adhoc

completed
2026-09-22T22:03:12.579032+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
262.7 s
total steps
259
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 noteScene: two baskets at back; plush toys (bears/grey plush) and pens/markers in front. Right wrist cam shows a marker right under the jaws, aligned radially; descending to grasp it.
move_to
right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3798, -0.0223, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.3737, -0.0109, -0.0162, 0.9996] state[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1849 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.6085, -1.4701, 9.265, 1.7607, -0.0269, 0.1538, -0.0562, -0.8684, -1.4974, 9.7709, 1.7021, -0.1148, 0.022, -0.0562] 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_z": 0.0, "right_gripper": 1.0}, "note": "Scene: two baskets at back; plush toys (bears/grey plush) and pens/markers in front. Right wrist cam shows a marker right under the jaws, aligned radially; descending to grasp it."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteMarker is centred slightly left of the jaw column in the right wrist cam; shifting 1 cm left and pressing to table level before closing.
move_to
right_y0.0120right_z-0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8043, 0.6159, -0.3809, -0.0219, -0.0341, 0.9996, -0.0189, 1.5726, 0.0513, 1.005, -0.0277, -0.0074, 0.9996] state[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0084 left_roll=-0.0039 left_gripper=0.9996 right_x=0.3073 right_y=0.0027 right_z=0.0127 right_yaw=0.0062 right_pitch=0.0433 right_roll=0.0153 right_gripper=0.9996 state[joint_eff]: [-0.1162, -1.7162, 7.2, 1.7656, -0.0269, 0.0073, -0.0122, 0.2256, -2.3726, 1.6342, 1.0672, 0.1099, -0.1343, -0.0611] 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_y": 0.012, "right_z": -0.01}, "note": "Marker is centred slightly left of the jaw column in the right wrist cam; shifting 1 cm left and pressing to table level before closing."})
tool
executing move_to over 2 steps (0.2s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteMarker now sits between the jaws at the bottom of the right wrist view; closing the gripper on 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, 0.8101, 0.6151, -0.3805, -0.0223, -0.0376, 0.9996, 0.0383, 1.8572, 0.0559, 1.3838, 0.0113, 0.0216, 0.9995] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1805 left_yaw=0.0046 left_pitch=-0.0145 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3224 right_y=0.014 right_z=0.0132 right_yaw=0.0148 right_pitch=0.1418 right_roll=0.0236 right_gripper=0.9995 state[joint_eff]: [-0.0752, -1.5658, 7.2821, 1.707, -0.0806, 0.0024, -0.0122, 0.2256, -3.453, 0.3214, 1.1795, 0.0855, -0.0317, -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": "Marker now sits between the jaws at the bottom of the right wrist view; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteGripper settled at 0.16 (~1.5 cm), suggesting a marker is held; lifting to verify in the overhead view.
move_to
right_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]: [-0.0193, 0.8116, 0.6151, -0.3805, -0.0223, -0.0376, 0.9996, 0.038, 1.8462, 0.0578, 1.3804, 0.0078, 0.0216, 0.1614] state[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1801 left_yaw=0.0043 left_pitch=-0.016 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3238 right_y=0.0145 right_z=0.0162 right_yaw=0.0173 right_pitch=0.1513 right_roll=0.0252 right_gripper=0.1614 state[joint_eff]: [-0.0615, -1.4564, 7.0496, 1.6972, -0.0269, -0.0269, -0.0171, -0.1162, -4.1094, 1.5795, 1.873, 0.0366, -0.0024, 1.0672] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper settled at 0.16 (~1.5 cm), suggesting a marker is held; lifting to verify in the overhead view."})
tool
executing move_to over 7 steps (0.7s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteMarker held (gripper 0.16). Right basket lies forward-left of the right arm; carrying the marker above it (pens go in the right basket, plush toys in the left).
move_to
right_x0.4200right_y0.1600right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8173, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.038, 0.9817, 0.242, 0.3237, 0.0074, 0.0177, 0.1627] state[eef_state]: left_x=0.2976 left_y=0.0017 left_z=0.1785 left_yaw=0.0041 left_pitch=-0.0217 left_roll=-0.0068 left_gripper=0.9996 right_x=0.3203 right_y=0.0144 right_z=0.1112 right_yaw=0.0197 right_pitch=0.1433 right_roll=0.0217 right_gripper=0.1627 state[joint_eff]: [-0.212, -1.6479, 7.0632, 1.7216, -0.0317, -0.0513, -0.0171, -0.1436, -2.3726, 8.8684, 1.6923, -0.0611, -0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.16, "right_z": 0.22}, "note": "Marker held (gripper 0.16). Right basket lies forward-left of the right arm; carrying the marker above it (pens go in the right basket, plush toys in the left)."})
tool
executing move_to over 13 steps (1.3s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteRight wrist cam shows the jaws over the inside of the right basket; releasing 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, 0.8238, 0.6113, -0.3805, -0.0223, -0.038, 0.9996, 0.5243, 1.4673, 0.9867, -0.0193, 0.4305, 0.2111, 0.1627] state[eef_state]: left_x=0.2976 left_y=0.0019 left_z=0.175 left_yaw=0.0049 left_pitch=-0.032 left_roll=-0.0063 left_gripper=0.9996 right_x=0.4162 right_y=0.1597 right_z=0.2041 right_yaw=0.0468 right_pitch=0.1087 right_roll=-0.0035 right_gripper=0.1627 state[joint_eff]: [-0.1299, -1.6889, 7.5966, 1.7314, -0.0757, -0.0562, -0.0171, 0.2256, -6.9949, 9.5385, 1.707, 0.2857, 0.1685, 1.0281] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Right wrist cam shows the jaws over the inside of the right basket; releasing the marker."})
tool
executing move_to over 9 steps (0.9s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteBasket looks empty and two pens remain on the table near the right arm, so the first grasp probably slipped. Moving above the nearer pen to line it up in the wrist cam.
move_to
right_x0.3000right_y0.0800right_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]: [-0.0193, 0.8238, 0.6113, -0.3805, -0.0219, -0.038, 0.9996, 0.5236, 1.4673, 0.9863, -0.0189, 0.4255, 0.2028, 0.995] state[eef_state]: left_x=0.2976 left_y=0.0017 left_z=0.175 left_yaw=0.0042 left_pitch=-0.032 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4162 right_y=0.1602 right_z=0.2039 right_yaw=0.0546 right_pitch=0.1075 right_roll=-0.009 right_gripper=0.995 state[joint_eff]: [-0.0342, -1.4427, 7.1043, 1.7167, -0.0659, -0.0366, -0.0122, 0.0205, -6.694, 7.0085, 1.7167, 0.1197, 0.0024, -0.2076] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.08, "right_z": 0.12}, "note": "Basket looks empty and two pens remain on the table near the right arm, so the first grasp probably slipped. Moving above the nearer pen to line it up in the wrist cam."})
tool
executing move_to over 9 steps (0.9s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent notePen tip visible at bottom-left of right wrist view, just behind the jaws; stepping back and slightly left while descending to put the pen between the fingers.
move_to
right_x0.2700right_y0.0950right_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, 0.831, 0.6113, -0.3805, -0.0219, -0.038, 0.9996, 0.4576, 0.9619, 0.3286, 0.1287, 0.3653, 0.1726, 0.9961] state[eef_state]: left_x=0.298 left_y=0.0018 left_z=0.173 left_yaw=0.0045 left_pitch=-0.0393 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3026 right_y=0.0827 right_z=0.1185 right_yaw=0.0551 right_pitch=0.0909 right_roll=-0.0116 right_gripper=0.9961 state[joint_eff]: [-0.0479, -1.5932, 7.0632, 1.7607, -0.0269, -0.0269, -0.0171, -0.1983, -1.894, 7.5145, 1.9756, 0.0269, -0.1148, 0.1001] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.095, "right_z": 0.03}, "note": "Pen tip visible at bottom-left of right wrist view, just behind the jaws; stepping back and slightly left while descending to put the pen between the fingers."})
tool
executing move_to over 6 steps (0.6s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteWhite marker lies radially just left of centre between the jaws (blue pen further left); nudging left and descending to table level.
move_to
right_y0.1030right_z-0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.833, 0.6109, -0.3805, -0.0223, -0.038, 0.9996, 0.6319, 1.3766, 0.0341, 0.7635, 0.4976, 0.2596, 0.9962] state[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1723 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.0061 left_gripper=0.9996 right_x=0.2669 right_y=0.0953 right_z=0.0229 right_yaw=0.0766 right_pitch=0.0576 right_roll=-0.0295 right_gripper=0.9962 state[joint_eff]: [-0.1026, -1.4154, 7.2684, 1.7265, -0.0122, -0.0464, -0.0171, 0.1299, -3.1932, 3.9453, 1.873, 0.3639, 0.0855, -0.0024] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.103, "right_z": -0.01}, "note": "White marker lies radially just left of centre between the jaws (blue pen further left); nudging left and descending to table level."})
tool
executing move_to over 3 steps (0.3s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteWhite marker is centred between the jaws at table level; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8379, 0.6098, -0.3805, -0.0223, -0.038, 0.9996, 0.6674, 1.8244, 0.038, 1.3029, 0.5419, 0.2924, 0.9962] state[eef_state]: left_x=0.2982 left_y=0.0018 left_z=0.1704 left_yaw=0.0045 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9996 right_x=0.2809 right_y=0.1099 right_z=0.0126 right_yaw=0.0529 right_pitch=0.1495 right_roll=0.0342 right_gripper=0.9962 state[joint_eff]: [-0.1026, -1.7436, 7.1316, 1.6728, -0.0562, -0.0464, -0.0122, 0.1709, -2.8923, 0.4855, 1.0134, 0.0317, -0.105, -0.0073] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "White marker is centred between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteGripper settled at 0.15 on the white marker; lifting to confirm it comes up.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.841, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6674, 1.8244, 0.0326, 1.3144, 0.5392, 0.2852, 0.1485] state[eef_state]: left_x=0.2983 left_y=0.0017 left_z=0.1694 left_yaw=0.0042 left_pitch=-0.0511 left_roll=-0.0061 left_gripper=0.9996 right_x=0.2802 right_y=0.1099 right_z=0.0137 right_yaw=0.0584 right_pitch=0.1539 right_roll=0.0321 right_gripper=0.1485 state[joint_eff]: [-0.1709, -1.7573, 7.2821, 1.6728, -0.0171, -0.0708, -0.0171, 0.212, -2.988, 0.9368, 0.862, 0.0366, -0.0611, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Gripper settled at 0.15 on the white marker; lifting to confirm it comes up."})
tool
executing move_to over 6 steps (0.6s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe white marker rose with the jaws (still in the same place in the wrist view), so it's held. Carrying it above the right basket, which is for pens.
move_to
right_x0.4200right_y0.1600right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8444, 0.6094, -0.3801, -0.0219, -0.0383, 0.9996, 0.6674, 0.9985, 0.1829, 0.3405, 0.5304, 0.2848, 0.1537] state[eef_state]: left_x=0.2986 left_y=0.0017 left_z=0.1685 left_yaw=0.0044 left_pitch=-0.0541 left_roll=-0.0064 left_gripper=0.9996 right_x=0.2782 right_y=0.11 right_z=0.0951 right_yaw=0.0657 right_pitch=0.1535 right_roll=0.0364 right_gripper=0.1537 state[joint_eff]: [-0.1162, -1.812, 7.2137, 1.7265, -0.0171, -0.0757, -0.0122, -0.1983, -2.3453, 8.4171, 1.5458, 0.1929, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.16, "right_z": 0.22}, "note": "The white marker rose with the jaws (still in the same place in the wrist view), so it's held. Carrying it above the right basket, which is for pens."})
tool
executing move_to over 11 steps (1.1s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteTop view shows the gripper over the right basket's right edge; shifting left toward the basket centre before releasing.
move_to
right_y0.2100right_x0.4400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8494, 0.6094, -0.3801, -0.0219, -0.038, 0.9996, 0.5083, 1.4498, 0.9565, 0.0113, 0.3798, 0.2016, 0.1567] state[eef_state]: left_x=0.2989 left_y=0.0017 left_z=0.1671 left_yaw=0.0042 left_pitch=-0.0591 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4145 right_y=0.1601 right_z=0.2026 right_yaw=0.0773 right_pitch=0.1143 right_roll=0.0174 right_gripper=0.1567 state[joint_eff]: [-0.1026, -1.8256, 7.0222, 1.6972, -0.0171, -0.0611, -0.0171, -0.4171, -6.7624, 9.4974, 1.8632, 0.1099, -0.022, 1.0281] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.21, "right_x": 0.44}, "note": "Top view shows the gripper over the right basket's right edge; shifting left toward the basket centre before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteGripper is over the middle of the right basket; releasing the white marker.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8509, 0.6094, -0.3809, -0.0219, -0.038, 0.9996, 0.5926, 1.6272, 1.0969, -0.017, 0.4255, 0.2253, 0.1567] state[eef_state]: left_x=0.2988 left_y=0.0017 left_z=0.1665 left_yaw=0.0042 left_pitch=-0.0614 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4319 right_y=0.2072 right_z=0.1834 right_yaw=0.1136 right_pitch=0.0656 right_roll=-0.0105 right_gripper=0.1567 state[joint_eff]: [-0.1846, -1.6752, 7.0632, 1.6532, -0.0513, -0.0806, -0.0171, 0.294, -8.294, 9.4427, 1.7705, 0.315, 0.105, 1.033] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Gripper is over the middle of the right basket; releasing the white marker."})
tool
executing move_to over 9 steps (0.9s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteWhite marker is in the right basket. Next pen: a thin blue pen lies right of the bears; moving the right arm above it to align in the wrist cam.
move_to
right_x0.2900right_y0.1700right_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8509, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.5953, 1.6402, 1.1004, -0.0181, 0.416, 0.2211, 0.9953] state[eef_state]: left_x=0.2989 left_y=0.0017 left_z=0.1666 left_yaw=0.0042 left_pitch=-0.061 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4321 right_y=0.2108 right_z=0.1784 right_yaw=0.1266 right_pitch=0.0538 right_roll=-0.0146 right_gripper=0.9953 state[joint_eff]: [-0.1709, -1.6068, 7.1179, 1.7118, -0.0171, -0.0366, -0.0171, -0.294, -9.2103, 6.5983, 1.707, 0.1294, -0.0317, -0.1978] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.17, "right_z": 0.05}, "note": "White marker is in the right basket. Next pen: a thin blue pen lies right of the bears; moving the right arm above it to align in the wrist cam."})
tool
executing move_to over 11 steps (1.1s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe right arm stalled on the front rim of the right basket (wrist cam looks into the basket); the blue pen is just toward the base from here, so backing up.
move_to
right_x0.2300right_y0.1800right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8566, 0.6094, -0.3798, -0.0223, -0.0383, 0.9996, 0.8059, 1.4334, 0.3702, 0.5728, 0.5804, 0.3603, 0.9961] state[eef_state]: left_x=0.2993 left_y=0.0018 left_z=0.1651 left_yaw=0.0047 left_pitch=-0.0659 left_roll=-0.0058 left_gripper=0.9996 right_x=0.3081 right_y=0.1862 right_z=0.0862 right_yaw=0.1237 right_pitch=0.153 right_roll=0.0785 right_gripper=0.9961 state[joint_eff]: [-0.2393, -1.5932, 7.0222, 1.7314, -0.0171, -0.0708, -0.0171, 0.294, -2.3726, 4.1094, 1.0134, 0.2857, -0.0757, 0.0659] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.23, "right_y": 0.18, "right_z": 0.1}, "note": "The right arm stalled on the front rim of the right basket (wrist cam looks into the basket); the blue pen is just toward the base from here, so backing up."})
tool
executing move_to over 7 steps (0.7s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteRight wrist cam shows the blue pen lying diagonally just ahead of the jaws; stepping slightly forward and descending to table level to grasp it.
move_to
right_x0.2500right_y0.1970right_z-0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8623, 0.6094, -0.3794, -0.0223, -0.038, 0.9996, 1.095, 1.1183, 0.292, 0.2546, 0.7811, 0.5262, 0.9962] state[eef_state]: left_x=0.2997 left_y=0.0019 left_z=0.1636 left_yaw=0.0049 left_pitch=-0.0713 left_roll=-0.0054 left_gripper=0.9996 right_x=0.2353 right_y=0.193 right_z=0.1043 right_yaw=0.1711 right_pitch=0.1623 right_roll=0.1028 right_gripper=0.9962 state[joint_eff]: [0.0205, -1.7573, 7.0359, 1.7167, -0.0659, -0.0757, -0.0122, 0.2393, -2.8513, 5.7231, 1.4823, 0.4762, 0.0904, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.197, "right_z": -0.01}, "note": "Right wrist cam shows the blue pen lying diagonally just ahead of the jaws; stepping slightly forward and descending to table level to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent notePen lies almost parallel to the jaw closing axis and slightly ahead-left of the jaws; lifting a bit, rotating the wrist ~60° clockwise and shifting forward-left to straddle it.
move_to
right_yaw-0.9000right_z0.0300right_x0.2650right_y0.2050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8696, 0.6094, -0.3809, -0.0216, -0.038, 0.9996, 1.0451, 1.9835, 0.1802, 1.2911, 0.7803, 0.49, 0.9963] state[eef_state]: left_x=0.2998 left_y=0.002 left_z=0.1613 left_yaw=0.005 left_pitch=-0.0801 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2542 right_y=0.1976 right_z=0.0059 right_yaw=0.1325 right_pitch=0.2002 right_roll=0.1169 right_gripper=0.9963 state[joint_eff]: [-0.0205, -2.2496, 7.0496, 1.6923, -0.0171, -0.0464, -0.0171, -0.6222, -4.2188, 0.335, 0.0073, -0.7839, 0.2173, -0.0073] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": -0.9, "right_z": 0.03, "right_x": 0.265, "right_y": 0.205}, "note": "Pen lies almost parallel to the jaw closing axis and slightly ahead-left of the jaws; lifting a bit, rotating the wrist ~60\u00b0 clockwise and shifting forward-left to straddle it."})
tool
executing move_to over 7 steps (0.7s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe yaw command sent the right arm into an odd configuration (readback far off target, wrist rolled). Returning to a neutral pose above the pen area to recover.
move_to
right_yaw0.0000right_roll0.0000right_pitch0.0000right_x0.2800right_y0.1800right_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8757, 0.6094, -0.3817, -0.0223, -0.038, 0.9996, 1.0122, 2.2318, 1.2545, 0.2043, 1.1313, 1.618, 0.9966] state[eef_state]: left_x=0.3 left_y=0.0021 left_z=0.1594 left_yaw=0.0057 left_pitch=-0.0869 left_roll=-0.005 left_gripper=0.9996 right_x=0.3831 right_y=0.3182 right_z=0.0496 right_yaw=-0.6632 right_pitch=0.0635 right_roll=0.8507 right_gripper=0.9966 state[joint_eff]: [-0.1026, -2.0171, 7.0359, 1.79, -0.0464, -0.0366, -0.0122, -1.9214, -11.7949, 5.9009, 0.9109, 0.735, 0.1148, 0.022] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.0, "right_roll": 0.0, "right_pitch": 0.0, "right_x": 0.28, "right_y": 0.18, "right_z": 0.14}, "note": "The yaw command sent the right arm into an odd configuration (readback far off target, wrist rolled). Returning to a neutral pose above the pen area to recover."})
tool
executing move_to over 12 steps (1.2s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteRecovered; the right basket got nudged and rotated but still holds the marker. Blue pen tip shows at the bottom of the right wrist view, so stepping back and lowering to see it.
move_to
right_x0.2600right_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8822, 0.6075, -0.3798, -0.0223, -0.0383, 0.9996, 0.9348, 1.2785, 0.6968, -0.1864, 0.7555, 0.7242, 0.9967] state[eef_state]: left_x=0.3002 left_y=0.0021 left_z=0.1571 left_yaw=0.0059 left_pitch=-0.0934 left_roll=-0.0052 left_gripper=0.9996 right_x=0.2873 right_y=0.1913 right_z=0.1424 right_yaw=-0.06 right_pitch=0.0244 right_roll=0.1281 right_gripper=0.9967 state[joint_eff]: [-0.0205, -2.2222, 7.2547, 1.7216, -0.0708, -0.0464, -0.0171, -0.4308, -4.1231, 6.5299, 1.4921, 0.3932, -0.0806, 0.0024] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.26, "right_z": 0.05}, "note": "Recovered; the right basket got nudged and rotated but still holds the marker. Blue pen tip shows at the bottom of the right wrist view, so stepping back and lowering to see it."})
tool
executing move_to over 6 steps (0.6s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteBlue pen now lies radially, centred between the jaws; descending to table level.
move_to
right_y0.1840right_z-0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8825, 0.6075, -0.3801, -0.0216, -0.0383, 0.9996, 1.0252, 1.4693, 0.4473, 0.1276, 0.7898, 0.7956, 0.9967] state[eef_state]: left_x=0.3002 left_y=0.002 left_z=0.157 left_yaw=0.0053 left_pitch=-0.0942 left_roll=-0.0056 left_gripper=0.9996 right_x=0.2567 right_y=0.1881 right_z=0.0454 right_yaw=-0.0304 right_pitch=-0.023 right_roll=0.0675 right_gripper=0.9967 state[joint_eff]: [-0.2803, -1.8393, 7.241, 1.6386, -0.0269, -0.0806, -0.0122, 0.4444, -5.0256, 5.1077, 1.37, 0.5885, 0.1441, -0.0122] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.184, "right_z": -0.01}, "note": "Blue pen now lies radially, centred between the jaws; descending to table level."})
tool
executing move_to over 4 steps (0.4s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteBlue pen centred between the jaws at table level; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8829, 0.6067, -0.3801, -0.0223, -0.038, 0.9996, 1.0199, 1.7039, 0.3759, 0.4683, 0.8146, 0.8051, 0.9967] state[eef_state]: left_x=0.3001 left_y=0.0021 left_z=0.1565 left_yaw=0.0057 left_pitch=-0.0953 left_roll=-0.0048 left_gripper=0.9996 right_x=0.262 right_y=0.1877 right_z=0.0055 right_yaw=-0.0565 right_pitch=0.0101 right_roll=0.0967 right_gripper=0.9967 state[joint_eff]: [-0.2667, -1.8393, 7.1726, 1.6386, -0.0366, -0.0024, -0.0171, -0.5812, -3.6718, 1.9624, 0.3053, -0.1734, -0.2564, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Blue pen centred between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteBlue pen gripped (0.157). Carrying it high above the right (pen) basket, which is now slightly rotated.
move_to
right_x0.4200right_y0.1900right_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8829, 0.6067, -0.3805, -0.0223, -0.038, 0.9996, 1.0191, 1.7123, 0.3683, 0.5056, 0.8173, 0.8017, 0.157] state[eef_state]: left_x=0.3 left_y=0.0021 left_z=0.1564 left_yaw=0.0057 left_pitch=-0.0957 left_roll=-0.0048 left_gripper=0.9996 right_x=0.2631 right_y=0.1886 right_z=0.0063 right_yaw=-0.0575 right_pitch=0.0222 right_roll=0.1116 right_gripper=0.157 state[joint_eff]: [-0.0479, -1.7709, 7.1316, 1.6288, -0.0366, -0.0659, -0.0171, -0.1162, -6.2564, 4.3009, 0.9255, 0.2466, 0.0024, 1.033] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.19, "right_z": 0.25}, "note": "Blue pen gripped (0.157). Carrying it high above the right (pen) basket, which is now slightly rotated."})
tool
executing move_to over 16 steps (1.6s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteRight wrist cam shows the pen over the basket interior next to the white marker; 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]: [-0.0181, 0.8829, 0.6067, -0.3809, -0.0219, -0.038, 0.9996, 0.614, 1.5562, 1.2808, -0.3439, 0.5072, 0.4629, 0.1589] state[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1564 left_yaw=0.0054 left_pitch=-0.0961 left_roll=-0.0051 left_gripper=0.9996 right_x=0.4161 right_y=0.1927 right_z=0.2369 right_yaw=-0.0558 right_pitch=0.0231 right_roll=0.1196 right_gripper=0.1589 state[joint_eff]: [-0.0752, -1.812, 7.0085, 1.5995, -0.0171, -0.0513, -0.0171, -0.5812, -7.4462, 9.2786, 1.4335, 0.2222, -0.0611, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Right wrist cam shows the pen over the basket interior next to the white marker; releasing."})
tool
executing move_to over 9 steps (0.9s)
step 202
assistant
agent noteOnly one marker is visible inside the right basket; a dark pen lies sideways on the table just in front of it. Moving the right arm back above that pen to inspect it.
move_to
right_x0.2700right_y0.2000right_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]: [-0.0181, 0.8829, 0.6067, -0.3805, -0.0219, -0.038, 0.9996, 0.6094, 1.5654, 1.2793, -0.3618, 0.4927, 0.453, 0.9952] state[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1564 left_yaw=0.0054 left_pitch=-0.0957 left_roll=-0.0051 left_gripper=0.9996 right_x=0.4153 right_y=0.1924 right_z=0.2283 right_yaw=-0.0434 right_pitch=-0.0042 right_roll=0.1004 right_gripper=0.9952 state[joint_eff]: [-0.0479, -1.812, 7.1863, 1.6484, -0.0513, -0.0562, -0.0122, 0.3214, -8.0342, 7.0496, 1.7509, 0.2173, 0.0855, -0.1587] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.2, "right_z": 0.12}, "note": "Only one marker is visible inside the right basket; a dark pen lies sideways on the table just in front of it. Moving the right arm back above that pen to inspect it."})
tool
executing move_to over 12 steps (1.2s)
step 214
assistant
agent noteThe blue pen fell out and lies sideways just ahead of the jaws, parallel to the closing axis; rotating the wrist ~75° in place so the jaws can close across it.
move_to
right_yaw1.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8837, 0.6067, -0.3801, -0.0223, -0.0376, 0.9996, 0.9878, 1.3396, 0.6811, -0.2039, 0.733, 0.7326, 0.9961] state[eef_state]: left_x=0.3001 left_y=0.0021 left_z=0.1563 left_yaw=0.0055 left_pitch=-0.0961 left_roll=-0.0045 left_gripper=0.9996 right_x=0.2724 right_y=0.2049 right_z=0.1138 right_yaw=0.0035 right_pitch=-0.0414 right_roll=0.0654 right_gripper=0.9961 state[joint_eff]: [-0.0752, -1.6205, 7.0359, 1.6728, -0.0708, 0.0073, -0.0171, 0.1846, -6.3111, 6.612, 1.3895, 0.5348, 0.1148, 0.0855] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.3}, "note": "The blue pen fell out and lies sideways just ahead of the jaws, parallel to the closing axis; rotating the wrist ~75\u00b0 in place so the jaws can close across it."})
tool
executing move_to over 9 steps (0.9s)
step 223
assistant
agent notePen now appears diagonal; rotating the wrist the rest of the way to ~90° so it runs along the jaw column, and lowering for a closer view.
move_to
right_yaw1.5700right_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8883, 0.6064, -0.382, -0.0219, -0.038, 0.9996, 0.2626, 1.3788, 0.696, -0.2028, -0.6365, -0.5304, 0.9963] state[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1545 left_yaw=0.0054 left_pitch=-0.1029 left_roll=-0.0049 left_gripper=0.9996 right_x=0.2923 right_y=0.191 right_z=0.099 right_yaw=1.0705 right_pitch=-0.115 right_roll=0.0851 right_gripper=0.9963 state[joint_eff]: [-0.0752, -2.0171, 7.0222, 1.6972, -0.0122, -0.0366, -0.0171, -0.2667, -5.9829, 7.5145, 0.9988, -0.5739, -0.0415, 0.0024] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.57, "right_z": 0.06}, "note": "Pen now appears diagonal; rotating the wrist the rest of the way to ~90\u00b0 so it runs along the jaw column, and lowering for a closer view."})
tool
executing move_to over 4 steps (0.4s)
step 227
assistant
agent noteWith the wrist turned ~85°, the pen runs along the image vertical but sits right of the jaw column (image-right is now arm-forward); shifting forward ~2.5 cm and a bit left, then descending.
