122, -0.1299, -6.1333, 4.041, 1.5311, 0.0464, 0.0024, 1.0085]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.3859, 1.1084, 0.8478, -0.3523, 0.2241, 0.1539, 0.1468]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0396 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3403 right_y=0.0997 right_z=0.2039 right_yaw=0.1006 right_pitch=-0.0312 right_roll=0.01 right_gripper=0.1468\nstate[joint_eff]: [-0.1436, -1.5248, 7.2547, 1.7558, -0.0513, -0.0415, -0.0171, -0.253, -4.7932, 9.7026, 1.5751, 0.0855, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a74324a0701216fab8d44000c5d111203b121b16aaba23e65ebdcd48d50196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:217e8bd588450fde090a1ce6ce112d33c221ba92be06e25f613ce48d5d6fc0b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdcc0263474acccfdc6fac90b17fa3cc33dd8bcf14ef20eb97bdb1190fe497b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AcKEAgSGAI4AUIIdGhpbmtpbmcSDIQth5BEPXHTTrY5EBoMfZ3N98FWyH0mR1s5IjBRs5ikhaZWfsDd3Hngj9u5A0ry92eO7SC9bbyyXIN/ADoXTM+sPAArVnTGxGEFhjAqgQeHPKW8tW+GYIBz/oUlUGYDjziDQ7eUsvMXwFSmlYMRshUIrmhbfn3ToGfuC9Ms5BtZP6SwbsBYZStpuXRX63qqiuVFApaR43B/vv/gDVavQQfKjFG/oXlH+30ZegT0JlukMQmIuGX/A9JohrHWNJ2TnNnDNYHdylEahcw8nxclSnHFpYb+kVUUsIP5JPof2CKkPdGbRPbBzo+rD0wDHttUgec2QFMVcZGGP6BBKe10XKVscjcrQVTrTiJFo/ZcxNFBhDIEc1FAzmrOMmtSUFus8zkIEf88CczkiSKpeEqbHb530k/IccYxMefqt0njr7DpTW+xnygSm/ODO30oHqr3rH31lki4XZPFiW1aE5TbDcJpcvMGxa5Ot8UyLggELNUGZ9R4jH8yldt4CcGxbeyJRtj9NlTeSLeK2TRc6MCRN8Sw2oAeMeGNB1jgpp4+RdkNsDPug0PEBXEUec9hM8peMVpF/Y+HSyOZ8Z2ZvX56dzNuXTIkhuRCImqx4qWIg1JjbUw+kPfVGcy6N9VS3KVfKCIfTfHVSpSkN9jMqytyE0e7qdcuFqn3sDL8sK23MUiEBy/4lJRV+fZGjaeEfsiPgzqEn/yvC+RzT7259mBHDtNWwsPD2EqcSTUKanaxj84EcsKemtAHOZp0WSKkEnVZyLufaDNqxudpOU/JLAoEJ/bbYyFUUYk2EXTGv+WNBeIthxtljSzn3uT7ORjhO55rQIsN9vKOLMrMIN4xPeTppKTZf/Jht4i3yqwo+w2dws2qCxmNfcWsJ3LAe4rrqYxBjBdjhFGK8rtEOtuSLxEO4AqvXeSkKsaAtCN6uMR+Ohxzt7zVH72/68V0vKNC4H1wto/fR30yEtZKqbBdQ+cHaT+qjXF2yJUl0qyBl0JjeuareLsr43wV5j3culhe2jiRsMDO3JnWjH4pu1we3PhF6p9TAd17NWEafZq+WpdaEP1ICWI0WCVt0B/Eo+CQwQyVuPrn+cQ4L1jOqCRPIWnHyBXQbGEfma5oljbUMqzzUPFaTV0tZGiFxeu+m3/cdriMDTAjk27dUY7B9iayENSKjVfRyp3lwZyWqXeBOcUFp/HkNIS1G/xxZDgSMoinMaQxWdOm5ZedQZRJ409v78S0I7H/P2L5Ggx7DRFsHhk/TExeNcrr0agAmhpJbLOvfdfxlFl/bt67ZenGx15MdlVa2BIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TTXuQeRzfFKvASSGSsLJBT",
      "input": {
        "note": "Marker held high; the right basket is ahead-left. Going further forward this time (x≈0.53) so the grasp point itself is over the basket interior, not just the wrist cam view.",
        "targets": {
          "right_x": 0.53,
          "right_y": 0.15,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01TTXuQeRzfFKvASSGSsLJBT",
      "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, 0.6094, -0.3809, -0.0219, -0.038, 0.9995, 0.3313, 1.8523, 1.5505, -0.342, 0.1719, 0.112, 0.1468]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1702 left_yaw=0.0049 left_pitch=-0.0465 left_roll=-0.006 left_gripper=0.9995 right_x=0.5197 right_y=0.1506 right_z=0.2037 right_yaw=0.1119 right_pitch=-0.0684 right_roll=-0.0023 right_gripper=0.1468\nstate[joint_eff]: [-0.1846, -1.9761, 7.2274, 1.6679, -0.0513, -0.0171, -0.0171, -0.8274, -10.5094, 9.4291, 1.6239, 0.0562, 0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4091b1921cf180e900cb82aee53f05595e16201f47551d4b539ec90f897ef1be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09f6773688c2b31a6d2da2dcc77694318061841876e72224f5f3eef887a49b30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:204a9a988ada66bd6cee3e628b16d14e7e52509fc6e5f7668c648e96297a405c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.309 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, 0.8307, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.3859, 1.6588, 0.2871, 0.791, 0.2317, 0.1577, 0.144]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1724 left_yaw=0.0049 left_pitch=-0.0389 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3409 right_y=0.0986 right_z=0.0141 right_yaw=0.0923 right_pitch=0.0007 right_roll=0.0182 right_gripper=0.144\nstate[joint_eff]: [-0.0342, -1.4154, 7.0906, 1.6777, -0.0122, -0.0708, -0.0122, -0.1299, -6.1333, 4.041, 1.5311, 0.0464, 0.0024, 1.0085]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.3859, 1.1084, 0.8478, -0.3523, 0.2241, 0.1539, 0.1468]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0396 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3403 right_y=0.0997 right_z=0.2039 right_yaw=0.1006 right_pitch=-0.0312 right_roll=0.01 right_gripper=0.1468\nstate[joint_eff]: [-0.1436, -1.5248, 7.2547, 1.7558, -0.0513, -0.0415, -0.0171, -0.253, -4.7932, 9.7026, 1.5751, 0.0855, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8375, 0.6094, -0.3809, -0.0219, -0.038, 0.9995, 0.3313, 1.8523, 1.5505, -0.342, 0.1719, 0.112, 0.1468]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1702 left_yaw=0.0049 left_pitch=-0.0465 left_roll=-0.006 left_gripper=0.9995 right_x=0.5197 right_y=0.1506 right_z=0.2037 right_yaw=0.1119 right_pitch=-0.0684 right_roll=-0.0023 right_gripper=0.1468\nstate[joint_eff]: [-0.1846, -1.9761, 7.2274, 1.6679, -0.0513, -0.0171, -0.0171, -0.8274, -10.5094, 9.4291, 1.6239, 0.0562, 0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4091b1921cf180e900cb82aee53f05595e16201f47551d4b539ec90f897ef1be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09f6773688c2b31a6d2da2dcc77694318061841876e72224f5f3eef887a49b30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:204a9a988ada66bd6cee3e628b16d14e7e52509fc6e5f7668c648e96297a405c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper is now over the middle of the basket in both views. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HY45zUwyTemxXhRFDQ3CTX",
      "input": {
        "note": "Top view shows the right gripper over the right basket's interior, and the wrist cam sees the basket all around. Dropping the marker.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HY45zUwyTemxXhRFDQ3CTX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8379, 0.6094, -0.3805, -0.0223, -0.038, 0.9996, 0.3325, 1.8713, 1.5509, -0.347, 0.1719, 0.1043, 0.9949]\nstate[eef_state]: left_x=0.2982 left_y=0.0019 left_z=0.1702 left_yaw=0.0052 left_pitch=-0.0465 left_roll=-0.0058 left_gripper=0.9996 right_x=0.5205 right_y=0.1515 right_z=0.193 right_yaw=0.1167 right_pitch=-0.0915 right_roll=-0.0135 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.5385, 7.159, 1.7411, -0.0317, -0.0757, -0.0171, -0.4308, -11.8222, 6.9402, 1.7167, 0.0269, 0.1245, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f90f6a0467e197cb6077f334f591f54fc0427e1556acc5acb39497835ee9644",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e34840920af9f5e20fabf7b6d2d498e1d6c2054c2a2144b4649b99af0a072c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:840d076f72507fed1d52536fa033486a4a4f0f70dc5d36ec71b84e3848f1659c",
        "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 · 3.883 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6098, -0.3805, -0.0219, -0.038, 0.9996, 0.3859, 1.1084, 0.8478, -0.3523, 0.2241, 0.1539, 0.1468]\nstate[eef_state]: left_x=0.2978 left_y=0.0018 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0396 left_roll=-0.0062 left_gripper=0.9996 right_x=0.3403 right_y=0.0997 right_z=0.2039 right_yaw=0.1006 right_pitch=-0.0312 right_roll=0.01 right_gripper=0.1468\nstate[joint_eff]: [-0.1436, -1.5248, 7.2547, 1.7558, -0.0513, -0.0415, -0.0171, -0.253, -4.7932, 9.7026, 1.5751, 0.0855, -0.0171, 1.0281]\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]: [-0.0189, 0.8375, 0.6094, -0.3809, -0.0219, -0.038, 0.9995, 0.3313, 1.8523, 1.5505, -0.342, 0.1719, 0.112, 0.1468]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1702 left_yaw=0.0049 left_pitch=-0.0465 left_roll=-0.006 left_gripper=0.9995 right_x=0.5197 right_y=0.1506 right_z=0.2037 right_yaw=0.1119 right_pitch=-0.0684 right_roll=-0.0023 right_gripper=0.1468\nstate[joint_eff]: [-0.1846, -1.9761, 7.2274, 1.6679, -0.0513, -0.0171, -0.0171, -0.8274, -10.5094, 9.4291, 1.6239, 0.0562, 0.0122, 1.0281]",
      "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, 0.8379, 0.6094, -0.3805, -0.0223, -0.038, 0.9996, 0.3325, 1.8713, 1.5509, -0.347, 0.1719, 0.1043, 0.9949]\nstate[eef_state]: left_x=0.2982 left_y=0.0019 left_z=0.1702 left_yaw=0.0052 left_pitch=-0.0465 left_roll=-0.0058 left_gripper=0.9996 right_x=0.5205 right_y=0.1515 right_z=0.193 right_yaw=0.1167 right_pitch=-0.0915 right_roll=-0.0135 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.5385, 7.159, 1.7411, -0.0317, -0.0757, -0.0171, -0.4308, -11.8222, 6.9402, 1.7167, 0.0269, 0.1245, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f90f6a0467e197cb6077f334f591f54fc0427e1556acc5acb39497835ee9644",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e34840920af9f5e20fabf7b6d2d498e1d6c2054c2a2144b4649b99af0a072c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:840d076f72507fed1d52536fa033486a4a4f0f70dc5d36ec71b84e3848f1659c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwgKEAgSGAI4AUIIdGhpbmtpbmcSDH273GJiemQ1WplkPRoMCVber6fXmb49BSxGIjBbbo/iSC4OfVFu5Xgj+VIm2E4Cutt+nBSqY88DaCaIUcPOeuePWPdWUCIQg8B92FQquAcXObKQ67GbH7Mb8EnHtJD31ESCEHAJF4s28xRkfJkQicqTmZJC7wXrmS7ll564nn+Whs2rABL9/syw5JVnyn+xVQsU57UBinrFp1P+kerqBZ7mTJgIgtJYtGixJQXbfKjkS3c9qOAvcOhWHEgX0hOYatZRNRdcqdMAfDS5aG3fgtTBTh4tur3VqLtN6NxDWNENLP0Gdu0W6wkZC1MteLqyIeIUBdo1KlX/0duGd4gA6Aub/2p1g0eym/XWLk3mT5VgqgX5NAutgJZeYO+fNwnT6ileNiIrk8I5/MB6PbnpNz7CFogVmL16Anp7LpLn+nSCciTgQ/UJ/CpJISueEBNUPL7QzvoT+HIy2fI7Ztcbehr9o0ovO5iszjOcilkGZiE8F98laqR6jlH2FjYIlw2nzvR/CHYE9WWMPXeS2D58yeVkt+18WA517E7rv+P9PJYKHfAv7dGXHOpYeyLg/tUnSYYoFG+YpquczN3H/uLt6vog8v3w70soCFZ7HKFs9td5XgygI7EMMdJzQawyADKjsLgoN05nvz5mrdhdqBL1xCOro8E6jFVZn8oyICrI0d55/9FL/7O+2UIGFzMKOE1019NrNLJxNFrmnRJUbYD+vLM6t+4RjreG5aigmnpx2Uk4RDpwizPQoe7d5JxwQL5CYUg+JqGA6swouuVQ8EcKA9sY6bK4Lufhh8EkVjCw4HL39w7rDY4wfbdD5o5JJ25Gj0wRpFpsHjTpfrNMuNsv04Xn4FqRwC/Jhd3UgrTgM9qwGVIPPtDWD9e0vsyyaPEWQZm44rIbB9bRbh8J3hsBaL00pGlHOdszPnggUz3x11jJafq/tLos+TnlrJXv832G2H3pPFy7L8dw2eE5cLjs2rpkVYmrp/2sfuOpJaYP5IHZUEAR0JJWOOT9DuqBBiZ96YhkC9wQ0/J1IFlKTe/UIxZMbWsMq/l8Z1P2HZy3YLBb/YrKi+wNcx48YL6fRVvCBc7hX2gRe3MWJ22vCadthrj0vLZXQRJgm2Ka9OT0z2xahOQRbx/IfhQ4TYBh7r8ajCG0YDTggFLcjs+aA0v7XCaqvQ3TJ3Yok11oab3A19rceRpuucjqYW7cxbNjk7mKC3ruROd4914AcMLN1d8G8dnOtfFRz6z/esBDKE+Bp7Y6uQoMPHTqTJhzj1Zom6B+IPlIPijR043vaO2CMJOS8UcjsHmyjZQWduSgQ4zaLYQTDHpqgzcAEw+LUYpHN9sxVbjIz+D/0zGW43DFthqC4StydynezSbAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SPkGhwtDrb1ecXvN3U9oLy",
      "input": {
        "note": "Marker is in the right basket. Heading to the blue pen, which lies about 4–5 cm left of where the marker was.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.14,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01SPkGhwtDrb1ecXvN3U9oLy",
      "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, 0.8436, 0.6094, -0.3794, -0.0223, -0.038, 0.9996, 0.5465, 1.3758, 0.5591, 0.0723, 0.3145, 0.2256, 0.9962]\nstate[eef_state]: left_x=0.2986 left_y=0.0019 left_z=0.1688 left_yaw=0.0052 left_pitch=-0.0511 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3302 right_y=0.1411 right_z=0.0723 right_yaw=0.1439 right_pitch=-0.136 right_roll=-0.0307 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.5795, 7.0496, 1.7753, -0.0269, -0.0415, -0.0171, 0.335, -5.9009, 6.5983, 1.8535, 0.315, 0.1294, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e679eddc591c15008fcc9cf408cd5dd8f4152579c9569c9a2022e0a8f1c95c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce48b4a77e2fe41b31cbae9afc1f3e271d440d50bf8d475f7b832526100bb1c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad673af0f7eec8b986fd3c81a8caff35fa2296cc5f692acbe9853bd7611d4f16",
        "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 · 4.441 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8375, 0.6094, -0.3809, -0.0219, -0.038, 0.9995, 0.3313, 1.8523, 1.5505, -0.342, 0.1719, 0.112, 0.1468]\nstate[eef_state]: left_x=0.2981 left_y=0.0018 left_z=0.1702 left_yaw=0.0049 left_pitch=-0.0465 left_roll=-0.006 left_gripper=0.9995 right_x=0.5197 right_y=0.1506 right_z=0.2037 right_yaw=0.1119 right_pitch=-0.0684 right_roll=-0.0023 right_gripper=0.1468\nstate[joint_eff]: [-0.1846, -1.9761, 7.2274, 1.6679, -0.0513, -0.0171, -0.0171, -0.8274, -10.5094, 9.4291, 1.6239, 0.0562, 0.0122, 1.0281]",
