adhoc

completed
2026-09-22T23:09:28.388448+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
314 s
total steps
371
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: two teal baskets at the back; in front are 3 markers (yellow, blue/white, black) and 2 stuffed bears. Plan: markers go in the right basket, bears in the left. First, lower the right arm over the black marker, which shows at the bottom-left of the right wrist camera.
move_to
right_x0.2600right_y0.0200right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8013, 0.6174, -0.3786, -0.0223, -0.0261, 0.9991, -0.0154, 0.7986, 0.6109, -0.3714, -0.0124, -0.0162, 0.9993] state[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2971 right_y=0.0012 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.5402, -1.7162, 9.3607, 1.7753, -0.0513, 0.0757, -0.1148, -0.7179, -1.4154, 9.7846, 1.6777, -0.0855, -0.022, -0.0806] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"note": "Scene: two teal baskets at the back; in front are 3 markers (yellow, blue/white, black) and 2 stuffed bears. Plan: markers go in the right basket, bears in the left. First, lower the right arm over the black marker, which shows at the bottom-left of the right wrist camera.", "targets": {"right_x": 0.26, "right_y": 0.02, "right_z": 0.1}})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteBlack marker is just left of the jaw column and a bit forward in the right wrist view. Shifting slightly left/forward and descending to table level to grasp across it.
move_to
right_x0.2750right_y0.0300right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8051, 0.617, -0.3801, -0.0219, -0.0269, 0.9991, 0.1448, 0.6064, 0.2352, -0.2337, 0.1055, 0.0528, 0.9993] state[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1829 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2549 right_y=0.022 right_z=0.0899 right_yaw=0.0236 right_pitch=-0.042 right_roll=-0.0093 right_gripper=0.9993 state[joint_eff]: [-0.0889, -1.0462, 7.0906, 1.7998, -0.0659, -0.0562, -0.0269, -0.0615, -0.4581, 7.4188, 1.9023, 0.2418, 0.1685, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"note": "Black marker is just left of the jaw column and a bit forward in the right wrist view. Shifting slightly left/forward and descending to table level to grasp across it.", "targets": {"right_x": 0.275, "right_y": 0.03, "right_z": 0.0}})
tool
executing move_to over 6 steps (0.6s)
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 black marker sits between the jaws in the right wrist view and the gripper is at table level. Closing the gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8116, 0.6159, -0.3801, -0.0219, -0.0269, 0.9991, 0.1776, 1.3502, 0.0292, 0.7403, 0.1143, 0.0864, 0.9993] state[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1806 left_yaw=0.0005 left_pitch=-0.0133 left_roll=-0.0006 left_gripper=0.9991 right_x=0.2848 right_y=0.0343 right_z=0.0125 right_yaw=0.0313 right_pitch=-0.0176 right_roll=0.0169 right_gripper=0.9993 state[joint_eff]: [-0.0615, -1.4017, 7.2, 1.7998, -0.022, -0.0317, -0.0122, 0.2803, -1.7436, 2.441, 0.9109, 0.2271, -0.1343, -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({"note": "The black marker sits between the jaws in the right wrist view and the gripper is at table level. Closing the gripper.", "targets": {"right_gripper": 0.0}})
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 noteGripper settled at 0.136 (~1.3 cm), so the black marker is held. Lifting it high and carrying it toward the right basket.
move_to
right_z0.2500right_x0.4000right_y0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.0303, 0.9991, 0.1776, 1.3567, 0.0196, 0.7647, 0.1043, 0.0834, 0.1362] state[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0023 left_pitch=-0.0137 left_roll=-0.0035 left_gripper=0.9991 right_x=0.2839 right_y=0.0359 right_z=0.0126 right_yaw=0.0413 right_pitch=-0.01 right_roll=0.0209 right_gripper=0.1362 state[joint_eff]: [-0.0479, -1.2786, 7.159, 1.7021, -0.0757, -0.0269, -0.0122, -0.1846, -3.2342, 4.8479, 1.4872, 0.0855, -0.0024, 0.9841] 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({"note": "Gripper settled at 0.136 (~1.3 cm), so the black marker is held. Lifting it high and carrying it toward the right basket.", "targets": {"right_z": 0.25, "right_x": 0.4, "right_y": 0.13}})
tool
executing move_to over 16 steps (1.6s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe right wrist view shows the basket below, with the gripper over its right edge. Shifting 5 cm left toward the basket centre and lowering a little before letting go.
move_to
right_y0.1800right_x0.4200right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8135, 0.6125, -0.3801, -0.0223, -0.0315, 0.9991, 0.4328, 1.3857, 1.1637, -0.4091, 0.3058, 0.2108, 0.142] state[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1784 left_yaw=0.0032 left_pitch=-0.0187 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3987 right_y=0.1296 right_z=0.2355 right_yaw=0.0595 right_pitch=-0.0387 right_roll=0.0022 right_gripper=0.142 state[joint_eff]: [-0.3214, -1.1692, 7.2547, 1.7802, -0.0366, -0.0317, -0.0122, 0.1983, -6.5026, 9.6615, 1.6239, 0.1734, 0.1734, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"note": "The right wrist view shows the basket below, with the gripper over its right edge. Shifting 5 cm left toward the basket centre and lowering a little before letting go.", "targets": {"right_y": 0.18, "right_x": 0.42, "right_z": 0.2}})
tool
executing move_to over 5 steps (0.5s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
Marker is well inside the basket now. Releasing.
agent noteThe right wrist view shows the black marker hanging over the middle of the right basket. Opening the gripper to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8135, 0.6113, -0.3805, -0.0223, -0.0341, 0.9991, 0.5419, 1.5593, 1.1641, -0.3107, 0.3733, 0.263, 0.142] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1778 left_yaw=0.0047 left_pitch=-0.0202 left_roll=-0.0063 left_gripper=0.9991 right_x=0.4124 right_y=0.1773 right_z=0.185 right_yaw=0.0834 right_pitch=-0.0898 right_roll=-0.0239 right_gripper=0.142 state[joint_eff]: [-0.0615, -1.2786, 7.1453, 1.7265, -0.0708, -0.0269, -0.0122, 0.212, -7.4051, 8.8, 1.8632, 0.2857, 0.0855, 1.0281] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
Marker is well inside the basket now. Releasing.
move_to({"note": "The right wrist view shows the black marker hanging over the middle of the right basket. Opening the gripper to drop it in.", "targets": {"right_gripper": 1.0}})
tool
executing move_to over 9 steps (0.9s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe black marker is in the right basket. Next, moving the right arm over the blue/white marker, which should be about 6–7 cm left of where the black one was.
move_to
right_x0.2700right_y0.1000right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8135, 0.6113, -0.3801, -0.0219, -0.0372, 0.9991, 0.5423, 1.5673, 1.1641, -0.3058, 0.366, 0.2546, 0.9948] state[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1779 left_yaw=0.006 left_pitch=-0.0198 left_roll=-0.0091 left_gripper=0.9991 right_x=0.4132 right_y=0.1793 right_z=0.1822 right_yaw=0.094 right_pitch=-0.0947 right_roll=-0.0276 right_gripper=0.9948 state[joint_eff]: [-0.0068, -1.3607, 7.0632, 1.6923, -0.0366, -0.0122, -0.0122, -0.0752, -8.1709, 6.9128, 1.4969, 0.1636, 0.0757, 0.0269] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"note": "The black marker is in the right basket. Next, moving the right arm over the blue/white marker, which should be about 6\u20137 cm left of where the black one was.", "targets": {"right_x": 0.27, "right_y": 0.1, "right_z": 0.1}})
tool
executing move_to over 12 steps (1.2s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteIn the right wrist view the blue/white marker lies left of the jaw column, running toward the base. Shifting about 2 cm left and descending to table level to grasp it.
move_to
right_x0.2850right_y0.1220right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8173, 0.6113, -0.3798, -0.0219, -0.0376, 0.9991, 0.5705, 0.9581, 0.424, -0.1825, 0.3744, 0.2676, 0.9959] state[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1769 left_yaw=0.0062 left_pitch=-0.0232 left_roll=-0.0093 left_gripper=0.9991 right_x=0.2741 right_y=0.1034 right_z=0.101 right_yaw=0.1082 right_pitch=-0.099 right_roll=-0.0256 right_gripper=0.9959 state[joint_eff]: [-0.1299, -1.2239, 7.0906, 1.7802, -0.0513, 0.0024, -0.0122, 0.6496, -1.7026, 7.2821, 1.7509, 0.2955, 0.1148, 0.0952] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"note": "In the right wrist view the blue/white marker lies left of the jaw column, running toward the base. Shifting about 2 cm left and descending to table level to grasp it.", "targets": {"right_x": 0.285, "right_y": 0.122, "right_z": 0.0}})
tool
executing move_to over 7 steps (0.7s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
Marker centred between jaws. Closing.
agent noteThe blue/white marker is centred between the jaws at table level in the right wrist view. Closing the gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3801, -0.0219, -0.038, 0.9991, 0.6163, 1.4986, 0.2382, 0.5758, 0.4088, 0.3058, 0.996] state[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1751 left_yaw=0.0064 left_pitch=-0.0301 left_roll=-0.0094 left_gripper=0.9991 right_x=0.2939 right_y=0.1265 right_z=0.0137 right_yaw=0.107 right_pitch=-0.06 right_roll=0.0005 right_gripper=0.996 state[joint_eff]: [-0.0889, -1.5932, 7.1863, 1.7705, -0.0415, -0.0659, -0.0073, 0.5265, -3.1385, 3.4256, 0.7155, 0.1685, -0.0464, -0.0073] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
Marker centred between jaws. Closing.
move_to({"note": "The blue/white marker is centred between the jaws at table level in the right wrist view. Closing the gripper.", "targets": {"right_gripper": 0.0}})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
Grasped (0.141). Carrying to the same drop point.
agent noteGripper settled at 0.141, so the blue marker is held. Lifting and carrying it to the same spot above the right basket.
move_to
right_x0.4100right_y0.1700right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3805, -0.0216, -0.038, 0.9991, 0.6151, 1.5074, 0.2317, 0.5922, 0.4076, 0.3031, 0.1412] state[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.175 left_yaw=0.0061 left_pitch=-0.0305 left_roll=-0.0097 left_gripper=0.9991 right_x=0.2933 right_y=0.1259 right_z=0.012 right_yaw=0.1082 right_pitch=-0.0594 right_roll=-0.0005 right_gripper=0.1412 state[joint_eff]: [-0.0752, -1.1829, 7.2274, 1.6874, -0.022, -0.0513, -0.0122, -0.2393, -5.0256, 4.8205, 1.4921, 0.0855, -0.0366, 1.1013] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
Grasped (0.141). Carrying to the same drop point.
move_to({"note": "Gripper settled at 0.141, so the blue marker is held. Lifting and carrying it to the same spot above the right basket.", "targets": {"right_x": 0.41, "right_y": 0.17, "right_z": 0.22}})
tool
executing move_to over 14 steps (1.4s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe blue marker is hanging over the right basket, next to the black marker already inside. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8249, 0.6109, -0.3805, -0.0219, -0.038, 0.9991, 0.5213, 1.5017, 1.1858, -0.374, 0.3279, 0.2321, 0.144] state[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1745 left_yaw=0.0064 left_pitch=-0.032 left_roll=-0.0094 left_gripper=0.9991 right_x=0.405 right_y=0.1711 right_z=0.2054 right_yaw=0.117 right_pitch=-0.0878 right_roll=-0.0153 right_gripper=0.144 state[joint_eff]: [-0.1983, -1.5248, 7.0222, 1.746, -0.0366, -0.0562, -0.0122, -0.7726, -7.3094, 9.5658, 1.5311, 0.105, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"note": "The blue marker is hanging over the right basket, next to the black marker already inside. Releasing it.", "targets": {"right_gripper": 1.0}})
tool
executing move_to over 9 steps (0.9s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteBoth markers from the right side are in the right basket. The yellow marker sits near the left arm, just right of its jaws in the left wrist view, so I'm moving the left arm about 6 cm right to line up over it.
move_to
left_y-0.0600left_x0.2900left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8249, 0.6109, -0.3805, -0.0223, -0.038, 0.9991, 0.522, 1.5017, 1.1854, -0.3775, 0.3283, 0.2245, 0.9954] state[eef_state]: left_x=0.2976 left_y=0.0019 left_z=0.1745 left_yaw=0.0067 left_pitch=-0.032 left_roll=-0.0092 left_gripper=0.9991 right_x=0.4044 right_y=0.1711 right_z=0.2046 right_yaw=0.1213 right_pitch=-0.0913 right_roll=-0.0231 right_gripper=0.9954 state[joint_eff]: [-0.0752, -1.4154, 7.0222, 1.6972, -0.0415, -0.0464, -0.0122, -0.2393, -6.9265, 7.2137, 1.6337, 0.0708, 0.022, -0.1783] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"note": "Both markers from the right side are in the right basket. The yellow marker sits near the left arm, just right of its jaws in the left wrist view, so I'm moving the left arm about 6 cm right to line up over it.", "targets": {"left_y": -0.06, "left_x": 0.29, "left_z": 0.1}})
tool
executing move_to over 6 steps (0.6s)
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 noteThe yellow marker is just right of the jaw column in the left wrist view and runs forward. Shifting about 1.5 cm right and descending to table level to grasp it.
move_to
left_y-0.0760left_x0.3000left_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]: [-0.4271, 0.9333, 0.3569, -0.0971, -0.3386, -0.2699, 0.9991, 0.5224, 1.5021, 1.1854, -0.3779, 0.3271, 0.2211, 0.9964] state[eef_state]: left_x=0.2862 left_y=-0.0618 left_z=0.0934 left_yaw=-0.0116 left_pitch=-0.0667 left_roll=0.0005 left_gripper=0.9991 right_x=0.4043 right_y=0.1714 right_z=0.2044 right_yaw=0.1245 right_pitch=-0.0923 right_roll=-0.0255 right_gripper=0.9964 state[joint_eff]: [-0.0752, -2.441, 6.5436, 1.8291, -0.2173, -0.0171, -0.0171, 0.1436, -7.0359, 6.9265, 1.5751, 0.0659, -0.0024, 0.0952] 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({"note": "The yellow marker is just right of the jaw column in the left wrist view and runs forward. Shifting about 1.5 cm right and descending to table level to grasp it.", "targets": {"left_y": -0.076, "left_x": 0.3, "left_z": 0.0}})
tool
executing move_to over 7 steps (0.7s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe yellow marker is between the open jaws at table level (slightly right of centre, well within the stroke). Closing the left gripper.
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]: [-0.4656, 1.5299, 0.1802, 0.6552, -0.3714, -0.2924, 0.999, 0.522, 1.5036, 1.1847, -0.3828, 0.3279, 0.2207, 0.9965] state[eef_state]: left_x=0.3002 left_y=-0.0751 left_z=-0.0001 left_yaw=-0.0107 left_pitch=-0.0767 left_roll=0.0101 left_gripper=0.999 right_x=0.4037 right_y=0.1708 right_z=0.2025 right_yaw=0.1234 right_pitch=-0.0988 right_roll=-0.029 right_gripper=0.9965 state[joint_eff]: [-0.3077, -3.6034, 3.6034, 1.6044, -0.1343, -0.1148, -0.0171, -0.3077, -6.5709, 6.9675, 1.7265, 0.0757, -0.0708, -0.0024] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"note": "The yellow marker is between the open jaws at table level (slightly right of centre, well within the stroke). Closing the left gripper.", "targets": {"left_gripper": 0.0}})
tool
executing move_to over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteGripper settled at 0.154, so the yellow marker is held. The right basket is out of the left arm's reach, so I'll set the marker down near the centre line, close to the bases where the table is clear, for the right arm to pick up. Lifting and moving there now.
move_to
left_z0.1200left_x0.2000left_y-0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.466, 1.5326, 0.1791, 0.6666, -0.3706, -0.2932, 0.1537, 0.522, 1.5036, 1.1847, -0.3843, 0.3279, 0.2207, 0.9965] state[eef_state]: left_x=0.301 left_y=-0.0757 left_z=0.0008 left_yaw=-0.0115 left_pitch=-0.0701 left_roll=0.0057 left_gripper=0.1537 right_x=0.4035 right_y=0.1706 right_z=0.2022 right_yaw=0.1233 right_pitch=-0.1002 right_roll=-0.0296 right_gripper=0.9965 state[joint_eff]: [-0.0889, -4.465, 4.0684, 1.4969, -0.2076, -0.022, 1.0525, -0.3487, -7.0359, 7.1453, 1.6093, 0.0904, -0.0806, -0.0122] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"note": "Gripper settled at 0.154, so the yellow marker is held. The right basket is out of the left arm's reach, so I'll set the marker down near the centre line, close to the bases where the table is clear, for the right arm to pick up. Lifting and moving there now.", "targets": {"left_z": 0.12, "left_x": 0.2, "left_y": -0.28}})
tool
executing move_to over 19 steps (1.9s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe left gripper is holding the yellow marker near the centre line, just in front of the big bear, over clear table. Lowering it to the table to set it down.
move_to
left_z0.0100
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]: [-1.3808, 1.6104, 1.0145, -0.7116, -0.8913, -1.2541, 0.1537, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965] state[eef_state]: left_x=0.1978 left_y=-0.2816 left_z=0.1133 left_yaw=-0.0217 left_pitch=-0.0896 left_roll=-0.0045 left_gripper=0.1537 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965 state[joint_eff]: [-0.2667, -6.8991, 7.665, 0.6471, -0.7253, -0.0806, 1.0281, -0.0479, -7.0496, 6.8991, 1.5995, 0.0513, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"note": "The left gripper is holding the yellow marker near the centre line, just in front of the big bear, over clear table. Lowering it to the table to set it down.", "targets": {"left_z": 0.01}})
tool
executing move_to over 7 steps (0.7s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe marker is at table level; the wrist camera is pressed against the bear, but the marker itself is on the table. Opening to release 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]: [-1.3808, 1.842, 0.8127, -0.2935, -0.8829, -1.2568, 0.1537, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965] state[eef_state]: left_x=0.1967 left_y=-0.2809 left_z=0.0108 left_yaw=-0.0212 left_pitch=-0.1007 left_roll=0.0067 left_gripper=0.1537 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965 state[joint_eff]: [-0.1846, -7.5009, 4.0547, 0.7106, -0.569, 0.0024, 1.0281, -0.1299, -6.8034, 6.9402, 1.5556, 0.0659, -0.0366, -0.0073] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"note": "The marker is at table level; the wrist camera is pressed against the bear, but the marker itself is on the table. Opening to release it.", "targets": {"left_gripper": 1.0}})
tool
executing move_to over 9 steps (0.9s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteYellow marker released near the centre, beside the bears. The right basket holds only one marker, and a blue pen is still standing out on the table at right-centre. Lifting the left arm clear of the centre.
move_to
left_z0.1500left_y-0.1000left_x0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.3808, 1.845, 0.8059, -0.2935, -0.8776, -1.2575, 0.9954, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965] state[eef_state]: left_x=0.1956 left_y=-0.2785 left_z=0.0077 left_yaw=-0.0212 left_pitch=-0.1079 left_roll=0.0147 left_gripper=0.9954 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965 state[joint_eff]: [-0.0615, -7.747, 5.012, 0.6716, -0.525, -0.022, -0.0073, -0.3214, -6.7624, 6.8991, 1.5849, 0.0708, -0.022, -0.0171] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"note": "Yellow marker released near the centre, beside the bears. The right basket holds only one marker, and a blue pen is still standing out on the table at right-centre. Lifting the left arm clear of the centre.", "targets": {"left_z": 0.15, "left_y": -0.1, "left_x": 0.25}})
tool
executing move_to over 16 steps (1.6s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteA blue pen stands out on the table in front of the right basket. Bringing the right arm down over it to line up a grasp.
move_to
right_x0.3100right_y0.1700right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7521, 0.873, 0.5873, -0.5621, -0.5674, -0.5308, 0.9962, 0.5232, 1.504, 1.1847, -0.3843, 0.3275, 0.2207, 0.9965] state[eef_state]: left_x=0.2479 left_y=-0.097 left_z=0.1387 left_yaw=-0.0077 left_pitch=-0.1225 left_roll=0.0213 left_gripper=0.9962 right_x=0.4033 right_y=0.1712 right_z=0.2021 right_yaw=0.1248 right_pitch=-0.1007 right_roll=-0.0296 right_gripper=0.9965 state[joint_eff]: [-0.1436, -1.812, 9.2513, 1.2332, -0.2711, 0.0806, 0.0806, -0.1709, -7.0222, 6.9402, 1.6142, 0.0659, -0.0611, -0.0171] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"note": "A blue pen stands out on the table in front of the right basket. Bringing the right arm down over it to line up a grasp.", "targets": {"right_x": 0.31, "right_y": 0.17, "right_z": 0.1}})
tool
executing move_to over 8 steps (0.8s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe blue pen runs forward just right of the jaw column in the right wrist view, with the big bear to its left. Nudging slightly right and forward, then descending to grasp it.
move_to
right_x0.3300right_y0.1620right_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]: [-0.7521, 0.8761, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.7128, 1.3346, 0.6357, -0.0898, 0.4465, 0.3397, 0.9965] state[eef_state]: left_x=0.2481 left_y=-0.0972 left_z=0.1382 left_yaw=-0.007 left_pitch=-0.1239 left_roll=0.0217 left_gripper=0.9963 right_x=0.3094 right_y=0.1714 right_z=0.0944 right_yaw=0.15 right_pitch=-0.1362 right_roll=-0.0479 right_gripper=0.9965 state[joint_eff]: [-0.1162, -1.7026, 6.7624, 1.3504, -0.2857, -0.0171, -0.0024, 0.1709, -6.2017, 6.7214, 1.7021, 0.4371, 0.1001, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"note": "The blue pen runs forward just right of the jaw column in the right wrist view, with the big bear to its left. Nudging slightly right and forward, then descending to grasp it.", "targets": {"right_x": 0.33, "right_y": 0.162, "right_z": 0.0}})
tool
executing move_to over 7 steps (0.7s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe pen is near the bottom of the right wrist view, just right of centre, but the descent stopped 3.4 cm up (possibly against the bear or the basket). Nudging slightly right and pressing lower.
move_to
right_y0.1550right_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]: [-0.7521, 0.8776, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.6212, 1.6787, 0.4953, 0.5549, 0.4065, 0.2996, 0.9965] state[eef_state]: left_x=0.2482 left_y=-0.0972 left_z=0.1378 left_yaw=-0.0068 left_pitch=-0.1251 left_roll=0.0227 left_gripper=0.9963 right_x=0.3513 right_y=0.17 right_z=0.0339 right_yaw=0.118 right_pitch=-0.0116 right_roll=0.0238 right_gripper=0.9965 state[joint_eff]: [-0.0889, -1.6615, 6.7214, 1.3455, -0.3053, -0.0317, -0.0122, 0.2256, -3.959, 2.8513, 0.8718, -0.1148, -0.3248, -0.0122] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"note": "The pen is near the bottom of the right wrist view, just right of centre, but the descent stopped 3.4 cm up (possibly against the bear or the basket). Nudging slightly right and pressing lower.", "targets": {"right_y": 0.155, "right_z": -0.01}})
tool
executing move_to over 3 steps (0.3s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe pen looks like it's standing or leaning right at the jaws, near the bottom-centre of the right wrist view. Closing the gripper here to catch 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]: [-0.7521, 0.8776, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.5663, 1.8534, 0.4427, 0.9112, 0.3725, 0.2996, 0.9965] state[eef_state]: left_x=0.2482 left_y=-0.0972 left_z=0.1378 left_yaw=-0.0068 left_pitch=-0.1251 left_roll=0.0227 left_gripper=0.9963 right_x=0.3685 right_y=0.1623 right_z=0.021 right_yaw=0.0887 right_pitch=0.0936 right_roll=0.1006 right_gripper=0.9965 state[joint_eff]: [-0.0615, -1.5521, 6.9402, 1.3455, -0.3101, -0.0513, -0.0073, 0.0889, -4.4786, 2.0171, 1.1306, 0.0073, -0.3785, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"note": "The pen looks like it's standing or leaning right at the jaws, near the bottom-centre of the right wrist view. Closing the gripper here to catch it.", "targets": {"right_gripper": 0.0}})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.146, so the pen appears to be held. Lifting straight up and over into the right basket.
move_to
right_z0.2400right_x0.4000right_y0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7521, 0.8825, 0.5873, -0.561, -0.5674, -0.5343, 0.9963, 0.5697, 1.8591, 0.4362, 0.9188, 0.3542, 0.2733, 0.1462] state[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1367 left_yaw=-0.0052 left_pitch=-0.1287 left_roll=0.0243 left_gripper=0.9963 right_x=0.3655 right_y=0.1656 right_z=0.0179 right_yaw=0.1216 right_pitch=0.0868 right_roll=0.0829 right_gripper=0.1462 state[joint_eff]: [-0.1436, -1.935, 6.7214, 1.3455, -0.3101, -0.0269, -0.0073, -0.0205, -4.9162, 2.5915, 1.0476, 0.1685, -0.0904, 1.0281] approver: 1 step(s) modified (delta_clamped). 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({"note": "Gripper settled at 0.146, so the pen appears to be held. Lifting straight up and over into the right basket.", "targets": {"right_z": 0.24, "right_x": 0.4, "right_y": 0.18}})
tool
executing move_to over 15 steps (1.5s)
step 221
top_cam
camera top_cam step 221
left_cam
camera left_cam step 221
right_cam
camera right_cam step 221
assistant
agent noteI actually picked up the big tan bear, not the pen; the markers are already in the right basket. Bears belong in the left basket, so I'm carrying this one as far left as the right arm allows (the centre of the table) to see if it can be dropped over the left basket.
move_to
right_y0.4000right_x0.4400right_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7521, 0.8825, 0.5869, -0.5606, -0.5674, -0.5346, 0.9963, 0.5556, 1.4288, 1.0264, -0.1532, 0.3275, 0.2501, 0.1509] state[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1366 left_yaw=-0.005 left_pitch=-0.1286 left_roll=0.024 left_gripper=0.9963 right_x=0.3963 right_y=0.1834 right_z=0.2076 right_yaw=0.1435 right_pitch=0.0352 right_roll=0.0532 right_gripper=0.1509 state[joint_eff]: [-0.0889, -1.5795, 6.8718, 1.4335, -0.2857, -0.0415, -0.0073, -0.759, -8.4308, 10.2085, 1.7802, 0.1245, 0.0806, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"note": "I actually picked up the big tan bear, not the pen; the markers are already in the right basket. Bears belong in the left basket, so I'm carrying this one as far left as the right arm allows (the centre of the table) to see if it can be dropped over the left basket.", "targets": {"right_y": 0.4, "right_x": 0.44, "right_z": 0.25}})
tool
executing move_to over 19 steps (1.9s)
step 240
assistant
agent noteThe top view shows the right gripper over the right half of the left basket, with the bear hanging above the basket in the wrist view. Releasing the bear into the left basket.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7521, 0.8833, 0.5869, -0.561, -0.5674, -0.5346, 0.9963, 0.8936, 2.1639, 2.0708, -0.6022, 0.5846, 0.4393, 0.1532] state[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1364 left_yaw=-0.0049 left_pitch=-0.1295 left_roll=0.0248 left_gripper=0.9963 right_x=0.4392 right_y=0.3964 right_z=0.2288 right_yaw=0.1745 right_pitch=-0.0046 right_roll=0.0138 right_gripper=0.1532 state[joint_eff]: [-0.1026, -1.5521, 6.7761, 1.3748, -0.3101, -0.0269, -0.0073, 0.5812, -13.3538, 9.7846, 1.3114, 0.4713, 0.2418, 1.0232] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"note": "The top view shows the right gripper over the right half of the left basket, with the bear hanging above the basket in the wrist view. Releasing the bear into the left basket.", "targets": {"right_gripper": 1.0}})
tool
executing move_to over 9 steps (0.9s)
step 249
assistant
agent noteThe bear fell short and landed on the table just in front of the gap between the baskets. Sending the right arm home and bringing the left arm above the bear to pick it up and put it in the left basket.
move_to
right_x0.3000right_y0.0500right_z0.1800left_x0.3600left_y-0.2700left_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]: [-0.7521, 0.8833, 0.5869, -0.5606, -0.5674, -0.5346, 0.9963, 0.8955, 2.1826, 2.067, -0.6167, 0.5674, 0.4343, 0.9954] state[eef_state]: left_x=0.2483 left_y=-0.0973 left_z=0.1364 left_yaw=-0.0049 left_pitch=-0.1292 left_roll=0.0246 left_gripper=0.9963 right_x=0.4369 right_y=0.3994 right_z=0.2132 right_yaw=0.1917 right_pitch=-0.0399 right_roll=-0.006 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.5658, 6.7077, 1.3455, -0.3101, -0.0415, -0.0122, -0.1983, -14.2838, 7.3231, 1.6581, 0.3541, -0.0073, -0.2076] 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({"note": "The bear fell short and landed on the table just in front of the gap between the baskets. Sending the right arm home and bringing the left arm above the bear to pick it up and put it in the left basket.", "targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.18, "left_x": 0.36, "left_y": -0.27, "left_z": 0.15}})
tool
executing move_to over 30 steps (3.0s)
step 279
assistant
agent noteThe right basket holds one marker. Still on the table: the blue pen lying crosswise at right-centre, the yellow marker in the centre, and the bears (tan, grey, small brown). Moving both arms at once: the right arm over the pen, turned so its jaws close across it, and the left arm over the small brown bear.
