adhoc

completed
2026-09-23T00:03:19.584003+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
332 s
total steps
366
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I'll start with the yellow marker, which sits right under the left gripper.
agent noteTwo baskets sit in front of the arms. The table holds plush toys (a gray cat, a teddy bear, a small keychain bear) and markers (one yellow, two black). My plan is toys into the left basket and markers into the right. The yellow marker is right under the left jaws, so I'm lowering the left arm to table level to grab it.
move_to
left_z0.0000left_x0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8013, 0.617, -0.379, -0.0216, -0.0292, 0.9994, -0.0154, 0.7986, 0.6109, -0.371, -0.0132, -0.0162, 0.9998] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2971 right_y=0.0013 right_z=0.1838 right_yaw=0.0006 right_pitch=-0.0004 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4444, -1.7573, 9.2923, 1.746, -0.0366, 0.1343, -0.0708, -0.7863, -1.6479, 9.7983, 1.707, -0.0855, -0.022, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I'll start with the yellow marker, which sits right under the left gripper.
move_to({"targets": {"left_z": 0.0, "left_x": 0.3}, "note": "Two baskets sit in front of the arms. The table holds plush toys (a gray cat, a teddy bear, a small keychain bear) and markers (one yellow, two black). My plan is toys into the left basket and markers into the right. The yellow marker is right under the left jaws, so I'm lowering the left arm to table level to grab it."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe yellow marker now runs between the open jaws at table level. Closing to grab it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0227, 1.5852, 0.0578, 0.9585, -0.0288, -0.0116, 0.9993, -0.0193, 0.8036, 0.6086, -0.3767, -0.0124, -0.0162, 0.9998] state[eef_state]: left_x=0.3024 left_y=0.0018 left_z=0.0011 left_yaw=-0.007 left_pitch=-0.0058 left_roll=0.0186 left_gripper=0.9993 right_x=0.2964 right_y=0.0001 right_z=0.1801 right_yaw=-0.0038 right_pitch=-0.0134 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.4308, -3.0974, 2.5231, 1.1941, 0.022, -0.0366, -0.0269, 0.0752, -1.3333, 7.241, 1.8926, -0.0464, -0.0415, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The yellow marker now runs between the open jaws at table level. Closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe gripper settled at 0.16 (about 1.5 cm), so the marker is held. Lifting it clear of the table.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0227, 1.5951, 0.0532, 0.9768, -0.0288, -0.0147, 0.164, -0.0193, 0.8032, 0.6086, -0.3782, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.302 left_y=0.0018 left_z=0.0008 left_yaw=-0.0054 left_pitch=-0.002 left_roll=0.016 left_gripper=0.164 right_x=0.2962 right_y=0.0 right_z=0.1799 right_yaw=-0.0041 right_pitch=-0.0145 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.1573, -4.7521, 3.4256, 1.5458, -0.0171, 0.0122, 1.1404, -0.2256, -1.2786, 7.0496, 1.7509, -0.0366, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15}, "note": "The gripper settled at 0.16 (about 1.5 cm), so the marker is held. Lifting it clear of the table."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteMarker is lifted. The right basket is past the left arm's reach, so I'm carrying the marker toward the table centre, into the gap between the teddy and the black markers, where the right arm can pick it up.
move_to
left_y-0.3800left_x0.3000left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0227, 0.8455, 0.4625, -0.197, -0.0284, -0.0189, 0.1728, -0.02, 0.8078, 0.6075, -0.3847, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3011 left_y=0.0018 left_z=0.1386 left_yaw=-0.0034 left_pitch=-0.0168 left_roll=0.0125 left_gripper=0.1728 right_x=0.2955 right_y=-0.0002 right_z=0.1768 right_yaw=-0.0047 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0342, -2.2906, 9.1966, 1.5849, -0.022, 0.022, 1.0281, -0.294, -1.7162, 7.1316, 1.7802, -0.0269, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.38, "left_x": 0.3, "left_z": 0.15}, "note": "Marker is lifted. The right basket is past the left arm's reach, so I'm carrying the marker toward the table centre, into the gap between the teddy and the black markers, where the right arm can pick it up."})
tool
executing move_to over 34 steps (3.4s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe left wrist camera shows the right basket just ahead, so the left arm may be able to drop the marker straight in. Raising and moving forward so the marker hangs over the basket's left side.
move_to
left_x0.4500left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1957, 1.9919, 1.5528, -0.6426, -0.8761, -0.9699, 0.1728, -0.02, 0.8097, 0.6075, -0.3851, -0.0124, -0.0166, 0.9998] state[eef_state]: left_x=0.2986 left_y=-0.3781 left_z=0.1415 left_yaw=-0.0103 left_pitch=-0.0376 left_roll=0.0083 left_gripper=0.1728 right_x=0.2955 right_y=-0.0001 right_z=0.1762 right_yaw=-0.0044 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.6085, -10.2222, 8.759, 0.8181, -0.7009, -0.0317, 1.033, -0.0615, -1.4838, 7.0359, 1.7411, -0.0659, -0.0806, -0.0171] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_z": 0.24}, "note": "The left wrist camera shows the right basket just ahead, so the left arm may be able to drop the marker straight in. Raising and moving forward so the marker hangs over the basket's left side."})
tool
executing move_to over 12 steps (1.2s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteIn the top view the left gripper is over the right basket's left side. Opening to drop the yellow marker in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8997, 2.3253, 2.4218, -0.9543, -0.7017, -0.6498, 0.1728, -0.02, 0.8127, 0.6067, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4484 left_y=-0.3756 left_z=0.2328 left_yaw=0.0022 left_pitch=-0.0528 left_roll=0.0051 left_gripper=0.1728 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0047 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1983, -12.7248, 8.7726, 1.3016, -0.3492, 0.149, 1.0281, -0.1026, -1.6205, 7.241, 1.707, -0.0317, -0.0513, -0.0171] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "In the top view the left gripper is over the right basket's left side. Opening to drop the yellow marker in."})
tool
executing move_to over 9 steps (0.9s)
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 yellow marker is in the right basket. Moving the left arm back toward the toys and bringing the right arm over the nearer black marker, which the right wrist camera shows to its left.
move_to
left_x0.3000left_y-0.1200left_z0.2000right_x0.2800right_y0.0900right_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]: [-0.8997, 2.3253, 2.4218, -0.9565, -0.7017, -0.6624, 0.9953, -0.02, 0.8127, 0.6067, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4482 left_y=-0.3754 left_z=0.2325 left_yaw=0.009 left_pitch=-0.0541 left_roll=-0.0034 left_gripper=0.9953 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0047 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1026, -13.3538, 6.3111, 1.3553, -0.3004, 0.0659, -0.0024, -0.1436, -1.306, 7.0359, 1.7363, -0.022, -0.0611, -0.0171] 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": {"left_x": 0.3, "left_y": -0.12, "left_z": 0.2, "right_x": 0.28, "right_y": 0.09, "right_z": 0.12}, "note": "The yellow marker is in the right basket. Moving the left arm back toward the toys and bringing the right arm over the nearer black marker, which the right wrist camera shows to its left."})
tool
executing move_to over 23 steps (2.3s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteIn the right wrist camera one black marker lies along the jaw column and runs down under the fingertips. Lowering the right arm to table level to grab it.
move_to
right_z0.0000right_y0.0950
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]: [-0.6895, 1.1053, 0.8761, -0.5148, -0.5655, -0.4965, 0.9966, 0.5632, 0.9276, 0.4496, -0.2146, 0.4377, 0.3138, 0.9998] state[eef_state]: left_x=0.3056 left_y=-0.1247 left_z=0.2023 left_yaw=0.0278 left_pitch=-0.0456 left_roll=-0.0191 left_gripper=0.9966 right_x=0.2782 right_y=0.0913 right_z=0.1171 right_yaw=0.0262 right_pitch=-0.0585 right_roll=-0.013 right_gripper=0.9998 state[joint_eff]: [0.1299, -3.5897, 6.612, 1.5214, -0.1099, 0.0659, 0.1245, 0.3761, -1.9487, 6.4342, 1.7216, 0.3736, 0.0806, -0.0171] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0, "right_y": 0.095}, "note": "In the right wrist camera one black marker lies along the jaw column and runs down under the fingertips. Lowering the right arm to table level to grab it."})
tool
executing move_to over 8 steps (0.8s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe black marker is centred between the right jaws. Closing on it.
move_to
right_gripper0.0000right_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]: [-0.6895, 1.111, 0.8673, -0.5293, -0.5575, -0.4976, 0.9967, 0.5751, 1.4387, 0.1638, 0.5873, 0.4545, 0.3378, 0.9998] state[eef_state]: left_x=0.3029 left_y=-0.124 left_z=0.1942 left_yaw=0.0235 left_pitch=-0.0711 left_roll=-0.0051 left_gripper=0.9967 right_x=0.2844 right_y=0.0962 right_z=0.0118 right_yaw=0.0119 right_pitch=-0.0486 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1709, -3.7538, 7.4872, 1.6874, -0.3492, -0.0611, 0.0024, 0.4444, -2.1949, 1.8667, 0.0611, -0.0317, -0.2711, -0.0171] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": 0.0}, "note": "The black marker is centred between the right jaws. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe right gripper reads 0.15, so the black marker is held. Lifting and carrying it over the right basket, which sits straight ahead of the right arm.
move_to
right_z0.2400right_x0.4500right_y0.1200
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]: [-0.6895, 1.111, 0.8673, -0.5297, -0.5564, -0.4973, 0.9967, 0.5743, 1.5246, 0.1493, 0.7361, 0.4561, 0.334, 0.1502] state[eef_state]: left_x=0.3029 left_y=-0.1241 left_z=0.1941 left_yaw=0.0224 left_pitch=-0.0719 left_roll=-0.0052 left_gripper=0.9967 right_x=0.2904 right_y=0.0995 right_z=0.0108 right_yaw=0.0127 right_pitch=-0.0071 right_roll=0.0221 right_gripper=0.1502 state[joint_eff]: [-0.1162, -3.4256, 6.8581, 1.4481, -0.2955, -0.0317, -0.0122, -0.2256, -2.5504, 3.5624, 1.2723, 0.1197, -0.0317, 0.9988] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.24, "right_x": 0.45, "right_y": 0.12}, "note": "The right gripper reads 0.15, so the black marker is held. Lifting and carrying it over the right basket, which sits straight ahead of the right arm."})
tool
executing move_to over 15 steps (1.5s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe right wrist camera shows the basket directly below, with the yellow marker already inside. Releasing the black marker.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6903, 1.1126, 0.8673, -0.5323, -0.5564, -0.4976, 0.9967, 0.3641, 1.5299, 1.2293, -0.2874, 0.2768, 0.2005, 0.1557] state[eef_state]: left_x=0.3025 left_y=-0.1242 left_z=0.1932 left_yaw=0.0221 left_pitch=-0.0751 left_roll=-0.0028 left_gripper=0.9967 right_x=0.4465 right_y=0.1224 right_z=0.2276 right_yaw=0.0207 right_pitch=-0.0048 right_roll=0.0243 right_gripper=0.1557 state[joint_eff]: [-0.1299, -3.5214, 6.8308, 1.4969, -0.2808, -0.0611, -0.0122, -0.5949, -7.3368, 8.8957, 1.6093, 0.0757, -0.0269, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The right wrist camera shows the basket directly below, with the yellow marker already inside. Releasing the black marker."})
tool
executing move_to over 9 steps (0.9s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteBoth the yellow and the black marker are now in the right basket. One more thin marker stands upright in the middle of the table, left of the right arm, so I'm moving the right arm above it.
move_to
right_x0.3000right_y0.1900right_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]: [-0.6903, 1.113, 0.8673, -0.5308, -0.5529, -0.4973, 0.9967, 0.3641, 1.5414, 1.2293, -0.3092, 0.2756, 0.194, 0.995] state[eef_state]: left_x=0.3026 left_y=-0.1249 left_z=0.1931 left_yaw=0.0192 left_pitch=-0.0758 left_roll=-0.005 left_gripper=0.9967 right_x=0.4449 right_y=0.1219 right_z=0.2182 right_yaw=0.0249 right_pitch=-0.0362 right_roll=0.0084 right_gripper=0.995 state[joint_eff]: [-0.0068, -3.453, 6.7761, 1.5018, -0.315, -0.0317, -0.0122, -0.212, -8.3487, 6.9949, 1.8828, 0.0415, 0.0659, 0.0171] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.19, "right_z": 0.12}, "note": "Both the yellow and the black marker are now in the right basket. One more thin marker stands upright in the middle of the table, left of the right arm, so I'm moving the right arm above it."})
tool
executing move_to over 12 steps (1.2s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe right wrist camera shows the blue pen lying straight along the jaw column, running under the fingertips. Lowering to table level.
move_to
right_z0.0000right_y0.1950
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]: [-0.6903, 1.1137, 0.8673, -0.5312, -0.5526, -0.4973, 0.9967, 0.8398, 1.359, 0.7048, -0.1478, 0.6006, 0.495, 0.9963] state[eef_state]: left_x=0.3026 left_y=-0.125 left_z=0.1928 left_yaw=0.019 left_pitch=-0.0769 left_roll=-0.0045 left_gripper=0.9967 right_x=0.3023 right_y=0.193 right_z=0.1136 right_yaw=0.0761 right_pitch=-0.0767 right_roll=-0.0204 right_gripper=0.9963 state[joint_eff]: [-0.0479, -3.1658, 6.8034, 1.4383, -0.2613, -0.0317, -0.0073, 0.212, -6.4479, 6.4479, 1.5458, 0.4664, 0.1343, 0.1197] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0, "right_y": 0.195}, "note": "The right wrist camera shows the blue pen lying straight along the jaw column, running under the fingertips. Lowering to table level."})
tool
executing move_to over 8 steps (0.8s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe pen is centred between the right jaws at table level. Closing on it.
move_to
right_gripper0.0000right_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4976, 0.9967, 0.8448, 1.7092, 0.5037, 0.4126, 0.6109, 0.5087, 0.9964] state[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0194 left_pitch=-0.0795 left_roll=-0.0025 left_gripper=0.9967 right_x=0.306 right_y=0.1974 right_z=0.0132 right_yaw=0.0666 right_pitch=-0.0649 right_roll=-0.0082 right_gripper=0.9964 state[joint_eff]: [-0.0068, -3.5214, 6.8991, 1.4628, -0.2564, -0.0708, -0.0122, -0.1709, -4.4786, 2.6188, 0.5788, 0.0366, -0.1978, -0.0024] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": -0.005}, "note": "The pen is centred between the right jaws at table level. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe right gripper reads 0.15, so the pen is held. Carrying it over the right basket.
move_to
right_z0.2400right_x0.4500right_y0.1200
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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4976, 0.9967, 0.844, 1.7718, 0.4942, 0.5446, 0.6189, 0.5053, 0.1472] state[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0194 left_pitch=-0.0795 left_roll=-0.0025 left_gripper=0.9967 right_x=0.3132 right_y=0.2034 right_z=0.0105 right_yaw=0.0635 right_pitch=-0.0183 right_roll=0.0272 right_gripper=0.1472 state[joint_eff]: [-0.0615, -3.4667, 6.7761, 1.4774, -0.232, -0.022, -0.0122, -0.1026, -4.3966, 3.7949, 1.1795, 0.1441, -0.022, 1.0134] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.24, "right_x": 0.45, "right_y": 0.12}, "note": "The right gripper reads 0.15, so the pen is held. Carrying it over the right basket."})
tool
executing move_to over 15 steps (1.5s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe pen hangs over the right basket, which already holds the other markers. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6903, 1.1145, 0.8673, -0.535, -0.5526, -0.4976, 0.9967, 0.3443, 1.5227, 1.24, -0.2955, 0.2295, 0.1776, 0.1518] state[eef_state]: left_x=0.3022 left_y=-0.1246 left_z=0.192 left_yaw=0.0195 left_pitch=-0.0803 left_roll=-0.0018 left_gripper=0.9967 right_x=0.4474 right_y=0.1216 right_z=0.2328 right_yaw=0.0526 right_pitch=-0.0032 right_roll=0.0328 right_gripper=0.1518 state[joint_eff]: [-0.3077, -3.453, 6.8171, 1.4432, -0.2662, -0.0171, -0.0122, -0.3761, -6.5026, 8.7179, 1.5067, 0.0171, -0.0952, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The pen hangs over the right basket, which already holds the other markers. Releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe pen hit the basket's near rim and fell onto the table just in front of it; the yellow and black markers are inside. Moving the right arm back above the pen to pick it up again.
move_to
right_x0.3700right_y0.1000right_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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4973, 0.9967, 0.3393, 1.5345, 1.2404, -0.3168, 0.2165, 0.1684, 0.9953] state[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0192 left_pitch=-0.0795 left_roll=-0.0022 left_gripper=0.9967 right_x=0.4463 right_y=0.1211 right_z=0.2232 right_yaw=0.0632 right_pitch=-0.0366 right_roll=0.0229 right_gripper=0.9953 state[joint_eff]: [-0.0068, -3.3846, 6.7761, 1.4579, -0.2759, -0.0317, -0.0122, 0.335, -8.3214, 7.0085, 1.8779, 0.1343, 0.022, -0.1783] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.1, "right_z": 0.12}, "note": "The pen hit the basket's near rim and fell onto the table just in front of it; the yellow and black markers are inside. Moving the right arm back above the pen to pick it up again."})
tool
executing move_to over 7 steps (0.7s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe pen lies ahead, just in front of the basket and angled almost side to side, parallel to the jaws. Moving forward and turning the wrist about 68° so the jaws close across it.
move_to
right_x0.4300right_y0.0850right_z0.0800right_yaw-1.1900
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]: [-0.6903, 1.1183, 0.8673, -0.5335, -0.5522, -0.4976, 0.9967, 0.3576, 1.3468, 0.6655, -0.004, 0.2169, 0.1684, 0.9964] state[eef_state]: left_x=0.3026 left_y=-0.125 left_z=0.1911 left_yaw=0.0193 left_pitch=-0.0823 left_roll=-0.0005 left_gripper=0.9967 right_x=0.3655 right_y=0.0999 right_z=0.1083 right_yaw=0.0797 right_pitch=-0.1081 right_roll=0.0023 right_gripper=0.9964 state[joint_eff]: [-0.2393, -3.6991, 6.8718, 1.5263, -0.2076, -0.0562, -0.0122, 0.1983, -5.8462, 7.2547, 2.0733, 0.2466, 0.0855, 0.1001] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.085, "right_z": 0.08, "right_yaw": -1.19}, "note": "The pen lies ahead, just in front of the basket and angled almost side to side, parallel to the jaws. Moving forward and turning the wrist about 68\u00b0 so the jaws close across it."})
tool
executing move_to over 9 steps (0.9s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteAfter the wrist turn, the pen now lines up with the jaw column, across the jaws. Lowering to table level to grab it.
move_to
right_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6903, 1.1236, 0.8673, -0.5369, -0.5491, -0.4976, 0.9967, 0.519, 2.2524, 1.7573, -0.9554, 0.8566, 1.4845, 0.9965] state[eef_state]: left_x=0.3023 left_y=-0.1254 left_z=0.1888 left_yaw=0.0175 left_pitch=-0.0903 left_roll=0.0036 left_gripper=0.9967 right_x=0.4574 right_y=0.1117 right_z=0.0691 right_yaw=-0.9906 right_pitch=-0.151 right_roll=0.0621 right_gripper=0.9965 state[joint_eff]: [-0.1573, -3.7538, 6.8034, 1.5556, -0.3101, -0.0562, -0.0122, -1.0051, -12.4923, 5.4906, -0.5934, 0.6716, 0.2369, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": -0.005}, "note": "After the wrist turn, the pen now lines up with the jaw column, across the jaws. Lowering to table level to grab it."})
tool
executing move_to over 5 steps (0.5s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe pen sits a few cm ahead of the fingertips along the tool's forward direction, which is turned about 57° clockwise. Sliding about 3 cm that way so the pen ends up between the jaws.
move_to
right_x0.4700right_y0.0840right_z-0.0050
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6903, 1.124, 0.8673, -0.5354, -0.5488, -0.4976, 0.9967, 0.5133, 2.3356, 1.6455, -0.7765, 0.8444, 1.5021, 0.9966] state[eef_state]: left_x=0.3025 left_y=-0.1257 left_z=0.1889 left_yaw=0.0171 left_pitch=-0.0896 left_roll=0.0026 left_gripper=0.9967 right_x=0.4544 right_y=0.1087 right_z=0.0066 right_yaw=-1.0068 right_pitch=-0.1646 right_roll=0.06 right_gripper=0.9966 state[joint_eff]: [-0.1846, -3.412, 6.8718, 1.4725, -0.2955, -0.0269, -0.0073, 0.4718, -10.865, 5.0393, 0.2857, 0.6081, -0.0317, -0.0024] 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": 0.47, "right_y": 0.084, "right_z": -0.005}, "note": "The pen sits a few cm ahead of the fingertips along the tool's forward direction, which is turned about 57\u00b0 clockwise. Sliding about 3 cm that way so the pen ends up between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteThe arm stalled at x≈0.46, its table-level reach limit, with the pen still just beyond the fingertips. Tipping the tool forward to extend reach toward the pen.
move_to
right_x0.4900right_y0.1000right_z0.0000right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6903, 1.124, 0.8673, -0.5362, -0.5488, -0.4976, 0.9967, 0.5159, 2.3474, 1.6409, -0.7044, 0.8524, 1.4948, 0.9966] state[eef_state]: left_x=0.3024 left_y=-0.1256 left_z=0.1888 left_yaw=0.0172 left_pitch=-0.0902 left_roll=0.0031 left_gripper=0.9967 right_x=0.4638 right_y=0.1143 right_z=0.0031 right_yaw=-0.9924 right_pitch=-0.1531 right_roll=0.1104 right_gripper=0.9966 state[joint_eff]: [-0.0889, -3.5214, 6.9538, 1.4579, -0.2857, -0.0464, -0.0073, 0.0615, -11.3573, 4.8615, 0.3736, 0.3932, -0.1587, -0.0171] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.1, "right_z": 0.0, "right_pitch": 0.4}, "note": "The arm stalled at x\u22480.46, its table-level reach limit, with the pen still just beyond the fingertips. Tipping the tool forward to extend reach toward the pen."})
tool
executing move_to over 19 steps (1.9s)
step 249
top_cam
camera top_cam step 249
left_cam
camera left_cam step 249
right_cam
camera right_cam step 249
assistant
agent noteWith the tool tipped forward the pen is now at jaw level but about 3 cm to the tool's right. Shifting that way and pressing down to table level.
move_to
right_x0.4640right_y0.0880right_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]: [-0.6907, 1.1248, 0.8673, -0.5358, -0.5488, -0.4976, 0.9967, 0.5575, 2.4958, 1.5578, -0.1711, 1.3827, 1.2369, 0.9966] state[eef_state]: left_x=0.3025 left_y=-0.1258 left_z=0.1886 left_yaw=0.0168 left_pitch=-0.0905 left_roll=0.0034 left_gripper=0.9967 right_x=0.4887 right_y=0.1045 right_z=0.0166 right_yaw=-1.0095 right_pitch=0.3843 right_roll=0.1522 right_gripper=0.9966 state[joint_eff]: [-0.1436, -3.5897, 6.7761, 1.4774, -0.2613, -0.0317, -0.0122, -0.5265, -9.4154, 4.3556, 0.9744, 0.1148, -0.2466, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.464, "right_y": 0.088, "right_z": -0.01}, "note": "With the tool tipped forward the pen is now at jaw level but about 3 cm to the tool's right. Shifting that way and pressing down to table level."})
tool
executing move_to over 2 steps (0.2s)
step 251
top_cam
camera top_cam step 251
left_cam
camera left_cam step 251
right_cam
camera right_cam step 251
assistant
agent noteThe last move barely registered and the pen is still right of the jaw column. Shifting a bit further toward the tool's right.
move_to
right_x0.4520right_y0.0750right_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]: [-0.6903, 1.1252, 0.8673, -0.5354, -0.5491, -0.4976, 0.9967, 0.561, 2.4695, 1.4479, -0.0292, 1.4361, 1.1831, 0.9966] state[eef_state]: left_x=0.3026 left_y=-0.1257 left_z=0.1886 left_yaw=0.0175 left_pitch=-0.0903 left_roll=0.0036 left_gripper=0.9967 right_x=0.4742 right_y=0.0954 right_z=0.0175 right_yaw=-1.0261 right_pitch=0.4355 right_roll=0.1583 right_gripper=0.9966 state[joint_eff]: [-0.0889, -3.0291, 6.8171, 1.5067, -0.2466, -0.0269, -0.0122, -0.4991, -10.0171, 3.8359, 0.7399, -0.4078, 0.0708, -0.0171] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.452, "right_y": 0.075, "right_z": 0.0}, "note": "The last move barely registered and the pen is still right of the jaw column. Shifting a bit further toward the tool's right."})
tool
executing move_to over 2 steps (0.2s)
step 253
top_cam
camera top_cam step 253
left_cam
camera left_cam step 253
right_cam
camera right_cam step 253
assistant
agent noteThe pen now runs between the two jaw tips visible at the bottom corners of the right wrist view, close to centre. Closing to grab 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]: [-0.6903, 1.1259, 0.8673, -0.5354, -0.5484, -0.4976, 0.9967, 0.5583, 2.4287, 1.3258, 0.1059, 1.4673, 1.1301, 0.9966] state[eef_state]: left_x=0.3026 left_y=-0.1258 left_z=0.1883 left_yaw=0.017 left_pitch=-0.0913 left_roll=0.0037 left_gripper=0.9967 right_x=0.4573 right_y=0.0827 right_z=0.019 right_yaw=-1.0405 right_pitch=0.4654 right_roll=0.1603 right_gripper=0.9966 state[joint_eff]: [-0.212, -3.2889, 6.8171, 1.4774, -0.2369, -0.0171, -0.0122, -1.0051, -9.6479, 3.7538, 1.0476, -0.0122, 0.1099, -0.0073] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The pen now runs between the two jaw tips visible at the bottom corners of the right wrist view, close to centre. Closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 263
assistant
agent noteThe pen close came up empty: the pen is at the edge of the right arm's reach. I'll come back to it if calls remain and do the toys first. Raising the right arm clear, and lowering the left arm onto the small brown bear just ahead of its jaws.
move_to
right_gripper1.0000right_z0.2000right_x0.3500right_pitch0.0000right_yaw0.0000left_x0.3300left_y-0.1200left_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]: [-0.6907, 1.1297, 0.8673, -0.5362, -0.5488, -0.4976, 0.9967, 0.5541, 2.4207, 1.2808, 0.2195, 1.4883, 1.0805, 0.0142] state[eef_state]: left_x=0.3027 left_y=-0.126 left_z=0.1871 left_yaw=0.0171 left_pitch=-0.0946 left_roll=0.0069 left_gripper=0.9967 right_x=0.4534 right_y=0.0777 right_z=0.0215 right_yaw=-1.0674 right_pitch=0.4841 right_roll=0.1918 right_gripper=0.0142 state[joint_eff]: [-0.2256, -3.8496, 6.9402, 1.5165, -0.2662, -0.0122, -0.0122, -0.5949, -10.1538, 3.0974, 0.8571, -0.1343, 0.1929, 1.2088] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.2, "right_x": 0.35, "right_pitch": 0.0, "right_yaw": 0.0, "left_x": 0.33, "left_y": -0.12, "left_z": 0.02}, "note": "The pen close came up empty: the pen is at the edge of the right arm's reach. I'll come back to it if calls remain and do the toys first. Raising the right arm clear, and lowering the left arm onto the small brown bear just ahead of its jaws."})
tool
executing move_to over 17 steps (1.7s)
step 280
assistant
agent noteThe small brown bear fills the left wrist view, right at the jaws. Closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5953, 1.5631, 0.4358, 0.3088, -0.4908, -0.4332, 0.9967, 0.2913, 1.1141, 0.7284, -0.1341, 0.2379, 0.3466, 0.997] state[eef_state]: left_x=0.3234 left_y=-0.1141 left_z=0.0157 left_yaw=0.0354 left_pitch=-0.1372 left_roll=0.0366 left_gripper=0.9967 right_x=0.3588 right_y=0.0678 right_z=0.1925 right_yaw=-0.0968 right_pitch=0.0434 right_roll=0.1933 right_gripper=0.997 state[joint_eff]: [0.1709, -5.8462, 4.2051, 1.663, -0.1148, 0.1099, -0.0073, -0.2803, -4.3556, 9.9214, 1.663, 0.0855, 0.0171, -0.0757] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The small brown bear fills the left wrist view, right at the jaws. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 290
assistant
agent noteThe left gripper settled at 0.21, so the small bear is held. Lifting it and carrying it over the left basket, which sits straight ahead.
move_to
left_z0.2600left_x0.4700left_y-0.1000
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]: [-0.5949, 1.5764, 0.429, 0.3275, -0.4931, -0.4347, 0.2091, 0.2878, 1.1183, 0.7288, -0.16, 0.2241, 0.3332, 0.9977] state[eef_state]: left_x=0.3229 left_y=-0.1132 left_z=0.0124 left_yaw=0.0385 left_pitch=-0.1375 left_roll=0.0377 left_gripper=0.2091 right_x=0.3561 right_y=0.0682 right_z=0.1855 right_yaw=-0.0813 right_pitch=0.0144 right_roll=0.1773 right_gripper=0.9977 state[joint_eff]: [-0.1983, -6.2701, 5.4359, 1.2283, -0.2564, -0.0269, 1.0281, 0.2256, -4.0137, 6.9812, 2.0098, 0.188, 0.105, 0.0611] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.26, "left_x": 0.47, "left_y": -0.1}, "note": "The left gripper settled at 0.21, so the small bear is held. Lifting it and carrying it over the left basket, which sits straight ahead."})
tool
executing move_to over 16 steps (1.6s)
step 306
assistant
agent noteThe top view shows the left gripper over the left basket. Releasing the small bear into it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3302, 1.6833, 1.5806, -0.6266, -0.3126, -0.2577, 0.2116, 0.2878, 1.1221, 0.7261, -0.1677, 0.2237, 0.3328, 0.9978] state[eef_state]: left_x=0.4702 left_y=-0.0999 left_z=0.2504 left_yaw=0.0582 left_pitch=-0.1239 left_roll=0.0193 left_gripper=0.2116 right_x=0.355 right_y=0.068 right_z=0.1814 right_yaw=-0.0808 right_pitch=0.0012 right_roll=0.1721 right_gripper=0.9978 state[joint_eff]: [0.3897, -8.1162, 8.5402, 1.3114, -0.0855, 0.1783, 0.8864, -0.0205, -3.9863, 7.2137, 1.7753, 0.0073, -0.0269, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The top view shows the left gripper over the left basket. Releasing the small bear into it."})
tool
executing move_to over 8 steps (0.8s)
step 314
assistant
agent noteThe small bear is in the left basket. Next toy: the large teddy bear in the middle of the table. Moving the left arm above it.