move_to
right_x0.3300right_y0.2050right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.8932, 0.6064, -0.3813, -0.0219, -0.038, 0.9996, 0.1673, 1.7695, 0.9592, -0.5014, -0.8394, -1.092, 0.9965] state[eef_state]: left_x=0.3003 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1071 left_roll=-0.0048 left_gripper=0.9996 right_x=0.3054 right_y=0.1885 right_z=0.053 right_yaw=1.4365 right_pitch=-0.1465 right_roll=0.113 right_gripper=0.9965 state[joint_eff]: [-0.1162, -2.0308, 6.9949, 1.663, -0.0415, -0.0122, -0.0122, -0.4171, -9.1829, 6.8718, 0.2759, -0.7595, -0.0708, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.205, "right_z": 0.0}, "note": "With the wrist turned ~85\u00b0, the pen runs along the image vertical but sits right of the jaw column (image-right is now arm-forward); shifting forward ~2.5 cm and a bit left, then descending."})
tool
executing move_to over 4 steps (0.4s)
step 231
assistant
agent noteThe last move stalled (likely a wrist limit at yaw ~1.56). Easing yaw back to 1.3 while shifting forward and down toward the pen.
move_to
right_yaw1.3000right_x0.3200right_y0.2000right_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]: [-0.0181, 0.894, 0.6064, -0.3801, -0.0219, -0.038, 0.9996, 0.1635, 1.8057, 0.9966, -0.6201, -0.8692, -1.2839, 0.9966] state[eef_state]: left_x=0.3005 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1068 left_roll=-0.0048 left_gripper=0.9996 right_x=0.293 right_y=0.1887 right_z=0.0508 right_yaw=1.5584 right_pitch=-0.1361 right_roll=0.0871 right_gripper=0.9966 state[joint_eff]: [-0.0342, -1.9487, 7.4325, 1.663, -0.0513, -0.0415, -0.0171, -0.3624, -8.7316, 6.6393, 0.2076, -0.6813, -0.0659, -0.0073] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.3, "right_x": 0.32, "right_y": 0.2, "right_z": 0.02}, "note": "The last move stalled (likely a wrist limit at yaw ~1.56). Easing yaw back to 1.3 while shifting forward and down toward the pen."})
tool
executing move_to over 3 steps (0.3s)
step 234
assistant
agent noteRight arm is not responding at this wrist angle; backing yaw off to 0.8 and raising to unstick the IK.
move_to
right_yaw0.8000right_z0.1000right_x0.2900right_y0.1900
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0181, 0.894, 0.6064, -0.3805, -0.0219, -0.038, 0.9996, 0.1635, 1.8057, 0.9966, -0.6201, -0.8696, -1.2839, 0.9966] state[eef_state]: left_x=0.3005 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1071 left_roll=-0.0048 left_gripper=0.9996 right_x=0.293 right_y=0.1887 right_z=0.0508 right_yaw=1.5584 right_pitch=-0.1358 right_roll=0.0872 right_gripper=0.9966 state[joint_eff]: [-0.212, -1.894, 7.159, 1.619, -0.0513, -0.0171, -0.0171, -0.253, -8.7863, 6.653, 0.2173, -0.6862, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.8, "right_z": 0.1, "right_x": 0.29, "right_y": 0.19}, "note": "Right arm is not responding at this wrist angle; backing yaw off to 0.8 and raising to unstick the IK."})
tool
executing move_to over 5 steps (0.5s)
step 239
assistant
agent noteRight arm is stuck at a wrist limit, so switching to the left arm: grey plush toy sits just under/left of the left jaws; descending onto it to grab it for the left (plush) basket.
move_to
left_y0.0200left_x0.2800left_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]: [-0.0174, 0.8986, 0.6064, -0.3771, -0.0216, -0.038, 0.9996, 0.2626, 1.6997, 0.8776, -0.5114, -0.7769, -1.2015, 0.9966] state[eef_state]: left_x=0.3012 left_y=0.0022 left_z=0.1525 left_yaw=0.0059 left_pitch=-0.1083 left_roll=-0.005 left_gripper=0.9996 right_x=0.2669 right_y=0.2037 right_z=0.0448 right_yaw=1.5762 right_pitch=-0.2067 right_roll=0.0348 right_gripper=0.9966 state[joint_eff]: [-0.0479, -2.2496, 7.1316, 1.6386, -0.0562, -0.0073, -0.0122, 1.1009, -9.0051, 5.9556, 0.9206, -0.4762, 0.1441, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.02, "left_x": 0.28, "left_z": 0.02}, "note": "Right arm is stuck at a wrist limit, so switching to the left arm: grey plush toy sits just under/left of the left jaws; descending onto it to grab it for the left (plush) basket."})
tool
executing move_to over 9 steps (0.9s)
step 248
assistant
agent noteLeft jaws are resting on the grey plush; pressing slightly and closing to pinch 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]: [0.0975, 1.0889, 0.1635, 0.3195, 0.0341, 0.0494, 0.9996, 0.2604, 1.7042, 0.8577, -0.4862, -0.7609, -1.1942, 0.9967] state[eef_state]: left_x=0.2946 left_y=0.0264 left_z=0.046 left_yaw=0.0269 left_pitch=-0.0454 left_roll=0.0337 left_gripper=0.9996 right_x=0.2663 right_y=0.2007 right_z=0.0376 right_yaw=1.5651 right_pitch=-0.2217 right_roll=0.0352 right_gripper=0.9967 state[joint_eff]: [0.3897, -0.0342, 3.1248, 0.315, 0.4176, -0.3053, -0.0122, -0.0068, -7.5009, 6.8991, 0.4078, -0.5934, -0.1197, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": 0.02}, "note": "Left jaws are resting on the grey plush; pressing slightly and closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 258
assistant
agent noteI ran out of LLM-call budget before finishing. I sorted the objects into two groups: pens/markers go in the right basket, plush toys go in the left. Only one object is confirmed in a basket: the white marker is in the right basket. My first pick with the right arm may or may not have gone in, and the blue pen fell out on release and now lies on the table in front of the right basket. After I turned the right wrist about 90° to grasp that pen, the arm stopped responding to targets. The left arm's close on the soft grey plush came up empty (reading 0.015). No plush toys have been placed, and the yellow marker and the bears are still on the table.
give_up
hindsight- Scene layout: two teal baskets. The left basket sits about 0.45 m straight ahead of the left arm. The right basket is close in front of the right arm: its front rim is at about right x=0.31, y=0.19, and the rim is about 9 cm tall. Moving low across that area will catch the rim and shove the basket; I did this once. - Objects: plush toys (a grey plush and teddy bears, near the table centre) and pens/markers (a yellow marker on the left, and black/white and blue markers on the right). - Positions from the top camera: the grippers show up much closer to the image centre than you'd expect. At x≈0.3 the right gripper appears around image x 150–190, not at the edge. - Wrist camera: a pen lying along the jaw column, reaching down to the bottom edge, is directly graspable. Descend to z=-0.01 and close. The readback bottoms out around z≈0.006–0.013 because the tool is pitched. A settled reading of about 0.15 means the pen is held. A held pen stays visible sticking out ahead of the jaws; that is normal, not a miss. - Releasing from z≈0.23 over the basket worked once, but the second pen slid out. Release lower (z≈0.15) over the basket centre. - Big yaw changes are dangerous on the right arm. At z≈0.03, yaw -0.9 flipped the IK: the arm jumped about 13 cm and rolled the wrist. Yaw about +1.56 pushed a wrist joint to its limit (joint 6 ≈ -1.28), after which the arm froze and ignored further targets. Keep |yaw| ≤ 1.0 and do rotations high (z ≥ 0.12). Prefer grasping pens from a position where they already run radially, instead of yawing. - Soft plush compresses to an empty-looking reading (0.015). Grab it deeper, pressing to about z=0.0 in the middle of the body, or pinch a limb or ear. - Budget: 40 calls is tight for about 7 objects, so don't spend calls on inspection moves.
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]: [0.1005, 1.2579, 0.1322, 0.654, 0.0082, 0.0528, 0.015, 0.2604, 1.7042, 0.8577, -0.4778, -0.7601, -1.1973, 0.9967] state[eef_state]: left_x=0.3165 left_y=0.0341 left_z=0.056 left_yaw=0.0499 left_pitch=0.0877 left_roll=0.058 left_gripper=0.015 right_x=0.2679 right_y=0.201 right_z=0.0379 right_yaw=1.5647 right_pitch=-0.2202 right_roll=0.0245 right_gripper=0.9967 state[joint_eff]: [-0.4171, -0.9094, 2.5368, 0.7937, 0.2125, -0.0464, 0.7155, -0.1983, -7.1179, 5.2171, 0.5788, -0.4567, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of LLM-call budget before finishing. I sorted the objects into two groups: pens/markers go in the right basket, plush toys go in the left. Only one object is confirmed in a basket: the white marker is in the right basket. My first pick with the right arm may or may not have gone in, and the blue pen fell out on release and now lies on the table in front of the right basket. After I turned the right wrist about 90\u00b0 to grasp that pen, the arm stopped responding to targets. The left arm's close on the soft grey plush came up empty (reading 0.015). No plush toys have been placed, and the yellow marker and the bears are still on the table.", "hindsight": "- Scene layout: two teal baskets. The left basket sits about 0.45 m straight ahead of the left arm. The right basket is close in front of the right arm: its front rim is at about right x=0.31, y=0.19, and the rim is about 9 cm tall. Moving low across that area will catch the rim and shove the basket; I did this once.\n- Objects: plush toys (a grey plush and teddy bears, near the table centre) and pens/markers (a yellow marker on the left, and black/white and blue markers on the right).\n- Positions from the top camera: the grippers show up much closer to the image centre than you'd expect. At x\u22480.3 the right gripper appears around image x 150\u2013190, not at the edge.\n- Wrist camera: a pen lying along the jaw column, reaching down to the bottom edge, is directly graspable. Descend to z=-0.01 and close. The readback bottoms out around z\u22480.006\u20130.013 because the tool is pitched. A settled reading of about 0.15 means the pen is held. A held pen stays visible sticking out ahead of the jaws; that is normal, not a miss.\n- Releasing from z\u22480.23 over the basket worked once, but the second pen slid out. Release lower (z\u22480.15) over the basket centre.\n- Big yaw changes are dangerous on the right arm. At z\u22480.03, yaw -0.9 flipped the IK: the arm jumped about 13 cm and rolled the wrist. Yaw about +1.56 pushed a wrist joint to its limit (joint 6 \u2248 -1.28), after which the arm froze and ignored further targets. Keep |yaw| \u2264 1.0 and do rotations high (z \u2265 0.12). Prefer grasping pens from a position where they already run radially, instead of yawing.\n- Soft plush compresses to an empty-looking reading (0.015). Grab it deeper, pressing to about z=0.0 in the middle of the body, or pinch a limb or ear.\n- Budget: 40 calls is tight for about 7 objects, so don't spend calls on inspection moves."})
tool
give_up: I ran out of LLM-call budget before finishing. I sorted the objects into two groups: pens/markers go in the right basket, plush toys go in the left. Only one object is confirmed in a basket: the white marker is in the right basket. My first pick with the right arm may or may not have gone in, and the blue pen fell out on release and now lies on the table in front of the right basket. After I turned the right wrist about 90° to grasp that pen, the arm stopped responding to targets. The left arm's close on the soft grey plush came up empty (reading 0.015). No plush toys have been placed, and the yellow marker and the bears are still on the table.
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 · 13.59 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, 0.6174, -0.3798, -0.0223, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.3737, -0.0109, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1849 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4701, 9.265, 1.7607, -0.0269, 0.1538, -0.0562, -0.8684, -1.4974, 9.7709, 1.7021, -0.1148, 0.022, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4cec55dd64b093ee46d8e809ec91df6e314679a587f8ad03f827419be52c30e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2aceb5818df28aa47298cbd3cd75bdb06e962a2c6b98f256bfc0778d5566a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1cc9b5874bfe585c000e3fed543599fc37d2c08c2c0a4fc32a1b95b78866688f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 6.804 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, 0.6174, -0.3798, -0.0223, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.3737, -0.0109, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1849 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4701, 9.265, 1.7607, -0.0269, 0.1538, -0.0562, -0.8684, -1.4974, 9.7709, 1.7021, -0.1148, 0.022, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4cec55dd64b093ee46d8e809ec91df6e314679a587f8ad03f827419be52c30e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2aceb5818df28aa47298cbd3cd75bdb06e962a2c6b98f256bfc0778d5566a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cc9b5874bfe585c000e3fed543599fc37d2c08c2c0a4fc32a1b95b78866688f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GyYXbBLAbq4KU4XASfa35f",
      "input": {
        "note": "Scene: two baskets at back; plush toys (bears/grey plush) and pens/markers in front. Right wrist cam shows a marker right under the jaws, aligned radially; descending to grasp it.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01GyYXbBLAbq4KU4XASfa35f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6159, -0.3809, -0.0219, -0.0341, 0.9996, -0.0189, 1.5726, 0.0513, 1.005, -0.0277, -0.0074, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0084 left_roll=-0.0039 left_gripper=0.9996 right_x=0.3073 right_y=0.0027 right_z=0.0127 right_yaw=0.0062 right_pitch=0.0433 right_roll=0.0153 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.7162, 7.2, 1.7656, -0.0269, 0.0073, -0.0122, 0.2256, -2.3726, 1.6342, 1.0672, 0.1099, -0.1343, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3bfd2a06d90f2021a45ba77b0c41c90b5088f6799a70b59f47ca60a2c6cc0d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4b1d4f1aa2d24f8f381f25b3991a4b0d28695e4e3e6fd211a7386c00a6d60f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1728bb0726f201734b972503faefe3300f3c33748606c44a0f5f071546391bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.923 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, 0.6174, -0.3798, -0.0223, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.3737, -0.0109, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1849 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4701, 9.265, 1.7607, -0.0269, 0.1538, -0.0562, -0.8684, -1.4974, 9.7709, 1.7021, -0.1148, 0.022, -0.0562]",
      "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, 0.8043, 0.6159, -0.3809, -0.0219, -0.0341, 0.9996, -0.0189, 1.5726, 0.0513, 1.005, -0.0277, -0.0074, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0084 left_roll=-0.0039 left_gripper=0.9996 right_x=0.3073 right_y=0.0027 right_z=0.0127 right_yaw=0.0062 right_pitch=0.0433 right_roll=0.0153 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.7162, 7.2, 1.7656, -0.0269, 0.0073, -0.0122, 0.2256, -2.3726, 1.6342, 1.0672, 0.1099, -0.1343, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3bfd2a06d90f2021a45ba77b0c41c90b5088f6799a70b59f47ca60a2c6cc0d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4b1d4f1aa2d24f8f381f25b3991a4b0d28695e4e3e6fd211a7386c00a6d60f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1728bb0726f201734b972503faefe3300f3c33748606c44a0f5f071546391bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012UXdm3e2ZhobsFhmXPwQpM",
      "input": {
        "note": "Marker is centred slightly left of the jaw column in the right wrist cam; shifting 1 cm left and pressing to table level before closing.",
        "targets": {
          "right_y": 0.012,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_012UXdm3e2ZhobsFhmXPwQpM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8101, 0.6151, -0.3805, -0.0223, -0.0376, 0.9996, 0.0383, 1.8572, 0.0559, 1.3838, 0.0113, 0.0216, 0.9995]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1805 left_yaw=0.0046 left_pitch=-0.0145 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3224 right_y=0.014 right_z=0.0132 right_yaw=0.0148 right_pitch=0.1418 right_roll=0.0236 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -1.5658, 7.2821, 1.707, -0.0806, 0.0024, -0.0122, 0.2256, -3.453, 0.3214, 1.1795, 0.0855, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b45e143dc5e81a161ea7553d4d4abe0fa24a86b6a716d78ba64db6ac77aa691",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:751f2e8616752f62b12c66882a808a493a911e718f1bcafa1c66e5444f1d6cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c65540779321b3417fe6124840a308264f08cb61b77aed2973f745babcf90daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 4.074 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, 0.6174, -0.3798, -0.0223, -0.0296, 0.9996, -0.0154, 0.7967, 0.6109, -0.3737, -0.0109, -0.0162, 0.9996]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.1849 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4701, 9.265, 1.7607, -0.0269, 0.1538, -0.0562, -0.8684, -1.4974, 9.7709, 1.7021, -0.1148, 0.022, -0.0562]",
      "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, 0.8043, 0.6159, -0.3809, -0.0219, -0.0341, 0.9996, -0.0189, 1.5726, 0.0513, 1.005, -0.0277, -0.0074, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0084 left_roll=-0.0039 left_gripper=0.9996 right_x=0.3073 right_y=0.0027 right_z=0.0127 right_yaw=0.0062 right_pitch=0.0433 right_roll=0.0153 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.7162, 7.2, 1.7656, -0.0269, 0.0073, -0.0122, 0.2256, -2.3726, 1.6342, 1.0672, 0.1099, -0.1343, -0.0611]",
      "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, 0.8101, 0.6151, -0.3805, -0.0223, -0.0376, 0.9996, 0.0383, 1.8572, 0.0559, 1.3838, 0.0113, 0.0216, 0.9995]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1805 left_yaw=0.0046 left_pitch=-0.0145 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3224 right_y=0.014 right_z=0.0132 right_yaw=0.0148 right_pitch=0.1418 right_roll=0.0236 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -1.5658, 7.2821, 1.707, -0.0806, 0.0024, -0.0122, 0.2256, -3.453, 0.3214, 1.1795, 0.0855, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b45e143dc5e81a161ea7553d4d4abe0fa24a86b6a716d78ba64db6ac77aa691",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:751f2e8616752f62b12c66882a808a493a911e718f1bcafa1c66e5444f1d6cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65540779321b3417fe6124840a308264f08cb61b77aed2973f745babcf90daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwcKEAgSGAI4AUIIdGhpbmtpbmcSDAWIyLqyJwDkN84ivRoMPDPB2xGVKJJiIqHqIjB+qx+YNJjDi6lpEVAhUfwZhCwM1UPTQx+zNFRMRIhy7ztwxnc6p4mid/aQIJWpDT0q7Aa58YLPd0TKMI6XCd1M2m8wRLjZweVlYAN1l3qmqmpQkx91lXQ5nNAJz1vHBlr5xEb8XssmTKCkEsB/zL0kpI/n1vAtueo15DAivtS79e2zmE1Is5CXm4v5oFRQuH5YRQu9vZ7PuAdXYaE2/Q2/NYAviyfmI09J5wTddfwOIvD/17HzRxedxvJZ8THPKKY5kdsTG6NDDWlwZFuVzwPmDnRSqHD3YJGO2Swap9LTelITo8ot8e82IUd0fyaoNnB5g02Pan8oa1Xx/dKa8Aea2hRC4bJJ6VW/kw2lMIqJ1UU4Qq/buGgOTG35/vNaYUyGu0V1eMyjmUDIQ1ws8I7yrtKYjZ1IIKwVubkUXbIC1BntpQhxDm4tuSs/UC1sspwZUEtafOCnJ41xcMPLXBwPv20SJrfvPIUsoosllLVYuL7esNKFz96WCKFgiIydzkL7xJDHaNajGBHeQRYFUPZ52/FFuylKRZWWry3FgdaTtJ0F6xWDGKsSVVm10r/FOuzNe3ooSzywUP/Cs3jEPEnIgG+EfipazSZmhbcD08R9vV98r955VFd4QnqETRROvRmPUmwegGikEKwimlvELjPh9DqTCm9QaYCgfpt0fb5RevReEzv+5EcVxrUpjms/IjxPhyxovQbr/bzjuA/C88G0OkSruRK7L0Ekzt8HQfdG1nUFSiW8PbsH2bL0Zgeh77+1u8vRass1lZw6pjVEbjIYmOmrCjWHwDpSzLcxb4qzvYUngJrBzBCvcZDB67CEA5ucr/AF8T2MAg+eIk44S84Pun+Pw7c+OIebvGyqRfsHzNPpZ5ROhEZegAyy5bN05QD0AjDnqwpEazE9RwBSGpMofYWYsys20/NwKKjsGI0Jkqn39L680jbXgZNFqNMckUm8WyJO1eGmvmUp9CXqQTFRxG1sGAwaMiet2nhk8s2MWTY0Ovcbr3fzpYwGKKnYHeNz6vDS+gJv+0WOALIA97MgvR5V33L5d7lNp6xYeo9H7XFyMgxod3+Lj01Dk0VMUJw1hutg5/8BqmHn9xZ2RTJX6jekcDH8Kda0VetBrgqX52CxCLD5FtI60XkCq0JXhldONms34meI0K6400MZ59glKVs1cmryNuXZ9jBpE6U+aQjFUmBk/4SK2laU71SP0JgSjRREc19/gFTr8I/V3fsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019wemmpQsZknbsuUdwTtD1L",
      "input": {
        "note": "Marker now sits between the jaws at the bottom of the right wrist view; closing the gripper on 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_019wemmpQsZknbsuUdwTtD1L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8116, 0.6151, -0.3805, -0.0223, -0.0376, 0.9996, 0.038, 1.8462, 0.0578, 1.3804, 0.0078, 0.0216, 0.1614]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1801 left_yaw=0.0043 left_pitch=-0.016 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3238 right_y=0.0145 right_z=0.0162 right_yaw=0.0173 right_pitch=0.1513 right_roll=0.0252 right_gripper=0.1614\nstate[joint_eff]: [-0.0615, -1.4564, 7.0496, 1.6972, -0.0269, -0.0269, -0.0171, -0.1162, -4.1094, 1.5795, 1.873, 0.0366, -0.0024, 1.0672]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18b55ffa149e8361eb5664256d9502f0cae8f6a8867a8a6af691676d82a92b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd1b8d94e1c6a8a31af14d20dc82f93e3f2ec2c8ceebe384a555bfb168f4cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8ee00faa3cee4e1b2f9941270776c6b5aa80528addaa1ae46a16b838d26c1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 7.852 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, 0.8043, 0.6159, -0.3809, -0.0219, -0.0341, 0.9996, -0.0189, 1.5726, 0.0513, 1.005, -0.0277, -0.0074, 0.9996]\nstate[eef_state]: left_x=0.2968 left_y=0.0019 left_z=0.1824 left_yaw=0.0025 left_pitch=-0.0084 left_roll=-0.0039 left_gripper=0.9996 right_x=0.3073 right_y=0.0027 right_z=0.0127 right_yaw=0.0062 right_pitch=0.0433 right_roll=0.0153 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.7162, 7.2, 1.7656, -0.0269, 0.0073, -0.0122, 0.2256, -2.3726, 1.6342, 1.0672, 0.1099, -0.1343, -0.0611]",