move_to
right_x0.2600right_y0.1600right_z0.0800right_yaw1.2000left_x0.3000left_y-0.1400left_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]: [-0.8902, 1.729, 1.2522, -0.4808, -0.6365, -0.6743, 0.9964, 0.1455, 0.8837, 0.6514, -0.3759, 0.0044, -0.0067, 0.9963] state[eef_state]: left_x=0.3543 left_y=-0.265 left_z=0.1402 left_yaw=-0.0093 left_pitch=-0.156 left_roll=0.0288 left_gripper=0.9964 right_x=0.3037 right_y=0.0474 right_z=0.1772 right_yaw=0.1417 right_pitch=-0.0493 right_roll=-0.001 right_gripper=0.9963 state[joint_eff]: [-0.6085, -7.9111, 8.8684, 1.2821, -0.525, 0.0073, -0.0073, -0.212, -2.1675, 7.2, 1.8974, -0.232, -0.1343, 0.0855] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"note": "The right basket holds one marker. Still on the table: the blue pen lying crosswise at right-centre, the yellow marker in the centre, and the bears (tan, grey, small brown). Moving both arms at once: the right arm over the pen, turned so its jaws close across it, and the left arm over the small brown bear.", "targets": {"right_x": 0.26, "right_y": 0.16, "right_z": 0.08, "right_yaw": 1.2, "left_x": 0.3, "left_y": -0.14, "left_z": 0.12}})
tool
executing move_to over 12 steps (1.2s)
step 291
assistant
agent noteRight wrist view: the blue pen crosses the jaw line near the bottom. Left wrist view: the small brown bear sits just under and slightly right of the jaws. Lowering both arms to grasp height.
move_to
right_z-0.0050left_y-0.1500left_x0.3000left_z0.0250
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7296, 1.2617, 0.7189, -0.3523, -0.5453, -0.5442, 0.9964, 0.094, 1.293, 0.5114, -0.2077, -0.7471, -0.7494, 0.9965] state[eef_state]: left_x=0.3011 left_y=-0.1415 left_z=0.1159 left_yaw=0.0106 left_pitch=-0.1686 left_roll=0.0307 left_gripper=0.9964 right_x=0.2606 right_y=0.1488 right_z=0.0691 right_yaw=1.0979 right_pitch=-0.1017 right_roll=0.0486 right_gripper=0.9965 state[joint_eff]: [0.1026, -4.7932, 6.694, 1.4969, -0.2711, 0.1832, -0.0171, 0.4171, -4.6427, 8.335, 1.0916, -0.6325, -0.0757, 0.0024] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"note": "Right wrist view: the blue pen crosses the jaw line near the bottom. Left wrist view: the small brown bear sits just under and slightly right of the jaws. Lowering both arms to grasp height.", "targets": {"right_z": -0.005, "left_y": -0.15, "left_x": 0.3, "left_z": 0.025}})
tool
executing move_to over 6 steps (0.6s)
step 297
assistant
agent noteThe pen is right at the left jaw of the rotated right gripper, and the bear is slightly right of centre in the left gripper. Making small corrections on both arms so each object sits centred between the jaws.
move_to
right_x0.2380right_y0.1650left_y-0.1680
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]: [-0.7582, 1.491, 0.5282, 0.0483, -0.556, -0.5762, 0.9964, 0.0971, 1.5661, 0.3813, 0.2043, -0.783, -0.7708, 0.9965] state[eef_state]: left_x=0.3007 left_y=-0.1514 left_z=0.0341 left_yaw=0.0093 left_pitch=-0.1763 left_roll=0.0263 left_gripper=0.9964 right_x=0.2616 right_y=0.1543 right_z=0.0095 right_yaw=1.1328 right_pitch=-0.0712 right_roll=0.0397 right_gripper=0.9965 state[joint_eff]: [-0.4171, -5.1214, 4.3556, 0.8669, -0.3053, 0.0904, -0.0171, -0.4991, -2.7145, 2.5231, 0.4762, 0.2222, 0.2027, -0.0122] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"note": "The pen is right at the left jaw of the rotated right gripper, and the bear is slightly right of centre in the left gripper. Making small corrections on both arms so each object sits centred between the jaws.", "targets": {"right_x": 0.238, "right_y": 0.165, "left_y": -0.168}})
tool
executing move_to over 2 steps (0.2s)
step 299
assistant
agent noteThe small bear is centred between the left jaws, and the pen is near the left jaw of the right gripper. Closing both grippers.
move_to
left_gripper0.0000right_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]: [-0.7876, 1.5299, 0.5411, 0.0711, -0.5728, -0.5995, 0.9964, 0.1417, 1.5154, 0.3187, 0.2985, -0.7486, -0.7353, 0.9965] state[eef_state]: left_x=0.301 left_y=-0.1615 left_z=0.0307 left_yaw=0.0047 left_pitch=-0.1687 left_roll=0.0206 left_gripper=0.9964 right_x=0.2548 right_y=0.1614 right_z=0.0136 right_yaw=1.1331 right_pitch=-0.0513 right_roll=-0.0161 right_gripper=0.9965 state[joint_eff]: [-0.4718, -5.1897, 6.9949, 1.2332, -0.398, -0.0513, -0.0171, 0.1162, -3.5761, 4.5197, 1.1209, -0.3541, 0.2076, -0.0122] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"note": "The small bear is centred between the left jaws, and the pen is near the left jaw of the right gripper. Closing both grippers.", "targets": {"left_gripper": 0.0, "right_gripper": 0.0}})
tool
executing move_to over 10 steps (1.0s)
step 309
assistant
agent noteThe left gripper holds the small bear (reading 0.117). The right close came up empty; the pen lies a little behind the right gripper. Carrying the bear to the left basket while opening the right gripper and backing it up to look for the pen.
move_to
left_x0.4500left_y-0.1200left_z0.2500right_gripper1.0000right_x0.2000right_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8085, 1.5337, 0.5629, 0.0261, -0.5766, -0.625, 0.1173, 0.1425, 1.5085, 0.3115, 0.3233, -0.7422, -0.7467, 0.0098] state[eef_state]: left_x=0.2973 left_y=-0.1667 left_z=0.0308 left_yaw=0.0037 left_pitch=-0.1849 left_roll=0.0233 left_gripper=0.1173 right_x=0.2572 right_y=0.1611 right_z=0.0159 right_yaw=1.1347 right_pitch=-0.0424 right_roll=-0.0488 right_gripper=0.0098 state[joint_eff]: [-0.0342, -5.2581, 6.5026, 1.1941, -0.3834, -0.0122, 1.0183, -0.1709, -3.8359, 5.0256, 1.1209, -0.3541, 0.105, 0.7985] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"note": "The left gripper holds the small bear (reading 0.117). The right close came up empty; the pen lies a little behind the right gripper. Carrying the bear to the left basket while opening the right gripper and backing it up to look for the pen.", "targets": {"left_x": 0.45, "left_y": -0.12, "left_z": 0.25, "right_gripper": 1.0, "right_x": 0.2, "right_z": 0.08}})
tool
executing move_to over 15 steps (1.5s)
step 324
assistant
agent noteThe left wrist view shows the small bear right over the left basket, so I'm releasing it. The pen's blue end shows at the bottom-left of the right wrist view, so the right arm shifts back and left and descends to grasp it.
move_to
left_gripper1.0000right_x0.1750right_y0.1750right_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]: [-0.3859, 1.6623, 1.5497, -0.672, -0.3119, -0.3016, 0.1186, 0.1967, 0.902, 0.2859, -0.194, -0.6991, -0.7017, 0.9969] state[eef_state]: left_x=0.4507 left_y=-0.1207 left_z=0.2389 left_yaw=0.0302 left_pitch=-0.1752 left_roll=0.0045 left_gripper=0.1186 right_x=0.2051 right_y=0.1604 right_z=0.078 right_yaw=1.1337 right_pitch=-0.0309 right_roll=-0.0822 right_gripper=0.9969 state[joint_eff]: [0.1573, -8.2667, 8.5402, 1.1013, -0.0855, 0.2906, 0.9646, 0.5128, -1.0051, 7.7744, 1.2869, -0.3346, 0.0708, -0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"note": "The left wrist view shows the small bear right over the left basket, so I'm releasing it. The pen's blue end shows at the bottom-left of the right wrist view, so the right arm shifts back and left and descends to grasp it.", "targets": {"left_gripper": 1.0, "right_x": 0.175, "right_y": 0.175, "right_z": -0.005}})
tool
executing move_to over 9 steps (0.9s)
step 333
assistant
agent noteThe small bear is now in the left basket. The blue pen sits between the right jaws, left of centre, so I'm closing the right gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3828, 1.6684, 1.5536, -0.6884, -0.3099, -0.3111, 0.9951, 0.342, 1.2514, 0.0158, 0.4862, -0.6395, -0.5858, 0.9973] state[eef_state]: left_x=0.4496 left_y=-0.1191 left_z=0.2349 left_yaw=0.0382 left_pitch=-0.1927 left_roll=0.0039 left_gripper=0.9951 right_x=0.1797 right_y=0.1797 right_z=0.0069 right_yaw=1.1735 right_pitch=-0.0204 right_roll=-0.0589 right_gripper=0.9973 state[joint_eff]: [-0.335, -8.841, 6.4615, 1.6923, -0.2173, 0.0659, -0.0513, 0.4444, -1.7436, 3.2068, 0.6227, 0.4664, 0.0513, 0.0317] camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_to({"note": "The small bear is now in the left basket. The blue pen sits between the right jaws, left of centre, so I'm closing the right gripper.", "targets": {"right_gripper": 0.0}})
tool
executing move_to over 10 steps (1.0s)
step 343
assistant
agent noteThe blue pen is held (0.147). Carrying it over the right basket, the spot used for the earlier marker drops.
move_to
right_x0.4100right_y0.1800right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3828, 1.6684, 1.5536, -0.6918, -0.3099, -0.3138, 0.9962, 0.3431, 1.2545, 0.009, 0.5098, -0.6472, -0.5869, 0.1468] state[eef_state]: left_x=0.449 left_y=-0.1189 left_z=0.2344 left_yaw=0.0399 left_pitch=-0.1958 left_roll=0.0033 left_gripper=0.9962 right_x=0.1791 right_y=0.1809 right_z=0.0085 right_yaw=1.1807 right_pitch=-0.0074 right_roll=-0.0666 right_gripper=0.1468 state[joint_eff]: [-0.0752, -8.3624, 6.8991, 1.5067, -0.1832, -0.0073, 0.1001, -0.1846, -2.0718, 4.8752, 1.2381, -0.1978, -0.0366, 1.0134] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"note": "The blue pen is held (0.147). Carrying it over the right basket, the spot used for the earlier marker drops.", "targets": {"right_x": 0.41, "right_y": 0.18, "right_z": 0.22}})
tool
executing move_to over 18 steps (1.8s)
step 361
assistant
agent noteThe blue pen is hanging over the right basket, next to the marker already inside. 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]: [-0.3828, 1.6684, 1.5536, -0.6937, -0.3099, -0.3141, 0.9964, 0.1246, 1.6855, 1.3792, -0.5411, -0.7738, -0.8051, 0.1518] state[eef_state]: left_x=0.4487 left_y=-0.1187 left_z=0.2341 left_yaw=0.0403 left_pitch=-0.1976 left_roll=0.0039 left_gripper=0.9964 right_x=0.4129 right_y=0.1797 right_z=0.2105 right_yaw=1.1681 right_pitch=-0.0106 right_roll=-0.1072 right_gripper=0.1518 state[joint_eff]: [-0.0615, -8.3761, 7.0222, 1.4921, -0.1929, -0.0464, -0.0073, -0.8547, -8.7179, 8.1846, 0.8376, -0.6374, -0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"note": "The blue pen is hanging over the right basket, next to the marker already inside. Releasing it.", "targets": {"right_gripper": 1.0}})
tool
executing move_to over 9 steps (0.9s)
step 370
assistant
agent noteI sorted the objects into two groups, markers/pens for the right basket and stuffed bears for the left, but only got 2 of the 6 objects into the right baskets before running out of LLM calls. - **In the right place:** one black-and-white marker is in the right basket and the small brown bear is in the left basket. The last overhead image confirms both. - **Blue pen:** still on the table. I grasped it twice. The first carry did end over the right basket, but on the second try it fell onto the table near the right basket when I opened the gripper. - **Still on the table:** the yellow marker (near the centre, where the left arm left it for the right arm to pick up), the big tan bear (right front) and the grey bear (left front, by the fence). The pick-and-place method itself worked each time the grasp was lined up. Sorting everything would take about 4 more calls per object, or fewer by working both arms in parallel.
done
hindsight- **Where the baskets are:** each basket sits mostly on its own arm's side of the table. The right basket is at about right_x 0.41, right_y 0.18, and releasing from z ≈ 0.2 lands objects inside. The left basket is at about left_x 0.45, left_y -0.12. - **Neither arm reaches the other basket.** Each arm can only cross about 7 cm past the centre line (right_y max 0.40, left_y min -0.40). A large bear released from the right arm at right_y 0.40 missed the left basket and landed on the table. So pick the category-to-basket assignment so each arm mostly serves its own basket, and plan handoffs for anything in the middle. - **Top-camera colours mislead.** Several items looked different from above than up close (a "blue pen" turned out to be a blue-and-white pen; the bears overlap near the centre). Confirm what you are about to grasp in the wrist camera before closing: once I grabbed a bear when I meant to take the pen. - **Move both arms in one move_to call.** It halves the call count, and the 40-call budget is the real limit when there are 6 objects. - **A long object can slip out on release.** A pen hanging from the jaws can tip over the basket rim when released from z ≈ 0.2 near the edge. Lower to about z 0.12 and aim for the basket centre before opening. - **Sideways corrections when the wrist is yawed:** with base yaw ≈ 1.1 rad, image-right in the wrist camera points roughly along +0.9x −0.43y of the arm frame. Small x corrections near x ≈ 0.25 were partly ignored by the controller. - **Wrist-camera tip:** at table level, an object between the jaw tips (the dark wedges at the bottom corners) got grasped even when it was about 3 cm off centre, as long as it lay across the jaw line.
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]: [-0.3828, 1.6684, 1.5536, -0.6945, -0.3099, -0.3141, 0.9964, 0.1211, 1.6962, 1.3808, -0.5442, -0.7677, -0.812, 0.9954] state[eef_state]: left_x=0.4486 left_y=-0.1187 left_z=0.2339 left_yaw=0.0404 left_pitch=-0.1983 left_roll=0.0042 left_gripper=0.9964 right_x=0.4149 right_y=0.1777 right_z=0.2057 right_yaw=1.1644 right_pitch=-0.0211 right_roll=-0.1048 right_gripper=0.9954 state[joint_eff]: [-0.212, -8.1846, 6.8718, 1.4676, -0.1929, -0.0366, -0.022, -0.0889, -9.3197, 6.6256, 1.3504, -0.4518, 0.0122, -0.2125] camera 'top_cam' (step 370): [image omitted: streamed camera frame] camera 'left_cam' (step 370): [image omitted: streamed camera frame] camera 'right_cam' (step 370): [image omitted: streamed camera frame]
assistant
done({"summary": "I sorted the objects into two groups, markers/pens for the right basket and stuffed bears for the left, but only got 2 of the 6 objects into the right baskets before running out of LLM calls.\n\n- **In the right place:** one black-and-white marker is in the right basket and the small brown bear is in the left basket. The last overhead image confirms both.\n- **Blue pen:** still on the table. I grasped it twice. The first carry did end over the right basket, but on the second try it fell onto the table near the right basket when I opened the gripper.\n- **Still on the table:** the yellow marker (near the centre, where the left arm left it for the right arm to pick up), the big tan bear (right front) and the grey bear (left front, by the fence).\n\nThe pick-and-place method itself worked each time the grasp was lined up. Sorting everything would take about 4 more calls per object, or fewer by working both arms in parallel.", "hindsight": "- **Where the baskets are:** each basket sits mostly on its own arm's side of the table. The right basket is at about right_x 0.41, right_y 0.18, and releasing from z \u2248 0.2 lands objects inside. The left basket is at about left_x 0.45, left_y -0.12.\n- **Neither arm reaches the other basket.** Each arm can only cross about 7 cm past the centre line (right_y max 0.40, left_y min -0.40). A large bear released from the right arm at right_y 0.40 missed the left basket and landed on the table. So pick the category-to-basket assignment so each arm mostly serves its own basket, and plan handoffs for anything in the middle.\n- **Top-camera colours mislead.** Several items looked different from above than up close (a \"blue pen\" turned out to be a blue-and-white pen; the bears overlap near the centre). Confirm what you are about to grasp in the wrist camera before closing: once I grabbed a bear when I meant to take the pen.\n- **Move both arms in one move_to call.** It halves the call count, and the 40-call budget is the real limit when there are 6 objects.\n- **A long object can slip out on release.** A pen hanging from the jaws can tip over the basket rim when released from z \u2248 0.2 near the edge. Lower to about z 0.12 and aim for the basket centre before opening.\n- **Sideways corrections when the wrist is yawed:** with base yaw \u2248 1.1 rad, image-right in the wrist camera points roughly along +0.9x \u22120.43y of the arm frame. Small x corrections near x \u2248 0.25 were partly ignored by the controller.\n- **Wrist-camera tip:** at table level, an object between the jaw tips (the dark wedges at the bottom corners) got grasped even when it was about 3 cm off centre, as long as it lay across the jaw line."})
tool
done: I sorted the objects into two groups, markers/pens for the right basket and stuffed bears for the left, but only got 2 of the 6 objects into the right baskets before running out of LLM calls. - **In the right place:** one black-and-white marker is in the right basket and the small brown bear is in the left basket. The last overhead image confirms both. - **Blue pen:** still on the table. I grasped it twice. The first carry did end over the right basket, but on the second try it fell onto the table near the right basket when I opened the gripper. - **Still on the table:** the yellow marker (near the centre, where the left arm left it for the right arm to pick up), the big tan bear (right front) and the grey bear (left front, by the fence). The pick-and-place method itself worked each time the grasp was lined up. Sorting everything would take about 4 more calls per object, or fewer by working both arms in parallel.
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 · 25.25 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, 0.6174, -0.3786, -0.0223, -0.0261, 0.9991, -0.0154, 0.7986, 0.6109, -0.3714, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2971 right_y=0.0012 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -1.7162, 9.3607, 1.7753, -0.0513, 0.0757, -0.1148, -0.7179, -1.4154, 9.7846, 1.6777, -0.0855, -0.022, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f621834899ce611cc8e28cf4f44d5febfda42dd73d9be58767eb9fa5a384d742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c39d956bd540b5803633af6cb1f478f690f7711ec4a12760d6164850b47220b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75d674802b0ba66bb58b28bb06bba09e82b1b819b73d5f4bf5e8b9a56e0fb16a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.991 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, 0.6174, -0.3786, -0.0223, -0.0261, 0.9991, -0.0154, 0.7986, 0.6109, -0.3714, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2971 right_y=0.0012 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -1.7162, 9.3607, 1.7753, -0.0513, 0.0757, -0.1148, -0.7179, -1.4154, 9.7846, 1.6777, -0.0855, -0.022, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f621834899ce611cc8e28cf4f44d5febfda42dd73d9be58767eb9fa5a384d742",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c39d956bd540b5803633af6cb1f478f690f7711ec4a12760d6164850b47220b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75d674802b0ba66bb58b28bb06bba09e82b1b819b73d5f4bf5e8b9a56e0fb16a",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
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      "signature": 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EEPC5TZIzIEwQaewPvrbQHRkc6iiq3+UR/NXUGMoT9CauR97EpPc6vj9gSvSOvmanAyouQR8ECBXby5amTLUjNtU3DKFW/kSEZ9LcZo3YcjYADApX4p/nAvW9KeTKQkgHfG+ZgjYzwh2m73j0ygeE2UCQZeDpL4ho5JvcCZFqnMNUFhR9y+Vzpqs3GVtexsiC461/LW/nSiFx20xvx7gIDafPP1RRF0ymb+FiyLxM4GndcbI4JTzbciDBwZYaHPnW7NF+klKvSeIx+Nj67XMI2VnFRaH0+CwVlCzLv4K8urw/fKKlFRSguo4wMfuAw3pzWz9QQ7rW/rrEVGrbXsQ4PF3iqaw6ebhkew9Cbgv9uMb5xam+MgtwJmXFdLgILH7KKm9+/u5cn0uOs0T/h0sMO0dNnCYrdCYcA471UTNgiixaKmLUIwoqAZX4KTQLZrF9AG7ylqNZ9zcuOWW85/LpWtQxBUKogTP5WUF5+jfy66JotkXTzPStsYnAqemmHIB0q5iwELPdwAtp3xSJxHLUR7LK8HuvZXCPJjfo1Hv/m4nmnIgUQyyQxkO9EwGb9dkJBpQVkO4lM2zXnRAhaSl1xaE3L6oC0bELmlDY5eEM5BgXTdu8vYUyiVhzJb4nSdFiDEWrffwsUHMdy/cTkVg9+SNMFK41El/J+JqiiTXWcUEFUHrxVeoRLrYsAcNhhmbfkVvgJCkdzfLgLyZjPKXmj5+ewhrwTArSNcCX7ZNP0lw/8Rfg/RMzCf1S4Aee9vJzM9iytH9MY+CKQL5R8vhmR5B7NERg4yPTtYxbo8kwxXGuCgqZ9BHlRYxSEkZODKLspx5jT6bAjOpKutlN8O/w2kvYav5OvWDF/n3QXhQJhjSpvdW1HLGlCtdVe01DmEfesmfkfS3CkVUQUeBn9xHPnEYloCdVAtmLiNrScAhbqz7FBf9AXmBuMAXV5mEGkPMMAJ86d9QKrsOw3c3O0+Oi8aod0445j9PeJNn7rGitEO6552tpO9ToJcRpzm34wAu9fCXLExbf6DFlZhbl2/ZIl7nbbHa451TzsCs//CYBGDWwZPsPFcqpEQXKYpuKajCHuSWiABa3G2l4xm76ZskrCJao8JyqKWpsQxXGSiVHkYhJe9RTPewtyAxSAFrwcGvHfMXoxkawedkpkhddOyPom/FT3rFPYZgdl2vOCqLDLciyoPCYV1aleyiIV1LzjROOP3d7y5PFogiABVR865B5wm4YguAJd9as+WQQBrNcVBlvykr7ahgj4ia5KgsvjoPf+ojdkcfPVZvE02kEM+q1hvVtPzxLrlVRIVg1Gw6ZKpCCVkhKYYFYzNMnUkWCVbcWS9aWUTmHVkNMfzgQUP0lj28w6ifoW8Xsd+80yrcaRMx+xN4baMiIv9kqCM7tFDSFHTslRrqUgMzAicwNC9hRpIMsKdjAkqdj1GPECMaZCO26mkugvQZd6jfjmQymy4YW4HFFSyACwMApaHBE37pXEm1SruAtmy4ZRqXYwCem1WVvB9SuGfoajnvzcCaQchmUsOziroxRjy7ffqLQtAmd1soYDSfsYsBYOleQyUR6JiG4w9aP4K1opyZUxVGempfovQOn3IZvW359oZH2gqndACWeRTJHGsz/N+FX0DpwPAMSu7pePRtX1+N1qXsBiRTglFw3oD9WjEomEjiR11YUpABAzGpnBrqpAdeo1s2VLcQMi59veVvV57XLymB4wr6rUFqjwpsT0dHifUFzuPBWj2UmDnV5wScqjyWY7jLqTDS3+I4dYp/hBgd+cyrB8TO+DqFYghJuQhJhDegt+wZHR8MYq1wvhpm3ts0XRoveLqj8+MEtO1NZpAaJUaitZZXGsDEG34eRU1P8oXtaBuQryVnPCz+4vUFBmXG4e6UoIYgL+OIbmHM2irhjhkKQa2scJhC714XiaZXFbbqQJnWVQ/Hm9cdSli7Dyc7YUFm3ky8zRlL8hnGbY5A94pZ1CD/m93Nac1SFleyBy0Un6u9q9HvgGfgTYezmS6eIOubyL7wwpFCtG+UhWrotCbHkwrR0zEjzfHpd8shsZGDuvjQJhNq9ycSqpNuiFb/T8HESD49WNH+a+hO1CTG7J2xtFaoDjwFDShdMrLbO1oTPt9xDHSSwcBfNExqJHcfZd77JoUDWEfiS0VMlZRFHAx/ubLaosN82JgNn8ZNOTOeLqSZn8IKjqU9hVfB1KaQfQraZIg/rhl6H5kBoWwTPXSHa81kgY0Nvqx1Tw7doN5IYjdh7eStAN1QWLq32FMbTvbvPy3IXa+COpwy4QkknnH+6+0SKfbWGho4Eu4LITRaJjbTBWNamFv4pzfxic8rpVBVeIKbGTzIqOE/vrpoE8wyNjYBqkW7oyLzU7frDJY4Deff4erF2ZUwfdrQ6tZYq4iJS5YWOEa3vUiL0SciYZsxJVHypWMzKBChjatnA4ske45fQh+CHNtMMFyga/lDiQMBqShZ/q/UPTBq0FRT9QVR0mYlxuN7rx2UkmOPnufpg3/tSF1/MOvt2Gf+s9y9I3PVBOvxrGXCRvlRFf5zoO4TeftJ7T9TSQWBLE7WKEEE8G5awdF7+nkKDjeSaTgZ5juxo1u5bDDK++xFiZPZaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014BaMVK4NW1DXCuznXf8mzS",
      "input": {
        "note": "Scene: two teal baskets at the back; in front are 3 markers (yellow, blue/white, black) and 2 stuffed bears. Plan: markers go in the right basket, bears in the left. First, lower the right arm over the black marker, which shows at the bottom-left of the right wrist camera.",