      "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, 0.8379, 0.6094, -0.3805, -0.0223, -0.038, 0.9996, 0.3325, 1.8713, 1.5509, -0.347, 0.1719, 0.1043, 0.9949]\nstate[eef_state]: left_x=0.2982 left_y=0.0019 left_z=0.1702 left_yaw=0.0052 left_pitch=-0.0465 left_roll=-0.0058 left_gripper=0.9996 right_x=0.5205 right_y=0.1515 right_z=0.193 right_yaw=0.1167 right_pitch=-0.0915 right_roll=-0.0135 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.5385, 7.159, 1.7411, -0.0317, -0.0757, -0.0171, -0.4308, -11.8222, 6.9402, 1.7167, 0.0269, 0.1245, 0.022]",
      "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, 0.8436, 0.6094, -0.3794, -0.0223, -0.038, 0.9996, 0.5465, 1.3758, 0.5591, 0.0723, 0.3145, 0.2256, 0.9962]\nstate[eef_state]: left_x=0.2986 left_y=0.0019 left_z=0.1688 left_yaw=0.0052 left_pitch=-0.0511 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3302 right_y=0.1411 right_z=0.0723 right_yaw=0.1439 right_pitch=-0.136 right_roll=-0.0307 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.5795, 7.0496, 1.7753, -0.0269, -0.0415, -0.0171, 0.335, -5.9009, 6.5983, 1.8535, 0.315, 0.1294, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e679eddc591c15008fcc9cf408cd5dd8f4152579c9569c9a2022e0a8f1c95c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce48b4a77e2fe41b31cbae9afc1f3e271d440d50bf8d475f7b832526100bb1c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad673af0f7eec8b986fd3c81a8caff35fa2296cc5f692acbe9853bd7611d4f16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAcKEAgSGAI4AUIIdGhpbmtpbmcSDGcUHfryxYScmh9/2RoM7nbHM+TwtDXLuHJpIjBh8UTlL+v+NjaCnngWVa+/dbjJHvCcF1Lq+h9W9Q9xkLleYBgPBqFKO4zjQJprt+8q3QbPko/X3iDJlXZsPvYSv+l0Tj3//ZVQot2H0ciY0vFbcM6ExNyuhJwFrVNIl9FiC6I5/g4vdRnxgSfGEBgolABZGJb6nDtXk8ApYoQplSJOmVeBvMOG0fkDaeYN4HEHSygpGw+jj5bymoJiMrjOAbsepMiIQLslqpsqVJRsIhW4iKzuaPYkN4gctbYDbaPgxrDxGGTq6/CZ3EceDCuamWRHWp63jyZX+nOaYNZvLxxlGmcSvuyQTA/199SY5LSHmLHLKMhcGcugcl5VTSSRMUjZidZoBTTx6iYC26JThqOaWGDK8vjOz2gW8vMjpisIb7IhV+vFMakn2Jfhzr7OkrA/hKeamE5OUlJ2WTYqXE0i74n4jh4L8FZTF0QIUlKmKJdDwONH1tU5wZU0RTn/2wLxU8s/4vbOLK1qFokA09NSOLR3TyqYQdjjwtg8v6QKmxXi7+a1gbEckOJMiSi5H0z9G/CGlMSee3HWgsRipaZMdhslYOYafdHogiBJjOED6qd7PHZlZkA95m+vX/cqb2CjmAoojdC2/MQjktx9Eeo8hsI2tfcOGOLbEk04VVkwNebHLf6pSbncSFhPpaqAK4pjZizRm/8oPONNv93brWNN3kL59hBpMzg1Zx4yTn1In7cVHxVIIAW1CeeOJgf4iJK4fIe/hmHmiBbT6ywSWdRLj3ePq/w3aR8SYbzLsSau1LqSuZgPFsMxRzFIiRypksn/b25c5gc4/jnXQVOsrUQ47rRmKhcj7Juq6oyc6pUkDsA63jc3lucfbMt+Dio1AYaHvjrULQqhxcZNDzeBt96wG2t40Qq01XW6EiM64uq7iSvNUATQYGx0bE+L1JdWxK0lG26dCscZwUMIA35YcpcUQXNa1a5FBuaaIswoXr+DM5paLT8ROhQ6mvMcQBsJyAABeCq9/oggfYdRIn+SGks4p8d9MIOdJSt29dDpJSlIR9k1OfZCVx6B2dMIFkaZ8rutXeT8PRJ/gWtcqxLFdewOiNFmKKUxc4dUHFs7UFAdPNbMYYqz6CwL4iCdH6vv0Nn1hz1ZPBdGR2T84Z5w12h8G+05x7gWbPs6iuEJDD4nXtjjWNDkoWWkh3KuXP2wquSbVPaahgGTUdROuNePdwWjYBCz27tNo0MKmgvv+gIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014chto2nuxUCp4969CRE5YY",
      "input": {
        "note": "Blue pen is visible just left of the jaw column in the wrist view; shifting ~2.5 cm left and descending to grasp it.",
        "targets": {
          "right_y": 0.165,
          "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_014chto2nuxUCp4969CRE5YY",
      "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, 0.849, 0.6094, -0.3809, -0.0223, -0.038, 0.9996, 0.6182, 1.6623, 0.4957, 0.4278, 0.3588, 0.2756, 0.9963]\nstate[eef_state]: left_x=0.2987 left_y=0.0019 left_z=0.167 left_yaw=0.0052 left_pitch=-0.0579 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3353 right_y=0.1667 right_z=0.0148 right_yaw=0.1529 right_pitch=-0.1179 right_roll=-0.0168 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -2.0034, 7.0496, 1.6972, -0.0464, -0.0415, -0.0122, 0.4991, -4.2051, 3.8359, 0.4615, 0.149, -0.0708, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926ba2965d02627ab2dd3d81b873d06174f4bd2877e6edd7ba159dc2691ee943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:246898b7530d2c5eb5c7bd74e0ab8bb5dafd4a58b5c6794db3be5ef062b251b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:acc01e092359f5777e95d11a21e5631c6ed0829661c194147a9cbdb7be84a8f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 3.185 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, 0.8379, 0.6094, -0.3805, -0.0223, -0.038, 0.9996, 0.3325, 1.8713, 1.5509, -0.347, 0.1719, 0.1043, 0.9949]\nstate[eef_state]: left_x=0.2982 left_y=0.0019 left_z=0.1702 left_yaw=0.0052 left_pitch=-0.0465 left_roll=-0.0058 left_gripper=0.9996 right_x=0.5205 right_y=0.1515 right_z=0.193 right_yaw=0.1167 right_pitch=-0.0915 right_roll=-0.0135 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.5385, 7.159, 1.7411, -0.0317, -0.0757, -0.0171, -0.4308, -11.8222, 6.9402, 1.7167, 0.0269, 0.1245, 0.022]",
      "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, 0.8436, 0.6094, -0.3794, -0.0223, -0.038, 0.9996, 0.5465, 1.3758, 0.5591, 0.0723, 0.3145, 0.2256, 0.9962]\nstate[eef_state]: left_x=0.2986 left_y=0.0019 left_z=0.1688 left_yaw=0.0052 left_pitch=-0.0511 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3302 right_y=0.1411 right_z=0.0723 right_yaw=0.1439 right_pitch=-0.136 right_roll=-0.0307 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.5795, 7.0496, 1.7753, -0.0269, -0.0415, -0.0171, 0.335, -5.9009, 6.5983, 1.8535, 0.315, 0.1294, 0.1294]",
      "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]: [-0.0189, 0.849, 0.6094, -0.3809, -0.0223, -0.038, 0.9996, 0.6182, 1.6623, 0.4957, 0.4278, 0.3588, 0.2756, 0.9963]\nstate[eef_state]: left_x=0.2987 left_y=0.0019 left_z=0.167 left_yaw=0.0052 left_pitch=-0.0579 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3353 right_y=0.1667 right_z=0.0148 right_yaw=0.1529 right_pitch=-0.1179 right_roll=-0.0168 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -2.0034, 7.0496, 1.6972, -0.0464, -0.0415, -0.0122, 0.4991, -4.2051, 3.8359, 0.4615, 0.149, -0.0708, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926ba2965d02627ab2dd3d81b873d06174f4bd2877e6edd7ba159dc2691ee943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:246898b7530d2c5eb5c7bd74e0ab8bb5dafd4a58b5c6794db3be5ef062b251b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acc01e092359f5777e95d11a21e5631c6ed0829661c194147a9cbdb7be84a8f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen now between the jaws, near centre. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TRVq5qkRYtHbRivpoy645q",
      "input": {
        "note": "Blue pen runs between the jaws, close to the centre column, and the descent stopped at table level. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TRVq5qkRYtHbRivpoy645q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8494, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6228, 1.6947, 0.4885, 0.4938, 0.3595, 0.2852, 0.1485]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.167 left_yaw=0.0049 left_pitch=-0.0579 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3382 right_y=0.1708 right_z=0.0127 right_yaw=0.1529 right_pitch=-0.0941 right_roll=0.0022 right_gripper=0.1485\nstate[joint_eff]: [-0.0615, -1.6205, 7.0085, 1.6581, -0.0464, -0.0611, -0.0171, 0.4581, -4.9299, 4.0274, 1.3455, 0.2906, -0.0317, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c000cac937534970a99f3d802f90f46ebce60f7966da18f871dcab58f1dfae16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a50339bf87c8587bc220632eabc7d6818169c59b257df29b2122f69ccba80c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97f194bec88b53db60124ff98d2749a79e6887869353f551ecc0089741f46550",
        "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 · 3.81 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, 0.8436, 0.6094, -0.3794, -0.0223, -0.038, 0.9996, 0.5465, 1.3758, 0.5591, 0.0723, 0.3145, 0.2256, 0.9962]\nstate[eef_state]: left_x=0.2986 left_y=0.0019 left_z=0.1688 left_yaw=0.0052 left_pitch=-0.0511 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3302 right_y=0.1411 right_z=0.0723 right_yaw=0.1439 right_pitch=-0.136 right_roll=-0.0307 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.5795, 7.0496, 1.7753, -0.0269, -0.0415, -0.0171, 0.335, -5.9009, 6.5983, 1.8535, 0.315, 0.1294, 0.1294]",
      "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]: [-0.0189, 0.849, 0.6094, -0.3809, -0.0223, -0.038, 0.9996, 0.6182, 1.6623, 0.4957, 0.4278, 0.3588, 0.2756, 0.9963]\nstate[eef_state]: left_x=0.2987 left_y=0.0019 left_z=0.167 left_yaw=0.0052 left_pitch=-0.0579 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3353 right_y=0.1667 right_z=0.0148 right_yaw=0.1529 right_pitch=-0.1179 right_roll=-0.0168 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -2.0034, 7.0496, 1.6972, -0.0464, -0.0415, -0.0122, 0.4991, -4.2051, 3.8359, 0.4615, 0.149, -0.0708, 0.0073]",
      "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, 0.8494, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6228, 1.6947, 0.4885, 0.4938, 0.3595, 0.2852, 0.1485]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.167 left_yaw=0.0049 left_pitch=-0.0579 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3382 right_y=0.1708 right_z=0.0127 right_yaw=0.1529 right_pitch=-0.0941 right_roll=0.0022 right_gripper=0.1485\nstate[joint_eff]: [-0.0615, -1.6205, 7.0085, 1.6581, -0.0464, -0.0611, -0.0171, 0.4581, -4.9299, 4.0274, 1.3455, 0.2906, -0.0317, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c000cac937534970a99f3d802f90f46ebce60f7966da18f871dcab58f1dfae16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a50339bf87c8587bc220632eabc7d6818169c59b257df29b2122f69ccba80c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97f194bec88b53db60124ff98d2749a79e6887869353f551ecc0089741f46550",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0158cr3ac1fh2tdbW2WQSAHM",
      "input": {
        "note": "Pen is held (gripper 0.149, pen centred in jaws). Lifting clear of the basket rim.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_0158cr3ac1fh2tdbW2WQSAHM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8501, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6216, 1.2991, 1.021, -0.4454, 0.355, 0.2848, 0.1534]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1668 left_yaw=0.0049 left_pitch=-0.0587 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3409 right_y=0.1731 right_z=0.2009 right_yaw=0.1552 right_pitch=-0.1054 right_roll=-0.0005 right_gripper=0.1534\nstate[joint_eff]: [-0.2256, -1.6615, 7.2, 1.6874, -0.0611, -0.0708, -0.0171, -0.1299, -6.6393, 9.347, 1.5214, 0.1099, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:988ea9a03633d29d85dce1addde8de84d7a9e38698a9042552775afee6447027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45db8d29a4891f586a18cd4d2745e64621701e6a7f13f5ba0f8f2371a5f811f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95528a1ffb7150632fd0183ed77c534e341da11142907b99dd1428cb9c684f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.67 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]: [-0.0189, 0.849, 0.6094, -0.3809, -0.0223, -0.038, 0.9996, 0.6182, 1.6623, 0.4957, 0.4278, 0.3588, 0.2756, 0.9963]\nstate[eef_state]: left_x=0.2987 left_y=0.0019 left_z=0.167 left_yaw=0.0052 left_pitch=-0.0579 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3353 right_y=0.1667 right_z=0.0148 right_yaw=0.1529 right_pitch=-0.1179 right_roll=-0.0168 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -2.0034, 7.0496, 1.6972, -0.0464, -0.0415, -0.0122, 0.4991, -4.2051, 3.8359, 0.4615, 0.149, -0.0708, 0.0073]",
      "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, 0.8494, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6228, 1.6947, 0.4885, 0.4938, 0.3595, 0.2852, 0.1485]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.167 left_yaw=0.0049 left_pitch=-0.0579 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3382 right_y=0.1708 right_z=0.0127 right_yaw=0.1529 right_pitch=-0.0941 right_roll=0.0022 right_gripper=0.1485\nstate[joint_eff]: [-0.0615, -1.6205, 7.0085, 1.6581, -0.0464, -0.0611, -0.0171, 0.4581, -4.9299, 4.0274, 1.3455, 0.2906, -0.0317, 1.0134]",