      "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, 0.8101, 0.6151, -0.3805, -0.0223, -0.0376, 0.9996, 0.0383, 1.8572, 0.0559, 1.3838, 0.0113, 0.0216, 0.9995]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1805 left_yaw=0.0046 left_pitch=-0.0145 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3224 right_y=0.014 right_z=0.0132 right_yaw=0.0148 right_pitch=0.1418 right_roll=0.0236 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -1.5658, 7.2821, 1.707, -0.0806, 0.0024, -0.0122, 0.2256, -3.453, 0.3214, 1.1795, 0.0855, -0.0317, -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]: [-0.0193, 0.8116, 0.6151, -0.3805, -0.0223, -0.0376, 0.9996, 0.038, 1.8462, 0.0578, 1.3804, 0.0078, 0.0216, 0.1614]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1801 left_yaw=0.0043 left_pitch=-0.016 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3238 right_y=0.0145 right_z=0.0162 right_yaw=0.0173 right_pitch=0.1513 right_roll=0.0252 right_gripper=0.1614\nstate[joint_eff]: [-0.0615, -1.4564, 7.0496, 1.6972, -0.0269, -0.0269, -0.0171, -0.1162, -4.1094, 1.5795, 1.873, 0.0366, -0.0024, 1.0672]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18b55ffa149e8361eb5664256d9502f0cae8f6a8867a8a6af691676d82a92b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd1b8d94e1c6a8a31af14d20dc82f93e3f2ec2c8ceebe384a555bfb168f4cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8ee00faa3cee4e1b2f9941270776c6b5aa80528addaa1ae46a16b838d26c1a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wcKEAgSGAI4AUIIdGhpbmtpbmcSDFU4fBFwposnKVdPRRoM52VnNcPhgpWqoeXuIjDnPBEWaMYM1HJ4/IZTx27BZr2n9sNgqghtPyAtsyAsWLtJfy+bIUrvadtbS0RLXsoqkAcROCPGhBcbyhuAXvptC+vMm0UgvIcJOt6GRFnkDkUk0TQItVpYHSYwAvCiTcfwnxjCB7G6a2zJZxKu1+ah2XUHoVCTRnYSeU4oRl7GW6KkAsRfmLcnPnlyXrxbDaL8brbBErNmCJ78RLCGpHpBrVvVbGTzcyKL1OEraSwm9INiOWicnCPAofF8kR1iqxwFD2MAvZiudx1pOYcGP9bpepfq2Pm8IotSraY4CNB/xQdqucF7F7FvlXyOpHIv6RgYKjLjOKkIYMLjcf+8kBj8z3NJ7889uesJmAireSoin9+hiaaNnmt0miviVubz8ev6ES8otThMkdbGn94HVqXDx+wERai5EDhApK5SEgii31sGGfwnQ5PXsv0/1Feoe02567d5+NQmN+6PzuhHdlURPIezCk2dL+CVFgHBYjHDLGO3U6uSnlsZcNpfCC9rBPOJC9u0hE601w2LJ67HTm4EVI8tB6PEA+Ip9GXv+tmynprVfoSIWW7fYDWNeH2v3EEYouo6DEgoQV8hcJMlWdIL8NXyz9iaikPqW8TIwG0ZdV7hCTBHkzAcqY8V2nj52ldRPmnTgFmHQ2JT0AVlGny6Fr2uQzygkPF4cKq9UhVn2nK5pSyb5vUnZWM8MvYrZ7B2r3W7V+Z3NehVNc2p2/E9HHJj4opJ6qLSsCxeucJPqQTx4IiFqIdvj1pj9eQtvfw9NM6aWtB0QdBkOfmVCZMcdzHP0rStiCZ4fW35Qrod8xnA1p+8EK9ACOv9Uz+lMv0VeMWPBOkHcCv53bQIgUU6DwMkCYdYSp9c6NV/MizoonPHRbzn60bBh8OqAsj6p0RXqQHwJz/9bRuv5szlAFrDRMwMFCOKxWEwegvwgMrKEzv6vi9oBJMm5zh3qBb+3iuXZNhaBElRrnrdylr4TTvyHT1DqINUCiFbpgf5gQUvspUongvlInS8m9GXFqCf8hbibN3avTNlSyCzZbMwIVy5bVSGThVE7HQxfibs76nedhcDrsJ5w+bTmR02IHtpjZjTRhtOIsoD5YusRjD7bPhVJLojj9njLQOB5JGMwBb6CaaNQdQmTqW4QxwVFSnJwN2VpC6ckC4hXe1Re0SpVCD0eOywLMMB/XkRVVy0hbq/FOk8FylJWiduUT5XiRCl9nKizbFU1tdw672HfIW8t+epCC9Uqhigdu8+hEAMrEIr+gfK9VnPf4trgpJUS5+/pYLslFMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0152yfCSQ3vDgSUYvShbCkKy",
      "input": {
        "note": "Gripper settled at 0.16 (~1.5 cm), suggesting a marker is held; lifting to verify in the overhead view.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0152yfCSQ3vDgSUYvShbCkKy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8173, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.038, 0.9817, 0.242, 0.3237, 0.0074, 0.0177, 0.1627]\nstate[eef_state]: left_x=0.2976 left_y=0.0017 left_z=0.1785 left_yaw=0.0041 left_pitch=-0.0217 left_roll=-0.0068 left_gripper=0.9996 right_x=0.3203 right_y=0.0144 right_z=0.1112 right_yaw=0.0197 right_pitch=0.1433 right_roll=0.0217 right_gripper=0.1627\nstate[joint_eff]: [-0.212, -1.6479, 7.0632, 1.7216, -0.0317, -0.0513, -0.0171, -0.1436, -2.3726, 8.8684, 1.6923, -0.0611, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cea5b6d5c167225b32b0a6bb32d92438929118948e4964c34cf4d600de3d854e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c74ababf1833b520298ad460fa98ff46f587a1daa8301e88116f20b0436a4dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b4e36bfb69c211e268756ecb005c53dae40167a33bbe020bfea6d7beb6ec9e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.295 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, 0.8101, 0.6151, -0.3805, -0.0223, -0.0376, 0.9996, 0.0383, 1.8572, 0.0559, 1.3838, 0.0113, 0.0216, 0.9995]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1805 left_yaw=0.0046 left_pitch=-0.0145 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3224 right_y=0.014 right_z=0.0132 right_yaw=0.0148 right_pitch=0.1418 right_roll=0.0236 right_gripper=0.9995\nstate[joint_eff]: [-0.0752, -1.5658, 7.2821, 1.707, -0.0806, 0.0024, -0.0122, 0.2256, -3.453, 0.3214, 1.1795, 0.0855, -0.0317, -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]: [-0.0193, 0.8116, 0.6151, -0.3805, -0.0223, -0.0376, 0.9996, 0.038, 1.8462, 0.0578, 1.3804, 0.0078, 0.0216, 0.1614]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1801 left_yaw=0.0043 left_pitch=-0.016 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3238 right_y=0.0145 right_z=0.0162 right_yaw=0.0173 right_pitch=0.1513 right_roll=0.0252 right_gripper=0.1614\nstate[joint_eff]: [-0.0615, -1.4564, 7.0496, 1.6972, -0.0269, -0.0269, -0.0171, -0.1162, -4.1094, 1.5795, 1.873, 0.0366, -0.0024, 1.0672]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8173, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.038, 0.9817, 0.242, 0.3237, 0.0074, 0.0177, 0.1627]\nstate[eef_state]: left_x=0.2976 left_y=0.0017 left_z=0.1785 left_yaw=0.0041 left_pitch=-0.0217 left_roll=-0.0068 left_gripper=0.9996 right_x=0.3203 right_y=0.0144 right_z=0.1112 right_yaw=0.0197 right_pitch=0.1433 right_roll=0.0217 right_gripper=0.1627\nstate[joint_eff]: [-0.212, -1.6479, 7.0632, 1.7216, -0.0317, -0.0513, -0.0171, -0.1436, -2.3726, 8.8684, 1.6923, -0.0611, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cea5b6d5c167225b32b0a6bb32d92438929118948e4964c34cf4d600de3d854e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c74ababf1833b520298ad460fa98ff46f587a1daa8301e88116f20b0436a4dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b4e36bfb69c211e268756ecb005c53dae40167a33bbe020bfea6d7beb6ec9e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C3PeUCsbDA31UqSL7Zd94y",
      "input": {
        "note": "Marker held (gripper 0.16). Right basket lies forward-left of the right arm; carrying the marker above it (pens go in the right basket, plush toys in the left).",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.16,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01C3PeUCsbDA31UqSL7Zd94y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3805, -0.0223, -0.038, 0.9996, 0.5243, 1.4673, 0.9867, -0.0193, 0.4305, 0.2111, 0.1627]\nstate[eef_state]: left_x=0.2976 left_y=0.0019 left_z=0.175 left_yaw=0.0049 left_pitch=-0.032 left_roll=-0.0063 left_gripper=0.9996 right_x=0.4162 right_y=0.1597 right_z=0.2041 right_yaw=0.0468 right_pitch=0.1087 right_roll=-0.0035 right_gripper=0.1627\nstate[joint_eff]: [-0.1299, -1.6889, 7.5966, 1.7314, -0.0757, -0.0562, -0.0171, 0.2256, -6.9949, 9.5385, 1.707, 0.2857, 0.1685, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc0aaba5536eef1c4d5b95e5b3317c3c6d88d0c76dbbb1cc2117fbf8c5a460ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e7436214135a3a767c4fbe0ed6cea8f74251f867017a85873412f0240752e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3dcb83f7a0ebf9c1b085b9fd16b48c2cd5c9aca8381cff88df707eaadc5b6936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 10.17 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]: [-0.0193, 0.8116, 0.6151, -0.3805, -0.0223, -0.0376, 0.9996, 0.038, 1.8462, 0.0578, 1.3804, 0.0078, 0.0216, 0.1614]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1801 left_yaw=0.0043 left_pitch=-0.016 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3238 right_y=0.0145 right_z=0.0162 right_yaw=0.0173 right_pitch=0.1513 right_roll=0.0252 right_gripper=0.1614\nstate[joint_eff]: [-0.0615, -1.4564, 7.0496, 1.6972, -0.0269, -0.0269, -0.0171, -0.1162, -4.1094, 1.5795, 1.873, 0.0366, -0.0024, 1.0672]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8173, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.038, 0.9817, 0.242, 0.3237, 0.0074, 0.0177, 0.1627]\nstate[eef_state]: left_x=0.2976 left_y=0.0017 left_z=0.1785 left_yaw=0.0041 left_pitch=-0.0217 left_roll=-0.0068 left_gripper=0.9996 right_x=0.3203 right_y=0.0144 right_z=0.1112 right_yaw=0.0197 right_pitch=0.1433 right_roll=0.0217 right_gripper=0.1627\nstate[joint_eff]: [-0.212, -1.6479, 7.0632, 1.7216, -0.0317, -0.0513, -0.0171, -0.1436, -2.3726, 8.8684, 1.6923, -0.0611, -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 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, 0.8238, 0.6113, -0.3805, -0.0223, -0.038, 0.9996, 0.5243, 1.4673, 0.9867, -0.0193, 0.4305, 0.2111, 0.1627]\nstate[eef_state]: left_x=0.2976 left_y=0.0019 left_z=0.175 left_yaw=0.0049 left_pitch=-0.032 left_roll=-0.0063 left_gripper=0.9996 right_x=0.4162 right_y=0.1597 right_z=0.2041 right_yaw=0.0468 right_pitch=0.1087 right_roll=-0.0035 right_gripper=0.1627\nstate[joint_eff]: [-0.1299, -1.6889, 7.5966, 1.7314, -0.0757, -0.0562, -0.0171, 0.2256, -6.9949, 9.5385, 1.707, 0.2857, 0.1685, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc0aaba5536eef1c4d5b95e5b3317c3c6d88d0c76dbbb1cc2117fbf8c5a460ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e7436214135a3a767c4fbe0ed6cea8f74251f867017a85873412f0240752e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dcb83f7a0ebf9c1b085b9fd16b48c2cd5c9aca8381cff88df707eaadc5b6936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wYKEAgSGAI4AUIIdGhpbmtpbmcSDLGufIhgaDbWUwMoaxoMh9AqpCBte++2gaDcIjBiM0a6a0EURmX/IqZfGNsFpF9yqN9VLqzGz0sjx1ynPFrBWyNHyHkc/+elglAYuSUqlAYdBCpgF+hdOIsBPf3SHKD6f+bLdTfjUKPNAhbhVQ4C59Tt4H8SiOaiEG3dSum94c5d01+U7fP4hXt4d2oA6zLAlRFyF3RXRymSwa2CMccvs0X98tyRw4l5C4XGqKz1/rYwX9xF13EH2VEM7ejLSpyyzhbJqTF5IoZyOi/MOp3C8lfCMrn/H/y6TznMNT7VKhUrS+0NjTDmL6EhFIOGCWNoanmzDyby9HQEBcQwrCKB5lRDSX0ABoTpeLPsLCSfIphtrJleIKjly2d8l/C7D40dszssNaPmYcj1WXfDIRS5V+6VpBslnqoAsQRWeSImd9DIZ/53r5mF7zJjg4otGr6CS8kpRjJROcLEXL1Hda/8029r6oLmTWU/pacvWezuKD48gg+bPUtpRNbW77Fo6bjwUdeZg2cCv//c9j1EaqFd+WM4nATDk0dg0UEG3laj908hdv6rgwof283r/6EMQP2/pqB4pfShDMnXzYBYEoe/rcagLoNDVOa542iBBQRkKdUpTFyqc2NdK6RCEtQanfEWTvTgeZYj32He093n9KTto26hG2a9VC7GTwo2rSJScP8XZS4sxn4lOixjKZImaWa+upubwTJp9FXovOQKgT7hIxUWu9BdrBKVYEFQNQrmWf6j1eyTK2SbzXOU+s7EDtOTevNplKde+0UgwX+WmViKrN5j6JpNo0ykJCRB2SM+A0HZgy52TahJdQ30KMuYbM6UrU5WEJrQaR+UxFqh3G7z0nBogcFc5T6xwiw4WC2CRngXGc0wNBhCbP0U20ll0WEGH4tAijtwyQc2Z26wWUv4pdA7HPtF7v+eT1vEI8jqw/Wmb++Gt+msSOQIIWkjMYUIpZZhGcIBo7Xjt4WtWsTcJBwPrb1R/mxJbgNqJef6rYpRF0uPfRtzMlb1LSCsQ1K/RxOtelFJntFfnpLhn8EWheIAuEcg8/SeaD9SUUu3r4FJ5KDvo1V6GpmyHvzgLPYCIsIUq1Q+rl5/8NFs87limOfLoXwl9YlPLCT1RHpKc8GZcxBRhmxgYvHYv9W9GaiIdu+zSxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019KjoGXRfj2J9ZxFcreEn1Y",
      "input": {
        "note": "Right wrist cam shows the jaws over the inside of the right basket; releasing 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_019KjoGXRfj2J9ZxFcreEn1Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8238, 0.6113, -0.3805, -0.0219, -0.038, 0.9996, 0.5236, 1.4673, 0.9863, -0.0189, 0.4255, 0.2028, 0.995]\nstate[eef_state]: left_x=0.2976 left_y=0.0017 left_z=0.175 left_yaw=0.0042 left_pitch=-0.032 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4162 right_y=0.1602 right_z=0.2039 right_yaw=0.0546 right_pitch=0.1075 right_roll=-0.009 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -1.4427, 7.1043, 1.7167, -0.0659, -0.0366, -0.0122, 0.0205, -6.694, 7.0085, 1.7167, 0.1197, 0.0024, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:689f48fdaafb9697fc773033e35e24d755d3806ded061028a72b3cb7f73249fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2c9cbf93a525f5aead834e81f3c61dd5761b0725247ef2349ac3778c9dc9ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d86cbf86ad7611e243494908d5c72ac6ca77915bd21d02f22c2425b7cb27235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 6.839 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]: [-0.0193, 0.8173, 0.6151, -0.3805, -0.0219, -0.038, 0.9996, 0.038, 0.9817, 0.242, 0.3237, 0.0074, 0.0177, 0.1627]\nstate[eef_state]: left_x=0.2976 left_y=0.0017 left_z=0.1785 left_yaw=0.0041 left_pitch=-0.0217 left_roll=-0.0068 left_gripper=0.9996 right_x=0.3203 right_y=0.0144 right_z=0.1112 right_yaw=0.0197 right_pitch=0.1433 right_roll=0.0217 right_gripper=0.1627\nstate[joint_eff]: [-0.212, -1.6479, 7.0632, 1.7216, -0.0317, -0.0513, -0.0171, -0.1436, -2.3726, 8.8684, 1.6923, -0.0611, -0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3805, -0.0223, -0.038, 0.9996, 0.5243, 1.4673, 0.9867, -0.0193, 0.4305, 0.2111, 0.1627]\nstate[eef_state]: left_x=0.2976 left_y=0.0019 left_z=0.175 left_yaw=0.0049 left_pitch=-0.032 left_roll=-0.0063 left_gripper=0.9996 right_x=0.4162 right_y=0.1597 right_z=0.2041 right_yaw=0.0468 right_pitch=0.1087 right_roll=-0.0035 right_gripper=0.1627\nstate[joint_eff]: [-0.1299, -1.6889, 7.5966, 1.7314, -0.0757, -0.0562, -0.0171, 0.2256, -6.9949, 9.5385, 1.707, 0.2857, 0.1685, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8238, 0.6113, -0.3805, -0.0219, -0.038, 0.9996, 0.5236, 1.4673, 0.9863, -0.0189, 0.4255, 0.2028, 0.995]\nstate[eef_state]: left_x=0.2976 left_y=0.0017 left_z=0.175 left_yaw=0.0042 left_pitch=-0.032 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4162 right_y=0.1602 right_z=0.2039 right_yaw=0.0546 right_pitch=0.1075 right_roll=-0.009 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -1.4427, 7.1043, 1.7167, -0.0659, -0.0366, -0.0122, 0.0205, -6.694, 7.0085, 1.7167, 0.1197, 0.0024, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:689f48fdaafb9697fc773033e35e24d755d3806ded061028a72b3cb7f73249fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2c9cbf93a525f5aead834e81f3c61dd5761b0725247ef2349ac3778c9dc9ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d86cbf86ad7611e243494908d5c72ac6ca77915bd21d02f22c2425b7cb27235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PXVs7eZtzKnJEpJjowYuDA",
      "input": {
        "note": "Basket looks empty and two pens remain on the table near the right arm, so the first grasp probably slipped. Moving above the nearer pen to line it up in the wrist cam.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.08,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PXVs7eZtzKnJEpJjowYuDA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.831, 0.6113, -0.3805, -0.0219, -0.038, 0.9996, 0.4576, 0.9619, 0.3286, 0.1287, 0.3653, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.298 left_y=0.0018 left_z=0.173 left_yaw=0.0045 left_pitch=-0.0393 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3026 right_y=0.0827 right_z=0.1185 right_yaw=0.0551 right_pitch=0.0909 right_roll=-0.0116 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.5932, 7.0632, 1.7607, -0.0269, -0.0269, -0.0171, -0.1983, -1.894, 7.5145, 1.9756, 0.0269, -0.1148, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:711a921f2cfe90110520800db0f6e0a460a32b11313166af52b98baa179bffb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73039755489030c3ba93a5c051590121d63ae7c1ed91699dbf50c52e08d7668f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c026a57d71a4de8e1c5ba4b0669594ccac2921f82ef11b017d3e45b72fe7326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 4.52 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, 0.8238, 0.6113, -0.3805, -0.0223, -0.038, 0.9996, 0.5243, 1.4673, 0.9867, -0.0193, 0.4305, 0.2111, 0.1627]\nstate[eef_state]: left_x=0.2976 left_y=0.0019 left_z=0.175 left_yaw=0.0049 left_pitch=-0.032 left_roll=-0.0063 left_gripper=0.9996 right_x=0.4162 right_y=0.1597 right_z=0.2041 right_yaw=0.0468 right_pitch=0.1087 right_roll=-0.0035 right_gripper=0.1627\nstate[joint_eff]: [-0.1299, -1.6889, 7.5966, 1.7314, -0.0757, -0.0562, -0.0171, 0.2256, -6.9949, 9.5385, 1.707, 0.2857, 0.1685, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8238, 0.6113, -0.3805, -0.0219, -0.038, 0.9996, 0.5236, 1.4673, 0.9863, -0.0189, 0.4255, 0.2028, 0.995]\nstate[eef_state]: left_x=0.2976 left_y=0.0017 left_z=0.175 left_yaw=0.0042 left_pitch=-0.032 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4162 right_y=0.1602 right_z=0.2039 right_yaw=0.0546 right_pitch=0.1075 right_roll=-0.009 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -1.4427, 7.1043, 1.7167, -0.0659, -0.0366, -0.0122, 0.0205, -6.694, 7.0085, 1.7167, 0.1197, 0.0024, -0.2076]",
      "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, 0.831, 0.6113, -0.3805, -0.0219, -0.038, 0.9996, 0.4576, 0.9619, 0.3286, 0.1287, 0.3653, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.298 left_y=0.0018 left_z=0.173 left_yaw=0.0045 left_pitch=-0.0393 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3026 right_y=0.0827 right_z=0.1185 right_yaw=0.0551 right_pitch=0.0909 right_roll=-0.0116 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.5932, 7.0632, 1.7607, -0.0269, -0.0269, -0.0171, -0.1983, -1.894, 7.5145, 1.9756, 0.0269, -0.1148, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:711a921f2cfe90110520800db0f6e0a460a32b11313166af52b98baa179bffb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73039755489030c3ba93a5c051590121d63ae7c1ed91699dbf50c52e08d7668f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c026a57d71a4de8e1c5ba4b0669594ccac2921f82ef11b017d3e45b72fe7326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DNdDCN7uZnKg2eNpeDn62N",
      "input": {
        "note": "Pen tip visible at bottom-left of right wrist view, just behind the jaws; stepping back and slightly left while descending to put the pen between the fingers.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.095,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DNdDCN7uZnKg2eNpeDn62N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.833, 0.6109, -0.3805, -0.0223, -0.038, 0.9996, 0.6319, 1.3766, 0.0341, 0.7635, 0.4976, 0.2596, 0.9962]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1723 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.0061 left_gripper=0.9996 right_x=0.2669 right_y=0.0953 right_z=0.0229 right_yaw=0.0766 right_pitch=0.0576 right_roll=-0.0295 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.4154, 7.2684, 1.7265, -0.0122, -0.0464, -0.0171, 0.1299, -3.1932, 3.9453, 1.873, 0.3639, 0.0855, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b655c8ae0e3d8bf5078fd6c18063bcf87d23dee0dcddf0aa4ffdc06fadf8692",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:104648321db3b098b14d0baa0be7e8dc244bf62ef3fe51843666ec2b83772111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bae62926fcabba45a15f5dd18996c2cc7e6f5510e965c670f45b6c5fb4491714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.382 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8238, 0.6113, -0.3805, -0.0219, -0.038, 0.9996, 0.5236, 1.4673, 0.9863, -0.0189, 0.4255, 0.2028, 0.995]\nstate[eef_state]: left_x=0.2976 left_y=0.0017 left_z=0.175 left_yaw=0.0042 left_pitch=-0.032 left_roll=-0.0066 left_gripper=0.9996 right_x=0.4162 right_y=0.1602 right_z=0.2039 right_yaw=0.0546 right_pitch=0.1075 right_roll=-0.009 right_gripper=0.995\nstate[joint_eff]: [-0.0342, -1.4427, 7.1043, 1.7167, -0.0659, -0.0366, -0.0122, 0.0205, -6.694, 7.0085, 1.7167, 0.1197, 0.0024, -0.2076]",
      "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, 0.831, 0.6113, -0.3805, -0.0219, -0.038, 0.9996, 0.4576, 0.9619, 0.3286, 0.1287, 0.3653, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.298 left_y=0.0018 left_z=0.173 left_yaw=0.0045 left_pitch=-0.0393 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3026 right_y=0.0827 right_z=0.1185 right_yaw=0.0551 right_pitch=0.0909 right_roll=-0.0116 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.5932, 7.0632, 1.7607, -0.0269, -0.0269, -0.0171, -0.1983, -1.894, 7.5145, 1.9756, 0.0269, -0.1148, 0.1001]",