        "targets": {
          "right_x": 0.26,
          "right_y": 0.02,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014BaMVK4NW1DXCuznXf8mzS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.617, -0.3801, -0.0219, -0.0269, 0.9991, 0.1448, 0.6064, 0.2352, -0.2337, 0.1055, 0.0528, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1829 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2549 right_y=0.022 right_z=0.0899 right_yaw=0.0236 right_pitch=-0.042 right_roll=-0.0093 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.0462, 7.0906, 1.7998, -0.0659, -0.0562, -0.0269, -0.0615, -0.4581, 7.4188, 1.9023, 0.2418, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9219f8db1af3289da4388b7e8fe9a5d910f57fbc48621a40a4a783302ccd8db3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01ddb1023686a3cb28da4f59fc427377966f60939e88fe0206d992233f87d8c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a569870925bc94cb2cfe706ddcb46917930770852093a28afa49ad31860f399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.317 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, 0.6174, -0.3786, -0.0223, -0.0261, 0.9991, -0.0154, 0.7986, 0.6109, -0.3714, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2971 right_y=0.0012 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -1.7162, 9.3607, 1.7753, -0.0513, 0.0757, -0.1148, -0.7179, -1.4154, 9.7846, 1.6777, -0.0855, -0.022, -0.0806]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.617, -0.3801, -0.0219, -0.0269, 0.9991, 0.1448, 0.6064, 0.2352, -0.2337, 0.1055, 0.0528, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1829 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2549 right_y=0.022 right_z=0.0899 right_yaw=0.0236 right_pitch=-0.042 right_roll=-0.0093 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.0462, 7.0906, 1.7998, -0.0659, -0.0562, -0.0269, -0.0615, -0.4581, 7.4188, 1.9023, 0.2418, 0.1685, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9219f8db1af3289da4388b7e8fe9a5d910f57fbc48621a40a4a783302ccd8db3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01ddb1023686a3cb28da4f59fc427377966f60939e88fe0206d992233f87d8c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a569870925bc94cb2cfe706ddcb46917930770852093a28afa49ad31860f399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2AgKEAgSGAI4AUIIdGhpbmtpbmcSDI1GTFKobqCvFOshKRoMJEdKD3RSFlPgi3QNIjCmDLwyg9kxaoAtiAEqSTTj7JC5pq35O5krBBW428hkCXw7B/RqvMfYB0OFI7ebft8q9QcwUqMkqmbd6Ri+o0/4dLpRDqHTi4BPIrbTuv1TN9l3tiXfjiUMKh1ytwA7zWhGrhLHLuQCcRu0ZNA1VcDnOPu4VDfrkpNhhe6TQhXDjIHqcJmQ8/DPBfZXzPlDSfDl026tX0EFkOKpMVM0/KIk/plDw8vkqubfS9J1LOPYfHZxEeoXAGKAZJ0gQw6zDJi93IRGssJxtFCOWlYN4UT2V0Zx7jNQ4sZh/wnSH2UVzmipg367+JSq1mjruAiQO9bgo7fbIxaOUad+DpSGIxHBfJqapHjo+aUXVTv2Jhp4fjRI58bRjXxlaruC34YaNIGaTxbNqjXZOUDMCFkSY/+FHjTEuyIXVTh21iBUwSNHcqQdccPBDB6jwPFGbHNNnJXnd291JfUqAtxt3l9TttO9LzBjp5+YlPLAblJeJX7o/uuU1ZZ90OrTOP0AsihpdKmGfhLxt13pdpI0TIjUUgarVjEI4gjTy4Bx2AKtSjnAJ0SPlEpfN2QC3S4jL0NNKrlaeB8Doey0wrIFIQmqsx6bq7lL23EE8X/yKTeg/fRiOOhVJbtrKK++tzOwOwZsDnH22PC+NM/tBNcyShJpeGqniZoFeQKyDESDjRw+E8roRb0CDu8votuOuRWNhspm+B07XtdcO1PY6fHMZwDnydQzNeoXsAhVNADqePEccWv5NM5VOQvCNZOEzcpOh4ALzcRmKHxFu7pfLbu/CoNlaF6FTEJtJ8NdmcXUAtrtNKXCF6DSwznxnsZk+hLZwTh5krlOEblV+YhGZOmjWeQ8aaK4QkKZfPiQMX+uhMZNhmDB60JUcO1Z3PevrOCJKDRMvr4KPRyNsh9ppSavh9jR7843frJLC9zJm6C+6pOyyA29LjYXrRahf7Mh0oDJi3M87edVGm0KrtpwCzXvmtROEdiNnWGcQCU2D4gancmcBYmM80PIveMzDWQoN3lsO87S4esiccnPzn1FlM8vY+Mb+uAqLVakekiaRLtqOIYQn9mEiwnWp2Re3reVE8qO6NOOOoGSvotEYx+R0tx4+WwyjzWXZ/JDZz2hLocRCLPl0Jx7vMPRdvc3xO90dAD7mt3NsZcJAJCrM1qr1XlFfcEVEPQuAnDN4swMRE4ZqQUfbmHXhdkY0MYhokZf8XEXDI71V1jzXZmPv8ufU2brBVaW8MqNyXi+cctu3PSfKWs1bLhdSQZEXNYHDHhC0FLctMeqYqC6Y9OKW9N/NFQGuoWVRtpIijfdYI8o3lewgakVbq9aARjz2wYn8Jb7va4bXHx3sJXNa4bF6AFk0uWYbdJ1oOM3yIafl0wfGFMfQMJBEftZ7f6CNzbJ6+tVBHFLIXGKecbgHK29tlpg3hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KVYmGr5sDNDAjVbQFgXusW",
      "input": {
        "note": "Black marker is just left of the jaw column and a bit forward in the right wrist view. Shifting slightly left/forward and descending to table level to grasp across it.",
        "targets": {
          "right_x": 0.275,
          "right_y": 0.03,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KVYmGr5sDNDAjVbQFgXusW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6159, -0.3801, -0.0219, -0.0269, 0.9991, 0.1776, 1.3502, 0.0292, 0.7403, 0.1143, 0.0864, 0.9993]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1806 left_yaw=0.0005 left_pitch=-0.0133 left_roll=-0.0006 left_gripper=0.9991 right_x=0.2848 right_y=0.0343 right_z=0.0125 right_yaw=0.0313 right_pitch=-0.0176 right_roll=0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4017, 7.2, 1.7998, -0.022, -0.0317, -0.0122, 0.2803, -1.7436, 2.441, 0.9109, 0.2271, -0.1343, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf5958a670c07a9704e7c03670d156f21d2be254045b5b6a396406db969c657c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09cfebff4127ccf77dfeaf2eca6b0affebb395441a8a6cdbff5799b743fdf57a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1478fb3b89cd6387cac67849c46e0877fd3e493517a768735932c454e8ddd43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.26 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, 0.6174, -0.3786, -0.0223, -0.0261, 0.9991, -0.0154, 0.7986, 0.6109, -0.3714, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1844 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2971 right_y=0.0012 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5402, -1.7162, 9.3607, 1.7753, -0.0513, 0.0757, -0.1148, -0.7179, -1.4154, 9.7846, 1.6777, -0.0855, -0.022, -0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.617, -0.3801, -0.0219, -0.0269, 0.9991, 0.1448, 0.6064, 0.2352, -0.2337, 0.1055, 0.0528, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1829 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2549 right_y=0.022 right_z=0.0899 right_yaw=0.0236 right_pitch=-0.042 right_roll=-0.0093 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.0462, 7.0906, 1.7998, -0.0659, -0.0562, -0.0269, -0.0615, -0.4581, 7.4188, 1.9023, 0.2418, 0.1685, -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]: [-0.0189, 0.8116, 0.6159, -0.3801, -0.0219, -0.0269, 0.9991, 0.1776, 1.3502, 0.0292, 0.7403, 0.1143, 0.0864, 0.9993]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1806 left_yaw=0.0005 left_pitch=-0.0133 left_roll=-0.0006 left_gripper=0.9991 right_x=0.2848 right_y=0.0343 right_z=0.0125 right_yaw=0.0313 right_pitch=-0.0176 right_roll=0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4017, 7.2, 1.7998, -0.022, -0.0317, -0.0122, 0.2803, -1.7436, 2.441, 0.9109, 0.2271, -0.1343, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf5958a670c07a9704e7c03670d156f21d2be254045b5b6a396406db969c657c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09cfebff4127ccf77dfeaf2eca6b0affebb395441a8a6cdbff5799b743fdf57a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1478fb3b89cd6387cac67849c46e0877fd3e493517a768735932c454e8ddd43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QYKEAgSGAI4AUIIdGhpbmtpbmcSDNhdDC8OPha5/Ww6cRoMDs0N/Ex27sCU8rubIjBTjzVN0eUMJBVcmLKfONVwurJuT/jDxibjf+u4VVHP5lssgr/MgZc16xCoGQi8CcIq8gW5j6mM9NwCS+IDcFcTaD14w0HBI08ERITKKnpmzieDegh+l+q7byya+/N0zkJsOex8wbKznfu6OCl8DfGGWpNIyhGmZSsokaLnTRAU7V/Lui+Aeg2hXkCtb+GxvTI7G/y15Mi8HtDNGjL07TffAMPuKOX8/0cN5Rgja7b1efpV8MRm/FSVaI0Fzkc94EN9OR/uNaBcM7o5nGm2/qqVSdnDQSs09ikBaJ3SyjDHIrccRn5JtlmCRXMuEhuFmAJDSl4P/MM2NBHbVEzqJz1V61IPQsCxtcs4xEwJzUn7P/QW8iAdCITH0QXK4l3UZsbar8Cy9nEI6CoXl1ETPGz3Ctqe91axjv/3yKFOaHfNbDbujZ8xFvtRKuMz8SH5t/33U+NrBbL1YJ0vQhypi4bdebY6DDTF0DI2WNxuIrw+8coC9Yp4s4Fdnrs5XAYnvta0rUb7IOMJiFQqZs7MxswykBQmWNw9kdsZa2PaShnuC+WwDC56zwbdCyTRxPWA4xEp295/FYUk0EA3HTuBv9xC8AJNRm3FWhq5VyD1rbEyWW5PQvPYftFSSCb4idwsMHdM8H87jYGjv72KjZR7JWWgjsJWysSWAXYFZtpVrz3v8H+JVheaU+yoArWMeE2Nz9F7kr992VSE18DKKxHdGgD/ACiu0/gT3NbMyAp1XiJ1OuGC2WuR3rHfnD6DLo0xWAccVX4SWYA3iz5mAaAbe9IdVhnZMPgyvnxvhWJVHd2T9W8EZBQ0xOHzQ4dcJYos7iDDTq3rp1OCjSLfiGVEngPnsE8rIrJxSPdNjM9HsCVeUJb9aebSkRKrW0e1RAuQuo48BcSbqMr9ai4vYlPH74t7Id83QIjolVxcwRe/uU+aKN4xUkiELkF450mqO2RQooSEnYC7U6PdEAc5kRy4ZRPAqKjGKUnmPFMp92QnIWHmskHfRgyRpLpKkI0RWm8U5XtLalf9mTvpTFgd7KD1YM4Y/mvr45NHore/c9nGqowrzsB4V+MFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JFjeJS9XjyNyKNQmZsdcER",
      "input": {
        "note": "The black marker sits between the jaws in the right wrist view and the gripper is at table level. Closing the gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JFjeJS9XjyNyKNQmZsdcER",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.0303, 0.9991, 0.1776, 1.3567, 0.0196, 0.7647, 0.1043, 0.0834, 0.1362]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0023 left_pitch=-0.0137 left_roll=-0.0035 left_gripper=0.9991 right_x=0.2839 right_y=0.0359 right_z=0.0126 right_yaw=0.0413 right_pitch=-0.01 right_roll=0.0209 right_gripper=0.1362\nstate[joint_eff]: [-0.0479, -1.2786, 7.159, 1.7021, -0.0757, -0.0269, -0.0122, -0.1846, -3.2342, 4.8479, 1.4872, 0.0855, -0.0024, 0.9841]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e64a71303c5c4ff71fba0ebde4def8cedab1259066db0783d402b873d0d7e5f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528f6d6bddbc52ad75eba3e99a6f455492523e71a859b9d46de316157d136253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:434cf4fbee56c5952cfc8d4a0f0f4618b85fb7160ec051933245db33184eb1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 5.26 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8051, 0.617, -0.3801, -0.0219, -0.0269, 0.9991, 0.1448, 0.6064, 0.2352, -0.2337, 0.1055, 0.0528, 0.9993]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1829 left_yaw=0.0005 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9991 right_x=0.2549 right_y=0.022 right_z=0.0899 right_yaw=0.0236 right_pitch=-0.042 right_roll=-0.0093 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.0462, 7.0906, 1.7998, -0.0659, -0.0562, -0.0269, -0.0615, -0.4581, 7.4188, 1.9023, 0.2418, 0.1685, -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]: [-0.0189, 0.8116, 0.6159, -0.3801, -0.0219, -0.0269, 0.9991, 0.1776, 1.3502, 0.0292, 0.7403, 0.1143, 0.0864, 0.9993]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1806 left_yaw=0.0005 left_pitch=-0.0133 left_roll=-0.0006 left_gripper=0.9991 right_x=0.2848 right_y=0.0343 right_z=0.0125 right_yaw=0.0313 right_pitch=-0.0176 right_roll=0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4017, 7.2, 1.7998, -0.022, -0.0317, -0.0122, 0.2803, -1.7436, 2.441, 0.9109, 0.2271, -0.1343, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.0303, 0.9991, 0.1776, 1.3567, 0.0196, 0.7647, 0.1043, 0.0834, 0.1362]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0023 left_pitch=-0.0137 left_roll=-0.0035 left_gripper=0.9991 right_x=0.2839 right_y=0.0359 right_z=0.0126 right_yaw=0.0413 right_pitch=-0.01 right_roll=0.0209 right_gripper=0.1362\nstate[joint_eff]: [-0.0479, -1.2786, 7.159, 1.7021, -0.0757, -0.0269, -0.0122, -0.1846, -3.2342, 4.8479, 1.4872, 0.0855, -0.0024, 0.9841]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e64a71303c5c4ff71fba0ebde4def8cedab1259066db0783d402b873d0d7e5f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528f6d6bddbc52ad75eba3e99a6f455492523e71a859b9d46de316157d136253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434cf4fbee56c5952cfc8d4a0f0f4618b85fb7160ec051933245db33184eb1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G4fjTd3vyRwJ65kFNEm5ap",
      "input": {
        "note": "Gripper settled at 0.136 (~1.3 cm), so the black marker is held. Lifting it high and carrying it toward the right basket.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.13,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01G4fjTd3vyRwJ65kFNEm5ap",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6125, -0.3801, -0.0223, -0.0315, 0.9991, 0.4328, 1.3857, 1.1637, -0.4091, 0.3058, 0.2108, 0.142]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1784 left_yaw=0.0032 left_pitch=-0.0187 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3987 right_y=0.1296 right_z=0.2355 right_yaw=0.0595 right_pitch=-0.0387 right_roll=0.0022 right_gripper=0.142\nstate[joint_eff]: [-0.3214, -1.1692, 7.2547, 1.7802, -0.0366, -0.0317, -0.0122, 0.1983, -6.5026, 9.6615, 1.6239, 0.1734, 0.1734, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55d897a2e2e2fc2f9b1a2633816cd0a884ac4459e4eee16c6636890cb0968cb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab095838c330925b5f1bd8f156eb8688105176391ad39ab57445e83ecbe9c8b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f5bdddc2ab47e6b547331099dcf8beaa35863ce390a7da996d00a45c8e3de7c",
        "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 · 4.481 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8116, 0.6159, -0.3801, -0.0219, -0.0269, 0.9991, 0.1776, 1.3502, 0.0292, 0.7403, 0.1143, 0.0864, 0.9993]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1806 left_yaw=0.0005 left_pitch=-0.0133 left_roll=-0.0006 left_gripper=0.9991 right_x=0.2848 right_y=0.0343 right_z=0.0125 right_yaw=0.0313 right_pitch=-0.0176 right_roll=0.0169 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -1.4017, 7.2, 1.7998, -0.022, -0.0317, -0.0122, 0.2803, -1.7436, 2.441, 0.9109, 0.2271, -0.1343, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.0303, 0.9991, 0.1776, 1.3567, 0.0196, 0.7647, 0.1043, 0.0834, 0.1362]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0023 left_pitch=-0.0137 left_roll=-0.0035 left_gripper=0.9991 right_x=0.2839 right_y=0.0359 right_z=0.0126 right_yaw=0.0413 right_pitch=-0.01 right_roll=0.0209 right_gripper=0.1362\nstate[joint_eff]: [-0.0479, -1.2786, 7.159, 1.7021, -0.0757, -0.0269, -0.0122, -0.1846, -3.2342, 4.8479, 1.4872, 0.0855, -0.0024, 0.9841]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6125, -0.3801, -0.0223, -0.0315, 0.9991, 0.4328, 1.3857, 1.1637, -0.4091, 0.3058, 0.2108, 0.142]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1784 left_yaw=0.0032 left_pitch=-0.0187 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3987 right_y=0.1296 right_z=0.2355 right_yaw=0.0595 right_pitch=-0.0387 right_roll=0.0022 right_gripper=0.142\nstate[joint_eff]: [-0.3214, -1.1692, 7.2547, 1.7802, -0.0366, -0.0317, -0.0122, 0.1983, -6.5026, 9.6615, 1.6239, 0.1734, 0.1734, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55d897a2e2e2fc2f9b1a2633816cd0a884ac4459e4eee16c6636890cb0968cb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab095838c330925b5f1bd8f156eb8688105176391ad39ab57445e83ecbe9c8b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f5bdddc2ab47e6b547331099dcf8beaa35863ce390a7da996d00a45c8e3de7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQgKEAgSGAI4AUIIdGhpbmtpbmcSDJVZuGOjff8oOMYF8xoMQ5bUBTo1buI0+zlQIjAi4xENjptHFFfWq3rTM8s1UYevjlKRIFQqNsGIguW9cqYeptGkhpSJGszCjc/6mewq4gehHxTGa/vW2n3tExq/eHhreYk0CqDpuX4FWhjgKwi4wiqpHtALMjlz3mu7NgKIzj/m//CdEG9PyQI+PoO7yhJFNueLnFMKCTvNS3Fps5qiKqwZM8YXM4E5HGF4wFV8wQjkLs4+ai5Sa6jMvv8REhYRZORg7mVfMm3l4G8BkvHfB+pbuHjaZE2YpcAUJhJBf3ntamI6ceo4IJnWn05gDpPGpFn5DNdHT3n77zlj1Kqp1sXbTpz4715KrWaFS4jjkSZU2w8Y1Bo3O34OL7sV3TMTPfo+bU/dpgq8Yc63Sd3q7yTFfd4xthqTbOBvJoyPSHU6a/a93B8+QtgMXdGZb+ets8OFATnR+peDldTM08tfKP/H49J0NQuKG46wa7IyT3q0Baww/cl8QDYADG+8BLQXHZU4uiUPMmXlJyF6I8HOzZCuffDsSPGZsYS+dHUSlRQukZoTnxUyU1BuZjulndW4oxhBmmorvJ5Q+Yo+cpeKYuTBMgoNBULKRg1AGO71zYKwCHG1LfYvL7Pj/JBvYjXZZZmoM9cPviuoMoIgnG4h8VTxF4KHmKdDgoKVhWNfz0PYE8vfC1V8WKPmiCMJn1YDptYMXV7a16Oa1MCL52zZb3uXBIvDj7g6lFVdU5wILdR08LXaa1XFJXJA0yH4oImXfPFW/eDqB6YZdoFuBwPZPm7ma9Ttw0Tu+tToGqui3N4+kdndx/X+RsV3mkmtMkp2Zot2MAAj/npY5Jz0uQ5XSwZlS0SGKcJtkAfGgnDhzuc6dS+54+hsN+jkrrGfe7zqHDSotCrgKXZIst+erIXcToFt8/H5G9L0NulsCaJ9lP+djoadc+4Wz02tf5BuImvCwQCu67pxtmXfIy6BPpiQiPxDDLPC/im7uyqA6IYmeJIItya/N+joDY73lX2oy+oipbVjBmR8RktPMFVd3jvhIUE4lcxuqa5S5BvCJKLxW8kFQqzEEE3qwW2+Krt9xigHPgeNjiF+EpGs/6O00ecqPcPo1/YSupH8nLWM7lIVAWc++zYuGlZZUEv7BcMHoStRqCSGPJ2ek8FKKa5fTk+EoIomdrzUv37UKMb9/hkGcFffe2bOU1nLZBZD7E/qp22l+bLqpYNTNc5UgifkQVHpazLkMzsMVBA9HM9SWB29Rms19P89s79of8UFWAIeO03JzyC0inx5kuH3x3t4x0q66ZqYAf0cChT5HKh9YKcY61AHCvCm+LIGHCRlRzWJldLne3b05SKOhhy5pbPGlZcNiEzrLJobbuUzVl+ZbZahCZK/F3XX00t98UFQNgwbMpa+2AvHx9h53azxWqLsx2k0Kb01GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DCHajcoPesfoPeUTrphA11",
      "input": {
        "note": "The right wrist view shows the basket below, with the gripper over its right edge. Shifting 5 cm left toward the basket centre and lowering a little before letting go.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.18,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DCHajcoPesfoPeUTrphA11",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6113, -0.3805, -0.0223, -0.0341, 0.9991, 0.5419, 1.5593, 1.1641, -0.3107, 0.3733, 0.263, 0.142]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1778 left_yaw=0.0047 left_pitch=-0.0202 left_roll=-0.0063 left_gripper=0.9991 right_x=0.4124 right_y=0.1773 right_z=0.185 right_yaw=0.0834 right_pitch=-0.0898 right_roll=-0.0239 right_gripper=0.142\nstate[joint_eff]: [-0.0615, -1.2786, 7.1453, 1.7265, -0.0708, -0.0269, -0.0122, 0.212, -7.4051, 8.8, 1.8632, 0.2857, 0.0855, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a54c8649b0934ee46071b69c44665581ef46f8bf1bbffbf11669a4aae61655a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e96d127164aefdbb1407d05716bac4961805de5cf7e2a76455f27c9afb4ab9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:822802d14103eeb6b9c074f83c0c02f66f6bd82183e4fea22a2bd1e5dff56027",
        "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 · 4.859 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8108, 0.6151, -0.3805, -0.0219, -0.0303, 0.9991, 0.1776, 1.3567, 0.0196, 0.7647, 0.1043, 0.0834, 0.1362]\nstate[eef_state]: left_x=0.2972 left_y=0.0019 left_z=0.1803 left_yaw=0.0023 left_pitch=-0.0137 left_roll=-0.0035 left_gripper=0.9991 right_x=0.2839 right_y=0.0359 right_z=0.0126 right_yaw=0.0413 right_pitch=-0.01 right_roll=0.0209 right_gripper=0.1362\nstate[joint_eff]: [-0.0479, -1.2786, 7.159, 1.7021, -0.0757, -0.0269, -0.0122, -0.1846, -3.2342, 4.8479, 1.4872, 0.0855, -0.0024, 0.9841]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6125, -0.3801, -0.0223, -0.0315, 0.9991, 0.4328, 1.3857, 1.1637, -0.4091, 0.3058, 0.2108, 0.142]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1784 left_yaw=0.0032 left_pitch=-0.0187 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3987 right_y=0.1296 right_z=0.2355 right_yaw=0.0595 right_pitch=-0.0387 right_roll=0.0022 right_gripper=0.142\nstate[joint_eff]: [-0.3214, -1.1692, 7.2547, 1.7802, -0.0366, -0.0317, -0.0122, 0.1983, -6.5026, 9.6615, 1.6239, 0.1734, 0.1734, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6113, -0.3805, -0.0223, -0.0341, 0.9991, 0.5419, 1.5593, 1.1641, -0.3107, 0.3733, 0.263, 0.142]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1778 left_yaw=0.0047 left_pitch=-0.0202 left_roll=-0.0063 left_gripper=0.9991 right_x=0.4124 right_y=0.1773 right_z=0.185 right_yaw=0.0834 right_pitch=-0.0898 right_roll=-0.0239 right_gripper=0.142\nstate[joint_eff]: [-0.0615, -1.2786, 7.1453, 1.7265, -0.0708, -0.0269, -0.0122, 0.212, -7.4051, 8.8, 1.8632, 0.2857, 0.0855, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a54c8649b0934ee46071b69c44665581ef46f8bf1bbffbf11669a4aae61655a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e96d127164aefdbb1407d05716bac4961805de5cf7e2a76455f27c9afb4ab9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:822802d14103eeb6b9c074f83c0c02f66f6bd82183e4fea22a2bd1e5dff56027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Marker is well inside the basket now. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HzmyxYE51EhvtoCQb3jxLu",
      "input": {
        "note": "The right wrist view shows the black marker hanging over the middle of the right basket. Opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HzmyxYE51EhvtoCQb3jxLu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6113, -0.3801, -0.0219, -0.0372, 0.9991, 0.5423, 1.5673, 1.1641, -0.3058, 0.366, 0.2546, 0.9948]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1779 left_yaw=0.006 left_pitch=-0.0198 left_roll=-0.0091 left_gripper=0.9991 right_x=0.4132 right_y=0.1793 right_z=0.1822 right_yaw=0.094 right_pitch=-0.0947 right_roll=-0.0276 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.3607, 7.0632, 1.6923, -0.0366, -0.0122, -0.0122, -0.0752, -8.1709, 6.9128, 1.4969, 0.1636, 0.0757, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5694ca5bd766113ff4868c13a4aa6ee4b9076b53b0db6d4abbbae0cfc2153251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8795971a9114371a0ee65cbf5cd41b95c17eee0c7202860df1e2fd4e3a017370",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb86c7e9d6aab1348e1ebcda5bf92e5594335ff292ce65e125d17fe970f05bac",
        "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 · 5.134 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6125, -0.3801, -0.0223, -0.0315, 0.9991, 0.4328, 1.3857, 1.1637, -0.4091, 0.3058, 0.2108, 0.142]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1784 left_yaw=0.0032 left_pitch=-0.0187 left_roll=-0.0041 left_gripper=0.9991 right_x=0.3987 right_y=0.1296 right_z=0.2355 right_yaw=0.0595 right_pitch=-0.0387 right_roll=0.0022 right_gripper=0.142\nstate[joint_eff]: [-0.3214, -1.1692, 7.2547, 1.7802, -0.0366, -0.0317, -0.0122, 0.1983, -6.5026, 9.6615, 1.6239, 0.1734, 0.1734, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6113, -0.3805, -0.0223, -0.0341, 0.9991, 0.5419, 1.5593, 1.1641, -0.3107, 0.3733, 0.263, 0.142]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1778 left_yaw=0.0047 left_pitch=-0.0202 left_roll=-0.0063 left_gripper=0.9991 right_x=0.4124 right_y=0.1773 right_z=0.185 right_yaw=0.0834 right_pitch=-0.0898 right_roll=-0.0239 right_gripper=0.142\nstate[joint_eff]: [-0.0615, -1.2786, 7.1453, 1.7265, -0.0708, -0.0269, -0.0122, 0.212, -7.4051, 8.8, 1.8632, 0.2857, 0.0855, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6113, -0.3801, -0.0219, -0.0372, 0.9991, 0.5423, 1.5673, 1.1641, -0.3058, 0.366, 0.2546, 0.9948]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1779 left_yaw=0.006 left_pitch=-0.0198 left_roll=-0.0091 left_gripper=0.9991 right_x=0.4132 right_y=0.1793 right_z=0.1822 right_yaw=0.094 right_pitch=-0.0947 right_roll=-0.0276 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.3607, 7.0632, 1.6923, -0.0366, -0.0122, -0.0122, -0.0752, -8.1709, 6.9128, 1.4969, 0.1636, 0.0757, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5694ca5bd766113ff4868c13a4aa6ee4b9076b53b0db6d4abbbae0cfc2153251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8795971a9114371a0ee65cbf5cd41b95c17eee0c7202860df1e2fd4e3a017370",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb86c7e9d6aab1348e1ebcda5bf92e5594335ff292ce65e125d17fe970f05bac",