      "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]: [-0.0189, 0.8501, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6216, 1.2991, 1.021, -0.4454, 0.355, 0.2848, 0.1534]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1668 left_yaw=0.0049 left_pitch=-0.0587 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3409 right_y=0.1731 right_z=0.2009 right_yaw=0.1552 right_pitch=-0.1054 right_roll=-0.0005 right_gripper=0.1534\nstate[joint_eff]: [-0.2256, -1.6615, 7.2, 1.6874, -0.0611, -0.0708, -0.0171, -0.1299, -6.6393, 9.347, 1.5214, 0.1099, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:988ea9a03633d29d85dce1addde8de84d7a9e38698a9042552775afee6447027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45db8d29a4891f586a18cd4d2745e64621701e6a7f13f5ba0f8f2371a5f811f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95528a1ffb7150632fd0183ed77c534e341da11142907b99dd1428cb9c684f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G4saQVaCAu12VTCb5TS5gm",
      "input": {
        "note": "Pen lifted; marker is visible in the right basket ahead. Carrying the pen to the same drop point that worked for the marker.",
        "targets": {
          "right_x": 0.53,
          "right_y": 0.14,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01G4saQVaCAu12VTCb5TS5gm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8562, 0.6094, -0.3809, -0.0219, -0.038, 0.9996, 0.292, 1.8767, 1.6405, -0.474, 0.1005, 0.0662, 0.1562]\nstate[eef_state]: left_x=0.2991 left_y=0.0018 left_z=0.165 left_yaw=0.0049 left_pitch=-0.0652 left_roll=-0.0055 left_gripper=0.9996 right_x=0.5195 right_y=0.1414 right_z=0.2046 right_yaw=0.1563 right_pitch=-0.1415 right_roll=-0.0059 right_gripper=0.1562\nstate[joint_eff]: [-0.1846, -2.1265, 6.9949, 1.6484, -0.0317, -0.0708, -0.0171, -0.7316, -10.0718, 9.6205, 1.5995, 0.0855, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:697b54d7a504ce25933c9754f4233a940fc74b85057950d94d52b88ffdabd8a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26878e0d94dec4602b2fcec62784e2b76a5f318a83b84d71a4454eda37c7c7b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6a305c5a4ae367e24348bfe9b4ed5ff2932a7c4f37c096a06528924cc646003",
        "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 · 9.424 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, 0.8494, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6228, 1.6947, 0.4885, 0.4938, 0.3595, 0.2852, 0.1485]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.167 left_yaw=0.0049 left_pitch=-0.0579 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3382 right_y=0.1708 right_z=0.0127 right_yaw=0.1529 right_pitch=-0.0941 right_roll=0.0022 right_gripper=0.1485\nstate[joint_eff]: [-0.0615, -1.6205, 7.0085, 1.6581, -0.0464, -0.0611, -0.0171, 0.4581, -4.9299, 4.0274, 1.3455, 0.2906, -0.0317, 1.0134]",
      "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]: [-0.0189, 0.8501, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6216, 1.2991, 1.021, -0.4454, 0.355, 0.2848, 0.1534]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1668 left_yaw=0.0049 left_pitch=-0.0587 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3409 right_y=0.1731 right_z=0.2009 right_yaw=0.1552 right_pitch=-0.1054 right_roll=-0.0005 right_gripper=0.1534\nstate[joint_eff]: [-0.2256, -1.6615, 7.2, 1.6874, -0.0611, -0.0708, -0.0171, -0.1299, -6.6393, 9.347, 1.5214, 0.1099, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8562, 0.6094, -0.3809, -0.0219, -0.038, 0.9996, 0.292, 1.8767, 1.6405, -0.474, 0.1005, 0.0662, 0.1562]\nstate[eef_state]: left_x=0.2991 left_y=0.0018 left_z=0.165 left_yaw=0.0049 left_pitch=-0.0652 left_roll=-0.0055 left_gripper=0.9996 right_x=0.5195 right_y=0.1414 right_z=0.2046 right_yaw=0.1563 right_pitch=-0.1415 right_roll=-0.0059 right_gripper=0.1562\nstate[joint_eff]: [-0.1846, -2.1265, 6.9949, 1.6484, -0.0317, -0.0708, -0.0171, -0.7316, -10.0718, 9.6205, 1.5995, 0.0855, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:697b54d7a504ce25933c9754f4233a940fc74b85057950d94d52b88ffdabd8a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26878e0d94dec4602b2fcec62784e2b76a5f318a83b84d71a4454eda37c7c7b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a305c5a4ae367e24348bfe9b4ed5ff2932a7c4f37c096a06528924cc646003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VVX33pA7dqePCgvWk5zFyF",
      "input": {
        "note": "The pen hangs over the inside of the right basket, next to the marker already in it. Releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VVX33pA7dqePCgvWk5zFyF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8566, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.2886, 1.8946, 1.6409, -0.4812, 0.0959, 0.0586, 0.9951]\nstate[eef_state]: left_x=0.2992 left_y=0.0018 left_z=0.165 left_yaw=0.0049 left_pitch=-0.0652 left_roll=-0.0055 left_gripper=0.9996 right_x=0.5203 right_y=0.1405 right_z=0.1941 right_yaw=0.1604 right_pitch=-0.1664 right_roll=-0.012 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.4701, 7.159, 1.6484, -0.0464, -0.0757, -0.0122, -0.0615, -11.9863, 6.9128, 1.6581, 0.0415, 0.1099, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1115a93296e348e133b927c4eae89d685dd786bfc3b32a5856793a168ff2c113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e9134e638fc69355a9255fcb5b70ef151397b5446db535f882ddca70952b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b32ae2760c11a2bb1f644607d445aa3b1d970f6f41e26854a3baa6f8f6e8fdd7",
        "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 · 4.174 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]: [-0.0189, 0.8501, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6216, 1.2991, 1.021, -0.4454, 0.355, 0.2848, 0.1534]\nstate[eef_state]: left_x=0.2988 left_y=0.0018 left_z=0.1668 left_yaw=0.0049 left_pitch=-0.0587 left_roll=-0.0057 left_gripper=0.9996 right_x=0.3409 right_y=0.1731 right_z=0.2009 right_yaw=0.1552 right_pitch=-0.1054 right_roll=-0.0005 right_gripper=0.1534\nstate[joint_eff]: [-0.2256, -1.6615, 7.2, 1.6874, -0.0611, -0.0708, -0.0171, -0.1299, -6.6393, 9.347, 1.5214, 0.1099, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8562, 0.6094, -0.3809, -0.0219, -0.038, 0.9996, 0.292, 1.8767, 1.6405, -0.474, 0.1005, 0.0662, 0.1562]\nstate[eef_state]: left_x=0.2991 left_y=0.0018 left_z=0.165 left_yaw=0.0049 left_pitch=-0.0652 left_roll=-0.0055 left_gripper=0.9996 right_x=0.5195 right_y=0.1414 right_z=0.2046 right_yaw=0.1563 right_pitch=-0.1415 right_roll=-0.0059 right_gripper=0.1562\nstate[joint_eff]: [-0.1846, -2.1265, 6.9949, 1.6484, -0.0317, -0.0708, -0.0171, -0.7316, -10.0718, 9.6205, 1.5995, 0.0855, -0.0415, 1.0281]",
      "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, 0.8566, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.2886, 1.8946, 1.6409, -0.4812, 0.0959, 0.0586, 0.9951]\nstate[eef_state]: left_x=0.2992 left_y=0.0018 left_z=0.165 left_yaw=0.0049 left_pitch=-0.0652 left_roll=-0.0055 left_gripper=0.9996 right_x=0.5203 right_y=0.1405 right_z=0.1941 right_yaw=0.1604 right_pitch=-0.1664 right_roll=-0.012 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.4701, 7.159, 1.6484, -0.0464, -0.0757, -0.0122, -0.0615, -11.9863, 6.9128, 1.6581, 0.0415, 0.1099, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1115a93296e348e133b927c4eae89d685dd786bfc3b32a5856793a168ff2c113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e9134e638fc69355a9255fcb5b70ef151397b5446db535f882ddca70952b7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b32ae2760c11a2bb1f644607d445aa3b1d970f6f41e26854a3baa6f8f6e8fdd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSihEKEAgSGAI4AUIIdGhpbmtpbmcSDGki+zD3vs6sO3c5TxoM7afezbmHmT62YARoIjAYxziiZehCfrv5/fqrObTBItUsPNWY7QTgPLJYe5Ah6gOKg1b6Im4gpyDMBgq6dpoqpxC4RLXjjrlQlztidooHg+24/AOoavkLnZsK2GNqqEPOFnl2Clq6Pgyyfo5ZAtSr/SMtfBQ86ALrSW1eZO4v2bOzh9zMoWSOVvzfWZsPby65BytdWgkVqYQwb5ZA8E0cd+fJh8FATy/1nB9RK8nRXC30qSKyyuksrz+gtgAUzvU9N96N8vHqnECgPsububz3guln1woJTas6sTpZ1Ys/sjO5bKH2tGXTYzZ+cOi1U1UOdH/4/1/mc8j6HIq7ybNUis9+MxPHRllFiKJgqdDldPauGOrn7t8jv+qBceQ4+UQo3RjpS1++cbDO8ohDvLXfb+mT/XlF/X/vWbK01Y8lVt6OoNGAnh7aSnwRGoa4WIHumTW8l3+J6QCYUkwZPWiMwOmOZn/cThfMscLbcQPI+tcdPzLfG44J0byhX6evR4+zZgsU4DWe/fYkPwmv2vkLWLg0MSXt6JCBAVkwFjZiYoV7H0invnWvtsrXe82ZQgtNHtDpRij4bDB0ZCJDWGxjW2/lgWWE3Ou3DP+5CxZJu5FYgFLdtvoUNfTEa1m9QosSPDxF0BHuk31l0r7KuLftlUYaBlS+v9difEn7htVL9bfLEWv54UJ++koixxRZtmwqAKu7bqBzc9RB+xoVMvClooMHl2KTsb/n0u00l2JKDf3mWeHtb1kljsSOu79MvKH+KgZBLxZmgX24fc6xzuRfAk26M3OAsIuSVquqISzFLtYqiwjIw+TS/Z5d+p2iVBObi7smJztlKA1Q/Q2bTECqbDdAR3yU+qpUSBr5C9ZFtT/3vmzSOWHanQiyplImbrpob7pz4Ig5+1YJSbNHCDawtChSxU0WGgcr2Qka2dQjHYt7Fc9nSRdyFFVe3CxTepEZQ1awab9bPyCEzSy90EMVjFVKdmmG2tooCv0ewATufMJBY35I8jXG1Kbl7UL/nlQ61J7dX+mssNHdIaCs47DF9R9G4gmFuNf8ZKjFe9sAM0HYXAkpreLkmpC9QM8jt0XmA2jK3+t9PYOTFjrQ6qYnWlqlYJr5lg+ae0nsEhVYH+k1ecCZWs2ZwGKGAy5dXWgBCbMT7GwLN4Ajge1Rbqv4aRYAwGmDq4ggmq0lswbl34D62O48Xh2Pgjb1IY5l6Qhef5p2+vOlPHNCaOsi0+jB9bNPh6yIv3ghN8wEJNfpr5F9tUAxOY6L4hd/jE9fuLIIMQOQDnsLafr33lsg72BFUOBbPLOFmzV9h55/fQOWHeQEbbOrg+SPF4zv8b9fzfIqY4gf1CF6z0IOD99P6gzEYTBXD1ma7VbLKRIVh2NQ2tY99IxhUztNSZ5V/G71yCOV/F9Bf0PwWzyLeGKczYhN7r0n+lh7a6lC2aKpkHefdufMLJSbK+sfXdztPDMTDtqvWQH4vFUquuf7ujuDB/hYrSV3Z/Cl+H3LwhCftVc6YXi24fJ5igfcpsneRyer3OiXqoYG7d9blAEZ/pkUwqOwqf1Lfp3LTIUPYQWTTEEWdk9UKV3F75DsAVVi08zlWQxFU3me8BR4lxLjLh0S0SecIcDNDDE84dAaSvZ5GnpEZCERJGvyGhjytpvPIodkJXFoGcZuKboaegU0VFIPkwiH5cVlXQfBfImuwZFJm9aKWnnJ4S0XxPECJ/Jc5tgZs6nGc6RIMkhg1+XDDjqehcLLQZS9SlzjGakX01hMsUjXv0p7LDU7Bym0s9hjMZjSfm0JjQmkFtpdw3NmToJI1RNiNX9RnHR+mg9M4dPJZw6WchucqWg6MPR33Kksyp6SkEJe8EcwWqYYnDe2qGPdLB6iIN3egWd4NCxRpRVCNRhfSHKQ9Jqb8/0eN3+iVRE4Z4+N2ImVFSOkkz7E/OL8uk4OM9pVA0eN2QQwswAmEUmW4SWzCG4aB/8Nbbg8vrIenpWVLAFvUU1X3FIHJ3TuIRdmqAqgyNKF5NZCiPp65n3My3/QZ8ZlSUqQqACL/jPLs3MlkmHEgodPfJCCm9yTZjg+3r1XS4yNtR1UfAxtB8tNRVV964sEtbo1Lc+5kysgJYp88c19Zo+WYOxumFeB6SEUHAshU534kIbQUQ7nIiTIH4s3X9XA8tb2id6MAOIz6Lc7hPBfcnPmedrJlD8QtHUlGyS5+kB62lajiD5/rHaDCg6Ct5+0SFpSe9z7bByz7Z74M+kesTnhRMtb/nK862EgMdg2JtCcL7YVvhbtAnJES79L+bB3j28auFZbUEjTO8gD4WmPs5OUWqU7mLjcuDZLwuTVCUHMHvzSdVo+AAu7oCyVOiYJS+raIV++6uX0/khqXoBCbot1Qq/tV1pgrAA8zKIYs89B5i+p2wc+c0wUlXrbeG1ms/3y7DpqYZaNDcRJ95ABvezpcY3xAR8Zg/s3uP5vRuRYuhVn0ZihOk9KnJClZ2WzIbdv8ezYsnfCme6S+ns9YvlSZgbZMaiVYnQbhrIonufpUJpmDWJmfhHk4tMaPVC4e3bNeX++2s8amW1Mpt0sVO9xumc/cRdsKMgufUo6dB8sITbTVrv0GBLhvkkOXUsvRJ+1H+1VOJjQbXi/c9/PJc/3EnwheBuWUWDlogUoxYwq0FiUBJQNC4iXN2D3tLQ+cZPgIaZcZ4ilLVaNfMSNUXc8EcyiDRPxFBcGNHvlWV4rDQGWE+kP30KGMqm3A30KmYAD40RIqjG1jW8iYr86IM8N70wAChV8bqIxz+VXuv2xmCJHhOcEctVq5DwnQxWxGbLRl9Bip4S6lqcm7D5g7+CWLPHOlHM6nkrTjr6fMjrW76DEMxMAnFcV9566p2B9L+i6zhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rqbds5FM1eezgTg7ATc7dY",
      "input": {
        "note": "Both dark pens are in the right basket. The yellow marker also belongs with the pens, but it's out of the right arm's reach, so the left arm will grab it and bring it to the middle. Parking the right arm and moving the left arm over the marker.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.022,
          "left_z": 0.03,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Rqbds5FM1eezgTg7ATc7dY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1501, 1.3113, 0.2607, 0.4759, -0.1356, -0.0864, 0.9996, -0.1253, 0.9848, 0.7975, -0.5434, -0.1787, -0.1955, 0.9963]\nstate[eef_state]: left_x=0.3324 left_y=-0.0225 left_z=0.0513 left_yaw=-0.0045 left_pitch=-0.0066 left_roll=0.014 left_gripper=0.9996 right_x=0.3096 right_y=-0.0037 right_z=0.1826 right_yaw=0.1187 right_pitch=-0.1522 right_roll=-0.0194 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -2.4957, 2.8923, 1.0085, -0.0024, -0.3101, -0.0171, -0.1846, -2.2359, 7.0632, 1.6386, -0.1685, -0.0317, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2d8663dc20a760e8f46e9f2fc34fc4d51e5b6783a3528225ffb2565fd0d0b08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27e5c78fb1850b7b4c9cf014854205e96eba37cb0d76e7e2bc7fc6cc19b3abb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2900bcaf9f03c0d1e8c74fac164dd6b48c6ffbc0c068fa365631910d8a8f5a4d",