move_to
left_x0.3300left_y-0.2100left_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]: [-0.3264, 1.6947, 1.5776, -0.6575, -0.3099, -0.2623, 0.9952, 0.2874, 1.1221, 0.7261, -0.1677, 0.2234, 0.3325, 0.9978] state[eef_state]: left_x=0.4668 left_y=-0.0973 left_z=0.2384 left_yaw=0.0648 left_pitch=-0.1665 left_roll=0.0315 left_gripper=0.9952 right_x=0.355 right_y=0.0679 right_z=0.1814 right_yaw=-0.0806 right_pitch=0.0012 right_roll=0.172 right_gripper=0.9978 state[joint_eff]: [-0.4718, -9.5385, 7.0496, 1.8632, -0.2076, -0.0073, 0.0024, -0.3487, -3.5897, 7.0359, 1.7265, 0.022, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.21, "left_z": 0.12}, "note": "The small bear is in the left basket. Next toy: the large teddy bear in the middle of the table. Moving the left arm above it."})
tool
executing move_to over 11 steps (1.1s)
step 325
assistant
agent noteThe teddy is just ahead and slightly right of the left jaws. Shifting a little forward and right and lowering onto its body to grab it.
move_to
left_x0.3500left_y-0.2300left_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]: [-0.8349, 1.5749, 1.0245, -0.448, -0.6033, -0.6582, 0.9966, 0.2878, 1.124, 0.7261, -0.1745, 0.223, 0.3325, 0.9978] state[eef_state]: left_x=0.3307 left_y=-0.2105 left_z=0.1179 left_yaw=0.0199 left_pitch=-0.2031 left_roll=0.0569 left_gripper=0.9966 right_x=0.3542 right_y=0.0679 right_z=0.1794 right_yaw=-0.0799 right_pitch=-0.0071 right_roll=0.169 right_gripper=0.9978 state[joint_eff]: [-0.0479, -7.0769, 6.2291, 1.2967, -0.5104, -0.0708, 0.1343, -0.0752, -3.8222, 7.0359, 1.8095, 0.0464, -0.0659, -0.0122] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.23, "left_z": 0.03}, "note": "The teddy is just ahead and slightly right of the left jaws. Shifting a little forward and right and lowering onto its body to grab it."})
tool
executing move_to over 6 steps (0.6s)
step 331
assistant
agent noteThe teddy's body is between the left jaws. Closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8299, 1.8008, 0.9504, -0.1471, -0.6147, -0.6708, 0.9967, 0.2874, 1.124, 0.7261, -0.1753, 0.2234, 0.3328, 0.9978] state[eef_state]: left_x=0.35 left_y=-0.2263 left_z=0.0446 left_yaw=0.039 left_pitch=-0.1947 left_roll=0.0531 left_gripper=0.9967 right_x=0.3542 right_y=0.0676 right_z=0.1792 right_yaw=-0.0808 right_pitch=-0.0077 right_roll=0.1689 right_gripper=0.9978 state[joint_eff]: [-0.3487, -6.3111, 4.465, 0.7937, -0.1343, 0.1392, 0.0024, -0.3487, -3.6444, 7.0085, 1.7558, 0.0073, -0.0269, -0.0122] camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The teddy's body is between the left jaws. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 341
assistant
agent noteThat close came up empty: the teddy sits a few cm beyond the fingertips. Opening and moving forward about 4 cm onto its torso.
move_to
left_gripper1.0000left_x0.3900left_y-0.2350left_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]: [-0.8295, 1.8137, 0.9497, -0.1421, -0.6174, -0.6735, 0.0145, 0.2878, 1.124, 0.7261, -0.1753, 0.2237, 0.3328, 0.9978] state[eef_state]: left_x=0.3501 left_y=-0.2256 left_z=0.0402 left_yaw=0.0439 left_pitch=-0.1985 left_roll=0.0595 left_gripper=0.0145 right_x=0.3541 right_y=0.0677 right_z=0.1792 right_yaw=-0.0808 right_pitch=-0.0077 right_roll=0.1687 right_gripper=0.9978 state[joint_eff]: [-0.0615, -9.5932, 5.6274, 1.1209, -0.3394, 0.0073, 0.8523, -0.1573, -3.7128, 7.0085, 1.7265, 0.0366, -0.022, -0.0122] camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.39, "left_y": -0.235, "left_z": 0.03}, "note": "That close came up empty: the teddy sits a few cm beyond the fingertips. Opening and moving forward about 4 cm onto its torso."})
tool
executing move_to over 10 steps (1.0s)
step 351
assistant
agent noteThe teddy's body now fills the right half of the left wrist view. Shifting about 3 cm right to centre the jaws on it.
move_to
left_y-0.2600left_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]: [-0.7658, 1.9335, 1.0462, -0.1104, -0.598, -0.6273, 0.9952, 0.2874, 1.124, 0.7261, -0.1753, 0.2234, 0.3325, 0.9978] state[eef_state]: left_x=0.3829 left_y=-0.2252 left_z=0.0253 left_yaw=0.0685 left_pitch=-0.2073 left_roll=0.076 left_gripper=0.9952 right_x=0.3542 right_y=0.0676 right_z=0.1792 right_yaw=-0.0806 right_pitch=-0.0077 right_roll=0.1685 right_gripper=0.9978 state[joint_eff]: [0.1162, -8.5128, 8.0342, 1.3016, -0.149, 0.1294, -0.105, -0.3214, -3.6581, 7.0222, 1.7411, 0.022, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.26, "left_z": 0.02}, "note": "The teddy's body now fills the right half of the left wrist view. Shifting about 3 cm right to centre the jaws on it."})
tool
executing move_to over 4 steps (0.4s)
step 355
assistant
agent noteThe teddy's paw sits right at the jaw column, with the body just beyond. Closing to grab the paw and body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.823, 2.0075, 1.1397, -0.1539, -0.6235, -0.683, 0.9966, 0.2878, 1.124, 0.7261, -0.1757, 0.2234, 0.3325, 0.9978] state[eef_state]: left_x=0.3824 left_y=-0.2553 left_z=0.0211 left_yaw=0.0619 left_pitch=-0.2041 left_roll=0.0681 left_gripper=0.9966 right_x=0.3541 right_y=0.0678 right_z=0.1791 right_yaw=-0.0803 right_pitch=-0.0081 right_roll=0.1684 right_gripper=0.9978 state[joint_eff]: [-0.4171, -8.9641, 7.2137, 0.9402, -0.3394, -0.0708, 0.1343, -0.0889, -3.7128, 7.2274, 1.6777, 0.0171, -0.0317, -0.0122] camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The teddy's paw sits right at the jaw column, with the body just beyond. Closing to grab the paw and body."})
tool
executing move_to over 10 steps (1.0s)
step 365
assistant
agent noteThe task is only partly done: 3 of 6 objects are in baskets. I sorted by type: markers go in the right basket, plush toys in the left. - In the right basket: the yellow marker (the left arm dropped it straight in) and a black marker (right arm). - In the left basket: the small brown keychain bear (left arm). - Still on the table: the blue pen, the large teddy bear and the gray plush cat. - The blue pen hit the right basket's near rim and landed right in front of it. That spot is at the edge of the right arm's reach (x ≈ 0.46–0.49 even with the tool tipped forward), and a regrasp came up empty. - Two tries at the teddy with the left arm came up empty: it sat beyond the fingertips, then to the side of them. - I never got to the gray cat because the call budget ran out.
done
hindsight- Top-camera layout: the arm bases sit near the bottom-left and bottom-right image corners. Each basket is roughly straight ahead of its own arm, at x≈0.45–0.5, y≈−0.1 (left arm) and y≈+0.12 (right arm). Dropping from z≈0.24 there works, but at x=0.45 a long pen can catch the near rim. Drop at x≈0.48 or lower the object into the basket. - The left arm can reach the right basket's left side at y=−0.375, x=0.45, z=0.24. Cross-drops work, so no handover is needed. - Markers lying radially (along the jaw column in the wrist view) grasp reliably: hover at z≈0.12, descend to z≈0, close. The settled reading is ≈0.15. - Plush toys: the wrist view makes them look closer than they are. Move 4–5 cm forward of where they appear before descending, and aim for a narrow part (head or limb) centred on the jaw column. - Don't let objects fall near the basket rims: that area is at the reach limit (x>0.46 at table level). - Budget: 6 objects need about 5 calls each. Combine moves (open + reposition, or park the arm + approach) and skip separate hover steps whenever the wrist view already shows alignment.
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8253, 2.0167, 1.1481, -0.1524, -0.625, -0.6888, 0.0126, 0.2878, 1.124, 0.7261, -0.1749, 0.2237, 0.3328, 0.9978] state[eef_state]: left_x=0.3834 left_y=-0.2576 left_z=0.0201 left_yaw=0.0635 left_pitch=-0.2024 left_roll=0.0641 left_gripper=0.0126 right_x=0.3542 right_y=0.0677 right_z=0.1793 right_yaw=-0.0808 right_pitch=-0.0073 right_roll=0.1688 right_gripper=0.9978 state[joint_eff]: [-0.1846, -11.0017, 4.8889, 1.1306, -0.2466, 0.0366, 0.8425, -0.2667, -3.7402, 7.1043, 1.7509, 0.0269, -0.0171, -0.0122] camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
done({"summary": "The task is only partly done: 3 of 6 objects are in baskets. I sorted by type: markers go in the right basket, plush toys in the left.\n- In the right basket: the yellow marker (the left arm dropped it straight in) and a black marker (right arm).\n- In the left basket: the small brown keychain bear (left arm).\n- Still on the table: the blue pen, the large teddy bear and the gray plush cat.\n - The blue pen hit the right basket's near rim and landed right in front of it. That spot is at the edge of the right arm's reach (x \u2248 0.46\u20130.49 even with the tool tipped forward), and a regrasp came up empty.\n - Two tries at the teddy with the left arm came up empty: it sat beyond the fingertips, then to the side of them.\n - I never got to the gray cat because the call budget ran out.", "hindsight": "- Top-camera layout: the arm bases sit near the bottom-left and bottom-right image corners. Each basket is roughly straight ahead of its own arm, at x\u22480.45\u20130.5, y\u2248\u22120.1 (left arm) and y\u2248+0.12 (right arm). Dropping from z\u22480.24 there works, but at x=0.45 a long pen can catch the near rim. Drop at x\u22480.48 or lower the object into the basket.\n- The left arm can reach the right basket's left side at y=\u22120.375, x=0.45, z=0.24. Cross-drops work, so no handover is needed.\n- Markers lying radially (along the jaw column in the wrist view) grasp reliably: hover at z\u22480.12, descend to z\u22480, close. The settled reading is \u22480.15.\n- Plush toys: the wrist view makes them look closer than they are. Move 4\u20135 cm forward of where they appear before descending, and aim for a narrow part (head or limb) centred on the jaw column.\n- Don't let objects fall near the basket rims: that area is at the reach limit (x>0.46 at table level).\n- Budget: 6 objects need about 5 calls each. Combine moves (open + reposition, or park the arm + approach) and skip separate hover steps whenever the wrist view already shows alignment."})
tool
done: The task is only partly done: 3 of 6 objects are in baskets. I sorted by type: markers go in the right basket, plush toys in the left. - In the right basket: the yellow marker (the left arm dropped it straight in) and a black marker (right arm). - In the left basket: the small brown keychain bear (left arm). - Still on the table: the blue pen, the large teddy bear and the gray plush cat. - The blue pen hit the right basket's near rim and landed right in front of it. That spot is at the edge of the right arm's reach (x ≈ 0.46–0.49 even with the tool tipped forward), and a regrasp came up empty. - Two tries at the teddy with the left arm came up empty: it sat beyond the fingertips, then to the side of them. - I never got to the gray cat because the call budget ran out.
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 · 23.84 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.379, -0.0216, -0.0292, 0.9994, -0.0154, 0.7986, 0.6109, -0.371, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2971 right_y=0.0013 right_z=0.1838 right_yaw=0.0006 right_pitch=-0.0004 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.7573, 9.2923, 1.746, -0.0366, 0.1343, -0.0708, -0.7863, -1.6479, 9.7983, 1.707, -0.0855, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20f6b10570e7bf70654cb11c834a225432eb7e1771d04b082e527470545286ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d0e206958c4d6fcd91cd4f0dc26469823dea955bd07185858f63f7baa7b7e21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d038e03cd39dd9056fe6087236b0da5bec3e78e8f43e9ca614591f63532475fc",
        "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 · 3.257 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.379, -0.0216, -0.0292, 0.9994, -0.0154, 0.7986, 0.6109, -0.371, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2971 right_y=0.0013 right_z=0.1838 right_yaw=0.0006 right_pitch=-0.0004 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.7573, 9.2923, 1.746, -0.0366, 0.1343, -0.0708, -0.7863, -1.6479, 9.7983, 1.707, -0.0855, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20f6b10570e7bf70654cb11c834a225432eb7e1771d04b082e527470545286ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d0e206958c4d6fcd91cd4f0dc26469823dea955bd07185858f63f7baa7b7e21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d038e03cd39dd9056fe6087236b0da5bec3e78e8f43e9ca614591f63532475fc",
        "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"
    },
    {
      "text": "I'll start with the yellow marker, which sits right under the left gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L8XXkPAiszFdmzfKRmgXPP",
      "input": {
        "note": "Two baskets sit in front of the arms. The table holds plush toys (a gray cat, a teddy bear, a small keychain bear) and markers (one yellow, two black). My plan is toys into the left basket and markers into the right. The yellow marker is right under the left jaws, so I'm lowering the left arm to table level to grab it.",
        "targets": {
          "left_x": 0.3,
          "left_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_01L8XXkPAiszFdmzfKRmgXPP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.5852, 0.0578, 0.9585, -0.0288, -0.0116, 0.9993, -0.0193, 0.8036, 0.6086, -0.3767, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0018 left_z=0.0011 left_yaw=-0.007 left_pitch=-0.0058 left_roll=0.0186 left_gripper=0.9993 right_x=0.2964 right_y=0.0001 right_z=0.1801 right_yaw=-0.0038 right_pitch=-0.0134 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -3.0974, 2.5231, 1.1941, 0.022, -0.0366, -0.0269, 0.0752, -1.3333, 7.241, 1.8926, -0.0464, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a13dae5e3e2eeefc7a666d2d300d4c3a73f1c245f38f427d63b875ad5f5c73af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9054f188e7d4630de61b0a444dfbe2654ecb61bff37c55b785f11150a85b3ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1507f8e2e643db7641cbed065d17506bb1474f4669204d18a153aa2f39f77e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 8.041 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.379, -0.0216, -0.0292, 0.9994, -0.0154, 0.7986, 0.6109, -0.371, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2971 right_y=0.0013 right_z=0.1838 right_yaw=0.0006 right_pitch=-0.0004 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.7573, 9.2923, 1.746, -0.0366, 0.1343, -0.0708, -0.7863, -1.6479, 9.7983, 1.707, -0.0855, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.5852, 0.0578, 0.9585, -0.0288, -0.0116, 0.9993, -0.0193, 0.8036, 0.6086, -0.3767, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0018 left_z=0.0011 left_yaw=-0.007 left_pitch=-0.0058 left_roll=0.0186 left_gripper=0.9993 right_x=0.2964 right_y=0.0001 right_z=0.1801 right_yaw=-0.0038 right_pitch=-0.0134 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -3.0974, 2.5231, 1.1941, 0.022, -0.0366, -0.0269, 0.0752, -1.3333, 7.241, 1.8926, -0.0464, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a13dae5e3e2eeefc7a666d2d300d4c3a73f1c245f38f427d63b875ad5f5c73af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9054f188e7d4630de61b0a444dfbe2654ecb61bff37c55b785f11150a85b3ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1507f8e2e643db7641cbed065d17506bb1474f4669204d18a153aa2f39f77e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwYKEAgSGAI4AUIIdGhpbmtpbmcSDG8yeA0epfyNhaOgyBoMpu3sPPeO3pdHGX2PIjCXpxSJd5XpJqa/My1vJWkIP7JzmZJyyMAAHJF74WTXvGrjHsLgyJzJY3zzMEvfBcgqvAVYST1kwBZ951w7AoZGQkQSy4mVqQoZYz6VmLuhAuey4w0KzLohzeN6qT7tD+Bro+WGjOZxDxFl6bpQto3MG9SII+w3+4X44Ntw9+Tl18L/X5B9UU+ox3x1WUTkeiSIxnKTld3pzVN1gWGBTYjRQhvFPLkIBsI1SyZWM3TeGcHACpc34olOfwCYPNKDNL8+te2+QoJRE1jHQ669zNE7aPAZ+1EodTewd+MabTLna7PRYrx7NiDGXfHkarOOTj5bjBaTqTMr3DR13AcKL/ruifxBA1oVr7OViCxMQ6+MN7S0746AI+s0fBokxnc46R02xHy8lR3bMCZJZSY2YT1odHZ3ieDKqRQ+PZF7YcfrvMt1HmFvPC583Y8TaqEJV25z3tw3ZwZWU9hIXEAKszA0rCx9edb+O8So2eJBo9fDTDTmm0Es2hYLJ3y/gnRZp1laN162UWKZaEyRgZnO5knXnAEX7ih5oYrwpcItaxIcb4iF74xWAR8JTmTlDRsJu2izjrkvh4g7Uvd/kHlQ5WYLDcDXZzbS99GP4Py0F3W4RF6azSnsCl/1QtWmPJaUDuelFdMAeE7O0oOkVzif7NL3cGHPZ+EsmhrHHOeD06wlpbru/1QGGnW6JPpSJ+ghq+n0bEfHLYPwV6uNn49YNyNCGZbsi0thh0m94OwsII7euBuDnYIxF75Kutmt54uZAdYUCazXfDQyK+xETEOUBGlzLTvEIDnUuJf5lwSpFNm8SkRuv670nz6xl0E7k/RStNZoG6TJ1yPOAJZFYg+LWL33YhRVIlfV1FhcdwnOsROMRvtOXLO7j/gfaUz349NiQ1+vap6RXDur237ROaBSZl1oUXEeDbDhJWLYvOBI2EAEQGIIFLd5FVkqG7VdvmwfKDW/HG0sBuJJJ30OORzbikt4k6jKTGicxT4/6lA1JmlSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PmPEhA9buTuJfXRp3xEfXe",
      "input": {
        "note": "The yellow marker now runs between the open jaws at table level. Closing to grab it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PmPEhA9buTuJfXRp3xEfXe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.5951, 0.0532, 0.9768, -0.0288, -0.0147, 0.164, -0.0193, 0.8032, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=0.0018 left_z=0.0008 left_yaw=-0.0054 left_pitch=-0.002 left_roll=0.016 left_gripper=0.164 right_x=0.2962 right_y=0.0 right_z=0.1799 right_yaw=-0.0041 right_pitch=-0.0145 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.7521, 3.4256, 1.5458, -0.0171, 0.0122, 1.1404, -0.2256, -1.2786, 7.0496, 1.7509, -0.0366, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9467e0a79f7da5bb230ce6df4cb5fd96d3751d776a23ab13057aaa6aba32466c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a77b0bb6d766bdee81b8cef9f91fe2eb7334f1c95813984c452b8f963920ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85a50fc6f74535d57ffa16aa2834db9b1cb78ad09e73f2455faa96fc5b1c3e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 4.388 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.379, -0.0216, -0.0292, 0.9994, -0.0154, 0.7986, 0.6109, -0.371, -0.0132, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2971 right_y=0.0013 right_z=0.1838 right_yaw=0.0006 right_pitch=-0.0004 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -1.7573, 9.2923, 1.746, -0.0366, 0.1343, -0.0708, -0.7863, -1.6479, 9.7983, 1.707, -0.0855, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.5852, 0.0578, 0.9585, -0.0288, -0.0116, 0.9993, -0.0193, 0.8036, 0.6086, -0.3767, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0018 left_z=0.0011 left_yaw=-0.007 left_pitch=-0.0058 left_roll=0.0186 left_gripper=0.9993 right_x=0.2964 right_y=0.0001 right_z=0.1801 right_yaw=-0.0038 right_pitch=-0.0134 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -3.0974, 2.5231, 1.1941, 0.022, -0.0366, -0.0269, 0.0752, -1.3333, 7.241, 1.8926, -0.0464, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.5951, 0.0532, 0.9768, -0.0288, -0.0147, 0.164, -0.0193, 0.8032, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=0.0018 left_z=0.0008 left_yaw=-0.0054 left_pitch=-0.002 left_roll=0.016 left_gripper=0.164 right_x=0.2962 right_y=0.0 right_z=0.1799 right_yaw=-0.0041 right_pitch=-0.0145 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.7521, 3.4256, 1.5458, -0.0171, 0.0122, 1.1404, -0.2256, -1.2786, 7.0496, 1.7509, -0.0366, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9467e0a79f7da5bb230ce6df4cb5fd96d3751d776a23ab13057aaa6aba32466c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a77b0bb6d766bdee81b8cef9f91fe2eb7334f1c95813984c452b8f963920ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a50fc6f74535d57ffa16aa2834db9b1cb78ad09e73f2455faa96fc5b1c3e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LBwWHPz4dPM7BSqdi4Nt3M",
      "input": {
        "note": "The gripper settled at 0.16 (about 1.5 cm), so the marker is held. Lifting it clear of the table.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LBwWHPz4dPM7BSqdi4Nt3M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.8455, 0.4625, -0.197, -0.0284, -0.0189, 0.1728, -0.02, 0.8078, 0.6075, -0.3847, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3011 left_y=0.0018 left_z=0.1386 left_yaw=-0.0034 left_pitch=-0.0168 left_roll=0.0125 left_gripper=0.1728 right_x=0.2955 right_y=-0.0002 right_z=0.1768 right_yaw=-0.0047 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.2906, 9.1966, 1.5849, -0.022, 0.022, 1.0281, -0.294, -1.7162, 7.1316, 1.7802, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c2ef914b268a5b4001bdb10730ff458adf982587f51c52af3bc917da715fe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21ce9e7166141b64632bd0235b2ff2b1453fc80e3ab2cfccfd4bcdb4b548dbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:edfa95b4e6ec628e584ce547e705d0488bd07d0d15168f87a5a0e1b29a422c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 5.576 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.5852, 0.0578, 0.9585, -0.0288, -0.0116, 0.9993, -0.0193, 0.8036, 0.6086, -0.3767, -0.0124, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3024 left_y=0.0018 left_z=0.0011 left_yaw=-0.007 left_pitch=-0.0058 left_roll=0.0186 left_gripper=0.9993 right_x=0.2964 right_y=0.0001 right_z=0.1801 right_yaw=-0.0038 right_pitch=-0.0134 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -3.0974, 2.5231, 1.1941, 0.022, -0.0366, -0.0269, 0.0752, -1.3333, 7.241, 1.8926, -0.0464, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.5951, 0.0532, 0.9768, -0.0288, -0.0147, 0.164, -0.0193, 0.8032, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=0.0018 left_z=0.0008 left_yaw=-0.0054 left_pitch=-0.002 left_roll=0.016 left_gripper=0.164 right_x=0.2962 right_y=0.0 right_z=0.1799 right_yaw=-0.0041 right_pitch=-0.0145 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.7521, 3.4256, 1.5458, -0.0171, 0.0122, 1.1404, -0.2256, -1.2786, 7.0496, 1.7509, -0.0366, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0227, 0.8455, 0.4625, -0.197, -0.0284, -0.0189, 0.1728, -0.02, 0.8078, 0.6075, -0.3847, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3011 left_y=0.0018 left_z=0.1386 left_yaw=-0.0034 left_pitch=-0.0168 left_roll=0.0125 left_gripper=0.1728 right_x=0.2955 right_y=-0.0002 right_z=0.1768 right_yaw=-0.0047 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.2906, 9.1966, 1.5849, -0.022, 0.022, 1.0281, -0.294, -1.7162, 7.1316, 1.7802, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c2ef914b268a5b4001bdb10730ff458adf982587f51c52af3bc917da715fe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21ce9e7166141b64632bd0235b2ff2b1453fc80e3ab2cfccfd4bcdb4b548dbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edfa95b4e6ec628e584ce547e705d0488bd07d0d15168f87a5a0e1b29a422c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwcKEAgSGAI4AUIIdGhpbmtpbmcSDPTZmJvNnIC9XsxPTRoMz/gKCn2r6EzvREjOIjDbe+Mn2lYgVrQVdVKs+9ajNkEwfLnRFwtBOJkjG2f9nu4Pcmez79XrIYC2wUh1id0qzAaWB8fKdqLlehan9BpFIOpNnXu5hb70fSJHkJ+M47LDZ3Xhc8inv62PnPJ0QUNiHj3HZtcr/H2i5itOlGnoxLCBVU/J1ILuMRomdLKvif9iEqcw4rChMLto54kaPTMpoMlEa+7ly66lnNF8Fp95GNuCgRw2C5fpzW1d/W7OC9nY73AohFxY7OsxRHy9dez4WgrlLUeRftbIXkpfxn77E9N/zE2g3jmfahV5PCyx4zIUfify3KUzeNYDv8hx34zZHz9VbzzVlD33VWh2/qbfkABDDQMGhpyrxV4BMMKt1zASOFejnTJ5qZo0anCVkHD3vS5V/kkiCJooKQ/Ig2CfuUwOt5YVABHkGjFy0JHDIpIrIrKSQXLMBOeeSuEcwMNQYMBfMptSUYZ/JY0Oh2htvpMgUdIf7M3iZD7gnvDkmkDu/bEoYaDPACTTdhCI6CeQEynQrzqtL7gnKQfxvE8YL+gkvoUgGj3SPiL6zEuo1QM7liRz2gft8EhlvImYDFIBVQnqRloYbrnhKAsAjdauh6m9yewoR7yyM5dTMXhBEn6TZ+Ekq19YEPYCBa+R+Qc5r07iBUolXPylq91dWro4TziVDefAxhYAty4cjDIZrVvlFykxCc/+d211PjrAxUw6O3PWqvRfaMveFZODAWiO+SYg1Uzs+efGLfMnf8ArzQZj5ZomrZINoXjc8JsJCSzxDsWVI1xgWD+kBeZmsPBxlrnP0anDd+lc5Pj5vl2U+s4rrkFzfa6houCdzOeMzUsaIUS1iuyk12HboJX6lRgNtFcXHY7GVt09isI2hreCBfRKfRm1Fw0ykZHAFShbO+6Iv5u3kwVt1eUmDr1lpQhcH0hRcOEmtuc/DFwZvbPKOLi7nwMit5AQju3JUf5moPreWoYPpNSa2KC6Pwwv8ytlfpglQu+2rYCbRUaNM+FH2pDGaPWXLd4G16TaYlCBt7XrUsRbnvLzf51cvyDxz8D0dZdDET3J0678eoNU7BP88AVhTMqPjQzoBvykZvzSAIJXmHdkkXNVVtvSNfbjYBjRSDAOt/KC49fqYFEfYaDOHET1yRmqfrs4RAuMtTQBmb3DoEgkWuVZngKY2/wP20mDW8VV0FPGphluDDPTGdYxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MYYPyNDx7dEemTMDMYeLb7",