        "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+ggKEAgSGAI4AUIIdGhpbmtpbmcSDMpzUFXUBw64xAux4RoMADTaCwW7lMWKL7BqIjDCTvLNgvczXgfJ5PFR1cB88VM5e2ke0P1B/smzXZgk5YcDZ8/KneVg2ugi/jxgHAQqlwi24BqcwCuKZSmKP2BjqctJav4XV5sK7+QT9Wu3OmWZw7Sj6/sdxtEGgnbfQzvH0BotuL3NXfFTbE+MIAXjkobwg9YYBouUkg6ijXXR98wuph4vFAHKXxpkIH+bTEapDjEpL5ic3GEm/R5HkTA9IlWfbAuZKY5ym4vSkpyrL9l8nlXcKAnsmw32gbTxuPsM2NVpu2cp/a2jFpRmy6PSGBfu6B2+3/bxAZtDsIpXF6uQXVPOOXEacUulsM51MmFsn9I1JrtzAmmmrlckIEWF1XdZS2Fg0o0pXbDEgx9jky9dhEkoKSEMFXkEFMOCqWiCf1+LXLTWYeBy5hDtKNUcjpsz3spiiAguEJAfImkTFIfvmP7tEyq2Ln84ilMt0F8ipmtlCYTl92Bn8AMt3n/AUhiW5XvRXAhSF/1yN1cNxbZbppxN7KJ5+c7kywxQxownaYjEXdWe5PKFULHIaM9wRRDCZ2+sRXRMSgFrsg1OEr+pfIbGRFzcmf/ruKdszy+OsLSIk3hkyFxHp3LNz3YBRBCyZTATELUQVjJrylNHQf9ba5F0eaq1wO2GutcGcLiA8oe7VTQL5mnjyQxoAAqdWSsPJGTZ/maqJnS+TjbWfuYM+pdSB5vRJMnW22pJs0/WxON1rMddZ6kZ9+U6cW70/4u3ZRKmVxTek3S0iG9L5uHYjJWK4v7ewSs5nIMJTwAi1GDBP3tXWCE8FRz1pPI4RAPanh5d6oxWnAccj4e+xDabHo2fJY2cNHdP8ZED1bw+aKnup9GJjLfbaJTxyjTvmApt6hfGJMvdDJXaV95XGRoSdAk9p2Lacvmr8r7T+Cg3HaXutFrtOpnc4L1JGljC12/LsfRazoAoxlCwfMkkd6/D7KJo7f5VKwi502zxFHgLWBEoQjEwRW7QSJZtn1x5fro1aedltbc7MF3zH1Jsef3Fc1QKYDluGbPVvgDMLrPc5rDQJBcRJWRMDM3GxHkJPehj7v/eTaeSlagtlnvwmVUVu1UNPGTYYgixxOk1vzND1U2xlsEeC/iKS05y4ZKwXYKBXo+Er6A1zAT+UMl3FxkmS1HI59YN8QTPHOyC9GbUvqfMY2S73SQ7Xdd8xSkKlPebMNfLwgAVhXyOZLuJ+yU/s8aub/xqNoZALjfC9owzq+bMoAp0/OHL9alYmfsA1PEpC4nIAsDUaTdJwc5DGtqxGHTlZhjQEqWUqsczzRnvOeORJrIeYrvSq3Rh1Id/tdTSkqWFg3UcXKf33PPqbDOKDarvCMOCIeUlWPFoJLh2vqBLqXr77WeOXEGmRTcDyo3/iltpI8A1ykEETiU5pv6ipxp+XkfDINPE0ATsuVSweOTXRv0/JPVSEv4QwVWe1IJPVlID9xhRoyWE0NgRwmwMiHbD2UOx86MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KgqxbSCMcWDYcWed4yye75",
      "input": {
        "note": "The black marker is in the right basket. Next, moving the right arm over the blue/white marker, which should be about 6–7 cm left of where the black one was.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.1,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01KgqxbSCMcWDYcWed4yye75",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6113, -0.3798, -0.0219, -0.0376, 0.9991, 0.5705, 0.9581, 0.424, -0.1825, 0.3744, 0.2676, 0.9959]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1769 left_yaw=0.0062 left_pitch=-0.0232 left_roll=-0.0093 left_gripper=0.9991 right_x=0.2741 right_y=0.1034 right_z=0.101 right_yaw=0.1082 right_pitch=-0.099 right_roll=-0.0256 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.2239, 7.0906, 1.7802, -0.0513, 0.0024, -0.0122, 0.6496, -1.7026, 7.2821, 1.7509, 0.2955, 0.1148, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cece7b9f767f292609ef8074d8a5cafa9548d3f6df6d2595d57d6494561d66a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc73b56bb8ef97fcfc2ef52f55b6534d30730e7ea6b4cc82cb73443216d71e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44f275ae2870a45e9f0255c64109e3d38bde89871587e71cc8daa314075d522b",
        "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 · 3.17 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6113, -0.3805, -0.0223, -0.0341, 0.9991, 0.5419, 1.5593, 1.1641, -0.3107, 0.3733, 0.263, 0.142]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1778 left_yaw=0.0047 left_pitch=-0.0202 left_roll=-0.0063 left_gripper=0.9991 right_x=0.4124 right_y=0.1773 right_z=0.185 right_yaw=0.0834 right_pitch=-0.0898 right_roll=-0.0239 right_gripper=0.142\nstate[joint_eff]: [-0.0615, -1.2786, 7.1453, 1.7265, -0.0708, -0.0269, -0.0122, 0.212, -7.4051, 8.8, 1.8632, 0.2857, 0.0855, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6113, -0.3801, -0.0219, -0.0372, 0.9991, 0.5423, 1.5673, 1.1641, -0.3058, 0.366, 0.2546, 0.9948]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1779 left_yaw=0.006 left_pitch=-0.0198 left_roll=-0.0091 left_gripper=0.9991 right_x=0.4132 right_y=0.1793 right_z=0.1822 right_yaw=0.094 right_pitch=-0.0947 right_roll=-0.0276 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.3607, 7.0632, 1.6923, -0.0366, -0.0122, -0.0122, -0.0752, -8.1709, 6.9128, 1.4969, 0.1636, 0.0757, 0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6113, -0.3798, -0.0219, -0.0376, 0.9991, 0.5705, 0.9581, 0.424, -0.1825, 0.3744, 0.2676, 0.9959]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1769 left_yaw=0.0062 left_pitch=-0.0232 left_roll=-0.0093 left_gripper=0.9991 right_x=0.2741 right_y=0.1034 right_z=0.101 right_yaw=0.1082 right_pitch=-0.099 right_roll=-0.0256 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.2239, 7.0906, 1.7802, -0.0513, 0.0024, -0.0122, 0.6496, -1.7026, 7.2821, 1.7509, 0.2955, 0.1148, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cece7b9f767f292609ef8074d8a5cafa9548d3f6df6d2595d57d6494561d66a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc73b56bb8ef97fcfc2ef52f55b6534d30730e7ea6b4cc82cb73443216d71e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44f275ae2870a45e9f0255c64109e3d38bde89871587e71cc8daa314075d522b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QgKEAgSGAI4AUIIdGhpbmtpbmcSDLOqDd4zrIXMzlR5whoMCeT9mdJM+hbtx7ZlIjCDYuhdnuHyIGfVyXqUWH3z/54SMTtz8NUVDkr9Fn1j1lYxzPp0UkViy7/eaELI7xoq7gf/z1hTCFNKnvGYhnjdQt82g4Og1qGpMdgoBHa569AWZFuMMMDrQt4fMsNM+D3doNkACxmCmkBQ7AmQrKeKFpb8pJ6YtVBVGmJex4WnpbdlZ3uFZYhdbmBPonDeCntoliRee/8xvjOCRuvg2UFL6LM/75LXb5bx0YnnzmgNAVHqB1OBUYRPgunCgiDM9vow+FaLAW17Siy1lZfxiwG1/4VCx1EUvKLZBkhS4itHNvDDMlyEwidbSe3Zo2dXBbD2baEzpbh1uuv2q0j/3aNsGPndjg9x8y2RtxMNbkuUF0xU6tHPasicSKYChqBZ6pR8Ta7aSvA9IyrAd6GHYHetGmlwlOSoSFyMTrzuEe0p5cWpVK1q/xxYkY9Rd1R/D4BuKjSECLF/weQa0ux6cIV3MzInq6KWBpwovUeX+ObecFie0Ic7jSGSDqkLnVtpgivYsnFpo3sixHzcJxH17+v137dt2ZkHNqQS49o+bvIDbXqJI5n1ghXZQwEo2cULdZ7nj5LFyDA6tVb3FxOveE5035Unys3rFYowguCj8ftOSzcyDR0j+ouhutPFHNIsidExVmix72cmGKc7LFdX2lRcDs8UaXA/gu59nUlOSrAI7sNHWbBZNxYXtfHSxQK4P5P8qciXp/z2liFXjpwmL1GgtSxDQhtRxta3VIbIN/UD72zKL6nYKnT18re0fL9OeI50g30VkX10L5aB2tep528elzau6YL6QzEt4OGOcJPrkZdm210xK28vxlnJBZGHv0GSmwMsRv916YPGPn5EE4v4J4hy+cOhfPBI+lv8NiL/6x6x5nq4SrW4TUzKvxpr4Kx4n6QkZJTUpJJ40qfXK+Swe9ilaHtSpHB9ltY+WepzR6hQ9Sew7TuEbz7IQVfLfXcEzzCZMcHytCi0JD4Vj8mdPslZanwJYn2X3KoQVS2M+1HEKTB9wRVfy5BHPr0qne9LpOdk49tpJjutxIl/ZsWaep0Uq8C9b8JozhyNLpe1kzJQvDInin/siyrNrXJW4QTOenlNFA3m7t9gAxEHlmvo5APHfHpgatxl3Mh7um98s4torrWjtsiEcLqy8vTM58rNxGlo6vm+q6Rb8dP8/F/x31+mdZ+gzeuTuPffnLbSo2oqmb12xX9+ktf0INBvZy56I/rGcGKyWBwEhExuSzOzSpBFpJAtJpnPKbsKzhgaRoaUt+ch6kCaYJPI8nTL3in8E7G+nJGm8ICndJJtxd0JgST11ansY0y4OgfRr7dm7HBkGGttSH7w9hIaldk0piyHx0dHLBkoGdXbSnFZYJJTIvOH8nKGIrXIJqtuG/7dwLuk/aSy/umktn0hQnAL6zA9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HP7v9vPgkgrNqzGoug8gfx",
      "input": {
        "note": "In the right wrist view the blue/white marker lies left of the jaw column, running toward the base. Shifting about 2 cm left and descending to table level to grasp it.",
        "targets": {
          "right_x": 0.285,
          "right_y": 0.122,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HP7v9vPgkgrNqzGoug8gfx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3801, -0.0219, -0.038, 0.9991, 0.6163, 1.4986, 0.2382, 0.5758, 0.4088, 0.3058, 0.996]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1751 left_yaw=0.0064 left_pitch=-0.0301 left_roll=-0.0094 left_gripper=0.9991 right_x=0.2939 right_y=0.1265 right_z=0.0137 right_yaw=0.107 right_pitch=-0.06 right_roll=0.0005 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.5932, 7.1863, 1.7705, -0.0415, -0.0659, -0.0073, 0.5265, -3.1385, 3.4256, 0.7155, 0.1685, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1652516d182d1ffeb0c64d5c5af5ae4e67068d71a7efdee46921d5626ade4c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:241a9a15c592b3b801df3457af0ec0becb2f9f23ff8e08f2c7bec20848981fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e91b0edee488ab0621e355d15081557099620be458fb9ef98238dbbe5203c906",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.366 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8135, 0.6113, -0.3801, -0.0219, -0.0372, 0.9991, 0.5423, 1.5673, 1.1641, -0.3058, 0.366, 0.2546, 0.9948]\nstate[eef_state]: left_x=0.297 left_y=0.0019 left_z=0.1779 left_yaw=0.006 left_pitch=-0.0198 left_roll=-0.0091 left_gripper=0.9991 right_x=0.4132 right_y=0.1793 right_z=0.1822 right_yaw=0.094 right_pitch=-0.0947 right_roll=-0.0276 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.3607, 7.0632, 1.6923, -0.0366, -0.0122, -0.0122, -0.0752, -8.1709, 6.9128, 1.4969, 0.1636, 0.0757, 0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6113, -0.3798, -0.0219, -0.0376, 0.9991, 0.5705, 0.9581, 0.424, -0.1825, 0.3744, 0.2676, 0.9959]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1769 left_yaw=0.0062 left_pitch=-0.0232 left_roll=-0.0093 left_gripper=0.9991 right_x=0.2741 right_y=0.1034 right_z=0.101 right_yaw=0.1082 right_pitch=-0.099 right_roll=-0.0256 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.2239, 7.0906, 1.7802, -0.0513, 0.0024, -0.0122, 0.6496, -1.7026, 7.2821, 1.7509, 0.2955, 0.1148, 0.0952]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3801, -0.0219, -0.038, 0.9991, 0.6163, 1.4986, 0.2382, 0.5758, 0.4088, 0.3058, 0.996]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1751 left_yaw=0.0064 left_pitch=-0.0301 left_roll=-0.0094 left_gripper=0.9991 right_x=0.2939 right_y=0.1265 right_z=0.0137 right_yaw=0.107 right_pitch=-0.06 right_roll=0.0005 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.5932, 7.1863, 1.7705, -0.0415, -0.0659, -0.0073, 0.5265, -3.1385, 3.4256, 0.7155, 0.1685, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1652516d182d1ffeb0c64d5c5af5ae4e67068d71a7efdee46921d5626ade4c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:241a9a15c592b3b801df3457af0ec0becb2f9f23ff8e08f2c7bec20848981fda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e91b0edee488ab0621e355d15081557099620be458fb9ef98238dbbe5203c906",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Marker centred between jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ku5GPK28x8Vy8JjMnSfEup",
      "input": {
        "note": "The blue/white marker is centred between the jaws at table level in the right wrist view. Closing the gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ku5GPK28x8Vy8JjMnSfEup",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3805, -0.0216, -0.038, 0.9991, 0.6151, 1.5074, 0.2317, 0.5922, 0.4076, 0.3031, 0.1412]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.175 left_yaw=0.0061 left_pitch=-0.0305 left_roll=-0.0097 left_gripper=0.9991 right_x=0.2933 right_y=0.1259 right_z=0.012 right_yaw=0.1082 right_pitch=-0.0594 right_roll=-0.0005 right_gripper=0.1412\nstate[joint_eff]: [-0.0752, -1.1829, 7.2274, 1.6874, -0.022, -0.0513, -0.0122, -0.2393, -5.0256, 4.8205, 1.4921, 0.0855, -0.0366, 1.1013]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1b85bc3a3e030709720892fb9a386d9a67a6734324e772403fcb2f1c37c2270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb3f6f16a966a238fa3c9e42c252d42a8dbfea1240c350850df0b0236e04fac5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5520c3d34d9f0398ebff9e23ea73afe0c12fe06adbd675e2d8446183a383c718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 2.983 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6113, -0.3798, -0.0219, -0.0376, 0.9991, 0.5705, 0.9581, 0.424, -0.1825, 0.3744, 0.2676, 0.9959]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1769 left_yaw=0.0062 left_pitch=-0.0232 left_roll=-0.0093 left_gripper=0.9991 right_x=0.2741 right_y=0.1034 right_z=0.101 right_yaw=0.1082 right_pitch=-0.099 right_roll=-0.0256 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -1.2239, 7.0906, 1.7802, -0.0513, 0.0024, -0.0122, 0.6496, -1.7026, 7.2821, 1.7509, 0.2955, 0.1148, 0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3801, -0.0219, -0.038, 0.9991, 0.6163, 1.4986, 0.2382, 0.5758, 0.4088, 0.3058, 0.996]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1751 left_yaw=0.0064 left_pitch=-0.0301 left_roll=-0.0094 left_gripper=0.9991 right_x=0.2939 right_y=0.1265 right_z=0.0137 right_yaw=0.107 right_pitch=-0.06 right_roll=0.0005 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.5932, 7.1863, 1.7705, -0.0415, -0.0659, -0.0073, 0.5265, -3.1385, 3.4256, 0.7155, 0.1685, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3805, -0.0216, -0.038, 0.9991, 0.6151, 1.5074, 0.2317, 0.5922, 0.4076, 0.3031, 0.1412]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.175 left_yaw=0.0061 left_pitch=-0.0305 left_roll=-0.0097 left_gripper=0.9991 right_x=0.2933 right_y=0.1259 right_z=0.012 right_yaw=0.1082 right_pitch=-0.0594 right_roll=-0.0005 right_gripper=0.1412\nstate[joint_eff]: [-0.0752, -1.1829, 7.2274, 1.6874, -0.022, -0.0513, -0.0122, -0.2393, -5.0256, 4.8205, 1.4921, 0.0855, -0.0366, 1.1013]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1b85bc3a3e030709720892fb9a386d9a67a6734324e772403fcb2f1c37c2270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb3f6f16a966a238fa3c9e42c252d42a8dbfea1240c350850df0b0236e04fac5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5520c3d34d9f0398ebff9e23ea73afe0c12fe06adbd675e2d8446183a383c718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Grasped (0.141). Carrying to the same drop point.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MbL4KKRCrKhK9AnjBQ2QtF",
      "input": {
        "note": "Gripper settled at 0.141, so the blue marker is held. Lifting and carrying it to the same spot above the right basket.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.17,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01MbL4KKRCrKhK9AnjBQ2QtF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6109, -0.3805, -0.0219, -0.038, 0.9991, 0.5213, 1.5017, 1.1858, -0.374, 0.3279, 0.2321, 0.144]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1745 left_yaw=0.0064 left_pitch=-0.032 left_roll=-0.0094 left_gripper=0.9991 right_x=0.405 right_y=0.1711 right_z=0.2054 right_yaw=0.117 right_pitch=-0.0878 right_roll=-0.0153 right_gripper=0.144\nstate[joint_eff]: [-0.1983, -1.5248, 7.0222, 1.746, -0.0366, -0.0562, -0.0122, -0.7726, -7.3094, 9.5658, 1.5311, 0.105, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d52ad97cdc39c9d0c22ade54e5819c4fb8c75af6930c71485e38ca98d89c853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5132b5d4a783756e3e158fd562678233dc96996665ccb297f3cbf755496c9a32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea1b25b491809bb1819834a5e796369920eb00734c564158a9539615520db76a",
        "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 · 12.64 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3801, -0.0219, -0.038, 0.9991, 0.6163, 1.4986, 0.2382, 0.5758, 0.4088, 0.3058, 0.996]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1751 left_yaw=0.0064 left_pitch=-0.0301 left_roll=-0.0094 left_gripper=0.9991 right_x=0.2939 right_y=0.1265 right_z=0.0137 right_yaw=0.107 right_pitch=-0.06 right_roll=0.0005 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -1.5932, 7.1863, 1.7705, -0.0415, -0.0659, -0.0073, 0.5265, -3.1385, 3.4256, 0.7155, 0.1685, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3805, -0.0216, -0.038, 0.9991, 0.6151, 1.5074, 0.2317, 0.5922, 0.4076, 0.3031, 0.1412]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.175 left_yaw=0.0061 left_pitch=-0.0305 left_roll=-0.0097 left_gripper=0.9991 right_x=0.2933 right_y=0.1259 right_z=0.012 right_yaw=0.1082 right_pitch=-0.0594 right_roll=-0.0005 right_gripper=0.1412\nstate[joint_eff]: [-0.0752, -1.1829, 7.2274, 1.6874, -0.022, -0.0513, -0.0122, -0.2393, -5.0256, 4.8205, 1.4921, 0.0855, -0.0366, 1.1013]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6109, -0.3805, -0.0219, -0.038, 0.9991, 0.5213, 1.5017, 1.1858, -0.374, 0.3279, 0.2321, 0.144]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1745 left_yaw=0.0064 left_pitch=-0.032 left_roll=-0.0094 left_gripper=0.9991 right_x=0.405 right_y=0.1711 right_z=0.2054 right_yaw=0.117 right_pitch=-0.0878 right_roll=-0.0153 right_gripper=0.144\nstate[joint_eff]: [-0.1983, -1.5248, 7.0222, 1.746, -0.0366, -0.0562, -0.0122, -0.7726, -7.3094, 9.5658, 1.5311, 0.105, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d52ad97cdc39c9d0c22ade54e5819c4fb8c75af6930c71485e38ca98d89c853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5132b5d4a783756e3e158fd562678233dc96996665ccb297f3cbf755496c9a32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea1b25b491809bb1819834a5e796369920eb00734c564158a9539615520db76a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016oUBMVdDRHm8mq52XLdXTK",
      "input": {
        "note": "The blue marker is hanging over the right basket, next to the black marker already inside. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016oUBMVdDRHm8mq52XLdXTK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6109, -0.3805, -0.0223, -0.038, 0.9991, 0.522, 1.5017, 1.1854, -0.3775, 0.3283, 0.2245, 0.9954]\nstate[eef_state]: left_x=0.2976 left_y=0.0019 left_z=0.1745 left_yaw=0.0067 left_pitch=-0.032 left_roll=-0.0092 left_gripper=0.9991 right_x=0.4044 right_y=0.1711 right_z=0.2046 right_yaw=0.1213 right_pitch=-0.0913 right_roll=-0.0231 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4154, 7.0222, 1.6972, -0.0415, -0.0464, -0.0122, -0.2393, -6.9265, 7.2137, 1.6337, 0.0708, 0.022, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158352f868d3e167b69f33d6150b7fe6a91c637b9b17435053bfd1eddec04a57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da22aa5b7f3e7604b35a8667eeeaf6e5cb012fca232fdc5689e2921676146afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6e7f861ece912c39346ab33ee6db8dc220dd34149bab1fdf0e6e1d7f1c94be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.791 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8238, 0.6113, -0.3805, -0.0216, -0.038, 0.9991, 0.6151, 1.5074, 0.2317, 0.5922, 0.4076, 0.3031, 0.1412]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.175 left_yaw=0.0061 left_pitch=-0.0305 left_roll=-0.0097 left_gripper=0.9991 right_x=0.2933 right_y=0.1259 right_z=0.012 right_yaw=0.1082 right_pitch=-0.0594 right_roll=-0.0005 right_gripper=0.1412\nstate[joint_eff]: [-0.0752, -1.1829, 7.2274, 1.6874, -0.022, -0.0513, -0.0122, -0.2393, -5.0256, 4.8205, 1.4921, 0.0855, -0.0366, 1.1013]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6109, -0.3805, -0.0219, -0.038, 0.9991, 0.5213, 1.5017, 1.1858, -0.374, 0.3279, 0.2321, 0.144]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1745 left_yaw=0.0064 left_pitch=-0.032 left_roll=-0.0094 left_gripper=0.9991 right_x=0.405 right_y=0.1711 right_z=0.2054 right_yaw=0.117 right_pitch=-0.0878 right_roll=-0.0153 right_gripper=0.144\nstate[joint_eff]: [-0.1983, -1.5248, 7.0222, 1.746, -0.0366, -0.0562, -0.0122, -0.7726, -7.3094, 9.5658, 1.5311, 0.105, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6109, -0.3805, -0.0223, -0.038, 0.9991, 0.522, 1.5017, 1.1854, -0.3775, 0.3283, 0.2245, 0.9954]\nstate[eef_state]: left_x=0.2976 left_y=0.0019 left_z=0.1745 left_yaw=0.0067 left_pitch=-0.032 left_roll=-0.0092 left_gripper=0.9991 right_x=0.4044 right_y=0.1711 right_z=0.2046 right_yaw=0.1213 right_pitch=-0.0913 right_roll=-0.0231 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4154, 7.0222, 1.6972, -0.0415, -0.0464, -0.0122, -0.2393, -6.9265, 7.2137, 1.6337, 0.0708, 0.022, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158352f868d3e167b69f33d6150b7fe6a91c637b9b17435053bfd1eddec04a57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da22aa5b7f3e7604b35a8667eeeaf6e5cb012fca232fdc5689e2921676146afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6e7f861ece912c39346ab33ee6db8dc220dd34149bab1fdf0e6e1d7f1c94be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7hcKEAgSGAI4AUIIdGhpbmtpbmcSDE0l/iT2foTCt+lvLhoMMN+xY+95QWb7E7kAIjDrqG0FClCN+FAHCMLe2XFqECGQKhkS9JkUGHPiaZZTWIxpIDdzqC6Z1hWcWh7qGdsqixfS5zFf/MHtEc/5+IcrcCom414t2rOZ8yl5HzDGMGYao5B/7ZAnRvxOLtoQ9JMTIXJGPlZ6QrExhmxOHCjcnlxXDx0vEOalDk6W/jgh8oG49KDJ8zd0TlNqKmM44I85X6EuBYY2XasgtxoN3dvFoZwXdPM2m7XXMu1Af5BycDI0qv2BT2dtfiEpJxrje7Rbz281QrRWN3q0yiqEyx40OfH6vJOgj+EIQ74VSW0D+2ksf5U5PLm0Nj7T8lic8LQkt/Zv2pzzq67ka2j7L/6VWtRKoFudbiB18cA7VkwHlkbsn5MtKjEIhx/ns7QbU/TDmgzG6CINet+MbybgZGedNZsfBWt4nLkSzngBRA6okMnfqkjxgV1v1PkD9NtZtwd1nK6yXGYUHVovNsn5cEib/pIiMxIBJGtnbcFoalymB27I4zvJWmnVAxK2YNe4OpoY2HPHzCKoPm08eWSALZNst7Pww5Xdr5FBzImvJZp5hQamGmXLcCPxjpTHzdgoAaLyJkYK2r5cLqCkt+qycwVuk8C2CGhnLhHXTzX29dkM7SM0J/WBumX0oclZXjW3SU1Dw2gG1ynzN/p4WQziXhfEUWkGWwntaSk2btJJL8AWwevGSNstL1nEqdq7PleXL4qBBEPMVADJLEkeYMOvIkt2fu1KyywCDA4EjZOqkRwZJpC7w1DNXDNkngdt1LT6VhLHj4LPABRAwHVS7RSyxgPJ/cN7RnG5aVD/nusaNQ0uwhePLxHP+CnNZMffawI5y9Ep0Cc9XFuLlxkPrBPq+iF0pVtPsv5YxBj6HP1FxRUIXjfDWktlfpD/KI2QI7ve4QrlgibVV7GVf17TC7TDuK3G3Ji5rszf7+btU0yb7Zijeb7NJMx9OOECR3td41TTxiM4zR5VDlHlipfCETBjrsnb60Pk3IJFht4o8J82licNz3sCjwQnvJAiyXo4zSXWHdZidOKZtv8yFOZwnHcJXQTrteRzTCuLapFfx07K1QOmNuMvJ0g9RN1QGeSN38H/tiV9F6eblZnIHnKmwWAARAblL0lqpKHTU3JGTuazSTNndM/VixV4p5oGi4HBqm8ul7BRNFw+vYM2/CemqGRtIHAZeLfXh3fCKPNUUsk1wKB324urewYIoBst4cMWt/whsFJN5vAlL73AxMS15jzChd+ZRD6XSN8D4wQ/oCZS4RcM6VP/RfrHYCzc26eXB1uL79u+89vGR1l4+dnBjcYsZHeHXpSE0HGsuNEUDIi+3RNt7vbsXa8X8+lVfZMUg09R6Gh7eSyZZCSZw0Zlr+icuIZSRrKlH/+f7fbQZwUnmjqn4CO+/dJdhuvE1z744g1hW/h2ZBEbFFwWwU1GURz3FNiie4h7svr4608P1wd48OkvJcBbX8KFnaj+HMK3byyxFrK799r80WUQwDCs+vNoy3wMN1FLH4+yQOtlfc5CsGccLPS+zcXCdLzFEt9pe+gjNR+mZCFJeUoyTKRmPpS+pTQU4zwOnf+nJYumxk3bBsShzorA9rOwr8PRw6EplL65mchxGmWZlYGDX5tJgeRCJ0l3ImLrjjXw7Q827DtIHGXCWW3Yh/Jm5pMeE3KqA2USGLSKsOA9lVFc6rFW6E/XaUQYZ0FpD5BF08IGQcU3VbNj+e7DY2DN18dSnahaE2fXfuwn9rnFxTsFRhYyegxJgqSKBdNmqQpWu8ybEetXOKPTv32b9LDcTGlI06wyD01AGFTcnfzhmlY3CK8SFlh1ILSgHiKlFXb73xRTdtGrKq/Z0fpFPeTUs898wdOBt11xqAUVuQMa83evDlWX4ePkGBKFQ8ddT26kqz4kVGVnRVslXVZqjW4KqvsQlS3AtYRTY/VF3VKv6JwWvaXkqJt1EYZFB5J0f6HkwNlumLMBoeVY8DCYIQ10oRhRmIwIegZ3rd98Rwti9nQztsx4KZkP9l12NsQCDf2QxYqguX6/CXq1wC99jh+jMIxm8XIArPOX0BCnHdAO3mWGwTdYpiMKoDRQ+smBGi7v2xAGJKVWc1T6tvoeuD3tyj2ktZ7ZcjarKmlOWz+fKU9Q3d3ZWemHki/2MNfUFWaObA42nnbaUqdswPEosz/AJUWB7VzFbUr2p4qdaXuormEn+aGHhIBnv9llPEqtiMc21+DV5Z0RUDFhtyK+Li/0e2AzX8klKbFIvQLqR+kO0j73MjTSZs0axwBMXXGrWJW8Z35TEveyzj3OruAxeDDSGwQPzpG3dd+2832KVgCF1fcRF48sSGUqik4fNb3mgDUthbpZMf/oc9WxDGDaoIHnXzBL4DrCdj5doHcuQtsMsAp3ksPrLhuTbwO4Im1FhXOZZ6H9ZlY0rh4LOLnIi5+DgbT4GyCOx+GVl5QKdvWROMmymTlKcGh2Q8Sy+cssX7FNniGzGBex1RU/FnZnanAdUp2I8mAOlTiIwofoMR28SD1y5CYPE10Zx36VoIzA1pRCohY4YweyF9IHCIRbDq/ZtPwPDZgdjtxwqvPAN8/u7qHRL2mBfuYICpmXB0mOWq8ic6OegP/TEzXMraMnqXsPsu9H+F3wJtvLkf5DvPRMdi/lfQUDx7wAvbPMZqRe3YU5IvJaDI94T1PIcJ62uOMo5WdHbTif0C6VekEbIoWu85mEBJegLok/6IFcp7VigPCgekUxuqmdaTS6XtkWgmOcodQiqgfyKyb0TFOEzEW3n3JFA5YpMkWTx0PKIL5Uc3VMZ0G8RtPnQLAV+uVmhekMGXCUoG6EnuTTmgkzZR172jjS8zL8nPjky4H9/kW4+PQLzdYG+C5Tr/WjvF+oskhUAHMB64sPi9dtvz9n6isp/j7CZG0LcBcZNxSo2JnHljTfOLwXaoEB45f07crcEJeZo2Ksqn7T3xPLMFgpIooAq7nqwy/3MfQ2Wtll5rEmtmOTSpVA72c6THVDXd7vLyjRdSFwD6ZWwTllI/ISd4S8948RnMAK8LPxxVu6RtHjkGV/O4WsncrWVOR7vv80En2sSQ7ovGA9KSrKv3e5w4ihvRj1vDTtbW1o8L90PbtoK3IQAtboULgemceMkzggXuoF7R0RP3iEbPE147vAEKdw8wGFrvzT/nn7SW2T4yocClyT95ZDeEDlPtrIhqBWJG53XjTDfyISsNmaacseRylD1xdzYDmuwILbsJcWqCkYt+th19QRQaxQkmtbJ0HV/zDdq0KzsQNywI+zaE3L/A3USqKQojechdruwAP5SrABDdPxlUIRCfhhakOOVxe77GIeCFrX1Lzg3Kfd96NeegB6KuzZQpGvaSjakOQE/I6anoN1QoqMuNZW/huCcbf5Qud33daTWFlh4vY9g5h9NqlU8bR3/im2Eic06Ae296PLSjKdG1/0mSWUCb5eVvyeTjLIN8i1tcWFOtIwfWhPvwBFMPFfGMcs1DsmXHau+82b2l9wlcGYMD6mn0blz8uFtvPF9fIKZ4gni/ZsTc4qb9bB6q2Rxi0ru2FMFeB6f6nxrTj8uj//vv883HH95GVF4ETi8658dLfaXfJ5zfPlGt5AookSEm15Ic16HNyDZmEmPKavEXNeogB3WGBKy2Bkt7URsWNy++ldLetS0Fqjmv4jZQS16EC7veppTVA7+Fu7Hx8gq9svlozbIh7EcvkdLuLyEcjiJPihJ5HF0l/1rowFWQn/yRNcDwLiAAWFyibXd2vAXV7JxbPMO46nnLg9ZaIonWjj+LgBhHcYLffU08gy0Ewp2Vg60VJTGw+R/+bmAG5HAVn2LhB7Jf9XtbJUta2269ihAGmd1RwoZvf3WSWnLZAuHSkun2zJ6A1+IU5hqHAOXLDKutQihG3Sqp2xWxlQ5oWcu2NNCBIr/0QO2goUaMoY0p10w6Sf6ZCdmQDcpyeCBU6UxS1ciue988hAyoENQ5/q4JBbtLwGbRPcj+9nq489ytWI5lbvPzpJl7Y7wQvatDJe7muHCG8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D121pL5xqbCfanSCCqUhsP",