        "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 · 4.758 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, 0.8562, 0.6094, -0.3809, -0.0219, -0.038, 0.9996, 0.292, 1.8767, 1.6405, -0.474, 0.1005, 0.0662, 0.1562]\nstate[eef_state]: left_x=0.2991 left_y=0.0018 left_z=0.165 left_yaw=0.0049 left_pitch=-0.0652 left_roll=-0.0055 left_gripper=0.9996 right_x=0.5195 right_y=0.1414 right_z=0.2046 right_yaw=0.1563 right_pitch=-0.1415 right_roll=-0.0059 right_gripper=0.1562\nstate[joint_eff]: [-0.1846, -2.1265, 6.9949, 1.6484, -0.0317, -0.0708, -0.0171, -0.7316, -10.0718, 9.6205, 1.5995, 0.0855, -0.0415, 1.0281]",
      "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, 0.8566, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.2886, 1.8946, 1.6409, -0.4812, 0.0959, 0.0586, 0.9951]\nstate[eef_state]: left_x=0.2992 left_y=0.0018 left_z=0.165 left_yaw=0.0049 left_pitch=-0.0652 left_roll=-0.0055 left_gripper=0.9996 right_x=0.5203 right_y=0.1405 right_z=0.1941 right_yaw=0.1604 right_pitch=-0.1664 right_roll=-0.012 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.4701, 7.159, 1.6484, -0.0464, -0.0757, -0.0122, -0.0615, -11.9863, 6.9128, 1.6581, 0.0415, 0.1099, -0.0659]",
      "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]: [-0.1501, 1.3113, 0.2607, 0.4759, -0.1356, -0.0864, 0.9996, -0.1253, 0.9848, 0.7975, -0.5434, -0.1787, -0.1955, 0.9963]\nstate[eef_state]: left_x=0.3324 left_y=-0.0225 left_z=0.0513 left_yaw=-0.0045 left_pitch=-0.0066 left_roll=0.014 left_gripper=0.9996 right_x=0.3096 right_y=-0.0037 right_z=0.1826 right_yaw=0.1187 right_pitch=-0.1522 right_roll=-0.0194 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -2.4957, 2.8923, 1.0085, -0.0024, -0.3101, -0.0171, -0.1846, -2.2359, 7.0632, 1.6386, -0.1685, -0.0317, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2d8663dc20a760e8f46e9f2fc34fc4d51e5b6783a3528225ffb2565fd0d0b08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27e5c78fb1850b7b4c9cf014854205e96eba37cb0d76e7e2bc7fc6cc19b3abb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2900bcaf9f03c0d1e8c74fac164dd6b48c6ffbc0c068fa365631910d8a8f5a4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gcKEAgSGAI4AUIIdGhpbmtpbmcSDNQVATQk9JPwrkMW8hoMc79/M9Nb3i4JDCoQIjAcKMsUUz8XUJDmyRfXUJKETgVEYsIv27A067+6pRWGkfm9jNnS8FwU0a0oWdRIztkq/wa+V4J7Zj1fIj33PYGYY44YNG0sw+wEyep396JGNHQdwh/Nev5cUPKjY3utzK3kBOZ1FB+8ElEwFS/2Qe+R6zuTd2uCqyU0Zrl7uqOc1hfF/gccIJ8ouFLXU8X7wmVljYlCI3lLwypRC5hY5Q9/j8z6NppyX5FYnCh9r7o4tLlYgJGW1ZyVj2kQqfDspH2mBL9y9d7A1xbzBK5r4WR/nM2kyqMxSp4ogaRZVkDe62UECiqWepT1Qj/LVm91ww5gs77McWPvB3X0/dR1SoE9O3c4zfTaCwxoqivLkGttzPQ7SLQeODK/qEohv1KYX8dahADWJ1ZFGJQ7IwHGECgDk7iV9CniZ5byu756PaYdzPJ/LOp1453w7H6OIsX+ocbSaU0HfwlJlqKlbFJ+9vl8UfmxanMoQfC5F/egtJbDsmYj+w9CSIf5Lrgp+DfjZyOm+D4260dw0gQJbrCOdJPZO8EfBiz1J3/F5EWTmnn8pPjS850p+Adov/t0/aLGreUIHb9lLKbKyUDWBxeijnfRehxQK6dlRF8inEYZsXfwbs5Zhjp24RebCouOYYE9E2zWD4AKKujqiJsVb+kAHZR6QCmJa6D3elTqaBQsd+97Jzm7x8UhAwaGlVF9372W1DG87eL0Z1VfH4uwaK8VIILmAEUxtJxuPV+QoBbCgVSQIzaW7P5raJ/Rr3MkFwjnOOYYDho2NA6dLBvhJmKD4Qf4Nxo3lHGFYLjiaJtqxBr3J8Hv/MaFPPhj1h9EJ9w9O+pqmHCJE5pLYNJAULwzUjasC52emZ6s8PbZ9z2DF3VhJ/yZ9Gfq4j3Q48PgJEtWf3wGjW48kynjwCFyk4tnoKg9fy07bxeu5f36NrVjvTbbUJZ0kUJnIgqRRbx0jaNG41KZGAmPiwZvFMhUCOXIIAx0lUc9NtHZMQefWABf4YI/ryO37zKAboeUTYh+42BxCchDp4PmMET6GNiVM49pBnPKZ80EjU3dOVB3z1W2QqX+A/yPVsusPqxkj/9xThjrHwG3pV0gTJzkjnOWRh5pDaPZym0kl3Zu1WcQiyFzdeSi9pqftGw+emlUvr/OJV3zbdXglJkhHeYXTLZREwnBsiD+ekTBkI60JGqhOEqv4r6vbs8m75jvgs/kviNDD5ac+m+3fQ88k2IbPPHnlrLuKfnFJFFR+W2eXmPqjEc03I18gJBmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HupK6RAKDCtT8vkxdwuxpb",
      "input": {
        "note": "Yellow marker is at the bottom right of the left wrist view, still right of the jaw column; shifting right about 2 cm and descending to grasp it.",
        "targets": {
          "left_x": 0.325,
          "left_y": -0.045,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HupK6RAKDCtT8vkxdwuxpb",
      "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]: [-0.2764, 1.6108, 0.2146, 0.9146, -0.2302, -0.0975, 0.9996, -0.1303, 0.9871, 0.7918, -0.564, -0.1905, -0.2123, 0.9964]\nstate[eef_state]: left_x=0.3457 left_y=-0.0524 left_z=0.033 left_yaw=-0.0443 left_pitch=0.0939 left_roll=0.0338 left_gripper=0.9996 right_x=0.3054 right_y=-0.0027 right_z=0.1761 right_yaw=0.1341 right_pitch=-0.178 right_roll=-0.017 right_gripper=0.9964\nstate[joint_eff]: [0.7179, -3.0154, 0.6496, 0.3834, -0.0562, -0.6374, -0.0122, 0.212, -2.4957, 7.3504, 1.7656, 0.0317, 0.1734, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2e037730e8fbc3202a859d191ef1855d6f7fe063ec9139f86436a8f2b96caae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62dcb75a68b70d7c5b5172bb78173cac1825fd39aa328e480031e726a71e1ec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eec95cc459cf209f63d6c228b92770bca49ac379e2b597f6bf0eacfd4f2c5a6d",
        "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 · 3.854 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, 0.8566, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.2886, 1.8946, 1.6409, -0.4812, 0.0959, 0.0586, 0.9951]\nstate[eef_state]: left_x=0.2992 left_y=0.0018 left_z=0.165 left_yaw=0.0049 left_pitch=-0.0652 left_roll=-0.0055 left_gripper=0.9996 right_x=0.5203 right_y=0.1405 right_z=0.1941 right_yaw=0.1604 right_pitch=-0.1664 right_roll=-0.012 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.4701, 7.159, 1.6484, -0.0464, -0.0757, -0.0122, -0.0615, -11.9863, 6.9128, 1.6581, 0.0415, 0.1099, -0.0659]",
      "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]: [-0.1501, 1.3113, 0.2607, 0.4759, -0.1356, -0.0864, 0.9996, -0.1253, 0.9848, 0.7975, -0.5434, -0.1787, -0.1955, 0.9963]\nstate[eef_state]: left_x=0.3324 left_y=-0.0225 left_z=0.0513 left_yaw=-0.0045 left_pitch=-0.0066 left_roll=0.014 left_gripper=0.9996 right_x=0.3096 right_y=-0.0037 right_z=0.1826 right_yaw=0.1187 right_pitch=-0.1522 right_roll=-0.0194 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -2.4957, 2.8923, 1.0085, -0.0024, -0.3101, -0.0171, -0.1846, -2.2359, 7.0632, 1.6386, -0.1685, -0.0317, 0.1099]",
      "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]: [-0.2764, 1.6108, 0.2146, 0.9146, -0.2302, -0.0975, 0.9996, -0.1303, 0.9871, 0.7918, -0.564, -0.1905, -0.2123, 0.9964]\nstate[eef_state]: left_x=0.3457 left_y=-0.0524 left_z=0.033 left_yaw=-0.0443 left_pitch=0.0939 left_roll=0.0338 left_gripper=0.9996 right_x=0.3054 right_y=-0.0027 right_z=0.1761 right_yaw=0.1341 right_pitch=-0.178 right_roll=-0.017 right_gripper=0.9964\nstate[joint_eff]: [0.7179, -3.0154, 0.6496, 0.3834, -0.0562, -0.6374, -0.0122, 0.212, -2.4957, 7.3504, 1.7656, 0.0317, 0.1734, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2e037730e8fbc3202a859d191ef1855d6f7fe063ec9139f86436a8f2b96caae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62dcb75a68b70d7c5b5172bb78173cac1825fd39aa328e480031e726a71e1ec1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eec95cc459cf209f63d6c228b92770bca49ac379e2b597f6bf0eacfd4f2c5a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QgKEAgSGAI4AUIIdGhpbmtpbmcSDBhswxlqmhE+6tyMDRoMtgyAZDGkkR5I5PRbIjBIe5bB+4xG1HyXHXJ4a/hYwpDQ6gSKBYXvfMVKhU2dtgKRwbZ3NqyMTLsJt286clkqggie8E3R2v8DmkZbUS5D63c5lARAPMBOjvb1FYXtIieQeIHw+Vqq0g563vcMqld/9kQGOtLf8dbu31QMAgbNBIHDArnQ5BPx8306rfGf0s9R+yKphSLwT7CZKpaKrtLyL5NsfVLevY+j5WqxVFoFVJvQdcyFnKvlXhHVsqOMTK2SB4Of4tXzLfU/6cSSi/CGCWU+biUqZCt06NwJnS3Q40NI5keWxpCmL+4X6AIB8JN8bs3XJU6h/pwZhPbwwgNNiffixU+9FO7O3OSKC8Mfe6ogF9LICTi0j3tZ5Ff3SDS9X3a+VINYj2hbtwIwf01hDUIm4EKh6YxTUHGNLNdJynTKDcZRgat8HP40eFQnHE9g0ktkMStQW2RKR3HjbGQB3VJ7z+LMBjuScsNoYuNxYLUjCBxA/DF5IjzwPOpl7LD/RL+QU4mbV01Ks6rt1bdHY4EGQEbEd6hvQUI2uw8TB2aznFx3MbtEwRawdUZDmwvd2m/6NEqGQfBScvnolyInQTbcE0DgDdBR57ZyKM5OuyBnovzzgtZmPfGSquiYUT/mOXvc8ZG0bKcsrqsCY2kSi+7m/wCY5nEXQOjGmiKo+YCBFN87HzxF80s54DsKl1ISOzfdF+9zN9SUWnVVb8wEji+yzYNWqPVaci7Dc2rIqhRDa8HmXafm5jLMXdh/9GBaLLP8BwBRlC3oQvk2P0I/qUqrP8zNO83vU2zo0/qBIqhNOENMG8awGuHnx/ZrTC6UgLOXZBtGoYKVAD8/23NSRFUFdsWVqkKmVs5fNZ7kYhOK8GaOYCkWGXBygyeC2PTUFt698yr7sSTOO5422H547Comad75J+IKskdNSe/g+VL27DgatqTrTf/Mx9t7K1pjxItUvYvcIhF5yq4JfRsuj0Avk48EdFOfVWkJxzE0GrPseFse9siWog0VMX6o8uhAZaAfNTc1rOBOX8Mv1M2HMW8Jx+XXqGommgi/z4t9WFHuSYxTWBUXPjoSX/6JWDnmueSP6G1JxrfaTzpXCmkv9OITj9uWKwR6mGi1GcKAl3EZ1ly07x4b5I4QAwHvD7or9xwaS+mOl7SN1CB+Qam6h4lAZ7Uk+1e23+KSlxMNYY9YtRaJm8VuO2bDVFhXEx2fGw1dowL1qUVCFnILZhRcN4B0ANK71BJK0sP5DZpdWoG/VHVaCcrUkDYoQDIy7tCJX7tocFMg8KbOg5VcpQrte3jm/UrKWS/3lyb6tg41czS6z1mrnKkKNqt5jJgCdUUYETCsfiutAFFv9CsqHvFaUkCOnuLrJi09ZPDO4d8DrxCUU+kt4ZbUwlsn/umGFQnBCKOfpCWx8c/DW90V2xm0we5S8Oy99UEBtHpD+eFeRoBsYUIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9XkcpGoZnNXuE5cmUKw9y",
      "input": {
        "note": "Descent stalled at 3 cm with x overshooting, so a jaw may be resting on the marker. Yellow marker is still slightly right of centre; pulling back 3 cm, nudging right, and descending again.",
        "targets": {
          "left_x": 0.315,
          "left_y": -0.055,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01K9XkcpGoZnNXuE5cmUKw9y",
      "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]: [-0.3401, 1.8576, 0.1291, 1.2564, -0.2672, -0.1123, 0.9994, -0.1314, 0.9905, 0.7918, -0.5659, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3277 left_y=-0.0627 left_z=0.0047 left_yaw=-0.0686 left_pitch=0.1077 left_roll=0.0345 left_gripper=0.9994 right_x=0.3053 right_y=-0.0034 right_z=0.1747 right_yaw=0.13 right_pitch=-0.1835 right_roll=-0.0154 right_gripper=0.9964\nstate[joint_eff]: [0.4308, -5.559, 1.3197, 0.3932, -0.1685, 0.5641, -0.0317, -0.1026, -2.5368, 6.9812, 1.5507, -0.1587, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c38c3bbeadec6d4b52479fe0c3e21cbb9800686609a4a1c7697d186304662cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a7327959cfc61fde243805d71f1c5e6043d334fad7c9f368fcd42b463ac304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:061469988e0698cbfa4a879bece0bbc21c4a1b354af2f851939613bed1b234d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.167 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]: [-0.1501, 1.3113, 0.2607, 0.4759, -0.1356, -0.0864, 0.9996, -0.1253, 0.9848, 0.7975, -0.5434, -0.1787, -0.1955, 0.9963]\nstate[eef_state]: left_x=0.3324 left_y=-0.0225 left_z=0.0513 left_yaw=-0.0045 left_pitch=-0.0066 left_roll=0.014 left_gripper=0.9996 right_x=0.3096 right_y=-0.0037 right_z=0.1826 right_yaw=0.1187 right_pitch=-0.1522 right_roll=-0.0194 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -2.4957, 2.8923, 1.0085, -0.0024, -0.3101, -0.0171, -0.1846, -2.2359, 7.0632, 1.6386, -0.1685, -0.0317, 0.1099]",
      "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]: [-0.2764, 1.6108, 0.2146, 0.9146, -0.2302, -0.0975, 0.9996, -0.1303, 0.9871, 0.7918, -0.564, -0.1905, -0.2123, 0.9964]\nstate[eef_state]: left_x=0.3457 left_y=-0.0524 left_z=0.033 left_yaw=-0.0443 left_pitch=0.0939 left_roll=0.0338 left_gripper=0.9996 right_x=0.3054 right_y=-0.0027 right_z=0.1761 right_yaw=0.1341 right_pitch=-0.178 right_roll=-0.017 right_gripper=0.9964\nstate[joint_eff]: [0.7179, -3.0154, 0.6496, 0.3834, -0.0562, -0.6374, -0.0122, 0.212, -2.4957, 7.3504, 1.7656, 0.0317, 0.1734, -0.0024]",