      "input": {
        "note": "Marker is lifted. The right basket is past the left arm's reach, so I'm carrying the marker toward the table centre, into the gap between the teddy and the black markers, where the right arm can pick it up.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.38,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 34 steps (3.4s)",
      "tool_use_id": "toolu_01MYYPyNDx7dEemTMDMYeLb7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1957, 1.9919, 1.5528, -0.6426, -0.8761, -0.9699, 0.1728, -0.02, 0.8097, 0.6075, -0.3851, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2986 left_y=-0.3781 left_z=0.1415 left_yaw=-0.0103 left_pitch=-0.0376 left_roll=0.0083 left_gripper=0.1728 right_x=0.2955 right_y=-0.0001 right_z=0.1762 right_yaw=-0.0044 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -10.2222, 8.759, 0.8181, -0.7009, -0.0317, 1.033, -0.0615, -1.4838, 7.0359, 1.7411, -0.0659, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ebb229a6d628cb3c4a56727190d2be091d094e669a71c49417dc007af549648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06d3133fcb7ef3ddc95255b5f7761d6853bb2acf168dc8e4dda3a3269192e396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a03b4b05785b420ef8ab9d3bf268cd39d59c3bed1df1cec5c5d188367765a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 6.787 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]: [-0.0227, 1.5951, 0.0532, 0.9768, -0.0288, -0.0147, 0.164, -0.0193, 0.8032, 0.6086, -0.3782, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.302 left_y=0.0018 left_z=0.0008 left_yaw=-0.0054 left_pitch=-0.002 left_roll=0.016 left_gripper=0.164 right_x=0.2962 right_y=0.0 right_z=0.1799 right_yaw=-0.0041 right_pitch=-0.0145 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -4.7521, 3.4256, 1.5458, -0.0171, 0.0122, 1.1404, -0.2256, -1.2786, 7.0496, 1.7509, -0.0366, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0227, 0.8455, 0.4625, -0.197, -0.0284, -0.0189, 0.1728, -0.02, 0.8078, 0.6075, -0.3847, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3011 left_y=0.0018 left_z=0.1386 left_yaw=-0.0034 left_pitch=-0.0168 left_roll=0.0125 left_gripper=0.1728 right_x=0.2955 right_y=-0.0002 right_z=0.1768 right_yaw=-0.0047 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.2906, 9.1966, 1.5849, -0.022, 0.022, 1.0281, -0.294, -1.7162, 7.1316, 1.7802, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-1.1957, 1.9919, 1.5528, -0.6426, -0.8761, -0.9699, 0.1728, -0.02, 0.8097, 0.6075, -0.3851, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2986 left_y=-0.3781 left_z=0.1415 left_yaw=-0.0103 left_pitch=-0.0376 left_roll=0.0083 left_gripper=0.1728 right_x=0.2955 right_y=-0.0001 right_z=0.1762 right_yaw=-0.0044 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -10.2222, 8.759, 0.8181, -0.7009, -0.0317, 1.033, -0.0615, -1.4838, 7.0359, 1.7411, -0.0659, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ebb229a6d628cb3c4a56727190d2be091d094e669a71c49417dc007af549648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06d3133fcb7ef3ddc95255b5f7761d6853bb2acf168dc8e4dda3a3269192e396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a03b4b05785b420ef8ab9d3bf268cd39d59c3bed1df1cec5c5d188367765a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wkKEAgSGAI4AUIIdGhpbmtpbmcSDB9WmTCnYQDxE687aRoMz0fh9VAK6yqzmQHnIjAnxDgc1sb1bCCI6RRZ0hurMPyDV6AVwvhH5axTq3m5dd5YLO8Ysdni7LAONj+Dk2MqgAnlsGpm2oFNbBfQntki8xbW4vqx4VkbHGG7aKqCFaAUAIw34MTDaCHwVoKhS/TWuPNHQTX4aPrhvw+f1+I1GB2InoibwVN7950tlCGHSZiOAyE0JsweMckSV3oqHDm2Tl6AntHXwY72N3tSDMpesEXKFMPsBK0ZGEd4SsvzPxKZBDtsrg9REgFxWNRyFuQLWBm2yzjUUzGNvMT4gnLuJnx0rWLFqTrG+TXKUX01QQyCQphWwIlxO4JGyG5UZ5chy/OO83mkDAYBcWczj2sw2FaaryI9j5aOhX7DgRa7sObPtTEXFdWLo/GQf7A52rnk84t1NCiDfUyhlO3uxee7MLubZ8xrI3JCSjTuePh6pYrt5qj98rXVzDTS139yyaIsOFNKUBejMJt4ZnQmPB/0vPOLgUeGH68R/TosrrRRwpbBHI368pNIUR8ZjHoCIWaMpmxhImytrvjwo6sPEp11+/4elmTzcvf9vN5a6mh4ok0+0N04kdeumqoGU7XMjsyxghprn6RD6VRqhPHJmfVouck7E/JPeA3W6G1Xj0DwQ8+TqGMtnYQBEqrfzSLOJXpnE0IfihEreZy/4JapnsdnSxGyV0vojfR/YfWOwNW8ayBsR5hf+jX7KQTkjFWSq3NPCmRXaMJWxfJloUv76kKHVjQdMCyAQnPetwkr4jSxAQINFcK3ifqDCYjajfvaaUoP9WwI7JnyYxdEGb/dU699QP0eLvC9n8iQI+68W76FdN+9l2I2FyTbaDaxCxmw5LrcMPM8i+EB/6zZPPCambupgKvCGwzb8ebR4zYs0+fxbifnT5yQ3aZLgf8ZTWdDRVVKAqeN47kDh+39/C/YqSvlHwx6ibFzwQTYWqzmayyh2VIm8Oy49H0PDUAhZ1/d+NAba//memiJYZ/JkFBro3+ZI1TUuq+4Uz1pyVPT9MHOHGhe6B+m2uXkgRpivdgpbn6YmNIdhsohrojnI+utXeaj9bX+QF7zHR2f5bxqjF5Cs2LTNDjzC0bpYDkQmfSaXP+xTAO1pn7GMMZSzbt4m57q8C0DtEOo+1NqrDKYYJERmEyMW8SK5GM0wQNbT022l3f764HSwkZrjhDEcXjVbRwRB4YjJsY0OpI2N+m7opdWneogNxC6lvqEbBBiK5ql32BEGDvaxsjAUjn54gZS63qFouwLAn7Hdyon3G8aMkfwT2tJM08Q6uvqdMMx50Pjz8gXNxS6dLh5Uihqk/80VgJWvPrd6o340sC+wkjht3P4u3SUzCwnf7oRwMWAupuHAdpBhbHyvngusaUbLXzBQsVlFKR5Mqsipakrw+1ACdZg98L3gHEn/HF9FD1dWqzhHn+CT2ycESiLqdlZa274fuKL11x9nYFa6ZQU4kRGIYLYPG/E8QXKZKPORizIB6M5TdYoohWibdY0dvZf2C6x9M4ggm8ZbjM3QLNOLdmNKl2UH3hT18CxQutxYR62bg7QWHg87Hl5MTh/xMiNR3gAY8lxNAbWQR+Dwvqy3pmNpZB8xRy9XDkgFD5FP7LOFwBdfp60ugoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pq6o7HnuQpwcZZ4A3dktXi",
      "input": {
        "note": "The left wrist camera shows the right basket just ahead, so the left arm may be able to drop the marker straight in. Raising and moving forward so the marker hangs over the basket's left side.",
        "targets": {
          "left_x": 0.45,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Pq6o7HnuQpwcZZ4A3dktXi",
      "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]: [-0.8997, 2.3253, 2.4218, -0.9543, -0.7017, -0.6498, 0.1728, -0.02, 0.8127, 0.6067, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.3756 left_z=0.2328 left_yaw=0.0022 left_pitch=-0.0528 left_roll=0.0051 left_gripper=0.1728 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0047 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -12.7248, 8.7726, 1.3016, -0.3492, 0.149, 1.0281, -0.1026, -1.6205, 7.241, 1.707, -0.0317, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd843192cf27dff050b0bd6df9c0ab5d4cc25a8ab0515034cbdc0eb0cedde9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f51becea64e806934ee3785ff0ab127e0577833c5c9665dfdc76029f392284a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:976ff882b423a481880a25b4f18320cc958fe3881a5e730e198085fc7f5aaf2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 11.23 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]: [-0.0227, 0.8455, 0.4625, -0.197, -0.0284, -0.0189, 0.1728, -0.02, 0.8078, 0.6075, -0.3847, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3011 left_y=0.0018 left_z=0.1386 left_yaw=-0.0034 left_pitch=-0.0168 left_roll=0.0125 left_gripper=0.1728 right_x=0.2955 right_y=-0.0002 right_z=0.1768 right_yaw=-0.0047 right_pitch=-0.0267 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -2.2906, 9.1966, 1.5849, -0.022, 0.022, 1.0281, -0.294, -1.7162, 7.1316, 1.7802, -0.0269, -0.0464, -0.0171]\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]: [-1.1957, 1.9919, 1.5528, -0.6426, -0.8761, -0.9699, 0.1728, -0.02, 0.8097, 0.6075, -0.3851, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2986 left_y=-0.3781 left_z=0.1415 left_yaw=-0.0103 left_pitch=-0.0376 left_roll=0.0083 left_gripper=0.1728 right_x=0.2955 right_y=-0.0001 right_z=0.1762 right_yaw=-0.0044 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -10.2222, 8.759, 0.8181, -0.7009, -0.0317, 1.033, -0.0615, -1.4838, 7.0359, 1.7411, -0.0659, -0.0806, -0.0171]",
      "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]: [-0.8997, 2.3253, 2.4218, -0.9543, -0.7017, -0.6498, 0.1728, -0.02, 0.8127, 0.6067, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.3756 left_z=0.2328 left_yaw=0.0022 left_pitch=-0.0528 left_roll=0.0051 left_gripper=0.1728 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0047 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -12.7248, 8.7726, 1.3016, -0.3492, 0.149, 1.0281, -0.1026, -1.6205, 7.241, 1.707, -0.0317, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd843192cf27dff050b0bd6df9c0ab5d4cc25a8ab0515034cbdc0eb0cedde9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f51becea64e806934ee3785ff0ab127e0577833c5c9665dfdc76029f392284a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:976ff882b423a481880a25b4f18320cc958fe3881a5e730e198085fc7f5aaf2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAcKEAgSGAI4AUIIdGhpbmtpbmcSDEz7p7dfau2A1i3nphoMjS95zhbJZ1RVX5OYIjBbUTPkwioBSkxEV/F3iSp3tHmB1Tk3PVfG9LrtmZaxxRYCpu2AwvaPbStG2nwRkQwq4QarnwTG9aDj8TSvwP1WDwVI+S7Dc8wLEg+bJn7ew8q5T9Ej4F5GkBJAv55XIMh7yrjUdUhdVNOgi4DDlOaJ3XhE3h4g70yQdxTDZR2tK1ibjex6ASH1ysxe9aWmEbwLXxv/qZ5Qw5hCQZA3SC7QVi0r7NCxFHfRJ8OLgw/bV4YaAZVPNgBln3+YWe7vEJikd5X3WYLzkX+ZJ/HJDRljfFk7ygNCIxFvJXQVhu21fjfF1WUNmcyKonHVtWoE2nnN01PEcSRJMYOOlatWcZlKAcusuJs7hS1A7sBiTwedKQNPsrOjsZvKQ5IYt4rXc/hQhDbqjidNkhxt1s0eeWmKk+qb6zEfB8/4/Y/HCEtovYIvEXYS1xsjtnL716fOlOnfiO9oqm5DiNl03wr4bvYasiecp2zszHZ+McZJNThgXvAwc9USEnFI1LJctIfeuni4LF2B3DFiENCgO0Nvz0lXxCNFzBQO/F6yue0tHesIwlB/k47OWfYtsT8MPyhJ093cxQOzKaYGNqAfQS/U6eCPyY+rNfpjGv8bUa15IHOigCyiF5E13Gb75mvD/P0/SXnUAv7OhMYLWgo8JNgl0x164qb44Vbk1MhiOwOYsXSWrK6DvT1vZ2BEwLFJDrNWqGQE2hwH/t845rMxmxJJOtCU1vhnSxUdUMSx7jXKWV+iidxT5qbFrKJ5QJyXCWk8xaEHsXPsuPkZjPYrZSKsW8aM4Mkd1TJSGn/taVwHIUd1zh/kLb1cKo+pZbEMoDO64hcBVZpn9AUzlsvVaaNeLlkhaY859875lchD0xQSX/2HY6/2iRQ+MyXM92sZf1lNBprv9eSsj0y82RthWac/ioJxKYaeph8WmVhsjAATNN1WSs2i9eskTxTuSCHDg7zli0ZQEUPNc5zi8kIu8FgQdMq1AdwdLBqAo6jfMJkqR3IRWz9nKcgcoSUw7WdfunIVzBKEnqg/000rmyohCKZaw9uLBgryRmcBjYuEGbEMu4Irrg4XcCxTcJb6xerZnZJr3g+iuWB2Y18ZJ9CerIBJdkKNUYrBhIEM0wa+24PIptdpeP72eN+KlezPNUv/kwk6CofEg9Nlf+xQdNftrmfAMVsq13saQ91l+X2r/tUHOw6Wz6aN3Pusw5mXg7qfTxetLk8DAH6wGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PfnKQcHE3MTZXNUmMz5bni",
      "input": {
        "note": "In the top view the left gripper is over the right basket's left side. Opening to drop the yellow marker in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PfnKQcHE3MTZXNUmMz5bni",
      "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]: [-0.8997, 2.3253, 2.4218, -0.9565, -0.7017, -0.6624, 0.9953, -0.02, 0.8127, 0.6067, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4482 left_y=-0.3754 left_z=0.2325 left_yaw=0.009 left_pitch=-0.0541 left_roll=-0.0034 left_gripper=0.9953 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0047 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -13.3538, 6.3111, 1.3553, -0.3004, 0.0659, -0.0024, -0.1436, -1.306, 7.0359, 1.7363, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aad299d17b7ea3b8fe6ad43ca8cc4a39d2d1b2c5521645db10bfeb1bde058bb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dc25ef0d271239c2a405b58beafebf7afcc77d22460383ec9201989ab4ee6a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14b27d899af99fba9b0542d0c9e7ea7cf28890e79b3f1609bc8b03d85b344dce",
        "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 · 5.967 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]: [-1.1957, 1.9919, 1.5528, -0.6426, -0.8761, -0.9699, 0.1728, -0.02, 0.8097, 0.6075, -0.3851, -0.0124, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2986 left_y=-0.3781 left_z=0.1415 left_yaw=-0.0103 left_pitch=-0.0376 left_roll=0.0083 left_gripper=0.1728 right_x=0.2955 right_y=-0.0001 right_z=0.1762 right_yaw=-0.0044 right_pitch=-0.029 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -10.2222, 8.759, 0.8181, -0.7009, -0.0317, 1.033, -0.0615, -1.4838, 7.0359, 1.7411, -0.0659, -0.0806, -0.0171]",
      "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]: [-0.8997, 2.3253, 2.4218, -0.9543, -0.7017, -0.6498, 0.1728, -0.02, 0.8127, 0.6067, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.3756 left_z=0.2328 left_yaw=0.0022 left_pitch=-0.0528 left_roll=0.0051 left_gripper=0.1728 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0047 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -12.7248, 8.7726, 1.3016, -0.3492, 0.149, 1.0281, -0.1026, -1.6205, 7.241, 1.707, -0.0317, -0.0513, -0.0171]",
      "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]: [-0.8997, 2.3253, 2.4218, -0.9565, -0.7017, -0.6624, 0.9953, -0.02, 0.8127, 0.6067, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4482 left_y=-0.3754 left_z=0.2325 left_yaw=0.009 left_pitch=-0.0541 left_roll=-0.0034 left_gripper=0.9953 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0047 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -13.3538, 6.3111, 1.3553, -0.3004, 0.0659, -0.0024, -0.1436, -1.306, 7.0359, 1.7363, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aad299d17b7ea3b8fe6ad43ca8cc4a39d2d1b2c5521645db10bfeb1bde058bb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dc25ef0d271239c2a405b58beafebf7afcc77d22460383ec9201989ab4ee6a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b27d899af99fba9b0542d0c9e7ea7cf28890e79b3f1609bc8b03d85b344dce",
        "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_0134PxwFAfnJETieij4K7thQ",
      "input": {
        "note": "The yellow marker is in the right basket. Moving the left arm back toward the toys and bringing the right arm over the nearer black marker, which the right wrist camera shows to its left.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.12,
          "left_z": 0.2,
          "right_x": 0.28,
          "right_y": 0.09,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_0134PxwFAfnJETieij4K7thQ",
      "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]: [-0.6895, 1.1053, 0.8761, -0.5148, -0.5655, -0.4965, 0.9966, 0.5632, 0.9276, 0.4496, -0.2146, 0.4377, 0.3138, 0.9998]\nstate[eef_state]: left_x=0.3056 left_y=-0.1247 left_z=0.2023 left_yaw=0.0278 left_pitch=-0.0456 left_roll=-0.0191 left_gripper=0.9966 right_x=0.2782 right_y=0.0913 right_z=0.1171 right_yaw=0.0262 right_pitch=-0.0585 right_roll=-0.013 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -3.5897, 6.612, 1.5214, -0.1099, 0.0659, 0.1245, 0.3761, -1.9487, 6.4342, 1.7216, 0.3736, 0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2fb1cdbe875a3ec7e5c3b2cfdf9d451946dfbe0a4ba508924ec9ef2fe4607ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92795728832259e187fea9fbbae8908c409b8bf993341223c4a06767852bc937",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b052b8ba44ce04d356291c500da9af9a66ffd8f2212e9dfb2c28c30b988b904",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.771 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8997, 2.3253, 2.4218, -0.9543, -0.7017, -0.6498, 0.1728, -0.02, 0.8127, 0.6067, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.3756 left_z=0.2328 left_yaw=0.0022 left_pitch=-0.0528 left_roll=0.0051 left_gripper=0.1728 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0047 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -12.7248, 8.7726, 1.3016, -0.3492, 0.149, 1.0281, -0.1026, -1.6205, 7.241, 1.707, -0.0317, -0.0513, -0.0171]",
      "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]: [-0.8997, 2.3253, 2.4218, -0.9565, -0.7017, -0.6624, 0.9953, -0.02, 0.8127, 0.6067, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4482 left_y=-0.3754 left_z=0.2325 left_yaw=0.009 left_pitch=-0.0541 left_roll=-0.0034 left_gripper=0.9953 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0047 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -13.3538, 6.3111, 1.3553, -0.3004, 0.0659, -0.0024, -0.1436, -1.306, 7.0359, 1.7363, -0.022, -0.0611, -0.0171]",
      "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]: [-0.6895, 1.1053, 0.8761, -0.5148, -0.5655, -0.4965, 0.9966, 0.5632, 0.9276, 0.4496, -0.2146, 0.4377, 0.3138, 0.9998]\nstate[eef_state]: left_x=0.3056 left_y=-0.1247 left_z=0.2023 left_yaw=0.0278 left_pitch=-0.0456 left_roll=-0.0191 left_gripper=0.9966 right_x=0.2782 right_y=0.0913 right_z=0.1171 right_yaw=0.0262 right_pitch=-0.0585 right_roll=-0.013 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -3.5897, 6.612, 1.5214, -0.1099, 0.0659, 0.1245, 0.3761, -1.9487, 6.4342, 1.7216, 0.3736, 0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2fb1cdbe875a3ec7e5c3b2cfdf9d451946dfbe0a4ba508924ec9ef2fe4607ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92795728832259e187fea9fbbae8908c409b8bf993341223c4a06767852bc937",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b052b8ba44ce04d356291c500da9af9a66ffd8f2212e9dfb2c28c30b988b904",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwkKEAgSGAI4AUIIdGhpbmtpbmcSDME0CLTuu3GFa1FedRoMO5Btn19Mj3o8ztKPIjBRPo4Uv2Cd7olIjCatKWdXKtG0NBmtWZvxJe4KxyKFhiF3etoVaxmmL4PI4KQMkTYquAgPl1H3uslKRVeoRU4FGYc8m9sIUoNBZm+oPmGutkYmcan+OEvXjmshwLRUzwagIIx/1hEicihxqeAHFpVvXn73Opnaw7kHH8+MSGP0ITD/aAlHK3XLjy8dHkuOfrm2UNi3LzPtpQcOKWVtUZ+hBTTsYkzNejrS4Sn6dnZQpknM3HckI+iPj8FMYCDNV7+Z2sD9Ega+6gizAtfg2OWVTG3xbWoT1yAyJb33XIZylahulhxNGw9ohG4vGUHTOQK5McdO5U5ibNWb57Ht5BEI368OW39h8ICdjHi/07e2RId3vwJc0IRtQhW9VS8ohzNGDWyb/I5RW0Qdh4+Dx3mH9dblgfqRCSNcYre87GxZWe/uzLvAu4BuSroZLc4McJbbwlJfNpqXgHBCtty7cyCtg+D4aTkyqKLy/NUy7vx5k6TI78Lf3b58HrYIvsYrq0FFRUHOqXIvBatgv/dWRcIKgV2cxw2i9KQjkEKJ+ezdISnanFMgc+1EcHlZmsxWMBKFHOSdvSKfY/YLLJQx+hmgcX/MiChvEmIqU0Q7R6FQ9gWaMokxn+AA2EApuP7NMbIqA+b9lzpQfSIJ9duN6k5dTRjgziGWSqNIOSIqTNMky73+HgEdC5qEnWu5qeUBYAmuKW4eWnY1t/P5SYKgH2GHCxdSI//vHLtcGj8hok8L0g+71JJkk5jwjHAz9auzDsgLP/9ldtReCQYuxNZWQshfYmni58kNZ0cnyNU6xUBsUqs5s+cr/11G84/qOCYLthKK20vXjAv+Eyh5bZo81lJgOMPbEWUfNHy3gxB0rPpplESR7ZrrdmZGQa8d1lvP7Z629L7TiORD+vX3VTF1B40VjEbmh1jjItL3QTiDnIBX7KgOF8VzCyXzfF9oIjx3ye48ZkA71AiGprkG4UR2PjsWehH5aiVVEZ3dFdBC7dUCwjatcNpDzp0bGZavPUEdjmQyORPOewBjwEmtp1bj78pDh5xmnNMGPdSff/UZU74vi3IhbUCn8RivGEOuJ93rEQejjKpoa4xqvdcFAZY6uRuFiEg21AdkPkpGq0HGBxp4NNUY3yNXpcEXOl8lWogBn9snRqjpHJ1d6aYJkNtxDYO7FmXIiffhXbsuLIsGihKc/I2JE0fQwZvMpxERUCe7isHeK/a+XNFPxLnqzSzzJ61biOI6PRXEHvN7WKVLCn0jdGZ2uLs1gUSAds/Pp77Qxkj2PqFvLEiQq+eqzpFLxqiZLUz0+Oc5QmoIOp2arOmwwmMdK3ouLwSvWYVfPnydsWNIuyxlJ+kVuzGeV/k7ii3beUgU/45rjv0WlS2Z8k+aZP/vDA4cbSIjz3QlFJJ6DjXYxws7SmxV4IqC0My7sdHJLkgcOnLVtTF1r1UY11NtaffQlZaF46toCBg3SkO0Lys2y520J/1caILNCmvqq3gGMkhHQyWxpEu+oyMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GW1aVEDNXRmaL4ELKX8f5M",
      "input": {
        "note": "In the right wrist camera one black marker lies along the jaw column and runs down under the fingertips. Lowering the right arm to table level to grab it.",
        "targets": {
          "right_y": 0.095,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01GW1aVEDNXRmaL4ELKX8f5M",
      "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]: [-0.6895, 1.111, 0.8673, -0.5293, -0.5575, -0.4976, 0.9967, 0.5751, 1.4387, 0.1638, 0.5873, 0.4545, 0.3378, 0.9998]\nstate[eef_state]: left_x=0.3029 left_y=-0.124 left_z=0.1942 left_yaw=0.0235 left_pitch=-0.0711 left_roll=-0.0051 left_gripper=0.9967 right_x=0.2844 right_y=0.0962 right_z=0.0118 right_yaw=0.0119 right_pitch=-0.0486 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.7538, 7.4872, 1.6874, -0.3492, -0.0611, 0.0024, 0.4444, -2.1949, 1.8667, 0.0611, -0.0317, -0.2711, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe844e8704f7a670771fc1ba7b0073f204f44f9240d1f4b93becd8ff154df909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d05b56389232d21638e73d222467e7c8cd2efc35be7a5260d0ce2a6e9b2f9665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92de771ba3d455d71c442564b2eb5ee588f5bc9e919954c11a53d97713ae68d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.712 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]: [-0.8997, 2.3253, 2.4218, -0.9565, -0.7017, -0.6624, 0.9953, -0.02, 0.8127, 0.6067, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4482 left_y=-0.3754 left_z=0.2325 left_yaw=0.009 left_pitch=-0.0541 left_roll=-0.0034 left_gripper=0.9953 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0047 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -13.3538, 6.3111, 1.3553, -0.3004, 0.0659, -0.0024, -0.1436, -1.306, 7.0359, 1.7363, -0.022, -0.0611, -0.0171]",
      "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]: [-0.6895, 1.1053, 0.8761, -0.5148, -0.5655, -0.4965, 0.9966, 0.5632, 0.9276, 0.4496, -0.2146, 0.4377, 0.3138, 0.9998]\nstate[eef_state]: left_x=0.3056 left_y=-0.1247 left_z=0.2023 left_yaw=0.0278 left_pitch=-0.0456 left_roll=-0.0191 left_gripper=0.9966 right_x=0.2782 right_y=0.0913 right_z=0.1171 right_yaw=0.0262 right_pitch=-0.0585 right_roll=-0.013 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -3.5897, 6.612, 1.5214, -0.1099, 0.0659, 0.1245, 0.3761, -1.9487, 6.4342, 1.7216, 0.3736, 0.0806, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6895, 1.111, 0.8673, -0.5293, -0.5575, -0.4976, 0.9967, 0.5751, 1.4387, 0.1638, 0.5873, 0.4545, 0.3378, 0.9998]\nstate[eef_state]: left_x=0.3029 left_y=-0.124 left_z=0.1942 left_yaw=0.0235 left_pitch=-0.0711 left_roll=-0.0051 left_gripper=0.9967 right_x=0.2844 right_y=0.0962 right_z=0.0118 right_yaw=0.0119 right_pitch=-0.0486 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.7538, 7.4872, 1.6874, -0.3492, -0.0611, 0.0024, 0.4444, -2.1949, 1.8667, 0.0611, -0.0317, -0.2711, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe844e8704f7a670771fc1ba7b0073f204f44f9240d1f4b93becd8ff154df909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d05b56389232d21638e73d222467e7c8cd2efc35be7a5260d0ce2a6e9b2f9665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92de771ba3d455d71c442564b2eb5ee588f5bc9e919954c11a53d97713ae68d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7gYKEAgSGAI4AUIIdGhpbmtpbmcSDG1khf4QxbepqjMxQhoMwsx2mjLdt+yIJuGTIjC4pYlvIsdlFZJwUYef1A41fqmgvzKcYHBMtxvtzwE6C/bA5y1Hto/KK1MOM+BmiTsqiwaEjA++SA2WGdb1fNPM802FLpObGgnnKPKetXrMDBxrEuKIFpkcTu6Y0wE2qKlqWyBk7c4k4DFZ//coK9o5u57qJKC+BWSfKf/z+oL7SZsj84wXUevjVl3nwDLInb6MuWyqgNLt6nhSQu50hrt9E3MgRzbEZh6L/+euhf+9KrhGSNzTPSVqOQUL5+n9NG/SapBx0t3C0UqIO57aFoKfTqYMJ0zM7H4YEWy5bozC+xS0hjfVKkX2qy551z27VouA7lVLMHX1f4Gne8+pF3n2ujbht1GZvgd4g8YrHE6Q0GcXTEC93rELKYFF+sVrX4lTJxq3b2xYzetZ77PrEeRNVblBah9Lny3cZwe+5M4KANOeBNtTQy2v2N1zlDMbDZKHYFukvvEjM4YpDIlRSixp/LxPA3tghNQv9HWqVcOxUXOOsWRUWwk9s4OHQ1b+1PWXSQa3oIFBrMydib2gfuiUYh0VAtl2xO7aMd5J4r7SdVFjijfZzvFWyGCb2NplUarJofGpiOnohnto3YzRCoidWhLLaiwGFKrjHupMH3VpdiU0FNknmkmxl0QRpVflK8pEWMxHGbJjzs03LP0JAEvG2wjWool0MDq225HNJ1MX0ZGA3Hv4ufZYA4mJwErvH3NmRQ++BAbH/yPORLx3k/DPDNrd0/zgi5LfIr5wYkwmI5ySFemOyC5sEyhgUOIhz2NhSx4Iybxt3ybBAwBaWhLli9JWhLWQ7OHZS4i90Ug5L7g2z9uL4JG+O38iiDH4XS5Xx1miM504qCRaxbMEWoDy/oOK3CwHdggRnxRSOM4HwtHDPfZ0st8gx6FQdrbiXMadQg6zaJ/rtfnANi9wSZKtvP/R9RAEqByRPnU+qXhRfWCUQWpWGBFPzSptbwShfxqChgUWyB4hAIQ0nDJRGAMEWEMtRCsYCXLZZpAFhEr9N7OqjcQH+ta8WWd9M4p8WostcPL16YJLggbKSBLq81wvJCzUmb5bUCvZaICdaxCCDyLrT7IWnjRmoqDtH7e6zMA3iTsADFyZe5yE6EXWgRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0147Y5K15TGVS26nfaCADyr8",