      "input": {
        "note": "Both markers from the right side are in the right basket. The yellow marker sits near the left arm, just right of its jaws in the left wrist view, so I'm moving the left arm about 6 cm right to line up over it.",
        "targets": {
          "left_x": 0.29,
          "left_y": -0.06,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01D121pL5xqbCfanSCCqUhsP",
      "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]: [-0.4271, 0.9333, 0.3569, -0.0971, -0.3386, -0.2699, 0.9991, 0.5224, 1.5021, 1.1854, -0.3779, 0.3271, 0.2211, 0.9964]\nstate[eef_state]: left_x=0.2862 left_y=-0.0618 left_z=0.0934 left_yaw=-0.0116 left_pitch=-0.0667 left_roll=0.0005 left_gripper=0.9991 right_x=0.4043 right_y=0.1714 right_z=0.2044 right_yaw=0.1245 right_pitch=-0.0923 right_roll=-0.0255 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -2.441, 6.5436, 1.8291, -0.2173, -0.0171, -0.0171, 0.1436, -7.0359, 6.9265, 1.5751, 0.0659, -0.0024, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc47bdfa919fbb61fa11ba7a21ac474acb1b3d10f63d6c8dc1a9bfa50e78aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a18f40d51cec7b7de1edd83a8caba9f81124019c52ec6e0992dd28528455be9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7407db7cffbacd6690230203151fad7d0fdef675abcaa7ddb5352ee561438ce8",
        "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 · 4.353 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6109, -0.3805, -0.0219, -0.038, 0.9991, 0.5213, 1.5017, 1.1858, -0.374, 0.3279, 0.2321, 0.144]\nstate[eef_state]: left_x=0.2976 left_y=0.0018 left_z=0.1745 left_yaw=0.0064 left_pitch=-0.032 left_roll=-0.0094 left_gripper=0.9991 right_x=0.405 right_y=0.1711 right_z=0.2054 right_yaw=0.117 right_pitch=-0.0878 right_roll=-0.0153 right_gripper=0.144\nstate[joint_eff]: [-0.1983, -1.5248, 7.0222, 1.746, -0.0366, -0.0562, -0.0122, -0.7726, -7.3094, 9.5658, 1.5311, 0.105, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6109, -0.3805, -0.0223, -0.038, 0.9991, 0.522, 1.5017, 1.1854, -0.3775, 0.3283, 0.2245, 0.9954]\nstate[eef_state]: left_x=0.2976 left_y=0.0019 left_z=0.1745 left_yaw=0.0067 left_pitch=-0.032 left_roll=-0.0092 left_gripper=0.9991 right_x=0.4044 right_y=0.1711 right_z=0.2046 right_yaw=0.1213 right_pitch=-0.0913 right_roll=-0.0231 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4154, 7.0222, 1.6972, -0.0415, -0.0464, -0.0122, -0.2393, -6.9265, 7.2137, 1.6337, 0.0708, 0.022, -0.1783]",
      "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]: [-0.4271, 0.9333, 0.3569, -0.0971, -0.3386, -0.2699, 0.9991, 0.5224, 1.5021, 1.1854, -0.3779, 0.3271, 0.2211, 0.9964]\nstate[eef_state]: left_x=0.2862 left_y=-0.0618 left_z=0.0934 left_yaw=-0.0116 left_pitch=-0.0667 left_roll=0.0005 left_gripper=0.9991 right_x=0.4043 right_y=0.1714 right_z=0.2044 right_yaw=0.1245 right_pitch=-0.0923 right_roll=-0.0255 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -2.441, 6.5436, 1.8291, -0.2173, -0.0171, -0.0171, 0.1436, -7.0359, 6.9265, 1.5751, 0.0659, -0.0024, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bc47bdfa919fbb61fa11ba7a21ac474acb1b3d10f63d6c8dc1a9bfa50e78aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a18f40d51cec7b7de1edd83a8caba9f81124019c52ec6e0992dd28528455be9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7407db7cffbacd6690230203151fad7d0fdef675abcaa7ddb5352ee561438ce8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugkKEAgSGAI4AUIIdGhpbmtpbmcSDIDN8kT7LQfPNY6iWhoMSoJi3wHhKz2JS1wNIjDLyc8Sd0BMcv+65nVKouivhKOHZnuwNSe5caGaTXFe1JZifqV0QKfPiY/Wh71aI9oq1wiLs4fOaVdy2zkaUpZF9apIY4ETR2KlutV2xyRNjgxzxhtkWhrwuGkspYs9VPjz2gLGfUnX+CizDB0lTu9JzzlFREUwE5YLyC2N/VTkO5Saei4bk8xA8UmMEpNAy2rOvou4ajV22ZOu79G3e/7NiNXk/ujS71qqXJvdhr+vl0y3xpEA4IHOfH98v18v/4tbH02WUeEaQVDgNB/JuxJY1IO3j0qTiRNWuIEFovbIm6fIrYf3f/cZ0+G3koTFkv0GcFUgt465kcq4vE6d3U5AZ5V+TMJ+/EkBz++/RDj2Sb2qsD+MuzRPKaJeGF9f0xLFJM+bo9e0VzH5WYXuY6uy8mR7rgRR+WACvwqmQFq8dH1ciGKzR1yfiRyq4vj3C3xL5EOKSlrl/eegSb0bPD6SnT5we+t/++PGS2ExLBytdSEyV6b2VFWmX8FKhqMS2A0Yujw029l86o/JSDXAMQFjcSpgalKPH18ceY76Uy7rW1wTdfWSDW/bUQNN9qWAGsuN6ls0bTQ7YJgY3r/LAG/lAbMi6hRv0mzqVTRfDPuemBgp4nh+Be22kNqHcJh+GDm+zjR1k57N18t04xLJdoWI5PprQ+BDzB5rKE6ZsMr8jeNtRd43POOIOZgLts7OHl8zeM9slNV7hJ76SuWImrpodTPOFHElBb2ugjhK9a0CoTV2D6B8g8Di5WMpU57sYPPv6PQF7K+49vfLZ0FO6EKVXILR/C/gU1dJ8GqvMqs65eSE+qhHO/4OgvqDh0CrSc7IcrIsPt3KjaLKlB3MYKnTCDcxTqunnJZ9cYWeXqOGAXJllIg4I5wa1l1KWmNzLbwVn+4NJKM2rOK1Vj1w8IJelUEhqn2wistZcKsxcgKs5b8BNAoICmq3C9vKHPtJR3WQ3XlOfSY62VnQibTp0SWzz70MqXfVPoFTXDUKIc0NkTRdYyhg/vw5ZG9isPPwQ0VmRdRBqyrohezwLe84wfv1COegyNB/3YgARI+VCp25tkRkV5auAdoHKzvML6uGFH9p3W3HXP6oVWq/pClbGXP3aEHgmJH6qQQr7dCS6h2VvD7Qm+A4zk2XAVuwlqejyp6n0vKT1txSVY+EaTj6xtBYZ1TgugtUkB7KFVp4n2a7Q3VJj1NFW9hJwnch6Uhjv6P+NddVpA75MVG63/iFiv+v2kqTMxMkp1FFKg8rfE9scSliv06WhFpyDd7V0Tuga01eVRrm5ij5t29huJIFT1wfxmuPZEAE3E9201imCc9UzfsSalxJVYBFx70MFz3sysyacquurrC0S+2IOupcviw+FkRGokdGlhMbQuBVzQtoybY1pv0rqCcdipGQPH54DcwElU5DJYLQcY7nbuoo9SiQBvt8giKzyr0CZB9LeWWWRRJ41C5FVzIaoK8W09xBjha7OWdc9badEdsk+tAulTliPXxFQXgWSsjYwPTRg+oMGR9AuCDo4GcH0Zc117eDVcFVo2kKJmvGbkimGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RhkG3eZdjEymMp3RHCzwUq",
      "input": {
        "note": "The yellow marker is just right of the jaw column in the left wrist view and runs forward. Shifting about 1.5 cm right and descending to table level to grasp it.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.076,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RhkG3eZdjEymMp3RHCzwUq",
      "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]: [-0.4656, 1.5299, 0.1802, 0.6552, -0.3714, -0.2924, 0.999, 0.522, 1.5036, 1.1847, -0.3828, 0.3279, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.3002 left_y=-0.0751 left_z=-0.0001 left_yaw=-0.0107 left_pitch=-0.0767 left_roll=0.0101 left_gripper=0.999 right_x=0.4037 right_y=0.1708 right_z=0.2025 right_yaw=0.1234 right_pitch=-0.0988 right_roll=-0.029 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -3.6034, 3.6034, 1.6044, -0.1343, -0.1148, -0.0171, -0.3077, -6.5709, 6.9675, 1.7265, 0.0757, -0.0708, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dbcce5810170135f4482b31120378dea54e31bfb8809df3614112b19ab21e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23470d1180eeae927bb7feff874bb5e663be32e0c1dc24e63b014d4bf96f46df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04d3b0975a1aeafa31ef44b67f96f4d55a2e33dcdfb59eb7065cfac541a20c8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 9.206 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6109, -0.3805, -0.0223, -0.038, 0.9991, 0.522, 1.5017, 1.1854, -0.3775, 0.3283, 0.2245, 0.9954]\nstate[eef_state]: left_x=0.2976 left_y=0.0019 left_z=0.1745 left_yaw=0.0067 left_pitch=-0.032 left_roll=-0.0092 left_gripper=0.9991 right_x=0.4044 right_y=0.1711 right_z=0.2046 right_yaw=0.1213 right_pitch=-0.0913 right_roll=-0.0231 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.4154, 7.0222, 1.6972, -0.0415, -0.0464, -0.0122, -0.2393, -6.9265, 7.2137, 1.6337, 0.0708, 0.022, -0.1783]",
      "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]: [-0.4271, 0.9333, 0.3569, -0.0971, -0.3386, -0.2699, 0.9991, 0.5224, 1.5021, 1.1854, -0.3779, 0.3271, 0.2211, 0.9964]\nstate[eef_state]: left_x=0.2862 left_y=-0.0618 left_z=0.0934 left_yaw=-0.0116 left_pitch=-0.0667 left_roll=0.0005 left_gripper=0.9991 right_x=0.4043 right_y=0.1714 right_z=0.2044 right_yaw=0.1245 right_pitch=-0.0923 right_roll=-0.0255 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -2.441, 6.5436, 1.8291, -0.2173, -0.0171, -0.0171, 0.1436, -7.0359, 6.9265, 1.5751, 0.0659, -0.0024, 0.0952]",
      "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]: [-0.4656, 1.5299, 0.1802, 0.6552, -0.3714, -0.2924, 0.999, 0.522, 1.5036, 1.1847, -0.3828, 0.3279, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.3002 left_y=-0.0751 left_z=-0.0001 left_yaw=-0.0107 left_pitch=-0.0767 left_roll=0.0101 left_gripper=0.999 right_x=0.4037 right_y=0.1708 right_z=0.2025 right_yaw=0.1234 right_pitch=-0.0988 right_roll=-0.029 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -3.6034, 3.6034, 1.6044, -0.1343, -0.1148, -0.0171, -0.3077, -6.5709, 6.9675, 1.7265, 0.0757, -0.0708, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dbcce5810170135f4482b31120378dea54e31bfb8809df3614112b19ab21e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23470d1180eeae927bb7feff874bb5e663be32e0c1dc24e63b014d4bf96f46df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04d3b0975a1aeafa31ef44b67f96f4d55a2e33dcdfb59eb7065cfac541a20c8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QcKEAgSGAI4AUIIdGhpbmtpbmcSDBvUtpGr2tuKb5rmahoMjmQ9+wEOBekJypxcIjCrOyo57oPQ0THrKtmBajdT/+2i2jtxE8Dqt7rtzo0QeKv/GyuCOJ5QLpdWct24RcUqhgd73pBcBbWkTEa/bmEnfDGcHilj9ErEkp3p21vxb+mXTfC07atLf1ls6lgWN0DaqwrSZsZX2m2keIxaUHi+VEivNm8kHAfszXdDIfaKNL7BL6fvnC0OCVcauFL2TFoQORiN183Sa9bgroVVEdUCsP2bF3jFgZ/FmuQ3yvxCFUWe/ab+C2mvvWyw/nVFDu/oPc2A82FGZ19L9h52e5G2mfm8kOKMdy1tD50xgOfyZW2WYS7O/P2wQoctpcwhOecQRwhfGCgmoQjAR/rCud4sGebV49aIBTqLUk+N40pGj8zKoQcgeTPf535d1GVlrxZYtq7KAE9N/WkcNtOF3zotyG3DA6xUEV8yt6KGLgCDw4A38+gFMo+E8hAYSsnq6anks4ZPLXrZXVfzCZR5IH/D4dEHLE8NIti+CDdveeYNn22gZWQS+2vPt4aMrcnR+wAzF8Hita2IkIrdW1ziCrkWJv0GSUm9dqjVQgyKGPKUFZaLFcx7M+mzrqxYVzYblmT2qHoIY9BVCW1yAGaWL//dChIV7gs08DfROIKipv0ivLWHdSq6Wx67hx5H3muezuXLXjpH++1C83Z1qz3hPkT15JYjfonzhQSYAJX0tODPRlgkW6tA/Yz800iOImCXnWlaabpo4kdhScVl2CY7nHLkJHT5jyX/YJs/Ih5E7Yf7v66lslKMweXjdS+cfBDiND3GClT9Y1wynyh+scAwY0nA6olglb+QP6/jfRGTAh67a23t3yUQRD7onXPhJcdsiYs9WEmmGL0knL0rRlsEB8mm+T8Y6U1lAuM5T4/A4u0nAUp4GTUwnNpammBUY2n4s4m7HXk2RRZUuJMhlEtum5Sq51sohV+0eZBlplB5k8A3c35SWdb96xV9lsr01lUJJ3a5ND5jl1BUJXl+0FLgiQk0ymokhxQcTmIae0XXH5e/Mp/Gs04O2iVDOq6UOGKy0U0/vys6yD8vrwENoa+g+sF9WyCvpQsxUFePrPaPeDnJoIwTRrA8pJsu2c9zer7PQTprJrrmmescauqd1cIUEVScAV1526iNd85IzTB980coulM/YC6kHLymrC+aMWP9MyzD5vW0ZfDueY4DYYeWghu95X6YQbqryVUUZzC4St0l81WsMWIfOG4xnQEGb2KGddyxGXkZu1vgMR8bfb43pEvmm5BW8TXybYU/peREVgZOJNtuQ7YzAJHYphgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017vbDpXiNaiTtC25crytJtN",
      "input": {
        "note": "The yellow marker is between the open jaws at table level (slightly right of centre, well within the stroke). Closing the left gripper.",
        "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_017vbDpXiNaiTtC25crytJtN",
      "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]: [-0.466, 1.5326, 0.1791, 0.6666, -0.3706, -0.2932, 0.1537, 0.522, 1.5036, 1.1847, -0.3843, 0.3279, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.0757 left_z=0.0008 left_yaw=-0.0115 left_pitch=-0.0701 left_roll=0.0057 left_gripper=0.1537 right_x=0.4035 right_y=0.1706 right_z=0.2022 right_yaw=0.1233 right_pitch=-0.1002 right_roll=-0.0296 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -4.465, 4.0684, 1.4969, -0.2076, -0.022, 1.0525, -0.3487, -7.0359, 7.1453, 1.6093, 0.0904, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17568932d3d0f548128c61aa12406eec6151fc737fa5854493da96441d9f0119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba07476a190330bd9b50eb3eb6f01ebeecca97dc976d770f02baf991b679ae5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b10bb2c7a20d5629fa5f766b98eecab24aa9aaa89e1aa147e3fe6f16d6cda67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.437 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]: [-0.4271, 0.9333, 0.3569, -0.0971, -0.3386, -0.2699, 0.9991, 0.5224, 1.5021, 1.1854, -0.3779, 0.3271, 0.2211, 0.9964]\nstate[eef_state]: left_x=0.2862 left_y=-0.0618 left_z=0.0934 left_yaw=-0.0116 left_pitch=-0.0667 left_roll=0.0005 left_gripper=0.9991 right_x=0.4043 right_y=0.1714 right_z=0.2044 right_yaw=0.1245 right_pitch=-0.0923 right_roll=-0.0255 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -2.441, 6.5436, 1.8291, -0.2173, -0.0171, -0.0171, 0.1436, -7.0359, 6.9265, 1.5751, 0.0659, -0.0024, 0.0952]",
      "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]: [-0.4656, 1.5299, 0.1802, 0.6552, -0.3714, -0.2924, 0.999, 0.522, 1.5036, 1.1847, -0.3828, 0.3279, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.3002 left_y=-0.0751 left_z=-0.0001 left_yaw=-0.0107 left_pitch=-0.0767 left_roll=0.0101 left_gripper=0.999 right_x=0.4037 right_y=0.1708 right_z=0.2025 right_yaw=0.1234 right_pitch=-0.0988 right_roll=-0.029 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -3.6034, 3.6034, 1.6044, -0.1343, -0.1148, -0.0171, -0.3077, -6.5709, 6.9675, 1.7265, 0.0757, -0.0708, -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]: [-0.466, 1.5326, 0.1791, 0.6666, -0.3706, -0.2932, 0.1537, 0.522, 1.5036, 1.1847, -0.3843, 0.3279, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.0757 left_z=0.0008 left_yaw=-0.0115 left_pitch=-0.0701 left_roll=0.0057 left_gripper=0.1537 right_x=0.4035 right_y=0.1706 right_z=0.2022 right_yaw=0.1233 right_pitch=-0.1002 right_roll=-0.0296 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -4.465, 4.0684, 1.4969, -0.2076, -0.022, 1.0525, -0.3487, -7.0359, 7.1453, 1.6093, 0.0904, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17568932d3d0f548128c61aa12406eec6151fc737fa5854493da96441d9f0119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba07476a190330bd9b50eb3eb6f01ebeecca97dc976d770f02baf991b679ae5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b10bb2c7a20d5629fa5f766b98eecab24aa9aaa89e1aa147e3fe6f16d6cda67",
        "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_01SodCsVBnTAiaCPESB1VHq8",
      "input": {
        "note": "Gripper settled at 0.154, so the yellow marker is held. The right basket is out of the left arm's reach, so I'll set the marker down near the centre line, close to the bases where the table is clear, for the right arm to pick up. Lifting and moving there now.",
        "targets": {
          "left_x": 0.2,
          "left_y": -0.28,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01SodCsVBnTAiaCPESB1VHq8",
      "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]: [-1.3808, 1.6104, 1.0145, -0.7116, -0.8913, -1.2541, 0.1537, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1978 left_y=-0.2816 left_z=0.1133 left_yaw=-0.0217 left_pitch=-0.0896 left_roll=-0.0045 left_gripper=0.1537 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -6.8991, 7.665, 0.6471, -0.7253, -0.0806, 1.0281, -0.0479, -7.0496, 6.8991, 1.5995, 0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5485666daa1f18795e0f151fb1c9c6b239f7fa1d19701aaad4e056e87f1f904d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89568910db7bd72b02121f9ba9c222f3d07e6091117b91642e7ba2e21458928b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a83aeb88d6fa24126ac8acfbba3c4d82ba483aef89e4b2f9b8a6900275e9f5ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.545 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]: [-0.4656, 1.5299, 0.1802, 0.6552, -0.3714, -0.2924, 0.999, 0.522, 1.5036, 1.1847, -0.3828, 0.3279, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.3002 left_y=-0.0751 left_z=-0.0001 left_yaw=-0.0107 left_pitch=-0.0767 left_roll=0.0101 left_gripper=0.999 right_x=0.4037 right_y=0.1708 right_z=0.2025 right_yaw=0.1234 right_pitch=-0.0988 right_roll=-0.029 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -3.6034, 3.6034, 1.6044, -0.1343, -0.1148, -0.0171, -0.3077, -6.5709, 6.9675, 1.7265, 0.0757, -0.0708, -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]: [-0.466, 1.5326, 0.1791, 0.6666, -0.3706, -0.2932, 0.1537, 0.522, 1.5036, 1.1847, -0.3843, 0.3279, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.0757 left_z=0.0008 left_yaw=-0.0115 left_pitch=-0.0701 left_roll=0.0057 left_gripper=0.1537 right_x=0.4035 right_y=0.1706 right_z=0.2022 right_yaw=0.1233 right_pitch=-0.1002 right_roll=-0.0296 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -4.465, 4.0684, 1.4969, -0.2076, -0.022, 1.0525, -0.3487, -7.0359, 7.1453, 1.6093, 0.0904, -0.0806, -0.0122]",
      "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]: [-1.3808, 1.6104, 1.0145, -0.7116, -0.8913, -1.2541, 0.1537, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1978 left_y=-0.2816 left_z=0.1133 left_yaw=-0.0217 left_pitch=-0.0896 left_roll=-0.0045 left_gripper=0.1537 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -6.8991, 7.665, 0.6471, -0.7253, -0.0806, 1.0281, -0.0479, -7.0496, 6.8991, 1.5995, 0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5485666daa1f18795e0f151fb1c9c6b239f7fa1d19701aaad4e056e87f1f904d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89568910db7bd72b02121f9ba9c222f3d07e6091117b91642e7ba2e21458928b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a83aeb88d6fa24126ac8acfbba3c4d82ba483aef89e4b2f9b8a6900275e9f5ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvQcKEAgSGAI4AUIIdGhpbmtpbmcSDN6L7/YZVN/wNkqlvRoMD+H/M4JH3E4CgeKkIjCyCtbZ4rMuXj/e4zc/mkkOXIzgrlHEClLQ+XHx+u+BVwSvhffLJVp9imy+MNO/L0Qq2gYF6YKOQb8Df125BH6GK3ezzhOp4L/fin8dW/h4qVRY0imqRjwa1O8bF9MuZ6T252c94m/KzTGfs8YG4ZGXrOS0jcEdD1zVDTJdLzwAkkbOCZP4/k4j4oMG1CSeAEg8Uv7vRdJkJ/MbrCCsqpcq6byniGN4U9WyF/PyRrDPrwTZm80DGf6+RGzzaIqenCP1nrmlbbEiDYpd+8/WtPXM3oSBCoyzB3oKfiFSJ6akbEOOgnq+2UaCREfDfo1l3fpDVeXH1O3Q2k/A7p7GqlEqodxaQp+vTXfJuNadZ/98Y45XEs43z0UJZk7CnAYklQ4UDjBpgvBRcB75e7JKTGZFQoaZ6/mXBIS0EFchIxRoLhabS58JgOHIhuNGzJx5awwn5qfPwo6EPISsR4vAyy9SdHh+aZP7KpPudmwohBpejh6i8GKpQDcascpCD5HqMLIfTPYcJCeQJyohCD4lVvLrvFQrjdv3zCeEVYzXVfYKTmEMc5r7pLmG0ySX3+0BRiPNkk7WlN1x3ILkpgzOfwEu3GyBQyKKO4ADLX0YbTKtYklIQpozUGj68OXITfaEwJPHerA3AUlH0M/6WkXP61umoe81PU66UDGAa9lSP2Q+KdtFyrdbnq3+AMn2Ka/CvA+R5amT/nuIYrELcUB4noogkLAxAbGaUPMziRL78uAJ7VyubSQ1OBnXtLAWXX/NN9DHECR7U8xLRJshj/qg4zOdq3ijC5i1s/Kkj3d4/amW340ddd39SrJvCaDqJw0OlebPXULYGZzZbsp7ppVvs1lZOnY5i0QgnnVC3RyLkMM1pUwxKbYQ/2i9p+n44o+WkO4AyQezR+4/VcRwday8uF0htvl4cV16pCsxydhUXPCS1Oo0BvvBB6u9yJbLcGciVVYXTuUPyZxTwXaNCK9+mwLViLGiVnRrxI4aW8t7FxjCZhDcQk4Rfu6N2/pwxiUrBYiaCBYLc7rC587WUuoc35FQS5O2rNKUbzZjLQC56LSgQHP6CBKgUFCQkshexbtAfPhDppUL502r4Iqt3bU8f6kBF9uFA8ybDDEbhT8wYoFogwNTv0DSzmYDdJ1qc502K+osy7bof+S2kHxz15dHFhhO7ZaicrtTnZL3RDmOzcZRw8soP20VCjAKDz7qGVMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Loi7DYQKRsS7XPx42SfPhm",
      "input": {
        "note": "The left gripper is holding the yellow marker near the centre line, just in front of the big bear, over clear table. Lowering it to the table to set it down.",
        "targets": {
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Loi7DYQKRsS7XPx42SfPhm",
      "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]: [-1.3808, 1.842, 0.8127, -0.2935, -0.8829, -1.2568, 0.1537, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1967 left_y=-0.2809 left_z=0.0108 left_yaw=-0.0212 left_pitch=-0.1007 left_roll=0.0067 left_gripper=0.1537 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -7.5009, 4.0547, 0.7106, -0.569, 0.0024, 1.0281, -0.1299, -6.8034, 6.9402, 1.5556, 0.0659, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242477d5a19f4a2ccbf35d32b281befbd90c98c9cab865a25eb86b1b97277842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b0fa2af4a602654c0a4481e3062c38b7953f360f0f69633814fba21df0265cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29f42e7b12c55173c49158598968257e8d0ae552f9ed598da4ef7f4b1b273267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 6.781 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]: [-0.466, 1.5326, 0.1791, 0.6666, -0.3706, -0.2932, 0.1537, 0.522, 1.5036, 1.1847, -0.3843, 0.3279, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.0757 left_z=0.0008 left_yaw=-0.0115 left_pitch=-0.0701 left_roll=0.0057 left_gripper=0.1537 right_x=0.4035 right_y=0.1706 right_z=0.2022 right_yaw=0.1233 right_pitch=-0.1002 right_roll=-0.0296 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -4.465, 4.0684, 1.4969, -0.2076, -0.022, 1.0525, -0.3487, -7.0359, 7.1453, 1.6093, 0.0904, -0.0806, -0.0122]",