      "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]: [-0.3401, 1.8576, 0.1291, 1.2564, -0.2672, -0.1123, 0.9994, -0.1314, 0.9905, 0.7918, -0.5659, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3277 left_y=-0.0627 left_z=0.0047 left_yaw=-0.0686 left_pitch=0.1077 left_roll=0.0345 left_gripper=0.9994 right_x=0.3053 right_y=-0.0034 right_z=0.1747 right_yaw=0.13 right_pitch=-0.1835 right_roll=-0.0154 right_gripper=0.9964\nstate[joint_eff]: [0.4308, -5.559, 1.3197, 0.3932, -0.1685, 0.5641, -0.0317, -0.1026, -2.5368, 6.9812, 1.5507, -0.1587, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c38c3bbeadec6d4b52479fe0c3e21cbb9800686609a4a1c7697d186304662cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a7327959cfc61fde243805d71f1c5e6043d334fad7c9f368fcd42b463ac304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061469988e0698cbfa4a879bece0bbc21c4a1b354af2f851939613bed1b234d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AcKEAgSGAI4AUIIdGhpbmtpbmcSDOiICE+5g1h1GTseGhoMnAL6/lU1Wy2MmfUjIjCQrhfnCXKBfdL376mXpvkCNVoa7I6zjktEz3fAUEOAqIRR1Va9wMIyIlPLjgXiOxsqkQd4dFojkLMnjGpK72R3fJD6Iyk1g/ONQyJkzIjAHGANxqjG2B9pqQGNif9d20ACxaluB3Xo/MAC+BnCKButseVwEfXo4qAxCiOwRZCECngaVQPBq6bJtKxkrBEck/4g6T0rhRb1iDnHgvOad5rDd72RaGIJVZAHHAdQoDBaQ5XF/9sIO4nDSE6JGfApLY81U5xF3ez9dgFrJHWWZW6qInnphcmpp+Ei8o6e/tg7Wh3VnIHSetWdXrCbAwjE/k9z3YkNNvv/wZemPoGwnoaCvWzfOu5nSKtkq+RKe8X3rrRTwyn5nsLwzhWroukrhJBapzUbAYlPWP5L1IIBBVNI7d8bRCUBG4++U7w0W93V4GWib2rvQ/ptqVeLFLlujPxVqxKAufsoblDbXjS6DjMVYvILB5TkS5N3FszwCObVy99eOWJiFym4ldIQGuvXIO8LdzYD/RNLgMO0bSGeWJpRpIlzRAk8QWJZ8HM1fDUlYMTE11mVswkGBMVqqYJlqAXxRb/1DeSslGIaER6C7KQkSyYUR2hQ2s+dliZQCBe8hPdPsW89PBhoHzOoVscdA0gFElRZOQOIfOEQt+jShK7ln6gSY3bAzAEfC02dYt2VRnVQisVxLYxaQS0IuMy88f27/8zeXOEajZp7zhrRmS/13+9hBUlnf0V+32NPagLtL325lx5DY9hHj0fk6kwoZa43J8P702yzVDWTlBIl+qUQBeDt3tCLFipJhG9txJyPjsN+/FZUuZca0fRW3eVxJug66y8e9t54YDbG/NjGb3lA+lKWTfwmQHFBhPMBPxKdo4gJD9dowOFRrI7hpizCDkj/vnelk0UrD7wgK022tcsgzb3a0N1UGQXy92tRkOdOjWNM0Cmoj0i9wiB78NPFD9Hme4JkbLMmqh71M1/fMfTDtvJ+btoy/p5+RY5eexJ1MdtxGN9VcUlLSmcLE2NlyBAeK+rq1dl54aYhOSt0VS0471CfGByHYdm6w9BkDtl9Y5iA925GvbSi6p5IXa5xDyGn+/QFlYrGSyORY6dccrAfrnEejTkytQlSyq8RvZ4ZxjsCTQKNce+Bi/Xa3eISaADW1RvahP595EWMqdDZLewC4zNfdR/P1odVEHpu4CMJo+XD749O/R8c9nH+cW2TpdHmqbhL3t+2yeAAMwFBbgA3eKSDlrKwc1Ohq3tDZPZS37Bd5YLgdgConf7qF9JFK5IRQSxyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MvbMf7xRRmnfuSckxq65qh",
      "input": {
        "note": "The yellow marker now runs between the left jaws, almost centred, and the gripper is at table level. 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_01MvbMf7xRRmnfuSckxq65qh",
      "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]: [-0.3424, 1.9053, 0.0963, 1.409, -0.2966, -0.1291, 0.017, -0.1314, 0.9932, 0.7918, -0.5655, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3271 left_y=-0.0579 left_z=0.0163 left_yaw=-0.034 left_pitch=0.1807 left_roll=0.0102 left_gripper=0.017 right_x=0.3056 right_y=-0.0034 right_z=0.174 right_yaw=0.1301 right_pitch=-0.1858 right_roll=-0.0148 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.6171, 0.9915, 0.7643, -0.0024, -0.0317, 0.3346, -0.0615, -2.4547, 7.1453, 1.5556, -0.1392, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:673156407694181da2b8fa080ac826e78e86e811baaa0e26de202fbf8dc1a302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:950e7c1b738ba1ce79d997591306cc3193bbd43ba78be36279de950e520f0730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af9336635b3cec8682201265fef32ccb0db1422dc58c51bc25a0e4bde470af61",
        "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 · 4.564 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]: [-0.2764, 1.6108, 0.2146, 0.9146, -0.2302, -0.0975, 0.9996, -0.1303, 0.9871, 0.7918, -0.564, -0.1905, -0.2123, 0.9964]\nstate[eef_state]: left_x=0.3457 left_y=-0.0524 left_z=0.033 left_yaw=-0.0443 left_pitch=0.0939 left_roll=0.0338 left_gripper=0.9996 right_x=0.3054 right_y=-0.0027 right_z=0.1761 right_yaw=0.1341 right_pitch=-0.178 right_roll=-0.017 right_gripper=0.9964\nstate[joint_eff]: [0.7179, -3.0154, 0.6496, 0.3834, -0.0562, -0.6374, -0.0122, 0.212, -2.4957, 7.3504, 1.7656, 0.0317, 0.1734, -0.0024]",
      "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]: [-0.3401, 1.8576, 0.1291, 1.2564, -0.2672, -0.1123, 0.9994, -0.1314, 0.9905, 0.7918, -0.5659, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3277 left_y=-0.0627 left_z=0.0047 left_yaw=-0.0686 left_pitch=0.1077 left_roll=0.0345 left_gripper=0.9994 right_x=0.3053 right_y=-0.0034 right_z=0.1747 right_yaw=0.13 right_pitch=-0.1835 right_roll=-0.0154 right_gripper=0.9964\nstate[joint_eff]: [0.4308, -5.559, 1.3197, 0.3932, -0.1685, 0.5641, -0.0317, -0.1026, -2.5368, 6.9812, 1.5507, -0.1587, -0.0269, -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 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]: [-0.3424, 1.9053, 0.0963, 1.409, -0.2966, -0.1291, 0.017, -0.1314, 0.9932, 0.7918, -0.5655, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3271 left_y=-0.0579 left_z=0.0163 left_yaw=-0.034 left_pitch=0.1807 left_roll=0.0102 left_gripper=0.017 right_x=0.3056 right_y=-0.0034 right_z=0.174 right_yaw=0.1301 right_pitch=-0.1858 right_roll=-0.0148 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.6171, 0.9915, 0.7643, -0.0024, -0.0317, 0.3346, -0.0615, -2.4547, 7.1453, 1.5556, -0.1392, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:673156407694181da2b8fa080ac826e78e86e811baaa0e26de202fbf8dc1a302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:950e7c1b738ba1ce79d997591306cc3193bbd43ba78be36279de950e520f0730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af9336635b3cec8682201265fef32ccb0db1422dc58c51bc25a0e4bde470af61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAgKEAgSGAI4AUIIdGhpbmtpbmcSDLsfgTvdqnzyYBEJoxoMYWxzyz846gA9kOcaIjDol5yekMr55qLCcI4s2Vj1BsU2eyjYLTtnac9x6iabrd5R2qsDjP+s6pzH6vwUpbUqrQf/4LD5PYvDIndmeHbydsICu+hOAgYby1AYMC3ugB7V6ptg+ImuyeSWR5wQuTTb2N8v1AqKSao9wgo4gp/9mrIF7mVHhgmeVW9ZZmagrjmi0XFIDijZ3fKFWty8fJIrJWRjtLi3NDPkfni6SdvI8KA4SMehB6JtI+mIZslR3F+qbJDuHSAwc/kc1mQezn5xHWJZga8sGnz19A7lrSmb5/3Ob3QhyIh8lopGaInClsMGHs+ajuaWj9uJ/05GuLmU8CZHRJ88f2xy4LDrhOWjR4GJfxMgAOnA1pPNVRr74DgRgsOsut/PIH5AgskX+HT3xnHWtfixun1untGjLcW192SgODD0wF/RQmx8aIFGBSZuF13zMJNDGAcN1EJMKchHIJBqMDFEPJTjh8bDQ372IBlMwu8jZ/sfd9/Ixs4QInZ6DMORdAOyY2pz+wZlNf3MSV8TODL556XDCaARtEdxYEz51CccyBJ5cbYXxPMTZJzERf1ectTDvlSmzGI9CFGYCOtK8NWXWjFx5iaveEygPRQBKk2mhrtT2wS8Qr8i9UxfxKzxDLJpLlZN2TuDRCwpV7Br6IRIcT/QtooQ6SafQAkbDZIsvosgkRuLZiR1dkCvxQmnenKzKsRAAjh75RNkHrTJyzzMPEwyg5w73sj2dg7YNtDOguK333+QJlz/sQDfLf4WOXatGzicxJxTrdu6/NYNFJQcQLySunIfGHUrWuf3gAozaZ8hHnkCrYRBNfIp4kERaKYg1d8YVttilq39+ijKq3D1j5vIxBAiMGjo2fMGeXv0dCE/5zyTr0IEdRqE+TiiWPm78w7DbNFaV8uQFN/P8MVc7hjuFVAYXLkSylus5MHKEYhrkeEDk/BP74XD8kgPY3pAwoa/aYFyanduSdgPrwXo0OVlGwdEA8QI5i6cR3ne1vIQ23OgnbYGmN47RT+IAyBku3BvF5nYbgqMXGTZCxpIoy/xA4zCZdDs2CBUg0uOc234paVNmBIOVmJDtWYyYyLg3L6UqSdU1QxvB/PB4V44BEIEZos4pIqSP0raXc3yKcRMb8VPq0AxLAfdCPrwbQr9PuiCoL2bFDTqZQsm3Gg7gD4ez+pnfok/GBgbyRrzfCUQ/YZ7/QVUbHe2/wM5z44ytzkQXFQcvXsT7xGYQOWks3FvpoT4tbZoR7522wf4xUaHCZmu4jrc/mNhqVtyyy30bsis24OBl/OM8OubJrq0wEg/8qJKVJzgAoQwtuZx6+W/0l3/IqFAXBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011pWzH8CXsuVBShbfcHHgcd",
      "input": {
        "note": "Empty close (0.017): the yellow marker sits just past the jaw tips, so the grasp point was short. Opening and lifting slightly before moving forward.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011pWzH8CXsuVBShbfcHHgcd",
      "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]: [-0.3424, 1.6627, 0.0952, 1.1656, -0.2958, -0.1318, 0.9952, -0.1314, 0.9932, 0.7918, -0.5655, -0.1883, -0.2104, 0.9964]\nstate[eef_state]: left_x=0.3249 left_y=-0.0573 left_z=0.0368 left_yaw=-0.0333 left_pitch=0.1788 left_roll=0.008 left_gripper=0.9952 right_x=0.3056 right_y=-0.0034 right_z=0.174 right_yaw=0.1303 right_pitch=-0.1858 right_roll=-0.0151 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -5.3538, 3.9453, 1.7509, -0.1343, 0.022, -0.0464, -0.1573, -2.2769, 6.8991, 1.6044, -0.1392, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d61a2c04731889f3833e84223654eac9341c78b6a1e6f596ddb334e7854506ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37386379622db9558eb54aafcd9602c41165aefad5bdb2de7245292faf5503b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfd22cf7ed0234a11200a42c35a9b23a42abdcd91bf6eb718ca94086dea57beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 5.135 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]: [-0.3401, 1.8576, 0.1291, 1.2564, -0.2672, -0.1123, 0.9994, -0.1314, 0.9905, 0.7918, -0.5659, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3277 left_y=-0.0627 left_z=0.0047 left_yaw=-0.0686 left_pitch=0.1077 left_roll=0.0345 left_gripper=0.9994 right_x=0.3053 right_y=-0.0034 right_z=0.1747 right_yaw=0.13 right_pitch=-0.1835 right_roll=-0.0154 right_gripper=0.9964\nstate[joint_eff]: [0.4308, -5.559, 1.3197, 0.3932, -0.1685, 0.5641, -0.0317, -0.1026, -2.5368, 6.9812, 1.5507, -0.1587, -0.0269, -0.0122]\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]: [-0.3424, 1.9053, 0.0963, 1.409, -0.2966, -0.1291, 0.017, -0.1314, 0.9932, 0.7918, -0.5655, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3271 left_y=-0.0579 left_z=0.0163 left_yaw=-0.034 left_pitch=0.1807 left_roll=0.0102 left_gripper=0.017 right_x=0.3056 right_y=-0.0034 right_z=0.174 right_yaw=0.1301 right_pitch=-0.1858 right_roll=-0.0148 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.6171, 0.9915, 0.7643, -0.0024, -0.0317, 0.3346, -0.0615, -2.4547, 7.1453, 1.5556, -0.1392, -0.0269, -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 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]: [-0.3424, 1.6627, 0.0952, 1.1656, -0.2958, -0.1318, 0.9952, -0.1314, 0.9932, 0.7918, -0.5655, -0.1883, -0.2104, 0.9964]\nstate[eef_state]: left_x=0.3249 left_y=-0.0573 left_z=0.0368 left_yaw=-0.0333 left_pitch=0.1788 left_roll=0.008 left_gripper=0.9952 right_x=0.3056 right_y=-0.0034 right_z=0.174 right_yaw=0.1303 right_pitch=-0.1858 right_roll=-0.0151 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -5.3538, 3.9453, 1.7509, -0.1343, 0.022, -0.0464, -0.1573, -2.2769, 6.8991, 1.6044, -0.1392, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d61a2c04731889f3833e84223654eac9341c78b6a1e6f596ddb334e7854506ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37386379622db9558eb54aafcd9602c41165aefad5bdb2de7245292faf5503b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfd22cf7ed0234a11200a42c35a9b23a42abdcd91bf6eb718ca94086dea57beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnggKEAgSGAI4AUIIdGhpbmtpbmcSDDH5097JCHFyZxgfnxoM1z/CUpp39P5WgQeNIjAEzedHyDm4nyiwkKPMI32voccrYsYqecj9AxIf22QaT0wVRBMclG+ZhCjI0/HSchMquwdpxEcuf7lEOVNYGr3WBi6Ie+xH58OcMi2VF0Qsc8j7vB4VGNUC/iSDITgy/j1tSDsMMDwnzrOxJMfiMuG/S8hWbNeJhH2NKD/siWQ1K6WZ7OvWOu71qCfvNRX6dCbQq9IlyocYaQPW9j1zvAJhopDZtzmb4+mRvdOM6jGIAfOQf3nVUENbAtuZHjqoznFsMqyuwCHz/LS+kClQDTY9kfrrARGjWbjFo2VyfgyL2pyfagJnWDwkHX6LmAk7fLf+YsIFJLj6Blh4FpNbfeer6CJ/tuZqkVqgLHb6IZ+uDiUy9QD33TRJMy+l0UsyBLHyQxdctAQF4wkV2mPdMmMy8Qse9uTjNwQLU3vRZcCVdVy958UAUiiwNQG6u/dH993cDYToguAak5HbeXBLtzESU8A72k9H7bWKgvcbCVze6+TD4x9Uz9WPUNaO7b9UXwUU/chlmw5tUczwiFWt6qhZ7edHtzoRm+E5faecMKFdw4aZtdNsGLriNtfmg1DFwDBphkAvg04cI/DOw3tUuHLgKmXS8JZSOwTdVrwfDV53P7uuHlort+mskgUtYb/DXLNPQVzz3/Ec9lfsKjx3VGVr5Dt5HU1iOAVH/Aa85HUY8EeOXCcJKlyZuyfTO2LbXALa6IuMW4qgEg7ZijwfbzmDp7UeGNniZo9fUCxezxu0v50jaDJajEVTgiz3KRZIOeT82FXdejLcI4z8UXse2AKX9k/iPwYYRFJ+zHMx5hePHtjKoWIhLwaNBZlDYUcXv7ViswrgkI+KSfKwOW/DUqTpxrDRWN9cFT1joY9AS3YUJzyi1RGRf2BIrqqKCiGVagb8ADzFCjpNdnqnw7K1UBpwE9BX58HuXX/WWhrXZJfanyIN13wZlzh3Vc6lQLibKKENzm8neqC3cU1K8A7Zd3k04cqiMwmaVoAtTwMHYzou9BpUfMOibzOeEZqpdeviwZVvUD1YlYLmJ80zwTXqvxhUOvS00mO25Ul9EEd4kx0grRe6M4JeJfBIj31x6EGTqKeWnahog1ebLOcqJYPmsaztygc6xpb4VVMWmvuwv2SdyQrHEaCBKel/V5vx9E5IqPXOy9NEoOpTN38rFObA1mV0ITqSgNSiIVpm4H4bVvBaj0D2gtRM45uyckgSQcsn6V9634svuB4gsOR/Rs5RsGges7uhfERpZLG2nyHq3y4KiC94KKP/6GCEdO9XC8rJ3voGWDKAFVu5MC71G6nMpEAEfrc2/Mynchz+SzGQHySHgPPPiRP1D9GeneCisQuJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DJ3JzbsHDvDmHSe2iWaswB",
      "input": {
        "note": "With the jaws open, the yellow marker shows up by the left jaw, just ahead. Shifting about 2 cm left and 1.5 cm forward, then descending.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.035,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DJ3JzbsHDvDmHSe2iWaswB",
      "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]: [-0.2157, 2.046, 0.1455, 1.4979, -0.2295, -0.0837, 0.9966, -0.1314, 0.9977, 0.7914, -0.5678, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3426 left_y=-0.0303 left_z=0.0008 left_yaw=0.0107 left_pitch=0.1704 left_roll=0.028 left_gripper=0.9966 right_x=0.3054 right_y=-0.0034 right_z=0.1722 right_yaw=0.1305 right_pitch=-0.1928 right_roll=-0.0129 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.6427, 0.2803, 0.6374, 0.2711, -0.3297, 0.1392, -0.1983, -2.359, 6.8718, 1.7265, -0.1392, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf0603238ed90e7b15f141ad087e2593fce5f5c8328f7081b71d16322ef70a06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f16ecac492b385b85d3b47a5f0b11e8f4565506e3428beef27820af1bd8176a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16ce927827e100fe63e05e6a8c9a465ed0934e64c6917b384f870d5f859eadc8",