      "input": {
        "note": "The black marker is centred between the right jaws. Closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0147Y5K15TGVS26nfaCADyr8",
      "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]: [-0.6895, 1.111, 0.8673, -0.5297, -0.5564, -0.4973, 0.9967, 0.5743, 1.5246, 0.1493, 0.7361, 0.4561, 0.334, 0.1502]\nstate[eef_state]: left_x=0.3029 left_y=-0.1241 left_z=0.1941 left_yaw=0.0224 left_pitch=-0.0719 left_roll=-0.0052 left_gripper=0.9967 right_x=0.2904 right_y=0.0995 right_z=0.0108 right_yaw=0.0127 right_pitch=-0.0071 right_roll=0.0221 right_gripper=0.1502\nstate[joint_eff]: [-0.1162, -3.4256, 6.8581, 1.4481, -0.2955, -0.0317, -0.0122, -0.2256, -2.5504, 3.5624, 1.2723, 0.1197, -0.0317, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f07a4ae78fab7787283274e89de207b678dfb1e1209cbc77f84c453aff070673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc1fc14b12f5e83b39371c5263c18f27c65fec9f73825be7e3defe7067eeb25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0144a25ea1ad0d3d9e8e529b71cbbf268b4b0492c5f6c2fe5000ff3f646b37fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 3.849 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]: [-0.6895, 1.1053, 0.8761, -0.5148, -0.5655, -0.4965, 0.9966, 0.5632, 0.9276, 0.4496, -0.2146, 0.4377, 0.3138, 0.9998]\nstate[eef_state]: left_x=0.3056 left_y=-0.1247 left_z=0.2023 left_yaw=0.0278 left_pitch=-0.0456 left_roll=-0.0191 left_gripper=0.9966 right_x=0.2782 right_y=0.0913 right_z=0.1171 right_yaw=0.0262 right_pitch=-0.0585 right_roll=-0.013 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -3.5897, 6.612, 1.5214, -0.1099, 0.0659, 0.1245, 0.3761, -1.9487, 6.4342, 1.7216, 0.3736, 0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6895, 1.111, 0.8673, -0.5293, -0.5575, -0.4976, 0.9967, 0.5751, 1.4387, 0.1638, 0.5873, 0.4545, 0.3378, 0.9998]\nstate[eef_state]: left_x=0.3029 left_y=-0.124 left_z=0.1942 left_yaw=0.0235 left_pitch=-0.0711 left_roll=-0.0051 left_gripper=0.9967 right_x=0.2844 right_y=0.0962 right_z=0.0118 right_yaw=0.0119 right_pitch=-0.0486 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.7538, 7.4872, 1.6874, -0.3492, -0.0611, 0.0024, 0.4444, -2.1949, 1.8667, 0.0611, -0.0317, -0.2711, -0.0171]",
      "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]: [-0.6895, 1.111, 0.8673, -0.5297, -0.5564, -0.4973, 0.9967, 0.5743, 1.5246, 0.1493, 0.7361, 0.4561, 0.334, 0.1502]\nstate[eef_state]: left_x=0.3029 left_y=-0.1241 left_z=0.1941 left_yaw=0.0224 left_pitch=-0.0719 left_roll=-0.0052 left_gripper=0.9967 right_x=0.2904 right_y=0.0995 right_z=0.0108 right_yaw=0.0127 right_pitch=-0.0071 right_roll=0.0221 right_gripper=0.1502\nstate[joint_eff]: [-0.1162, -3.4256, 6.8581, 1.4481, -0.2955, -0.0317, -0.0122, -0.2256, -2.5504, 3.5624, 1.2723, 0.1197, -0.0317, 0.9988]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f07a4ae78fab7787283274e89de207b678dfb1e1209cbc77f84c453aff070673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc1fc14b12f5e83b39371c5263c18f27c65fec9f73825be7e3defe7067eeb25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0144a25ea1ad0d3d9e8e529b71cbbf268b4b0492c5f6c2fe5000ff3f646b37fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQcKEAgSGAI4AUIIdGhpbmtpbmcSDF7+cC4lif/NFyXJAhoMM5q7xN64hDsek2+NIjATMtnPTv0RFqPyMJlsen0yOuOLnNSAhDpdKMT1MpAcMcFgfe83yGA/rsh0Vxx3HBEq4gZVtYE3+g8Oo+kngCopMzWNDUx42zrFn0OjMIZGYf7LSAJwjJ19JBeLOMw42P/8HRd0B6jHcRYtbjsk3hqf8toD5iV5dOlR8wAO0/mMG5722vKkfsNiA7Rjv1uZrnN64EZLmJvEGgNlKiuX7JLNdHzCWyDlVT685dFCv9oy1WaIdRKIGoKs3c6fyrx7TJpV5c9o/LJIgNVAGVs0A3pb5xMgycJEWLQ84bVSuYfL9/zmFy7ClGvsyQGMqsFiSQ3sBps6tav3JCUEoBUitC7eKJy/oQ5SlT9QuGGFSTA7yvGBk18fxsd8iIvl8O16rncblF1pAMT+xKl1hTcBa5cK4jdudSD0r8Fk25Fvf87o/5k8BllGf6AAoXyFCID9fuJ2r+EVAc81TpvtN9qW+/UeY1Q75DP6+7Qpu27tkcj9WBpF0nABlaii0JNCZo37r9xk/XHesC40fwjtTbMQtePVxX6A+vMx2dSxoe52KN0boUm2RppWdEe03wtmxQkavnQ0/RyLYsDBc3bnOEC/RSnmA541+XJhwBIWP7yeLibF33NGJqaqDdTtBOaduwo8ilji6IJfaE3mmo8NQrAw7muQhQuzpEPX5shc6BGVEC8BQdIlB2AjuSm639pC725T3RNFCmhppuI4yp6hFmsKBCECPckCasQVOJqxgClITIjSDEjr0fMAd8+gIhveN4TX53F6CWl48NTtYDscnx04kq05jvG1NU6gmQoONuyxQI+95/5te/4AK/pDoLnPABJVsa2sHBoWICq4dehWZJpOTwL9bMBhl2Dd/McoGuWUcTO0Flav/V9jcvL4HG7vmcmVnyb4xqrR50ZwL3njtDYHI79QazXD1oqfB5vEpZXTlrPpYqwIVoLlL5How0ZAw4gDPkrBnb3AHo9N3huwSvKwBXMTF/Gv5swJ3hzqS409trWm0u6Eo3EJ8nvgTMgYJAoRuV9ZA0y+F8SLQfnRc+cp5fVKCjmJZIEHw8zGkAYk3CIi+xrYfKuagxTZ+SXYdP9n9jsIxFhA+VVK9Ed5EfTDI4r6cYGERfuPF33wiF8bZrke345qstS6VwGvQZs9ij2KOpLLNvZy4yWEQsoPQdNNQ2npeAWFpZCukLPuLxaGKFFYD/eVWXiRY47oT2lseN2gqZrBB8jm8hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U6dfJzatZo3ywasrt3JWpQ",
      "input": {
        "note": "The right gripper reads 0.15, so the black marker is held. Lifting and carrying it over the right basket, which sits straight ahead of the right arm.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.12,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01U6dfJzatZo3ywasrt3JWpQ",
      "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]: [-0.6903, 1.1126, 0.8673, -0.5323, -0.5564, -0.4976, 0.9967, 0.3641, 1.5299, 1.2293, -0.2874, 0.2768, 0.2005, 0.1557]\nstate[eef_state]: left_x=0.3025 left_y=-0.1242 left_z=0.1932 left_yaw=0.0221 left_pitch=-0.0751 left_roll=-0.0028 left_gripper=0.9967 right_x=0.4465 right_y=0.1224 right_z=0.2276 right_yaw=0.0207 right_pitch=-0.0048 right_roll=0.0243 right_gripper=0.1557\nstate[joint_eff]: [-0.1299, -3.5214, 6.8308, 1.4969, -0.2808, -0.0611, -0.0122, -0.5949, -7.3368, 8.8957, 1.6093, 0.0757, -0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c95c2f4f7b65ee8d53ca0250753bfe0d41949ba63238c134b25e8034a114f2e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c36d3e39c5c35fb1afb908ab8c2adfc4eed0d5ed437499b48a7b9105b755d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf10f18408eebec6d19d76fe9e275b52916f73ac6ea1239a42a55aab18caf216",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 7.174 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]: [-0.6895, 1.111, 0.8673, -0.5293, -0.5575, -0.4976, 0.9967, 0.5751, 1.4387, 0.1638, 0.5873, 0.4545, 0.3378, 0.9998]\nstate[eef_state]: left_x=0.3029 left_y=-0.124 left_z=0.1942 left_yaw=0.0235 left_pitch=-0.0711 left_roll=-0.0051 left_gripper=0.9967 right_x=0.2844 right_y=0.0962 right_z=0.0118 right_yaw=0.0119 right_pitch=-0.0486 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -3.7538, 7.4872, 1.6874, -0.3492, -0.0611, 0.0024, 0.4444, -2.1949, 1.8667, 0.0611, -0.0317, -0.2711, -0.0171]",
      "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]: [-0.6895, 1.111, 0.8673, -0.5297, -0.5564, -0.4973, 0.9967, 0.5743, 1.5246, 0.1493, 0.7361, 0.4561, 0.334, 0.1502]\nstate[eef_state]: left_x=0.3029 left_y=-0.1241 left_z=0.1941 left_yaw=0.0224 left_pitch=-0.0719 left_roll=-0.0052 left_gripper=0.9967 right_x=0.2904 right_y=0.0995 right_z=0.0108 right_yaw=0.0127 right_pitch=-0.0071 right_roll=0.0221 right_gripper=0.1502\nstate[joint_eff]: [-0.1162, -3.4256, 6.8581, 1.4481, -0.2955, -0.0317, -0.0122, -0.2256, -2.5504, 3.5624, 1.2723, 0.1197, -0.0317, 0.9988]",
      "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]: [-0.6903, 1.1126, 0.8673, -0.5323, -0.5564, -0.4976, 0.9967, 0.3641, 1.5299, 1.2293, -0.2874, 0.2768, 0.2005, 0.1557]\nstate[eef_state]: left_x=0.3025 left_y=-0.1242 left_z=0.1932 left_yaw=0.0221 left_pitch=-0.0751 left_roll=-0.0028 left_gripper=0.9967 right_x=0.4465 right_y=0.1224 right_z=0.2276 right_yaw=0.0207 right_pitch=-0.0048 right_roll=0.0243 right_gripper=0.1557\nstate[joint_eff]: [-0.1299, -3.5214, 6.8308, 1.4969, -0.2808, -0.0611, -0.0122, -0.5949, -7.3368, 8.8957, 1.6093, 0.0757, -0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c95c2f4f7b65ee8d53ca0250753bfe0d41949ba63238c134b25e8034a114f2e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c36d3e39c5c35fb1afb908ab8c2adfc4eed0d5ed437499b48a7b9105b755d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf10f18408eebec6d19d76fe9e275b52916f73ac6ea1239a42a55aab18caf216",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AYKEAgSGAI4AUIIdGhpbmtpbmcSDLzxKd1QkZYLXBlFrBoMwKsEzK5tlbN6tuSuIjDSNAcMAfHLIVUK+pczrYO4ppRqJvBEz4hULAR3nlPcZybcrlO4TF70VCSaJq6NazQqjQbPkaf8PWjoisOifbDxO5i5lud5HkasW+GDvfF6L1Xw80kNBsrREVh2DsX8vX0wFnEkqtZB3E19IdzUeZyKp8jCIR/GRcBQhJ6A3gF2c8t5T12hQYwE05FgeGy/D2cM+lqZO12S/8Quf7lcpcHqo5V74ItBGF79zPxhGfUtN50btu1WhgfbUY+8jp+B4Yvb8ukKWAeJ/anf1/b+MUHucCKYYI72goXyuIdKgrZI0kPt252mA6oVBLHYvupDcT2X0reHOgh+PsCCAHecGj8EZzQxPmCse8pHlJw9yjrLkZQ0bdG95n1PhtOIa0rqTSAOkgHtbtXQN9yQ/YDl6CZr9CrK6BRxx3tCOenlAOaO5mmbYsbZ7oj/H6bVG6DQpUr+mwCihbrMe0pHHx7m5kITlUUysE61oGqUZZV3SEqKeMU7F8EQUlpxwYpkse9OeUf1ipCvifZjCf+6JYNt6ZqapHGbPzd+nEJLwdP+/hPLcmXDEZxcjT/ZzIFtvG/DJ83HR8nCnKIwrY7/Gbxn1byhQ/SAj1Ay798g+h/rU/Z14J3cj90XNQMRQvo3bOr0y+rNpVaV//Un1SAVf/lKGJAu2nYcnChpvhDDPQ6kcwCjRcXjiyAikVvkutta+nx7QYFkVCBjgQ2LOqvl3vNxNEutUg3L6eaz6y+Mf+87YEue9D8PXH8F150rCGoKxB/ZulfQHtwkZSyZU35ViUg38jZx6Pwe18vmYk9bZogSMOySdKrUg1/flSq/BpiasQFAbyAgHNrJ9oHiXycuj/31ftTUykU+sFBZqaoyivd8+RjDJjqyhqYn+tAJn2TgJW16fGauyEPctgQBMjsX0iyp6bPQdW4DXQ9xODkPv0c8wslNB87gyhpLkBs+D4hyH5hu/zmZW9LpuK24qkeGGa3mxsHDDrUEoZjxfsfudvNBe423QvLc7R4e9lR06BquazzpCbQRxPLp/4QBBnpEKmi1JMo6S93dAq8df6Ttse5dvWes5P4yyIzP0ElVtBNP3JUagMrunSah1lcklTOjKM4435T3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017rGk68X2ZKx8kLn7deAeyt",
      "input": {
        "note": "The right wrist camera shows the basket directly below, with the yellow marker already inside. Releasing the black marker.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017rGk68X2ZKx8kLn7deAeyt",
      "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]: [-0.6903, 1.113, 0.8673, -0.5308, -0.5529, -0.4973, 0.9967, 0.3641, 1.5414, 1.2293, -0.3092, 0.2756, 0.194, 0.995]\nstate[eef_state]: left_x=0.3026 left_y=-0.1249 left_z=0.1931 left_yaw=0.0192 left_pitch=-0.0758 left_roll=-0.005 left_gripper=0.9967 right_x=0.4449 right_y=0.1219 right_z=0.2182 right_yaw=0.0249 right_pitch=-0.0362 right_roll=0.0084 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -3.453, 6.7761, 1.5018, -0.315, -0.0317, -0.0122, -0.212, -8.3487, 6.9949, 1.8828, 0.0415, 0.0659, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcea5603b950f2f5f4f403f0a7c7b89d7fb76836c1f13f3ec31130ae9a5ded8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebf2cbffd59b59da5e04a62f517d563f44d702e1e267b1d7d1957266a491d3da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd4f0bf6743800917b07cb9ac7104997c40173f077ade22a3bed545f27968cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.809 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]: [-0.6895, 1.111, 0.8673, -0.5297, -0.5564, -0.4973, 0.9967, 0.5743, 1.5246, 0.1493, 0.7361, 0.4561, 0.334, 0.1502]\nstate[eef_state]: left_x=0.3029 left_y=-0.1241 left_z=0.1941 left_yaw=0.0224 left_pitch=-0.0719 left_roll=-0.0052 left_gripper=0.9967 right_x=0.2904 right_y=0.0995 right_z=0.0108 right_yaw=0.0127 right_pitch=-0.0071 right_roll=0.0221 right_gripper=0.1502\nstate[joint_eff]: [-0.1162, -3.4256, 6.8581, 1.4481, -0.2955, -0.0317, -0.0122, -0.2256, -2.5504, 3.5624, 1.2723, 0.1197, -0.0317, 0.9988]",
      "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]: [-0.6903, 1.1126, 0.8673, -0.5323, -0.5564, -0.4976, 0.9967, 0.3641, 1.5299, 1.2293, -0.2874, 0.2768, 0.2005, 0.1557]\nstate[eef_state]: left_x=0.3025 left_y=-0.1242 left_z=0.1932 left_yaw=0.0221 left_pitch=-0.0751 left_roll=-0.0028 left_gripper=0.9967 right_x=0.4465 right_y=0.1224 right_z=0.2276 right_yaw=0.0207 right_pitch=-0.0048 right_roll=0.0243 right_gripper=0.1557\nstate[joint_eff]: [-0.1299, -3.5214, 6.8308, 1.4969, -0.2808, -0.0611, -0.0122, -0.5949, -7.3368, 8.8957, 1.6093, 0.0757, -0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6903, 1.113, 0.8673, -0.5308, -0.5529, -0.4973, 0.9967, 0.3641, 1.5414, 1.2293, -0.3092, 0.2756, 0.194, 0.995]\nstate[eef_state]: left_x=0.3026 left_y=-0.1249 left_z=0.1931 left_yaw=0.0192 left_pitch=-0.0758 left_roll=-0.005 left_gripper=0.9967 right_x=0.4449 right_y=0.1219 right_z=0.2182 right_yaw=0.0249 right_pitch=-0.0362 right_roll=0.0084 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -3.453, 6.7761, 1.5018, -0.315, -0.0317, -0.0122, -0.212, -8.3487, 6.9949, 1.8828, 0.0415, 0.0659, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcea5603b950f2f5f4f403f0a7c7b89d7fb76836c1f13f3ec31130ae9a5ded8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebf2cbffd59b59da5e04a62f517d563f44d702e1e267b1d7d1957266a491d3da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd4f0bf6743800917b07cb9ac7104997c40173f077ade22a3bed545f27968cf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0woKEAgSGAI4AUIIdGhpbmtpbmcSDAaINHOR3IOJs2d+xxoMk0bcPsFwLiNDcjlNIjDTim1wqa/LxLrJG8SMNsmm83hJtlkZXhhZFn7wHJujA1xhY+0cEC4mk2ttXFcD/woq8AlxEvei3d4Kf5gEKLMoHDYOzWC7TaJGyV9p+7CjOmpHIRycVcy0euL/FHM2Ib17rMNbgreqKJHK5iq0otdv9ko5MkhlWP4YNsCKYJSZ7/NSjiFXH0nt07e3B+22FIUnXMzxtOjzmRhxnWPwgSzNawgavpgfef7s35C/hQihLqCGDFme+D+EF5L+udwbV3lbBbX8lYAoxKr8OOcdELxM6xyWh3hI1L9XZQk63OaC5SygWxJjyexgpIN5pD0Emp682RJKbLuHXB/VKK+m7ZTK6IJu0rQc4mWVc3G9doALv3Doj3BWDmHzs+GnXk6q2WjrPiGMjmFKRSSRdUVVJ57gVR9ElXO24BtWqshJBkOiNh9HGGN4QB8CT+127mCFRe1L6mDwCtRiW4dFAZwzbjgh419ddVRwPEoxdke8mHsjRXxdXXcPoMbvBLgLQCNS56HIlQKs8U+WiqGPy10ENKvvfb6QyUAB5XP6971ff8I7QUPf/r4Boe4QbDfcOv/hPyAflRuDy912xiOgQmPSo1aywq74rQ1l6+TreJciE74nKHxQZfSLUMnAfSZF9YDoGLvsb/yO9Qm41FyzOsQLRmn6PoEEUsKaxsVD4voilj2LPTV2AOgl8recK9aRejp5svkwyeXB697LCyp4JxyKZWAKarE7wxYhBWvLCpl5jByM56yyDxya+6JpqI+F6KWyGO4CvZ/nbxdwpWrYTE4XtdhHJj5akPAmsv266lxCPZvcv/mCPCpAiJvPgtgQQESP+F3yJPGp8gVeMXR11Gj80WU1hr8XTB2gUBRMrU5qJCInQC6UmrZW+vNh8nib04K1krcqiFWqYYdp/A8M/8yGvy6EF1nnB8L8DzskYR/+JiXBq1UTddgFl61vv3NPDZf/epQeVP7rZK/oV6rMbw2JpYE3aq5MsKisD9I5NGPMMevuF7tcbSoRJLFkAi9c/KnK8whUMNNxqiGOtOXgEwbUARwyfDwSxlOmyYKRlAQ/pZBbRlcAsVG4QafgwuclAsSL2Sc61K4aXHIUlsKlfzpd+UyxtSorn7ZDRRdB0841o/erSSrjFBkkZgFTE5df+8SJXcMAl8HjaAeZQzRVAHpMPFiLACgqiIrRm83Omb9HgSBC6kmLxWZa2oKOivnvVz2ga8OL89XI0tGtQRPsmn1FqmVVPqz0egcx8Q6TFzQqoHtmsDpbgH3ny2GHya1ZAoQqgs4HRCGPjGUVPrllGABjKmj0dbEhksEIG1hioJHVQssrByuO6pCyhO3Md6YYveAPCi47nUjTFcYZcGT2myUZfHFfIL/JDhqIVKbXBDh3VPpZa9vIJx27Im0mRDfHC7A0LJAouJksRIYOSflaxTp4lvXtBb525AS5UZ07PGuiUH3FZNFNEPrwyMpJMJhQNYvBvh6VJwhiM4a+GVR9LcjmY2OYNcM10QpvkT74LBHSi4sToVd7/Fonvd1GfWjX6iYMuNTxdY1YVNUL2xEmuplVmRKhCbeQGoEPatTHKcCmvm0KJzdSz7DnRKltr4MruVslbd7VcE6QCLwhVPBemhq2Q7FechENHY4ClTVNWoynuyZ1gisdWoYtwRlOpoBsnUxdeBv7KAbnyDDhHpgdA2UhauRKs4+Ej2EqdmF1OsUzSl888F9TMCn0AP9w+SLkd3Rgqako9mvv7c5mQqR/R+PqDXPdMp4wGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VDUkYSzYFGrgjTsnuWvfUX",
      "input": {
        "note": "Both the yellow and the black marker are now in the right basket. One more thin marker stands upright in the middle of the table, left of the right arm, so I'm moving the right arm above it.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.19,
          "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_01VDUkYSzYFGrgjTsnuWvfUX",
      "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]: [-0.6903, 1.1137, 0.8673, -0.5312, -0.5526, -0.4973, 0.9967, 0.8398, 1.359, 0.7048, -0.1478, 0.6006, 0.495, 0.9963]\nstate[eef_state]: left_x=0.3026 left_y=-0.125 left_z=0.1928 left_yaw=0.019 left_pitch=-0.0769 left_roll=-0.0045 left_gripper=0.9967 right_x=0.3023 right_y=0.193 right_z=0.1136 right_yaw=0.0761 right_pitch=-0.0767 right_roll=-0.0204 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -3.1658, 6.8034, 1.4383, -0.2613, -0.0317, -0.0073, 0.212, -6.4479, 6.4479, 1.5458, 0.4664, 0.1343, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71a79238a5e4213ee3aa80883869e90cee711d3d3524cc11d2120a42d9f14b7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bf52a413aeeeecfa93a0cae03fae505be813917ac291c67f4e7251f09f89e60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:154d6d71ded1b2d3029389f8322283a754d79ef36b079362798a82ec1f2a67de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.39 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]: [-0.6903, 1.1126, 0.8673, -0.5323, -0.5564, -0.4976, 0.9967, 0.3641, 1.5299, 1.2293, -0.2874, 0.2768, 0.2005, 0.1557]\nstate[eef_state]: left_x=0.3025 left_y=-0.1242 left_z=0.1932 left_yaw=0.0221 left_pitch=-0.0751 left_roll=-0.0028 left_gripper=0.9967 right_x=0.4465 right_y=0.1224 right_z=0.2276 right_yaw=0.0207 right_pitch=-0.0048 right_roll=0.0243 right_gripper=0.1557\nstate[joint_eff]: [-0.1299, -3.5214, 6.8308, 1.4969, -0.2808, -0.0611, -0.0122, -0.5949, -7.3368, 8.8957, 1.6093, 0.0757, -0.0269, 1.0379]\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]: [-0.6903, 1.113, 0.8673, -0.5308, -0.5529, -0.4973, 0.9967, 0.3641, 1.5414, 1.2293, -0.3092, 0.2756, 0.194, 0.995]\nstate[eef_state]: left_x=0.3026 left_y=-0.1249 left_z=0.1931 left_yaw=0.0192 left_pitch=-0.0758 left_roll=-0.005 left_gripper=0.9967 right_x=0.4449 right_y=0.1219 right_z=0.2182 right_yaw=0.0249 right_pitch=-0.0362 right_roll=0.0084 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -3.453, 6.7761, 1.5018, -0.315, -0.0317, -0.0122, -0.212, -8.3487, 6.9949, 1.8828, 0.0415, 0.0659, 0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.1137, 0.8673, -0.5312, -0.5526, -0.4973, 0.9967, 0.8398, 1.359, 0.7048, -0.1478, 0.6006, 0.495, 0.9963]\nstate[eef_state]: left_x=0.3026 left_y=-0.125 left_z=0.1928 left_yaw=0.019 left_pitch=-0.0769 left_roll=-0.0045 left_gripper=0.9967 right_x=0.3023 right_y=0.193 right_z=0.1136 right_yaw=0.0761 right_pitch=-0.0767 right_roll=-0.0204 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -3.1658, 6.8034, 1.4383, -0.2613, -0.0317, -0.0073, 0.212, -6.4479, 6.4479, 1.5458, 0.4664, 0.1343, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71a79238a5e4213ee3aa80883869e90cee711d3d3524cc11d2120a42d9f14b7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bf52a413aeeeecfa93a0cae03fae505be813917ac291c67f4e7251f09f89e60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154d6d71ded1b2d3029389f8322283a754d79ef36b079362798a82ec1f2a67de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDCOJ4yZtF9YFrOnwrxoM0iYRkO8HlX9n2iynIjBnf3F5o+GBAGS6v9AivtJZbwORy8c+C4+hutptwHrcRfRZ0Du2TbTE9ioioNtx/loq2wYldQct4wESARTZFFxBHLjRepf0Iu8p5auexH60cCsIX4NRUDb37T5iLTAVP5qbUhz4LrIqFRjgX80JiZOkavwmW2tePyrHLX2Ev136POCIcx0M/VLDoyu1APxB7gPIEA7YWHkMvtD0K59/wmhZhAE9qYSmHF+/lkzJqGeEhBFXuDo6P9CbSzVtqSzlJlfX6MeroSQ5buauMvICTi04Rs6ZQj3ueT+2FkVRY0T8iX9fwrZMRvEq3gotFQF3Fc53zB+SykOyXZAub4xDRXcwy1NIB9UQmavo3p/yoqYFfQSSz600PQYYUSRZ0JOAVF2BoITkYOJeLzxhZcllny/ogJzEvbwFZISod+usdjz7hK7iMvED4cqs0f5HLsbLhzMNQK+OXFPeKFI6+A4+3Iqzg+JXnH3Hf9WBT5UZbr25aT+V8cYkSc/a5JRhXrzzAJRawwNFfDf2dlzZgUiBhpgK4D4lfUcuVGbxPVA70B6SyGpXTWhSVTmbuOiUdG9aJ01/98xDCPAoTInLXkFaE/DQ5zRV99Fj5AsOFD5tuoSeRZonQCNCmWNPzUuKiKhpTv0SuPoasFbrCm9SCRFTuLInyPb6lkfs+6rnt10oB+HSYNjRHKrn5+RYrhUkVA+Uevc0vv0so4Fb+m1yG8uZ1laHSBPcGYxN4p3fCGXpF52aqUMTtN6dhO3vsHExfKq9b2aq1w1goHyQLeDy0LkxaZdsS+vHtY11rz5EVSrgtGlpi4ENJZYhMnl3vk2YLsI4pR5aqTYBOLeDiIKdS/8SIK48plPhSdX3k+cHaCSZfqE4gezcqs+9zKXjo6T9FExXPTmWriQgaKA9bJF346dFm9FJ+PJimVaBum84jZ+ndPWCTyb5Taxe6E2PD2eL0YWbKcdwB00GeG5gnr3Xoznjn+GNz9bp2xHrOvKMIefcz+YEVKuJzCCKar56IPB8+Y1n0BNWPwQyyaAbmIWlnny/rsj1qtwLVlpKLXKgbO5MyRMEjKHhaVbFtV/M8IwVPaRQhWZnaFkGwAr37fiT2PcZzhcFxrYlaIPOk05uCHPGmFGyocNtimDykH3jlWMR2eq5Lsb5YVCpgsrfNMiNbYOB2HTf+NJm3MfpD/ZnIeeJsJGiosMzyHSVFzOJFF9tRizKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WwH9PU1U3UPEe5dizptYZM",
      "input": {
        "note": "The right wrist camera shows the blue pen lying straight along the jaw column, running under the fingertips. Lowering to table level.",
        "targets": {
          "right_y": 0.195,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WwH9PU1U3UPEe5dizptYZM",
      "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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4976, 0.9967, 0.8448, 1.7092, 0.5037, 0.4126, 0.6109, 0.5087, 0.9964]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0194 left_pitch=-0.0795 left_roll=-0.0025 left_gripper=0.9967 right_x=0.306 right_y=0.1974 right_z=0.0132 right_yaw=0.0666 right_pitch=-0.0649 right_roll=-0.0082 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -3.5214, 6.8991, 1.4628, -0.2564, -0.0708, -0.0122, -0.1709, -4.4786, 2.6188, 0.5788, 0.0366, -0.1978, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1964d4b6966d0b9a4163e7d0a0caa74d7c09835776a6413fa9211602f72e3d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d074ff7c81174d90c072c1666d077e78f1d2284a77ebb9766e9c926289fce12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03320fa345dc1a0027325f01d5b56c0b825e05b2963e5e7e2ec2d551cc69a9bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 5.521 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]: [-0.6903, 1.113, 0.8673, -0.5308, -0.5529, -0.4973, 0.9967, 0.3641, 1.5414, 1.2293, -0.3092, 0.2756, 0.194, 0.995]\nstate[eef_state]: left_x=0.3026 left_y=-0.1249 left_z=0.1931 left_yaw=0.0192 left_pitch=-0.0758 left_roll=-0.005 left_gripper=0.9967 right_x=0.4449 right_y=0.1219 right_z=0.2182 right_yaw=0.0249 right_pitch=-0.0362 right_roll=0.0084 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -3.453, 6.7761, 1.5018, -0.315, -0.0317, -0.0122, -0.212, -8.3487, 6.9949, 1.8828, 0.0415, 0.0659, 0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.1137, 0.8673, -0.5312, -0.5526, -0.4973, 0.9967, 0.8398, 1.359, 0.7048, -0.1478, 0.6006, 0.495, 0.9963]\nstate[eef_state]: left_x=0.3026 left_y=-0.125 left_z=0.1928 left_yaw=0.019 left_pitch=-0.0769 left_roll=-0.0045 left_gripper=0.9967 right_x=0.3023 right_y=0.193 right_z=0.1136 right_yaw=0.0761 right_pitch=-0.0767 right_roll=-0.0204 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -3.1658, 6.8034, 1.4383, -0.2613, -0.0317, -0.0073, 0.212, -6.4479, 6.4479, 1.5458, 0.4664, 0.1343, 0.1197]",