      "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]: [-1.3808, 1.6104, 1.0145, -0.7116, -0.8913, -1.2541, 0.1537, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1978 left_y=-0.2816 left_z=0.1133 left_yaw=-0.0217 left_pitch=-0.0896 left_roll=-0.0045 left_gripper=0.1537 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -6.8991, 7.665, 0.6471, -0.7253, -0.0806, 1.0281, -0.0479, -7.0496, 6.8991, 1.5995, 0.0513, -0.0659, -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 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]: [-1.3808, 1.842, 0.8127, -0.2935, -0.8829, -1.2568, 0.1537, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1967 left_y=-0.2809 left_z=0.0108 left_yaw=-0.0212 left_pitch=-0.1007 left_roll=0.0067 left_gripper=0.1537 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -7.5009, 4.0547, 0.7106, -0.569, 0.0024, 1.0281, -0.1299, -6.8034, 6.9402, 1.5556, 0.0659, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:242477d5a19f4a2ccbf35d32b281befbd90c98c9cab865a25eb86b1b97277842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b0fa2af4a602654c0a4481e3062c38b7953f360f0f69633814fba21df0265cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29f42e7b12c55173c49158598968257e8d0ae552f9ed598da4ef7f4b1b273267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwcKEAgSGAI4AUIIdGhpbmtpbmcSDANUujwlZRSQvFjrchoMs/mmJkhzw4GcFqPuIjBa3ZRa23fyAHGq/d3Vt18VSaGXFtzg+2VJu/gPLacjvHi6uP0K/ShVWjeyZ1xfs+wqpAYo2uQUrLr3ZqNP7s44022h0UL3S+Le1yYncSBMsqJAhNkC6xyseeXRuF+Glg0Xp2rKru4thycaehCWT4Ygo08yLwbPFbJmKOCmxs4BZ+DBVq7ws7fbxXDnTYRyNW1/fXy4THeBRFc45TVya5FiJvoMbpQsRiFu+25dvxKOWL4ryKOSAjSf3G9q/c0ZLSQl2fVw2y/SuhCa/tSzNcVmYlCps4LJim0/eIVQaVrkp6ACZLzqTAF4xZDCUSmwZBlpRkUxbse25iIdjuuuE335cxlsYKinfu1CcCSY9SV3q6MkLvd7db4ap7EP7I/M4xN4iQHeAz1ZPh1+N5G99rAzIhEmq8NOQNYl7wT9mw6l7nCz/iyNnEgzgNENntUpGvG3GwqDjhGUHgLwQS4usnghHRwpOo0KBH0rRTEHu7HuKYlC7DAytNW0SKF0uOQ7XIFC7O+IcIZSZFuGEoGOGQOdOCr1Or9Jx7GWwJ0CTdBxVZ5v/73wcz6qFZBPp9/T7RPpKr+Tde9jBSccjY8tAFxblv10B+SDpwyUYTafG2pAWN6zPHGT8SbQf5fEWaXTUU3HcZGl0Dt9d6g25iznKXIfuaCiYdzNoAQTTqWxXs6iPl1h1FXuntg8VIFEiFfzYIxbTTZryJfufyC93tjR4qpZhbp+Qdr/q64WGHJtITqTSw1Vlfpp/iczCIcKYoiRZYV/pZExXHsg6eYm9anuz3IGyUZM4nZ6zmxo1dYye7k6TlbxjX9Dc9vN+HeULxTEaQvnP4PRLXuDLHcNIr0Mtxhu1aMHGmWC/zyOfTmRLZCp4wEqqLbYkwaZHy+qVA4xIWgGBHlV6EW9v0HxfoT7j1NlGwgclWKQnzeTIlqZKK5cZnbIbioyQP/cVb9lRohta5Wf9WFiR5zhIWzm0P9eDxL4uHnPR/kLujvIzKf4BdjXRIukRUSN2bWbPcIH/8Qu9ji8vn1QN84pRdSlnDhzgfV650j/WUoB61bMSPen2RLzgMtwlT16Q6uQP0pFqqmYhleLUbKO393Zdja7lQwbxW3r3KJdmbwNFZc77G0VAgXvlS6TUOmYNW0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XfnYhV4gfuPABU9SMP8nQj",
      "input": {
        "note": "The marker is at table level; the wrist camera is pressed against the bear, but the marker itself is on the table. Opening to release it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XfnYhV4gfuPABU9SMP8nQj",
      "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]: [-1.3808, 1.845, 0.8059, -0.2935, -0.8776, -1.2575, 0.9954, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1956 left_y=-0.2785 left_z=0.0077 left_yaw=-0.0212 left_pitch=-0.1079 left_roll=0.0147 left_gripper=0.9954 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -7.747, 5.012, 0.6716, -0.525, -0.022, -0.0073, -0.3214, -6.7624, 6.8991, 1.5849, 0.0708, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ea23d930a86f9794b032f3aad12acb8d6a6011d145d81ce45db63fad5917ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f79210466e84a6d6799c3512f43a3f378226263ca173892fc42f4e4fee4c5cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f7944623748bd40a4a4f5456fbf9374e766bc72484f9dcaf0a351f94a46bd10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 6.312 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]: [-1.3808, 1.6104, 1.0145, -0.7116, -0.8913, -1.2541, 0.1537, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1978 left_y=-0.2816 left_z=0.1133 left_yaw=-0.0217 left_pitch=-0.0896 left_roll=-0.0045 left_gripper=0.1537 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -6.8991, 7.665, 0.6471, -0.7253, -0.0806, 1.0281, -0.0479, -7.0496, 6.8991, 1.5995, 0.0513, -0.0659, -0.0171]\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]: [-1.3808, 1.842, 0.8127, -0.2935, -0.8829, -1.2568, 0.1537, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1967 left_y=-0.2809 left_z=0.0108 left_yaw=-0.0212 left_pitch=-0.1007 left_roll=0.0067 left_gripper=0.1537 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -7.5009, 4.0547, 0.7106, -0.569, 0.0024, 1.0281, -0.1299, -6.8034, 6.9402, 1.5556, 0.0659, -0.0366, -0.0073]",
      "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]: [-1.3808, 1.845, 0.8059, -0.2935, -0.8776, -1.2575, 0.9954, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1956 left_y=-0.2785 left_z=0.0077 left_yaw=-0.0212 left_pitch=-0.1079 left_roll=0.0147 left_gripper=0.9954 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -7.747, 5.012, 0.6716, -0.525, -0.022, -0.0073, -0.3214, -6.7624, 6.8991, 1.5849, 0.0708, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ea23d930a86f9794b032f3aad12acb8d6a6011d145d81ce45db63fad5917ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f79210466e84a6d6799c3512f43a3f378226263ca173892fc42f4e4fee4c5cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f7944623748bd40a4a4f5456fbf9374e766bc72484f9dcaf0a351f94a46bd10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MGYMCvXBNygSkdAe4vL1V8",
      "input": {
        "note": "Yellow marker released near the centre, beside the bears. The right basket holds only one marker, and a blue pen is still standing out on the table at right-centre. Lifting the left arm clear of the centre.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.1,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01MGYMCvXBNygSkdAe4vL1V8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7521, 0.873, 0.5873, -0.5621, -0.5674, -0.5308, 0.9962, 0.5232, 1.504, 1.1847, -0.3843, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.2479 left_y=-0.097 left_z=0.1387 left_yaw=-0.0077 left_pitch=-0.1225 left_roll=0.0213 left_gripper=0.9962 right_x=0.4033 right_y=0.1712 right_z=0.2021 right_yaw=0.1248 right_pitch=-0.1007 right_roll=-0.0296 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.812, 9.2513, 1.2332, -0.2711, 0.0806, 0.0806, -0.1709, -7.0222, 6.9402, 1.6142, 0.0659, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:903e2fa4583f92d8ddc604007632c7ebc2b0f2f727d082cf89dee76529d93fa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7449b0876b6e250cc5d753368e9b346307feb5a0aca568948069ab4daa7b6f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:484c0493dbd8613a3584a675fce2c375d2f6fd97409e5e4c47a6722839f5b457",
        "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 · 4.873 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]: [-1.3808, 1.842, 0.8127, -0.2935, -0.8829, -1.2568, 0.1537, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1967 left_y=-0.2809 left_z=0.0108 left_yaw=-0.0212 left_pitch=-0.1007 left_roll=0.0067 left_gripper=0.1537 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -7.5009, 4.0547, 0.7106, -0.569, 0.0024, 1.0281, -0.1299, -6.8034, 6.9402, 1.5556, 0.0659, -0.0366, -0.0073]",
      "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]: [-1.3808, 1.845, 0.8059, -0.2935, -0.8776, -1.2575, 0.9954, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1956 left_y=-0.2785 left_z=0.0077 left_yaw=-0.0212 left_pitch=-0.1079 left_roll=0.0147 left_gripper=0.9954 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -7.747, 5.012, 0.6716, -0.525, -0.022, -0.0073, -0.3214, -6.7624, 6.8991, 1.5849, 0.0708, -0.022, -0.0171]",
      "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]: [-0.7521, 0.873, 0.5873, -0.5621, -0.5674, -0.5308, 0.9962, 0.5232, 1.504, 1.1847, -0.3843, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.2479 left_y=-0.097 left_z=0.1387 left_yaw=-0.0077 left_pitch=-0.1225 left_roll=0.0213 left_gripper=0.9962 right_x=0.4033 right_y=0.1712 right_z=0.2021 right_yaw=0.1248 right_pitch=-0.1007 right_roll=-0.0296 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.812, 9.2513, 1.2332, -0.2711, 0.0806, 0.0806, -0.1709, -7.0222, 6.9402, 1.6142, 0.0659, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:903e2fa4583f92d8ddc604007632c7ebc2b0f2f727d082cf89dee76529d93fa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7449b0876b6e250cc5d753368e9b346307feb5a0aca568948069ab4daa7b6f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:484c0493dbd8613a3584a675fce2c375d2f6fd97409e5e4c47a6722839f5b457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwoKEAgSGAI4AUIIdGhpbmtpbmcSDNCo9RrCVawQu5GfexoMopghNCQewhfEzC9ZIjD/5BrQtbU2T6QBRKBjdZAS6gOMgg1H9Xz0FeUYKn6yGte/2baJKUSOEJ6J0vEHzMEq3Al/bD3kUlBC01h0YAw8lCGFmKoIcRnOk6bcnR9AqSRFWge2JL6CPLPYKy8M3reBku13VsvghXHGdz+J8x0QaOInZ+AXGppfQjdSQPxM4HcLxkIPrdjIHv4qVMG8E0jaSELcVYaovtcHa5Ju1sRf25JGXIqULdnK+nBlDDkCDO1s5lxiHh/3sXaXI5xP8E8LnnAquPYcqCSwTTioE3N6YJi2FrXC0kYPUQc+uKrAGUC74b4XgGgej0eZ1DeAC7LKqe80SIo2diN4ZKYopCuEUf3TSS46dvnfFuDIeEk6CG/ewTqsE/UxHOHMYUtCsoV9O0C2g+FgsFv6rPf4jnjR+fepmS35DxmFD0wKMiqT0jvdcuWuison2k3QM0Q1zMhk311CFFn2f+bcIrM5Z6Aom/cXrGbSKe/AQ0rHbnYwdy4tvnHO6s3vydhn28NvxGEcA0DZtskZ69aP6Rxqrpcp2Fyg0JEoCbuV5f0gDeXif9DfLJ+SKjOF+ZFUySzBlS1x7qoFpm3nlhtVZ1xLY+cgVXftrywMXr64clEZeZHB9ePKQp5EQE0txB0l68eBlbeONoYldQn4/b/Efcchy5GrzPifD9K5seTcwLo09d9Ou5dZrV65JGmlAK6+3EYAlEr4rvUnn1OKZFWIguxIHXMi4JG2iZK5TZXN9/TnJBM3g0AQECgtBbny4ZAZJD/pSdormFWHYKLvhLp62EMTUE7oZ4U8VtNksHd9gGbdjg4qobcoZu/1AFUQK+SvBBKV96ncGrSvqaL0/g+crmf/uFD9hEOgvBGN0a6IRII0/w1HYpAGHCkk/v9W8/cWn8mD2o01OoACbnux/18N5pZs+wAjegFTjmpcBkdOFTon5TiFRCqiau+3bw5hlmg2EUVRIBt9r5mw7Tl7XrE5WzJLWX4pC37v5Dp842ncw+pHR21CF1iBfY8b1FNhoyef/hYTgAeIjlhS99tcbF8PTFBLrUpWGl4F3e/TY0BIJRka9Zr2LDaPh4Jhbl7XKdZU9ahdwBrFWEkd3iMF8e2aCLMaD9c8tKx28iGHdJrdnthbjDlnv0gziJ8eYw6+KMleD7tpQ/AZq6CWfg24s7GZlZwX6VlsmSM5MkAiHk/BNcOw292OXymXqOEb1a/B+oF0esQBALB4zktLnfDl0IPxCdhOqUCogcW926sZodzqT0eXYGLZTtotzCfRjevNxXAfML4sAFfwpnu6K81bfLzMe+j3suqZ+0hTa7oxUj6R9ihjpaiwgxJIriha6cW22wAZ8wzGGHKWdu1EPeBWGFDa9Jy1HnfFZ4AUXgzgIlJygc+Adm92nS8W6zZKZmR6enfQ1mXNgTibzN0zrOjRwoBlL2lEaWf3yCap8yWR8divnFqqH1g4vq6+wIPvgioFYnB+Sp7uU/6tsrAJ9NhEIxP7B9tFMMi+WFVmMEl+9IasVrrHKvX+/3FxhEayGI1UndN2qlbTgcBJ7p2i8zkztY+6i/EdEkdv/YGqWn6wQlvU39d8xGecsf9O7Wy/2MCLd3ESJFpVVsuQzPEgeXWxUyr3IW7iWBMbEEGQqZJxP+FnanEI/JEUaimW0zBDu/3m3lSetzBMd3MDOUk17yV7WNz2T6V0LHOq07aKw5xfPW8JaxOFv0I5/UYoi6qD8LLj5cd/1DcHShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018ma9jzTetRKQv46nxi3WZm",
      "input": {
        "note": "A blue pen stands out on the table in front of the right basket. Bringing the right arm down over it to line up a grasp.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.17,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_018ma9jzTetRKQv46nxi3WZm",
      "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]: [-0.7521, 0.8761, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.7128, 1.3346, 0.6357, -0.0898, 0.4465, 0.3397, 0.9965]\nstate[eef_state]: left_x=0.2481 left_y=-0.0972 left_z=0.1382 left_yaw=-0.007 left_pitch=-0.1239 left_roll=0.0217 left_gripper=0.9963 right_x=0.3094 right_y=0.1714 right_z=0.0944 right_yaw=0.15 right_pitch=-0.1362 right_roll=-0.0479 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.7026, 6.7624, 1.3504, -0.2857, -0.0171, -0.0024, 0.1709, -6.2017, 6.7214, 1.7021, 0.4371, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4717d4e004a4c74aa1e5a3be4fb9d2fd08e766f3020b59cab01657531354a232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7c90fd7a45cbabf3f53897b8ff272b288b81d6921ba61105c94be56980129f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf78fa5d3771058e71faf423655bf990cdcb3a5c17a4c0de92bcbed005dcd03c",
        "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 · 5.454 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]: [-1.3808, 1.845, 0.8059, -0.2935, -0.8776, -1.2575, 0.9954, 0.522, 1.504, 1.1847, -0.3847, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.1956 left_y=-0.2785 left_z=0.0077 left_yaw=-0.0212 left_pitch=-0.1079 left_roll=0.0147 left_gripper=0.9954 right_x=0.4035 right_y=0.1707 right_z=0.202 right_yaw=0.1236 right_pitch=-0.101 right_roll=-0.0297 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -7.747, 5.012, 0.6716, -0.525, -0.022, -0.0073, -0.3214, -6.7624, 6.8991, 1.5849, 0.0708, -0.022, -0.0171]",
      "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]: [-0.7521, 0.873, 0.5873, -0.5621, -0.5674, -0.5308, 0.9962, 0.5232, 1.504, 1.1847, -0.3843, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.2479 left_y=-0.097 left_z=0.1387 left_yaw=-0.0077 left_pitch=-0.1225 left_roll=0.0213 left_gripper=0.9962 right_x=0.4033 right_y=0.1712 right_z=0.2021 right_yaw=0.1248 right_pitch=-0.1007 right_roll=-0.0296 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.812, 9.2513, 1.2332, -0.2711, 0.0806, 0.0806, -0.1709, -7.0222, 6.9402, 1.6142, 0.0659, -0.0611, -0.0171]",
      "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]: [-0.7521, 0.8761, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.7128, 1.3346, 0.6357, -0.0898, 0.4465, 0.3397, 0.9965]\nstate[eef_state]: left_x=0.2481 left_y=-0.0972 left_z=0.1382 left_yaw=-0.007 left_pitch=-0.1239 left_roll=0.0217 left_gripper=0.9963 right_x=0.3094 right_y=0.1714 right_z=0.0944 right_yaw=0.15 right_pitch=-0.1362 right_roll=-0.0479 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.7026, 6.7624, 1.3504, -0.2857, -0.0171, -0.0024, 0.1709, -6.2017, 6.7214, 1.7021, 0.4371, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4717d4e004a4c74aa1e5a3be4fb9d2fd08e766f3020b59cab01657531354a232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7c90fd7a45cbabf3f53897b8ff272b288b81d6921ba61105c94be56980129f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf78fa5d3771058e71faf423655bf990cdcb3a5c17a4c0de92bcbed005dcd03c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwkKEAgSGAI4AUIIdGhpbmtpbmcSDA/lmIthaFyLxOmKSRoMY/QmPZulgNT1Ag4lIjAe3S34IekAa3JMFvRux+9W88fy3QVdR0Gl4g/lejAV2fhvk48uQzLioRQ+QkmL1vgq2AjJup9vt94NgZZCWy6yl3wnCRKWTBKHrd458DpY2JY0POBvGp94wrLnaY6+/zCCxA86Efxgp84iSUR8E40yOX1WIh4kmuqt8Gfx0C5JcAwrvQDJqXAEv3jewgxB8hvGv/QG3Vf+QwbxurnzOehK1+haQ6MWoTDPq4XKDajgKBuFaH1bgG+ONYl8FY8VhYsVqGjOpIQ7ggnZUxf7GNbCHRdenmqE1c1pi7/CY9UvrNsFSQa5Tg0XG9NfPZUqZj9lv7ToHpJ9s3NnEv2bp7HecqR87bHxH1gZPIO8VXg2HmtEacxS43W5A6pGR9uuDbUeGB/i1bVYwTszYDGWIdJ4xcqbnhka0y9XKOBf94lRks2qw8Dw1+BxjGmXewIYNIMk5gktsw4925wFimlN/+IfP49aNyHQIjg9YY86nHGxVkdCYpC+dMTobgE/ZXt/IKvzn0UKcz6KpuoaDOgs3RH/XBqrPDUX/QMKWPLiH1nheoEuIJuVl02XOd8i2vn7QwP/7tOv0IKBJCXlgSv4UTKG/+UJTR9EGuUYfM8nK97lxqP5kkzg5KKCU+HcXDwQG7MUJU/J9RgbRJUk+LBZAUksmFB9SBoIpp65bfCcoUT6P7p7c3bhms1lgkRU0dKr4uNpVw3X6c4imofAwl7WNdcRBYqPLs5SZqb19m/Canx7oIhpLTQ2okBOJPqdPh2q2w8VOCT7SrPXlSH/Voq4RtB3ZrV0WhVVD23+QdUc5TSCMLOHCZYnAbzb/NCISqB+RIDw2NluPhrPZj8LXhN/J+26FhuMwV1c22DihFJLLTJxbklwjeX/hyHn31Eq4S4qzUll+RQ8c+cW2CnRUny/CYQ8xDfiVTI698/QLrXt2jBroYwdyHki0fHnmag7T0lGHwoA8oXyMZGuaLfbMmyAd64/Xyqo/atQDOkc5HRV8kLBP1mhmtjJxlGvbDztH1rxfPsKO9OmmlK8L2Xb+ihnifp0jjj6VZnH3nLsDRC4YN91CrH0TYMsDhxbzhEvRgZ/XxdsYejr5QqMweBR8udoxpXRIbAnbs6BQiAxMQOBws0tNboUcS7EqQM5Pu1rRn/GLNW5GPSNejq5LidCo5JsN0wVchvscn3xjMNqNn/r6Cg5A91nlG3bDRWmejkqicpT2cq/v+Lcjf3B4RAovZE6mWW1+vy5zgpScMGvJZ0fufKcApYXSw+LkiVEzJrU/1+jKTaeovNJrYaOIYLMDio3QWyUpEjmS6O4RvLvQD0FjP/PhdD26BtdPMWrBHvdtKYG9a8woRzwbVFCz0slpQxNaTlHn0xNcL1Prf22hQ9SZiA+FVfL/t3vfy9p8p3jwslbShbPS2SVPw4nu87MdHeRSNxWd0eY44TuWEarCdjpqjlAjo0JBMrcBCXF0sfgSKazwEdpVFaweWAYq7EGdxj0aVFTHRh77WWzbK2LERE4JtP6n8g5zXhsDQXURR/7YYc3ckDiMbjTNBwz5iz02RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SPu6eF1P9yxzMcUNFdH3L2",
      "input": {
        "note": "The blue pen runs forward just right of the jaw column in the right wrist view, with the big bear to its left. Nudging slightly right and forward, then descending to grasp it.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.162,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01SPu6eF1P9yxzMcUNFdH3L2",
      "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]: [-0.7521, 0.8776, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.6212, 1.6787, 0.4953, 0.5549, 0.4065, 0.2996, 0.9965]\nstate[eef_state]: left_x=0.2482 left_y=-0.0972 left_z=0.1378 left_yaw=-0.0068 left_pitch=-0.1251 left_roll=0.0227 left_gripper=0.9963 right_x=0.3513 right_y=0.17 right_z=0.0339 right_yaw=0.118 right_pitch=-0.0116 right_roll=0.0238 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.6615, 6.7214, 1.3455, -0.3053, -0.0317, -0.0122, 0.2256, -3.959, 2.8513, 0.8718, -0.1148, -0.3248, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a14b1639e24c551654beec7bd9ccd9ed0cb875729a3f8c916bb90119a0cf7ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e841e450ca22ff751e610d6067fe9ddeb9b7993c87b3678d0c44240f1ffd4a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7592cbe3d46f59612347755abb98afb148ce7d8cdea45d2e8928f754cc32e9aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.195 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]: [-0.7521, 0.873, 0.5873, -0.5621, -0.5674, -0.5308, 0.9962, 0.5232, 1.504, 1.1847, -0.3843, 0.3275, 0.2207, 0.9965]\nstate[eef_state]: left_x=0.2479 left_y=-0.097 left_z=0.1387 left_yaw=-0.0077 left_pitch=-0.1225 left_roll=0.0213 left_gripper=0.9962 right_x=0.4033 right_y=0.1712 right_z=0.2021 right_yaw=0.1248 right_pitch=-0.1007 right_roll=-0.0296 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.812, 9.2513, 1.2332, -0.2711, 0.0806, 0.0806, -0.1709, -7.0222, 6.9402, 1.6142, 0.0659, -0.0611, -0.0171]",
      "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]: [-0.7521, 0.8761, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.7128, 1.3346, 0.6357, -0.0898, 0.4465, 0.3397, 0.9965]\nstate[eef_state]: left_x=0.2481 left_y=-0.0972 left_z=0.1382 left_yaw=-0.007 left_pitch=-0.1239 left_roll=0.0217 left_gripper=0.9963 right_x=0.3094 right_y=0.1714 right_z=0.0944 right_yaw=0.15 right_pitch=-0.1362 right_roll=-0.0479 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.7026, 6.7624, 1.3504, -0.2857, -0.0171, -0.0024, 0.1709, -6.2017, 6.7214, 1.7021, 0.4371, 0.1001, -0.0122]",
      "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]: [-0.7521, 0.8776, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.6212, 1.6787, 0.4953, 0.5549, 0.4065, 0.2996, 0.9965]\nstate[eef_state]: left_x=0.2482 left_y=-0.0972 left_z=0.1378 left_yaw=-0.0068 left_pitch=-0.1251 left_roll=0.0227 left_gripper=0.9963 right_x=0.3513 right_y=0.17 right_z=0.0339 right_yaw=0.118 right_pitch=-0.0116 right_roll=0.0238 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.6615, 6.7214, 1.3455, -0.3053, -0.0317, -0.0122, 0.2256, -3.959, 2.8513, 0.8718, -0.1148, -0.3248, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a14b1639e24c551654beec7bd9ccd9ed0cb875729a3f8c916bb90119a0cf7ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e841e450ca22ff751e610d6067fe9ddeb9b7993c87b3678d0c44240f1ffd4a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7592cbe3d46f59612347755abb98afb148ce7d8cdea45d2e8928f754cc32e9aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7gkKEAgSGAI4AUIIdGhpbmtpbmcSDE6vqwssHf06DIy1HxoMsHD9vaKIIxFIDFq6IjC5r6n5Uy1SJPC7m3P3wdw2Kv1wly62rozgt/5IYQezRG76w5nKNtXs2nPAkWvtvOsqiwkEQcZuVDomPgX67s0dbFinICBrt+sLYvIpHUrSBEwHek09ECd297lx8HKfKJenRTkUFbAQPP/jgN1JUsXjEeGQcM3DH2z576gCBUZ3MRz+lt5j3B/AkzYXA9iE6z0kpUzMRCY4TAEEqb9vUClJpvJtO7QMdcRthPX95uI0Kq2afEQ8i5xG0aJGH0NnuVZg0iTfKs31uAGc0Axbz/bhyeB1OOXvFs70kpYSX3J+pMzfsbeFkUL96Zu7hlQJ/dzm2adUqtZ7sAxqV4dgopyzBdQ85++BWkKKVE3QACjHLr0iI5My+Dn4usmgtSis/gQc50NG0OuJ1XvS0ZXF2jQeEfPjLcBsy99jvD7kowzuDzZvgRwWxIdQjLbyCUsO2rohHTF9krY6siEnfjmP6jQZMXiSt3PMx04NZqlyawk/ofKbilw514BwikGpduQNbBKCdVXP1tWH9XRNPsSCiE9ErFPaPItp3Oi/ke/YPIntSuZVrBgkw8CHBYT+w+rPgKt+mM+3cD3tGmvJKIxc+mXKACHfdmFWPSjEPeGnfptatJ8N1p5WtNyji5A9pBrtY6ta7o/7Uhntb9qzdBYtLpbrljS1RCekGZLMrHlCFLfYqSKBsGauVeUtnKQOXkGnlBGIIyhyXqoi7xIkOBYQjjb6IP4Am9s40/4JjU6ZbxQMojN6W9Ox6g9FC3NnaOszzNz+KhPLDpnvCr/14JZ5UtjDlCpFrXIzP/9NoxSvIUg/iKIygx22kMT+wMo6ClJc1y8ItvyevS4ouxOknJWcg4SXXeSZeMxaXLqMIu0PLIbCnwEaAPqdax/k5Yx/6zUeNiw9BeBXvGNBPQPkEvK834lWJ0uqEbal0tRh64HvKIoMoE1wM+bje41F/kxzj+nATrnCUe8wbzviubzXlKvgMeWp5BdLQ1Zn/kIFbKxq3VE6tH8DvpOIcL8TUFhs4kdUsiP5/JkvqcU/xdzACuDc/nHV9AdC0ZVESFKe+n5N7qEjPV+NU/d6bu3kefvR/e/xu2WbGSK0WSkydz+oMDsTGApyXN2K9Co4ULt0IW7ITYiBOsMAlCvgjVc4WrfYYEjQRY6RUyhFhR2EKIBJWI0nuT7W6HDOsMaukwwIy9SktKnq14+G02tJs7fuzwCTmTcu9qByBV0bRRSLm0Foa8SCslTi7x/ZfsULQHd/Ef/RKHPBU42qlAc3wPuhkrXEND4EXUv3wARPrIz+Dj3a+IRASX7HEpl0/VMBiKbn6FJXZhfPdbCsjnOKaNKydk4t4mF0NIKlibuJTog4DZgL62RKbgGpufP2CYQkzQUD51nBjCWpb0MAuHH6OP5xvUatLCMlmvRV6Hm2Ir40JPgWgUftbvhlX48X7bdMhAqNzoABTV/h3CB8LICQhM79JZYVCouuaeOpYczOAPObsT2hlECx4C+dsl0+MOOZ+PSE5MhBfs/8T68Yc7Ym3amsMoCEFrNLN2Uju2hZDUOb343PT2WMdIHlmiTyWgM7R7PiqoAVNVr8S1VO7EVF6Ij6bP9wh2V1AdBhl2UaM6oRDBiE4zRXjRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SoFRH5GT5BcVqWW2DBMh1q",
      "input": {
        "note": "The pen is near the bottom of the right wrist view, just right of centre, but the descent stopped 3.4 cm up (possibly against the bear or the basket). Nudging slightly right and pressing lower.",
        "targets": {
          "right_y": 0.155,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SoFRH5GT5BcVqWW2DBMh1q",
      "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]: [-0.7521, 0.8776, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.5663, 1.8534, 0.4427, 0.9112, 0.3725, 0.2996, 0.9965]\nstate[eef_state]: left_x=0.2482 left_y=-0.0972 left_z=0.1378 left_yaw=-0.0068 left_pitch=-0.1251 left_roll=0.0227 left_gripper=0.9963 right_x=0.3685 right_y=0.1623 right_z=0.021 right_yaw=0.0887 right_pitch=0.0936 right_roll=0.1006 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.5521, 6.9402, 1.3455, -0.3101, -0.0513, -0.0073, 0.0889, -4.4786, 2.0171, 1.1306, 0.0073, -0.3785, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04181b0a000ac93fe951ff2292425b5f1173daaeed651aa29a11bdb60157435d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec60801525df984282cc4be320eb2f73439c9d9863d150853795c6ee2d9d996a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88d4a6e25775985f537f575f4133a7be36c0489fdab82a75f1e83b771fa3baaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 4.148 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]: [-0.7521, 0.8761, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.7128, 1.3346, 0.6357, -0.0898, 0.4465, 0.3397, 0.9965]\nstate[eef_state]: left_x=0.2481 left_y=-0.0972 left_z=0.1382 left_yaw=-0.007 left_pitch=-0.1239 left_roll=0.0217 left_gripper=0.9963 right_x=0.3094 right_y=0.1714 right_z=0.0944 right_yaw=0.15 right_pitch=-0.1362 right_roll=-0.0479 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.7026, 6.7624, 1.3504, -0.2857, -0.0171, -0.0024, 0.1709, -6.2017, 6.7214, 1.7021, 0.4371, 0.1001, -0.0122]",