        "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 · 8.932 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]: [-0.3424, 1.9053, 0.0963, 1.409, -0.2966, -0.1291, 0.017, -0.1314, 0.9932, 0.7918, -0.5655, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3271 left_y=-0.0579 left_z=0.0163 left_yaw=-0.034 left_pitch=0.1807 left_roll=0.0102 left_gripper=0.017 right_x=0.3056 right_y=-0.0034 right_z=0.174 right_yaw=0.1301 right_pitch=-0.1858 right_roll=-0.0148 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -3.6171, 0.9915, 0.7643, -0.0024, -0.0317, 0.3346, -0.0615, -2.4547, 7.1453, 1.5556, -0.1392, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3424, 1.6627, 0.0952, 1.1656, -0.2958, -0.1318, 0.9952, -0.1314, 0.9932, 0.7918, -0.5655, -0.1883, -0.2104, 0.9964]\nstate[eef_state]: left_x=0.3249 left_y=-0.0573 left_z=0.0368 left_yaw=-0.0333 left_pitch=0.1788 left_roll=0.008 left_gripper=0.9952 right_x=0.3056 right_y=-0.0034 right_z=0.174 right_yaw=0.1303 right_pitch=-0.1858 right_roll=-0.0151 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -5.3538, 3.9453, 1.7509, -0.1343, 0.022, -0.0464, -0.1573, -2.2769, 6.8991, 1.6044, -0.1392, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2157, 2.046, 0.1455, 1.4979, -0.2295, -0.0837, 0.9966, -0.1314, 0.9977, 0.7914, -0.5678, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3426 left_y=-0.0303 left_z=0.0008 left_yaw=0.0107 left_pitch=0.1704 left_roll=0.028 left_gripper=0.9966 right_x=0.3054 right_y=-0.0034 right_z=0.1722 right_yaw=0.1305 right_pitch=-0.1928 right_roll=-0.0129 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.6427, 0.2803, 0.6374, 0.2711, -0.3297, 0.1392, -0.1983, -2.359, 6.8718, 1.7265, -0.1392, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf0603238ed90e7b15f141ad087e2593fce5f5c8328f7081b71d16322ef70a06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f16ecac492b385b85d3b47a5f0b11e8f4565506e3428beef27820af1bd8176a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16ce927827e100fe63e05e6a8c9a465ed0934e64c6917b384f870d5f859eadc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2ggKEAgSGAI4AUIIdGhpbmtpbmcSDFjGMHAr33LuwkGDbBoMR0roexu3iQG3zlIlIjBv5/FK7B6c4ZiYF99d+jkTu9nnnlqpdZvA18uMrb5z2ctc+a7r0vPN0OZqxKBbvKEq9wdAp2WU9HobTXqHdJ//3hICbz5pKBbP5nhGAqNPVOuAofdDoUsfJ9uA96KXOn3aUa9tQm0Rbw2tI4QYGqnFpfZ9+wQ5sNLbp/jrmIP7wDXwgvdDsgwpEz8mgtHDSQQOgfoM+7/ouQJ9YzQ2uHdhfoJ6FJyVhgsajwV3+pC2+lhzMpxjbEKGgiDU6Drgup4for7n9wRFgFYWsMIU3wQvbTHfUuhTRJO9SWbxGd0grRh4Kz6RF1YQWJCN+gQCB1CmGtuCkfJcaC7i2u6NN4FVKXn+P/wgBTI6EKCQPjoclLN3K0WCkuJVhtW4w9HRR/lY5RIwnpi46MOQfZhUZwOCqcDBXmTstFuPxOYH/She2wX25pwmK3hX6XV3wXjBI1b5h84rLuqAp3H7O5zgj77RFM7N+lphDHAVkElaCT08MaCwDlJ0KSYthQjqEFmtrcHsWlXX0YK2LnATuKAvHBYYU7Gztypckj8v9zmTAmqPkRVtYaP1ThtI7YH+jKkbG0NOw9aAujTyqP8uijS2dyR2SSYCVZRnZS1G+GzLPVVL6WrZ0F+0H9ZmaRDP50SUfLxfyXp6WUSsmsKu09KHvQsvNrDTmfr78sSOoPNsaRXsfxmX8VJGMaaek7UvMtAE4uytdT2fAE5u7O8u75azpDP0G5oYiH57cBFhIFOAMMS0SHXvMwsqjtefVgkOv105rCyUXVkfdFTuKJ0X+x+WI2b/cdXKwNBc3mXD5nrEA7gFtAKBCKjMaJaIT2HNCQoR/bGDsLARdYYwJG8xzszVQA7fEXDbhPq8KUci6TrL5hMUB3o1Jk0XN5b/WIzkmxzHE15OltRUSNOEwq1Se6j+IwBMoo5GtsqlwHuhS3X/oNgCQ0jTasWVXXgcAL41Z+J9/LNkl/IFjHuOqOaonuYGA9b6oraSWNbNZp4KuyhqgXfa5Mh5r1mF2dYbdx/h25x9OfWSzZVaWuyQLwiWOw/pdnJQNjg4flMx/CC6do5q2krGpFs+ToHFK4va3UEHRxmeN7lG+9KnMSheTKXR33RILdNarJinLSrYMX1qCorIg4a7ZiBTS+OrjueukRlXqxq9+lkwatmvdjs9rOD6PgA5w1ix0ikDNBP+fc1H5beGJCHGCsww4dkF30p5mPiSe9gZj5TOG8MiPN0GmOzIMoUIiWqp4NT/gQ96EpyGRyTBOxSP937yV6WYBzKxuqyEibf44MY2cCcTyjd52jZxo/rokRUAcqRAvr3lhB2h5lNFX1MNzqgTttoie1xyiV1d3QdfSKOAdb5+PrBnCTuvp0y79+PGbDbZqkLXeLES9wXtSDc1AO+xay5gyv46XC/46EVsQlhGcHtTwZKnBYDnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ANbhZbeZEedwAo5gWZVe8Q",
      "input": {
        "note": "Yellow marker is now centred on the jaw column and runs down to the jaws, with the gripper at table level. 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_01ANbhZbeZEedwAo5gWZVe8Q",
      "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]: [-0.2146, 2.0434, 0.1501, 1.5669, -0.2394, -0.0826, 0.0099, -0.1314, 0.9989, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3503 left_y=-0.0298 left_z=0.0184 left_yaw=0.0235 left_pitch=0.2455 left_roll=0.0146 left_gripper=0.0099 right_x=0.3057 right_y=-0.0034 right_z=0.1721 right_yaw=0.1305 right_pitch=-0.1928 right_roll=-0.0129 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -5.8735, 1.1829, 1.2137, 0.0415, -0.0269, 0.8327, -0.1846, -2.6598, 6.8308, 1.5556, -0.1197, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d477bc178bbebda5dc64749b6f6162a5f0e6a7762034e106bb77a7045f2d1f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4248e8e578174b1b49547c92e69dc693fdcfd19b94c11cc30514fb6bce6f050d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3bd14c1bf65ef1625447a4a36fbf12a47d961156c805ca41446b90aa3114cba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.653 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]: [-0.3424, 1.6627, 0.0952, 1.1656, -0.2958, -0.1318, 0.9952, -0.1314, 0.9932, 0.7918, -0.5655, -0.1883, -0.2104, 0.9964]\nstate[eef_state]: left_x=0.3249 left_y=-0.0573 left_z=0.0368 left_yaw=-0.0333 left_pitch=0.1788 left_roll=0.008 left_gripper=0.9952 right_x=0.3056 right_y=-0.0034 right_z=0.174 right_yaw=0.1303 right_pitch=-0.1858 right_roll=-0.0151 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -5.3538, 3.9453, 1.7509, -0.1343, 0.022, -0.0464, -0.1573, -2.2769, 6.8991, 1.6044, -0.1392, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2157, 2.046, 0.1455, 1.4979, -0.2295, -0.0837, 0.9966, -0.1314, 0.9977, 0.7914, -0.5678, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3426 left_y=-0.0303 left_z=0.0008 left_yaw=0.0107 left_pitch=0.1704 left_roll=0.028 left_gripper=0.9966 right_x=0.3054 right_y=-0.0034 right_z=0.1722 right_yaw=0.1305 right_pitch=-0.1928 right_roll=-0.0129 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.6427, 0.2803, 0.6374, 0.2711, -0.3297, 0.1392, -0.1983, -2.359, 6.8718, 1.7265, -0.1392, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2146, 2.0434, 0.1501, 1.5669, -0.2394, -0.0826, 0.0099, -0.1314, 0.9989, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3503 left_y=-0.0298 left_z=0.0184 left_yaw=0.0235 left_pitch=0.2455 left_roll=0.0146 left_gripper=0.0099 right_x=0.3057 right_y=-0.0034 right_z=0.1721 right_yaw=0.1305 right_pitch=-0.1928 right_roll=-0.0129 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -5.8735, 1.1829, 1.2137, 0.0415, -0.0269, 0.8327, -0.1846, -2.6598, 6.8308, 1.5556, -0.1197, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d477bc178bbebda5dc64749b6f6162a5f0e6a7762034e106bb77a7045f2d1f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4248e8e578174b1b49547c92e69dc693fdcfd19b94c11cc30514fb6bce6f050d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3bd14c1bf65ef1625447a4a36fbf12a47d961156c805ca41446b90aa3114cba",
        "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_017mpgELUJLFKvoWMiBzzRAa",
      "input": {
        "note": "Second empty close on the thin yellow marker; the jaws ride up over it. With the call budget running low I'm switching to the plush toys, which go in the left basket. The gray koala is ahead-left of the left gripper, so I'm moving over it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": 0.03,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017mpgELUJLFKvoWMiBzzRAa",
      "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]: [0.0772, 1.6791, 0.3321, 1.0203, 0.0059, -0.0071, 0.9953, -0.1314, 1.0, 0.7918, -0.5674, -0.1883, -0.2104, 0.9964]\nstate[eef_state]: left_x=0.3939 left_y=0.033 left_z=0.0699 left_yaw=0.0605 left_pitch=0.2355 left_roll=0.0081 left_gripper=0.9953 right_x=0.3057 right_y=-0.0034 right_z=0.1718 right_yaw=0.1307 right_pitch=-0.1942 right_roll=-0.0128 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -7.7744, 5.8462, 1.8339, 0.1783, 0.1392, -0.0806, -0.1436, -2.6598, 7.159, 1.5018, -0.1245, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:086ddd048fdf7c5c9078bd03ae7fdf163ec0dc410ab60fbb79f15e8b82ccc382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9490df62c44730d44c7a4c3c81f5c284e8fa5c159126df6c1552a0ad18267d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9926c9de3c7eca65dcf389e705662ae8467c780cc98df6e5381d68166e34b31f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 3.812 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]: [-0.2157, 2.046, 0.1455, 1.4979, -0.2295, -0.0837, 0.9966, -0.1314, 0.9977, 0.7914, -0.5678, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3426 left_y=-0.0303 left_z=0.0008 left_yaw=0.0107 left_pitch=0.1704 left_roll=0.028 left_gripper=0.9966 right_x=0.3054 right_y=-0.0034 right_z=0.1722 right_yaw=0.1305 right_pitch=-0.1928 right_roll=-0.0129 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -4.6427, 0.2803, 0.6374, 0.2711, -0.3297, 0.1392, -0.1983, -2.359, 6.8718, 1.7265, -0.1392, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2146, 2.0434, 0.1501, 1.5669, -0.2394, -0.0826, 0.0099, -0.1314, 0.9989, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3503 left_y=-0.0298 left_z=0.0184 left_yaw=0.0235 left_pitch=0.2455 left_roll=0.0146 left_gripper=0.0099 right_x=0.3057 right_y=-0.0034 right_z=0.1721 right_yaw=0.1305 right_pitch=-0.1928 right_roll=-0.0129 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -5.8735, 1.1829, 1.2137, 0.0415, -0.0269, 0.8327, -0.1846, -2.6598, 6.8308, 1.5556, -0.1197, -0.0415, -0.0122]",
      "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]: [0.0772, 1.6791, 0.3321, 1.0203, 0.0059, -0.0071, 0.9953, -0.1314, 1.0, 0.7918, -0.5674, -0.1883, -0.2104, 0.9964]\nstate[eef_state]: left_x=0.3939 left_y=0.033 left_z=0.0699 left_yaw=0.0605 left_pitch=0.2355 left_roll=0.0081 left_gripper=0.9953 right_x=0.3057 right_y=-0.0034 right_z=0.1718 right_yaw=0.1307 right_pitch=-0.1942 right_roll=-0.0128 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -7.7744, 5.8462, 1.8339, 0.1783, 0.1392, -0.0806, -0.1436, -2.6598, 7.159, 1.5018, -0.1245, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:086ddd048fdf7c5c9078bd03ae7fdf163ec0dc410ab60fbb79f15e8b82ccc382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9490df62c44730d44c7a4c3c81f5c284e8fa5c159126df6c1552a0ad18267d02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9926c9de3c7eca65dcf389e705662ae8467c780cc98df6e5381d68166e34b31f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsggKEAgSGAI4AUIIdGhpbmtpbmcSDM1nu96hboI32olZ4hoM00MHVB67HXvOxBl9IjDoWjQieseU/24O3lpvZ4pJFHpspB684CkXuMY688JVRC501MMXoywIHlHpn+Y1jOUqzwfJK9MZ6Q4x1jIH+AwLaawNUnQoF40+nWyBW2omRfUKtfVSPJO+M22Ni3GZ0jIWazl8lgKGGxmZWA/xaB7znBGJHDqO0ynHjzNeLLLoE+D29gJKloCqNAqCAB4IqEmnhUiRafGRaUnxKcNWMe5eBje80+qvI3sIgSPvMoeIamAH0RKOAipI0+jIcGt2Uz5m1H1DkLpjnB4RMFoAGsgaR21TpiH5mTVNAgjAQZsB25QYPEK9zWhDQuka8wSoR51Ogk+5CgPz4lN4NwMzVHx45IctbKerAACQzHvazKYe/E9/yNxINwXE3t/0OwnaVG+TGq2uc4wFe0jDyNJd5WBf2v28z/QMKhGljc/TaokLZlJ/ryLzrdv7iyORNj8ZGN0LBjO6ScVN5vmaT4C2EiJqoF9pDzJtUsGgRZVssOioRta5375iRxQU5ojHOsfPncMjCiJb0NsjfeAI8UR7aYmkiIjdeDKvIQ1xDqL74qsSCm8n5hrldAh54ZkyNukgTbVao2JWSt5vzuSw/deW0ueCdf8xF7PkBF2Dqp4O9APmYOWgrJQXOBsNna/z4XQtteFVSnw6lecJl2+Rf3DcmRsDw3BcGei40qSsA9qoOxNhOy9Mwa1Yy8nfhPTLoNjL2C8Rb/MGWEjaY3vREYtniELTeaDYCcE+BSu0gsPTiHmuoKwUYEM1jaGpIqwlZygCMTGOdkrZrZDupYydE4ADuJVxhIFp0dc9sleWg2uPBdZDqkbXajqhEsu8rHECZInavV4u5Sj2n3j3aAJS3Tfa80GpPGPzDl1mkFcLOPBv9lDcR+IPFtTghDfvSSqNdDeFvhd+J8sVcxw3YoCqq5/3FTbdlNpeJqwnuGoLBDljRFNoQYMuBZHdSl7gUZrU2nw2o0roM3RuOmoOh+8InoFx+b4M3CH7r4RPgVpRXAGnAMKX2+MP9VMaJMPbPzsk8JM5xkixXkzkX8jl5ooXF6Pl2CRax9ChVFL6HiT+Plyp6kno0+2ygn5rDAcFJyncvnp95Xi2LkUaJwZ0bKOONGDW43hoR3upFo7GxcGzGq8Z+1kwjiOjy5Y61q2SNL+oANAhzvLZlW1lbeHNkIbqKx94GjFT4vQJ+wWLz2aBVZYQpBDs55xKlVm9FQNzg3auP+ADFcG00c/t8M5fLuBhJ5c+zH5aCDbGw4y2quLOR3tnFDiTKXZ/Kn3RV0lhH80bKiFLgbodlEKa6cuL1sQ+CDgnRCNUKKy4IsoqHrKqlogXWhFbB5nO5mIViCoQ7TUxRQuWcuLLNBJfMAxZB943o2oBoBJcnwUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ULxsdwbFS9pAw6gLoSGdco",
      "input": {