      "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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4976, 0.9967, 0.8448, 1.7092, 0.5037, 0.4126, 0.6109, 0.5087, 0.9964]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0194 left_pitch=-0.0795 left_roll=-0.0025 left_gripper=0.9967 right_x=0.306 right_y=0.1974 right_z=0.0132 right_yaw=0.0666 right_pitch=-0.0649 right_roll=-0.0082 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -3.5214, 6.8991, 1.4628, -0.2564, -0.0708, -0.0122, -0.1709, -4.4786, 2.6188, 0.5788, 0.0366, -0.1978, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1964d4b6966d0b9a4163e7d0a0caa74d7c09835776a6413fa9211602f72e3d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d074ff7c81174d90c072c1666d077e78f1d2284a77ebb9766e9c926289fce12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03320fa345dc1a0027325f01d5b56c0b825e05b2963e5e7e2ec2d551cc69a9bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XWXJLyWjSUPbmqM8gED1Cb",
      "input": {
        "note": "The pen is centred between the right jaws at table level. Closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XWXJLyWjSUPbmqM8gED1Cb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4976, 0.9967, 0.844, 1.7718, 0.4942, 0.5446, 0.6189, 0.5053, 0.1472]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0194 left_pitch=-0.0795 left_roll=-0.0025 left_gripper=0.9967 right_x=0.3132 right_y=0.2034 right_z=0.0105 right_yaw=0.0635 right_pitch=-0.0183 right_roll=0.0272 right_gripper=0.1472\nstate[joint_eff]: [-0.0615, -3.4667, 6.7761, 1.4774, -0.232, -0.022, -0.0122, -0.1026, -4.3966, 3.7949, 1.1795, 0.1441, -0.022, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ef217b5408d1cbbc7185c22c958627a63b2cd2f7affb1985479cf48f7612026",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb0e43224d6f351ec87602844a513673b35b7ade666966bbc6170d6d656b93b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05955a7bf5459fa00892b729f401dc1a36ab8ea08138789a5c214b5a7492d8d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.21 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]: [-0.6903, 1.1137, 0.8673, -0.5312, -0.5526, -0.4973, 0.9967, 0.8398, 1.359, 0.7048, -0.1478, 0.6006, 0.495, 0.9963]\nstate[eef_state]: left_x=0.3026 left_y=-0.125 left_z=0.1928 left_yaw=0.019 left_pitch=-0.0769 left_roll=-0.0045 left_gripper=0.9967 right_x=0.3023 right_y=0.193 right_z=0.1136 right_yaw=0.0761 right_pitch=-0.0767 right_roll=-0.0204 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -3.1658, 6.8034, 1.4383, -0.2613, -0.0317, -0.0073, 0.212, -6.4479, 6.4479, 1.5458, 0.4664, 0.1343, 0.1197]",
      "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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4976, 0.9967, 0.8448, 1.7092, 0.5037, 0.4126, 0.6109, 0.5087, 0.9964]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0194 left_pitch=-0.0795 left_roll=-0.0025 left_gripper=0.9967 right_x=0.306 right_y=0.1974 right_z=0.0132 right_yaw=0.0666 right_pitch=-0.0649 right_roll=-0.0082 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -3.5214, 6.8991, 1.4628, -0.2564, -0.0708, -0.0122, -0.1709, -4.4786, 2.6188, 0.5788, 0.0366, -0.1978, -0.0024]",
      "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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4976, 0.9967, 0.844, 1.7718, 0.4942, 0.5446, 0.6189, 0.5053, 0.1472]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0194 left_pitch=-0.0795 left_roll=-0.0025 left_gripper=0.9967 right_x=0.3132 right_y=0.2034 right_z=0.0105 right_yaw=0.0635 right_pitch=-0.0183 right_roll=0.0272 right_gripper=0.1472\nstate[joint_eff]: [-0.0615, -3.4667, 6.7761, 1.4774, -0.232, -0.022, -0.0122, -0.1026, -4.3966, 3.7949, 1.1795, 0.1441, -0.022, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ef217b5408d1cbbc7185c22c958627a63b2cd2f7affb1985479cf48f7612026",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb0e43224d6f351ec87602844a513673b35b7ade666966bbc6170d6d656b93b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05955a7bf5459fa00892b729f401dc1a36ab8ea08138789a5c214b5a7492d8d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015RYbJ62zJzUpiKeSMi4UDa",
      "input": {
        "note": "The right gripper reads 0.15, so the pen is held. Carrying it over the right basket.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.12,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_015RYbJ62zJzUpiKeSMi4UDa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.1145, 0.8673, -0.535, -0.5526, -0.4976, 0.9967, 0.3443, 1.5227, 1.24, -0.2955, 0.2295, 0.1776, 0.1518]\nstate[eef_state]: left_x=0.3022 left_y=-0.1246 left_z=0.192 left_yaw=0.0195 left_pitch=-0.0803 left_roll=-0.0018 left_gripper=0.9967 right_x=0.4474 right_y=0.1216 right_z=0.2328 right_yaw=0.0526 right_pitch=-0.0032 right_roll=0.0328 right_gripper=0.1518\nstate[joint_eff]: [-0.3077, -3.453, 6.8171, 1.4432, -0.2662, -0.0171, -0.0122, -0.3761, -6.5026, 8.7179, 1.5067, 0.0171, -0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45fb3f3f9715803e499b19f4ba507e7c92bbb6357b56eda22b53a5db210d7ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cbdcd4f29eecfe17b03e9247cd7a91a910f30e249f800eaee1bd5a9b6e13045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6652641f61b26531375ef207d0e873dc89319f45d579aece6b17837ec86b866b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 15.86 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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4976, 0.9967, 0.8448, 1.7092, 0.5037, 0.4126, 0.6109, 0.5087, 0.9964]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0194 left_pitch=-0.0795 left_roll=-0.0025 left_gripper=0.9967 right_x=0.306 right_y=0.1974 right_z=0.0132 right_yaw=0.0666 right_pitch=-0.0649 right_roll=-0.0082 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -3.5214, 6.8991, 1.4628, -0.2564, -0.0708, -0.0122, -0.1709, -4.4786, 2.6188, 0.5788, 0.0366, -0.1978, -0.0024]",
      "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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4976, 0.9967, 0.844, 1.7718, 0.4942, 0.5446, 0.6189, 0.5053, 0.1472]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0194 left_pitch=-0.0795 left_roll=-0.0025 left_gripper=0.9967 right_x=0.3132 right_y=0.2034 right_z=0.0105 right_yaw=0.0635 right_pitch=-0.0183 right_roll=0.0272 right_gripper=0.1472\nstate[joint_eff]: [-0.0615, -3.4667, 6.7761, 1.4774, -0.232, -0.022, -0.0122, -0.1026, -4.3966, 3.7949, 1.1795, 0.1441, -0.022, 1.0134]",
      "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]: [-0.6903, 1.1145, 0.8673, -0.535, -0.5526, -0.4976, 0.9967, 0.3443, 1.5227, 1.24, -0.2955, 0.2295, 0.1776, 0.1518]\nstate[eef_state]: left_x=0.3022 left_y=-0.1246 left_z=0.192 left_yaw=0.0195 left_pitch=-0.0803 left_roll=-0.0018 left_gripper=0.9967 right_x=0.4474 right_y=0.1216 right_z=0.2328 right_yaw=0.0526 right_pitch=-0.0032 right_roll=0.0328 right_gripper=0.1518\nstate[joint_eff]: [-0.3077, -3.453, 6.8171, 1.4432, -0.2662, -0.0171, -0.0122, -0.3761, -6.5026, 8.7179, 1.5067, 0.0171, -0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45fb3f3f9715803e499b19f4ba507e7c92bbb6357b56eda22b53a5db210d7ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cbdcd4f29eecfe17b03e9247cd7a91a910f30e249f800eaee1bd5a9b6e13045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6652641f61b26531375ef207d0e873dc89319f45d579aece6b17837ec86b866b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0153Xii9ka1dB5bn8rZ1kS6i",
      "input": {
        "note": "The pen hangs over the right basket, which already holds the other markers. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0153Xii9ka1dB5bn8rZ1kS6i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4973, 0.9967, 0.3393, 1.5345, 1.2404, -0.3168, 0.2165, 0.1684, 0.9953]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0192 left_pitch=-0.0795 left_roll=-0.0022 left_gripper=0.9967 right_x=0.4463 right_y=0.1211 right_z=0.2232 right_yaw=0.0632 right_pitch=-0.0366 right_roll=0.0229 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -3.3846, 6.7761, 1.4579, -0.2759, -0.0317, -0.0122, 0.335, -8.3214, 7.0085, 1.8779, 0.1343, 0.022, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f3c67be05866e52a9019871fa8d32d5e2f133083cb65ef896c4bc3c3d3feb3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c07a84ada152e26b25002e3f3d58815d53553cb0e010d0bf13689990038dde1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22182a6b551516350d5066ef373d60ace9b941b4a2bb92a47aa589d19b1a66e6",
        "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 · 11.03 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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4976, 0.9967, 0.844, 1.7718, 0.4942, 0.5446, 0.6189, 0.5053, 0.1472]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0194 left_pitch=-0.0795 left_roll=-0.0025 left_gripper=0.9967 right_x=0.3132 right_y=0.2034 right_z=0.0105 right_yaw=0.0635 right_pitch=-0.0183 right_roll=0.0272 right_gripper=0.1472\nstate[joint_eff]: [-0.0615, -3.4667, 6.7761, 1.4774, -0.232, -0.022, -0.0122, -0.1026, -4.3966, 3.7949, 1.1795, 0.1441, -0.022, 1.0134]",
      "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]: [-0.6903, 1.1145, 0.8673, -0.535, -0.5526, -0.4976, 0.9967, 0.3443, 1.5227, 1.24, -0.2955, 0.2295, 0.1776, 0.1518]\nstate[eef_state]: left_x=0.3022 left_y=-0.1246 left_z=0.192 left_yaw=0.0195 left_pitch=-0.0803 left_roll=-0.0018 left_gripper=0.9967 right_x=0.4474 right_y=0.1216 right_z=0.2328 right_yaw=0.0526 right_pitch=-0.0032 right_roll=0.0328 right_gripper=0.1518\nstate[joint_eff]: [-0.3077, -3.453, 6.8171, 1.4432, -0.2662, -0.0171, -0.0122, -0.3761, -6.5026, 8.7179, 1.5067, 0.0171, -0.0952, 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 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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4973, 0.9967, 0.3393, 1.5345, 1.2404, -0.3168, 0.2165, 0.1684, 0.9953]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0192 left_pitch=-0.0795 left_roll=-0.0022 left_gripper=0.9967 right_x=0.4463 right_y=0.1211 right_z=0.2232 right_yaw=0.0632 right_pitch=-0.0366 right_roll=0.0229 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -3.3846, 6.7761, 1.4579, -0.2759, -0.0317, -0.0122, 0.335, -8.3214, 7.0085, 1.8779, 0.1343, 0.022, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f3c67be05866e52a9019871fa8d32d5e2f133083cb65ef896c4bc3c3d3feb3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c07a84ada152e26b25002e3f3d58815d53553cb0e010d0bf13689990038dde1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22182a6b551516350d5066ef373d60ace9b941b4a2bb92a47aa589d19b1a66e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS6goKEAgSGAI4AUIIdGhpbmtpbmcSDEt+qNb+9fwdXgkK4hoMU6ESmwvhLPZZ+mt1IjBQ+r1XwrFq3PF+gC1Jqd5A6fE9ku4ZPkPYFqvVre6E3oH6OJhxgMRD3iDYscCVy1sqhwo2t41+Q/Vn4WlhJjZPvneWaQQIPZZBwSjXHBLBWnDXuBdbH1FZkREsaRdZ4DmBf86qXUTfa338IyzPtK+4ncoG+oNCMmu9dPWEzQQ4a3oYmZwwRJjsBdodqlJF1PCzM7fdqL+wxx93RZFS9+MCgWfOmyyaTDLEfTpfjmAujktVv4eudUXADS7et3q07TgLzMaMKxgroMEOLiIBwOpLyHFtC46+XkOdXxN2t8xRbuJ389MolynAGEd09jnhb9KHDKfmUF9ymbFgLbKIAWNIYIBCGeouJbz+UdaWTyEkVJ6nQO59mipExnMQsrxIv78KIp9uieDurxeKy1yYwzPq9EzDylsucAWWhgK6ADxyc0g5JoAHKhHcf1wGKVpHPsZVJk6WSez1bT8Y75TAiAbhzQ1mvxPhjgUP/X6gks2wyXBhItp440kuE6xhp1Rlw8tXzjetjuHpEhlhK1VNbggtNuJFZlQqfkP+rrgls97Mh/aOnI/lEvfLFGVmcYJt2N1aRJqJc8A02R2TxMF2jvmAb8r4ZRAT4NdSgnxtup35U6qafCVQhDb5DAJbswJ0Ewz9jWLTPtBt88lq98NeyziAUw6iV2goTLPrChYlfACRA8uCfwvocxKlZhFKuqbrRTflPuy7bpVW020D5Wh810IlfKeIw10PpKspKQ109/0vzQDpCbovY6bb0n2PzbjKyHEoyqQP/yScCAAzK6WS1nW7DGKN3zgG2XC/86kAZ7/U3rkHOIEz09MPvU05pj+AlQc60zFnFB4HLdUIkPHdmfX0p4ZQhukAq2SHmNgAWcAv425NJzvQy6kqw0LT06xeq/PoJP0Dp5zr6sj4wr7UdnVb1Kj7ZNe5Wj/jhr77yIsTrRZVcOQ7uLv+j6BBfRghpSwpEuELdrw5pp73HQb6TRqjgorMCOG5WCEdyCC3QibvltjfDzj8IKrjqu//bLsDjbBS1Sl0MWtZG2AaEdlKNe9bLeW3l1P592w4srCR/8UrrVK/HxG9O4HRv4lz5RW+SG3EWoNgKT3zNH1xv4ZxoLqVezGeRiGMO7N5OiVmjrpWiuzJn9trBR+JHodUfSx4/xBJ9iTzgKhEdWv7/jRS8IZJMC6QF5w5O6Bb0tUAEZBJymqmVAmVkyPppHtvm0krP9VNOM2NRI3o4b/wlK8Wo6C+/G9s6jdZvkWqB71jg9QnKRUYHrp6D3HmZBYT+NAPx9XbTJGNVpMBpGYquo9LYBGXj8CFgs3qeDMu1oL03nzQxrt6PIgFaElOnE3HlIEg5elC36GFXTDCOsLrMc0otYf/R+/XLBwAShAuoDIPJZQ73w473zuilVvMapOXDOYzogtNVCGGkvUklIq0xl0lr/ByNWayCA7STCLacT4w2/235aKeLzvNwXfDQWAtHTLj4VG+XKvtw64k9rAiTfRWaCZWGsF+bToNuyKzVJOZcpVRNoDc2j+UoZa3gEMGp81SMcY7S9mp7MueP2QOpURYLbFXLCvOhHNOAaIefW9v/yR8djn5y2Rneh4T3+Pk0cOM52lP1ymafdT2MrrIa+Z5M1GV0ujCwheVT8ZJoPASalUWlS1EntyciSGmGT5rqrzQmraWZQLSI0VF6vYstY4ltMF4oSyXOobtMuXJA5GOtGZPe17wlqafrcD8FZJRILX6pU/6FN1hvBuaLeAvhc2UGFJd1mL4Q4gclPqV/niCo35XandP+qE2J3Cory0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E8GWXoFQgqe8EvrKs4P9dC",
      "input": {
        "note": "The pen hit the basket's near rim and fell onto the table just in front of it; the yellow and black markers are inside. Moving the right arm back above the pen to pick it up again.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.1,
          "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_01E8GWXoFQgqe8EvrKs4P9dC",
      "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]: [-0.6903, 1.1183, 0.8673, -0.5335, -0.5522, -0.4976, 0.9967, 0.3576, 1.3468, 0.6655, -0.004, 0.2169, 0.1684, 0.9964]\nstate[eef_state]: left_x=0.3026 left_y=-0.125 left_z=0.1911 left_yaw=0.0193 left_pitch=-0.0823 left_roll=-0.0005 left_gripper=0.9967 right_x=0.3655 right_y=0.0999 right_z=0.1083 right_yaw=0.0797 right_pitch=-0.1081 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -3.6991, 6.8718, 1.5263, -0.2076, -0.0562, -0.0122, 0.1983, -5.8462, 7.2547, 2.0733, 0.2466, 0.0855, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55a9c2dcdb1400bcb649906027b10f4e3ba50eb39aff9356d9f337052605fd06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a7d8f03029a02d825d1aa359710a59d0106d797d218be1cac904020b945f928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5fad3e2abae1cb84af8618b21fb2a0156db6aad632184d54ad5e22f7fd98f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 5 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]: [-0.6903, 1.1145, 0.8673, -0.535, -0.5526, -0.4976, 0.9967, 0.3443, 1.5227, 1.24, -0.2955, 0.2295, 0.1776, 0.1518]\nstate[eef_state]: left_x=0.3022 left_y=-0.1246 left_z=0.192 left_yaw=0.0195 left_pitch=-0.0803 left_roll=-0.0018 left_gripper=0.9967 right_x=0.4474 right_y=0.1216 right_z=0.2328 right_yaw=0.0526 right_pitch=-0.0032 right_roll=0.0328 right_gripper=0.1518\nstate[joint_eff]: [-0.3077, -3.453, 6.8171, 1.4432, -0.2662, -0.0171, -0.0122, -0.3761, -6.5026, 8.7179, 1.5067, 0.0171, -0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4973, 0.9967, 0.3393, 1.5345, 1.2404, -0.3168, 0.2165, 0.1684, 0.9953]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0192 left_pitch=-0.0795 left_roll=-0.0022 left_gripper=0.9967 right_x=0.4463 right_y=0.1211 right_z=0.2232 right_yaw=0.0632 right_pitch=-0.0366 right_roll=0.0229 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -3.3846, 6.7761, 1.4579, -0.2759, -0.0317, -0.0122, 0.335, -8.3214, 7.0085, 1.8779, 0.1343, 0.022, -0.1783]",
      "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]: [-0.6903, 1.1183, 0.8673, -0.5335, -0.5522, -0.4976, 0.9967, 0.3576, 1.3468, 0.6655, -0.004, 0.2169, 0.1684, 0.9964]\nstate[eef_state]: left_x=0.3026 left_y=-0.125 left_z=0.1911 left_yaw=0.0193 left_pitch=-0.0823 left_roll=-0.0005 left_gripper=0.9967 right_x=0.3655 right_y=0.0999 right_z=0.1083 right_yaw=0.0797 right_pitch=-0.1081 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -3.6991, 6.8718, 1.5263, -0.2076, -0.0562, -0.0122, 0.1983, -5.8462, 7.2547, 2.0733, 0.2466, 0.0855, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55a9c2dcdb1400bcb649906027b10f4e3ba50eb39aff9356d9f337052605fd06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a7d8f03029a02d825d1aa359710a59d0106d797d218be1cac904020b945f928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5fad3e2abae1cb84af8618b21fb2a0156db6aad632184d54ad5e22f7fd98f3f",
        "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_01HrMwxknsuJTiaVor5dPzf8",
      "input": {
        "note": "The pen lies ahead, just in front of the basket and angled almost side to side, parallel to the jaws. Moving forward and turning the wrist about 68° so the jaws close across it.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.085,
          "right_yaw": -1.19,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HrMwxknsuJTiaVor5dPzf8",
      "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]: [-0.6903, 1.1236, 0.8673, -0.5369, -0.5491, -0.4976, 0.9967, 0.519, 2.2524, 1.7573, -0.9554, 0.8566, 1.4845, 0.9965]\nstate[eef_state]: left_x=0.3023 left_y=-0.1254 left_z=0.1888 left_yaw=0.0175 left_pitch=-0.0903 left_roll=0.0036 left_gripper=0.9967 right_x=0.4574 right_y=0.1117 right_z=0.0691 right_yaw=-0.9906 right_pitch=-0.151 right_roll=0.0621 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.7538, 6.8034, 1.5556, -0.3101, -0.0562, -0.0122, -1.0051, -12.4923, 5.4906, -0.5934, 0.6716, 0.2369, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f00d799ab131b461c751e8ca2e73774822d4eb233e620090652df0fd918b5e28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48943c63829ba6f94fabe5cfb0e2dc06d811324bb016302c86e60dc75108c034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d1305e6a68266c9978d0612e605ca894c7705f01310b2e21bd41e8ba2e6ba48",
        "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 · 6.796 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]: [-0.6903, 1.1145, 0.8673, -0.5339, -0.5526, -0.4973, 0.9967, 0.3393, 1.5345, 1.2404, -0.3168, 0.2165, 0.1684, 0.9953]\nstate[eef_state]: left_x=0.3023 left_y=-0.1247 left_z=0.1922 left_yaw=0.0192 left_pitch=-0.0795 left_roll=-0.0022 left_gripper=0.9967 right_x=0.4463 right_y=0.1211 right_z=0.2232 right_yaw=0.0632 right_pitch=-0.0366 right_roll=0.0229 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -3.3846, 6.7761, 1.4579, -0.2759, -0.0317, -0.0122, 0.335, -8.3214, 7.0085, 1.8779, 0.1343, 0.022, -0.1783]",
      "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]: [-0.6903, 1.1183, 0.8673, -0.5335, -0.5522, -0.4976, 0.9967, 0.3576, 1.3468, 0.6655, -0.004, 0.2169, 0.1684, 0.9964]\nstate[eef_state]: left_x=0.3026 left_y=-0.125 left_z=0.1911 left_yaw=0.0193 left_pitch=-0.0823 left_roll=-0.0005 left_gripper=0.9967 right_x=0.3655 right_y=0.0999 right_z=0.1083 right_yaw=0.0797 right_pitch=-0.1081 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -3.6991, 6.8718, 1.5263, -0.2076, -0.0562, -0.0122, 0.1983, -5.8462, 7.2547, 2.0733, 0.2466, 0.0855, 0.1001]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.1236, 0.8673, -0.5369, -0.5491, -0.4976, 0.9967, 0.519, 2.2524, 1.7573, -0.9554, 0.8566, 1.4845, 0.9965]\nstate[eef_state]: left_x=0.3023 left_y=-0.1254 left_z=0.1888 left_yaw=0.0175 left_pitch=-0.0903 left_roll=0.0036 left_gripper=0.9967 right_x=0.4574 right_y=0.1117 right_z=0.0691 right_yaw=-0.9906 right_pitch=-0.151 right_roll=0.0621 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.7538, 6.8034, 1.5556, -0.3101, -0.0562, -0.0122, -1.0051, -12.4923, 5.4906, -0.5934, 0.6716, 0.2369, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f00d799ab131b461c751e8ca2e73774822d4eb233e620090652df0fd918b5e28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48943c63829ba6f94fabe5cfb0e2dc06d811324bb016302c86e60dc75108c034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d1305e6a68266c9978d0612e605ca894c7705f01310b2e21bd41e8ba2e6ba48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgkKEAgSGAI4AUIIdGhpbmtpbmcSDHOzdE1SQzPsZHQslRoMSNbMsuhOwhRBD/seIjBn23qOTdsTte+ISWkhI8uff5u9mPgQeWk4FQKWjXlO2JvhnzZUlV18UHAcGenc/wIqywhhFT0bT0YYwsVf+DknuxrWsmkUYHPaRujYHx3YviIaYCUzfHBwgYwqnB1oWhlKTkFtAOn2ynPicBPXiqb3MoI4TdJL+OYm4IRe2wsYtD0mZ8Q187nv4WbdjV3kd6aYSHTtEDG+dRJ1IPNN4Ngx2VdvDkL40vTjjkeWRBBaSXh907LWZQItt+SJeO0J/752I6GH56uIrOM/FJhwEqmI5RKAmq+K0YVsaczaI05w1MYoQsUqfhLUSVNDWNDqNDjY/nDDe8KgLz9UiW+cwrvmLXDsBVBl/b155oEKYr1cKYVQWyXEXk9vLDJR1WKyioiFCHmZWr1E748nTX/EiGrPyKLrnriZQuveUpggTMf0kHabtNNYgDIk+BQYWijsAX07tbtT1RIV+KqvtOzAMuWCNqMgkhpzr5w0qOl7NfPDrXTiQPp/3V3NwGK5giDsgPrDT09f8Rkf9bJ8kcqsAOuKj9OrlbEk4IXtYs9b3b63aA5xHi7TM6sg2bnhBJ1KeRQLQZJHtSqWv8gHaCicflFX2Z+AQt6ZgXwhDRJDnV2dTSqm748sSfLylDlkgMGtpMIRZ2+tmJ/RV4j0gezTj5rp2KrLAb2nKJVQnHePyNLvYbPl59X98RL8lgloHs1PK4KvzkpyfiU3p7tEnvydosqM2Cxk/oK2GslXdc5WRGilgq2BCTBbqKFEW6DRs6E8V378htUzJRN1MnWb0RBC08PRLNBGt+jTeB3PEqOMhB3UsXvJ4YFrBU5v8NhfXaXemzgZ9iQ4RH8hs3OjnSxJwCMw7+V1crgkyJcAIeRfqYv4+R4jJ6ysS9imD4960Da+rvtTd5EXuwUfooIe96zX6ED5AIdUJAi2sKZqaT7/nV4c5YVPiIW6G7Uu03S/3Z5NYSThN29fM1mg9wi4yuqT2V8VLk0xq0fR/+VtBwSQOUWeZwTM7NpqO+PvtloBWp5RA7oBM+glIaM2Fsb7bqK9VP3J0TajVs7FKDrymU/YtXYDvfb0OvPmotKBMJZOqUgPai2c91HG/LnC10nZaPjt9hxgqMaAoQxwuDvAWQ524bKLCBH2EBfZJq4W+aI5uTHsTPnhdKpkJFCxATBA0FyzYIZ3CJyRkNjX3SYS7a+LAnb6cw1n989Xf2/jwl0gMeVHqSyUpko4AlEl9qfJBytlRevISqdl30K9Xqf6KzIoHbqdCMAxc/fpyp+eO/a9BkeDisiCYFh8jhMfwSByrIgG9UgVRH2kce37cEiPUlTLLSyQCUYbZB7I2Bj7LMlM0084/BXCXm4ojtX6H3lrTdWY8DmLq9B+f1sd8QVYPDXaPIpZu2YJhYAojvICmxiBxkVBdUrmX2C2Gpn1mVBWYYOHRuvu+HxsvwzQHPzPmBK+LoP63I/ilSGssWq5RQLgufgSyYaB6c3AP+vGzZPpoRsChznN2VylgWnrUEtSUTWzGG6XOdIvxhmZaBfnZV5lBLNEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PxdjXxGv9bqh9GZXmJvx5G",
      "input": {
        "note": "After the wrist turn, the pen now lines up with the jaw column, across the jaws. Lowering to table level to grab it.",
        "targets": {
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PxdjXxGv9bqh9GZXmJvx5G",
      "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]: [-0.6903, 1.124, 0.8673, -0.5354, -0.5488, -0.4976, 0.9967, 0.5133, 2.3356, 1.6455, -0.7765, 0.8444, 1.5021, 0.9966]\nstate[eef_state]: left_x=0.3025 left_y=-0.1257 left_z=0.1889 left_yaw=0.0171 left_pitch=-0.0896 left_roll=0.0026 left_gripper=0.9967 right_x=0.4544 right_y=0.1087 right_z=0.0066 right_yaw=-1.0068 right_pitch=-0.1646 right_roll=0.06 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -3.412, 6.8718, 1.4725, -0.2955, -0.0269, -0.0073, 0.4718, -10.865, 5.0393, 0.2857, 0.6081, -0.0317, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e66a6ab3d1efc8af7f271c96139d26d03ba7645ff3302f856d7d77e3ed5a6a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17629d77bd7d276c08a300ba8ac6369586292b3508dfa8748c969f7ed6337af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13b91b76a69b0fff92e19a479f57cd074bac1e08eb094185bcb66f8d2c9fa9cb",