      "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, 0.833, 0.6109, -0.3805, -0.0223, -0.038, 0.9996, 0.6319, 1.3766, 0.0341, 0.7635, 0.4976, 0.2596, 0.9962]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1723 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.0061 left_gripper=0.9996 right_x=0.2669 right_y=0.0953 right_z=0.0229 right_yaw=0.0766 right_pitch=0.0576 right_roll=-0.0295 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.4154, 7.2684, 1.7265, -0.0122, -0.0464, -0.0171, 0.1299, -3.1932, 3.9453, 1.873, 0.3639, 0.0855, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b655c8ae0e3d8bf5078fd6c18063bcf87d23dee0dcddf0aa4ffdc06fadf8692",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:104648321db3b098b14d0baa0be7e8dc244bf62ef3fe51843666ec2b83772111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bae62926fcabba45a15f5dd18996c2cc7e6f5510e965c670f45b6c5fb4491714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAkKEAgSGAI4AUIIdGhpbmtpbmcSDCIwuy1rhUG2VHGNsBoMuAqag3KQt2Xv4VKFIjAO+01OCBuKgR/0Ax8OxbTfVHhShyDpP18J20PS31hQFPsn5RlB5FTt3ejfo4YyWOUqqQh+xpMSOlTcIW0q5sL8PYywoGsphFI0peTnDJmbITKbn960WSmGaMVGpNogR1x1ku4axtcpikVt7KGJTUKI66ivlo7MSl+7LS0F4SxY5wgYExO+lIk35XSUyECRFOpSjBDkrVV5OMo5uQClWLaJWLNv+2iFGJI/P/JW7/rSl98XVahnNalfg00s4IYJ9JTcAXJRhQ64EQFro3Ont8jeG37QGKDlkAlvqcptQ1BJueFp3odX/p1/KvZdH7vf3/mgMXEQluI6Xx353PhP56uvAed6e7cKrfsp9i6xwz8L9uIC2UxZlH2hSJT+rgG/C7LzsFEFaE7lJlX/0jWGk6e+7nhjAcfMHX2vd9tqIzuIaRFxf5TKM5vloPqXYZHwDbotLlIe8P6VxGoogeuncEIhW6x8LGevnCZ9A56IW21aO4bl1OTDioWwGd7gZNwnrAWLQ68pQ0pE/rTpOzj81R6yN2wYl8eDMOGZV2mqhYi8q18RejkHRsRlK7+u7NFg060NQ6KJ5dp0MB9ruYGjEogr4dxz4E6yUFFSXEi530mwCDZNPlCPF0n3tDYIvUhNs+JCH3ak2F6ZBHXn/RdCx906JSrX8xMfZhi1x94oA9fk9ciNau8FfQqJgSNT/Cl5CgLY3Arh1Hrelu/I6XwrgBnAcDuyf/bsqmyJ8ETc7nSnm/5Nl3dYUm81If+ux5zO/Vw1fOn5nHAa8TXiYofyoigtDYRy/7fJ8QJhPThoCVx8Vz+FXT45PeSGApWwObLEVxaqR78fcq8t8iShoDT3DMaJFB9fE3MpNzKlXl7iwQa5cHGIHhlc11odD+OEdKVqEzyOmZSrSfFmhKDDBhpMcTdaL5jxYCZNAWzxBr283AXgukYUzmnuHVMU1KjQf4RiZoK7rykRvrd+2r5LDh8tG1e4ZqPDRG5GVnA5/sfHtVrsNGv2XQP6KnMXMWEGo0fI+/dB6ARcv3afKhF3ogu7KReNBqiq6ZR86+7uyQYrjNxClixrvLH+Ct5iMPX9802Bmd8eRv/3bPIwa2nnkE4ui54q+Ky6ehWrXnNXasI2UAPb/WUt1Zxz2hE7CMDy7JuqHms1KS+aIrtrJA0TSVeKZ+mkvmUoCGzHOYAW1Lhjf9w9e6Yf5eNr75pfNtUXeX3QoSbv5iz9nq4r4NvybXXVpSGvniE6bs1uQXIMXTPq6ro6zffDt7ykBMUaW2rDRO29TzMaqxHthuxKC1Tg3QGHEsg7jfunQVeM4b0spcyi7LH6sGFmbwEIDa3nrMOCJEN/GVWj8UV512BobP9s8lnGwATlUwNFtXr0kF8McOuC4bQdv4A/iv8wZsTkEP2EouUQyyLoKJ05g3Bry6QkvHJOojRWSUmKHzVTCLopR0Q+gZ7Ct+F479j8uDMVwe769TL5VKuajDIUWL2xtFKWRHEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N1ve1HrGFrFXvh3KSoggEP",
      "input": {
        "note": "White marker lies radially just left of centre between the jaws (blue pen further left); nudging left and descending to table level.",
        "targets": {
          "right_y": 0.103,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01N1ve1HrGFrFXvh3KSoggEP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8379, 0.6098, -0.3805, -0.0223, -0.038, 0.9996, 0.6674, 1.8244, 0.038, 1.3029, 0.5419, 0.2924, 0.9962]\nstate[eef_state]: left_x=0.2982 left_y=0.0018 left_z=0.1704 left_yaw=0.0045 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9996 right_x=0.2809 right_y=0.1099 right_z=0.0126 right_yaw=0.0529 right_pitch=0.1495 right_roll=0.0342 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.7436, 7.1316, 1.6728, -0.0562, -0.0464, -0.0122, 0.1709, -2.8923, 0.4855, 1.0134, 0.0317, -0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:add1b8a99a117c335f87d1256f9cbabf1b77f562957964c28f8913439c2a290e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b13680149bfd80d18d9a72c8abb2ab54cdd82c9eefc4a78a693f8950bd61fad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ceaa417dada9400b11c3b3fcc6305959e7effea45d923e99be3996e182d44c26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.358 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, 0.831, 0.6113, -0.3805, -0.0219, -0.038, 0.9996, 0.4576, 0.9619, 0.3286, 0.1287, 0.3653, 0.1726, 0.9961]\nstate[eef_state]: left_x=0.298 left_y=0.0018 left_z=0.173 left_yaw=0.0045 left_pitch=-0.0393 left_roll=-0.0064 left_gripper=0.9996 right_x=0.3026 right_y=0.0827 right_z=0.1185 right_yaw=0.0551 right_pitch=0.0909 right_roll=-0.0116 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.5932, 7.0632, 1.7607, -0.0269, -0.0269, -0.0171, -0.1983, -1.894, 7.5145, 1.9756, 0.0269, -0.1148, 0.1001]",
      "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, 0.833, 0.6109, -0.3805, -0.0223, -0.038, 0.9996, 0.6319, 1.3766, 0.0341, 0.7635, 0.4976, 0.2596, 0.9962]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1723 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.0061 left_gripper=0.9996 right_x=0.2669 right_y=0.0953 right_z=0.0229 right_yaw=0.0766 right_pitch=0.0576 right_roll=-0.0295 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.4154, 7.2684, 1.7265, -0.0122, -0.0464, -0.0171, 0.1299, -3.1932, 3.9453, 1.873, 0.3639, 0.0855, -0.0024]",
      "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]: [-0.0193, 0.8379, 0.6098, -0.3805, -0.0223, -0.038, 0.9996, 0.6674, 1.8244, 0.038, 1.3029, 0.5419, 0.2924, 0.9962]\nstate[eef_state]: left_x=0.2982 left_y=0.0018 left_z=0.1704 left_yaw=0.0045 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9996 right_x=0.2809 right_y=0.1099 right_z=0.0126 right_yaw=0.0529 right_pitch=0.1495 right_roll=0.0342 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.7436, 7.1316, 1.6728, -0.0562, -0.0464, -0.0122, 0.1709, -2.8923, 0.4855, 1.0134, 0.0317, -0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:add1b8a99a117c335f87d1256f9cbabf1b77f562957964c28f8913439c2a290e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b13680149bfd80d18d9a72c8abb2ab54cdd82c9eefc4a78a693f8950bd61fad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceaa417dada9400b11c3b3fcc6305959e7effea45d923e99be3996e182d44c26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQcKEAgSGAI4AUIIdGhpbmtpbmcSDEOE6T6W/MbbFep9+BoMdBaU+raeQJ+KhR4vIjAX3/LsNhA4mCo6w3utPWuKXWqesmVuJMMZZq/60nheuOqiZcp99p+e5ShutuoOR/gqwgZfMFGUC/wXzttDUgrgMyQbBf8DOAH9gRSg0n4zy5laf7dvu9tBUYf/xKVWkQnutLSt+sYP03CcCakfiL0RDi94CluECPcEXn2tNUGSG7H86pGoAvksHXa//ep0laUokqmtgw0zevQqnoBoJ7Ssz6+4fQghSsY5gOO87/N+/tEwLGeGraBlpTF3pTn9h83Uzc00IIu6rfGpUyK2v3TvdsH7kNCDP72LA8Th5ydRtsI9cDYhkD6m+nyWIkXed2gshewx2TiCWxTp7QPL9PPS5cvI+7H80n7Qzv5gXMHhARf3JluDFHSNqzB7eOjPrXfuidv769t4gJwga8HbAd08ZLl2j7S/FfpkzcV71FH0UdBuLilaoWVHRG/PIFX8cJ+ALqTDUEgyu+JM70oivLfIFYBxuho6TbAccOFJVoCJ+CjIE7mGYsT8WGdCoX7KVhFL7BQulw0ubj64TPaKFRG9XUyC5wbxhGTxNeOc5LFXKBKwUjhgwsd+vX++rwVRr4z7dbMAMX24OQIhMgo0bVagthAVHvveACTs9Zyl6d7JyWXfK3sxbRU12eqzExy5J/gfSQ1Axr1Oaj7xbDRDI49eaoN+PQe3jric3J0FahHT0+HQorCJ608Dfc5BaCwH6kvH2xbiGHK3ar1j+7JF+d0maGLcMgDMfMOH6fIqzdYtCirGXO4g1sPsnQlWvX7co9yN4Awq22ZNtY7xCDV0IpxUu7TOaSZyANBH7NC2OJW4qEByHDli1l2G2WqZYgJe8kVHKkTv5U13iBlZi7rl50hDzZ4DVSVgS0cLxUWTMj/H2JiMMD9w73Ano2nQ0hvVj/V0LxhJHCh4jm98jmNvZb6fOLXqVRYbu83ZTiKbyBn0YxH/mOKITBjkwqOuM5wPIuHwlaU6kLxCjUEjStkr8Y8+SkwEOBERK+uN5ULmY7WFm9QzdpHFCLS30HXHFB7WjcxTWBKJaz8c4bnXeKAHLbssBHnB7QJxE0hVuqhn0s917M5xP+aQ0+ZNuVeUvxPc9+Jp3uLPCOUoTPF8+2VHVjNYuUyX/SG8CUWEf/1reQyJDaUbF6nn9PekqzluFSJ5XqFdTPjR+dwpPgl/rvmVrFTzRy8r8JcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011gM4WbFwEx9gRm31WRMSra",
      "input": {
        "note": "White marker is centred between the jaws at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011gM4WbFwEx9gRm31WRMSra",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.841, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6674, 1.8244, 0.0326, 1.3144, 0.5392, 0.2852, 0.1485]\nstate[eef_state]: left_x=0.2983 left_y=0.0017 left_z=0.1694 left_yaw=0.0042 left_pitch=-0.0511 left_roll=-0.0061 left_gripper=0.9996 right_x=0.2802 right_y=0.1099 right_z=0.0137 right_yaw=0.0584 right_pitch=0.1539 right_roll=0.0321 right_gripper=0.1485\nstate[joint_eff]: [-0.1709, -1.7573, 7.2821, 1.6728, -0.0171, -0.0708, -0.0171, 0.212, -2.988, 0.9368, 0.862, 0.0366, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:267b266be21874c075b55b9370d8b2a3ec004e5089c8e454178e3c32791bf766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:799b6a884851a0c7a8e2328fd3481ab79fd15c257bf726830c5358c7fb93d187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f341ea77a5a9c06bafb25be612d0b776699bb020c981e460859ee130530005d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.4 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, 0.833, 0.6109, -0.3805, -0.0223, -0.038, 0.9996, 0.6319, 1.3766, 0.0341, 0.7635, 0.4976, 0.2596, 0.9962]\nstate[eef_state]: left_x=0.2981 left_y=0.0019 left_z=0.1723 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.0061 left_gripper=0.9996 right_x=0.2669 right_y=0.0953 right_z=0.0229 right_yaw=0.0766 right_pitch=0.0576 right_roll=-0.0295 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.4154, 7.2684, 1.7265, -0.0122, -0.0464, -0.0171, 0.1299, -3.1932, 3.9453, 1.873, 0.3639, 0.0855, -0.0024]",
      "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]: [-0.0193, 0.8379, 0.6098, -0.3805, -0.0223, -0.038, 0.9996, 0.6674, 1.8244, 0.038, 1.3029, 0.5419, 0.2924, 0.9962]\nstate[eef_state]: left_x=0.2982 left_y=0.0018 left_z=0.1704 left_yaw=0.0045 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9996 right_x=0.2809 right_y=0.1099 right_z=0.0126 right_yaw=0.0529 right_pitch=0.1495 right_roll=0.0342 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.7436, 7.1316, 1.6728, -0.0562, -0.0464, -0.0122, 0.1709, -2.8923, 0.4855, 1.0134, 0.0317, -0.105, -0.0073]",
      "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]: [-0.0193, 0.841, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6674, 1.8244, 0.0326, 1.3144, 0.5392, 0.2852, 0.1485]\nstate[eef_state]: left_x=0.2983 left_y=0.0017 left_z=0.1694 left_yaw=0.0042 left_pitch=-0.0511 left_roll=-0.0061 left_gripper=0.9996 right_x=0.2802 right_y=0.1099 right_z=0.0137 right_yaw=0.0584 right_pitch=0.1539 right_roll=0.0321 right_gripper=0.1485\nstate[joint_eff]: [-0.1709, -1.7573, 7.2821, 1.6728, -0.0171, -0.0708, -0.0171, 0.212, -2.988, 0.9368, 0.862, 0.0366, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:267b266be21874c075b55b9370d8b2a3ec004e5089c8e454178e3c32791bf766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:799b6a884851a0c7a8e2328fd3481ab79fd15c257bf726830c5358c7fb93d187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f341ea77a5a9c06bafb25be612d0b776699bb020c981e460859ee130530005d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAsKEAgSGAI4AUIIdGhpbmtpbmcSDENlxBrGk4q8WvfskBoMXOKzIm5BCZcunTb8IjAEov7B9A94/W/iVQTRRIvwp2TAOYSumoD4f4q3Vx2FFicc5gQ46bJDas4rEGFCWKoqsQrCfAHgrCB1UAtSVxaXXdJzSVMn88zqD4GkusmXH8fxrI+xBnkMkXGNOLcRh1s1KRh1mK2UUe2U+xgSEGcVi49IqItbBU/2DbHr95nO0FnurH18rVc4PJno8rv/OYgoOGkB4h3tG6vCEtMs6SnMdxPEU/ILFb3bs5CRQamjQIGLjWJfY+oDKjPdJmBIPwUpbrdufz9WgsV2fOMtfQ8iFR6+WvZv0laKiaWG1wBWLuDczYf6qBs8QCAC3cXlhHuxg/6hSeaHOusGwZ0kmXzp1pIzsdnY72M+PNsRh4nDqpjvvZRSiGL1jZO2TKqSTU9C5wU63DiQu8IE++Dd+99BcwCjn6oOQqafXkCvS60NQzyO1ZTyYBzuvvrCBjIiA1PUWnVFlWBfvgNtOl0sufbojnHgpz+xihYVaXA4j9slJiaZJ8B4WEys02oeZzRU61IOPxmIAhN4BxhXzinrfcQDnSIXJTTX50rlSgVQ6xzJrqayr8UiuvOAWBt7vMPLoYlfr/C8FvpD+9Gc9b32Lzr31ntyJNCkDM3YvlB4GYqGaqC0KImsfNFBhn7omUMtad+NHttsIfNqijhu0xJQPcS4DNES3kmoxL+lM7za6MN7ybR3IlvnAaTKeN2p7GsHnsQtXTANkIzRpriwz7mqRYSVmo7vkcecN2rvjtzPmmRhds20Iso3uPo2wt9qwTh8/YkkIG7/M5Ra9+bASw0bogeDNo7IbZMDeEdHXjiz9ljO1BWzDwdYa4xJYM/d5WRfgnZ3CO7umiYjFfpA25YmKF1E5cbXYaqQ+FEH/KRFjiPfqF3KUyLzHLp9wk9djYSqgPLys29PlL0NVW/liKca2/cVqvZcTKjivjKk+mb67Nz5JBcx/FhQkD6XT8WUKRK0+EfixFJu0HWsb7y3CSqQvkJuP2THRBGcj27QFv/rdHy79koo+0QydgQEdBey16udJhMS1smF/oaUuZ2f+I2julAGkgsgNvEIPTGWyGg+a0UcTOnuAYyQz9RbyP/+FUIpPZWsa+wplerkPCfIcUVsiNdFCifWMEDqf750oROtgvI4v7MgU6VwsrB/vTFW2WAlPTUlqsbkyS1Iny7MDl96tTa+FdlbDTf3+RL5p2xqIB9FZtkwvv97WSICCjeLBD8Q1GPl4QbnjgUPDY1Zj6uVFKdC0bPe5zkj+NmjOqMbvSHOLVwySMX06WrsW7MncW+u92LcxeR21c7qLZajW3fV+I0gLGQAzH+23fX5cwID54tVfrQGWtOLOXDolkgf4om6+MZODeS/DPZ/zYqTuNavKPcybQNgxXTJqO90ZobBy9ZczJapBlsrT8xt550jWhQIoDzgf4cPBXkl4r09bO2yDBRu39926DPMueUxP/g5XQuvkDyGdWPJScXfcIdtIVxLCyKhVX4KOp5MOARUUL6eVJbqnaK1YFWup/b+e2IFI1m1lwlIL7LnIFD7PVvtE+1B/7lLn/2CftIEZag8hfHTB2hiUb6JnAgYBp03rwfM2DIj+LeV2RbLGKr+Mo+fnkWqNlAVb/uz/Aw2Spcqj5GMC2/FR962hu+v7DRbC78M6kqTQXRsKOjUfcuV7ZYNzv2afoXmgl87yWKJo0oO/QE5P1hwGY8vAoaHrF+IF9B1iJz8AUC+AAkVPmYOC8gL8hWfGBZDhHgBTW/QDmVaZVvh1NicDJmQDBfP36QK9E8gzqcKfXpT9rCHxa22XfOadqxbhO6cWsHPxgxFm70fXHlMV7QnbYv8hJNz/YPp9/srOCxiPEWT6jkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WnPHNv6ffanB6h2oyFUdZq",
      "input": {
        "note": "Gripper settled at 0.15 on the white marker; lifting to confirm it comes up.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WnPHNv6ffanB6h2oyFUdZq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8444, 0.6094, -0.3801, -0.0219, -0.0383, 0.9996, 0.6674, 0.9985, 0.1829, 0.3405, 0.5304, 0.2848, 0.1537]\nstate[eef_state]: left_x=0.2986 left_y=0.0017 left_z=0.1685 left_yaw=0.0044 left_pitch=-0.0541 left_roll=-0.0064 left_gripper=0.9996 right_x=0.2782 right_y=0.11 right_z=0.0951 right_yaw=0.0657 right_pitch=0.1535 right_roll=0.0364 right_gripper=0.1537\nstate[joint_eff]: [-0.1162, -1.812, 7.2137, 1.7265, -0.0171, -0.0757, -0.0122, -0.1983, -2.3453, 8.4171, 1.5458, 0.1929, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:decd24cacd35b9445d9ef5c89205fdbc51d96355acc8ca531640c9cb079b47ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33e4745723fb71f61e38993c8bd734cfaf92385ef6674d8133a54aca086cf599",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb4f49eb1ffd359624966e30a4965b7727b5cb346f9bdf8df862da1fbc6c7640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.206 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]: [-0.0193, 0.8379, 0.6098, -0.3805, -0.0223, -0.038, 0.9996, 0.6674, 1.8244, 0.038, 1.3029, 0.5419, 0.2924, 0.9962]\nstate[eef_state]: left_x=0.2982 left_y=0.0018 left_z=0.1704 left_yaw=0.0045 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9996 right_x=0.2809 right_y=0.1099 right_z=0.0126 right_yaw=0.0529 right_pitch=0.1495 right_roll=0.0342 right_gripper=0.9962\nstate[joint_eff]: [-0.1026, -1.7436, 7.1316, 1.6728, -0.0562, -0.0464, -0.0122, 0.1709, -2.8923, 0.4855, 1.0134, 0.0317, -0.105, -0.0073]",
      "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]: [-0.0193, 0.841, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6674, 1.8244, 0.0326, 1.3144, 0.5392, 0.2852, 0.1485]\nstate[eef_state]: left_x=0.2983 left_y=0.0017 left_z=0.1694 left_yaw=0.0042 left_pitch=-0.0511 left_roll=-0.0061 left_gripper=0.9996 right_x=0.2802 right_y=0.1099 right_z=0.0137 right_yaw=0.0584 right_pitch=0.1539 right_roll=0.0321 right_gripper=0.1485\nstate[joint_eff]: [-0.1709, -1.7573, 7.2821, 1.6728, -0.0171, -0.0708, -0.0171, 0.212, -2.988, 0.9368, 0.862, 0.0366, -0.0611, 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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8444, 0.6094, -0.3801, -0.0219, -0.0383, 0.9996, 0.6674, 0.9985, 0.1829, 0.3405, 0.5304, 0.2848, 0.1537]\nstate[eef_state]: left_x=0.2986 left_y=0.0017 left_z=0.1685 left_yaw=0.0044 left_pitch=-0.0541 left_roll=-0.0064 left_gripper=0.9996 right_x=0.2782 right_y=0.11 right_z=0.0951 right_yaw=0.0657 right_pitch=0.1535 right_roll=0.0364 right_gripper=0.1537\nstate[joint_eff]: [-0.1162, -1.812, 7.2137, 1.7265, -0.0171, -0.0757, -0.0122, -0.1983, -2.3453, 8.4171, 1.5458, 0.1929, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:decd24cacd35b9445d9ef5c89205fdbc51d96355acc8ca531640c9cb079b47ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33e4745723fb71f61e38993c8bd734cfaf92385ef6674d8133a54aca086cf599",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb4f49eb1ffd359624966e30a4965b7727b5cb346f9bdf8df862da1fbc6c7640",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AkKEAgSGAI4AUIIdGhpbmtpbmcSDFxBPBdkDChaxkAmwxoM2IYAnYyoQprKdo+SIjCgDBJ+BPmvN7SFdyA+NFaKyzFTQjZ1d/weDZTHmFkwOaq0BhVMqAa99POXtC/qr50q8Qg8BKXbExFBKXMqx6VYc5RjxWGdXYohJrydIU1oQ9dJC33PPbXIMv0vMvFFigYBguzGQ1/4u0oLsfVZH/rEz86KwKOlFldfsslj7LqMaOozgyKbqT0XH1AQWdSzeMtflXODETEULP6u5R2dy8ubaGdj0iwHJP5KrUTdvk88VJZxP8AJshgGfGLSZE3xMmXgH5Aayvc3bsdNOr7NnbhTFJtXr83lEhrU87IFI0G247zUFnVa1QJ62wd4WHCPs5+iMnOlnpJcNA5scd4nGh+YNv7ZD8+g44Jd8sq3VhJWMALMsfYRVkMD/yZM3/GBYPvdmXiST4Cimg6JJdV70vpCVPyqD8u00gH9XXqZbbpsMf7p75q+osbHlqSc7OZ/NVOqy1jaT9SlmVTjw6QEyPvF+dj6OdUiYbEql0dUKEAWrxIPbINxtujG8tCTqRQrwuscxrqerU+xBJZ4sReQHGCPOO0OiqgBRCicoA3grFs0uXKP7Ttvetuxcr+q3Wo+grP73pcdIL4t34u3eTRoqozAv8y/wvxOmRJAf88jY0nigozwuAZRsw71n9hp+Fq1ajJnpmug73/9nQotzMGo4xH31yJQzjzW3bHNmBJRXIKwfM10nc8VEYMZrcR7e9wWCr9JkmQi6kVXosOU6f3NE7Kw8QVrTwuIKHM9BX0Fob0eHAjT9cX5lh79xzq3UCU1imkc8eHQLCGHQR4Ao2ufjJciw7/ZK2v+0XjjUySEn9Vhmq3l6nfnCfrm+arf/71bkEn1lKYeSOrnh+dNKWYFQQzEWckMrYLqNfQAnONS6FdZYbw+8n9db/2CYU8botpzJaUcSGPljtbb2BXBx4xfzh04HPJSg8DB5deSptGpXp2ONJY9QLey3WONwKnQSEggEAEWHWcMJ/oIhGenRzxEVLyogBg0/zn0ljWyITt5LzsO8G5S6y60iQepnW8AMbQDuOdpwV7tU+MCTqtkr6qiojEk9bNPtBjwO5NHgmz97zklbv3Gfg/tDR+wtk7QCjTmCnT0mLzN89Jh5YHeNkjVT/9JRMjOU5svyvKKCONL+teX3K4nDKykehpRQjC4nMvQQZH2CGWwqTJuYND0JYIkpEJKT7SNuGXUtzrVE+f58UPeT3VS4YK6cioz6/z5yQZs8D4BhYkv7zoZmfQv5sQvvXX+GWA5aQcPmDDhH+Q0ILgJ+zFu7yxPdClbsvmoO7I9uXtsc323o4F0sQ7DJj5YHRuT/bzXZKLkB/fzfeneAtgu7hH1iofUvExmPyfcZRKNOknd3552qNOyDBKJyLB73eYHJuOp7n3NJtMipAf/WNbydtxP6qT52jk53RXEceVaxq8nywkwx9ahbaVn6htFiuKmko1plO8ToaCF0v9+rTh+JbQiOtE/ew9xLrzyapP3FX11Ty8mCthm4GXA1fUvyPHbYZxwgrrHbmWk+AY+6ExTxnLcl3TJI9EEom99d/mWhM16WNoDbI2XwbPYFaSmTLStx6S1rtB9yRyFCHFwLsF2+BjyCY4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HXTPY3vLdf9rmRB1CFnx9j",
      "input": {
        "note": "The white marker rose with the jaws (still in the same place in the wrist view), so it's held. Carrying it above the right basket, which is for pens.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.16,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01HXTPY3vLdf9rmRB1CFnx9j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8494, 0.6094, -0.3801, -0.0219, -0.038, 0.9996, 0.5083, 1.4498, 0.9565, 0.0113, 0.3798, 0.2016, 0.1567]\nstate[eef_state]: left_x=0.2989 left_y=0.0017 left_z=0.1671 left_yaw=0.0042 left_pitch=-0.0591 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4145 right_y=0.1601 right_z=0.2026 right_yaw=0.0773 right_pitch=0.1143 right_roll=0.0174 right_gripper=0.1567\nstate[joint_eff]: [-0.1026, -1.8256, 7.0222, 1.6972, -0.0171, -0.0611, -0.0171, -0.4171, -6.7624, 9.4974, 1.8632, 0.1099, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33e7d1b96eeea22479ed644ae5d22770b4d57bb4ebe9df58ff40d796d8589deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dcdf5dc6cf8690b21e86bc234720375aebb4691bddc776ebc783bd5cb46859b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:191c5358789be63f9e0383a1e1d76b3bfd13b0a3a4a7a3b82ca490f178993c47",
        "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 · 2.847 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]: [-0.0193, 0.841, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.6674, 1.8244, 0.0326, 1.3144, 0.5392, 0.2852, 0.1485]\nstate[eef_state]: left_x=0.2983 left_y=0.0017 left_z=0.1694 left_yaw=0.0042 left_pitch=-0.0511 left_roll=-0.0061 left_gripper=0.9996 right_x=0.2802 right_y=0.1099 right_z=0.0137 right_yaw=0.0584 right_pitch=0.1539 right_roll=0.0321 right_gripper=0.1485\nstate[joint_eff]: [-0.1709, -1.7573, 7.2821, 1.6728, -0.0171, -0.0708, -0.0171, 0.212, -2.988, 0.9368, 0.862, 0.0366, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8444, 0.6094, -0.3801, -0.0219, -0.0383, 0.9996, 0.6674, 0.9985, 0.1829, 0.3405, 0.5304, 0.2848, 0.1537]\nstate[eef_state]: left_x=0.2986 left_y=0.0017 left_z=0.1685 left_yaw=0.0044 left_pitch=-0.0541 left_roll=-0.0064 left_gripper=0.9996 right_x=0.2782 right_y=0.11 right_z=0.0951 right_yaw=0.0657 right_pitch=0.1535 right_roll=0.0364 right_gripper=0.1537\nstate[joint_eff]: [-0.1162, -1.812, 7.2137, 1.7265, -0.0171, -0.0757, -0.0122, -0.1983, -2.3453, 8.4171, 1.5458, 0.1929, -0.0513, 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]: [-0.0193, 0.8494, 0.6094, -0.3801, -0.0219, -0.038, 0.9996, 0.5083, 1.4498, 0.9565, 0.0113, 0.3798, 0.2016, 0.1567]\nstate[eef_state]: left_x=0.2989 left_y=0.0017 left_z=0.1671 left_yaw=0.0042 left_pitch=-0.0591 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4145 right_y=0.1601 right_z=0.2026 right_yaw=0.0773 right_pitch=0.1143 right_roll=0.0174 right_gripper=0.1567\nstate[joint_eff]: [-0.1026, -1.8256, 7.0222, 1.6972, -0.0171, -0.0611, -0.0171, -0.4171, -6.7624, 9.4974, 1.8632, 0.1099, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33e7d1b96eeea22479ed644ae5d22770b4d57bb4ebe9df58ff40d796d8589deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dcdf5dc6cf8690b21e86bc234720375aebb4691bddc776ebc783bd5cb46859b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:191c5358789be63f9e0383a1e1d76b3bfd13b0a3a4a7a3b82ca490f178993c47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/wcKEAgSGAI4AUIIdGhpbmtpbmcSDGBPDfxbVdt0qpmOkhoMe6qCPHUhOVh9XVWyIjBmy0vlX9sDwYgXVNMndbrV35dXXN2aLBPK14Z5iyAVClMARdawOt5OcIAkkry720cqnAeaiVWJfob1yaelnMSAmgDAM9jD+gWg/OBZzBzMOAJqQTT41IDkjjsmOvbUcvwPLYxpU98QvcgOk8wY3a7EMbjidt7K4sQm3NGyHVBrdAoBfAseae2x1lvfWGEkuXn7JkiVvXa45vepw7MzkISAZZWzMPwy5XTsyJIZ/tIoB243JnZiC3o6PnTwuBDDe3wube2nbrtXzqpHHNjdEUenkTmQk41odbOYeYOd+71VxX3BGes9UoJpCa/QURPi/PzkBfZ6E8ekicqDKo3Rj83B9si+/Rx1CfPXbNWsh6PDn7pw2ABWE/Qv6SLCN0mCfl7jqdb+865d5zzczoFWvNmPPONMmPN/dkeZziLwTUn8hZzn04uRi2ELwPzRD9IqbceOkEqdGQh+cGqMpx+/5U9yjwgm5QJoHRDQlGitLQxSF7bM12r0QVGBJksP7TVWrOG9qvbM2Mx7aWCP8QOhYuqybrMJ+wWPQEvOKy8MNDCWX5eOCNmopUKNXuksgYbbfodrQX4btWN7lp0eSlDuuvbnCv7nrxszWn9SkfQgxmneYz2w6p5dQCndR4ogVfOVbxMexj/KiJZFamzgaB9pZwQt82TnlpnJOUkRf8lPRRfgtYFDxTtOBc9UOZ+gTZMpfKtvgJLhGCtXecPpPNIggz+RHMazqwZ6TSosMaaimSJfry6UizXhhHa1nHRk+XMrnQPRuq31jPmSWVEjmyKAzKUEbPMc62Oajs/6XR/SS7vYx4QMVzkjigkE2lHAqq1hAYH+CBosouI9G0plJpJD7Ahb/Vvb+8U67w69Vhmi6OXsMGW2ADY+TyjDm8EA2IqlMs0bn/5AqtTSkPurqoiWQ5FjPvj5fPhhNSW7iXiwPFUiqYQ7Oa4DapLGYgMOpCEVijsjGUs+0a4JypMbSi5KuaGET9qEMkIXnzlgONEPtV5Qb52x0uBi9DaQ59p8brI0jCui2RwnY/I56Ryoi5qlcUk1e7JxwwDUK/dXRZ+A16KWxZ5j7H0b7zPZHZu1ndZYjcfYydyPQj7abriMYXr1kyK7B8L92uCTkCI2ha6mE3juGlW9ij+cSI+68wkRp1s08cyMf6z7WE13x401pWj//jUsvcdm/pw1gvHMpFZb1AG7duQrvwTvGOuu99uVk93IWSV5UTsMJPqXDUiZBG6Z1YEUX6Tq+eYFybgqhIlb/fZnYvVPosU0Qno9GhN8RvbWTTN0lur6mIt3BUTUZmykKJAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HsaoGctWKQ7wfSBBgYXi2",