        "note": "Gray koala plush is under the left jaw area at the bottom-left of the wrist view. Shifting left to the y bound and descending into it.",
        "targets": {
          "left_x": 0.38,
          "left_y": 0.05,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01ULxsdwbFS9pAw6gLoSGdco",
      "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]: [0.1459, 1.985, 0.2752, 1.2999, 0.0673, 0.0143, 0.9967, -0.1314, 1.0035, 0.7918, -0.5674, -0.1879, -0.21, 0.9964]\nstate[eef_state]: left_x=0.375 left_y=0.0467 left_z=0.0048 left_yaw=0.0653 left_pitch=0.1534 left_roll=0.0018 left_gripper=0.9967 right_x=0.3059 right_y=-0.0035 right_z=0.1708 right_yaw=0.1304 right_pitch=-0.1976 right_roll=-0.0118 right_gripper=0.9964\nstate[joint_eff]: [0.8137, -6.653, 1.8256, 1.453, 0.0073, -0.1392, 0.1245, -0.0479, -2.8513, 6.8581, 1.5018, -0.105, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:404a3199917f6d54af6fc7875b4f85cc5a1566a60198ed286c81a3a9a01d384b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8718565ede5783c6f78520dd5394a835c4fbf6aadb6b5478848874698162b373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35a27aada66d5084d3ba5282f4ffb5473307cd463897f076ef095831a696ad74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 6.741 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]: [-0.2146, 2.0434, 0.1501, 1.5669, -0.2394, -0.0826, 0.0099, -0.1314, 0.9989, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3503 left_y=-0.0298 left_z=0.0184 left_yaw=0.0235 left_pitch=0.2455 left_roll=0.0146 left_gripper=0.0099 right_x=0.3057 right_y=-0.0034 right_z=0.1721 right_yaw=0.1305 right_pitch=-0.1928 right_roll=-0.0129 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -5.8735, 1.1829, 1.2137, 0.0415, -0.0269, 0.8327, -0.1846, -2.6598, 6.8308, 1.5556, -0.1197, -0.0415, -0.0122]",
      "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]: [0.0772, 1.6791, 0.3321, 1.0203, 0.0059, -0.0071, 0.9953, -0.1314, 1.0, 0.7918, -0.5674, -0.1883, -0.2104, 0.9964]\nstate[eef_state]: left_x=0.3939 left_y=0.033 left_z=0.0699 left_yaw=0.0605 left_pitch=0.2355 left_roll=0.0081 left_gripper=0.9953 right_x=0.3057 right_y=-0.0034 right_z=0.1718 right_yaw=0.1307 right_pitch=-0.1942 right_roll=-0.0128 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -7.7744, 5.8462, 1.8339, 0.1783, 0.1392, -0.0806, -0.1436, -2.6598, 7.159, 1.5018, -0.1245, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.1459, 1.985, 0.2752, 1.2999, 0.0673, 0.0143, 0.9967, -0.1314, 1.0035, 0.7918, -0.5674, -0.1879, -0.21, 0.9964]\nstate[eef_state]: left_x=0.375 left_y=0.0467 left_z=0.0048 left_yaw=0.0653 left_pitch=0.1534 left_roll=0.0018 left_gripper=0.9967 right_x=0.3059 right_y=-0.0035 right_z=0.1708 right_yaw=0.1304 right_pitch=-0.1976 right_roll=-0.0118 right_gripper=0.9964\nstate[joint_eff]: [0.8137, -6.653, 1.8256, 1.453, 0.0073, -0.1392, 0.1245, -0.0479, -2.8513, 6.8581, 1.5018, -0.105, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:404a3199917f6d54af6fc7875b4f85cc5a1566a60198ed286c81a3a9a01d384b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8718565ede5783c6f78520dd5394a835c4fbf6aadb6b5478848874698162b373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a27aada66d5084d3ba5282f4ffb5473307cd463897f076ef095831a696ad74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5gcKEAgSGAI4AUIIdGhpbmtpbmcSDFclvpxgOt2E7lmHZhoMGR92iXzI8v6aEoh5IjA1wsWxFB9toQ/Y3ebkBZllw/6dQvyvJroGj3oNNtguZCD554oaavqfK0I8kmXWR8YqgwcGaqEqsEcGSZbEPImGGGwQW3GIt6Pyk0W35vup4jbfswLSyshW62m0fO+EDc6eTLTxZcTJEeV14upUox6gzH9FNdPFdhea5Nx6Lg8njqYwJNaiNkC5dhoNQU2evl7XKDOiTzYN8m5tLIonvOxJGu3q9LQJ4zN4I7RpORWKN2WEd3PIhCUH8GRhr9w8Kn1eTyYUjJDCtmXVbZ6zRkOi3LoY6CFdoehNa1EVw1r2ognV3/lXABjKoMAEIBBMACu/7iMgIqsbQBiWLSikbJUoVpuVErOYmyXsB24F2jWcKh1SLcD4FcifvKH91LI6vXAJTgk+H8v6O7Uwr54kBuBlBUWZAnQHl10OOC0PB8URNx9LilJ/ohOIdd7nNdCzl2orkwnSaOG2kdNt1Aw7iof78DzavYg5xAJv8HtAuA1l1c779RO+tln2RL+rolMaWro5U5snjgm0RKNlNzI4v4SiPn44oMaoRksiBbg5y7iWK82zyDXGSjhCUwtDPWByJR/02QWlQ6PaaxTfGgzg8Rx7GnYR0xMBcgMb3wlhQrgoBKi8dMJpuUT5Hsi5/dr+jAH2IEzNmePh1c8OLCtEtMOYzkT5ljw3gIDQJKInoYLttopT0Rv2Oz9TEm87vfDC4agXJ5J8sxd+bm9AO7Gj3Ph4Ft/lBSZmOlJI6yjaB+wsJMMRF6fo9BGx0YJYj1rR3jgZ03aEKsEFEnqpslUndPAKHZhNV6TfPToxBmUTH+yu/+4Nol0KRl2WwT+jQKWnf5NRj8lO6mFAVZaCfw+S1FCU44Dyj6snuc/a42SNtqb0aPGyf1Zxx6hxGDc6FzpB3mB4ODfjIIfGsGj/Qk0tFI1GIWssFxkASEp1Q/MRexjwCv0y4yJ/UvY5uHyyfZtL6SudVBrjsglz6D8FlYkYv86dGv8fTXS0kQo8Liw+w8ToP17u6qUpiCWbjW3gfbRiV9A4PoIENMywy0Yohm0/UAM4NAQpzEX3TXQE6Ct6Oqo6kHh9JBFlWpsKcuKrZ1u7BCDiagOyG5Gm6ZMJ3G2F8OhLnqwz+xqf+mwDwulcFIFqmqPy1nBGsF6jJTsdQQSEBOTORhlwkyZNvKJqLz787XK7lVanYP1JpJjs5ecBGb5KEbzs9I+MHlNmathkdSUj51HYmVLlkMQS3AUKEJjZXfdwn/VKG/zm26SSNx6r5PVDiEBLEjRD9RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PL73Aapk2j5yk8RB56akjd",
      "input": {
        "note": "The gray koala fills the left half of the jaw opening at table level. Closing to squeeze 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_01PL73Aapk2j5yk8RB56akjd",
      "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]: [0.1562, 2.0083, 0.2707, 1.3861, 0.0792, 0.0158, 0.0104, -0.1314, 1.0046, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3786 left_y=0.0491 left_z=0.015 left_yaw=0.0637 left_pitch=0.2119 left_roll=0.0039 left_gripper=0.0104 right_x=0.306 right_y=-0.0035 right_z=0.1705 right_yaw=0.1308 right_pitch=-0.1983 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [0.3487, -6.3248, 1.9624, 2.2051, 0.0659, -0.0171, 0.862, -0.212, -2.6735, 6.8581, 1.5604, -0.149, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:157876c7b0a0f1c693a52a2ea7d268c89bbd1cf4d11b46cf7951dd946068ac2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9a01c00b55f471802d5cfc39fc009ca7ef62b8987fef6f983277f0c8997712c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca32da3824ff8f0ee45363c0588df0d4deec0ace6adeda0e0cfbe9544407f5c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 10.63 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]: [0.0772, 1.6791, 0.3321, 1.0203, 0.0059, -0.0071, 0.9953, -0.1314, 1.0, 0.7918, -0.5674, -0.1883, -0.2104, 0.9964]\nstate[eef_state]: left_x=0.3939 left_y=0.033 left_z=0.0699 left_yaw=0.0605 left_pitch=0.2355 left_roll=0.0081 left_gripper=0.9953 right_x=0.3057 right_y=-0.0034 right_z=0.1718 right_yaw=0.1307 right_pitch=-0.1942 right_roll=-0.0128 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -7.7744, 5.8462, 1.8339, 0.1783, 0.1392, -0.0806, -0.1436, -2.6598, 7.159, 1.5018, -0.1245, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [0.1459, 1.985, 0.2752, 1.2999, 0.0673, 0.0143, 0.9967, -0.1314, 1.0035, 0.7918, -0.5674, -0.1879, -0.21, 0.9964]\nstate[eef_state]: left_x=0.375 left_y=0.0467 left_z=0.0048 left_yaw=0.0653 left_pitch=0.1534 left_roll=0.0018 left_gripper=0.9967 right_x=0.3059 right_y=-0.0035 right_z=0.1708 right_yaw=0.1304 right_pitch=-0.1976 right_roll=-0.0118 right_gripper=0.9964\nstate[joint_eff]: [0.8137, -6.653, 1.8256, 1.453, 0.0073, -0.1392, 0.1245, -0.0479, -2.8513, 6.8581, 1.5018, -0.105, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1562, 2.0083, 0.2707, 1.3861, 0.0792, 0.0158, 0.0104, -0.1314, 1.0046, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3786 left_y=0.0491 left_z=0.015 left_yaw=0.0637 left_pitch=0.2119 left_roll=0.0039 left_gripper=0.0104 right_x=0.306 right_y=-0.0035 right_z=0.1705 right_yaw=0.1308 right_pitch=-0.1983 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [0.3487, -6.3248, 1.9624, 2.2051, 0.0659, -0.0171, 0.862, -0.212, -2.6735, 6.8581, 1.5604, -0.149, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:157876c7b0a0f1c693a52a2ea7d268c89bbd1cf4d11b46cf7951dd946068ac2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9a01c00b55f471802d5cfc39fc009ca7ef62b8987fef6f983277f0c8997712c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca32da3824ff8f0ee45363c0588df0d4deec0ace6adeda0e0cfbe9544407f5c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiwsKEAgSGAI4AUIIdGhpbmtpbmcSDPlLzF+f+41saOF37hoMFvZl4g4x6L02yPNfIjDb4ygoq/259GIv9YrDuZESpSM4Jg/gZOINXkHK1Gxpl9f1ZO8oQK7o4rLg0FZpnOMqqApbHVTnKZTZRe5SWLTc7CPk1b2AGbPySn9ARiBjSZQyM8EqcZlgmVILphThMrUwgTjo2ftELoRpGbesaOSnHTogM0WQNJmf9u2/auGbJxMUbm2v5pqUkpBieH3Td3UiRcQJlL00epM0hld1Fkyp1GONR8A6tVdWFWyU8tbNPuoVAdJfHjuvYlfu+Ghlb1qcY7gUIzm6yVwHZzKIpwVnnHbYYSsHbC6q3FL3Twb/boXHHMlXLC+9vSfGmF4remn9FNARl+Dt5zBmkC19x16I3dV+giUeZJ/YF0I/yX+Dm+ZJhkMNu03x2wrjvQT+KoxIwzTAqTXklV1LfVRYR0GGkBKVJ/12IAi1BUz8mRzz0tFxLvEXTePqNF9fSDWWLKW62Tu3V2ozv52SfMKXYrJAkIQ5SIQQqiQCaR+HI+krY9Fj+IyXfxbKB5M4TzL3tYfV+ktteNDSP/SYT0EoiwtcPyOCu0+Y57y/Jb8aM1SCugZs6laxnbpHr2kNn8Yu9venIAsKuyQVvmcVrWMUynPzLQEDiqcO6tTeQf6u1TP0u7cdIYFfRa6bsWNJwSrRijkC6ku5D4aNv41GH8o62jOLRFye6vtDZWX0gBTs57XVva2PIL1timW58OR8/LrAQ1hbvmfp35Ffg23NaOyvgfS5QlfdXkdcsljluvze19heCoeky50inrKayHG/HmHljM8aXF2/jo6PqswkltpGNDBtv5FvlZyXjaGmRx56c8buFib9g/g7dOf4wsNxSyf4M3wz/5Xwioi5MXYk8QwzkgVNxlrp5HDC/a/xpASVcmZDq345foZ9KTaVnwZHxpR9AIVvlzWFM9akw6gNrnqqP1eY/CCwVvqRDhfarDJZC4Ek/+9V4ivcRFwAfbnV0mGIGzQD2QT4yyAEJw+2WFQDSZnxP/b6i+0879mxBCKjLipZh56JrUQlFy/BLC9M1TRsvH8+05Z23ynUXxC66bnLdfOlhJjUPtnAdbkz5ncexijB78QymbqrA32iv0GhNbeZuB0xMybG/LWwJbwl7Bik1ZZyrlRXnzYuRmtFKcIfLMBZu5k7A6mAHG8l2kr75U5Kvgj+zyYlDrKw2du6MwYakNRHuvyiEKBqlfrhagwL7tLpVt+oD6Xd0mq7NrwtoRRgcpUZbGK5tt5kEG0CyrlmrEFtemXxIKBejvAK1JoB+AXkTUWFgxLme67dbpXpJUx7OOA3xTzfA6HWdC5qp0CuJ/hbjKZB/tOSE+Zbge8JGFiDYC6gM8btDYkKRMU5VIVyZrf3v499RnxRMNH1hctd7/fARzFuJLFCggFGh0JlSOkhRrhYP/VfaYAakv4zPPmglQ0kD33XZDL5/qzAmWmU1IKNXqmncAg4lNw//38T9zWqwJKS+je+kBd2UX3siCmTcOuOasDRVOkigpy2gB8iO4E2Na4kzco4nOSUdFdvBMw7dsjLR+Dqc0Yiy/wQlwhKJ65wTtJcKk8vAWaCKfSJvA0XoVkxkd9gwYARaWbNbMGuSlO7DO+i28JLR7HmTcdALAMozJmE+oh2y5pkdhnLLFoCAgwKmSj7ort7ouO42KggA0yOleCUKBbAqMn12dCUFmSBjpfcDW9hQ8cSUjoNRvl8SJ4eb7VBxZAEDv02W1rqyPGTuBSfl1yrxQnaJreUMdvl3fCzGSf21Y8OGpcEsdwKo3l2asCrjzniMl8Wyf9HqhyNx2l1pCMvLmFhyMI0lnwjiRN9PNv1CHOyBVJpGBSROr1+FtuHgLpY9V0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mmps9MpnHwiutMEpqhX38J",
      "input": {
        "note": "Empty close: the koala sits further out, just past the jaw tips and to the left. Opening and moving 5 cm forward so the right side of its body ends up between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": 0.05,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Mmps9MpnHwiutMEpqhX38J",
      "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]: [0.1295, 1.9968, 0.45, 1.1625, 0.0593, -0.0002, 0.995, -0.1314, 1.0046, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.4209 left_y=0.0479 left_z=0.0167 left_yaw=0.0633 left_pitch=0.1787 left_roll=-0.0067 left_gripper=0.995 right_x=0.306 right_y=-0.0035 right_z=0.1705 right_yaw=0.1308 right_pitch=-0.1983 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -9.2376, 4.9299, 2.0293, -0.0659, 0.0122, -0.1636, -0.1573, -2.5915, 6.8581, 1.4872, -0.1245, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6024fc4a303cf51a42dd67c8ed53d0a68ea9050d7597ec9a0589a6e79fdef828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6816d21006750de573012e6c1a33baa06173ec5237882a97c042e8ffdae85bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db4c1717d1c8124bbee2941295c45059fa256a30f37c2320d6d93740efc66e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 5.567 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]: [0.1459, 1.985, 0.2752, 1.2999, 0.0673, 0.0143, 0.9967, -0.1314, 1.0035, 0.7918, -0.5674, -0.1879, -0.21, 0.9964]\nstate[eef_state]: left_x=0.375 left_y=0.0467 left_z=0.0048 left_yaw=0.0653 left_pitch=0.1534 left_roll=0.0018 left_gripper=0.9967 right_x=0.3059 right_y=-0.0035 right_z=0.1708 right_yaw=0.1304 right_pitch=-0.1976 right_roll=-0.0118 right_gripper=0.9964\nstate[joint_eff]: [0.8137, -6.653, 1.8256, 1.453, 0.0073, -0.1392, 0.1245, -0.0479, -2.8513, 6.8581, 1.5018, -0.105, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1562, 2.0083, 0.2707, 1.3861, 0.0792, 0.0158, 0.0104, -0.1314, 1.0046, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3786 left_y=0.0491 left_z=0.015 left_yaw=0.0637 left_pitch=0.2119 left_roll=0.0039 left_gripper=0.0104 right_x=0.306 right_y=-0.0035 right_z=0.1705 right_yaw=0.1308 right_pitch=-0.1983 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [0.3487, -6.3248, 1.9624, 2.2051, 0.0659, -0.0171, 0.862, -0.212, -2.6735, 6.8581, 1.5604, -0.149, -0.0317, -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 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]: [0.1295, 1.9968, 0.45, 1.1625, 0.0593, -0.0002, 0.995, -0.1314, 1.0046, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.4209 left_y=0.0479 left_z=0.0167 left_yaw=0.0633 left_pitch=0.1787 left_roll=-0.0067 left_gripper=0.995 right_x=0.306 right_y=-0.0035 right_z=0.1705 right_yaw=0.1308 right_pitch=-0.1983 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -9.2376, 4.9299, 2.0293, -0.0659, 0.0122, -0.1636, -0.1573, -2.5915, 6.8581, 1.4872, -0.1245, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6024fc4a303cf51a42dd67c8ed53d0a68ea9050d7597ec9a0589a6e79fdef828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6816d21006750de573012e6c1a33baa06173ec5237882a97c042e8ffdae85bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db4c1717d1c8124bbee2941295c45059fa256a30f37c2320d6d93740efc66e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KD2Yf8mzMbsRi63cuAAre1",