        "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 · 5.988 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]: [-0.6903, 1.1183, 0.8673, -0.5335, -0.5522, -0.4976, 0.9967, 0.3576, 1.3468, 0.6655, -0.004, 0.2169, 0.1684, 0.9964]\nstate[eef_state]: left_x=0.3026 left_y=-0.125 left_z=0.1911 left_yaw=0.0193 left_pitch=-0.0823 left_roll=-0.0005 left_gripper=0.9967 right_x=0.3655 right_y=0.0999 right_z=0.1083 right_yaw=0.0797 right_pitch=-0.1081 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -3.6991, 6.8718, 1.5263, -0.2076, -0.0562, -0.0122, 0.1983, -5.8462, 7.2547, 2.0733, 0.2466, 0.0855, 0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.1236, 0.8673, -0.5369, -0.5491, -0.4976, 0.9967, 0.519, 2.2524, 1.7573, -0.9554, 0.8566, 1.4845, 0.9965]\nstate[eef_state]: left_x=0.3023 left_y=-0.1254 left_z=0.1888 left_yaw=0.0175 left_pitch=-0.0903 left_roll=0.0036 left_gripper=0.9967 right_x=0.4574 right_y=0.1117 right_z=0.0691 right_yaw=-0.9906 right_pitch=-0.151 right_roll=0.0621 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.7538, 6.8034, 1.5556, -0.3101, -0.0562, -0.0122, -1.0051, -12.4923, 5.4906, -0.5934, 0.6716, 0.2369, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.124, 0.8673, -0.5354, -0.5488, -0.4976, 0.9967, 0.5133, 2.3356, 1.6455, -0.7765, 0.8444, 1.5021, 0.9966]\nstate[eef_state]: left_x=0.3025 left_y=-0.1257 left_z=0.1889 left_yaw=0.0171 left_pitch=-0.0896 left_roll=0.0026 left_gripper=0.9967 right_x=0.4544 right_y=0.1087 right_z=0.0066 right_yaw=-1.0068 right_pitch=-0.1646 right_roll=0.06 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -3.412, 6.8718, 1.4725, -0.2955, -0.0269, -0.0073, 0.4718, -10.865, 5.0393, 0.2857, 0.6081, -0.0317, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e66a6ab3d1efc8af7f271c96139d26d03ba7645ff3302f856d7d77e3ed5a6a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17629d77bd7d276c08a300ba8ac6369586292b3508dfa8748c969f7ed6337af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13b91b76a69b0fff92e19a479f57cd074bac1e08eb094185bcb66f8d2c9fa9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQoKEAgSGAI4AUIIdGhpbmtpbmcSDAZW9dmg8QyA30AFKBoMOoiGNs+kRXfV0HFNIjBcNoIbP1feabc6oS+fXOuOcgXF6bIpVvEkQl9F+CnP64KnZY6Jk/pZzDlp4//hkZQq1gkE22cYx3vhlTqPxRQHqdo/OvXb7UiSXuBtwq5ydUkk5m0bzcYhzjnw1cA7IMqas/RqR90UK9Zyx8MRlVhbB5pXKFWN0EjBkwyTFiu5p+RVbApmVvv1kAXtbv0M3xAG2yk0CvDglh+dkhpwt8AshCeMbyhtNZoQiWU7XH2wOpEYjoK3r/x8D0/STq7x0ND/5DMUOusJ/sn5zcIIt+i+vEi9aCuePXzt8ul045Mclqy7scspiK8DnrP/wI+i9lrMnE0Vpc6+fY08mt7oLmsrOOmvxA2cEvRta1E+IdwefwfVjMeE4zYB9fWuD55DtuJ07Bvuon7AGNXWY7QmmM+ORZytAeoQ98iG5Uip+F1j5kKNOMlZl349VSlZMBVYlgr9BPvgn7fdY5RWN8mWthPFCWf3vHWzeuVwiGBCDqwyhOCrAPCEstj3XJ8oObPdznCm2wFT7s8Zby7tIsSkx2ZDfwhkDLmtm1iMqM3jcWIsoaQ89GKYJLcaYoEthdsRrsg31TZTsxj3v+1nZkNT4bxG+hxTimQkMO3LzuDfoNN7lOED9v8E7N3W4LV1eaJlFL8GCpxI5tibbJQDRDTayupAlvv5uqfi8CSK4G0OsWGNmwXxajutIhH/ThIqjw1e8b2mTWsMb+mqhokWz/4wOQvLqycrWNYLaDGJ55wFysYJNlmqvHcSALi+RWPwR+5qAw9JvJLzBYngrt41iKOFfV4V6Fy/0rW2i+JKc8J6zW0ZEGd9kxS4n31ZUsZEOc+mXjS44mLpoiOLxB7CqW0jTXwcyn3rn27gJ0Sk3LQeufFzHU40c4583S9ARpecrcgi2VMTkR79uWafe2wW5Kl+1//pa3PlzDVpWQuyF5fICp4DebT0tZjjCe8JPEaemx61rs24SduzkvyOgWbbNtD0jFp98ZqG7cR5k7aHk/dSPHlx/H6Kgs1qPBery9FYFK7n/wCEU6ysCeRbKP/OQ24tOruEi8FLFZ6tvoHnC7V1KQ+Pg3XdMU9PavFV4UgAjxrErn909u3n4PWR7RhwGfv686F96mDXPXetBAVdpC+VNZpdLyHYnQ/9+TEj78gFC+pi0Sc/0LX5JTScCD8JZ2hd7oDy/Vtqmm/hctLq3ZdG82bAZduHvjL+0N11ihXxhbt/uattPUArkcPdZOYaSxpPkLYM2QaIbPque6OrSOsllhS3r104ZSzHCMT4a7gFpG62MGFmqujo6y8yQJGVgCqJB8HahhOtY7916foHotYcZ6woSBBHRmCtitbH1Q3QCmRvnvdygqc7xOkWhd87F9Nn/WR3F+wRG4crz00NhECDGdUKNmNXoxf+1OT9lNUqLu61CtQosQJCrAGFIuczqBh6DvjRNetQKSPEMKAZrLKkuNl1Ggpak68OBR5eCWDUSzchJ+/rRaD3EuU9Xb0uwYlYpwPIfTraQq+icZLdo3Ts28xu0ixsZxLtGOgJGUZvfboRafsAbMyow+lfW96IAujs9lDEQQGSBCVNE9ySCvwvN8ikJ6uoFwBieddw8U3iGaVCB14VzxZX2qNgySeTVl8m5f6bZ488oSaccsUc+pZOoVBJu5exxgvj7dS/kIybp5GRpJSVcEFIYLnhqNm7azYZc1x1Iu6vF+Al432fgb9p9n3l1gzCOBXGPl8VExgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PPZHb2wG2P7CjWxEZGW1dU",
      "input": {
        "note": "The pen sits a few cm ahead of the fingertips along the tool's forward direction, which is turned about 57° clockwise. Sliding about 3 cm that way so the pen ends up between the jaws.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.084,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PPZHb2wG2P7CjWxEZGW1dU",
      "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]: [-0.6903, 1.124, 0.8673, -0.5362, -0.5488, -0.4976, 0.9967, 0.5159, 2.3474, 1.6409, -0.7044, 0.8524, 1.4948, 0.9966]\nstate[eef_state]: left_x=0.3024 left_y=-0.1256 left_z=0.1888 left_yaw=0.0172 left_pitch=-0.0902 left_roll=0.0031 left_gripper=0.9967 right_x=0.4638 right_y=0.1143 right_z=0.0031 right_yaw=-0.9924 right_pitch=-0.1531 right_roll=0.1104 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.5214, 6.9538, 1.4579, -0.2857, -0.0464, -0.0073, 0.0615, -11.3573, 4.8615, 0.3736, 0.3932, -0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de586c569e176312a15fc95de773e4d73ac985eaa988de974b1de003fc415382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9f044b9f0c3415c14f7b3f617fdaccf5115465a842771c622c9bf9826f738f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6870005b8ec6c9689d92ffbf29b7839eb5972669f9ce3260eb6322ee124817ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.94 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]: [-0.6903, 1.1236, 0.8673, -0.5369, -0.5491, -0.4976, 0.9967, 0.519, 2.2524, 1.7573, -0.9554, 0.8566, 1.4845, 0.9965]\nstate[eef_state]: left_x=0.3023 left_y=-0.1254 left_z=0.1888 left_yaw=0.0175 left_pitch=-0.0903 left_roll=0.0036 left_gripper=0.9967 right_x=0.4574 right_y=0.1117 right_z=0.0691 right_yaw=-0.9906 right_pitch=-0.151 right_roll=0.0621 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -3.7538, 6.8034, 1.5556, -0.3101, -0.0562, -0.0122, -1.0051, -12.4923, 5.4906, -0.5934, 0.6716, 0.2369, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.124, 0.8673, -0.5354, -0.5488, -0.4976, 0.9967, 0.5133, 2.3356, 1.6455, -0.7765, 0.8444, 1.5021, 0.9966]\nstate[eef_state]: left_x=0.3025 left_y=-0.1257 left_z=0.1889 left_yaw=0.0171 left_pitch=-0.0896 left_roll=0.0026 left_gripper=0.9967 right_x=0.4544 right_y=0.1087 right_z=0.0066 right_yaw=-1.0068 right_pitch=-0.1646 right_roll=0.06 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -3.412, 6.8718, 1.4725, -0.2955, -0.0269, -0.0073, 0.4718, -10.865, 5.0393, 0.2857, 0.6081, -0.0317, -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 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]: [-0.6903, 1.124, 0.8673, -0.5362, -0.5488, -0.4976, 0.9967, 0.5159, 2.3474, 1.6409, -0.7044, 0.8524, 1.4948, 0.9966]\nstate[eef_state]: left_x=0.3024 left_y=-0.1256 left_z=0.1888 left_yaw=0.0172 left_pitch=-0.0902 left_roll=0.0031 left_gripper=0.9967 right_x=0.4638 right_y=0.1143 right_z=0.0031 right_yaw=-0.9924 right_pitch=-0.1531 right_roll=0.1104 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.5214, 6.9538, 1.4579, -0.2857, -0.0464, -0.0073, 0.0615, -11.3573, 4.8615, 0.3736, 0.3932, -0.1587, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de586c569e176312a15fc95de773e4d73ac985eaa988de974b1de003fc415382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9f044b9f0c3415c14f7b3f617fdaccf5115465a842771c622c9bf9826f738f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6870005b8ec6c9689d92ffbf29b7839eb5972669f9ce3260eb6322ee124817ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgoKEAgSGAI4AUIIdGhpbmtpbmcSDM9/71rWQ1KRoDJ+ExoM4mngnwOu3M2okVVPIjDAreZw1fSqy/XIMFToSHM7o9C78p/HQlqH3LCs2NTIR7umUSh+0LKO5bUXJN2NMKAqxwlUTdp3RpIVPXViRcnrnG2hJ1GVJMh+/Wb4z2mwOclgj6WsILJaxcA57cFtZI6JOR6oaCFVg6pYbmesHVFq6x0G9SLeKOX39HuVJOa6NoQ8io1+Wk8y2P/SLfV7SwF2agIXCztJFb2AVK7WpZ7XmniYW00us0i/FCzwk41z7aoLwipZOMkPXlBltRDexh6V0u/48ick3XRoyPVwJBkFmd4gGbUd6FRMsf0dpFhC/oLU3DJYjyWn0YaaEdb6kvOZYbMGO0kmSOQ8yeI0WhncMywCrpfeTKRLSX5291uGTCd2mAirPjM9PZ4baRBwNbZKMeoEWMSUxvEpW4hc8U6BgVJsivn2UshSFppYb21CqSHwrAqSHby6uU1RFL3KDfCCF87dSeohVzs0x3gSA8YP02GfehDtbCWftE5xISY4S2EYtZQDnlG3euWwPChTiQG+iXvrie0SbZA7Uw78+iwwdNNJaEMAmgM+STfasi0mUN290gDP7LW/INqrFEVDefxr6ofdGYrcBNO076RXkv3ro64TXBqcutope1UpKhj3/xqJFGtnon6LZBSrjNeAsOkvZYvZdQOeE47X17U4rX838gypagIKirAOt2Qb24DELOfpR56aCtuEtTIRq2xCDCSvH2ujzjvoQQ3s1l+ii3hN2G+Let1qzngILSDPec1+rfzmY2eRLO88tzyuQJevuSajYVifstX/qTX9N+HbHNciJDz7Gl2mQAPQqoTZea4zf9O66shiqDo+rmFtQe6ne3zjoxJ9ytlrmk7pJRKHmYw91rFMMj9pq29lk/DalVlnX7U+slJVNzTDMhBsTcIcU3X7x1TpBR0+egW/vDjdiH0rh0X4zXfGHwvRAdHST+BHzOC94rrWsm1AMPtJxqq1BSNoP6V/vM4P632fZYTPnV1KCNApAGlCDdmqKCsYmrKiLnKMw2msEmnSG6+gMz6+Gmi6g8UiZrSBnMvjV7l6yWER0kh3JfCl0/3QoD2XKAWdgBYTcOVHgINLmiqLmeKlN5hj8iB45U3BTFvUsORxvn0QyBTcEspsILTGq5uX8qlwg96RW+hjGDuhHL95+miUe42KQUsW8npovNS3G96X0ckrXQRJmTa+0IvLbs3vXswBcszwqNGttUrNn14iTOkGpjTdbNZigkTXaDxuFKER6QPBvCdjMvp2FiZRR/OvD5rYzgsRIivW1z2sj8xMzreiBSewywMu4wb476ABUxSdHcYISQvDIKS6jwSsV007OI2A4Z5NFMV8K+ras9i26Y8nWVfUW40IEL5gIG+MB5ewpGZ2F61eoQQOXnKoawFRYT+ASl+e1BywGKA3R/qlIg6/6h7V00q15fIiNZILPPKaajK0gDXWNGawkpp7EMTZqImqIjPyVmRoxOMbtdLa8/jux+gKruPL8CBzdW0emRU/TgoSRDckWoW2yvb3MLf3JGtvVQsGoBZC30s+GemJk+93S51mllo0HJMZSrexZPOW5fbudm3QfYuS48KMJT+W+rxKSt+HS/2Aos5GjSeyd13Yohr97vuZgP6lxJk644Aue9nFON31t1WE5a1UK89NzHzHRHyDo1iUUtZWderIxWUV/gDWocHgTJomuCQGeWq7N9zW1KAVeDzxBOe6thgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WHxVqJorERSaYG9wK5j8kz",
      "input": {
        "note": "The arm stalled at x≈0.46, its table-level reach limit, with the pen still just beyond the fingertips. Tipping the tool forward to extend reach toward the pen.",
        "targets": {
          "right_pitch": 0.4,
          "right_x": 0.49,
          "right_y": 0.1,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01WHxVqJorERSaYG9wK5j8kz",
      "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]: [-0.6907, 1.1248, 0.8673, -0.5358, -0.5488, -0.4976, 0.9967, 0.5575, 2.4958, 1.5578, -0.1711, 1.3827, 1.2369, 0.9966]\nstate[eef_state]: left_x=0.3025 left_y=-0.1258 left_z=0.1886 left_yaw=0.0168 left_pitch=-0.0905 left_roll=0.0034 left_gripper=0.9967 right_x=0.4887 right_y=0.1045 right_z=0.0166 right_yaw=-1.0095 right_pitch=0.3843 right_roll=0.1522 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -3.5897, 6.7761, 1.4774, -0.2613, -0.0317, -0.0122, -0.5265, -9.4154, 4.3556, 0.9744, 0.1148, -0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490d613d53dcd594d635209f409c0fb5b277166bc8fb64ab58776cea5a529e54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3110f1704706cbd935b27783274c7605dc0c2a9807ab35fc6a63b0be262a46b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fcde2ca48d5999e56e68d927e4cebb0465e9b768227092fda6e1b6399658e4fb",
        "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 · 5.306 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]: [-0.6903, 1.124, 0.8673, -0.5354, -0.5488, -0.4976, 0.9967, 0.5133, 2.3356, 1.6455, -0.7765, 0.8444, 1.5021, 0.9966]\nstate[eef_state]: left_x=0.3025 left_y=-0.1257 left_z=0.1889 left_yaw=0.0171 left_pitch=-0.0896 left_roll=0.0026 left_gripper=0.9967 right_x=0.4544 right_y=0.1087 right_z=0.0066 right_yaw=-1.0068 right_pitch=-0.1646 right_roll=0.06 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -3.412, 6.8718, 1.4725, -0.2955, -0.0269, -0.0073, 0.4718, -10.865, 5.0393, 0.2857, 0.6081, -0.0317, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6903, 1.124, 0.8673, -0.5362, -0.5488, -0.4976, 0.9967, 0.5159, 2.3474, 1.6409, -0.7044, 0.8524, 1.4948, 0.9966]\nstate[eef_state]: left_x=0.3024 left_y=-0.1256 left_z=0.1888 left_yaw=0.0172 left_pitch=-0.0902 left_roll=0.0031 left_gripper=0.9967 right_x=0.4638 right_y=0.1143 right_z=0.0031 right_yaw=-0.9924 right_pitch=-0.1531 right_roll=0.1104 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.5214, 6.9538, 1.4579, -0.2857, -0.0464, -0.0073, 0.0615, -11.3573, 4.8615, 0.3736, 0.3932, -0.1587, -0.0171]",
      "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]: [-0.6907, 1.1248, 0.8673, -0.5358, -0.5488, -0.4976, 0.9967, 0.5575, 2.4958, 1.5578, -0.1711, 1.3827, 1.2369, 0.9966]\nstate[eef_state]: left_x=0.3025 left_y=-0.1258 left_z=0.1886 left_yaw=0.0168 left_pitch=-0.0905 left_roll=0.0034 left_gripper=0.9967 right_x=0.4887 right_y=0.1045 right_z=0.0166 right_yaw=-1.0095 right_pitch=0.3843 right_roll=0.1522 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -3.5897, 6.7761, 1.4774, -0.2613, -0.0317, -0.0122, -0.5265, -9.4154, 4.3556, 0.9744, 0.1148, -0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490d613d53dcd594d635209f409c0fb5b277166bc8fb64ab58776cea5a529e54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3110f1704706cbd935b27783274c7605dc0c2a9807ab35fc6a63b0be262a46b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcde2ca48d5999e56e68d927e4cebb0465e9b768227092fda6e1b6399658e4fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QoKEAgSGAI4AUIIdGhpbmtpbmcSDC+53Tnt/WWrzXWvjxoMAMqKlvypqWDq3p1JIjC8WaCxve7z5TmqG5y8y3c7bx0wL4qhbCMpzM8+woC/+DVzK6jRHjRrMK9Gs8Z6K7gqggpimA8bwEDfKZTHzSaQ+qQzLiIw0cNXkB3+v0sI79uy2z5iXNJIqK4jNQUUfy4dJtrD3yfztqr2R9fm3Bov32rOHI/egtJ12U18qmD1pNmj8U/trQpWSqJcmjy3mOXqwhA9BoOoSx+MJ14eq5NK4yruQe1/LwCqVNwlwwQ21MgT9T2e65ESyO5Cu62+7Tkl+wxUMnwUhPS/GeXnVCr+ezB+NyfJdvy6BH9O9cv5hsW4YLlNSlRIcEbRg/2g/3Keyl+V8vwiehmZddHiXDuz7xIC0uA65qo86Rn8MMcHri05YLi2A6C1matfBcwVaIvNTPZmTFngb3ec+seeol3R/GYvSmLNcaDHi9uSsiJcYl8bhDwp2KAHV9bPmZY8MDbWbSDRblZPgBMFxRE9utfdAv2/UPoxI3FCFnovTVng7mFF+AInO+EWCLHoIXuLT3NPUooqz7sdU70fkRZDJhOMuxpBrxP38fvQO4F+k+zAJJipchkbLEivcCrATSBfBa1lXDaYZz60zFUMphPtajPu+ML7baD69yx8nErIGsSgZCsOn6/Qjq0UmR9oNo8O1Cw0q+T82xsU5lOFEpSiJFdhIgsFkhju/yw72nxqqXzXe+dmkhq9VGZwMCwmcaQS6FX3axN/4i5VsWkNhJOM/KS8AGMsKrc+LjeE66Yhhds6IjelA8IpeFmHNoPG+bNtIS7p8aGyF8to1BGj+ysLIY5OQrNusfWIU0TTsZzUUjJa3wW+iMv4JbaRmDlb+4TVzks5UMtkY2p4AR5mYeFq8v2tt5bOqqZz+4C53wlKWAL+jVFgj6wtbtnxY+uf6YH/NwnPQQr3NrjgERTNIz/4GYt12NC726M8BZAmwrPYZqdHF8bgde8QxXzGQK+V9BnY813bhepNJdx5ZCsphMNQE6wFl3bpKYBfHrDhDKV5GNHfiK3ijcrx9VBQS3lPIA3P/vbhb5qo1aNDXhASnSoKkprK2ao5HNvHK8D9tv2LYN4LVOlaN5jj5CdsjclDlgHNXsjfz1tS6c+7VncQbv804W3oz+BVmK5EXPVNRuFhIAwWSi/Z0MjxXnyLpvkY3iYNdku8lHJIlJA/Af9jX4uz2hz9haUXDrhEFUPzg31dTP5D0a7RwLzz4Z7aNNbwq6Wc3KlrsZt5Wel40c6qAvEJzZH92opkY5+efGshAwIUeQf7sz8neoxuwcgtrzN61AJT3yej+r3luuw1TM0nZCDNfx73q17T/c2kx0yXhtR9VLTIIGa17+J6297EqDTjIxmt3L++CkurQjccu0B65Unaw883EdYtoC+jnCPoZKkUzM/421BXhRpQPtvJXzEOlKlhrURfy5N45RCO5yYSoxagHqo5fHtndzI4pM33RkyIFYBnYT19iQVUVu1qcZP9VO8tnFJW8sT3DXWtMAKPcuXXu4RzXrmh3nIvk5yhfp7uU2gobwRRTOtiXFVybpUsRXgT1pGQGe01oCgX+1qcVp8NbExuYjg7DNrl95VVUbk4W8f29EQr5Fzd459HAe74/h2PKwb1eWzxqVeBawZ9yQ4kk5jRr4Mrxu+GjuA1xqATLsE+soVueHj7q7+L4jUu+LhNNeU+DOMBQiZYaOwQIx8YQimah0N2B+O9DB3C7GT7TpZOIttNgzonAO45cylmgQsMu2zhkgzSFTDA2FOcpW5//xJTXLQHrjAfVMttA28y3Eb6xUrFr9wgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0179gpxtyVKwiaWcLkn9nkCg",
      "input": {
        "note": "With the tool tipped forward the pen is now at jaw level but about 3 cm to the tool's right. Shifting that way and pressing down to table level.",
        "targets": {
          "right_x": 0.464,
          "right_y": 0.088,
          "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_0179gpxtyVKwiaWcLkn9nkCg",
      "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]: [-0.6903, 1.1252, 0.8673, -0.5354, -0.5491, -0.4976, 0.9967, 0.561, 2.4695, 1.4479, -0.0292, 1.4361, 1.1831, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.1257 left_z=0.1886 left_yaw=0.0175 left_pitch=-0.0903 left_roll=0.0036 left_gripper=0.9967 right_x=0.4742 right_y=0.0954 right_z=0.0175 right_yaw=-1.0261 right_pitch=0.4355 right_roll=0.1583 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.0291, 6.8171, 1.5067, -0.2466, -0.0269, -0.0122, -0.4991, -10.0171, 3.8359, 0.7399, -0.4078, 0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67a475051ad7bb19c2a345feeed76b0729531494e3ecc2a13d0e5188160d922b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58fee73638060b35531abe3383d38748ad905a2f4ed68951386b6dfdf8dc87de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1585df19f2245e7ac5447c4e6561e9581943ef086f9b43f6dd787e5ef8bd09f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 5.334 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]: [-0.6903, 1.124, 0.8673, -0.5362, -0.5488, -0.4976, 0.9967, 0.5159, 2.3474, 1.6409, -0.7044, 0.8524, 1.4948, 0.9966]\nstate[eef_state]: left_x=0.3024 left_y=-0.1256 left_z=0.1888 left_yaw=0.0172 left_pitch=-0.0902 left_roll=0.0031 left_gripper=0.9967 right_x=0.4638 right_y=0.1143 right_z=0.0031 right_yaw=-0.9924 right_pitch=-0.1531 right_roll=0.1104 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.5214, 6.9538, 1.4579, -0.2857, -0.0464, -0.0073, 0.0615, -11.3573, 4.8615, 0.3736, 0.3932, -0.1587, -0.0171]",
      "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]: [-0.6907, 1.1248, 0.8673, -0.5358, -0.5488, -0.4976, 0.9967, 0.5575, 2.4958, 1.5578, -0.1711, 1.3827, 1.2369, 0.9966]\nstate[eef_state]: left_x=0.3025 left_y=-0.1258 left_z=0.1886 left_yaw=0.0168 left_pitch=-0.0905 left_roll=0.0034 left_gripper=0.9967 right_x=0.4887 right_y=0.1045 right_z=0.0166 right_yaw=-1.0095 right_pitch=0.3843 right_roll=0.1522 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -3.5897, 6.7761, 1.4774, -0.2613, -0.0317, -0.0122, -0.5265, -9.4154, 4.3556, 0.9744, 0.1148, -0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6903, 1.1252, 0.8673, -0.5354, -0.5491, -0.4976, 0.9967, 0.561, 2.4695, 1.4479, -0.0292, 1.4361, 1.1831, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.1257 left_z=0.1886 left_yaw=0.0175 left_pitch=-0.0903 left_roll=0.0036 left_gripper=0.9967 right_x=0.4742 right_y=0.0954 right_z=0.0175 right_yaw=-1.0261 right_pitch=0.4355 right_roll=0.1583 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.0291, 6.8171, 1.5067, -0.2466, -0.0269, -0.0122, -0.4991, -10.0171, 3.8359, 0.7399, -0.4078, 0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67a475051ad7bb19c2a345feeed76b0729531494e3ecc2a13d0e5188160d922b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58fee73638060b35531abe3383d38748ad905a2f4ed68951386b6dfdf8dc87de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1585df19f2245e7ac5447c4e6561e9581943ef086f9b43f6dd787e5ef8bd09f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxggKEAgSGAI4AUIIdGhpbmtpbmcSDCGlszJjF9ErL89AXRoMNSJ14RvAykIk9v+DIjCeRjzPgZ1MGIm0C3Owh9HsFrQvxunB22DKHU18ri/J3CxFVZPfj799Wqb54X28Gvoq4wclYtRLGJqQhCX4TWpx5ojYR4cvVjRE3B9QebEgcWW9fpgafBYHJGBNWLzCszCKUoPVxP34aGq8LDKjivhZ0sSd4hHb/oURhJMVrUK2OMCZ1xlcjeaLMnZ+tX+DzSSwH4G92WK7nCwMbTFCSyUlVQRuJPvCK8qJmXJCGXX4IqELzN6sROYIwgKaWTTzykYX12Kua3CNknfO+ymcxmw8gxT03hH6J/fFPHF6JztCStO+aLQTxJK3flHIjvDEMfdMuEAbdCG2rArCu/8nKqaa4dQy5z+L1nk6vYQoMaWgEzr5wk3khxjyGKxBhJ+EHnkUN8NsBkoU5+qWFglkjiHFGMqcuFAuKkJC42KpMmDLq2jIu95Mmt7Flv3OcXfe9B+Jywd5U2g2dBtXYa+M9e2dOXBZDVFOxURbRhk3nhyz55gRdNx97Zkbq7kHwZHDSizYIQ9KWCBcAhm9kmsPbI2P18XIm41lNIo/DpXRJrrYwNz+wxirI+WGqjciT5n79JPpsYRM5jpj6gevEs61fO8RyG3pPHwjGFCDRrAKbMF8OFVJpebIXRGAoTpMUA7N7F3eu/TfmjsnUTgm2nNtMXCBiqkw4Rfo8GL0xPKU3METGbTSBBHyQ70Htq78VEumrJJRird1IRmQ2NiuebQQbDU5fryoJJ0/W80XKwRU1pneW3b1dX8xtzfjxlGgPfNtU1DASpncAueCCbTLyXkyOLa8VYA1nIg1tf5rV9KL+yi9/twjlysZweXMIHLHMo4AdHsXsdakfepqAHLeLeTLeSsZyD1KvYZCk0phnVkAzO0Jxfjb4MbA/qfPHGswUQZR4gqtiiuB1xVJR7NlJlRofcPB2SnRDG1uFO6ad2bqUSBZI0aZoOXlscItbzqHHgTQwElSsHbW0w9yuxPXJgKvNYE/XskukdWCwomdWVgvTlUd8mSkIFoMjKpNHy5nxEOKJVeBnfaW8x6hiM5oOQY9eyQitEz34D+hPQPr2DE13HFql+MgszbvNV4pFcXI5DDUZOQyVgqAIL0avLFvGWDEyipphGAeZkLbRmJwrh7VIBMpTs6DEzFLC+uZU3jgiHG5hkOaJ5VSIUJkPfxG9B16kaZ/pkC+uM9iJH5W5avSpaFtXKKdmHouiYtw46iNchNnZAFHhRSKVOiJBVpJouRWNbLR8qRprTM6EzdaLntGeThQ3p/S8IdPria+4gRC53LN5m8ODKbbQ4zv9LqhF2tZfVPafq+Zj3tXBTGXKdqApmombylyRJQJCKVsC1eqRePhlI6uzdQRnJTYkbGZDRL7ZPH1IA0jkZSnJpBLoKR44tsv6nlwIuolRBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GqtXiqpNfCfh5632wQ21Bc",
      "input": {
        "note": "The last move barely registered and the pen is still right of the jaw column. Shifting a bit further toward the tool's right.",
        "targets": {
          "right_x": 0.452,
          "right_y": 0.075,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01GqtXiqpNfCfh5632wQ21Bc",
      "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]: [-0.6903, 1.1259, 0.8673, -0.5354, -0.5484, -0.4976, 0.9967, 0.5583, 2.4287, 1.3258, 0.1059, 1.4673, 1.1301, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.1258 left_z=0.1883 left_yaw=0.017 left_pitch=-0.0913 left_roll=0.0037 left_gripper=0.9967 right_x=0.4573 right_y=0.0827 right_z=0.019 right_yaw=-1.0405 right_pitch=0.4654 right_roll=0.1603 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -3.2889, 6.8171, 1.4774, -0.2369, -0.0171, -0.0122, -1.0051, -9.6479, 3.7538, 1.0476, -0.0122, 0.1099, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44c84a8fc3fd2b5e5f683eb7c2332d9dfbfb9f8d0bfe88eacd4e8e24378a83f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d83f33bbd4f444728ab8f10afd3a3a60d25b26419db892e4e9168126f6371a16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abc15e194ed2dff95c32fb53f6a7e89e1addd32f175cb1d5f012d0eae52bb5ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 11.88 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]: [-0.6907, 1.1248, 0.8673, -0.5358, -0.5488, -0.4976, 0.9967, 0.5575, 2.4958, 1.5578, -0.1711, 1.3827, 1.2369, 0.9966]\nstate[eef_state]: left_x=0.3025 left_y=-0.1258 left_z=0.1886 left_yaw=0.0168 left_pitch=-0.0905 left_roll=0.0034 left_gripper=0.9967 right_x=0.4887 right_y=0.1045 right_z=0.0166 right_yaw=-1.0095 right_pitch=0.3843 right_roll=0.1522 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -3.5897, 6.7761, 1.4774, -0.2613, -0.0317, -0.0122, -0.5265, -9.4154, 4.3556, 0.9744, 0.1148, -0.2466, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6903, 1.1252, 0.8673, -0.5354, -0.5491, -0.4976, 0.9967, 0.561, 2.4695, 1.4479, -0.0292, 1.4361, 1.1831, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.1257 left_z=0.1886 left_yaw=0.0175 left_pitch=-0.0903 left_roll=0.0036 left_gripper=0.9967 right_x=0.4742 right_y=0.0954 right_z=0.0175 right_yaw=-1.0261 right_pitch=0.4355 right_roll=0.1583 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.0291, 6.8171, 1.5067, -0.2466, -0.0269, -0.0122, -0.4991, -10.0171, 3.8359, 0.7399, -0.4078, 0.0708, -0.0171]",
      "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]: [-0.6903, 1.1259, 0.8673, -0.5354, -0.5484, -0.4976, 0.9967, 0.5583, 2.4287, 1.3258, 0.1059, 1.4673, 1.1301, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.1258 left_z=0.1883 left_yaw=0.017 left_pitch=-0.0913 left_roll=0.0037 left_gripper=0.9967 right_x=0.4573 right_y=0.0827 right_z=0.019 right_yaw=-1.0405 right_pitch=0.4654 right_roll=0.1603 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -3.2889, 6.8171, 1.4774, -0.2369, -0.0171, -0.0122, -1.0051, -9.6479, 3.7538, 1.0476, -0.0122, 0.1099, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44c84a8fc3fd2b5e5f683eb7c2332d9dfbfb9f8d0bfe88eacd4e8e24378a83f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d83f33bbd4f444728ab8f10afd3a3a60d25b26419db892e4e9168126f6371a16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abc15e194ed2dff95c32fb53f6a7e89e1addd32f175cb1d5f012d0eae52bb5ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4QgKEAgSGAI4AUIIdGhpbmtpbmcSDBPNKYhylKkAvLgu+BoMKqcvaiOPqW2HJOzKIjCbLdwXN/6wTpsUAuxkUaGav/YSBIr4ufgkqCk7A4YlRBKAZI5lFbDoolS82tBvOvUq/gfNWUNhmxQx9mQ3NqFgZBrPCUUECGZxWG607xztacTc4V9MNxu6vxGhWlBzP6YwKYIqJyvUMEb7Ie6lu59ciO8h4WSFkdyIaohnx3oUrdIHipaaBEs81GsmTW6zbbsr+MG3CdCS4I7j+DuPZIUjY0waqhYsu86LbB5woOrr176uCxR9iDreyhdC92ayLzIoSM/ASns/RbHAebZafmzFk1yUfvuP+TexRLoxCbaChfwQhpGbGyPQ4utIQeTmfjwa0EcU3bDgvOGoGuS4TFXwq8067RyY5YQAgAFHGFdU9mjEZn4VClCN2lAdaZV/Cxfb4vzQfLvEIxaorBL1rGjKaIcYX82+8y23hD0umyuNOdr9Ws6GEdn8AwCarEHMGsDgeylY94f1T2L+RavbYTYcbS51jp1PLgf5O5K/Ip/K/YpYjt/SfVDFeHyPMrmH3xWIqs/aNsk8WLdQhSTVxUU7pb8AXi8xsb3Fz4DUv73i8KIH3v5AKhKU2ywy7Xe6u1AMdkBploJCxFSCOXxFRc8Ywzxt2UBXbWHoHvgy25ZH/sHC4g+rDbfJlpBIEE7b1J3Pdzd+LD+3MwOPDfEhZMb4FwkyZ9xEzIlwwFwcDs0f8rzoRB+y48Dl1fgojbvDRC6IPZsnnNDaUqdKpNR60MTyXQpBic2fMnTVVCWigoXpobfno026NzNhe+WjrHS3YHcid79Lx55rKPU0ZTh3xy0rn0J2Hq0CNB+yAzwXQpIRIOBGwXxfpKUh2pc7KBocxiJsD1SLBZ4g2SclwEQ9AOfrL+t/ihLm1kbITAYvsmB8XqH6BXJvo7LaQl3/eqOsiD6Wc9LBodkZZ1+lIzEVdZjoxhobF+E0MbggLLOCNzzAFKC+BE2cedv0czytyjXS4wNgQ7Z4TSw1LT7g0dHWDebUOyljhJHsEBhbGwS5PtgKjYe5GQfNrv7JvDG1SlbjimUbo8rX1iGpB+Uzbp50I/U7KRwPt8qZ7MPTPSDln1GEGN4iV8MotJCrN1J96pRvoZBUBuppxXdTg6GhjbvQ3UCApWMHCVq0gZCwKyp+k8Y6z8OtkdkYoNK+bbqpUZIAlraS23+V6OOe0m0XTuhQNKNLjAuOnjU93h46moCnBCrRi1QuHEDD9PbC2F5CpkrHVB2TJgxufWmnQyXb4wM2nd21R8fdRbETJJbpKcAZbaLhEAlpV+11Rg6BrO4XBeaIOX6rMkmIJSssSwhLFKA9m5jlxbRs96EYPQNf920JOA64Uwqfz7rdN9/K29A4wHrd8w9x92UWVvzaq+Mrn6fci6XRo9moR/hgvdmxg15WOryjEwgYZxGIvKeDgeBsJYERKP4xa+nkaS0VdLjTlDDrw/piABgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HuQbfGPS7Zvt1X788iDTnU",