      "input": {
        "note": "Top view shows the gripper over the right basket's right edge; shifting left toward the basket centre before releasing.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016HsaoGctWKQ7wfSBBgYXi2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8509, 0.6094, -0.3809, -0.0219, -0.038, 0.9996, 0.5926, 1.6272, 1.0969, -0.017, 0.4255, 0.2253, 0.1567]\nstate[eef_state]: left_x=0.2988 left_y=0.0017 left_z=0.1665 left_yaw=0.0042 left_pitch=-0.0614 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4319 right_y=0.2072 right_z=0.1834 right_yaw=0.1136 right_pitch=0.0656 right_roll=-0.0105 right_gripper=0.1567\nstate[joint_eff]: [-0.1846, -1.6752, 7.0632, 1.6532, -0.0513, -0.0806, -0.0171, 0.294, -8.294, 9.4427, 1.7705, 0.315, 0.105, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df8ec30f0467cf5c032dce1327f172903269584d5b811468f40c5202fa4e2b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:111078032ff18023f4a339d6d5a4d5e75a6f27d454727580c62822dd9de22d0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa467b3b06b3f38ec5f0d5307ae30182b5431e52912d76702eb6f4f930077aa0",
        "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 · 7.133 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8444, 0.6094, -0.3801, -0.0219, -0.0383, 0.9996, 0.6674, 0.9985, 0.1829, 0.3405, 0.5304, 0.2848, 0.1537]\nstate[eef_state]: left_x=0.2986 left_y=0.0017 left_z=0.1685 left_yaw=0.0044 left_pitch=-0.0541 left_roll=-0.0064 left_gripper=0.9996 right_x=0.2782 right_y=0.11 right_z=0.0951 right_yaw=0.0657 right_pitch=0.1535 right_roll=0.0364 right_gripper=0.1537\nstate[joint_eff]: [-0.1162, -1.812, 7.2137, 1.7265, -0.0171, -0.0757, -0.0122, -0.1983, -2.3453, 8.4171, 1.5458, 0.1929, -0.0513, 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]: [-0.0193, 0.8494, 0.6094, -0.3801, -0.0219, -0.038, 0.9996, 0.5083, 1.4498, 0.9565, 0.0113, 0.3798, 0.2016, 0.1567]\nstate[eef_state]: left_x=0.2989 left_y=0.0017 left_z=0.1671 left_yaw=0.0042 left_pitch=-0.0591 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4145 right_y=0.1601 right_z=0.2026 right_yaw=0.0773 right_pitch=0.1143 right_roll=0.0174 right_gripper=0.1567\nstate[joint_eff]: [-0.1026, -1.8256, 7.0222, 1.6972, -0.0171, -0.0611, -0.0171, -0.4171, -6.7624, 9.4974, 1.8632, 0.1099, -0.022, 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]: [-0.0193, 0.8509, 0.6094, -0.3809, -0.0219, -0.038, 0.9996, 0.5926, 1.6272, 1.0969, -0.017, 0.4255, 0.2253, 0.1567]\nstate[eef_state]: left_x=0.2988 left_y=0.0017 left_z=0.1665 left_yaw=0.0042 left_pitch=-0.0614 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4319 right_y=0.2072 right_z=0.1834 right_yaw=0.1136 right_pitch=0.0656 right_roll=-0.0105 right_gripper=0.1567\nstate[joint_eff]: [-0.1846, -1.6752, 7.0632, 1.6532, -0.0513, -0.0806, -0.0171, 0.294, -8.294, 9.4427, 1.7705, 0.315, 0.105, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df8ec30f0467cf5c032dce1327f172903269584d5b811468f40c5202fa4e2b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:111078032ff18023f4a339d6d5a4d5e75a6f27d454727580c62822dd9de22d0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa467b3b06b3f38ec5f0d5307ae30182b5431e52912d76702eb6f4f930077aa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Enm9PfdLx1rBhTXe63TcmU",
      "input": {
        "note": "Gripper is over the middle of the right basket; releasing the white marker.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Enm9PfdLx1rBhTXe63TcmU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8509, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.5953, 1.6402, 1.1004, -0.0181, 0.416, 0.2211, 0.9953]\nstate[eef_state]: left_x=0.2989 left_y=0.0017 left_z=0.1666 left_yaw=0.0042 left_pitch=-0.061 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4321 right_y=0.2108 right_z=0.1784 right_yaw=0.1266 right_pitch=0.0538 right_roll=-0.0146 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.6068, 7.1179, 1.7118, -0.0171, -0.0366, -0.0171, -0.294, -9.2103, 6.5983, 1.707, 0.1294, -0.0317, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e3ba0ab9645dfa1115a3ebcef37626259f793a3286f0cf0ed1ac1e8a9da3a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90fa15e1fe22e6132dfc377582e4e4b56e3a019c7f23bf3d0aa0863185318ded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8fe6caa50aafe9ae7641ff705a5e5a7e41e086b746b4df856b212e61c0a72b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 5.065 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8494, 0.6094, -0.3801, -0.0219, -0.038, 0.9996, 0.5083, 1.4498, 0.9565, 0.0113, 0.3798, 0.2016, 0.1567]\nstate[eef_state]: left_x=0.2989 left_y=0.0017 left_z=0.1671 left_yaw=0.0042 left_pitch=-0.0591 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4145 right_y=0.1601 right_z=0.2026 right_yaw=0.0773 right_pitch=0.1143 right_roll=0.0174 right_gripper=0.1567\nstate[joint_eff]: [-0.1026, -1.8256, 7.0222, 1.6972, -0.0171, -0.0611, -0.0171, -0.4171, -6.7624, 9.4974, 1.8632, 0.1099, -0.022, 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]: [-0.0193, 0.8509, 0.6094, -0.3809, -0.0219, -0.038, 0.9996, 0.5926, 1.6272, 1.0969, -0.017, 0.4255, 0.2253, 0.1567]\nstate[eef_state]: left_x=0.2988 left_y=0.0017 left_z=0.1665 left_yaw=0.0042 left_pitch=-0.0614 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4319 right_y=0.2072 right_z=0.1834 right_yaw=0.1136 right_pitch=0.0656 right_roll=-0.0105 right_gripper=0.1567\nstate[joint_eff]: [-0.1846, -1.6752, 7.0632, 1.6532, -0.0513, -0.0806, -0.0171, 0.294, -8.294, 9.4427, 1.7705, 0.315, 0.105, 1.033]",
      "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]: [-0.0193, 0.8509, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.5953, 1.6402, 1.1004, -0.0181, 0.416, 0.2211, 0.9953]\nstate[eef_state]: left_x=0.2989 left_y=0.0017 left_z=0.1666 left_yaw=0.0042 left_pitch=-0.061 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4321 right_y=0.2108 right_z=0.1784 right_yaw=0.1266 right_pitch=0.0538 right_roll=-0.0146 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.6068, 7.1179, 1.7118, -0.0171, -0.0366, -0.0171, -0.294, -9.2103, 6.5983, 1.707, 0.1294, -0.0317, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e3ba0ab9645dfa1115a3ebcef37626259f793a3286f0cf0ed1ac1e8a9da3a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90fa15e1fe22e6132dfc377582e4e4b56e3a019c7f23bf3d0aa0863185318ded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8fe6caa50aafe9ae7641ff705a5e5a7e41e086b746b4df856b212e61c0a72b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Yaj935jpyi9UivcK6NKrJC",
      "input": {
        "note": "White marker is in the right basket. Next pen: a thin blue pen lies right of the bears; moving the right arm above it to align in the wrist cam.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.17,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Yaj935jpyi9UivcK6NKrJC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8566, 0.6094, -0.3798, -0.0223, -0.0383, 0.9996, 0.8059, 1.4334, 0.3702, 0.5728, 0.5804, 0.3603, 0.9961]\nstate[eef_state]: left_x=0.2993 left_y=0.0018 left_z=0.1651 left_yaw=0.0047 left_pitch=-0.0659 left_roll=-0.0058 left_gripper=0.9996 right_x=0.3081 right_y=0.1862 right_z=0.0862 right_yaw=0.1237 right_pitch=0.153 right_roll=0.0785 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.5932, 7.0222, 1.7314, -0.0171, -0.0708, -0.0171, 0.294, -2.3726, 4.1094, 1.0134, 0.2857, -0.0757, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73afb792d460ad344c3218fbb7877d9363e5b37d26c99c24a937850034381cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbc54391fda2f9ff85aa3bd50e6ece741aa6e1995533534a0876be2a2d98affc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6221df0632b2701442b55ec37e6b85340068c07f136cb683d72b70676844a894",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 7.015 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]: [-0.0193, 0.8509, 0.6094, -0.3809, -0.0219, -0.038, 0.9996, 0.5926, 1.6272, 1.0969, -0.017, 0.4255, 0.2253, 0.1567]\nstate[eef_state]: left_x=0.2988 left_y=0.0017 left_z=0.1665 left_yaw=0.0042 left_pitch=-0.0614 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4319 right_y=0.2072 right_z=0.1834 right_yaw=0.1136 right_pitch=0.0656 right_roll=-0.0105 right_gripper=0.1567\nstate[joint_eff]: [-0.1846, -1.6752, 7.0632, 1.6532, -0.0513, -0.0806, -0.0171, 0.294, -8.294, 9.4427, 1.7705, 0.315, 0.105, 1.033]",
      "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]: [-0.0193, 0.8509, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.5953, 1.6402, 1.1004, -0.0181, 0.416, 0.2211, 0.9953]\nstate[eef_state]: left_x=0.2989 left_y=0.0017 left_z=0.1666 left_yaw=0.0042 left_pitch=-0.061 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4321 right_y=0.2108 right_z=0.1784 right_yaw=0.1266 right_pitch=0.0538 right_roll=-0.0146 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.6068, 7.1179, 1.7118, -0.0171, -0.0366, -0.0171, -0.294, -9.2103, 6.5983, 1.707, 0.1294, -0.0317, -0.1978]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8566, 0.6094, -0.3798, -0.0223, -0.0383, 0.9996, 0.8059, 1.4334, 0.3702, 0.5728, 0.5804, 0.3603, 0.9961]\nstate[eef_state]: left_x=0.2993 left_y=0.0018 left_z=0.1651 left_yaw=0.0047 left_pitch=-0.0659 left_roll=-0.0058 left_gripper=0.9996 right_x=0.3081 right_y=0.1862 right_z=0.0862 right_yaw=0.1237 right_pitch=0.153 right_roll=0.0785 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.5932, 7.0222, 1.7314, -0.0171, -0.0708, -0.0171, 0.294, -2.3726, 4.1094, 1.0134, 0.2857, -0.0757, 0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73afb792d460ad344c3218fbb7877d9363e5b37d26c99c24a937850034381cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbc54391fda2f9ff85aa3bd50e6ece741aa6e1995533534a0876be2a2d98affc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6221df0632b2701442b55ec37e6b85340068c07f136cb683d72b70676844a894",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS5gkKEAgSGAI4AUIIdGhpbmtpbmcSDMJswJS0j/mgFeruuRoM7JGC3+86qwYMcttFIjB87URnNFC11DsX//DFTAWbtR2UZEX2Nrzj/EwLqCajMvlF9KA3fN9YFW6kzKIlgFsqgwnxGSBa8bd0IZNpElp2h1rtm1DT6X/v1ZU5tcdyQ8C2QW42+jANUtMZDsCY3HopCmZ+jx3HwJx7HHBym/tcLXh8QYewaRA7nr+WxcQHntPsAIUB2tQDuZRngfDQee94Qwxzlyfh0VIo7q+Ne4cmZLi6E+GaFXq2K2uRUKKy9eZIOfJ5O1hQMgbzcy6M15EdIhz0mEnd0t2s3GTrA16S9cf+HRGXA/bJfBkMym5u1kaZjR4Rl64h4hCvo2ULRwO9NiBM6usV1Af0QhiXXXYe5kX9NuO7pZ9M5AHtybZp1YYL5P3YydltgyjZBV3c7y1cYYFh0GutpkpBoS4WvvYtrpZbAT44jq0/f1uHTiYyxa4ZgkqumHhx7aD8J0Vhm+cc7v0PytTcWuERXhdeoSFouXvFqYtuC/vPnh3BLWDi4cpVM7Y2aI3od8gQWdBf3vSppex6Y+Sn7hU386avYeQkStHkStoYey/wv1CmdcUwqhqqDoeL4x6dRAy1sTFBw9hx3n5S5nbbeULzRWELDjY3dJqvRZD7gUo998uybimR4yHZvY99BK65/pyvrHYHEBMD6WQC5Px3sge+zdQlFGo8laFRHQzA5P2L1OgBL47bTkYWEVrHNLTaB27J2z6AudfFl5cexSsWjJOjYIXf15pRqJ5ahuhyb6KZNzUJse34UwjTWgGZ3pVJd2Zk5RIjDrjng21yOyLmqZ8m5ywTmr4DyEjGl3WdsOLpxeU8BvvGbPfIDxchbPAKV2o1/wO7NIt20hJB8Db2BwQr6u/GwruU6V7w+QGz23tA2GIMdFdRUnTjCeVMoOqHls8nir/91zfEEQ7Y/Ixd4y3DiD1ADj0SfnCHTf9P8QOvvcmIhKht8TsGBrq+PLo+YAoMSHkwChLMWuMe1iy1VhQPbhZtch4vMZIUDam20nTqEVuBULBBgQPcM3QMBr7acmk4/jNU589vrFiZ21q9DxiH4NAxB9CmlmQslFJ7YWxCWCz4o7IvBJOhKvtpuMz1Dhis9qW38pWyKgDkzH2htc8s9Z0h2tkOomcx3ne18EGS6nO2I4LptKOqjrDkKcLAsmKbuUBdcrzM3IhmYV7IcHJZpvbe70iyRBKKK0B7v3nNB4wxvD2bG3E1iLtlIwgWHtPlvG1ZUqAPGlC4dc50qxjGxuZxRUEeKFsbsgtTORPeMW2Djs9+BH/UlBj83npEIlLqmDrNEh6lfPaJUpCblTONYDa2qWEqsFrv7eZ0vtNVt5Ax30I4r5TqVDNIZDX9ADy0yWLK7+26Pzz80kdbYSXYcvkH6xNHRy5YzZ7Wnqmn0h5dGvV1YGR0ywQVnC3vesmrgD9yibmzag0zJV0XgfnlhlA/peFpuPfUsE2kaaeQQXzNsgXwWLqKnv+H8pUn1GSp5cUKZZEV5CUtX4BLwIRotmzA6GAJuAP68u5niEI0QwFKZ6PiGnzN45APurRPoLejrZRysiH+0hbZU5LoKkh0P3K9gBpJ7bSZyUc5p2Bbab4aD7ZPLiSIwbkq1O8OMoDDgNtlP/FH+eriFCsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MqJwtv8CQJVD2k5XC2aP5J",
      "input": {
        "note": "The right arm stalled on the front rim of the right basket (wrist cam looks into the basket); the blue pen is just toward the base from here, so backing up.",
        "targets": {
          "right_x": 0.23,
          "right_y": 0.18,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MqJwtv8CQJVD2k5XC2aP5J",
      "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, 0.8623, 0.6094, -0.3794, -0.0223, -0.038, 0.9996, 1.095, 1.1183, 0.292, 0.2546, 0.7811, 0.5262, 0.9962]\nstate[eef_state]: left_x=0.2997 left_y=0.0019 left_z=0.1636 left_yaw=0.0049 left_pitch=-0.0713 left_roll=-0.0054 left_gripper=0.9996 right_x=0.2353 right_y=0.193 right_z=0.1043 right_yaw=0.1711 right_pitch=0.1623 right_roll=0.1028 right_gripper=0.9962\nstate[joint_eff]: [0.0205, -1.7573, 7.0359, 1.7167, -0.0659, -0.0757, -0.0122, 0.2393, -2.8513, 5.7231, 1.4823, 0.4762, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dbbb945725f86799e07a89124b2833abe79e15939ac5a39fe6f01d4ec47d1d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bac6b3b1afb429f94da62856f2f083b5b955edd04dada7874861f928023e5af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b127cc6d66397de23773ae405940b2a6d6063cb71a6618a806a63e388c9ba38a",
        "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 · 8.199 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]: [-0.0193, 0.8509, 0.6094, -0.3805, -0.0219, -0.038, 0.9996, 0.5953, 1.6402, 1.1004, -0.0181, 0.416, 0.2211, 0.9953]\nstate[eef_state]: left_x=0.2989 left_y=0.0017 left_z=0.1666 left_yaw=0.0042 left_pitch=-0.061 left_roll=-0.0059 left_gripper=0.9996 right_x=0.4321 right_y=0.2108 right_z=0.1784 right_yaw=0.1266 right_pitch=0.0538 right_roll=-0.0146 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.6068, 7.1179, 1.7118, -0.0171, -0.0366, -0.0171, -0.294, -9.2103, 6.5983, 1.707, 0.1294, -0.0317, -0.1978]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8566, 0.6094, -0.3798, -0.0223, -0.0383, 0.9996, 0.8059, 1.4334, 0.3702, 0.5728, 0.5804, 0.3603, 0.9961]\nstate[eef_state]: left_x=0.2993 left_y=0.0018 left_z=0.1651 left_yaw=0.0047 left_pitch=-0.0659 left_roll=-0.0058 left_gripper=0.9996 right_x=0.3081 right_y=0.1862 right_z=0.0862 right_yaw=0.1237 right_pitch=0.153 right_roll=0.0785 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.5932, 7.0222, 1.7314, -0.0171, -0.0708, -0.0171, 0.294, -2.3726, 4.1094, 1.0134, 0.2857, -0.0757, 0.0659]",
      "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, 0.8623, 0.6094, -0.3794, -0.0223, -0.038, 0.9996, 1.095, 1.1183, 0.292, 0.2546, 0.7811, 0.5262, 0.9962]\nstate[eef_state]: left_x=0.2997 left_y=0.0019 left_z=0.1636 left_yaw=0.0049 left_pitch=-0.0713 left_roll=-0.0054 left_gripper=0.9996 right_x=0.2353 right_y=0.193 right_z=0.1043 right_yaw=0.1711 right_pitch=0.1623 right_roll=0.1028 right_gripper=0.9962\nstate[joint_eff]: [0.0205, -1.7573, 7.0359, 1.7167, -0.0659, -0.0757, -0.0122, 0.2393, -2.8513, 5.7231, 1.4823, 0.4762, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dbbb945725f86799e07a89124b2833abe79e15939ac5a39fe6f01d4ec47d1d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bac6b3b1afb429f94da62856f2f083b5b955edd04dada7874861f928023e5af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b127cc6d66397de23773ae405940b2a6d6063cb71a6618a806a63e388c9ba38a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SWThunb2qmFRStneQmVLh6",
      "input": {
        "note": "Right wrist cam shows the blue pen lying diagonally just ahead of the jaws; stepping slightly forward and descending to table level to grasp it.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.197,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01SWThunb2qmFRStneQmVLh6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8696, 0.6094, -0.3809, -0.0216, -0.038, 0.9996, 1.0451, 1.9835, 0.1802, 1.2911, 0.7803, 0.49, 0.9963]\nstate[eef_state]: left_x=0.2998 left_y=0.002 left_z=0.1613 left_yaw=0.005 left_pitch=-0.0801 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2542 right_y=0.1976 right_z=0.0059 right_yaw=0.1325 right_pitch=0.2002 right_roll=0.1169 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -2.2496, 7.0496, 1.6923, -0.0171, -0.0464, -0.0171, -0.6222, -4.2188, 0.335, 0.0073, -0.7839, 0.2173, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:308cddde5af3e34571f39f29653cb9658f083cfbba16becb9cb3ed20ea1a9a1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da6be19f9e72119e578070668498b96240005dec842f9ff192a3c6ec042288de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2a73e696c9b4d1f0cc01627ed1a1055094863597ea89b4a2e88a23dd8a21116",
        "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 · 5.79 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8566, 0.6094, -0.3798, -0.0223, -0.0383, 0.9996, 0.8059, 1.4334, 0.3702, 0.5728, 0.5804, 0.3603, 0.9961]\nstate[eef_state]: left_x=0.2993 left_y=0.0018 left_z=0.1651 left_yaw=0.0047 left_pitch=-0.0659 left_roll=-0.0058 left_gripper=0.9996 right_x=0.3081 right_y=0.1862 right_z=0.0862 right_yaw=0.1237 right_pitch=0.153 right_roll=0.0785 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -1.5932, 7.0222, 1.7314, -0.0171, -0.0708, -0.0171, 0.294, -2.3726, 4.1094, 1.0134, 0.2857, -0.0757, 0.0659]",
      "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, 0.8623, 0.6094, -0.3794, -0.0223, -0.038, 0.9996, 1.095, 1.1183, 0.292, 0.2546, 0.7811, 0.5262, 0.9962]\nstate[eef_state]: left_x=0.2997 left_y=0.0019 left_z=0.1636 left_yaw=0.0049 left_pitch=-0.0713 left_roll=-0.0054 left_gripper=0.9996 right_x=0.2353 right_y=0.193 right_z=0.1043 right_yaw=0.1711 right_pitch=0.1623 right_roll=0.1028 right_gripper=0.9962\nstate[joint_eff]: [0.0205, -1.7573, 7.0359, 1.7167, -0.0659, -0.0757, -0.0122, 0.2393, -2.8513, 5.7231, 1.4823, 0.4762, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0181, 0.8696, 0.6094, -0.3809, -0.0216, -0.038, 0.9996, 1.0451, 1.9835, 0.1802, 1.2911, 0.7803, 0.49, 0.9963]\nstate[eef_state]: left_x=0.2998 left_y=0.002 left_z=0.1613 left_yaw=0.005 left_pitch=-0.0801 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2542 right_y=0.1976 right_z=0.0059 right_yaw=0.1325 right_pitch=0.2002 right_roll=0.1169 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -2.2496, 7.0496, 1.6923, -0.0171, -0.0464, -0.0171, -0.6222, -4.2188, 0.335, 0.0073, -0.7839, 0.2173, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:308cddde5af3e34571f39f29653cb9658f083cfbba16becb9cb3ed20ea1a9a1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da6be19f9e72119e578070668498b96240005dec842f9ff192a3c6ec042288de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a73e696c9b4d1f0cc01627ed1a1055094863597ea89b4a2e88a23dd8a21116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShw8KEAgSGAI4AUIIdGhpbmtpbmcSDB5CMI8SfFBqO4DgfhoMfugWjaYCg1U+k6vhIjDuy3WCxjIbN0XDL1to9UtjD+Msi8YKE4UiCl3LGSE+4mZ8sslhwaKH4AWycJNucykqpA65cxiZNkv3nNCJWLdVLCV6cdg7HQN1dW3otUdY61XNS5nlabUgO+LxCH7qlV0Xl/L1xsG0O4bpogvRVSsvRFFsMMU60O5B1Pj79tbeoz1UnvxoCYgf1jGyxB8+hc5t/khBwbHqoU63uuXO9gbyBA8QziP7KDUhjIjwTkD6TBOeZvyGPwYK+Un7s9uZhHMeCy2BRtg0s9UHvWMA5J6c9rN0BdawJe8fcfeob1z5EifS9X79DofCfEaoX0vMt9KLixGduRjtHYDOywMfL63TVnkt5eJs9aks1ARUk9FpVbBi/8nT8REY9Pqh8dN+mmoto+kX74aD2L9qo+Aw9tJyl318dkV9DoUbj05D6C4/WzyxfWL3ujlGCegdTnlfjBIz7iE8mzMJZD4oToWRhlNLgqaOfJzevPIIl/wEaxtddjRbc4bC+8f6xukU9iA60qvhpfTqRVxs2e2zB/DnSjjlyZSUSFVsFU0FJJGA/0RniZAdTorxoQ8r1JwjD4HWbNAAgzj7VjnvemOobuNuOom4V+54o/Yfv/DmlZCm6zMqlIhBsHcKfVxK/U0w4g+bORqG/j0T/vH01NuKRcqgNyKTfA5VitX/TX3X9gId6WGT9NgWfk+rY5PKOgUgSEjybA689mGWUY8dmRuI3YNoZbm8SnJvgJkxeLSQwnTVJCk1sqQqq807d2Be3FcOpd0eifnKPKGkO3xp5jCdhjYP0zJ9P0JeIodgRwCIWTfuWuNdLwxWoGA04jEOaHI72pKiVkWivw2niakn6Asp0qDAgCXLthDfhQSZh+7UBRYNroVBJpuCAEYLzN9E+8Y5UiaN7wp5OCS31TJJgWT6qUarS0tcWjKqOOdXxkOx3jmMJeTVKQOQgAfsSWJ+J3Dd51iMKOOsDNjM5YZXMJIwbvWDKMH4yWNHna07tFc0ZNOJVY1kBokBFW0a4P1rb0F8Ot5j8SXxyFPnJ8pgul0cB5D8xnllTtySZW1pMKH53fYSZbybr1kKh/sxjHKl+KHMitT4BG72NHIdc38OSj/mNrhvIn1Qie8OBsQdh0D7V+HJEWU+u73ze7F0Aki3onO1Hw3DiSH98GYNcxSH0/yzbsopnxumROiYvK8120XhydF20EQQQwJCOSn5egmyALkNh2A5ZphgwzHSk2+nfEzQZjfd1zTCHyc+khCgY6/vpbTrhjCtJydfP69G6TxkAubY/hmrJoe0MMROcENrcxe6D+Btnvnj6MVghpm42rZQnlNCVsCysb6jzls92uuJEPk5i18GVSSkq81bvgkM1ers4miRf5YAlvtExAUjeFe1X5duc9n6Y+6UGIfpdchz6HcjThKXwBkKsCe+c1u3lRjJx5Zuy0+Ng0PdrU/58OF3NcwhGJyAJGTc8bwPZU9IyfvOvqKXJTeoVzM0SkEuCtfxVbL1XbMiuYKfVtcZFf1hq6RAeJahqxnrhqzrSL041K9HrmJnuKeJS6PKKj08nFmRQIy12hzFrDN2KY7F1MTAKKfpZxGTF7EoA9jKqAp5d0LGuO/Z6/TqXm62ojQe6Q4/O5fxHesrx8Nc3XROru3jbCJjWk9EN7kbyXzsUXnfPy8F2+kQA80vi7iw8gNyTubHVl7nqW8APqMwqzGqym43IAXCcZM/JcZ1cPLdYGjhEfkVDhJO9tprJOmtMaSJzfYCchGvOkSeCFWCF98jqNjPsSisE1QgUQCIDtRFNjwRqQ9MwjOcbTD7WDJv6AaPp8/aZ6YjJIRj52EOxkI9T7Xyhi5xiwWHOM/T2o9Sn/pGhctMqNAA4NoNdsTTpkGsGE+8U62koqiIkpDH8vMD90rgs90c3ecGZDBjkRr/C+SGOM8sOx+MhDpsJd0zyrR7DEgVKHqphSbPlAsSGIK5rVBCs4stSSSdlC3/9arPwoHFZDQZNsEPdkVCtwrHQZYVM+v25bqiFJvb9CTfujKa6sYBMCVswaxx/WiZQ1yNuCqNQgCaKq4FBwQm89yT2y4hBdmtyGaP29HYPA4n285sZjnnFI5qNuv29zE8jfsNQHuFel/RaqNkUr+wD/CW2j0ppUC5ITq2vp8TzvqNoLPexS9it7QC4Iq4bPQ3ACCQmwxIgKK0AX3Oan29y8DAvg1P/zWM3fm0q+mkyRbMUNI/atnMq29jdkl46h1LRzKxX6faVzV1EqJthZvQgmQRuLnZVgMlUlDDQWPlDnZgZw6ej4ddg2hdJ+nPSke+p6gHwppvPISIoZHNFZmkEDvTATrcYv5zpl/uageyQUkISIdhEuxiczyJeuZSP3T39U4EuzLuNXSbHf2QIIAPStYHf3Ed8zwve8pxItKanVRd16TMX5fk3bdzKdhcGQ+royPRrfZ1bvjIr9IMsXO7uNhrKqv+qyZ2OWE3ywqofctOhIxJofCydGjOuRnjXwpRSklGZHfbGmA0yLT55gYLlqhuiD1oGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ez3FQHpY6KuXCCSCBXJVHm",