      "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]: [-0.7521, 0.8776, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.6212, 1.6787, 0.4953, 0.5549, 0.4065, 0.2996, 0.9965]\nstate[eef_state]: left_x=0.2482 left_y=-0.0972 left_z=0.1378 left_yaw=-0.0068 left_pitch=-0.1251 left_roll=0.0227 left_gripper=0.9963 right_x=0.3513 right_y=0.17 right_z=0.0339 right_yaw=0.118 right_pitch=-0.0116 right_roll=0.0238 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.6615, 6.7214, 1.3455, -0.3053, -0.0317, -0.0122, 0.2256, -3.959, 2.8513, 0.8718, -0.1148, -0.3248, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7521, 0.8776, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.5663, 1.8534, 0.4427, 0.9112, 0.3725, 0.2996, 0.9965]\nstate[eef_state]: left_x=0.2482 left_y=-0.0972 left_z=0.1378 left_yaw=-0.0068 left_pitch=-0.1251 left_roll=0.0227 left_gripper=0.9963 right_x=0.3685 right_y=0.1623 right_z=0.021 right_yaw=0.0887 right_pitch=0.0936 right_roll=0.1006 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.5521, 6.9402, 1.3455, -0.3101, -0.0513, -0.0073, 0.0889, -4.4786, 2.0171, 1.1306, 0.0073, -0.3785, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04181b0a000ac93fe951ff2292425b5f1173daaeed651aa29a11bdb60157435d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec60801525df984282cc4be320eb2f73439c9d9863d150853795c6ee2d9d996a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88d4a6e25775985f537f575f4133a7be36c0489fdab82a75f1e83b771fa3baaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AkKEAgSGAI4AUIIdGhpbmtpbmcSDMT+pPEEtv+rZy9fRxoMV7rZS3HI+d/hUBB+IjB6J5DFsoVypPWanoA9Px7yXsE64npMRUtGRBmW2GY/m0YGiNLhzolIhYBI60cVmVsqkQnAeJjhS/cQGanqof8HGLH7s5mQJHJRuzH/JtzLuASy+K5fKUHs06mAyuo62/8nbM7c9lHuk4C8VQfwiKPcw3v8zojvQhtfhOjczSZGJ3kNuY+hTezy2S9TAVRtMJKvBxR62L9cM8t+diTF+s0asN4wKM0WgrwMbBrnNAYyXxI7bPpuTp1HYplnrqrIdD+XsyOSpDVp0Swwely81/JSL2xkSRYXsH5V2WjtQ0Gx9V+K2Urdgud+T5ot7oT3lws2FCVFUruyAdtBJTMY/fxPvnEkgVw7+i5gyzqLHyhpkaSKUGoqIvQoYk3MD4lmWA3uaYwlCctewD3k6OZ3A0/Ah9uQ2/zyHc+6tfdDOcPv5DJFMZD7ziGCLInZOdPBkK8MuJLybOMTWi4ij20VAR5eckBzeypqNt0X31v/ibtgVwBFi5ij9+8V+xnSW9KpjlzNCXCoxvZ+7dK1QEUUB2wTLkV0UHACvh56zOLC/nhRlOUSc1XeWrt6EW0h9exwZp5ncPL/JJFO2mAC3+SZDYKFdbiI+EEMcImTKGFCDC3/npKmxFgutLQnVN8vVhc7ClH0cyRHberOF2HdST7qbyM+M3xO4gUBrTk5BDuy6Evs+/7Cy5Vvyubb5xChtyTLEZJgWCVPvcRJHgj/dUzO91GBuJpsX1uExJcVfx8lqqrW1RT3AEMlO7dz3H4doEJ2Za6bru1X8iRjpEz9EChLHzqaHcMzBNUZC3iwa53A+4+yNQdpQPJxU1Ch6pNq77zALhNmQMPI47RyFwQ2rMwlAjNiYEiWXgC2AG+6qIQTmT3OvEwWcg72ish9/hecw0JNcDBaISlWPcehZZXq53T6eVx+/4afwwF5wcyR7wL5CzxxEZys1kStA34xkvHZCRyiRHB17WH4Fyrf1FfKGG2udmZK1r+TZMSU/ppq2ZYHAGYw/XqZKFPogAifl8naYpM6CuxS7eKRA5bj5PxPuizx6mNxOdzfZZxKKttSBTz63WVBYhK4WXWt/xeEQ7Vpkr0fdKRoRbJtqQ3QrVr9AlvRMnSR7seUQemH/Brhkg7F7Cajj5o6tMbHJFZx7LyQ6n1IkQzdlYeXD04Vd9o8VnUDRkhAQsveoSBAOG8HuTjDeAHZmpVsjTbT8OmqZroSe+YQAeblAM7ihkhvnNYUuVmK2rlRI4XGo33fZzHGousBjJd8Ozzgr7+5qSBdNYSPcU4KLUT9aprsIJzHLZx9U3oKCdSYh42ftkx6v6nNdHPucLEGQUGeU9v3LQpQLkpGriCS0Nqn9oDBkQUIqr4f39n+RVLp7uYJfjzNzej5S8SWW6ulA3t3XG0IaiQgIdi3h1gWA/0b2S0uaeEOpcLt9LV+VTUz7ikTPH/qQCBtKIr8d+nfvakIzqlaKqS4vN9rivkiSPzhpYP8vWfza4ztk3T7THJNIo+ZlNxlO68gc9YuGt32f3pIGSFPUnvAzi64qTH/tlQ5Oe0Fme27ME/ASQLi0nUivAX8ggzW2W5WZqyR7/f1KQxLwdTrQAQPnQptYVubfKUrajgpJ8szQMjyPnN9wXspKZK4kxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R9L5SnE2BT8zSyr6EE7VF5",
      "input": {
        "note": "The pen looks like it's standing or leaning right at the jaws, near the bottom-centre of the right wrist view. Closing the gripper here to catch 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_01R9L5SnE2BT8zSyr6EE7VF5",
      "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]: [-0.7521, 0.8825, 0.5873, -0.561, -0.5674, -0.5343, 0.9963, 0.5697, 1.8591, 0.4362, 0.9188, 0.3542, 0.2733, 0.1462]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1367 left_yaw=-0.0052 left_pitch=-0.1287 left_roll=0.0243 left_gripper=0.9963 right_x=0.3655 right_y=0.1656 right_z=0.0179 right_yaw=0.1216 right_pitch=0.0868 right_roll=0.0829 right_gripper=0.1462\nstate[joint_eff]: [-0.1436, -1.935, 6.7214, 1.3455, -0.3101, -0.0269, -0.0073, -0.0205, -4.9162, 2.5915, 1.0476, 0.1685, -0.0904, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46096dbbecc21cba84eee55e71615ee7ff976e9e3fe0f42c468da0fee111faef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aaf2dc7d52620aea5737986f41c1d0541fb8d88acd5b8d0a2043229a425fbbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce0a11a8e6a00c5dcb52d66640488428bfea9027fe9bf70458306af76beded15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 7.073 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]: [-0.7521, 0.8776, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.6212, 1.6787, 0.4953, 0.5549, 0.4065, 0.2996, 0.9965]\nstate[eef_state]: left_x=0.2482 left_y=-0.0972 left_z=0.1378 left_yaw=-0.0068 left_pitch=-0.1251 left_roll=0.0227 left_gripper=0.9963 right_x=0.3513 right_y=0.17 right_z=0.0339 right_yaw=0.118 right_pitch=-0.0116 right_roll=0.0238 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.6615, 6.7214, 1.3455, -0.3053, -0.0317, -0.0122, 0.2256, -3.959, 2.8513, 0.8718, -0.1148, -0.3248, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7521, 0.8776, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.5663, 1.8534, 0.4427, 0.9112, 0.3725, 0.2996, 0.9965]\nstate[eef_state]: left_x=0.2482 left_y=-0.0972 left_z=0.1378 left_yaw=-0.0068 left_pitch=-0.1251 left_roll=0.0227 left_gripper=0.9963 right_x=0.3685 right_y=0.1623 right_z=0.021 right_yaw=0.0887 right_pitch=0.0936 right_roll=0.1006 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.5521, 6.9402, 1.3455, -0.3101, -0.0513, -0.0073, 0.0889, -4.4786, 2.0171, 1.1306, 0.0073, -0.3785, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7521, 0.8825, 0.5873, -0.561, -0.5674, -0.5343, 0.9963, 0.5697, 1.8591, 0.4362, 0.9188, 0.3542, 0.2733, 0.1462]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1367 left_yaw=-0.0052 left_pitch=-0.1287 left_roll=0.0243 left_gripper=0.9963 right_x=0.3655 right_y=0.1656 right_z=0.0179 right_yaw=0.1216 right_pitch=0.0868 right_roll=0.0829 right_gripper=0.1462\nstate[joint_eff]: [-0.1436, -1.935, 6.7214, 1.3455, -0.3101, -0.0269, -0.0073, -0.0205, -4.9162, 2.5915, 1.0476, 0.1685, -0.0904, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46096dbbecc21cba84eee55e71615ee7ff976e9e3fe0f42c468da0fee111faef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aaf2dc7d52620aea5737986f41c1d0541fb8d88acd5b8d0a2043229a425fbbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce0a11a8e6a00c5dcb52d66640488428bfea9027fe9bf70458306af76beded15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDFD6Xz3pDoLb5VEyjhoMv/3dS+nyjvQEGl79IjBp3/l+xZhzq/JvAKR13Y5j05fpzpyU+rU+kMMhUO12pEhJSRQXjz3g9StK7s2xfH0qhQZwhjQvXLdzSscqTxBcDbZxlexsqFeWnm2ztIBueboNW95o3gUUVGkTI9SuN1nSKpsDxP6WOFdc9LLEQP8Ox/1nxefGgG7lkMU2Orz+i2nsXCxPR19PC+9pfB2MDe8/SZHOQq6IpRysaZCf7WuwbQe2qw3tGLRuveTUp2ODdjPQAlyUW7cuQVHZbvfZv9eQjbokyIEGESebFYvpKFsksteUTpnVLo/lYWqGv+GpjvntonbD6wurZkT9nSLHCr3IdoNHrOqtVI+ryUz9eS+alufX8uuOMBuKLAnrxxDYGXMDPn755WSehGldhNZrK2vV7YZDd4miYKr2Kf5SqPnYUIqtcXjLWobbQrP9UesE9BBKvrAd32wyXEmSjlytkX782z1yBmb5L2y6x3h8+ApJVXtSx2KcF/Npr531TIc012LcbYBVn7vQWcpxOzGohMR3WLGxcsFvgg+cXGqSh42Btooghmy312DIn+YjcljWRU/tVapNElqowpKmEwD2vcB3kAI9hIEmSpAY7AsaUU07sPPMsIo4r3SDx76a6yyP6u32wmACTioB/M+GvOcPrBEuuRhIQ4VPA4EopcGnOLf1aOb1Lv7XsXIAZnEdSVo9dRHHvNU6W9wU6Vtawv07nIzOA3jTtFutRFXUI6gpYlPP0zUNAL2DR6jHsjgculFL+24yN7c9tEZuL7NWnLJB/mNJF2Bhoum1zhkeLGU3Hoy58l8BX8Fcfd7DoC85Wo/+VLNa7jYWZepATnBRT31RzB4+rTc2aDt+eWVEsU6RI52cyzAR7I4BoQYRsJqXrWRYE+SnETNcgtbcdDlrz9GiiJs6I8cudI/XR66ixk46T3OsPGIBqEUCKAEg1130pbGwEd/kSV/5pQ9yRj/9hCH0jHsnfwNs/4V9t/0DLko7UF9s9TNos0u0Y0HlUF6JMel05A1cC5ffS4rPcEoM2q7/hB9ViDKzTkTUsdKPQF6M2TKAU6UR7POUgyZe67PmavoLKfjsbe/wjaBTHuqv1hYzTaSO1/qSLYtRtBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LD2Jfj8Pc8Ar4eScDqERkb",
      "input": {
        "note": "Gripper settled at 0.146, so the pen appears to be held. Lifting straight up and over into the right basket.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.18,
          "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_01LD2Jfj8Pc8Ar4eScDqERkb",
      "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]: [-0.7521, 0.8825, 0.5869, -0.5606, -0.5674, -0.5346, 0.9963, 0.5556, 1.4288, 1.0264, -0.1532, 0.3275, 0.2501, 0.1509]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1366 left_yaw=-0.005 left_pitch=-0.1286 left_roll=0.024 left_gripper=0.9963 right_x=0.3963 right_y=0.1834 right_z=0.2076 right_yaw=0.1435 right_pitch=0.0352 right_roll=0.0532 right_gripper=0.1509\nstate[joint_eff]: [-0.0889, -1.5795, 6.8718, 1.4335, -0.2857, -0.0415, -0.0073, -0.759, -8.4308, 10.2085, 1.7802, 0.1245, 0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d977d9d97fb39260b72ba6ade9a6ab1c500558af720c9c98585c132ff3a2c51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c1a99064371bd24243098886a9f3c02b5dc1d0d334a909b14ab70e1debc85c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f81d054e675e6e7ba86b088b7a57c0234122a58526a49a30140e9298dbda1308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.882 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]: [-0.7521, 0.8776, 0.5873, -0.561, -0.5674, -0.532, 0.9963, 0.5663, 1.8534, 0.4427, 0.9112, 0.3725, 0.2996, 0.9965]\nstate[eef_state]: left_x=0.2482 left_y=-0.0972 left_z=0.1378 left_yaw=-0.0068 left_pitch=-0.1251 left_roll=0.0227 left_gripper=0.9963 right_x=0.3685 right_y=0.1623 right_z=0.021 right_yaw=0.0887 right_pitch=0.0936 right_roll=0.1006 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.5521, 6.9402, 1.3455, -0.3101, -0.0513, -0.0073, 0.0889, -4.4786, 2.0171, 1.1306, 0.0073, -0.3785, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7521, 0.8825, 0.5873, -0.561, -0.5674, -0.5343, 0.9963, 0.5697, 1.8591, 0.4362, 0.9188, 0.3542, 0.2733, 0.1462]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1367 left_yaw=-0.0052 left_pitch=-0.1287 left_roll=0.0243 left_gripper=0.9963 right_x=0.3655 right_y=0.1656 right_z=0.0179 right_yaw=0.1216 right_pitch=0.0868 right_roll=0.0829 right_gripper=0.1462\nstate[joint_eff]: [-0.1436, -1.935, 6.7214, 1.3455, -0.3101, -0.0269, -0.0073, -0.0205, -4.9162, 2.5915, 1.0476, 0.1685, -0.0904, 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 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]: [-0.7521, 0.8825, 0.5869, -0.5606, -0.5674, -0.5346, 0.9963, 0.5556, 1.4288, 1.0264, -0.1532, 0.3275, 0.2501, 0.1509]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1366 left_yaw=-0.005 left_pitch=-0.1286 left_roll=0.024 left_gripper=0.9963 right_x=0.3963 right_y=0.1834 right_z=0.2076 right_yaw=0.1435 right_pitch=0.0352 right_roll=0.0532 right_gripper=0.1509\nstate[joint_eff]: [-0.0889, -1.5795, 6.8718, 1.4335, -0.2857, -0.0415, -0.0073, -0.759, -8.4308, 10.2085, 1.7802, 0.1245, 0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d977d9d97fb39260b72ba6ade9a6ab1c500558af720c9c98585c132ff3a2c51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c1a99064371bd24243098886a9f3c02b5dc1d0d334a909b14ab70e1debc85c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81d054e675e6e7ba86b088b7a57c0234122a58526a49a30140e9298dbda1308",
        "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_01AnSZW5UwueAAuk37gwvfJ9",
      "input": {
        "note": "I actually picked up the big tan bear, not the pen; the markers are already in the right basket. Bears belong in the left basket, so I'm carrying this one as far left as the right arm allows (the centre of the table) to see if it can be dropped over the left basket.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.4,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01AnSZW5UwueAAuk37gwvfJ9",
      "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]: [-0.7521, 0.8833, 0.5869, -0.561, -0.5674, -0.5346, 0.9963, 0.8936, 2.1639, 2.0708, -0.6022, 0.5846, 0.4393, 0.1532]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1364 left_yaw=-0.0049 left_pitch=-0.1295 left_roll=0.0248 left_gripper=0.9963 right_x=0.4392 right_y=0.3964 right_z=0.2288 right_yaw=0.1745 right_pitch=-0.0046 right_roll=0.0138 right_gripper=0.1532\nstate[joint_eff]: [-0.1026, -1.5521, 6.7761, 1.3748, -0.3101, -0.0269, -0.0073, 0.5812, -13.3538, 9.7846, 1.3114, 0.4713, 0.2418, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b6d7d5553f93f1b6878cbbbc9abe3a777b63f781dd03845fff274556dd6252d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37e01d9577c3a12daf3b3eb57355e0f0bd50c8f88973d2d19074a7257f76bd35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81eeb57ef9e5a9beb04a1631d148c9a68192e3908a060c174aaeaa340a07fb1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 7.904 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]: [-0.7521, 0.8825, 0.5873, -0.561, -0.5674, -0.5343, 0.9963, 0.5697, 1.8591, 0.4362, 0.9188, 0.3542, 0.2733, 0.1462]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1367 left_yaw=-0.0052 left_pitch=-0.1287 left_roll=0.0243 left_gripper=0.9963 right_x=0.3655 right_y=0.1656 right_z=0.0179 right_yaw=0.1216 right_pitch=0.0868 right_roll=0.0829 right_gripper=0.1462\nstate[joint_eff]: [-0.1436, -1.935, 6.7214, 1.3455, -0.3101, -0.0269, -0.0073, -0.0205, -4.9162, 2.5915, 1.0476, 0.1685, -0.0904, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7521, 0.8825, 0.5869, -0.5606, -0.5674, -0.5346, 0.9963, 0.5556, 1.4288, 1.0264, -0.1532, 0.3275, 0.2501, 0.1509]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1366 left_yaw=-0.005 left_pitch=-0.1286 left_roll=0.024 left_gripper=0.9963 right_x=0.3963 right_y=0.1834 right_z=0.2076 right_yaw=0.1435 right_pitch=0.0352 right_roll=0.0532 right_gripper=0.1509\nstate[joint_eff]: [-0.0889, -1.5795, 6.8718, 1.4335, -0.2857, -0.0415, -0.0073, -0.759, -8.4308, 10.2085, 1.7802, 0.1245, 0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7521, 0.8833, 0.5869, -0.561, -0.5674, -0.5346, 0.9963, 0.8936, 2.1639, 2.0708, -0.6022, 0.5846, 0.4393, 0.1532]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1364 left_yaw=-0.0049 left_pitch=-0.1295 left_roll=0.0248 left_gripper=0.9963 right_x=0.4392 right_y=0.3964 right_z=0.2288 right_yaw=0.1745 right_pitch=-0.0046 right_roll=0.0138 right_gripper=0.1532\nstate[joint_eff]: [-0.1026, -1.5521, 6.7761, 1.3748, -0.3101, -0.0269, -0.0073, 0.5812, -13.3538, 9.7846, 1.3114, 0.4713, 0.2418, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b6d7d5553f93f1b6878cbbbc9abe3a777b63f781dd03845fff274556dd6252d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37e01d9577c3a12daf3b3eb57355e0f0bd50c8f88973d2d19074a7257f76bd35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81eeb57ef9e5a9beb04a1631d148c9a68192e3908a060c174aaeaa340a07fb1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AgKEAgSGAI4AUIIdGhpbmtpbmcSDGsCtN7DVUpnL7mvQxoMFFwUMjskUiPzaiPeIjBwhdbIt62BXXLpkxBYxRm/XOlDBUA5J1ZojMriFafDjPDycNeH+po4uwvcXaVE7u8q+QdB+DyP3SW6zpLQ5GQnEqEFzoQ53c+TmLlDfZN0kLxPP4W6CC58rcELqG7QiIeGa1NA8lcP6xnwCmYLBL1ZUwae+sIzIuMrWDDhRc+sJasTVwMYJTxeZP5HqrFtdNOvaMXcT69tyh0lXB2AHSprQV2+yqfT8tTsN8aKJIjNyigPX98ezqGSJi/ix4eUwXD5OByTc4oeTiI/8t0YcRUaKehZypA2dMEMdVlqHxSVJnlGEBG/y4rKWlIIWBoOr8bz4bBfrheZU9P1XOYoYHyNJWqGV7a3pvVrjSrBdFoeNB0SMK9Jc0w5WKjQJSCW76qUcqgS2lLQ+pLjfUy4oeHATIKW9msGscbyZr2HAOKGEV3cKqGtne7bslJxxRfu8I1ZDPB/TwzI+3EpL9ovHHp4L6PBYEX8gmfSaL+dN/cLfEEUSAizPg9aqhqHoXyfFwzQTUaeNdruNOCjbHxgb1MmmqVGpwVD4N7ysp9fJQrCCNv956YUDteZNigQwxuhGnrEHPOADAxwCDT4GlULDJRxl7fd3AKelLHYuCENfkXfCaUpTFaMOmeKluNtdwQj1s8spFHP/SK5Tpxi6gUrvZdiT5+HwqnL4PD5gS/9W66fH/aoKgTyT0IyyeOpd5cGz/TwMPPmsrJY6UKWoGGMjzxhrx6LjGEYRHZwcgKIyIMB8TXKjoQryuLwapIzN2WfTHSTAN6ynTHlUrHmkxSQEaDBYtGIi6aiRn3N3hxDydOnldrKxhKgLW+u58NIPvC1/G7XRYB1iY6geB2Nf+j74eVy6KFMuN6Rhot6Umdxb4MTVS306FZt5BgMBOolUZTlj1ye40Q161R8GUvAzqAZ+IaaJvYRJbNWKCFlRd1dkazrii/pJjoEkf5g/WYPCH0+EIDoFxT8/sPdD3b9sobLSkljXGKY6T2tUzFobvxlJJAP8IrUH4ofrTsmI16dxyyUs2sRs316iGC3KZQjEIEomz38446on790CpF1GTTfDEQwFnJX45Gx8ovJpg4KT1Xsg8WF0zCxczNJpklY7yZFGKSl7sPt1RqY7rXbvtjLS/Nod1fzKjwBFykjmsCA4ZONbdyUzwsJjx3lNCyZiPxUrhpgMc+BadjbBAnuT7uQfw3tg+C6eXQ9WTkfd1Z5k3DrcoP84Ih8VnLOlSeTYvEEEa2zqhOt+e9epiNHJvwjq6QEvmN5/zaXkkdJmEybvo6m6JCQ9VXE6MpHvV1k5n9LW2gDMF/2qZXGaZOU5V6DE4gWcrHXRMz50MSsxiLWFMyGXew/Y5fgG8+b11I69jgbfCaC49AmjCmPrB+wsgwjyyUvMGENkEw6zkxNOeBzyd29W7ewnb/ETPakL33zuH0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PVxXu2xRGw8xN7XBm5WHqG",
      "input": {
        "note": "The top view shows the right gripper over the right half of the left basket, with the bear hanging above the basket in the wrist view. Releasing the bear into the left basket.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PVxXu2xRGw8xN7XBm5WHqG",
      "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]: [-0.7521, 0.8833, 0.5869, -0.5606, -0.5674, -0.5346, 0.9963, 0.8955, 2.1826, 2.067, -0.6167, 0.5674, 0.4343, 0.9954]\nstate[eef_state]: left_x=0.2483 left_y=-0.0973 left_z=0.1364 left_yaw=-0.0049 left_pitch=-0.1292 left_roll=0.0246 left_gripper=0.9963 right_x=0.4369 right_y=0.3994 right_z=0.2132 right_yaw=0.1917 right_pitch=-0.0399 right_roll=-0.006 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.5658, 6.7077, 1.3455, -0.3101, -0.0415, -0.0122, -0.1983, -14.2838, 7.3231, 1.6581, 0.3541, -0.0073, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35080a575943a2a547c68b5b6c8cae7088ec127e5d8302a69967d9f8557139cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c8e0d7749d43bd2b33b0b051ac6d4c95ddc2831107d5f227d011b774245d5c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b4d3e9440755462e3be9211ecec5a52a8c9b4ac023eeddda66c11b4476e3f95",
        "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 · 16.09 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]: [-0.7521, 0.8825, 0.5869, -0.5606, -0.5674, -0.5346, 0.9963, 0.5556, 1.4288, 1.0264, -0.1532, 0.3275, 0.2501, 0.1509]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1366 left_yaw=-0.005 left_pitch=-0.1286 left_roll=0.024 left_gripper=0.9963 right_x=0.3963 right_y=0.1834 right_z=0.2076 right_yaw=0.1435 right_pitch=0.0352 right_roll=0.0532 right_gripper=0.1509\nstate[joint_eff]: [-0.0889, -1.5795, 6.8718, 1.4335, -0.2857, -0.0415, -0.0073, -0.759, -8.4308, 10.2085, 1.7802, 0.1245, 0.0806, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7521, 0.8833, 0.5869, -0.561, -0.5674, -0.5346, 0.9963, 0.8936, 2.1639, 2.0708, -0.6022, 0.5846, 0.4393, 0.1532]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1364 left_yaw=-0.0049 left_pitch=-0.1295 left_roll=0.0248 left_gripper=0.9963 right_x=0.4392 right_y=0.3964 right_z=0.2288 right_yaw=0.1745 right_pitch=-0.0046 right_roll=0.0138 right_gripper=0.1532\nstate[joint_eff]: [-0.1026, -1.5521, 6.7761, 1.3748, -0.3101, -0.0269, -0.0073, 0.5812, -13.3538, 9.7846, 1.3114, 0.4713, 0.2418, 1.0232]",
      "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]: [-0.7521, 0.8833, 0.5869, -0.5606, -0.5674, -0.5346, 0.9963, 0.8955, 2.1826, 2.067, -0.6167, 0.5674, 0.4343, 0.9954]\nstate[eef_state]: left_x=0.2483 left_y=-0.0973 left_z=0.1364 left_yaw=-0.0049 left_pitch=-0.1292 left_roll=0.0246 left_gripper=0.9963 right_x=0.4369 right_y=0.3994 right_z=0.2132 right_yaw=0.1917 right_pitch=-0.0399 right_roll=-0.006 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.5658, 6.7077, 1.3455, -0.3101, -0.0415, -0.0122, -0.1983, -14.2838, 7.3231, 1.6581, 0.3541, -0.0073, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35080a575943a2a547c68b5b6c8cae7088ec127e5d8302a69967d9f8557139cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c8e0d7749d43bd2b33b0b051ac6d4c95ddc2831107d5f227d011b774245d5c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b4d3e9440755462e3be9211ecec5a52a8c9b4ac023eeddda66c11b4476e3f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9A0KEAgSGAI4AUIIdGhpbmtpbmcSDICyUKcHvM1ujwIBMRoMN0KgYUFnXDv88Pm1IjBoS3fUeBER3/VQFJjVOKU45ZeceoCO4qnFwec4z106ltl8fepXGPcB5FgWpzjFxhsqkQ22lGZT69k9ha2ZW3FsvUauuupk+qj2nWmOkyI3ebBtJejWsWt1ii5nlqFHm9eBFTXBIe4Hh9Ogdeq9k0HUxaotRyqbRJ3USYxZIqSQT8XIrPI5mA7Eto/uUqCNElSo+YwhXK6L++XBSEMd25Oss8Db96cNi3F3JeOpVUT3h/7J4V0ieyykNgZK6J3HMeZsoC9dE7t3IwhtMjYYSmYwI7Pgh7rKK7D/SE6aIsFqLSUoVHZfqfFlotZB9AJKkpN12F1nnNbF9PC3CgCsLGsURHP4AdDbcJR/QKgOQ73HoHSEmAd2Ciq480NUiL/C6+EJauDWqXtEALasAKILtqVxpiy3jTb9OOLRCfubi/dx29i4ialstCBKqk0UQK1EPzJlyhE/6EMyOyp+v6wqUKC9VE8sRwmnx8J+SnFk+PW8QRrZ+SNH6Izf8OQwHoQ3/AwrfwX9IdureWabf6kVDfgxJzLuBvgzWTeSGPgX0/g82E4G7fIMAcWFXneDp/YKVz6N74628/4/4pD75t4ivLXYdYSepiLFeeqXmRIdq6n83i6lhvoMffN0PgCOM4uyXv3D5TVzyy/jMWnjqwv6IiBrLWXHjqRtWePiqgOXgAHFbAF1dmxaP/mBCSqJY5o0W8m2j10KazCOW96VTae8v/54KiRAOKOYOPOTwq5OU2O45LolQzY2Il2pFzNIcmj5kvTIbsVV0C7kCJcwW60inNkW5qw6nT44qeaZ3xkOmwQgzQTXZjiNKl1CES4EeZ5AQrqLJyA1A3XiZOD9l+BuxIKI7srKQf2dsGxiS+0A/g1Lx64HrUfspeSIDx6Wy4+oH88oMcA/Klka6iBNUs0qa8M3wRDU387x011BvoxeOnVZcIGb/+dvYEKUDJ3BSMP95jt6kgSVDWfUlFfU63WlcOEdkDlKwoY9Lm2kBHTSMgQhzcdCFaPFEfyRFrLfMqLGtzVUfb1Uz+Poz4g6zO8JxvWpnYJ8Qo/brvcCSDhMv8Huf4K7AXmXZBT+vm8dqHB5dgyH/RwbOblyUKlKO87bMv4Ync6HwG1dl70Z0vxx4fVa1e3UEf43tiKzKs4ldAOTPz+1RAIWwVb4njbcuZsUPTQog7+nrhQmuYYKB/f4s2MiKb1mgEGggLYhGwAXcHt+LhjuDc7hKZPstDGan4lls0Q2Qp6RrYr14TClEkDSM/5ilhSK47CyORLPW6hoMb5KshD/eOb6guAN5yKKJMluu7EkhraFk+TqISd6nxOXtNpwz0H5k14lccU8rqoTTC5WbVnE0/wckcj4x/jAk7px6NBY/Yn6CX2udNQ6DBkXxV/mCaRQ7gaxcFqzDNitMwT4fHCO66cVBxNnV7KAnUFfzE2r1lW13OCIpTRnPIvyFcvz7eqaFhIZcGE+Z7L2VzPprO5Pz4/hht0livLyz0VFbaXhkxpaShBUi8OpO0cI8UcvtdteGly/Q9gE9T2SdpV/mzL/R9nCXZZ0Hnn7Ri1/fmiqpB8cXXrnoZnA4ejCtiZInaQAYLVWaPdEOK/RM6USnLyz2km/S74nCMZvWHj5hk4DliNZgPl4t3zPza+A97qF1+AUmM+8iO5whr7QY8J9y1eXK8j7IhK+KWGZjAvmPp7nzEkRxsSVQsR0DkmPGVj8nHLpJhiZywoHoFfIY9982XxhevyBHiqpF9q80w/hO/Ft6BgsB4TGdADsIDb3uqsHniMhGnV/VFvhnJeQFhH/RoNwvoMI3u32EIZfpsajXt83272Tt2b2LNJrmuLlM9KXK7jFOSTcRmybdOzr0lGvqKkFz79dWom+6Jb6BSU8TqECG6k6PRU8HAWWOsXoTn/SqQOUDQd7ZUFi41p+6ieLrFMyCACPKGZZwW09S7xyr0hVBlSm7Uv5fx0038xckBGcIW/MPATsKezxt5gUpB2CrBhGRv9GGC9mqM+d98YtbfIt8UMQ4xw7x9Q9RK4bTzyJ8uOOfl8QywfIhdVZ0BCATURGJtJ0bqswG/7pxb1c/3w+hEH92gdqVk03F8e0thZ7XjvqIXQzL0YjzEKFgQAdlqJ8DK6ByjtasbYyO4fjH3ITVzhQNuA4z+Xh8iE5GrI7pvlydpcaYtUMRPdTDFm8kjSYissvPJFrFYztvNxSX8VHbNL0NpGJMXGYQQxZdmv1yArzSyTfniqZSqdSBQW6fFnaC8du8pYqBEvUxcLRHX0VdHTVQt3ICriEYLYl+v8XyIuo0gMZz4UdNG+X3mHYMY4gCMtLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0158rzUfzVSNubYodcWevkHf",