      "input": {
        "note": "The pen now runs between the two jaw tips visible at the bottom corners of the right wrist view, close to centre. Closing to grab 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_01HuQbfGPS7Zvt1X788iDTnU",
      "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]: [-0.6907, 1.1297, 0.8673, -0.5362, -0.5488, -0.4976, 0.9967, 0.5541, 2.4207, 1.2808, 0.2195, 1.4883, 1.0805, 0.0142]\nstate[eef_state]: left_x=0.3027 left_y=-0.126 left_z=0.1871 left_yaw=0.0171 left_pitch=-0.0946 left_roll=0.0069 left_gripper=0.9967 right_x=0.4534 right_y=0.0777 right_z=0.0215 right_yaw=-1.0674 right_pitch=0.4841 right_roll=0.1918 right_gripper=0.0142\nstate[joint_eff]: [-0.2256, -3.8496, 6.9402, 1.5165, -0.2662, -0.0122, -0.0122, -0.5949, -10.1538, 3.0974, 0.8571, -0.1343, 0.1929, 1.2088]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fe8a97645fed65258a593e8adf410e1f8dd4ddb41fedc6ad458e080ff942434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ab5116ce2eb787cc07f0741ba1512a7501caa89f6728f3e434c456bcb0e9c94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f43647449ab36d1f05cbc3759fa9c006245847747f8a0ac46383e3204ae1659f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 3.768 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]: [-0.6903, 1.1252, 0.8673, -0.5354, -0.5491, -0.4976, 0.9967, 0.561, 2.4695, 1.4479, -0.0292, 1.4361, 1.1831, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.1257 left_z=0.1886 left_yaw=0.0175 left_pitch=-0.0903 left_roll=0.0036 left_gripper=0.9967 right_x=0.4742 right_y=0.0954 right_z=0.0175 right_yaw=-1.0261 right_pitch=0.4355 right_roll=0.1583 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.0291, 6.8171, 1.5067, -0.2466, -0.0269, -0.0122, -0.4991, -10.0171, 3.8359, 0.7399, -0.4078, 0.0708, -0.0171]",
      "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]: [-0.6903, 1.1259, 0.8673, -0.5354, -0.5484, -0.4976, 0.9967, 0.5583, 2.4287, 1.3258, 0.1059, 1.4673, 1.1301, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.1258 left_z=0.1883 left_yaw=0.017 left_pitch=-0.0913 left_roll=0.0037 left_gripper=0.9967 right_x=0.4573 right_y=0.0827 right_z=0.019 right_yaw=-1.0405 right_pitch=0.4654 right_roll=0.1603 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -3.2889, 6.8171, 1.4774, -0.2369, -0.0171, -0.0122, -1.0051, -9.6479, 3.7538, 1.0476, -0.0122, 0.1099, -0.0073]",
      "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]: [-0.6907, 1.1297, 0.8673, -0.5362, -0.5488, -0.4976, 0.9967, 0.5541, 2.4207, 1.2808, 0.2195, 1.4883, 1.0805, 0.0142]\nstate[eef_state]: left_x=0.3027 left_y=-0.126 left_z=0.1871 left_yaw=0.0171 left_pitch=-0.0946 left_roll=0.0069 left_gripper=0.9967 right_x=0.4534 right_y=0.0777 right_z=0.0215 right_yaw=-1.0674 right_pitch=0.4841 right_roll=0.1918 right_gripper=0.0142\nstate[joint_eff]: [-0.2256, -3.8496, 6.9402, 1.5165, -0.2662, -0.0122, -0.0122, -0.5949, -10.1538, 3.0974, 0.8571, -0.1343, 0.1929, 1.2088]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fe8a97645fed65258a593e8adf410e1f8dd4ddb41fedc6ad458e080ff942434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ab5116ce2eb787cc07f0741ba1512a7501caa89f6728f3e434c456bcb0e9c94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f43647449ab36d1f05cbc3759fa9c006245847747f8a0ac46383e3204ae1659f",
        "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_01KG8zz986kAeyFBACK6v8YF",
      "input": {
        "note": "The pen close came up empty: the pen is at the edge of the right arm's reach. I'll come back to it if calls remain and do the toys first. Raising the right arm clear, and lowering the left arm onto the small brown bear just ahead of its jaws.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.12,
          "left_z": 0.02,
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.35,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01KG8zz986kAeyFBACK6v8YF",
      "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]: [-0.5953, 1.5631, 0.4358, 0.3088, -0.4908, -0.4332, 0.9967, 0.2913, 1.1141, 0.7284, -0.1341, 0.2379, 0.3466, 0.997]\nstate[eef_state]: left_x=0.3234 left_y=-0.1141 left_z=0.0157 left_yaw=0.0354 left_pitch=-0.1372 left_roll=0.0366 left_gripper=0.9967 right_x=0.3588 right_y=0.0678 right_z=0.1925 right_yaw=-0.0968 right_pitch=0.0434 right_roll=0.1933 right_gripper=0.997\nstate[joint_eff]: [0.1709, -5.8462, 4.2051, 1.663, -0.1148, 0.1099, -0.0073, -0.2803, -4.3556, 9.9214, 1.663, 0.0855, 0.0171, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b672f23e20c664e672445f108029b3aad7bbfcf5abcc5d1892133a26c8de4fc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:758ba95d4254881113d3b38c83d05d47b5df5dc5bb09b85329b450c6c42e8732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2ddf91ed5f06a02de198c8210e2a6358310cf93b37701016be651fe74c25164",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 14.03 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]: [-0.6903, 1.1259, 0.8673, -0.5354, -0.5484, -0.4976, 0.9967, 0.5583, 2.4287, 1.3258, 0.1059, 1.4673, 1.1301, 0.9966]\nstate[eef_state]: left_x=0.3026 left_y=-0.1258 left_z=0.1883 left_yaw=0.017 left_pitch=-0.0913 left_roll=0.0037 left_gripper=0.9967 right_x=0.4573 right_y=0.0827 right_z=0.019 right_yaw=-1.0405 right_pitch=0.4654 right_roll=0.1603 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -3.2889, 6.8171, 1.4774, -0.2369, -0.0171, -0.0122, -1.0051, -9.6479, 3.7538, 1.0476, -0.0122, 0.1099, -0.0073]",
      "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]: [-0.6907, 1.1297, 0.8673, -0.5362, -0.5488, -0.4976, 0.9967, 0.5541, 2.4207, 1.2808, 0.2195, 1.4883, 1.0805, 0.0142]\nstate[eef_state]: left_x=0.3027 left_y=-0.126 left_z=0.1871 left_yaw=0.0171 left_pitch=-0.0946 left_roll=0.0069 left_gripper=0.9967 right_x=0.4534 right_y=0.0777 right_z=0.0215 right_yaw=-1.0674 right_pitch=0.4841 right_roll=0.1918 right_gripper=0.0142\nstate[joint_eff]: [-0.2256, -3.8496, 6.9402, 1.5165, -0.2662, -0.0122, -0.0122, -0.5949, -10.1538, 3.0974, 0.8571, -0.1343, 0.1929, 1.2088]",
      "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]: [-0.5953, 1.5631, 0.4358, 0.3088, -0.4908, -0.4332, 0.9967, 0.2913, 1.1141, 0.7284, -0.1341, 0.2379, 0.3466, 0.997]\nstate[eef_state]: left_x=0.3234 left_y=-0.1141 left_z=0.0157 left_yaw=0.0354 left_pitch=-0.1372 left_roll=0.0366 left_gripper=0.9967 right_x=0.3588 right_y=0.0678 right_z=0.1925 right_yaw=-0.0968 right_pitch=0.0434 right_roll=0.1933 right_gripper=0.997\nstate[joint_eff]: [0.1709, -5.8462, 4.2051, 1.663, -0.1148, 0.1099, -0.0073, -0.2803, -4.3556, 9.9214, 1.663, 0.0855, 0.0171, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b672f23e20c664e672445f108029b3aad7bbfcf5abcc5d1892133a26c8de4fc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:758ba95d4254881113d3b38c83d05d47b5df5dc5bb09b85329b450c6c42e8732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2ddf91ed5f06a02de198c8210e2a6358310cf93b37701016be651fe74c25164",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QYKEAgSGAI4AUIIdGhpbmtpbmcSDLxvOzH7AKGUPFf5FhoMLhiJM6ibEAIttJBRIjA3QIPuDJ7J5j5rVdxfM+QbLzrUjN6p97Wu/Yeay5v1XtNUDCin1kB+WiS8foXVEwUqjgZQPbnoW1SWQo9PQg1nYkxVahYy9KQpUb4A1/n7tWPCXhtCHusLkJsv3YIwonpwqqY2DrTFdvyPlI+vU1aF2QpzD06WztKi/8YIgWVr+JGdVaZzSWrlj/WizpET4MxGCf5bAbXmXIrPzwr9koCexg2YQOLQWqAN9VZJVK0cDMdazwMvBQxZ2MlrbDoXyrIPoRUL0JMoMgMRmNo8EURkueQrj4QMSdvCxMR0F5WZFObSQOYIdvhYglp69CXzCXbvpZbfLtAcwvpCBlYN2bZJe4i+R5W82mXdWsrB7kNIij3bVIZCcCpzo16qvlPpwDPhHcSz3+z4Xw2p2KlPEKyfUTPFkYDKl9VEq0I4wxJsX3OrJ1TSCy4XxqoSkxZtJ5gp4SehNF8F+6kMp81NuhbKNp23JCiW8S+tk6sZHIMHqplRBVl7FxDYQY5y6mfNE7NYNQQgtgaS8xqCgaEicVgZfutfjuHauHXd71JJSITpg+RZaX2B6lcTmSdDY45m8tB0jn0lYVCfEYU5UPOH5vMvSpNMv9WnAoGIh8PZoTcyqDHb8kBTxSNJCsohdzhFpVIvDfkpXmQVcq5Oa53DWiYEw1/bj1/v3LKFDUkmazQNGsqarsCtPBNzbffvd5AfVG2CNgH75esDlhfIhEAMb9mTn/p+gP2cNo0LlrbauYaD/5lhSrFh7jbUcxHU4J/BqXLYRDIGFJCy1Msq3v008xwXGZOHzOYGgO4C5EL5p3XTanZc45SkKwMaPwluZFqF+h3kN8p0EF8F4VMjV27FyZFnwPLXcaMAKKfJxwpKcMfkoGQwbAeNo7YQlGlR6UGgzMOPOyaVr02l7mvjr/htV2QJX0dZzzLN0IpZZog4+01OP1l4bllgBV2BuQqsBxnsZrAB8rIfKkpaabxyxV3roSccH0JH4QONGEW68VLaXB+NJatMvVRdldpkxdyDH7m9kyQrJSgweOON+HDt728v9lzN7ynuzbOMU5sFcl69WbgfhED3fT+WAVc9HzLrfOV83YZnMnw//Tz9C8JmA4WTQEEAEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K4TofWLKZjFQpZYVghUvKk",
      "input": {
        "note": "The small brown bear fills the left wrist view, right at the jaws. Closing on it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01K4TofWLKZjFQpZYVghUvKk",
      "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]: [-0.5949, 1.5764, 0.429, 0.3275, -0.4931, -0.4347, 0.2091, 0.2878, 1.1183, 0.7288, -0.16, 0.2241, 0.3332, 0.9977]\nstate[eef_state]: left_x=0.3229 left_y=-0.1132 left_z=0.0124 left_yaw=0.0385 left_pitch=-0.1375 left_roll=0.0377 left_gripper=0.2091 right_x=0.3561 right_y=0.0682 right_z=0.1855 right_yaw=-0.0813 right_pitch=0.0144 right_roll=0.1773 right_gripper=0.9977\nstate[joint_eff]: [-0.1983, -6.2701, 5.4359, 1.2283, -0.2564, -0.0269, 1.0281, 0.2256, -4.0137, 6.9812, 2.0098, 0.188, 0.105, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd5f4243aa985d205579bf722237b5166519da19b2fee14ec894fcb2afc75dc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dc5d9bf44e6d20a3c5ce4b2226de71ee5423545e10cff17f91716f3d23ee158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17d2c9730b3348fdbb0c1d77cd4bb399359743b0a40ffe3bc268aef2732a5edc",
        "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 · 5 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]: [-0.6907, 1.1297, 0.8673, -0.5362, -0.5488, -0.4976, 0.9967, 0.5541, 2.4207, 1.2808, 0.2195, 1.4883, 1.0805, 0.0142]\nstate[eef_state]: left_x=0.3027 left_y=-0.126 left_z=0.1871 left_yaw=0.0171 left_pitch=-0.0946 left_roll=0.0069 left_gripper=0.9967 right_x=0.4534 right_y=0.0777 right_z=0.0215 right_yaw=-1.0674 right_pitch=0.4841 right_roll=0.1918 right_gripper=0.0142\nstate[joint_eff]: [-0.2256, -3.8496, 6.9402, 1.5165, -0.2662, -0.0122, -0.0122, -0.5949, -10.1538, 3.0974, 0.8571, -0.1343, 0.1929, 1.2088]",
      "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]: [-0.5953, 1.5631, 0.4358, 0.3088, -0.4908, -0.4332, 0.9967, 0.2913, 1.1141, 0.7284, -0.1341, 0.2379, 0.3466, 0.997]\nstate[eef_state]: left_x=0.3234 left_y=-0.1141 left_z=0.0157 left_yaw=0.0354 left_pitch=-0.1372 left_roll=0.0366 left_gripper=0.9967 right_x=0.3588 right_y=0.0678 right_z=0.1925 right_yaw=-0.0968 right_pitch=0.0434 right_roll=0.1933 right_gripper=0.997\nstate[joint_eff]: [0.1709, -5.8462, 4.2051, 1.663, -0.1148, 0.1099, -0.0073, -0.2803, -4.3556, 9.9214, 1.663, 0.0855, 0.0171, -0.0757]",
      "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]: [-0.5949, 1.5764, 0.429, 0.3275, -0.4931, -0.4347, 0.2091, 0.2878, 1.1183, 0.7288, -0.16, 0.2241, 0.3332, 0.9977]\nstate[eef_state]: left_x=0.3229 left_y=-0.1132 left_z=0.0124 left_yaw=0.0385 left_pitch=-0.1375 left_roll=0.0377 left_gripper=0.2091 right_x=0.3561 right_y=0.0682 right_z=0.1855 right_yaw=-0.0813 right_pitch=0.0144 right_roll=0.1773 right_gripper=0.9977\nstate[joint_eff]: [-0.1983, -6.2701, 5.4359, 1.2283, -0.2564, -0.0269, 1.0281, 0.2256, -4.0137, 6.9812, 2.0098, 0.188, 0.105, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd5f4243aa985d205579bf722237b5166519da19b2fee14ec894fcb2afc75dc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dc5d9bf44e6d20a3c5ce4b2226de71ee5423545e10cff17f91716f3d23ee158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17d2c9730b3348fdbb0c1d77cd4bb399359743b0a40ffe3bc268aef2732a5edc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QcKEAgSGAI4AUIIdGhpbmtpbmcSDJ28JJR3aERex1QQZhoMqFFBBEcStM6LjNusIjC3lu4t8w5OQx+Yo/QVyE5jEdhV7FW8d6LEGM69a42GsYa9aJz8VkE7RgLIUvteY2AqigebIUYvZYIN0VfSqDqTe1ptF2wK0ppAmSfFDR2VU9hNzbolR/8o/nep3kcTK0x/Xm50Fq9x4mGTTzrpnJToyDOj4zPhcZ0SyVz9JnHSVilxkavyNu+KlIDwKg4s8yhK1P2KRWlMWPI0S7Tg3k24cGb85LXpKo2FcS8uuKyznTQJk9yZhx6JdV1+gJBhndlMyW7Y14oRzqIE2J2onFRIDYGmEv6wgCUIRa+YWDILejTDccHDutUA0eNTLeZwsWDKfALLT9q72wjExZWk3vo8F8aXwbrJFC4jWhpAJz4X/RhIiwlvdw/tZV7+npetOufSW5qzEYyGJKNGG8Enp0R6l+o4P/+oNiq1QNLTC3dzNF/IKYUeE0wzzuUZSZp+p2jl3/Vv6Nkwer4eRRWXj0uVXHXyhstYrGvK4nHqz9zG0mw4gExWdQBzyPoLeqBLCxwUinu3iTWPf+abhE6mIRrTRNsLtv1+Go7RNQiEHnjaBQNvpMbPVflx08SrACthsjessaHrmc3exvchunpvEqegSvCXc+j3Ub0+uh7QO19lXso3DmqL5xvSW3c17/Gun44aopdOmrdjcsRlwK4/ptvCd9xKTrp5zjkU+Auaj4u6NFxcGlzdRkLfd0I7F+HrmwgKtBgGXDLzW00nYvs0JnNfRyMBEuIH+0f+ardIQRTz/jceNwJ2iaiZ2eFS0f7ZH8Oqns/AhCg9mDHu6tSU6r8Jz/qGIbyclI6LVTfDkslh7YVguJYqxcChNDPzQ/3we3ABpOa8Uk0xna2wYDj6YjLxFSuJaoQWlLpzDkl42JFV0bcrH7u8lqIziArwBzrkD43jvk0E/x0IJcmDKOhs5vLXFy9jP783UnOVS41MhTzeAgixl92Q+Ee5gUloFnUB9yT897tPn8RBoTPoGe30Urljo2yvvC2YPIgE1CckmZEmLf4TXDbYPYPzaPtG5EJkwfLCpyL7EJzcuyff3pG5vFyS+pQRg/HRQ6cMK+JAkDknQmnYjw1qcUyQyZjdSwYx+FwjM5QQjP3x3p0TdSrOXOrDFcdTLbhu7LVI/KLZ4ttfJmyDhGsq3hELA1wbX0UVOunzN4+rT5XJHr+bf3MBbhXxCYutAJOcT6uBZiGMh/xKqV0CaXic+LZjHUhxtV8r2YvkISTS2v/W0gb5goys6KA8muJIzQRebsDek+S4osNqg+k6y24EG4E+vsGtSRAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013xmcdRe4whNTjfcRRLXVu5",
      "input": {
        "note": "The left gripper settled at 0.21, so the small bear is held. Lifting it and carrying it over the left basket, which sits straight ahead.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.1,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_013xmcdRe4whNTjfcRRLXVu5",
      "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]: [-0.3302, 1.6833, 1.5806, -0.6266, -0.3126, -0.2577, 0.2116, 0.2878, 1.1221, 0.7261, -0.1677, 0.2237, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.4702 left_y=-0.0999 left_z=0.2504 left_yaw=0.0582 left_pitch=-0.1239 left_roll=0.0193 left_gripper=0.2116 right_x=0.355 right_y=0.068 right_z=0.1814 right_yaw=-0.0808 right_pitch=0.0012 right_roll=0.1721 right_gripper=0.9978\nstate[joint_eff]: [0.3897, -8.1162, 8.5402, 1.3114, -0.0855, 0.1783, 0.8864, -0.0205, -3.9863, 7.2137, 1.7753, 0.0073, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c8c3aacb7752dc320fea7cd4b0d451e81c3e9ddd846ca11e067880da86f3f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9caa47fefd37754695e4241225116d3e185cde691540030c3c10d1f8e51b38c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9d33def6446bf4c046c23b76876da4005776c36b47e91018cb1c848e71ea5b2",
        "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 · 7.622 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]: [-0.5953, 1.5631, 0.4358, 0.3088, -0.4908, -0.4332, 0.9967, 0.2913, 1.1141, 0.7284, -0.1341, 0.2379, 0.3466, 0.997]\nstate[eef_state]: left_x=0.3234 left_y=-0.1141 left_z=0.0157 left_yaw=0.0354 left_pitch=-0.1372 left_roll=0.0366 left_gripper=0.9967 right_x=0.3588 right_y=0.0678 right_z=0.1925 right_yaw=-0.0968 right_pitch=0.0434 right_roll=0.1933 right_gripper=0.997\nstate[joint_eff]: [0.1709, -5.8462, 4.2051, 1.663, -0.1148, 0.1099, -0.0073, -0.2803, -4.3556, 9.9214, 1.663, 0.0855, 0.0171, -0.0757]",
      "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]: [-0.5949, 1.5764, 0.429, 0.3275, -0.4931, -0.4347, 0.2091, 0.2878, 1.1183, 0.7288, -0.16, 0.2241, 0.3332, 0.9977]\nstate[eef_state]: left_x=0.3229 left_y=-0.1132 left_z=0.0124 left_yaw=0.0385 left_pitch=-0.1375 left_roll=0.0377 left_gripper=0.2091 right_x=0.3561 right_y=0.0682 right_z=0.1855 right_yaw=-0.0813 right_pitch=0.0144 right_roll=0.1773 right_gripper=0.9977\nstate[joint_eff]: [-0.1983, -6.2701, 5.4359, 1.2283, -0.2564, -0.0269, 1.0281, 0.2256, -4.0137, 6.9812, 2.0098, 0.188, 0.105, 0.0611]",
      "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]: [-0.3302, 1.6833, 1.5806, -0.6266, -0.3126, -0.2577, 0.2116, 0.2878, 1.1221, 0.7261, -0.1677, 0.2237, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.4702 left_y=-0.0999 left_z=0.2504 left_yaw=0.0582 left_pitch=-0.1239 left_roll=0.0193 left_gripper=0.2116 right_x=0.355 right_y=0.068 right_z=0.1814 right_yaw=-0.0808 right_pitch=0.0012 right_roll=0.1721 right_gripper=0.9978\nstate[joint_eff]: [0.3897, -8.1162, 8.5402, 1.3114, -0.0855, 0.1783, 0.8864, -0.0205, -3.9863, 7.2137, 1.7753, 0.0073, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c8c3aacb7752dc320fea7cd4b0d451e81c3e9ddd846ca11e067880da86f3f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9caa47fefd37754695e4241225116d3e185cde691540030c3c10d1f8e51b38c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9d33def6446bf4c046c23b76876da4005776c36b47e91018cb1c848e71ea5b2",
        "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/wYKEAgSGAI4AUIIdGhpbmtpbmcSDAvf+yrEmVvcNlIZ5xoMtlklSpdP4wkp+6hrIjBBCfj/lmxTXRWL/Su3hEx2U9TmPiZKmrEQfEze3SpLjZV9xRBWfJLD/Y/fuzz+5Q8qnAZGEATOfAYDgZh2jeN4HpcandIVGMJMFKyMwz7fN9QDiobNMHshDSfo/RYP5C5WvAVg599M2wT9y0nwhKStOh9GOouyMRVJ1DDxZrpxdFFf184yVho+eWXzknJutAwsK7mwZyyNiip6+bFfZIccPNi8VhnE2+AZa4JdfyOhrvK6rQyGH3b6kTYZ7pin+lqzigoGINMuhP/885DRzp0S0jVvJTsY+HzMDI4B+hRsI68CZiud0cPTqD6QQuIl1pkxQsDiudnjh7YJwfSS34oRTfX4NIw9U2afgqVFcpCUcmB7dCOwt7idTtVzVZ8viA9t05JEfUNIMfLCSEUWcqj5spoDf+g08Wb04qHN4wnzBXXH1buBauGLjppcEjWPR+Ut8BQhvo+zteT1s7741yEUQPv+5n/Bx9BHgh5Xh0bACyQ7DQnQ4ZwzOv4pV5p+ZyhpyTRl7chE6SqFJs/L0BmtMb8+1Rq7Qu9ejNY+1/4nhZb47toyuTCcj8+h1D5UrfsXRckNyxsP4Ljwb6bRs5GsyfI2Tdr4Hs5K44qexOKZw4CXoIpHhpyqiohuqNrNrcnJw7K7/hy6gI83dEHA9nBVb/m3c9zYLqkpPcfQ0co6HyLI1oJv9adiIQSkFs0i7+7so1ZFqfRPmYclJeWHVRiHkCkGGIGdOGwD4g+Kgth2ThKfUkj0cYAOWZqgNeXbhRmDc4S1ZB8uqeNlbSfHP+iGIjriT3yNdw9JDndGRqVz3WlJk9ykevEVANaI4ImJmJalabgrD17qrBlInviHJayAQJ5TA3LScCpWhl9s8h4Ny8ONBoUQn5JIUDtANFIp1ozaEKBbnEUjhTLob9sbiTs+rAyrRzaO/OxVZ+1i2SErSdzbKkF3YiiTFxEm2bJyJ39ZN6mym5hRjZea45/VAS+mlhtIh38vcnkutjl91osO3NRjcIVrLzuQfDDX5sAUnhqNyEu1zBiLNEmxeTUJATfFEiS9dc5dxibka7w+Sisqmyw8WBjUnRHgnGqZriVYsrALlUWDly1FYVvgOZkA3Dvd9OkMw8uP3hZC+KHTeK0DGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jss4tZF4d9NXCZGbi8FCqQ",
      "input": {
        "note": "The top view shows the left gripper over the left basket. Releasing the small bear into it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Jss4tZF4d9NXCZGbi8FCqQ",
      "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]: [-0.3264, 1.6947, 1.5776, -0.6575, -0.3099, -0.2623, 0.9952, 0.2874, 1.1221, 0.7261, -0.1677, 0.2234, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.4668 left_y=-0.0973 left_z=0.2384 left_yaw=0.0648 left_pitch=-0.1665 left_roll=0.0315 left_gripper=0.9952 right_x=0.355 right_y=0.0679 right_z=0.1814 right_yaw=-0.0806 right_pitch=0.0012 right_roll=0.172 right_gripper=0.9978\nstate[joint_eff]: [-0.4718, -9.5385, 7.0496, 1.8632, -0.2076, -0.0073, 0.0024, -0.3487, -3.5897, 7.0359, 1.7265, 0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a34b799b919d99c61e96c63e390a016d9839ba4018f5c568f2746652a831bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68cf2ddbafec9cd3a2445b1ebd46d3657775d05f5ecf555ae80cf0e337a82cc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d930bcd3f3034b1ce84b1a7df958a79577109d815ff75ebfefd00f84eda3c35",
        "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 · 5.061 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]: [-0.5949, 1.5764, 0.429, 0.3275, -0.4931, -0.4347, 0.2091, 0.2878, 1.1183, 0.7288, -0.16, 0.2241, 0.3332, 0.9977]\nstate[eef_state]: left_x=0.3229 left_y=-0.1132 left_z=0.0124 left_yaw=0.0385 left_pitch=-0.1375 left_roll=0.0377 left_gripper=0.2091 right_x=0.3561 right_y=0.0682 right_z=0.1855 right_yaw=-0.0813 right_pitch=0.0144 right_roll=0.1773 right_gripper=0.9977\nstate[joint_eff]: [-0.1983, -6.2701, 5.4359, 1.2283, -0.2564, -0.0269, 1.0281, 0.2256, -4.0137, 6.9812, 2.0098, 0.188, 0.105, 0.0611]",
      "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]: [-0.3302, 1.6833, 1.5806, -0.6266, -0.3126, -0.2577, 0.2116, 0.2878, 1.1221, 0.7261, -0.1677, 0.2237, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.4702 left_y=-0.0999 left_z=0.2504 left_yaw=0.0582 left_pitch=-0.1239 left_roll=0.0193 left_gripper=0.2116 right_x=0.355 right_y=0.068 right_z=0.1814 right_yaw=-0.0808 right_pitch=0.0012 right_roll=0.1721 right_gripper=0.9978\nstate[joint_eff]: [0.3897, -8.1162, 8.5402, 1.3114, -0.0855, 0.1783, 0.8864, -0.0205, -3.9863, 7.2137, 1.7753, 0.0073, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3264, 1.6947, 1.5776, -0.6575, -0.3099, -0.2623, 0.9952, 0.2874, 1.1221, 0.7261, -0.1677, 0.2234, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.4668 left_y=-0.0973 left_z=0.2384 left_yaw=0.0648 left_pitch=-0.1665 left_roll=0.0315 left_gripper=0.9952 right_x=0.355 right_y=0.0679 right_z=0.1814 right_yaw=-0.0806 right_pitch=0.0012 right_roll=0.172 right_gripper=0.9978\nstate[joint_eff]: [-0.4718, -9.5385, 7.0496, 1.8632, -0.2076, -0.0073, 0.0024, -0.3487, -3.5897, 7.0359, 1.7265, 0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a34b799b919d99c61e96c63e390a016d9839ba4018f5c568f2746652a831bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68cf2ddbafec9cd3a2445b1ebd46d3657775d05f5ecf555ae80cf0e337a82cc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d930bcd3f3034b1ce84b1a7df958a79577109d815ff75ebfefd00f84eda3c35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H3ivPnharxHLZKiGEjN16W",
      "input": {
        "note": "The small bear is in the left basket. Next toy: the large teddy bear in the middle of the table. Moving the left arm above it.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.21,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01H3ivPnharxHLZKiGEjN16W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8349, 1.5749, 1.0245, -0.448, -0.6033, -0.6582, 0.9966, 0.2878, 1.124, 0.7261, -0.1745, 0.223, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.3307 left_y=-0.2105 left_z=0.1179 left_yaw=0.0199 left_pitch=-0.2031 left_roll=0.0569 left_gripper=0.9966 right_x=0.3542 right_y=0.0679 right_z=0.1794 right_yaw=-0.0799 right_pitch=-0.0071 right_roll=0.169 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -7.0769, 6.2291, 1.2967, -0.5104, -0.0708, 0.1343, -0.0752, -3.8222, 7.0359, 1.8095, 0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84b3aed6d22d5e6df586469e0bd7509b6f50b3e44b572b0c5440eabcd27205e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da88fcd996b6f210670ecb4704829f6c72df5f25a9bf3b28c462e6f582b871a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8996f1611137f5107465855d010c1eb38a342ecaf114bf4dff0d96c2c4bfb08",