      "input": {
        "note": "Pen lies almost parallel to the jaw closing axis and slightly ahead-left of the jaws; lifting a bit, rotating the wrist ~60° clockwise and shifting forward-left to straddle it.",
        "targets": {
          "right_x": 0.265,
          "right_y": 0.205,
          "right_yaw": -0.9,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Ez3FQHpY6KuXCCSCBXJVHm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8757, 0.6094, -0.3817, -0.0223, -0.038, 0.9996, 1.0122, 2.2318, 1.2545, 0.2043, 1.1313, 1.618, 0.9966]\nstate[eef_state]: left_x=0.3 left_y=0.0021 left_z=0.1594 left_yaw=0.0057 left_pitch=-0.0869 left_roll=-0.005 left_gripper=0.9996 right_x=0.3831 right_y=0.3182 right_z=0.0496 right_yaw=-0.6632 right_pitch=0.0635 right_roll=0.8507 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -2.0171, 7.0359, 1.79, -0.0464, -0.0366, -0.0122, -1.9214, -11.7949, 5.9009, 0.9109, 0.735, 0.1148, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7dbd36edef7502ab2cb3af88fd9af939a72e5599f47dce14cc8de82303aa932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43947dd5eac6be94887b846b870dfeb4eb3ddfe2ef6559f07f46a4d8368e4b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1edebe915d862ba39b559ba6e887f450a3690769def481eb7f20db3b1acf04b2",
        "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 · 5.516 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, 0.8623, 0.6094, -0.3794, -0.0223, -0.038, 0.9996, 1.095, 1.1183, 0.292, 0.2546, 0.7811, 0.5262, 0.9962]\nstate[eef_state]: left_x=0.2997 left_y=0.0019 left_z=0.1636 left_yaw=0.0049 left_pitch=-0.0713 left_roll=-0.0054 left_gripper=0.9996 right_x=0.2353 right_y=0.193 right_z=0.1043 right_yaw=0.1711 right_pitch=0.1623 right_roll=0.1028 right_gripper=0.9962\nstate[joint_eff]: [0.0205, -1.7573, 7.0359, 1.7167, -0.0659, -0.0757, -0.0122, 0.2393, -2.8513, 5.7231, 1.4823, 0.4762, 0.0904, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8696, 0.6094, -0.3809, -0.0216, -0.038, 0.9996, 1.0451, 1.9835, 0.1802, 1.2911, 0.7803, 0.49, 0.9963]\nstate[eef_state]: left_x=0.2998 left_y=0.002 left_z=0.1613 left_yaw=0.005 left_pitch=-0.0801 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2542 right_y=0.1976 right_z=0.0059 right_yaw=0.1325 right_pitch=0.2002 right_roll=0.1169 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -2.2496, 7.0496, 1.6923, -0.0171, -0.0464, -0.0171, -0.6222, -4.2188, 0.335, 0.0073, -0.7839, 0.2173, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8757, 0.6094, -0.3817, -0.0223, -0.038, 0.9996, 1.0122, 2.2318, 1.2545, 0.2043, 1.1313, 1.618, 0.9966]\nstate[eef_state]: left_x=0.3 left_y=0.0021 left_z=0.1594 left_yaw=0.0057 left_pitch=-0.0869 left_roll=-0.005 left_gripper=0.9996 right_x=0.3831 right_y=0.3182 right_z=0.0496 right_yaw=-0.6632 right_pitch=0.0635 right_roll=0.8507 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -2.0171, 7.0359, 1.79, -0.0464, -0.0366, -0.0122, -1.9214, -11.7949, 5.9009, 0.9109, 0.735, 0.1148, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7dbd36edef7502ab2cb3af88fd9af939a72e5599f47dce14cc8de82303aa932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43947dd5eac6be94887b846b870dfeb4eb3ddfe2ef6559f07f46a4d8368e4b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1edebe915d862ba39b559ba6e887f450a3690769def481eb7f20db3b1acf04b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQcKEAgSGAI4AUIIdGhpbmtpbmcSDJpAIl83qO2aBWwGYBoM6nKQaM44Hjso2foAIjAtUmql0413wFMLq7WRt5KAmxSzUauClysOXrkeQCDrxok6SMxH+SdelA6Q7RKiByMq3gZq4bNquto+GGDcorzJh9dcQ25Qa9IJbs9eSSLW23pXnBCbS6js2YwTiXf6O/nbjT6T+opR2/fuAtCwY1v98FfsMZ19m54TkrB/j/D9SrBLiWCViwmiBFy4qhF9qq6+zzM9ecPsYOYhSn8C/S+fGdXJr6bai8ZWbA7Q262YL6sHgLs28hFcGXq8ZRxaxpDgrCemJ1se8lIR7SPwZp5VLT3BooOrRxiWEjY6b4G11InpjBj9XicK9G8PNcDS7YV2MykLKTzSgA+b03UAYHhk5Q+AaPyluiOFW+sDtTCnYNqVRVxRjZjekODXkBeTUQ+fNpnt6dmOJ6VMAUEj6YzS8t75q7CBrkEb/ZcMQyArCdKNK6UcGEF3UQnQzchO4dhqs9E2ztu5zx/scC9e1LqViR15/pL3g5Nf93qP2lDNArE21NKeaBOlyEp2jMyjgE3EVkIEW2IiJMAhUFDTBt4A2Jw96xPZyD1EBIcmowyp+6Pzb/T8XeJjEmY/atO6Gqy8Akc+PSDgULM7NO6ct7An2QlWdimkZaJYeoK/nYKn2d7UWHlucnzaMxFQqLu9cD4/BAVu7U1Yja8K6a2GZU6J0vJgz6uFo1BnGPT9BJrwEgqZ+KsHKofx4HuC0ZbNJVS6Od5xErpr68wYcEpskFugAZi3MZmVBhnw8TJ5b+/QpCy+uG4fxSVvIMZJcEZijkhHQ2m3cpIrZmj87HaDQM52Y2kNOWGEGvt2JSyxfzDxLHneJaVKYlOv1Df+kQ0D4D0TjxK05MDMwuC7+pL208fPxpp3w6ADGhtVGcq3awm6l4i+lFemIUftl3fqh3FI6R6SZayY3uaMLeOdWW1dRNy9KB1I34sIN6zVFMtfWnPKu9jAioP6f8mYrDhlEK6S3jYfao0+wkCBNrt6XVjIa1MPCiRKJYYyx++c2XtVLLKSxmr7DZD2zeHhxJWqykS0ecNB7V2DDL+BVrzBmyAZ9tWAd0sAYDj8mS+il+T1btW51qA+QlPCVh3n5TI2qnfqJBVawl0/gVfAbzUam9pDnGwgkEfeiYqQKqaC9JcmBTnfGK/CbteBF+Zfm3VUWZ7IFWVhsDt1urLtqIWaUhrS0dRNCbuczuLpUJO/G6OTwai2SBkc450ICVN9Ugw6K2TTXj9IGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VLyoMB7mqComSxanhD1xko",
      "input": {
        "note": "The yaw command sent the right arm into an odd configuration (readback far off target, wrist rolled). Returning to a neutral pose above the pen area to recover.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.28,
          "right_y": 0.18,
          "right_yaw": 0.0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01VLyoMB7mqComSxanhD1xko",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8822, 0.6075, -0.3798, -0.0223, -0.0383, 0.9996, 0.9348, 1.2785, 0.6968, -0.1864, 0.7555, 0.7242, 0.9967]\nstate[eef_state]: left_x=0.3002 left_y=0.0021 left_z=0.1571 left_yaw=0.0059 left_pitch=-0.0934 left_roll=-0.0052 left_gripper=0.9996 right_x=0.2873 right_y=0.1913 right_z=0.1424 right_yaw=-0.06 right_pitch=0.0244 right_roll=0.1281 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -2.2222, 7.2547, 1.7216, -0.0708, -0.0464, -0.0171, -0.4308, -4.1231, 6.5299, 1.4921, 0.3932, -0.0806, 0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db2ab407b05c358df7e4201c4dc2d185d92bb2e036d874fd99cbfdac9d1be95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10feea073bd7b1b37800ad2d2caae6124daa271c6c5e44fb78577b7b4ac056e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c623848e59c0e792f5a3f9557f60884d9569c78dc0f39dfd17f01870706bceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.74 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]: [-0.0181, 0.8696, 0.6094, -0.3809, -0.0216, -0.038, 0.9996, 1.0451, 1.9835, 0.1802, 1.2911, 0.7803, 0.49, 0.9963]\nstate[eef_state]: left_x=0.2998 left_y=0.002 left_z=0.1613 left_yaw=0.005 left_pitch=-0.0801 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2542 right_y=0.1976 right_z=0.0059 right_yaw=0.1325 right_pitch=0.2002 right_roll=0.1169 right_gripper=0.9963\nstate[joint_eff]: [-0.0205, -2.2496, 7.0496, 1.6923, -0.0171, -0.0464, -0.0171, -0.6222, -4.2188, 0.335, 0.0073, -0.7839, 0.2173, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8757, 0.6094, -0.3817, -0.0223, -0.038, 0.9996, 1.0122, 2.2318, 1.2545, 0.2043, 1.1313, 1.618, 0.9966]\nstate[eef_state]: left_x=0.3 left_y=0.0021 left_z=0.1594 left_yaw=0.0057 left_pitch=-0.0869 left_roll=-0.005 left_gripper=0.9996 right_x=0.3831 right_y=0.3182 right_z=0.0496 right_yaw=-0.6632 right_pitch=0.0635 right_roll=0.8507 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -2.0171, 7.0359, 1.79, -0.0464, -0.0366, -0.0122, -1.9214, -11.7949, 5.9009, 0.9109, 0.735, 0.1148, 0.022]",
      "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]: [-0.0181, 0.8822, 0.6075, -0.3798, -0.0223, -0.0383, 0.9996, 0.9348, 1.2785, 0.6968, -0.1864, 0.7555, 0.7242, 0.9967]\nstate[eef_state]: left_x=0.3002 left_y=0.0021 left_z=0.1571 left_yaw=0.0059 left_pitch=-0.0934 left_roll=-0.0052 left_gripper=0.9996 right_x=0.2873 right_y=0.1913 right_z=0.1424 right_yaw=-0.06 right_pitch=0.0244 right_roll=0.1281 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -2.2222, 7.2547, 1.7216, -0.0708, -0.0464, -0.0171, -0.4308, -4.1231, 6.5299, 1.4921, 0.3932, -0.0806, 0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db2ab407b05c358df7e4201c4dc2d185d92bb2e036d874fd99cbfdac9d1be95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10feea073bd7b1b37800ad2d2caae6124daa271c6c5e44fb78577b7b4ac056e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c623848e59c0e792f5a3f9557f60884d9569c78dc0f39dfd17f01870706bceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AkKEAgSGAI4AUIIdGhpbmtpbmcSDJMYq7cPhRsTbyX11RoM8lDys24mSfBeBtEgIjASqwsLH7hiudwrTb9WCHz6R1DZu0pfe5pfAiJz/UT6Pyh1erOX2bHBrYr32ztx/1IqjQlY9YaUcMekoXp7JWOGoPa9XX+h4LBytAk4WV4jffctyBnvmGOtYlwcvF4RlLfyrOpWhhfQcaIfojpvQkvg/5Tn3L/WW66SNlqhbm40bLF05Z6A7fUhiNXU5mwDoh6xhkS8wZNZ5HuhR2LtFwAp2UGYPfGzDO1NZ08A1lnzA6/PdtoqaD8CEzLYBL5VgaGiVQ3TF0tmm89Q33hNR4cEg7o5SjCZXhb+H42mKPgleyYPorNZO/D1w0rRkh9BaZxvWJAN9b1kMa/mQRI9Iix5YrbZPv8c9P14BKmCfqLZ5pZxItpLT68/tm6lTtVUqPet5wjCqSJLulX5W95c7J4CzuSJTpvwiJMNHq/xKUiGR70Zy9dDy5zl2N2TWQCzHoB5AVil3m4xV8wnnbRpG2EupEdJYZBh7kDN6/2GbzyHnR9rw++12w1mqITfKOWrH25Z28Ag3Hnd/Mtgx4SsGmGXAUhlfVc4NCZqFRcTMZUtnfdZGM3anhYZ9ZGEFwiy5qvmEa9P4vcOaTX2QBjkC54+rQZvYu/KVavho4Wq9aS9lKDFY2PcHkTPzOrzz5CyeH25XXuHJzqT9/muhsX3CuD9erVWkiQDGfQwXWyffhbO4cy8QeGDvqJTL6+tYffaSDFXycyMvZTKkqAdhPbRBYhCWfFROG97cFte0aoE31ZiJ4nE4QIlYJ3GD9UQ7jnYErEot75BnWcwS95spOUlwQwaAjtB5VqBeTmQSDbPRSMVpgIZltWURCWNjdAVpF6qEaXKT+1llbZgLE+zdNCYZAUHvUQ/ZpejBA/8H7w9C5BzU/Xcb/9Ukr4OfzB+zULZ2BFh6Py0lWuKd33xdIPalFALnF8+/NscsmfpKF6Zj3mnCv20HXG7N+RTRHQ40UT/7od6cZbXqcpaXpwkMQexXlQ7vLSLKQeO3OFkFY0jS5YgjaFYc1MkM9++HzcvikF8XH+ngtRfLe8wT0vWEKteW2QgDQjsQa7utKi9R/EgMJx8vh0Jb0phhoxPKPk/JmD3HTXsm54S6drjljv+pX0eDw++wW3PLiKeuGVAe9Z813QrUJikFOITuYb6WsUE2P/xGPEOCNhRWB/TvHq5UKHvulfTyVILzFIHX22IvzklTzrjGwECcmpmbwQpeQYlXYsBzVoJ7NaYX+oBUtJYFaw2FL6PRzZbXAtz6npVfx0iq3f6qPYg2KjeFFca7n197NwEBoLsfR7TR17unUlzFA0/gI3B+lm5EQ4SWXJG293E5yudLbyhWVetAatoo7/SJiZOS//aUvYLZ5YKSmnrnb2ANXPCXTkaDVysIhlc6shRMhZ/wv/fVKCOBwL0+OXaHrlDcF1dCEairEkEfWsfncHb8RedPdt3tcn4kTGfp2JLRijcf9KBUrgvlh/0pslqw+sLKcSCZIRhg+xvk+scH5OOyOIM0AXuqmnBH2+QAaEiL5wjL6F790B7exdSdAgjPo106A/ZAXCGTy6SnkU3Fflj2NzwKWLiqqSNcmr5ETuWPpAhSKmCVgiaSoTDw224++bLfcIY0TRDxfxMPTPdZWzI+60xGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YZ92Fqy6o2eskLCSu849LZ",
      "input": {
        "note": "Recovered; the right basket got nudged and rotated but still holds the marker. Blue pen tip shows at the bottom of the right wrist view, so stepping back and lowering to see it.",
        "targets": {
          "right_x": 0.26,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YZ92Fqy6o2eskLCSu849LZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8825, 0.6075, -0.3801, -0.0216, -0.0383, 0.9996, 1.0252, 1.4693, 0.4473, 0.1276, 0.7898, 0.7956, 0.9967]\nstate[eef_state]: left_x=0.3002 left_y=0.002 left_z=0.157 left_yaw=0.0053 left_pitch=-0.0942 left_roll=-0.0056 left_gripper=0.9996 right_x=0.2567 right_y=0.1881 right_z=0.0454 right_yaw=-0.0304 right_pitch=-0.023 right_roll=0.0675 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.8393, 7.241, 1.6386, -0.0269, -0.0806, -0.0122, 0.4444, -5.0256, 5.1077, 1.37, 0.5885, 0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc2830db09142d555f4e699021270bd900f50d6bb122edc5dca00ab0ebdbd522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff3b12237ecc365073de0c787b4d8f1ae707d16cbdc027762f2c9ce3ed91b3b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7c203edd6023f5874762848344ed1298147d21b6d68774eaa0526aa4f4fcef5",
        "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 · 3.652 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]: [-0.0181, 0.8757, 0.6094, -0.3817, -0.0223, -0.038, 0.9996, 1.0122, 2.2318, 1.2545, 0.2043, 1.1313, 1.618, 0.9966]\nstate[eef_state]: left_x=0.3 left_y=0.0021 left_z=0.1594 left_yaw=0.0057 left_pitch=-0.0869 left_roll=-0.005 left_gripper=0.9996 right_x=0.3831 right_y=0.3182 right_z=0.0496 right_yaw=-0.6632 right_pitch=0.0635 right_roll=0.8507 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -2.0171, 7.0359, 1.79, -0.0464, -0.0366, -0.0122, -1.9214, -11.7949, 5.9009, 0.9109, 0.735, 0.1148, 0.022]",
      "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]: [-0.0181, 0.8822, 0.6075, -0.3798, -0.0223, -0.0383, 0.9996, 0.9348, 1.2785, 0.6968, -0.1864, 0.7555, 0.7242, 0.9967]\nstate[eef_state]: left_x=0.3002 left_y=0.0021 left_z=0.1571 left_yaw=0.0059 left_pitch=-0.0934 left_roll=-0.0052 left_gripper=0.9996 right_x=0.2873 right_y=0.1913 right_z=0.1424 right_yaw=-0.06 right_pitch=0.0244 right_roll=0.1281 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -2.2222, 7.2547, 1.7216, -0.0708, -0.0464, -0.0171, -0.4308, -4.1231, 6.5299, 1.4921, 0.3932, -0.0806, 0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8825, 0.6075, -0.3801, -0.0216, -0.0383, 0.9996, 1.0252, 1.4693, 0.4473, 0.1276, 0.7898, 0.7956, 0.9967]\nstate[eef_state]: left_x=0.3002 left_y=0.002 left_z=0.157 left_yaw=0.0053 left_pitch=-0.0942 left_roll=-0.0056 left_gripper=0.9996 right_x=0.2567 right_y=0.1881 right_z=0.0454 right_yaw=-0.0304 right_pitch=-0.023 right_roll=0.0675 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.8393, 7.241, 1.6386, -0.0269, -0.0806, -0.0122, 0.4444, -5.0256, 5.1077, 1.37, 0.5885, 0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc2830db09142d555f4e699021270bd900f50d6bb122edc5dca00ab0ebdbd522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff3b12237ecc365073de0c787b4d8f1ae707d16cbdc027762f2c9ce3ed91b3b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7c203edd6023f5874762848344ed1298147d21b6d68774eaa0526aa4f4fcef5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wcKEAgSGAI4AUIIdGhpbmtpbmcSDEYFvHsA91Gf2ctLkRoMiCK3ZEii4Ja9V6Z1IjB9OV5E+AvcmhY50W98U+h4pUUZwOh+8Q2A1C6bep45wd3dz35OIbAiTqxvJdZ+0qoqgAchmXvjgliQNelV7thudlE2USA4lNd+1NiLpifWooPcgmFKh/yqKtf67n4wBO8IZEzC9AaIC8hsYgzRwxlsdsT5eMxSWimug4n8QmD50BdET6tZSTVnQcmhtiaH9Z/0u7VlpKNI/iL2oTHk0lXVE/aMBXjmpVJQO1KMWgNQNsNSu4zNrXomnSb1sJKr8hYMw4ntNCw/pco4hd0FRiYnDaeMG1+IUMS8rpfk5XeGiEvz4JWwxG3eErKo6X8pqMlQO/r1wnunzv/QI4kP2nqYuRek50ZDLQxPpkAngJSSeEsuQWlkb7XYXGP5CMzVZxVhfEpv4mKiVjCrvWKe07KEoG0eSmUxLl1JMDyANkpVug1LmYWQjMUUTgLHbxWzLtzpd0lYCS9x1C7VGv5Lfxsx48yLlDZ0ozm4vt1XoMqsA2FgJjAnPzqMu6RQ25+VSXdayvtLwssk1y4O8g4devDtamJG3H7qkiAO98d45/UUgPy7YB+QAJ3O8HX2GVpIg7eOk3xOeoZyEQTIFEbEZfJDw8vd2mkjzLXAoSSK85Xz11VZTVojS1Cm7q6nD4cZrIXEkL0ibXERA1GavKpwkeneTTEYWtnpOs+gZaKkPPy/5y/Q15HvimlmdkilgdKQkiEvSnsEvjYQm16saFH+m7pjRizwxKdRadk1NEylv8jPVU+L3GYJmsGS1sgP4xi7ZS8WLLXH0+jeOVgT0kKqoDz81WB16PbufmwzLlF1uD5HXCBUe9nTLWJhP0d8zc2XO5V1pNn1o5r0d7xmwosm2aDgFaSrHD+h9e3Yl7YQLAEmZE4jXB6o7E6gPBBV2hJl4UwyOtRI3F4xV14qD10PbMrF42wkaRP9ah3V1CD+jAahaoENKb2OjQvKp4/hl+yGYl4vyXxsWTdElwiss/B+wKrxT3LAGMZJ1Fq6Qj58yOFuaUpN93I80XMT40mLjEypMPQcrx7RGViRW+DDuyGOkSbJO/aEkCyVdrazONyDk5RzZ5bbuZs97fj6SfsFSqVo/Nd/zEC26090JcoR/XfTT89wkJU1mkO9nA9fR5j2z8HkTLg4Z+S6Z40WqB98JR5nDwALD7TJ/seo5RfVHnWWUXNNA0zk0Elf0UxrDK5eG3SsdwJVx7WPnEnrIspHt3IDrSGXSeNNb9o1FDLS1P6rjd9ptjc2K4RR2X/vfxIqNC53qbpdwxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rs8gf2QnfKp6imTtZiDpar",
      "input": {
        "note": "Blue pen now lies radially, centred between the jaws; descending to table level.",
        "targets": {
          "right_y": 0.184,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Rs8gf2QnfKp6imTtZiDpar",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8829, 0.6067, -0.3801, -0.0223, -0.038, 0.9996, 1.0199, 1.7039, 0.3759, 0.4683, 0.8146, 0.8051, 0.9967]\nstate[eef_state]: left_x=0.3001 left_y=0.0021 left_z=0.1565 left_yaw=0.0057 left_pitch=-0.0953 left_roll=-0.0048 left_gripper=0.9996 right_x=0.262 right_y=0.1877 right_z=0.0055 right_yaw=-0.0565 right_pitch=0.0101 right_roll=0.0967 right_gripper=0.9967\nstate[joint_eff]: [-0.2667, -1.8393, 7.1726, 1.6386, -0.0366, -0.0024, -0.0171, -0.5812, -3.6718, 1.9624, 0.3053, -0.1734, -0.2564, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b9055b5411c0d31013787334d5bdbc97748cc7399a304d6a340440f1e159854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:441e0e08911316211bc9600d5ea0a6dc60c4ac0464978fa96293813ffdfa3848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3de5eab6d7176d316942c946d0b622bbbcf97554308e7b29926cb9b92587c0f3",
        "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 · 5.087 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]: [-0.0181, 0.8822, 0.6075, -0.3798, -0.0223, -0.0383, 0.9996, 0.9348, 1.2785, 0.6968, -0.1864, 0.7555, 0.7242, 0.9967]\nstate[eef_state]: left_x=0.3002 left_y=0.0021 left_z=0.1571 left_yaw=0.0059 left_pitch=-0.0934 left_roll=-0.0052 left_gripper=0.9996 right_x=0.2873 right_y=0.1913 right_z=0.1424 right_yaw=-0.06 right_pitch=0.0244 right_roll=0.1281 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -2.2222, 7.2547, 1.7216, -0.0708, -0.0464, -0.0171, -0.4308, -4.1231, 6.5299, 1.4921, 0.3932, -0.0806, 0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8825, 0.6075, -0.3801, -0.0216, -0.0383, 0.9996, 1.0252, 1.4693, 0.4473, 0.1276, 0.7898, 0.7956, 0.9967]\nstate[eef_state]: left_x=0.3002 left_y=0.002 left_z=0.157 left_yaw=0.0053 left_pitch=-0.0942 left_roll=-0.0056 left_gripper=0.9996 right_x=0.2567 right_y=0.1881 right_z=0.0454 right_yaw=-0.0304 right_pitch=-0.023 right_roll=0.0675 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.8393, 7.241, 1.6386, -0.0269, -0.0806, -0.0122, 0.4444, -5.0256, 5.1077, 1.37, 0.5885, 0.1441, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8829, 0.6067, -0.3801, -0.0223, -0.038, 0.9996, 1.0199, 1.7039, 0.3759, 0.4683, 0.8146, 0.8051, 0.9967]\nstate[eef_state]: left_x=0.3001 left_y=0.0021 left_z=0.1565 left_yaw=0.0057 left_pitch=-0.0953 left_roll=-0.0048 left_gripper=0.9996 right_x=0.262 right_y=0.1877 right_z=0.0055 right_yaw=-0.0565 right_pitch=0.0101 right_roll=0.0967 right_gripper=0.9967\nstate[joint_eff]: [-0.2667, -1.8393, 7.1726, 1.6386, -0.0366, -0.0024, -0.0171, -0.5812, -3.6718, 1.9624, 0.3053, -0.1734, -0.2564, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b9055b5411c0d31013787334d5bdbc97748cc7399a304d6a340440f1e159854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:441e0e08911316211bc9600d5ea0a6dc60c4ac0464978fa96293813ffdfa3848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3de5eab6d7176d316942c946d0b622bbbcf97554308e7b29926cb9b92587c0f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B7dNkv7ch4ppkPJkXGMCzC",
      "input": {
        "note": "Blue pen centred between the jaws at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01B7dNkv7ch4ppkPJkXGMCzC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8829, 0.6067, -0.3805, -0.0223, -0.038, 0.9996, 1.0191, 1.7123, 0.3683, 0.5056, 0.8173, 0.8017, 0.157]\nstate[eef_state]: left_x=0.3 left_y=0.0021 left_z=0.1564 left_yaw=0.0057 left_pitch=-0.0957 left_roll=-0.0048 left_gripper=0.9996 right_x=0.2631 right_y=0.1886 right_z=0.0063 right_yaw=-0.0575 right_pitch=0.0222 right_roll=0.1116 right_gripper=0.157\nstate[joint_eff]: [-0.0479, -1.7709, 7.1316, 1.6288, -0.0366, -0.0659, -0.0171, -0.1162, -6.2564, 4.3009, 0.9255, 0.2466, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c466e662b97c2ff7913c8df98132d34cb450e06a8799f08dce18aaff0f5effce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92fd735aedfbbde71cbdff465d561c944925c93226a53d29d80d5a96525eb06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60ef7a9fcb8ea22aac63e330f90bbc7c930310c5c65294fa36079ebcb4f5f691",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.633 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]: [-0.0181, 0.8825, 0.6075, -0.3801, -0.0216, -0.0383, 0.9996, 1.0252, 1.4693, 0.4473, 0.1276, 0.7898, 0.7956, 0.9967]\nstate[eef_state]: left_x=0.3002 left_y=0.002 left_z=0.157 left_yaw=0.0053 left_pitch=-0.0942 left_roll=-0.0056 left_gripper=0.9996 right_x=0.2567 right_y=0.1881 right_z=0.0454 right_yaw=-0.0304 right_pitch=-0.023 right_roll=0.0675 right_gripper=0.9967\nstate[joint_eff]: [-0.2803, -1.8393, 7.241, 1.6386, -0.0269, -0.0806, -0.0122, 0.4444, -5.0256, 5.1077, 1.37, 0.5885, 0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8829, 0.6067, -0.3801, -0.0223, -0.038, 0.9996, 1.0199, 1.7039, 0.3759, 0.4683, 0.8146, 0.8051, 0.9967]\nstate[eef_state]: left_x=0.3001 left_y=0.0021 left_z=0.1565 left_yaw=0.0057 left_pitch=-0.0953 left_roll=-0.0048 left_gripper=0.9996 right_x=0.262 right_y=0.1877 right_z=0.0055 right_yaw=-0.0565 right_pitch=0.0101 right_roll=0.0967 right_gripper=0.9967\nstate[joint_eff]: [-0.2667, -1.8393, 7.1726, 1.6386, -0.0366, -0.0024, -0.0171, -0.5812, -3.6718, 1.9624, 0.3053, -0.1734, -0.2564, -0.0122]",