      "input": {
        "note": "The koala is pressed against the fence, past the left arm's y bound, so it can't be reached cleanly. Switching to the large teddy bear in the middle of the table and moving above it.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.17,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01KD2Yf8mzMbsRi63cuAAre1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7433, 1.5414, 0.5919, 0.4171, -0.7029, -0.3836, 0.9967, -0.1314, 1.008, 0.7918, -0.5667, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3597 left_y=-0.1707 left_z=0.1078 left_yaw=0.0291 left_pitch=0.1647 left_roll=-0.0026 left_gripper=0.9967 right_x=0.3062 right_y=-0.0035 right_z=0.1696 right_yaw=0.1309 right_pitch=-0.2012 right_roll=-0.0106 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -7.6923, 7.4598, 1.4676, -0.3687, -0.0269, 0.1636, -0.1983, -2.9197, 6.9402, 1.5507, -0.0952, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62dfb39e9a86d408921bec9b0d0b2e66b26a466370e33344abe6d5e2ecd2bb1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c60effcb83f767d5b264fc53d010b77ed02ac16e17ae4c61dd550fe8738b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b5c634abef1b3cc66e03416e0821daebb987a24f44b4b47776bf1a79fb305a7",
        "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 · 4.377 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]: [0.1562, 2.0083, 0.2707, 1.3861, 0.0792, 0.0158, 0.0104, -0.1314, 1.0046, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3786 left_y=0.0491 left_z=0.015 left_yaw=0.0637 left_pitch=0.2119 left_roll=0.0039 left_gripper=0.0104 right_x=0.306 right_y=-0.0035 right_z=0.1705 right_yaw=0.1308 right_pitch=-0.1983 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [0.3487, -6.3248, 1.9624, 2.2051, 0.0659, -0.0171, 0.862, -0.212, -2.6735, 6.8581, 1.5604, -0.149, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.1295, 1.9968, 0.45, 1.1625, 0.0593, -0.0002, 0.995, -0.1314, 1.0046, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.4209 left_y=0.0479 left_z=0.0167 left_yaw=0.0633 left_pitch=0.1787 left_roll=-0.0067 left_gripper=0.995 right_x=0.306 right_y=-0.0035 right_z=0.1705 right_yaw=0.1308 right_pitch=-0.1983 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -9.2376, 4.9299, 2.0293, -0.0659, 0.0122, -0.1636, -0.1573, -2.5915, 6.8581, 1.4872, -0.1245, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7433, 1.5414, 0.5919, 0.4171, -0.7029, -0.3836, 0.9967, -0.1314, 1.008, 0.7918, -0.5667, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3597 left_y=-0.1707 left_z=0.1078 left_yaw=0.0291 left_pitch=0.1647 left_roll=-0.0026 left_gripper=0.9967 right_x=0.3062 right_y=-0.0035 right_z=0.1696 right_yaw=0.1309 right_pitch=-0.2012 right_roll=-0.0106 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -7.6923, 7.4598, 1.4676, -0.3687, -0.0269, 0.1636, -0.1983, -2.9197, 6.9402, 1.5507, -0.0952, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62dfb39e9a86d408921bec9b0d0b2e66b26a466370e33344abe6d5e2ecd2bb1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c60effcb83f767d5b264fc53d010b77ed02ac16e17ae4c61dd550fe8738b96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b5c634abef1b3cc66e03416e0821daebb987a24f44b4b47776bf1a79fb305a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQkKEAgSGAI4AUIIdGhpbmtpbmcSDMQIyJxYfhVj7OA7fBoMWtyMd4DxwMHtCflyIjAGY7LwSN+hEyXAqC6HGLfWGGCMvumHWNLeUlKl6mmsZS7gACNk2ajJbcF5AMcUyBoq0gjih0ofjC83Aw1d+CzXCyBkhUlvlV2EdsgozLRNnnvd6J1unsIUhl8a5J5/CMi33S3MixDVCCSi+fRRuF86PiTK7XNvPfO0yrbhqpXOYTBU5hbFJmUsva4u+kzJE/mEzUlGZmE/b57ZJEC9P4aIazHHyyfRmQdB/P8JfjN41LuAlyqseeKtHu2MGzHAwesFhAPASFh3gwcBnhM3/Ra2BfwVxOVDp4jZLBau+lk68U0iV/wPDPU9HVTitkySOwcnhbklC/mrn/QMddYiMMm4A4vlQYa31ER3O0iyvD00EfgPsXyIvr7//XWosVP03CVoNtYmF2GiqSs8mw1+bEuirQEtSRbVM0HnRn+a6OUvpWE82K0JRynvrHqwUWgjhPOzwtZUbMq0tFI5qOPix5ud4s3/eYVyxhDK+nTP0QzyoxEcOpmDis0KUZYTzubh6FD0e1SD6vakDt1A6Fw44r9l1+7bNCIq/+38uNjvFv57K80HUF5zRDhredPRi0rvJfPJ39M2XxtohNJfi54cjq+/K79nUaaQM5I/5ukU/17mQec8JCKGYRmMjRS4BuG9rq7J0waI/qbyQTVoKk9AQpHneguPw1mdY2kQPCqvBmOpolQUv9yg2mQefE7evEJ5Aez/49U45bptXBV6Tp/OQBsHhH5xoXgZdSgaJdb6enY/Y5JSt9CzFwOyY+ySiKvxI4o8wi7vAbHmWWXXp8KI4XCsa/hpF0wvXEXSM+oGiBsTW8d+8unLCOI+y3x1+Z4zKQ/vyHrIgOaB/b0b4McAaKWmzuc2K9BB3rKV9TjSN0gYPSakSKqTS/3vBfDFbYPuY8IjJzwYQAc1SMa7ofJ2CYBiszCCtQbV9mGqUSoNhtAgy5VydMRr50D+ZZt2SB97arRsZvBhF50OZX31kX9iMHfCX2tZEopsuWQdf3OWb5PjMq50mXUz2mj2vt0M+3zEyIHxMI4samEixD/k3KCAbqHHo/wC8MIcoX8RbnPQFAYuRgyy95i2Ys+lwjrhcdlsUCmrqp7V6gKLPCOCatPITQ9wwLFhpsuAtaQ7aDq0L3frd6N0s9LFdlfI5M2jO9PeeJOtzSOrFY5wPQUX5hUDuS8U2MU6B4GGsNEYZ9wJMOlONVAzxKwB//x4YGiM9Olgwc41Urpxp77Tm3AmJ4673S2v47oKnai+KibHKhs9oak/ibPW8p2R/qdn+88IC2C8NeugluiPhAnUUs7YteUrrgnGy/+FP38Nx8w63HmqYNoB8dGqObDRcsh6bb/ExLPoVJYY2fAFwFreCzfwx0VkB9edhpcTQaYA4mozsYa6jFJ2TxasZjgACtO9anTTSQRfEMTJaa5wWw9C80KPT5cRFy0W0v0mupoEhx8yWCH5dIbM4fISUALMAY1ZwsHRQVItunK6s+pEOeaP8paKyPCPPL+R4D+bhHp5MCPgF+qi7AjVCnLr4j+44mfabXPKmzwb3pd25ELhlRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HoMJ4PKrdGUNxmn9HynnaN",
      "input": {
        "note": "From the top view the left gripper is above the small bear and yellow marker; the large teddy is about 8–10 cm to the right. Moving onto it and descending to grip its body.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.25,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HoMJ4PKrdGUNxmn9HynnaN",
      "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]: [-0.9138, 1.9625, 0.7448, 0.6071, -0.8604, -0.4885, 0.9967, -0.1314, 1.0107, 0.7918, -0.5667, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3616 left_y=-0.2436 left_z=0.0408 left_yaw=0.0281 left_pitch=0.179 left_roll=0.0153 left_gripper=0.9967 right_x=0.3064 right_y=-0.0035 right_z=0.1689 right_yaw=0.1311 right_pitch=-0.2038 right_roll=-0.0099 right_gripper=0.9964\nstate[joint_eff]: [-0.3077, -7.3231, 4.9162, 1.2869, -0.1099, -0.2662, -0.0024, -0.1162, -2.8513, 6.8581, 1.5067, -0.1294, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5d5a258ca2a2fc864c480e978bb4b38c0163c548d69b41790254901f3609167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3b120f0dd51e25564ba0e58dee1af98166b144ea58622c0ddb404d537cf9e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1db4c1678ae2a4c3d261e56792f0df08b4ab2b42959ccfc2797069488020fb2c",
        "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 · 10.41 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]: [0.1295, 1.9968, 0.45, 1.1625, 0.0593, -0.0002, 0.995, -0.1314, 1.0046, 0.7918, -0.5671, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.4209 left_y=0.0479 left_z=0.0167 left_yaw=0.0633 left_pitch=0.1787 left_roll=-0.0067 left_gripper=0.995 right_x=0.306 right_y=-0.0035 right_z=0.1705 right_yaw=0.1308 right_pitch=-0.1983 right_roll=-0.0114 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -9.2376, 4.9299, 2.0293, -0.0659, 0.0122, -0.1636, -0.1573, -2.5915, 6.8581, 1.4872, -0.1245, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.7433, 1.5414, 0.5919, 0.4171, -0.7029, -0.3836, 0.9967, -0.1314, 1.008, 0.7918, -0.5667, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3597 left_y=-0.1707 left_z=0.1078 left_yaw=0.0291 left_pitch=0.1647 left_roll=-0.0026 left_gripper=0.9967 right_x=0.3062 right_y=-0.0035 right_z=0.1696 right_yaw=0.1309 right_pitch=-0.2012 right_roll=-0.0106 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -7.6923, 7.4598, 1.4676, -0.3687, -0.0269, 0.1636, -0.1983, -2.9197, 6.9402, 1.5507, -0.0952, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9138, 1.9625, 0.7448, 0.6071, -0.8604, -0.4885, 0.9967, -0.1314, 1.0107, 0.7918, -0.5667, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3616 left_y=-0.2436 left_z=0.0408 left_yaw=0.0281 left_pitch=0.179 left_roll=0.0153 left_gripper=0.9967 right_x=0.3064 right_y=-0.0035 right_z=0.1689 right_yaw=0.1311 right_pitch=-0.2038 right_roll=-0.0099 right_gripper=0.9964\nstate[joint_eff]: [-0.3077, -7.3231, 4.9162, 1.2869, -0.1099, -0.2662, -0.0024, -0.1162, -2.8513, 6.8581, 1.5067, -0.1294, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5d5a258ca2a2fc864c480e978bb4b38c0163c548d69b41790254901f3609167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3b120f0dd51e25564ba0e58dee1af98166b144ea58622c0ddb404d537cf9e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1db4c1678ae2a4c3d261e56792f0df08b4ab2b42959ccfc2797069488020fb2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAgKEAgSGAI4AUIIdGhpbmtpbmcSDNtPtTNPUCN5UVfUahoMQMs2E2XKa4zlihCrIjBHsorN1CQA0FoR3t2gafVP2L8QjUEdxFbkzDrSvRH1kBLL835qommVAf5bOL6M2l4qrQdO7zgLyRbl1RrKjvdUzmnoeqgWqwuSFIxcd59MU2cyy1/vs0lbfpE7xu39jdsMInXQDjL1MpLt8s1Schh2LxNAugBw2tuczvEzpvxDREsdxv4hW+ZS85OjPaYvKsrzxITflSu6y/wFH5KiY7mybmYyIVOhSuzVyrwiDG7UJd+7dHCEvSHyurMjLDmIa8avoCkffxV/n1TTUeMlvzwNMnnXeWcHs10ThDmPpAvjWsby6klel+SMTZQA9sq4jtaYQ2XIMCYVApeRkeaU2/TZER6UiLNd68ob7kDyzcIOoxW9zV5YNjaa5WmKgp+A6xYWjPsi0N5rDpNanjMrG5HINvoWJgxH5OBCLUWswdBJvxhR8+gO6U3V9gf+X87Bs2S26Vo03DcO/vZjCuqB7Y8QwHeXelQsoDgOIyi4ulpWtbt4daUbHrEtYsDG6DtP5CRjvNiZTnz7sd7tlc80DD76hz8uR3GkHmqQAuTl3GFQ4qMfvMGuX7xXPU7c2ok4O0DRXCyGYEkElajsrynexO1ph1cdPIDiOtBUnEOD0rdYdIdwDoLVkHHTBVSGpuqb9Hl35TzuzY2HHpeCDDwnTDFoylXVRqSU8wJ7KRO+J7SuxCfayA/meO5Q8H6s+BnuEL3O4tehnSFPbK+ZsGE4ZJ0U465QJVF/0dIX5kIy7EsbCxv5nDjMSTc37LCgCb7AgaUClQSr93FvlslmOnE2jn1Mv0o/wKpbGrn2H0zisHaQvxzUCAZ49xfA79kmwCzS4HB1dUHb5hYmyHtyudEiKzjvjXAvwtz1/Go5+dJVwOVOmmYOc9LQDTNRpUqJEEeK9XaSNgO/lztMXLsFOdyUK4ocuJHng7rs5iOaOUvilRWjCD/N3syrf07K8oel9eZfjq9W1Q/Uw6FkT7Cel6FV392cXiSxyR0KYr8oAzKY+l0wJzgYNdHtF2IaBvTJWAX0sOwE5ysLTsxVPKtPTBAFtBDHGUWfwcqWLdw0tDPkz2fAYSseCO4ryzXQXc7k2uicK8sVZuMIr25xMgqFX4w7Rk//v+9A4GxvwV/8sEyum7zEYfvVV6pHn/xLXbpE/25S5Qn/4IFqsVa25I+NVWbIok5QrmpDwAIr9ArNMvBLpQAC+FwAQQQh7anGBBrGgldhLox1Tlut277uPiOGDWp8sTgSDFxj627NJmYZiL2PdfufAcQhd8GvnZJbA0Z0K4RFijBT3RL9T+InxS2V0HDOknaXw4gi/EZ892oIkfT4maapTBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gbj47WzBt14pEUDJY71hLr",
      "input": {
        "note": "The teddy's head is at the right jaw in the wrist view. I'm almost out of calls, so closing now to try to catch part of it.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Gbj47WzBt14pEUDJY71hLr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9176, 2.0274, 0.7414, 0.6785, -0.8574, -0.4938, 0.0104, -0.1314, 1.0107, 0.7918, -0.5667, -0.1883, -0.21, 0.9964]\nstate[eef_state]: left_x=0.3614 left_y=-0.2466 left_z=0.0249 left_yaw=0.0254 left_pitch=0.1794 left_roll=0.0068 left_gripper=0.0104 right_x=0.3064 right_y=-0.0035 right_z=0.1689 right_yaw=0.1311 right_pitch=-0.2038 right_roll=-0.0099 right_gripper=0.9964\nstate[joint_eff]: [0.212, -7.4598, 3.7128, 1.707, -0.3248, 0.0073, 0.8327, -0.0479, -2.6598, 6.8444, 1.5263, -0.1099, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46a37e2fb69007fb3c1b99c76cfe8fb505d0dff7530695aa5e097a258b0ade49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f560842339a3a94f02ac9e9b8ccd958051fae4736536d054ff5cdb717dbe73a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c241d9b57caeec7fa22b539aa61758952cef846483d5e684105455fd4ddfd5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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