        "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 · 4.937 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]: [-0.3302, 1.6833, 1.5806, -0.6266, -0.3126, -0.2577, 0.2116, 0.2878, 1.1221, 0.7261, -0.1677, 0.2237, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.4702 left_y=-0.0999 left_z=0.2504 left_yaw=0.0582 left_pitch=-0.1239 left_roll=0.0193 left_gripper=0.2116 right_x=0.355 right_y=0.068 right_z=0.1814 right_yaw=-0.0808 right_pitch=0.0012 right_roll=0.1721 right_gripper=0.9978\nstate[joint_eff]: [0.3897, -8.1162, 8.5402, 1.3114, -0.0855, 0.1783, 0.8864, -0.0205, -3.9863, 7.2137, 1.7753, 0.0073, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3264, 1.6947, 1.5776, -0.6575, -0.3099, -0.2623, 0.9952, 0.2874, 1.1221, 0.7261, -0.1677, 0.2234, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.4668 left_y=-0.0973 left_z=0.2384 left_yaw=0.0648 left_pitch=-0.1665 left_roll=0.0315 left_gripper=0.9952 right_x=0.355 right_y=0.0679 right_z=0.1814 right_yaw=-0.0806 right_pitch=0.0012 right_roll=0.172 right_gripper=0.9978\nstate[joint_eff]: [-0.4718, -9.5385, 7.0496, 1.8632, -0.2076, -0.0073, 0.0024, -0.3487, -3.5897, 7.0359, 1.7265, 0.022, -0.0659, -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 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]: [-0.8349, 1.5749, 1.0245, -0.448, -0.6033, -0.6582, 0.9966, 0.2878, 1.124, 0.7261, -0.1745, 0.223, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.3307 left_y=-0.2105 left_z=0.1179 left_yaw=0.0199 left_pitch=-0.2031 left_roll=0.0569 left_gripper=0.9966 right_x=0.3542 right_y=0.0679 right_z=0.1794 right_yaw=-0.0799 right_pitch=-0.0071 right_roll=0.169 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -7.0769, 6.2291, 1.2967, -0.5104, -0.0708, 0.1343, -0.0752, -3.8222, 7.0359, 1.8095, 0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84b3aed6d22d5e6df586469e0bd7509b6f50b3e44b572b0c5440eabcd27205e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da88fcd996b6f210670ecb4704829f6c72df5f25a9bf3b28c462e6f582b871a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8996f1611137f5107465855d010c1eb38a342ecaf114bf4dff0d96c2c4bfb08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwgKEAgSGAI4AUIIdGhpbmtpbmcSDGRhFztx516o1s67IxoMmikuaPnJT2hP0ds4IjA+hTOs50GaEjIdlH/Rsawk7NCObuRb3AQKltppVfW+PZwuY25+k6VB1Bt98QZASowq2Aeg9pumCNJ4bcTeiQpn4Da2A5JIkG7TEiTEs84JAkqjvFUnL9kHJTw6HqQr6JFoDgFDIWjQvLBG6jUkZMHWIQkBbN+rkd8fJ5o+g8iU9YHYm8ZCszoGqEDZo8Aec0guH2MTnsVVmhKO88fwwCdDr9HG1QGP04KMQBg/F32H5MwdKOsqKECY2bUS8bJfvgIPgJuhdeLTvGr/RjOji6Az4DApw9/65DhqleCHXk3vX7D8onsU23ACnJ5iVhebhEaeWV6K6hYdsW5La/wNIcpWOr6o+Kbb12o+evR100aTL48VSPHC4Ry6SFhPu2mvnJJ1HNxI/GfG9D068HE3+3XRPzfMrFnyutWnZV3d9+46adpsTKWB547gzKhrShuveG7gql+bGB1EnksPN0cEhzSBcl9g388a4dI2Qyx1drWPpEY5Cj9U2JkmpGt9PwJ/jZUFaaOvg9/9RWWqu3QvMOMhb0EVwuZft7/5/hW33wbFNpWTFfAOjnyseUJZlHHAeECAOjevZfBdsBr9n0OKIcxb3axIUAPeEU0mEgKEUOpdurU85yuwN6+XMIhQBdu/eBO2P/goPOSJnWQouxA1nVSuAcli74FIBFYgMAcRrzTysca/zwSwyhA8YD/nkko/vIcZn+HGaaPOlvyvPu2KUxwNl56k8lXNBTKsTgijJ0KeXl0nR7AB0eNhr83nrgbtwXh/WMIEFu5ZJ7chCjotflLTtxljIldqUwpy9dEC5xB1ssk98EHdpQf0H9GPQUwXpTtjo9jStSTtCWxICyDpzYu3FdCy+ZROqFIbXlEVGcz3z5+0keNANNxWo+VyyLZwtae63OYRphZaZOCCoj6VTD1DE0KJOJ+JmeNwZEokaSq2LbSAoYy8gQLbjAg9xt+QFZbJD18KsGJIqtYY2R+TkHuOkA0JXj8eorLPjUNew0RQGmaTyqtaM1NraNYR5jqZnTa0tiaB1gl1INQ0XrZL5JFfBjBSxy8HayhWWpuAUtC5qL6wkXJfIl8wqCn3saTKNlhCnMnHToNxUa8W98br/lQEro/oCFgrUKvg6oeUqe3x4D4syZ+Ugh1NSL5lckAFr6MTkR2w0R1Bc1/rxyrCYuiaygBad+SgPhmoQv0R3vD+Edt21IG+WhVvGFMWN1C8/T5Ilx+p3x9j6Oqq/G+gXELAoN6cwctj/LuQDCw7kqaEcraQ9kTDnSqHg8w8vKEj+rFF+HOJqq+/tf4CSWpelymzdLfIYt4qjNeqvPGBvuHtuAeEyXsJiENAqIysoRE/JV/qxhaLKFNtYLvVNzUGLoJcWB+J/imOCKoWbDwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TjCfCqeA2y1iZbJivYapZQ",
      "input": {
        "note": "The teddy is just ahead and slightly right of the left jaws. Shifting a little forward and right and lowering onto its body to grab it.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.23,
          "left_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_01TjCfCqeA2y1iZbJivYapZQ",
      "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]: [-0.8299, 1.8008, 0.9504, -0.1471, -0.6147, -0.6708, 0.9967, 0.2874, 1.124, 0.7261, -0.1753, 0.2234, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.35 left_y=-0.2263 left_z=0.0446 left_yaw=0.039 left_pitch=-0.1947 left_roll=0.0531 left_gripper=0.9967 right_x=0.3542 right_y=0.0676 right_z=0.1792 right_yaw=-0.0808 right_pitch=-0.0077 right_roll=0.1689 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -6.3111, 4.465, 0.7937, -0.1343, 0.1392, 0.0024, -0.3487, -3.6444, 7.0085, 1.7558, 0.0073, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9be2b3585c1e535ee7d6dffddece5c8f8b5f759f66dbfa623e5954f877c49d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa24f25027ec98f1330fb0a6c3e242bfd0dc8f09840ba4ee62b19cc36597a1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9aea99c2881df5ed6617f453381c9eec2fe46c898f2967c7de5100bf62129e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 9.982 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]: [-0.3264, 1.6947, 1.5776, -0.6575, -0.3099, -0.2623, 0.9952, 0.2874, 1.1221, 0.7261, -0.1677, 0.2234, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.4668 left_y=-0.0973 left_z=0.2384 left_yaw=0.0648 left_pitch=-0.1665 left_roll=0.0315 left_gripper=0.9952 right_x=0.355 right_y=0.0679 right_z=0.1814 right_yaw=-0.0806 right_pitch=0.0012 right_roll=0.172 right_gripper=0.9978\nstate[joint_eff]: [-0.4718, -9.5385, 7.0496, 1.8632, -0.2076, -0.0073, 0.0024, -0.3487, -3.5897, 7.0359, 1.7265, 0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8349, 1.5749, 1.0245, -0.448, -0.6033, -0.6582, 0.9966, 0.2878, 1.124, 0.7261, -0.1745, 0.223, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.3307 left_y=-0.2105 left_z=0.1179 left_yaw=0.0199 left_pitch=-0.2031 left_roll=0.0569 left_gripper=0.9966 right_x=0.3542 right_y=0.0679 right_z=0.1794 right_yaw=-0.0799 right_pitch=-0.0071 right_roll=0.169 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -7.0769, 6.2291, 1.2967, -0.5104, -0.0708, 0.1343, -0.0752, -3.8222, 7.0359, 1.8095, 0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8299, 1.8008, 0.9504, -0.1471, -0.6147, -0.6708, 0.9967, 0.2874, 1.124, 0.7261, -0.1753, 0.2234, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.35 left_y=-0.2263 left_z=0.0446 left_yaw=0.039 left_pitch=-0.1947 left_roll=0.0531 left_gripper=0.9967 right_x=0.3542 right_y=0.0676 right_z=0.1792 right_yaw=-0.0808 right_pitch=-0.0077 right_roll=0.1689 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -6.3111, 4.465, 0.7937, -0.1343, 0.1392, 0.0024, -0.3487, -3.6444, 7.0085, 1.7558, 0.0073, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9be2b3585c1e535ee7d6dffddece5c8f8b5f759f66dbfa623e5954f877c49d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa24f25027ec98f1330fb0a6c3e242bfd0dc8f09840ba4ee62b19cc36597a1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aea99c2881df5ed6617f453381c9eec2fe46c898f2967c7de5100bf62129e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jx1uo7a7oQK9rF8yXfr6Yj",
      "input": {
        "note": "The teddy's body is between the left jaws. Closing on it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Jx1uo7a7oQK9rF8yXfr6Yj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8295, 1.8137, 0.9497, -0.1421, -0.6174, -0.6735, 0.0145, 0.2878, 1.124, 0.7261, -0.1753, 0.2237, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.3501 left_y=-0.2256 left_z=0.0402 left_yaw=0.0439 left_pitch=-0.1985 left_roll=0.0595 left_gripper=0.0145 right_x=0.3541 right_y=0.0677 right_z=0.1792 right_yaw=-0.0808 right_pitch=-0.0077 right_roll=0.1687 right_gripper=0.9978\nstate[joint_eff]: [-0.0615, -9.5932, 5.6274, 1.1209, -0.3394, 0.0073, 0.8523, -0.1573, -3.7128, 7.0085, 1.7265, 0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3259487fd7c08c45430ea69e41a80225d6e7cdc70c8e827d739d867898a03d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ea0f9a66772af7e4db7853871b875a79edd37913737eb07319ae169e1b49cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0586e0904c8a2c80d55d8ebcb448c6c325e59bea51ed09d4e5637809908dbb2f",
        "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 · 14.38 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]: [-0.8349, 1.5749, 1.0245, -0.448, -0.6033, -0.6582, 0.9966, 0.2878, 1.124, 0.7261, -0.1745, 0.223, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.3307 left_y=-0.2105 left_z=0.1179 left_yaw=0.0199 left_pitch=-0.2031 left_roll=0.0569 left_gripper=0.9966 right_x=0.3542 right_y=0.0679 right_z=0.1794 right_yaw=-0.0799 right_pitch=-0.0071 right_roll=0.169 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -7.0769, 6.2291, 1.2967, -0.5104, -0.0708, 0.1343, -0.0752, -3.8222, 7.0359, 1.8095, 0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8299, 1.8008, 0.9504, -0.1471, -0.6147, -0.6708, 0.9967, 0.2874, 1.124, 0.7261, -0.1753, 0.2234, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.35 left_y=-0.2263 left_z=0.0446 left_yaw=0.039 left_pitch=-0.1947 left_roll=0.0531 left_gripper=0.9967 right_x=0.3542 right_y=0.0676 right_z=0.1792 right_yaw=-0.0808 right_pitch=-0.0077 right_roll=0.1689 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -6.3111, 4.465, 0.7937, -0.1343, 0.1392, 0.0024, -0.3487, -3.6444, 7.0085, 1.7558, 0.0073, -0.0269, -0.0122]",
      "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]: [-0.8295, 1.8137, 0.9497, -0.1421, -0.6174, -0.6735, 0.0145, 0.2878, 1.124, 0.7261, -0.1753, 0.2237, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.3501 left_y=-0.2256 left_z=0.0402 left_yaw=0.0439 left_pitch=-0.1985 left_roll=0.0595 left_gripper=0.0145 right_x=0.3541 right_y=0.0677 right_z=0.1792 right_yaw=-0.0808 right_pitch=-0.0077 right_roll=0.1687 right_gripper=0.9978\nstate[joint_eff]: [-0.0615, -9.5932, 5.6274, 1.1209, -0.3394, 0.0073, 0.8523, -0.1573, -3.7128, 7.0085, 1.7265, 0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3259487fd7c08c45430ea69e41a80225d6e7cdc70c8e827d739d867898a03d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ea0f9a66772af7e4db7853871b875a79edd37913737eb07319ae169e1b49cc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0586e0904c8a2c80d55d8ebcb448c6c325e59bea51ed09d4e5637809908dbb2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAgKEAgSGAI4AUIIdGhpbmtpbmcSDExL3dduZnSH8jNukRoMLsSKq8Ewy7tweoTwIjB3f+F4Q9+1TH3HBUm8UePvOsL3Ka7+E8CejAfr3ZR2ucy/xpaNpRIL5nrm9Yk82ncqrQdimAi9S1Me3zjOraN+6q0XqAWTaHoOxRjpLsXvIBvqAPZW3ViudzgsmR4J0QttLl/npqC95TDtJtYaik3554FjAjmBugW9911rBCADwbyp4vpnaf9AWOoC0jkpXPCYwHnaGGgleZY9arUT4RwBAbo1UqasktQHe/wYBSI76ZB31aqGI0MftocGJQQdycECUEU5PzB4KvsUt99K5qJxhuqVMGRr2XQmtwVYfy/xKJIMkKiVTOj/ojlxYleWgz5hBAcWFMaS0gl3Xgn9+YfRKo3b3cyU3JWnEXmsAOh1fFeHTLaGaFY69U8vp0iabp+og211yMdovKDGVif2MYCfcr6cREeMSmtCJd8v6lln8ix6Vy/SAXJHBRZPGfLcxYeSe+dN/Oha2+9TNo/e9JZgNcHnv/uk03FuzT3hJHWbd0rrdzO59tO+S0Y6GIx2wxbv9v0JvqVRWf3XGc5nDWzQ1Rwrsb2OMzfc1v+yGGWGZHknM1j0MIy9FeGfwZSd5Wcc1CsZ96kliN2F0Wkka1618VrzDF6ZPj2TMzVPU+9phn0vT3yntMGB8nxlycg0ckv72U5TAfMotkxHx04drojoWMgIr5PQD7/JT2fQPb47DVCB6Zyole4eqtiMFO52dp7J9mKxzZc6HZPcXrcpLSoI1ai6vxW6LezJMzH/IUdicmIBkAJg8kR6vS4xFJFr07Ix25TSzN1+OIKUO0SBXBJhRGXCyGZkvQ8OFU8/z2ze73JDk4Y8kMZgH79eQ+kQd9H91Ka6dvkPckdGI2UBvkZZFKQUAeESqLkeTkOofzBsLBnp8h63JorbmtGgXnbXM1OUOF3TmZgwQiQFI6p+vHJtAYgfFbYnAnuXoYYA5lCZotjmV/pfvZyk5Gj0DhrEMf47QdhFymIAIm8sNmM+vpk3hUuYqqOM0Br2r8DHAPrHirDHGHOJUN4vAYX5vM0AhjOBQDMk02PnW6Y3/sOHRPDV6pQWJiLG7tUyyAMC+ydjmEnMUFixnoUhgQk/20pSc1zRYhy3BZe6AvZhUfRsJ+q2FWD1JKZYKPHJfshT7GcPTQsbzaKvt6bcyugf3id2KqvusDTdQ1V93S5iOFMD7GOjLFk2tjWN+N25VASmcSX4a9nVKX1EOIirWTCu5SSj0hbxZmhfjJuCzv4SdnrVY5NzOBEnmy0YfpHJKkNSKMS5zSKTqndbA/5Gf1RVEdeJrM8K+YIUlLJjqYS+8WoYmDd2V6ztGVQl2mOVb93YL+6kWBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VJH4D3nHwMtmsYbi74wCRK",
      "input": {
        "note": "That close came up empty: the teddy sits a few cm beyond the fingertips. Opening and moving forward about 4 cm onto its torso.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.39,
          "left_y": -0.235,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VJH4D3nHwMtmsYbi74wCRK",
      "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]: [-0.7658, 1.9335, 1.0462, -0.1104, -0.598, -0.6273, 0.9952, 0.2874, 1.124, 0.7261, -0.1753, 0.2234, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.3829 left_y=-0.2252 left_z=0.0253 left_yaw=0.0685 left_pitch=-0.2073 left_roll=0.076 left_gripper=0.9952 right_x=0.3542 right_y=0.0676 right_z=0.1792 right_yaw=-0.0806 right_pitch=-0.0077 right_roll=0.1685 right_gripper=0.9978\nstate[joint_eff]: [0.1162, -8.5128, 8.0342, 1.3016, -0.149, 0.1294, -0.105, -0.3214, -3.6581, 7.0222, 1.7411, 0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07b909b20ab1b01733874d0959360749964103e2ad7d821218e11ebbca405e9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dec0b62aac31d90b92106a9c98f5df8a934705d37192d70f0a4c7b379e6d1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50f62ade8a6094f01d2a7cbf4b4dedcaf8f853de2e939047453feab0997cb5e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.579 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8299, 1.8008, 0.9504, -0.1471, -0.6147, -0.6708, 0.9967, 0.2874, 1.124, 0.7261, -0.1753, 0.2234, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.35 left_y=-0.2263 left_z=0.0446 left_yaw=0.039 left_pitch=-0.1947 left_roll=0.0531 left_gripper=0.9967 right_x=0.3542 right_y=0.0676 right_z=0.1792 right_yaw=-0.0808 right_pitch=-0.0077 right_roll=0.1689 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -6.3111, 4.465, 0.7937, -0.1343, 0.1392, 0.0024, -0.3487, -3.6444, 7.0085, 1.7558, 0.0073, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8295, 1.8137, 0.9497, -0.1421, -0.6174, -0.6735, 0.0145, 0.2878, 1.124, 0.7261, -0.1753, 0.2237, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.3501 left_y=-0.2256 left_z=0.0402 left_yaw=0.0439 left_pitch=-0.1985 left_roll=0.0595 left_gripper=0.0145 right_x=0.3541 right_y=0.0677 right_z=0.1792 right_yaw=-0.0808 right_pitch=-0.0077 right_roll=0.1687 right_gripper=0.9978\nstate[joint_eff]: [-0.0615, -9.5932, 5.6274, 1.1209, -0.3394, 0.0073, 0.8523, -0.1573, -3.7128, 7.0085, 1.7265, 0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7658, 1.9335, 1.0462, -0.1104, -0.598, -0.6273, 0.9952, 0.2874, 1.124, 0.7261, -0.1753, 0.2234, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.3829 left_y=-0.2252 left_z=0.0253 left_yaw=0.0685 left_pitch=-0.2073 left_roll=0.076 left_gripper=0.9952 right_x=0.3542 right_y=0.0676 right_z=0.1792 right_yaw=-0.0806 right_pitch=-0.0077 right_roll=0.1685 right_gripper=0.9978\nstate[joint_eff]: [0.1162, -8.5128, 8.0342, 1.3016, -0.149, 0.1294, -0.105, -0.3214, -3.6581, 7.0222, 1.7411, 0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07b909b20ab1b01733874d0959360749964103e2ad7d821218e11ebbca405e9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dec0b62aac31d90b92106a9c98f5df8a934705d37192d70f0a4c7b379e6d1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50f62ade8a6094f01d2a7cbf4b4dedcaf8f853de2e939047453feab0997cb5e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6ggKEAgSGAI4AUIIdGhpbmtpbmcSDNXBKEu9biuU/SDuAxoM6fa1blpGvwWeNMG3IjDF9+ZHn6c65G+vKGuL8VQSrAFzyoyw89DH3RCoEBndZ1ohEXliMooouUHfYzc+cgkqhwhzsWxZz6ARkkTtnxT1ZTogKbMd62Intvrak6d7dRjxxWI2rJ4j7WuUi6sad1ksmXt0TsURRYy+KHx5zetDfCfCXSRT3LdcvoH3wBlelswy+HSkHz5lqfvuz/3H/WZib8D6f4ucWa1sImkdkthxcXOC7s9aCW5rQrfm9CeCbzTmViLJbI/WaPWloWEFzIrjxHrUVDwBTm6WJqmB685tN9MFmfObxGR0uJXGHg40MwMsiQ2Sg+MH7x8DbkeBdfP867yitmQbUHh4yDH7MWOXHFfZ/MuLd7dkdGl6iAl7+V8Heyq2T9tq1AwecLbxAovcEv//gskstHP7lCbTbB81OZZ8JfDoRNgTnyqquuIFXvPSoGLuaJ0JpXZw+x+QaB7xa51dm5OtRhC0eWv2Qeh2jEGRiSrVDetOcveyaiZ0+SDhj9hk0HpvK8HjId+iXauWoyl1i3N1tvLyJ6ySDaJ31QVbSG5fC//sMGEPYCqjSciiJbhGsoWOcAUNlPKxRwh1heO8umrbnaKypkqBy5dQHPzGgz2VOJGVO6OzkXgCjcWVFWawuzRMC1HXzefzEsQK29wzNlMU5n1vCwlsh3AEJsQqPo/GOnZnl3CAwsE4IHBxMp66g5Z9ILfPNCDP3SE8xkOdaymODQ/IwsE1FNv9X6LvvUcY36KR3eHWdSLE7T3Iw639VaHS1sb20YRHcmduusn9z249VTH5GdGwnfs9E9MihX6y5hzY2WeG4ooqA97b1Suc+VsAPq0nsr4VdA0yV3b+PeX0jmKDvAncScXeFEPLr4zbTV9wwjnoHVI6tHMZCkrxu9lkse2LRbMV8eh6xaettW4E95Kcy1CXOR2tukG2twR2KDU/q8/RIKxkl8TNSMhVxPCCOO7CDfz91bAeytIGLG7wsiZZnzJqPkwrf2GSEAld3y4AhI1aA4fJ9lR9Gh/de4BFcC7QmYPHpYBal4SRjrkZD8pKTQYpYZkbL8p+t0eafAeEqTIQGUqZARiIMPiM/rDw7zO9CUIqYU9i+eYr/IpKxImz1q7Glmt13h+kP2IybzpWOoCKAXuMuC3HnqDgf6zBWZCcYB9p1Km2Pn+y10qsIPqDnc6e3JIDP81Ej1Y1lvanAgURKocQzah+I94xORx/z2oW9RIqAL5gyNUQ/EoTYa91+/Hl84Y8nR9VlqChzbcMMQ3Cn5eDa3aiQCWcmRuFjSd/syzSFZqVYqSXxh53UHLv1zhtLLnZ+VoH5z44OsBtzPsYgNSFO5pqhnRUsQ81zaCsSL/yXYjiVlbEv3KIWqSgYUWLk8bgGhfhNEjPJS6YoQydK/Vnc3RTGkEULbWBbAFcH0/sjKD+2pysj16ken0i8LaaoVkzUllLCno8iIu//BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TGWyRLdx2E4vC32NStnCeE",
      "input": {
        "note": "The teddy's body now fills the right half of the left wrist view. Shifting about 3 cm right to centre the jaws on it.",
        "targets": {
          "left_y": -0.26,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TGWyRLdx2E4vC32NStnCeE",
      "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]: [-0.823, 2.0075, 1.1397, -0.1539, -0.6235, -0.683, 0.9966, 0.2878, 1.124, 0.7261, -0.1757, 0.2234, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.3824 left_y=-0.2553 left_z=0.0211 left_yaw=0.0619 left_pitch=-0.2041 left_roll=0.0681 left_gripper=0.9966 right_x=0.3541 right_y=0.0678 right_z=0.1791 right_yaw=-0.0803 right_pitch=-0.0081 right_roll=0.1684 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -8.9641, 7.2137, 0.9402, -0.3394, -0.0708, 0.1343, -0.0889, -3.7128, 7.2274, 1.6777, 0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7606f665d9e8d2b2e88659b9559ed89981a0d48f467ee23605200b40a2e034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c7df1c7064484da8456f0b207125a4587f10e8e6d3b60054fc1dd18d1cf7416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1998120acc04d1b470d101912dc8593addc88a8875ba1bfc6d6929af0d911a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 11.41 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8295, 1.8137, 0.9497, -0.1421, -0.6174, -0.6735, 0.0145, 0.2878, 1.124, 0.7261, -0.1753, 0.2237, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.3501 left_y=-0.2256 left_z=0.0402 left_yaw=0.0439 left_pitch=-0.1985 left_roll=0.0595 left_gripper=0.0145 right_x=0.3541 right_y=0.0677 right_z=0.1792 right_yaw=-0.0808 right_pitch=-0.0077 right_roll=0.1687 right_gripper=0.9978\nstate[joint_eff]: [-0.0615, -9.5932, 5.6274, 1.1209, -0.3394, 0.0073, 0.8523, -0.1573, -3.7128, 7.0085, 1.7265, 0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7658, 1.9335, 1.0462, -0.1104, -0.598, -0.6273, 0.9952, 0.2874, 1.124, 0.7261, -0.1753, 0.2234, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.3829 left_y=-0.2252 left_z=0.0253 left_yaw=0.0685 left_pitch=-0.2073 left_roll=0.076 left_gripper=0.9952 right_x=0.3542 right_y=0.0676 right_z=0.1792 right_yaw=-0.0806 right_pitch=-0.0077 right_roll=0.1685 right_gripper=0.9978\nstate[joint_eff]: [0.1162, -8.5128, 8.0342, 1.3016, -0.149, 0.1294, -0.105, -0.3214, -3.6581, 7.0222, 1.7411, 0.022, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.823, 2.0075, 1.1397, -0.1539, -0.6235, -0.683, 0.9966, 0.2878, 1.124, 0.7261, -0.1757, 0.2234, 0.3325, 0.9978]\nstate[eef_state]: left_x=0.3824 left_y=-0.2553 left_z=0.0211 left_yaw=0.0619 left_pitch=-0.2041 left_roll=0.0681 left_gripper=0.9966 right_x=0.3541 right_y=0.0678 right_z=0.1791 right_yaw=-0.0803 right_pitch=-0.0081 right_roll=0.1684 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -8.9641, 7.2137, 0.9402, -0.3394, -0.0708, 0.1343, -0.0889, -3.7128, 7.2274, 1.6777, 0.0171, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7606f665d9e8d2b2e88659b9559ed89981a0d48f467ee23605200b40a2e034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c7df1c7064484da8456f0b207125a4587f10e8e6d3b60054fc1dd18d1cf7416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1998120acc04d1b470d101912dc8593addc88a8875ba1bfc6d6929af0d911a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxwcKEAgSGAI4AUIIdGhpbmtpbmcSDNyK+4Ph+MgMYW6XoBoMgZoVSwOING8UfKFEIjAuXZlKDU18vuGttPcC1LHyop879soEjFqVxJnx8jObiyAYYfU1EY9xHcK9r+iiM8sq5AZOuTaWk2RwETG2ERGs2dHKDpD7jNWEgvQq65h46Mooz5TVUyXzIQeDIFQEiiGcLz7Z2N3ar5+tuizh7IDXyIrw7q79wSdn3Pc1K6T1htkjbcwrl+pLGL+5URjXsQQsuz22xCze1lfUImLr34ZgaTZZxEi+uELxp3D0QyKqaZLLwn4IGx9N957zo1VoaT9uwLxLF36I063ytqSMNCj8HtilGcj1PklDvM64BuW/qxvqr7dZjSbKSKCd05GHPeQJAIGviHD/jIkQBBSzG/rsrZ1FTbFTKoHc1O2zra8yIuzDwzS37+M2GAMtN8cF0RGWazsjDbiGKfB7xsWAGP/XwQDydS9NlXDE/XSpjx5jiWR3/X/Ib5kownHsZ+gDlTqprx5O1jPsMYalaIql918IBZYlWliF+A06OFf7ESBSqhTLVvbcDHCIETdoNyNRn8dfEYM64loaWCqISGZf/V0AxedLdILvrOTXRnOqKa5da5AYfXWAAz0KLNt+WR34aDHgQGU1pGcSI8k1aaKXxqZuIxPaUjgC2I2y2TYNgOwB4YQeCU1K+3bhSZ9kBi9Ema9ElFuz6giF5YAwYPgAkLF4xbm+YpvGrunCGUAMz4G5Mi33RgCbP97gu5iXajoa2SHMXYEzHBHIPlV8m+H8koLDzNxPzWr2KmkKHJr25oDTXHDHhehIgp4HvpkWVWyXzl+QQJTJybZ5kKIOCds06GZ6DaCnV4qzQBH+EhPa2A3dBYLBA1G0JhA/qhMHH6XGDnutdP8u/sqLjJ/Fhf9qCmxI9wFSGQhfbMm4Tegy+ltSHMPihaPP4dzlSDjhTPoOTmsnMCbItLGiYsTHMLsk7J7HAUonfS1zFQxM9xbZnVQRO/UtByv+Qw2oHoGfvC68onCTOZdTSYxNKawCw6v4pCDnnDK/Yb3g+TJMPWSS7j/NxCzFDvPnJrucHdLoCnI037K50FD8gg/EBgFrnZVBgikbkLDl/x+VHbx3HzIaQD5zivrUjkZBNUfII67XJouVz9RkcA+LQ63Kd+ULt9O4vpJEJdYC8NaiTD3GHTcyX56LU1A1JE9Q6Dbi+xuUFXpzRznrPX12hyOHiyK9rcgFF1xmGR3ehCJeCGuo7HNG5X4TPKtp5FreTAa5a/x43WIh4HM1IwhbxrqDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GV2vsitfoEUm3z7Y6hw2Gu",
      "input": {
        "note": "The teddy's paw sits right at the jaw column, with the body just beyond. Closing to grab the paw and body.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GV2vsitfoEUm3z7Y6hw2Gu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8253, 2.0167, 1.1481, -0.1524, -0.625, -0.6888, 0.0126, 0.2878, 1.124, 0.7261, -0.1749, 0.2237, 0.3328, 0.9978]\nstate[eef_state]: left_x=0.3834 left_y=-0.2576 left_z=0.0201 left_yaw=0.0635 left_pitch=-0.2024 left_roll=0.0641 left_gripper=0.0126 right_x=0.3542 right_y=0.0677 right_z=0.1793 right_yaw=-0.0808 right_pitch=-0.0073 right_roll=0.1688 right_gripper=0.9978\nstate[joint_eff]: [-0.1846, -11.0017, 4.8889, 1.1306, -0.2466, 0.0366, 0.8425, -0.2667, -3.7402, 7.1043, 1.7509, 0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c37f3e4e82986eb2553596c425ec3b127dd2547cfcbef0447b92453e427a062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b99747c67653c9201a6417a720aec07a6750705c824f32a560c14c2d24a1e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be6ba2aa84afb8e807cd9328db4fd6c17efd243a303e98943a20999b0afd9952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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