      "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]: [-0.0181, 0.8829, 0.6067, -0.3805, -0.0223, -0.038, 0.9996, 1.0191, 1.7123, 0.3683, 0.5056, 0.8173, 0.8017, 0.157]\nstate[eef_state]: left_x=0.3 left_y=0.0021 left_z=0.1564 left_yaw=0.0057 left_pitch=-0.0957 left_roll=-0.0048 left_gripper=0.9996 right_x=0.2631 right_y=0.1886 right_z=0.0063 right_yaw=-0.0575 right_pitch=0.0222 right_roll=0.1116 right_gripper=0.157\nstate[joint_eff]: [-0.0479, -1.7709, 7.1316, 1.6288, -0.0366, -0.0659, -0.0171, -0.1162, -6.2564, 4.3009, 0.9255, 0.2466, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c466e662b97c2ff7913c8df98132d34cb450e06a8799f08dce18aaff0f5effce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92fd735aedfbbde71cbdff465d561c944925c93226a53d29d80d5a96525eb06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60ef7a9fcb8ea22aac63e330f90bbc7c930310c5c65294fa36079ebcb4f5f691",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrggKEAgSGAI4AUIIdGhpbmtpbmcSDMgP0W8+NvnP73QrMhoM4w4qwOdHWTSYWr/3IjBn83oc0IT2bRsKFHTV3UbAMGs7+/Wb532CB/rAMMLJJzfg4aKMBFv9rGGiGwTs7gwqyweW9tgdu+akHoDNPmUfY2rQShiHRdQOePnFmYHua8GPnr2w7L8YkMXsyH8BBW+bxkdvQg5iJt5hQ54pH9GwSqte/07Bv7bz2CiQxV+pm8vcUESS/qSh2g9MMf1EBLpp6mUvf0Gu2emhP4K5Rmd5+UCQyK97bMfbISW3rQDVW0caL8ic5NdNS/QMC3gqeuRgg7l4e25Gv1/wyzf59+mB5JPtDfUvrGLTHP7vq0RFIq1FYw7fURIjaSEuIh5emCatKbspc/EoodUlJE6wQOjRZCVyOZBT0M8NiCB40WNZJQoJ0YWJhF0vrp/3yxYza0EUbsJyRuiN4g7yR/NajfahubW1W86NGtGCc7dHZbwChI1rlijsA2AQuMmHIvSodBvKXxFTiIfO4Kkb4xTXiKms0V8tik9Taakrbqij4mdu138enSMzhmKgRf+3iyCBnOCf9R7dD7WEJz8VdgIE+akpEUzMkloia7UPz6UbEtNRIRv7gecisrlOaWc6waevZZanfX9gpCdUYa0Qzh4KkWcmm4Ppu5IE/wsmhAvNQh/hXUTe3q7pdvBZwRl15WFWp+tvDFDRuNc4TA18SIBgJd1dT6GfppYFy4QmS1Vy/HSH6iOPtbrxO7vKfzNLMY+OBHe6iFctrVaQX2rms4CMeqYpThzWRidSDJYut2H+xdA6mglHTUeSfj64fugM0z6GgR2PwIO1kd7d7lE7zcF9oGUaI3wkOCWGeVW+38mG3kH0tUdjP0rDBF4SXtN4wtJ9WZM64Pf1amPL0Ae3wRmf5/3ea+Vp/jRF809YQK0qGIwOeRawZxaLgb2zvSfCC1bHfOcHBcwGWwU5dAmmhEtYFkAucMaqqAuLGp1/Ts1dwbMS1RvhTPcaioZprDwnzODhDDO5ZOXTamLNSUpMOacxWdhTkvcKaLv7enVxvt0Fk3KWCKOSms9y4+wujWGDqmfMx5BcBOLg8WCeaV1cs85BDycnmfRzO3h2N4DL5DbJoc/5vp/iVL2YRPuK6Uk49lH+b3onR2mv6lKbpeNjhttwG7s8dXqNpOAkLXPXqBgTxnqCByGU5Pip27aEvGvxKQQUT9SbNgBifzgbtk8kMepy6ju+4LkcJ9lUt4scIlRhCbmgI8iy4K/1JN7RJEc/JAMT4oQK7qXz1JVixAYBMlRBemyHm5ktCC5SgcSjl2qU108vu5O5o6a/R9XshaqutfvuJYOEQCaL0Vu6/+zXp1Tv6iF8ymtPQeYHzriIxFkD7WV2WmWG1dtRvhal7Ybju6p5Ubq/ilTMEOKyczuRra8SNhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CrNipWysxzkGb7rGMuKi56",
      "input": {
        "note": "Blue pen gripped (0.157). Carrying it high above the right (pen) basket, which is now slightly rotated.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.19,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01CrNipWysxzkGb7rGMuKi56",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8829, 0.6067, -0.3809, -0.0219, -0.038, 0.9996, 0.614, 1.5562, 1.2808, -0.3439, 0.5072, 0.4629, 0.1589]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1564 left_yaw=0.0054 left_pitch=-0.0961 left_roll=-0.0051 left_gripper=0.9996 right_x=0.4161 right_y=0.1927 right_z=0.2369 right_yaw=-0.0558 right_pitch=0.0231 right_roll=0.1196 right_gripper=0.1589\nstate[joint_eff]: [-0.0752, -1.812, 7.0085, 1.5995, -0.0171, -0.0513, -0.0171, -0.5812, -7.4462, 9.2786, 1.4335, 0.2222, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5fa48459d71b090fea4a1e59bb627b9c82965fa5771f91d823df53911d048f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a699fc977b0efbfd57500c0d90080026b2deb269ec5cbe4e67a54c4bf1433163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9602ae9a9412893b9a09bd5766a8806a67ae379de16e57b2a0547edf2f6542dc",
        "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 · 8.157 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]: [-0.0181, 0.8829, 0.6067, -0.3801, -0.0223, -0.038, 0.9996, 1.0199, 1.7039, 0.3759, 0.4683, 0.8146, 0.8051, 0.9967]\nstate[eef_state]: left_x=0.3001 left_y=0.0021 left_z=0.1565 left_yaw=0.0057 left_pitch=-0.0953 left_roll=-0.0048 left_gripper=0.9996 right_x=0.262 right_y=0.1877 right_z=0.0055 right_yaw=-0.0565 right_pitch=0.0101 right_roll=0.0967 right_gripper=0.9967\nstate[joint_eff]: [-0.2667, -1.8393, 7.1726, 1.6386, -0.0366, -0.0024, -0.0171, -0.5812, -3.6718, 1.9624, 0.3053, -0.1734, -0.2564, -0.0122]",
      "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]: [-0.0181, 0.8829, 0.6067, -0.3805, -0.0223, -0.038, 0.9996, 1.0191, 1.7123, 0.3683, 0.5056, 0.8173, 0.8017, 0.157]\nstate[eef_state]: left_x=0.3 left_y=0.0021 left_z=0.1564 left_yaw=0.0057 left_pitch=-0.0957 left_roll=-0.0048 left_gripper=0.9996 right_x=0.2631 right_y=0.1886 right_z=0.0063 right_yaw=-0.0575 right_pitch=0.0222 right_roll=0.1116 right_gripper=0.157\nstate[joint_eff]: [-0.0479, -1.7709, 7.1316, 1.6288, -0.0366, -0.0659, -0.0171, -0.1162, -6.2564, 4.3009, 0.9255, 0.2466, 0.0024, 1.033]",
      "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]: [-0.0181, 0.8829, 0.6067, -0.3809, -0.0219, -0.038, 0.9996, 0.614, 1.5562, 1.2808, -0.3439, 0.5072, 0.4629, 0.1589]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1564 left_yaw=0.0054 left_pitch=-0.0961 left_roll=-0.0051 left_gripper=0.9996 right_x=0.4161 right_y=0.1927 right_z=0.2369 right_yaw=-0.0558 right_pitch=0.0231 right_roll=0.1196 right_gripper=0.1589\nstate[joint_eff]: [-0.0752, -1.812, 7.0085, 1.5995, -0.0171, -0.0513, -0.0171, -0.5812, -7.4462, 9.2786, 1.4335, 0.2222, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5fa48459d71b090fea4a1e59bb627b9c82965fa5771f91d823df53911d048f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a699fc977b0efbfd57500c0d90080026b2deb269ec5cbe4e67a54c4bf1433163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9602ae9a9412893b9a09bd5766a8806a67ae379de16e57b2a0547edf2f6542dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GZFx87MhtsJLrwW7Ht8uud",
      "input": {
        "note": "Right wrist cam shows the pen over the basket interior next to the white marker; releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GZFx87MhtsJLrwW7Ht8uud",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8829, 0.6067, -0.3805, -0.0219, -0.038, 0.9996, 0.6094, 1.5654, 1.2793, -0.3618, 0.4927, 0.453, 0.9952]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1564 left_yaw=0.0054 left_pitch=-0.0957 left_roll=-0.0051 left_gripper=0.9996 right_x=0.4153 right_y=0.1924 right_z=0.2283 right_yaw=-0.0434 right_pitch=-0.0042 right_roll=0.1004 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.812, 7.1863, 1.6484, -0.0513, -0.0562, -0.0122, 0.3214, -8.0342, 7.0496, 1.7509, 0.2173, 0.0855, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eba8c30bf8180e23d36b6a53dc64c4826bbd5cdd53da88a961d58abfa66c8690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3817c959fce92f6d1ca8e6771f701862c47d7232f1c1dc588be0f349328fee79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0800476221fdd230dad03b970abac23556bd40c744076a52de0e3b382e860f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 5.36 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]: [-0.0181, 0.8829, 0.6067, -0.3805, -0.0223, -0.038, 0.9996, 1.0191, 1.7123, 0.3683, 0.5056, 0.8173, 0.8017, 0.157]\nstate[eef_state]: left_x=0.3 left_y=0.0021 left_z=0.1564 left_yaw=0.0057 left_pitch=-0.0957 left_roll=-0.0048 left_gripper=0.9996 right_x=0.2631 right_y=0.1886 right_z=0.0063 right_yaw=-0.0575 right_pitch=0.0222 right_roll=0.1116 right_gripper=0.157\nstate[joint_eff]: [-0.0479, -1.7709, 7.1316, 1.6288, -0.0366, -0.0659, -0.0171, -0.1162, -6.2564, 4.3009, 0.9255, 0.2466, 0.0024, 1.033]",
      "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]: [-0.0181, 0.8829, 0.6067, -0.3809, -0.0219, -0.038, 0.9996, 0.614, 1.5562, 1.2808, -0.3439, 0.5072, 0.4629, 0.1589]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1564 left_yaw=0.0054 left_pitch=-0.0961 left_roll=-0.0051 left_gripper=0.9996 right_x=0.4161 right_y=0.1927 right_z=0.2369 right_yaw=-0.0558 right_pitch=0.0231 right_roll=0.1196 right_gripper=0.1589\nstate[joint_eff]: [-0.0752, -1.812, 7.0085, 1.5995, -0.0171, -0.0513, -0.0171, -0.5812, -7.4462, 9.2786, 1.4335, 0.2222, -0.0611, 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 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]: [-0.0181, 0.8829, 0.6067, -0.3805, -0.0219, -0.038, 0.9996, 0.6094, 1.5654, 1.2793, -0.3618, 0.4927, 0.453, 0.9952]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1564 left_yaw=0.0054 left_pitch=-0.0957 left_roll=-0.0051 left_gripper=0.9996 right_x=0.4153 right_y=0.1924 right_z=0.2283 right_yaw=-0.0434 right_pitch=-0.0042 right_roll=0.1004 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.812, 7.1863, 1.6484, -0.0513, -0.0562, -0.0122, 0.3214, -8.0342, 7.0496, 1.7509, 0.2173, 0.0855, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eba8c30bf8180e23d36b6a53dc64c4826bbd5cdd53da88a961d58abfa66c8690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3817c959fce92f6d1ca8e6771f701862c47d7232f1c1dc588be0f349328fee79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0800476221fdd230dad03b970abac23556bd40c744076a52de0e3b382e860f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016faJBRhGDgjFKVvtSGFwsT",
      "input": {
        "note": "Only one marker is visible inside the right basket; a dark pen lies sideways on the table just in front of it. Moving the right arm back above that pen to inspect it.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.2,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_016faJBRhGDgjFKVvtSGFwsT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8837, 0.6067, -0.3801, -0.0223, -0.0376, 0.9996, 0.9878, 1.3396, 0.6811, -0.2039, 0.733, 0.7326, 0.9961]\nstate[eef_state]: left_x=0.3001 left_y=0.0021 left_z=0.1563 left_yaw=0.0055 left_pitch=-0.0961 left_roll=-0.0045 left_gripper=0.9996 right_x=0.2724 right_y=0.2049 right_z=0.1138 right_yaw=0.0035 right_pitch=-0.0414 right_roll=0.0654 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.6205, 7.0359, 1.6728, -0.0708, 0.0073, -0.0171, 0.1846, -6.3111, 6.612, 1.3895, 0.5348, 0.1148, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84ccb74aefee1fee86728e01809b7e145d972cb27db16df23832c6e53c768d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4eeacad19a8d67a24baa112866ddee25b1470d64fa332a50559261c53de6591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30a5c8771117fd9a9400f9f7c1b3171af03b7187031235d47a09194aab178e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 6.508 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]: [-0.0181, 0.8829, 0.6067, -0.3809, -0.0219, -0.038, 0.9996, 0.614, 1.5562, 1.2808, -0.3439, 0.5072, 0.4629, 0.1589]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1564 left_yaw=0.0054 left_pitch=-0.0961 left_roll=-0.0051 left_gripper=0.9996 right_x=0.4161 right_y=0.1927 right_z=0.2369 right_yaw=-0.0558 right_pitch=0.0231 right_roll=0.1196 right_gripper=0.1589\nstate[joint_eff]: [-0.0752, -1.812, 7.0085, 1.5995, -0.0171, -0.0513, -0.0171, -0.5812, -7.4462, 9.2786, 1.4335, 0.2222, -0.0611, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8829, 0.6067, -0.3805, -0.0219, -0.038, 0.9996, 0.6094, 1.5654, 1.2793, -0.3618, 0.4927, 0.453, 0.9952]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1564 left_yaw=0.0054 left_pitch=-0.0957 left_roll=-0.0051 left_gripper=0.9996 right_x=0.4153 right_y=0.1924 right_z=0.2283 right_yaw=-0.0434 right_pitch=-0.0042 right_roll=0.1004 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.812, 7.1863, 1.6484, -0.0513, -0.0562, -0.0122, 0.3214, -8.0342, 7.0496, 1.7509, 0.2173, 0.0855, -0.1587]",
      "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]: [-0.0181, 0.8837, 0.6067, -0.3801, -0.0223, -0.0376, 0.9996, 0.9878, 1.3396, 0.6811, -0.2039, 0.733, 0.7326, 0.9961]\nstate[eef_state]: left_x=0.3001 left_y=0.0021 left_z=0.1563 left_yaw=0.0055 left_pitch=-0.0961 left_roll=-0.0045 left_gripper=0.9996 right_x=0.2724 right_y=0.2049 right_z=0.1138 right_yaw=0.0035 right_pitch=-0.0414 right_roll=0.0654 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.6205, 7.0359, 1.6728, -0.0708, 0.0073, -0.0171, 0.1846, -6.3111, 6.612, 1.3895, 0.5348, 0.1148, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84ccb74aefee1fee86728e01809b7e145d972cb27db16df23832c6e53c768d44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4eeacad19a8d67a24baa112866ddee25b1470d64fa332a50559261c53de6591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30a5c8771117fd9a9400f9f7c1b3171af03b7187031235d47a09194aab178e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShQkKEAgSGAI4AUIIdGhpbmtpbmcSDGqgR8HJqcjiYs0ImxoMzxeZnm7Etn+HIImIIjD6zmN2f0iCCGul5cPX9bvnsDR5wdpxeQU5KaGYlgI67XZI2XVSGpEypYnYiokMVS4qogiHJmfN49NpCnyvj4261lGKaZMBSXVZXRatesX9e0bCwxa8iyCfi7OEfa8EiRDtpBlCjql/7GjqOORVIoZ9c1yGN0/yggNHgkQwXN0lZsFnjR0Dnv3ronnbiU0lb6sGL55cnjFnqt/Iv65HJe8A77v11QzMyA7fx+plhv6I2hZ4Lgm8BRJdyzgaY6rcnqVS1Rdov2TYlsLtwG8PFt4RRvLr7/Co1+fIj50rG5oAFis0DfwkPo/1ZfzerMp4d2QARsxzmGy3BsEgsFOS/F95JRACCqmCg83s68jidePSLLd2i6sEyg3QRIrsEKnU23gWnz7AVdoMLIr0UB5ZUszxb8rqm0yptqG9nv3+xXUhJ85dZ5fr6v5tIPB63NvnU8WTPnrqMIs8421yMk2uDIrqYA7it382/XKKYgyI9wJIJOzl0aKgupARdgzgyH47GVbb6p4c5z2cDIzvHgDDoGBxlm1oOEwNNb8F6ikTi00WBRWtZkZMzqJEhhgajqSluXHm82kC9xLlKXgkQiSt5DiSV4RBpFdkEcdoP7Zs+hzz4aeBY6Swjogbj8YBU/Gv2yTTSiLfMeXF0+/Cs7+HeRxXzFcp0VRpmTo7bhYebLeX7FWcL3ty8x+NvhtfxUgrgeg8HhYiRso7Tvphq9WcWxIsr7NOnqOwjdtzBfhhMB8dOgbyJ5uaEB7Yn2fH+TU3sm8XL68vhZGytwT3cZV8Q4LyExoDldILFImQEGuqSMXkarudIIZe8uoRG831uYrANoov4zaJ2g+1XqstIHwhp3tSSY/qOwNyT+HHlzq9KAuokL5L9Ve4J0Y+HjD5c1VXwkDO+R5xq+0S87dO1Fg4cVHxv0KbOhY5A+3lWkAUU9Z9XVliKfGyLL/MMVzzSIdzNC9Tb68gCA4yDEfi7pc4p7KnGjZ+1+d5MvEUEEcjfa1vLCuvD6G54GKD+G9uzby8FXFDMZzBiNawNUarRafD4H8TU3sFY+vmQx6z6w361zeuA5ZiTkIGY4zsXmtbN6yPe7xWJJX20UR4myxRDvdMkf0tac2VTR2fTwPf8/oXLMNZyjWw+athdiR3Mpy3rUAExiPJ81aQnEknSSJg+UKVadXCIPb3ZdLNprNyEFGK79mEnuI4BLH165PmZ/BAmAyO+Jna8/v8xnJWQzLfTLHJQyarm8ismHfa3KOqe2xnxOM3S832S4q3eNfRh8Qgfvq+WqQYSj6Lp0cxXKF93cQXtT0fTencNSEz+F4nv9NeWbyP/odugt05wSyy6QncmKe7lM8P76dyL2zfLh1dWe4KDAUju3e/AK3qrS5V0aQ6cFYCyGCpeHiVjm9PCr9zEMPa7+cyrN7uNDKzKDD3jKhlhHVArUJ4szEBMGUo4iV0AldW+GxZBeUKmqVLk7473n3EsGVKWlsIWxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Wtw6YYgBVEAruHmNFct8x",
      "input": {
        "note": "The blue pen fell out and lies sideways just ahead of the jaws, parallel to the closing axis; rotating the wrist ~75° in place so the jaws can close across it.",
        "targets": {
          "right_yaw": 1.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019Wtw6YYgBVEAruHmNFct8x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8883, 0.6064, -0.382, -0.0219, -0.038, 0.9996, 0.2626, 1.3788, 0.696, -0.2028, -0.6365, -0.5304, 0.9963]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1545 left_yaw=0.0054 left_pitch=-0.1029 left_roll=-0.0049 left_gripper=0.9996 right_x=0.2923 right_y=0.191 right_z=0.099 right_yaw=1.0705 right_pitch=-0.115 right_roll=0.0851 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.0171, 7.0222, 1.6972, -0.0122, -0.0366, -0.0171, -0.2667, -5.9829, 7.5145, 0.9988, -0.5739, -0.0415, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f7f27d26fc8d504e304f06716d1e6b9172f763c0d5e75d2a51fdba6bee74c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31e20148d8abda427d5e22ae9f298b1e0ca102daf13c52ae5c4f0fdd5928b9ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e75037f9043e96ca48ed9b57d8955ba964b796238969e3f708c9b726b8f43f75",
        "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 · 9.23 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]: [-0.0181, 0.8829, 0.6067, -0.3805, -0.0219, -0.038, 0.9996, 0.6094, 1.5654, 1.2793, -0.3618, 0.4927, 0.453, 0.9952]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1564 left_yaw=0.0054 left_pitch=-0.0957 left_roll=-0.0051 left_gripper=0.9996 right_x=0.4153 right_y=0.1924 right_z=0.2283 right_yaw=-0.0434 right_pitch=-0.0042 right_roll=0.1004 right_gripper=0.9952\nstate[joint_eff]: [-0.0479, -1.812, 7.1863, 1.6484, -0.0513, -0.0562, -0.0122, 0.3214, -8.0342, 7.0496, 1.7509, 0.2173, 0.0855, -0.1587]",
      "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]: [-0.0181, 0.8837, 0.6067, -0.3801, -0.0223, -0.0376, 0.9996, 0.9878, 1.3396, 0.6811, -0.2039, 0.733, 0.7326, 0.9961]\nstate[eef_state]: left_x=0.3001 left_y=0.0021 left_z=0.1563 left_yaw=0.0055 left_pitch=-0.0961 left_roll=-0.0045 left_gripper=0.9996 right_x=0.2724 right_y=0.2049 right_z=0.1138 right_yaw=0.0035 right_pitch=-0.0414 right_roll=0.0654 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.6205, 7.0359, 1.6728, -0.0708, 0.0073, -0.0171, 0.1846, -6.3111, 6.612, 1.3895, 0.5348, 0.1148, 0.0855]",
      "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]: [-0.0181, 0.8883, 0.6064, -0.382, -0.0219, -0.038, 0.9996, 0.2626, 1.3788, 0.696, -0.2028, -0.6365, -0.5304, 0.9963]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1545 left_yaw=0.0054 left_pitch=-0.1029 left_roll=-0.0049 left_gripper=0.9996 right_x=0.2923 right_y=0.191 right_z=0.099 right_yaw=1.0705 right_pitch=-0.115 right_roll=0.0851 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.0171, 7.0222, 1.6972, -0.0122, -0.0366, -0.0171, -0.2667, -5.9829, 7.5145, 0.9988, -0.5739, -0.0415, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f7f27d26fc8d504e304f06716d1e6b9172f763c0d5e75d2a51fdba6bee74c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31e20148d8abda427d5e22ae9f298b1e0ca102daf13c52ae5c4f0fdd5928b9ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e75037f9043e96ca48ed9b57d8955ba964b796238969e3f708c9b726b8f43f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAsKEAgSGAI4AUIIdGhpbmtpbmcSDCL3SXFiibc/U+wwLhoM2pm1rdE7YpJTeVExIjD5hbnxvNUr70gIqCYNXEYfvC8Q/iMAQcSYXmSeeh10rfZqOK4hirPFiZ09tvnB6GYquQqmW9NH6wh+UHVCYJtjX6xuHaBH+PqwjoctN+O7zwjJZ8x2P2540qGtvrtA32Q7TwS0aruHuOWLxacMFzxlpyZwZjARamb7Yh9pcuRXUzFKVtZ1TPs8yo71d90Vtbk4VZbH2nOg+6T3zIN9ohYjtarPU8X/XsCnxd1z3aUo6q3HQfoK1prtBfcSUj0fMlWJacno+2mg5DvHtgBEwpQp/8tjzXqrPbBoOwtvAG20zHK851iDQMPKxxa5v9thou5BLo98mu7wWVK2/s2+++lme6JX+z7u8/GXGOPRVB+Kx+W2tGv2ApQqBRZJdp3DyuosVlClN8VleDGh7aHs4s2Ct4QuigrLuPlbdNJkKn5x81uJbTy7i909MMAk7PEaM2+1FbrPqqxBwBqOlWGtGN2PCQ8y391XGP4Aly7YYyEr0V1F39HH/rqNf02Y9bMV3kQ3dE/1KwWhWmsXcjmNFBkXUqEmZrXfjOF0ATj1Mpl4LhlgJDsbOYxHvw0RQLWFDI/7kkUvTKehuWtnPEzd/t5m9ASXfQBf6R6MsVGMVGZbnjbez2sS4BuX1uANNKJo0WFQDibFGUATVZSJ54ah5rQGfIk5Rh5NAm3bUKjqj3Comkf4ZTLpTseLrpiW1JY0oY9QoxJQaMd+35gqX0IhLAMZdwtByxIZgz22mvtG9e6UjwLnCHqR6w+x2LKEdqRSZf7dDFLU4ixdIZTZDSSvbC0vXNxYDkq/5qJRAD0zGfJ4I+fKdEz5sIbsZREye4boHh+JYf2CoPqnfpq2R/LWUHLOJwPK8TdzqW292t4y7XulZLLLcSmxcSh/lzCl8yShQbvIxq2s3YaNMgUBYlcdzIcXtJ/tT7XPvWPiLhBC5JHDSke2utvjsa0eAUiKEnUsHC2JyeqtcGc7CdfCPaEMZGD7IBGbFUaR50dl5TbellzAQHpRzn3yW0jcw7JmCKFgjkc2mquW5doqAzMNEv3KnCeLKq5v5jbmnWLMkQN0UGyo0q2qQtp06o3SGwCZq1le8IIyJtTjkQwKiV1qtDoO0A1uuHOK453Wnd9laUHtC9ZEr9PdJpKu/yhacspaq5gDeJDgKdG5nzn1vUh8SuJHB6gCFb8Ug300iTmW6nryVu+JJXZot20hC4LLixYHQr/nqKtwL3N1NXA6kZJ4YYZODEUyPykp6BH6zSUtXv7l0FAmBhvXiFnYx2y+ppy1Y/CqRuMbKcrN3BQt0uPGflC8+IEGGJAwybv8mHw6I6ppA4qlulDBh93AvGtjYGMG0pLCj79jkGoZyLxqgTaK47WzpsL5nAb+Pn7u307YIX23HBCp5pmOecfvQUBcRxuHO4thc0ISnSWHYN/XatOxoBfXnqy3XSLzChOLTAPzXL5tGr6AKt9cIgDTzNedc/ZJS3Z674Sy4TJ5b4eDB5ABFyReMZc075OmreFpWnAgVYnEVbT9VXM16xiYWGRnqRhoPpB1HMX4AK47fgpov/kndM4sT8zrPNwnh0MAcW0dFUqubVMaNNCVIXNR8AQ4AO4YFyz7ptyRemi62cIV84jDqRxCaPp4nelHKOPVlkh1Ka2daqNSbtlcvlFPksmqZ13FyzNQNge70CShsKO4yAEodIq05J55BCmqUogSdCybC2Nj7OU642ktNkXKc2y/r6Rnna4J+EJF9y8KcqKDwiFLWWyG+OOnFTsx3pBrZpZ1XXyUGH4cxSM7jhSyIAY5NwM2rRFWm2G91JrzY9ij/7MB78yThafbI4mm6zb3hB2I1l6EDc7+KJn2Q1Py4BP73FTuzBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NCYUNJzMupnuNaWfUTQJKs",
      "input": {
        "note": "Pen now appears diagonal; rotating the wrist the rest of the way to ~90° so it runs along the jaw column, and lowering for a closer view.",
        "targets": {
          "right_yaw": 1.57,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NCYUNJzMupnuNaWfUTQJKs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.8932, 0.6064, -0.3813, -0.0219, -0.038, 0.9996, 0.1673, 1.7695, 0.9592, -0.5014, -0.8394, -1.092, 0.9965]\nstate[eef_state]: left_x=0.3003 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1071 left_roll=-0.0048 left_gripper=0.9996 right_x=0.3054 right_y=0.1885 right_z=0.053 right_yaw=1.4365 right_pitch=-0.1465 right_roll=0.113 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -2.0308, 6.9949, 1.663, -0.0415, -0.0122, -0.0122, -0.4171, -9.1829, 6.8718, 0.2759, -0.7595, -0.0708, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca365183c5f3de744c43ed1291efd7929b9584f28e7ae7262f9749c1aab56ad9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154979961d61392c843c9366405a048c2ec35f565865b287f3dd834f679700b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e299b2e489a40b5baa16d92475ace2153d90d89121660f35d9beef5f8500f5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.098 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]: [-0.0181, 0.8837, 0.6067, -0.3801, -0.0223, -0.0376, 0.9996, 0.9878, 1.3396, 0.6811, -0.2039, 0.733, 0.7326, 0.9961]\nstate[eef_state]: left_x=0.3001 left_y=0.0021 left_z=0.1563 left_yaw=0.0055 left_pitch=-0.0961 left_roll=-0.0045 left_gripper=0.9996 right_x=0.2724 right_y=0.2049 right_z=0.1138 right_yaw=0.0035 right_pitch=-0.0414 right_roll=0.0654 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.6205, 7.0359, 1.6728, -0.0708, 0.0073, -0.0171, 0.1846, -6.3111, 6.612, 1.3895, 0.5348, 0.1148, 0.0855]",
      "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]: [-0.0181, 0.8883, 0.6064, -0.382, -0.0219, -0.038, 0.9996, 0.2626, 1.3788, 0.696, -0.2028, -0.6365, -0.5304, 0.9963]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1545 left_yaw=0.0054 left_pitch=-0.1029 left_roll=-0.0049 left_gripper=0.9996 right_x=0.2923 right_y=0.191 right_z=0.099 right_yaw=1.0705 right_pitch=-0.115 right_roll=0.0851 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.0171, 7.0222, 1.6972, -0.0122, -0.0366, -0.0171, -0.2667, -5.9829, 7.5145, 0.9988, -0.5739, -0.0415, 0.0024]",
      "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]: [-0.0181, 0.8932, 0.6064, -0.3813, -0.0219, -0.038, 0.9996, 0.1673, 1.7695, 0.9592, -0.5014, -0.8394, -1.092, 0.9965]\nstate[eef_state]: left_x=0.3003 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1071 left_roll=-0.0048 left_gripper=0.9996 right_x=0.3054 right_y=0.1885 right_z=0.053 right_yaw=1.4365 right_pitch=-0.1465 right_roll=0.113 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -2.0308, 6.9949, 1.663, -0.0415, -0.0122, -0.0122, -0.4171, -9.1829, 6.8718, 0.2759, -0.7595, -0.0708, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca365183c5f3de744c43ed1291efd7929b9584f28e7ae7262f9749c1aab56ad9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154979961d61392c843c9366405a048c2ec35f565865b287f3dd834f679700b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e299b2e489a40b5baa16d92475ace2153d90d89121660f35d9beef5f8500f5b",
        "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_01NVDNigyxouFNyHNyHSBGKG",
      "input": {
        "note": "With the wrist turned ~85°, the pen runs along the image vertical but sits right of the jaw column (image-right is now arm-forward); shifting forward ~2.5 cm and a bit left, then descending.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.205,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NVDNigyxouFNyHNyHSBGKG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.894, 0.6064, -0.3801, -0.0219, -0.038, 0.9996, 0.1635, 1.8057, 0.9966, -0.6201, -0.8692, -1.2839, 0.9966]\nstate[eef_state]: left_x=0.3005 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1068 left_roll=-0.0048 left_gripper=0.9996 right_x=0.293 right_y=0.1887 right_z=0.0508 right_yaw=1.5584 right_pitch=-0.1361 right_roll=0.0871 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.9487, 7.4325, 1.663, -0.0513, -0.0415, -0.0171, -0.3624, -8.7316, 6.6393, 0.2076, -0.6813, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d666935c02bb44225c97030488094074908e2d6885fa425d9b0c20760a1d1ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a35daebb5aa773f817bf703f84990c561e38bd09f648eddf1f8d9f6136b8775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b705af53351d8e6675995df55bf294f03dc4710ca2ca170fb31885a9626bf69",
        "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 · 5.029 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]: [-0.0181, 0.8883, 0.6064, -0.382, -0.0219, -0.038, 0.9996, 0.2626, 1.3788, 0.696, -0.2028, -0.6365, -0.5304, 0.9963]\nstate[eef_state]: left_x=0.3 left_y=0.002 left_z=0.1545 left_yaw=0.0054 left_pitch=-0.1029 left_roll=-0.0049 left_gripper=0.9996 right_x=0.2923 right_y=0.191 right_z=0.099 right_yaw=1.0705 right_pitch=-0.115 right_roll=0.0851 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.0171, 7.0222, 1.6972, -0.0122, -0.0366, -0.0171, -0.2667, -5.9829, 7.5145, 0.9988, -0.5739, -0.0415, 0.0024]",
      "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]: [-0.0181, 0.8932, 0.6064, -0.3813, -0.0219, -0.038, 0.9996, 0.1673, 1.7695, 0.9592, -0.5014, -0.8394, -1.092, 0.9965]\nstate[eef_state]: left_x=0.3003 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1071 left_roll=-0.0048 left_gripper=0.9996 right_x=0.3054 right_y=0.1885 right_z=0.053 right_yaw=1.4365 right_pitch=-0.1465 right_roll=0.113 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -2.0308, 6.9949, 1.663, -0.0415, -0.0122, -0.0122, -0.4171, -9.1829, 6.8718, 0.2759, -0.7595, -0.0708, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.894, 0.6064, -0.3801, -0.0219, -0.038, 0.9996, 0.1635, 1.8057, 0.9966, -0.6201, -0.8692, -1.2839, 0.9966]\nstate[eef_state]: left_x=0.3005 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1068 left_roll=-0.0048 left_gripper=0.9996 right_x=0.293 right_y=0.1887 right_z=0.0508 right_yaw=1.5584 right_pitch=-0.1361 right_roll=0.0871 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.9487, 7.4325, 1.663, -0.0513, -0.0415, -0.0171, -0.3624, -8.7316, 6.6393, 0.2076, -0.6813, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d666935c02bb44225c97030488094074908e2d6885fa425d9b0c20760a1d1ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a35daebb5aa773f817bf703f84990c561e38bd09f648eddf1f8d9f6136b8775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b705af53351d8e6675995df55bf294f03dc4710ca2ca170fb31885a9626bf69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QgKEAgSGAI4AUIIdGhpbmtpbmcSDA6Qea/fx3xtzn0cWRoMi5bkBBH8YwKPY3aAIjDu+iBYTBjEakd1+9syEPpk1wmfCF+qi+1z0Xnn9WTFkFBOJ3kvG6IWUsyER7YdhIcqigjc1B+MXeZDKeIi3f2B3uFMagoIfGvPRZk3+r90T/ynxps1GNVYduBII8bAMoPMRQDuvFPJhnGXtYh6VLv5E00gWHMx8Hh8wZcKM62yYrnddce+15H3sxJHj168palTDvw0EhFMskdvReEe3p2+nsVNPpoGIa/+QDRyK9S4I1MkzxAJKfDsjGs3JuChdGKVrczeGnOglENEHrrLuq9TqQl7lx4V7NMfQmP2baAirWEKXVvH1e9l+MrxKDIkoAtEQ4yQlnP+2BQ4L5+ICB5DJGrFNcGBCPmuqWCVwRy2pMBEwmuEVlyrNPYx0+C+xX3VGaQ2vBRO7fs29QoszD0DzgleuHlPiaZxDomMxYt62yvsbPyouq9R5/kV68EKGIYOSoAgPNvfLLxq7hk9M1w+LXbWEuM60BmUiJrTTELx1Bw/Lixzyo88vZkiJgfv0cozO3ogvZdNv7uXWVFzPtoViT5dMM2EhpK10JBEANb+hwV6XcgfQnAmJ7Zl/6BzVmNzX3tNfuXL8oiarAOvY0H+WrQPrRtEgXOkRP//rDy01QcNKgecHj4KQXqN5OYB8hykIS+BLeIP9gawaVgHqx8+mk6uLXINVrNfUWSQAb0pHMPPrY/P2bmPlLvLHIYxarwk0PrnxR7rIqkRVTR8HU5euWYv6NePb83I0Fsg/D1FLl8SvH310kBPDRzxW5wNfP8B+ZOCESud1P+1FVz7thPuHI2Pgyv8dl26nUq2iAYhYUeTwJmZ1GEzl9unPyhcChhAUmww3UUjayhfdKGdtojK8VJmLedvJvyqo02WeqWIQkR/hhcm5QW2P9zqZhs5h1MqBOE8iBfEuDkSCZVgbsHmFa9WRLzLe1gLhYGCVo8GH41K4qAPR1fgP59JSNUdVxR0DrtRh7XQWP0aA590ssnCB03cZScvEygu1hS8Bd3ev/O7MwCCpE3WC/UWbwItRE1/V+uDHWwpXvJyEhYIlN2jW4mf6Jp3mq1L+2VpsoFJ+bS0OFzm9LweE5S0bJSEHFHwJUwzqgUrJX3Wv27CM2la1ZJri3LdWEiFprHb5HbVxnBPdz/tJ5VzzldAi8AbuoaHTXabexUrLgTF3t59Ez6p/90Yaqc6MV43Xu6cDDaBeU5ujQAfImciivxsoqqRdZGkJ9fHwfJWWf/i8ygHjvNh0ch+Nx53YHdEKesTW96byQ6YCcweclhthikRIslHsyUDlwHJKBoVCM7PtNSzucu0am9M3WHO8ZfT9s4qKmvfjwuASJoRZ+3AoFfcRTwFU4MBKYimWTWLEjmxPrFx20INnO097C5dHfetxVykxEKqJSUf57hWOncxEWWUKZl1pkaBMTFoKkifTrhv4+FFRAAWund68AJ/kjh53MoH0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017t2NKEs5rLCmGnUPkJiAYi",
      "input": {
        "note": "The last move stalled (likely a wrist limit at yaw ~1.56). Easing yaw back to 1.3 while shifting forward and down toward the pen.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.2,
          "right_yaw": 1.3,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017t2NKEs5rLCmGnUPkJiAYi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.894, 0.6064, -0.3805, -0.0219, -0.038, 0.9996, 0.1635, 1.8057, 0.9966, -0.6201, -0.8696, -1.2839, 0.9966]\nstate[eef_state]: left_x=0.3005 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1071 left_roll=-0.0048 left_gripper=0.9996 right_x=0.293 right_y=0.1887 right_z=0.0508 right_yaw=1.5584 right_pitch=-0.1358 right_roll=0.0872 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.894, 7.159, 1.619, -0.0513, -0.0171, -0.0171, -0.253, -8.7863, 6.653, 0.2173, -0.6862, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e98ed40737756be4b6f39305c560b86be04ec270222fdec3b754794f47187bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273e9e5f5a8aca76af454101425163cfe19835256effff4c8d1a1bd8f4169575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0900efbc897a032560f1986305106368bdbe1af1eb461ec2a2693058f78452f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.281 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]: [-0.0181, 0.8932, 0.6064, -0.3813, -0.0219, -0.038, 0.9996, 0.1673, 1.7695, 0.9592, -0.5014, -0.8394, -1.092, 0.9965]\nstate[eef_state]: left_x=0.3003 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1071 left_roll=-0.0048 left_gripper=0.9996 right_x=0.3054 right_y=0.1885 right_z=0.053 right_yaw=1.4365 right_pitch=-0.1465 right_roll=0.113 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -2.0308, 6.9949, 1.663, -0.0415, -0.0122, -0.0122, -0.4171, -9.1829, 6.8718, 0.2759, -0.7595, -0.0708, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0181, 0.894, 0.6064, -0.3801, -0.0219, -0.038, 0.9996, 0.1635, 1.8057, 0.9966, -0.6201, -0.8692, -1.2839, 0.9966]\nstate[eef_state]: left_x=0.3005 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1068 left_roll=-0.0048 left_gripper=0.9996 right_x=0.293 right_y=0.1887 right_z=0.0508 right_yaw=1.5584 right_pitch=-0.1361 right_roll=0.0871 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.9487, 7.4325, 1.663, -0.0513, -0.0415, -0.0171, -0.3624, -8.7316, 6.6393, 0.2076, -0.6813, -0.0659, -0.0073]",
      "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]: [-0.0181, 0.894, 0.6064, -0.3805, -0.0219, -0.038, 0.9996, 0.1635, 1.8057, 0.9966, -0.6201, -0.8696, -1.2839, 0.9966]\nstate[eef_state]: left_x=0.3005 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1071 left_roll=-0.0048 left_gripper=0.9996 right_x=0.293 right_y=0.1887 right_z=0.0508 right_yaw=1.5584 right_pitch=-0.1358 right_roll=0.0872 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.894, 7.159, 1.619, -0.0513, -0.0171, -0.0171, -0.253, -8.7863, 6.653, 0.2173, -0.6862, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e98ed40737756be4b6f39305c560b86be04ec270222fdec3b754794f47187bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273e9e5f5a8aca76af454101425163cfe19835256effff4c8d1a1bd8f4169575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0900efbc897a032560f1986305106368bdbe1af1eb461ec2a2693058f78452f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAkKEAgSGAI4AUIIdGhpbmtpbmcSDOsVqHE14fSnQLZO4RoMBuPKkT+DzESAQvgMIjCnUsqR2F+n/AulZaZNDQWg/A5aF+SGjWbnRf5LUiciAgZI2BGLS7m2HoNrwztMZk4qzQgNr542uy96LUZXsaWdo8PFq4ToN4Y58rcnyo8RKLSqineZ/k6A/60410T/2BCVBsriRBHfwVXMwfpZTLExJ59VkIYGzkaRviV/wTERjgu3/zlKIPKmYA6xotxZ2uBG14AUV09NBpR/EopU++sb0kEwGAYkuCL2IKwwR/94PgOydo2xczjtqn8XdgVBHWaQjHO6CC/QsFe3JBagOOC3dvUNAbu/lRiIxZ9xD8YCfKUlsuafcGacW92fx7VvYgZa1YhLxC8xeb8CufcF7c3JVMXWWCQGbx/lNoAg1Zd8XVh6kDsGN6mENbSC5JUt5FE82pnuwqZDFzASF3ZXNkR4+3yHuenjnLNDsiSU9g8oQJtlO9H/F5NvM6S6rGTllITknHnsyzQKLB1zOamW5zyoz6HLdQSHE0H1GRT46IB84ycqRwykKZS0lR4ok3e6+zL9CCetIX22C58yxPI6KB/puuppBopH73I6SdVEH4sXl38iH0l4kjnzkuzs/kjnyxWckPtXU9t+uHBJ+Vc7lR/kPajgCy8S84ERZhaE72PRI1E2pphdGclWPlkKxrl9737zOejc9m1ojfEZ00M4TvnxXqfZWis5ytKYp/4LkSrr0Xm/F0j+oe10uEWY50fHHbd8gszy4LlVIlvNhXgWIQFKfxiUzZeFNaNuPTouGuYfYQ2rVmX9QD0ijT+R9wtwsE7Ea0zYnHIoWhkPGUISObneFX86mt4z7LU3mAHnRLuvI0L1y+AgruM07mCaOS6mzMJXNNDdrMLzQYz1s3Cs7m7rT0zCd7ltBJ+SOCUpiGSmVPsrkoqYkSBSDIXsuFyP9SZNfbkMbex5TnOCSFk14Ltfva1Ls7oJYIvM//fmtZUCgu2kLtmfiM5kUthhoWKufKyFqDAsg5v5190iqB9O8RI+XAuP7iXVF9edUBk50zR5aMfgwJSAL3HutAQO8Zfl9JCNnA4mo9xMIql/I00bpskdyOvwWfug+Lw0F2oEMS3UNo9LGLmBlCoEfN6F7PHupWl82O7gAELGQlgKqe2mFhBJXNHYqvlZqrKthzd6m0M0Vih1iT+fXfVOlyx00SbFfAp4N7sZl5wZ6tBBn2ytzT7GuMOHl0C4tiyPVFVxYSIQZC6Dy3qB/8xwIYdh9Pt6quUJPlxHX3+hMHplA5ehaARhIa+vIlZWHlH8C3W66wD9L3OiAo7pK8amFxU92GVt5759rU8rAtxljySeAuRqhRkvJqaa+aSo1LdzekUnobAYXim9se+r9CWAvpCwwUPSJSDhhhq1BSa2jQNOWsm9Rt4o/HhEbBBxFmUBOCqUUAwbCiXl9hQzrsLbVzA3y09SzLM4+oo3+YrX4RWSC581Q5LAAjHkT6t635pjNnyD8Nud03wQP9yMvJqv8t8JiSskKuGKaVlVxvGfQUVUUAu229bY3CItGp8W52BOI9wUjdFIhCkXVJv4bV3/PHW9v5QXIrwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0142keH8cnaybPhW7TAUBGNY",
      "input": {
        "note": "Right arm is not responding at this wrist angle; backing yaw off to 0.8 and raising to unstick the IK.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.19,
          "right_yaw": 0.8,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0142keH8cnaybPhW7TAUBGNY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0174, 0.8986, 0.6064, -0.3771, -0.0216, -0.038, 0.9996, 0.2626, 1.6997, 0.8776, -0.5114, -0.7769, -1.2015, 0.9966]\nstate[eef_state]: left_x=0.3012 left_y=0.0022 left_z=0.1525 left_yaw=0.0059 left_pitch=-0.1083 left_roll=-0.005 left_gripper=0.9996 right_x=0.2669 right_y=0.2037 right_z=0.0448 right_yaw=1.5762 right_pitch=-0.2067 right_roll=0.0348 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -2.2496, 7.1316, 1.6386, -0.0562, -0.0073, -0.0122, 1.1009, -9.0051, 5.9556, 0.9206, -0.4762, 0.1441, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9ed6143e34ddbd0dc9d18a73a556fc56a04da60c50c55a2f46bd46ed00104cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae679119e7fd26992a581f6dd788945658b88ad9c5e7ea16e5fb3310bae04ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdf2bb03b95ed6e5058fd2df42170693ccae123911ce68b01d89963598c6bb2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 4.535 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]: [-0.0181, 0.894, 0.6064, -0.3801, -0.0219, -0.038, 0.9996, 0.1635, 1.8057, 0.9966, -0.6201, -0.8692, -1.2839, 0.9966]\nstate[eef_state]: left_x=0.3005 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1068 left_roll=-0.0048 left_gripper=0.9996 right_x=0.293 right_y=0.1887 right_z=0.0508 right_yaw=1.5584 right_pitch=-0.1361 right_roll=0.0871 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.9487, 7.4325, 1.663, -0.0513, -0.0415, -0.0171, -0.3624, -8.7316, 6.6393, 0.2076, -0.6813, -0.0659, -0.0073]",
      "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]: [-0.0181, 0.894, 0.6064, -0.3805, -0.0219, -0.038, 0.9996, 0.1635, 1.8057, 0.9966, -0.6201, -0.8696, -1.2839, 0.9966]\nstate[eef_state]: left_x=0.3005 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1071 left_roll=-0.0048 left_gripper=0.9996 right_x=0.293 right_y=0.1887 right_z=0.0508 right_yaw=1.5584 right_pitch=-0.1358 right_roll=0.0872 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.894, 7.159, 1.619, -0.0513, -0.0171, -0.0171, -0.253, -8.7863, 6.653, 0.2173, -0.6862, -0.0855, -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]: [-0.0174, 0.8986, 0.6064, -0.3771, -0.0216, -0.038, 0.9996, 0.2626, 1.6997, 0.8776, -0.5114, -0.7769, -1.2015, 0.9966]\nstate[eef_state]: left_x=0.3012 left_y=0.0022 left_z=0.1525 left_yaw=0.0059 left_pitch=-0.1083 left_roll=-0.005 left_gripper=0.9996 right_x=0.2669 right_y=0.2037 right_z=0.0448 right_yaw=1.5762 right_pitch=-0.2067 right_roll=0.0348 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -2.2496, 7.1316, 1.6386, -0.0562, -0.0073, -0.0122, 1.1009, -9.0051, 5.9556, 0.9206, -0.4762, 0.1441, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9ed6143e34ddbd0dc9d18a73a556fc56a04da60c50c55a2f46bd46ed00104cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae679119e7fd26992a581f6dd788945658b88ad9c5e7ea16e5fb3310bae04ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf2bb03b95ed6e5058fd2df42170693ccae123911ce68b01d89963598c6bb2d",
        "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_016bKSJ22iaMTtdHRMtMJ5XB",
      "input": {
        "note": "Right arm is stuck at a wrist limit, so switching to the left arm: grey plush toy sits just under/left of the left jaws; descending onto it to grab it for the left (plush) basket.",
        "targets": {
          "left_x": 0.28,
          "left_y": 0.02,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016bKSJ22iaMTtdHRMtMJ5XB",
      "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]: [0.0975, 1.0889, 0.1635, 0.3195, 0.0341, 0.0494, 0.9996, 0.2604, 1.7042, 0.8577, -0.4862, -0.7609, -1.1942, 0.9967]\nstate[eef_state]: left_x=0.2946 left_y=0.0264 left_z=0.046 left_yaw=0.0269 left_pitch=-0.0454 left_roll=0.0337 left_gripper=0.9996 right_x=0.2663 right_y=0.2007 right_z=0.0376 right_yaw=1.5651 right_pitch=-0.2217 right_roll=0.0352 right_gripper=0.9967\nstate[joint_eff]: [0.3897, -0.0342, 3.1248, 0.315, 0.4176, -0.3053, -0.0122, -0.0068, -7.5009, 6.8991, 0.4078, -0.5934, -0.1197, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cdeb0889b2704d4e261393b12aad682e524c7d382e967fca2898e21521ed342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8f19ea4b86bd56d01cf4dab264090749f0911d4450b7bb751ee13c7621b2dda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6215294b937e44f6699f8acf1dad501ef786c47c11761f5453d2eee0b377d7b9",
        "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 · 13.04 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]: [-0.0181, 0.894, 0.6064, -0.3805, -0.0219, -0.038, 0.9996, 0.1635, 1.8057, 0.9966, -0.6201, -0.8696, -1.2839, 0.9966]\nstate[eef_state]: left_x=0.3005 left_y=0.002 left_z=0.1532 left_yaw=0.0054 left_pitch=-0.1071 left_roll=-0.0048 left_gripper=0.9996 right_x=0.293 right_y=0.1887 right_z=0.0508 right_yaw=1.5584 right_pitch=-0.1358 right_roll=0.0872 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.894, 7.159, 1.619, -0.0513, -0.0171, -0.0171, -0.253, -8.7863, 6.653, 0.2173, -0.6862, -0.0855, -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]: [-0.0174, 0.8986, 0.6064, -0.3771, -0.0216, -0.038, 0.9996, 0.2626, 1.6997, 0.8776, -0.5114, -0.7769, -1.2015, 0.9966]\nstate[eef_state]: left_x=0.3012 left_y=0.0022 left_z=0.1525 left_yaw=0.0059 left_pitch=-0.1083 left_roll=-0.005 left_gripper=0.9996 right_x=0.2669 right_y=0.2037 right_z=0.0448 right_yaw=1.5762 right_pitch=-0.2067 right_roll=0.0348 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -2.2496, 7.1316, 1.6386, -0.0562, -0.0073, -0.0122, 1.1009, -9.0051, 5.9556, 0.9206, -0.4762, 0.1441, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.0975, 1.0889, 0.1635, 0.3195, 0.0341, 0.0494, 0.9996, 0.2604, 1.7042, 0.8577, -0.4862, -0.7609, -1.1942, 0.9967]\nstate[eef_state]: left_x=0.2946 left_y=0.0264 left_z=0.046 left_yaw=0.0269 left_pitch=-0.0454 left_roll=0.0337 left_gripper=0.9996 right_x=0.2663 right_y=0.2007 right_z=0.0376 right_yaw=1.5651 right_pitch=-0.2217 right_roll=0.0352 right_gripper=0.9967\nstate[joint_eff]: [0.3897, -0.0342, 3.1248, 0.315, 0.4176, -0.3053, -0.0122, -0.0068, -7.5009, 6.8991, 0.4078, -0.5934, -0.1197, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cdeb0889b2704d4e261393b12aad682e524c7d382e967fca2898e21521ed342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8f19ea4b86bd56d01cf4dab264090749f0911d4450b7bb751ee13c7621b2dda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6215294b937e44f6699f8acf1dad501ef786c47c11761f5453d2eee0b377d7b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxgcKEAgSGAI4AUIIdGhpbmtpbmcSDAbosMdpuwWbvL2KvBoMdNuqIoRsqYAq1af+IjDPqwCO1Kzl5THEGk40cFnZBT5KGlu96yuGShMDzreRryx8MTKYfxzL6es0qSFU7JUq4wZ4Pg8XNgrfR2NIGEn3Y3AUrc17uwzK26zC744dBB3kQdfuxfliO1slN/ftGFzs6NkhLwFd7kehxE7Fh6437LzNCIzksEjTBdDRLMA5Iw+5sb4mp2owjxznHSf5mI/hL2cc020Rs4h+t+znTy3+XGQSahUHLhdOx7fMJP9effHyvdzp/19MqsODa9W7l/ZUzlD5IslkxwnMDaAwe9H9pCfxAcpSwOmJnVSar4IC0o5XoKdO204pR7iVfXmFZTpNVri1d+FbdsWr+Wg/MVqjmktnwfoU+okpHEj9ILbfwL87Nfg88GS/hQgHMVrz/voCDW5wAO2sQL9lrvzI3P64FuzUwaiYUacrh++2WW7a5/p58bG2mEA+HNEjrBEgayF7Rx+i6o900N/jbxvgy49pLSmfyw4B7UCgY8RpI2qgIPh75PniVaKtQ+lrgtxn1NFyxom56ckJpYpuG3UZskDr0jhz3irKHsODNkBWje/0NRnx3BiDgcSeU1marVdafZig9pBhBWR5sWdrD22/CUY6dn0uUDxH8QiVDAcyUsMVEvWDzA6AW5amC/1ISEqKL92dIQwA10haKHK6ApvDayW7P13FRyHMvWqEi+r/HDSK+FZfxAO1OfdMEe9vP1HwmuyK3SV1KlEWAUVFav13MXZD+DRZwSuKfuIgebAfiDwBGJhOO74xXNiEcYG4iCK7wuNSGEDJzgRZ/GnLt9z9NypjBSZ1zo+7nWp3v6v7iAjgdaqgtMc/SL35Z+GtV9NG8XhXpDEHQGvE94u+lRP+DvS2Ug9EV0CGrPTJ/NdP9g3jJj1PcgxckQU49DKe1uZXN+itLDcSEas1xDHCkFHpRk5CCIZDMOcwf1JuEIoQ71jGZwY/DvftfC5vhXGGwjA19eApoh7rmlx3yKuJjxnHtqxInwngF2HQ9W5ughU2ofKWKDuK80Ni+++yNXzuhnKv1uMwRWGUpehqTqT3xT+p+lSBZrbhv/OZkd//5SLuqxqAdrQSjPC2nrEqAA5HoebC01RvhfXoWOpcr4hmLS/OynTSiPYvY/a2RzklJGqITmJe//qyxJTV4lgRNwY0c9jq4Qer5vXMaxQEbsaF5fUI8Sq+604soYyNcxmLgawkTSCmzUC6b8iqb1SpY5hDVi5yos68gWAILDkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F2EN1PF5tX6UoT3p5VMYyW",
      "input": {
        "note": "Left jaws are resting on the grey plush; pressing slightly and closing to pinch 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_01F2EN1PF5tX6UoT3p5VMYyW",
      "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]: [0.1005, 1.2579, 0.1322, 0.654, 0.0082, 0.0528, 0.015, 0.2604, 1.7042, 0.8577, -0.4778, -0.7601, -1.1973, 0.9967]\nstate[eef_state]: left_x=0.3165 left_y=0.0341 left_z=0.056 left_yaw=0.0499 left_pitch=0.0877 left_roll=0.058 left_gripper=0.015 right_x=0.2679 right_y=0.201 right_z=0.0379 right_yaw=1.5647 right_pitch=-0.2202 right_roll=0.0245 right_gripper=0.9967\nstate[joint_eff]: [-0.4171, -0.9094, 2.5368, 0.7937, 0.2125, -0.0464, 0.7155, -0.1983, -7.1179, 5.2171, 0.5788, -0.4567, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9c6d69e786aed4315535677d5ae455ecdc866f5bc53c16a2db600352ecf00c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2de5c69e92cbdca9e8d24744e62c60f064108146ccda7c9d4781b7c2f80a25b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb8b8cd03a11fb59b31f9a81760c23149f23182dbd0ca4cf5490aff0341867d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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