      "input": {
        "note": "The bear fell short and landed on the table just in front of the gap between the baskets. Sending the right arm home and bringing the left arm above the bear to pick it up and put it in the left basket.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.27,
          "left_z": 0.15,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 30 steps (3.0s)",
      "tool_use_id": "toolu_0158rzUfzVSNubYodcWevkHf",
      "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]: [-0.8902, 1.729, 1.2522, -0.4808, -0.6365, -0.6743, 0.9964, 0.1455, 0.8837, 0.6514, -0.3759, 0.0044, -0.0067, 0.9963]\nstate[eef_state]: left_x=0.3543 left_y=-0.265 left_z=0.1402 left_yaw=-0.0093 left_pitch=-0.156 left_roll=0.0288 left_gripper=0.9964 right_x=0.3037 right_y=0.0474 right_z=0.1772 right_yaw=0.1417 right_pitch=-0.0493 right_roll=-0.001 right_gripper=0.9963\nstate[joint_eff]: [-0.6085, -7.9111, 8.8684, 1.2821, -0.525, 0.0073, -0.0073, -0.212, -2.1675, 7.2, 1.8974, -0.232, -0.1343, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeee21d23ca3c7e925d13065b7b6f7a683363ef28576cd52b66f38d925b4129b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb7c12ce62acad75d58614950a45f11e55413c86d69e343e02eb4ac073ca9b30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3704d661d07e9a526edab4bb997f443d05f25b978f888cc39afc92609d6b09eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 6.698 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]: [-0.7521, 0.8833, 0.5869, -0.561, -0.5674, -0.5346, 0.9963, 0.8936, 2.1639, 2.0708, -0.6022, 0.5846, 0.4393, 0.1532]\nstate[eef_state]: left_x=0.2482 left_y=-0.0973 left_z=0.1364 left_yaw=-0.0049 left_pitch=-0.1295 left_roll=0.0248 left_gripper=0.9963 right_x=0.4392 right_y=0.3964 right_z=0.2288 right_yaw=0.1745 right_pitch=-0.0046 right_roll=0.0138 right_gripper=0.1532\nstate[joint_eff]: [-0.1026, -1.5521, 6.7761, 1.3748, -0.3101, -0.0269, -0.0073, 0.5812, -13.3538, 9.7846, 1.3114, 0.4713, 0.2418, 1.0232]",
      "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]: [-0.7521, 0.8833, 0.5869, -0.5606, -0.5674, -0.5346, 0.9963, 0.8955, 2.1826, 2.067, -0.6167, 0.5674, 0.4343, 0.9954]\nstate[eef_state]: left_x=0.2483 left_y=-0.0973 left_z=0.1364 left_yaw=-0.0049 left_pitch=-0.1292 left_roll=0.0246 left_gripper=0.9963 right_x=0.4369 right_y=0.3994 right_z=0.2132 right_yaw=0.1917 right_pitch=-0.0399 right_roll=-0.006 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.5658, 6.7077, 1.3455, -0.3101, -0.0415, -0.0122, -0.1983, -14.2838, 7.3231, 1.6581, 0.3541, -0.0073, -0.2076]",
      "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]: [-0.8902, 1.729, 1.2522, -0.4808, -0.6365, -0.6743, 0.9964, 0.1455, 0.8837, 0.6514, -0.3759, 0.0044, -0.0067, 0.9963]\nstate[eef_state]: left_x=0.3543 left_y=-0.265 left_z=0.1402 left_yaw=-0.0093 left_pitch=-0.156 left_roll=0.0288 left_gripper=0.9964 right_x=0.3037 right_y=0.0474 right_z=0.1772 right_yaw=0.1417 right_pitch=-0.0493 right_roll=-0.001 right_gripper=0.9963\nstate[joint_eff]: [-0.6085, -7.9111, 8.8684, 1.2821, -0.525, 0.0073, -0.0073, -0.212, -2.1675, 7.2, 1.8974, -0.232, -0.1343, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeee21d23ca3c7e925d13065b7b6f7a683363ef28576cd52b66f38d925b4129b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb7c12ce62acad75d58614950a45f11e55413c86d69e343e02eb4ac073ca9b30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3704d661d07e9a526edab4bb997f443d05f25b978f888cc39afc92609d6b09eb",
        "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_01DCERouS6yoGLs8FdJCx8Mj",
      "input": {
        "note": "The right basket holds one marker. Still on the table: the blue pen lying crosswise at right-centre, the yellow marker in the centre, and the bears (tan, grey, small brown). Moving both arms at once: the right arm over the pen, turned so its jaws close across it, and the left arm over the small brown bear.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.14,
          "left_z": 0.12,
          "right_x": 0.26,
          "right_y": 0.16,
          "right_yaw": 1.2,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01DCERouS6yoGLs8FdJCx8Mj",
      "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]: [-0.7296, 1.2617, 0.7189, -0.3523, -0.5453, -0.5442, 0.9964, 0.094, 1.293, 0.5114, -0.2077, -0.7471, -0.7494, 0.9965]\nstate[eef_state]: left_x=0.3011 left_y=-0.1415 left_z=0.1159 left_yaw=0.0106 left_pitch=-0.1686 left_roll=0.0307 left_gripper=0.9964 right_x=0.2606 right_y=0.1488 right_z=0.0691 right_yaw=1.0979 right_pitch=-0.1017 right_roll=0.0486 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -4.7932, 6.694, 1.4969, -0.2711, 0.1832, -0.0171, 0.4171, -4.6427, 8.335, 1.0916, -0.6325, -0.0757, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dbc1728618d6ba9c0a1e0d2f2567c250ea524244a382a73302b92533cf92354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33a2ee5559de2c654edeb7fec97a45d61ca5f41d830ae0c12a3c54e69c31e4d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5b4274326167d6f023431a9d247f58ac19a65893fcc10efe3c9d502c43c12a1",
        "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 · 7.967 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]: [-0.7521, 0.8833, 0.5869, -0.5606, -0.5674, -0.5346, 0.9963, 0.8955, 2.1826, 2.067, -0.6167, 0.5674, 0.4343, 0.9954]\nstate[eef_state]: left_x=0.2483 left_y=-0.0973 left_z=0.1364 left_yaw=-0.0049 left_pitch=-0.1292 left_roll=0.0246 left_gripper=0.9963 right_x=0.4369 right_y=0.3994 right_z=0.2132 right_yaw=0.1917 right_pitch=-0.0399 right_roll=-0.006 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.5658, 6.7077, 1.3455, -0.3101, -0.0415, -0.0122, -0.1983, -14.2838, 7.3231, 1.6581, 0.3541, -0.0073, -0.2076]",
      "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]: [-0.8902, 1.729, 1.2522, -0.4808, -0.6365, -0.6743, 0.9964, 0.1455, 0.8837, 0.6514, -0.3759, 0.0044, -0.0067, 0.9963]\nstate[eef_state]: left_x=0.3543 left_y=-0.265 left_z=0.1402 left_yaw=-0.0093 left_pitch=-0.156 left_roll=0.0288 left_gripper=0.9964 right_x=0.3037 right_y=0.0474 right_z=0.1772 right_yaw=0.1417 right_pitch=-0.0493 right_roll=-0.001 right_gripper=0.9963\nstate[joint_eff]: [-0.6085, -7.9111, 8.8684, 1.2821, -0.525, 0.0073, -0.0073, -0.212, -2.1675, 7.2, 1.8974, -0.232, -0.1343, 0.0855]",
      "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]: [-0.7296, 1.2617, 0.7189, -0.3523, -0.5453, -0.5442, 0.9964, 0.094, 1.293, 0.5114, -0.2077, -0.7471, -0.7494, 0.9965]\nstate[eef_state]: left_x=0.3011 left_y=-0.1415 left_z=0.1159 left_yaw=0.0106 left_pitch=-0.1686 left_roll=0.0307 left_gripper=0.9964 right_x=0.2606 right_y=0.1488 right_z=0.0691 right_yaw=1.0979 right_pitch=-0.1017 right_roll=0.0486 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -4.7932, 6.694, 1.4969, -0.2711, 0.1832, -0.0171, 0.4171, -4.6427, 8.335, 1.0916, -0.6325, -0.0757, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dbc1728618d6ba9c0a1e0d2f2567c250ea524244a382a73302b92533cf92354",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33a2ee5559de2c654edeb7fec97a45d61ca5f41d830ae0c12a3c54e69c31e4d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5b4274326167d6f023431a9d247f58ac19a65893fcc10efe3c9d502c43c12a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwsKEAgSGAI4AUIIdGhpbmtpbmcSDHP308aZM4KtxfmQFhoMZT28xtHOUS6Xwf+iIjANuKVJphOMzI0FyUwIqMbnZoGzxGLWUm0Na3rd6RwznrKEXDcwGfqc3dTJ9TnJoCkqvApVOcAMqnfrcAU44HFKnwEY8b15jVJMntn+V8VkbGXx+bAmDquYZFjDQn8C+BNT2WEop2gMV/54suQVhxqYCWCDDqXShs3ndvxDo4YN+jRqukHkc/GC13xPMeI3/RZ9UPqgZPKb2tu4QUVuolXCRuyWv+j4CbwVGlaze/6fWyjnH5FDrySUoQsLW6Lvlm/g7kk+uAENZ0+/3oL0PCqHgm/8q7qTAxbGBkRe8E6RXAG9oGZwNBVdNlZ/bo1w1/y1zv0QUcgJjyY+44wILlclOtvLerfiQtXVkaHf2zVnIwqOKtmQ+XYPMEF5g8n+tgGTw3YoGPDbhX+dkmhnudxoRQPrydx1i2BGoqXH/EO0boi5JqouU5QOYFTg5SNqhflvvHmyw+NQyP4aWR8ecp2UqXkvB/+4SUIcbWkuDeWqO1Tkmu4nidfGb0ly5TrSNEgKRyRWSTLndv7Q8U7XJQQuMV8MI0dLwCDxVnRA6HlCA0ICiBidK7UGZ8k1HGMGUav6bRZo3W6HQpUjBrQJJUjjRs42gOOUDb1tE4Ab3X8xfyH02d54q1GzoPDb1QAwaGkbK2AZVC0CqhM0ouGxUYOmaN1k19lBVJsS38oo6yY+ksGTdJiNnOKQDjsDIVb8hxB6wCKpkBNTVYa6Wv4eedxqhrIQtYOtnFC38GZPapk1erk7k4mrj1L6GNvsso9ebAFG1PGtrbvRboZmSlzHuFlXgvjen02bawXGNMczASX6mWNTqoYyYhQ4N+dAaUMWsmemmK8D086tKjPOoyi8GsVT5Fswfacxire4l0eaKcs5XDhZQvSzKiRxFqH9qQGeDlSOtQInf0f6Iuq/4GdwGaz5OO8hru6DJI5lsg8pPaMVoXmsy3paxSYV4fVuDwoBa/Tq1fBMovdubzJXEhF11MoYQmWmOVW0xyYkXWuSf4YSc57Dxa3Cpo0vgyT5STKwz+97jbmHThMkeOKI1Bx5a28BnFJ0iHMr5GBtLZlkDS9wp2Fh5i61e6dPpve2x5wy3lO4HlVAdwhk0eAu4gzoi5u3S5BTF6x3hksRkdkfxif+bBVQS2DnxDK/TaJElsUcBWrtXzDq95LkZAEieZ1OfcvBxTm6lWKqNHQ/Tw1LPKFheKH381ZZjgc6rPiFU9ne9pJYKv/YK24bQHprnbZsJiRN5XR+mTsvh1ZfRgL651x0hGcJiJnYfDSzBULSfJVrlYsS3a0yMnLzWZhNAmFwSPpIBM23OXsfD+n6uueHaqO3/b5cU/nyJF/WU6Rpa3mg+jzmfEw+51folqCnC8s9oH7JuTXhox4TFUZdXwoVLgJVqPo2euTT8LF2bYwN/Uo6zbLsOy86hPm194qVdOvXCsX4qVLCC982LTfzMOCRXnthAj8jdisIQQAZ8gyKAJCjlg19jfiqzWs61I0ZGsr9rfEB7EyhkIQp7CHBf6z6FTK/5LFU9rO5GpRxojdI3E93cr0yA9Gq8qMWbCXsR96AiYajW8dHUuETm2DLCRQ6PO8E1k5hKweAg8gRIe79pK04Jyw8Ub+r0+BiCgXMqnI4XEZZmUeiLlNlm5/71EGXaQoRurBN5n9YYe/J3yaaL2QGpe0nF/889fdkXKh0XVmzrdoPWO46krdpctkf99tfQ1JB0CWg0IPoBwY7CEB3q9meGdWIjjIT08GW/X3A3JCcKcJckDSYIH58TTBLEkk3V6jfGm4AYDzcKo4zhAsoG5vJSVDkN1NBKx3hVrPWJGppLOkX88iFpCoG1nEidlMkVhmAR25TO7Fx6D/bm4IRdcy4ZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Agq1p3PhHiBuku3BMA9Fhc",
      "input": {
        "note": "Right wrist view: the blue pen crosses the jaw line near the bottom. Left wrist view: the small brown bear sits just under and slightly right of the jaws. Lowering both arms to grasp height.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.15,
          "left_z": 0.025,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Agq1p3PhHiBuku3BMA9Fhc",
      "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]: [-0.7582, 1.491, 0.5282, 0.0483, -0.556, -0.5762, 0.9964, 0.0971, 1.5661, 0.3813, 0.2043, -0.783, -0.7708, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1514 left_z=0.0341 left_yaw=0.0093 left_pitch=-0.1763 left_roll=0.0263 left_gripper=0.9964 right_x=0.2616 right_y=0.1543 right_z=0.0095 right_yaw=1.1328 right_pitch=-0.0712 right_roll=0.0397 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -5.1214, 4.3556, 0.8669, -0.3053, 0.0904, -0.0171, -0.4991, -2.7145, 2.5231, 0.4762, 0.2222, 0.2027, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5234464a8e49627e66e9cc592d600e5d2ce58f29cca4795be3e3ee021967fc20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04ba3ff6d401eedb75a19775db952692c3b925557d7ebdcae98612e0eaf4bc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a7cd2f88f4e7eda319006282e4ed3333ab6d8026c0b32e43d6ec52d63b8b116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.003 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]: [-0.8902, 1.729, 1.2522, -0.4808, -0.6365, -0.6743, 0.9964, 0.1455, 0.8837, 0.6514, -0.3759, 0.0044, -0.0067, 0.9963]\nstate[eef_state]: left_x=0.3543 left_y=-0.265 left_z=0.1402 left_yaw=-0.0093 left_pitch=-0.156 left_roll=0.0288 left_gripper=0.9964 right_x=0.3037 right_y=0.0474 right_z=0.1772 right_yaw=0.1417 right_pitch=-0.0493 right_roll=-0.001 right_gripper=0.9963\nstate[joint_eff]: [-0.6085, -7.9111, 8.8684, 1.2821, -0.525, 0.0073, -0.0073, -0.212, -2.1675, 7.2, 1.8974, -0.232, -0.1343, 0.0855]",
      "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]: [-0.7296, 1.2617, 0.7189, -0.3523, -0.5453, -0.5442, 0.9964, 0.094, 1.293, 0.5114, -0.2077, -0.7471, -0.7494, 0.9965]\nstate[eef_state]: left_x=0.3011 left_y=-0.1415 left_z=0.1159 left_yaw=0.0106 left_pitch=-0.1686 left_roll=0.0307 left_gripper=0.9964 right_x=0.2606 right_y=0.1488 right_z=0.0691 right_yaw=1.0979 right_pitch=-0.1017 right_roll=0.0486 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -4.7932, 6.694, 1.4969, -0.2711, 0.1832, -0.0171, 0.4171, -4.6427, 8.335, 1.0916, -0.6325, -0.0757, 0.0024]",
      "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]: [-0.7582, 1.491, 0.5282, 0.0483, -0.556, -0.5762, 0.9964, 0.0971, 1.5661, 0.3813, 0.2043, -0.783, -0.7708, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1514 left_z=0.0341 left_yaw=0.0093 left_pitch=-0.1763 left_roll=0.0263 left_gripper=0.9964 right_x=0.2616 right_y=0.1543 right_z=0.0095 right_yaw=1.1328 right_pitch=-0.0712 right_roll=0.0397 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -5.1214, 4.3556, 0.8669, -0.3053, 0.0904, -0.0171, -0.4991, -2.7145, 2.5231, 0.4762, 0.2222, 0.2027, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5234464a8e49627e66e9cc592d600e5d2ce58f29cca4795be3e3ee021967fc20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04ba3ff6d401eedb75a19775db952692c3b925557d7ebdcae98612e0eaf4bc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a7cd2f88f4e7eda319006282e4ed3333ab6d8026c0b32e43d6ec52d63b8b116",
        "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_01WcMFvm1rLpLDkxwNRWHovd",
      "input": {
        "note": "The pen is right at the left jaw of the rotated right gripper, and the bear is slightly right of centre in the left gripper. Making small corrections on both arms so each object sits centred between the jaws.",
        "targets": {
          "left_y": -0.168,
          "right_x": 0.238,
          "right_y": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WcMFvm1rLpLDkxwNRWHovd",
      "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]: [-0.7876, 1.5299, 0.5411, 0.0711, -0.5728, -0.5995, 0.9964, 0.1417, 1.5154, 0.3187, 0.2985, -0.7486, -0.7353, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.1615 left_z=0.0307 left_yaw=0.0047 left_pitch=-0.1687 left_roll=0.0206 left_gripper=0.9964 right_x=0.2548 right_y=0.1614 right_z=0.0136 right_yaw=1.1331 right_pitch=-0.0513 right_roll=-0.0161 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -5.1897, 6.9949, 1.2332, -0.398, -0.0513, -0.0171, 0.1162, -3.5761, 4.5197, 1.1209, -0.3541, 0.2076, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc4261b06ed15201cfefd6790279d9ff30b4e9ba36f4bc8ae93501c03c5500c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:572673761757b2ad6866a9a2ab970f9ea659341bd1421f6a3babe712745cd3ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66e2d97cf5d090bd81640b5c14186a75de150ead2efd093c555d79d4a774ee70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.213 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]: [-0.7296, 1.2617, 0.7189, -0.3523, -0.5453, -0.5442, 0.9964, 0.094, 1.293, 0.5114, -0.2077, -0.7471, -0.7494, 0.9965]\nstate[eef_state]: left_x=0.3011 left_y=-0.1415 left_z=0.1159 left_yaw=0.0106 left_pitch=-0.1686 left_roll=0.0307 left_gripper=0.9964 right_x=0.2606 right_y=0.1488 right_z=0.0691 right_yaw=1.0979 right_pitch=-0.1017 right_roll=0.0486 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -4.7932, 6.694, 1.4969, -0.2711, 0.1832, -0.0171, 0.4171, -4.6427, 8.335, 1.0916, -0.6325, -0.0757, 0.0024]",
      "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]: [-0.7582, 1.491, 0.5282, 0.0483, -0.556, -0.5762, 0.9964, 0.0971, 1.5661, 0.3813, 0.2043, -0.783, -0.7708, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1514 left_z=0.0341 left_yaw=0.0093 left_pitch=-0.1763 left_roll=0.0263 left_gripper=0.9964 right_x=0.2616 right_y=0.1543 right_z=0.0095 right_yaw=1.1328 right_pitch=-0.0712 right_roll=0.0397 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -5.1214, 4.3556, 0.8669, -0.3053, 0.0904, -0.0171, -0.4991, -2.7145, 2.5231, 0.4762, 0.2222, 0.2027, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7876, 1.5299, 0.5411, 0.0711, -0.5728, -0.5995, 0.9964, 0.1417, 1.5154, 0.3187, 0.2985, -0.7486, -0.7353, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.1615 left_z=0.0307 left_yaw=0.0047 left_pitch=-0.1687 left_roll=0.0206 left_gripper=0.9964 right_x=0.2548 right_y=0.1614 right_z=0.0136 right_yaw=1.1331 right_pitch=-0.0513 right_roll=-0.0161 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -5.1897, 6.9949, 1.2332, -0.398, -0.0513, -0.0171, 0.1162, -3.5761, 4.5197, 1.1209, -0.3541, 0.2076, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc4261b06ed15201cfefd6790279d9ff30b4e9ba36f4bc8ae93501c03c5500c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:572673761757b2ad6866a9a2ab970f9ea659341bd1421f6a3babe712745cd3ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66e2d97cf5d090bd81640b5c14186a75de150ead2efd093c555d79d4a774ee70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQcKEAgSGAI4AUIIdGhpbmtpbmcSDP5br9phzlfwgFYRMhoM7XRsomkiRyr27tvkIjAdUk8MeM8RJq9Pisi0z38OFDFUPqzRnLaFuSlSsZ8Q990jVok+stUqHdPHh4TA2rIq3gY7oHvtOxs2cRP+4O7njxFoIZwqBAMAm1+LY9xZhRbRQAwbqd7NNSEypduxmfqHZvnsrvivOOp/NgjeIRdur4JnUwt5fvrWufzCTJ/1HMg+9py/5yKECqUdFCS8IIB7vQaTrpVcV13+2T1gq4hdSVcxw5cEEMamafNuLHjv1T7cgWOPLwYJ6Fyez1YRz9XwyyXVVQZPUQWIXYw20nkhFusRZa7Z5CenEQ+VBqqJRdc+70HSMl/VE4Ou2hIvEwGSz4rN59Ngesb9wP9bckcVd/Pz5drh7BaLCk8qoxdyXkjCdZCXxDMeCqgwjQU+6QtDrGzULi/1M+lZZcTzCnebPUIi0qAQLQwHcEVAnBhfbci27R8LlBium1ebwrHhiJXnU4aXF8T3LLsETAHjtsZRfmnRTFDC/88Gr6lBjiyIp6zfUdPX5+mgDV5c4PgjTkXYPSfaD0THTk8KSJCCeUTVyGxqXcVoa7Nu6IU1nYcBIezs1rtmj37NbLsuEn3PWkZQg9oLUyQjY03GIjDh+sAkbR9AX2T5l36/vqrtW5INBRMaJtBzhnYnxziUCnC11py68dq7HwVvmXEq8gHZn2tWYp/9JK4bVkxCW0VlNYO8cMIqRlmzvoUGgzdrN48CmzHwGMNm0/VVyAGwjSRDFruoZs79ZgJqgc4CQoEB6LnHAhmeetnfvk0gF5UeU7i1ImcyxTsPu3bB0+qv/uvQMIBRzzhVp1gI71PKuwJEwFswIysbeXG/dZQ+s09YfXplE7cQkEXJsZE6OAYHPuZtn27VE2/Uv8DhwJLfSuVuCylBZOmugB2Dymiu3IENwjiE5YYLm6+iW2Bxs5dK6CaCE/mNEssMDXzoFswMLpk29NahkiEJ8IclnCCYIyfzzvXtkQDHW+owVoH1gyA+um7v4ir9lBRa5Npxv1VR9ffsxV8genB2/T8+cDUEQLCWmNNtzE44dkGQeG1Z//vPQPTZzvJNko9I57BnPGsDPSkHDaawgh3krMiDvVWq9uo/zxXXZ/LgYqMZV2gi61deK8JHiTHpUprn33upWYSyWJ16ZJNru6qqrBkbno++Kfiu2fEph95p/MCxbfN1iF4jr9dWI8KTOwVvZixWr65EIyXJ8fjjLygd0TTmgHwdKVPBYicTAsQgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QfR2wJX6u8vNfKSWwaAfS1",
      "input": {
        "note": "The small bear is centred between the left jaws, and the pen is near the left jaw of the right gripper. Closing both grippers.",
        "targets": {
          "left_gripper": 0.0,
          "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_01QfR2wJX6u8vNfKSWwaAfS1",
      "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]: [-0.8085, 1.5337, 0.5629, 0.0261, -0.5766, -0.625, 0.1173, 0.1425, 1.5085, 0.3115, 0.3233, -0.7422, -0.7467, 0.0098]\nstate[eef_state]: left_x=0.2973 left_y=-0.1667 left_z=0.0308 left_yaw=0.0037 left_pitch=-0.1849 left_roll=0.0233 left_gripper=0.1173 right_x=0.2572 right_y=0.1611 right_z=0.0159 right_yaw=1.1347 right_pitch=-0.0424 right_roll=-0.0488 right_gripper=0.0098\nstate[joint_eff]: [-0.0342, -5.2581, 6.5026, 1.1941, -0.3834, -0.0122, 1.0183, -0.1709, -3.8359, 5.0256, 1.1209, -0.3541, 0.105, 0.7985]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0490f5b35ddac0a622c72629b9e20a3453a7e29364875abb93b5bf19fd99d099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0e6f6f3d15740914f15c24d293209d618dd367cd53f189c9fb19d9074ce443",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2aa268d24676fa9a50deafd8550ce2c372dad34724801c79ea4c68740b6e488e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 5.205 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]: [-0.7582, 1.491, 0.5282, 0.0483, -0.556, -0.5762, 0.9964, 0.0971, 1.5661, 0.3813, 0.2043, -0.783, -0.7708, 0.9965]\nstate[eef_state]: left_x=0.3007 left_y=-0.1514 left_z=0.0341 left_yaw=0.0093 left_pitch=-0.1763 left_roll=0.0263 left_gripper=0.9964 right_x=0.2616 right_y=0.1543 right_z=0.0095 right_yaw=1.1328 right_pitch=-0.0712 right_roll=0.0397 right_gripper=0.9965\nstate[joint_eff]: [-0.4171, -5.1214, 4.3556, 0.8669, -0.3053, 0.0904, -0.0171, -0.4991, -2.7145, 2.5231, 0.4762, 0.2222, 0.2027, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7876, 1.5299, 0.5411, 0.0711, -0.5728, -0.5995, 0.9964, 0.1417, 1.5154, 0.3187, 0.2985, -0.7486, -0.7353, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.1615 left_z=0.0307 left_yaw=0.0047 left_pitch=-0.1687 left_roll=0.0206 left_gripper=0.9964 right_x=0.2548 right_y=0.1614 right_z=0.0136 right_yaw=1.1331 right_pitch=-0.0513 right_roll=-0.0161 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -5.1897, 6.9949, 1.2332, -0.398, -0.0513, -0.0171, 0.1162, -3.5761, 4.5197, 1.1209, -0.3541, 0.2076, -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]: [-0.8085, 1.5337, 0.5629, 0.0261, -0.5766, -0.625, 0.1173, 0.1425, 1.5085, 0.3115, 0.3233, -0.7422, -0.7467, 0.0098]\nstate[eef_state]: left_x=0.2973 left_y=-0.1667 left_z=0.0308 left_yaw=0.0037 left_pitch=-0.1849 left_roll=0.0233 left_gripper=0.1173 right_x=0.2572 right_y=0.1611 right_z=0.0159 right_yaw=1.1347 right_pitch=-0.0424 right_roll=-0.0488 right_gripper=0.0098\nstate[joint_eff]: [-0.0342, -5.2581, 6.5026, 1.1941, -0.3834, -0.0122, 1.0183, -0.1709, -3.8359, 5.0256, 1.1209, -0.3541, 0.105, 0.7985]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0490f5b35ddac0a622c72629b9e20a3453a7e29364875abb93b5bf19fd99d099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f0e6f6f3d15740914f15c24d293209d618dd367cd53f189c9fb19d9074ce443",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa268d24676fa9a50deafd8550ce2c372dad34724801c79ea4c68740b6e488e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQsKEAgSGAI4AUIIdGhpbmtpbmcSDEw9lgaw/3sUhu4Z5RoMA+G9HZJEWEaXI8jeIjDRpB8IDDwznstUqqxSmAWMkMVZ0kMx+yAPB7YVTDfAOe8az8OQ1vi6UqtQlOwb2hUq1gqarvAF0Pl2JSATbzsMbAB4vpO6BTHv2vs6gW6F6t8yax8O3WyPRi9fNA3NE+zoVyMKuGHShMZ015GcqOe8RB5JqUSQQn1XZzeDhsLNyrm5+ZP2K5PyATYF+j7fN4jbM/zgKLXT/1PCUIrCkxWoFMZ41+L6FIiJaUfk4irNdU58B/MhZHHUF6NzQIZE5+Kyunv/bWBtiAjAa9+33TcR3/j7ilweL+AqPRW+017JGSBugqvx8egd1ArrWixFJzz2yO6QCgHT3w5cLvTYk91djcBR9/RPPMytewhN3wv+RkHoyVVCEK/BeQsMS2TJ/PEb5MvnJ9x2JgUig8H65bY6kB5XJKrJiEcqQDZRp8QBUQ06qPBmNxeWfFdixDwTIkWFeUM0+dU9fD0yzdo+60INOt47tauCRCk7c1uUx6dHEIo4bsWq6dhQFlGtRZgOM9kcgXPIVJ8+7inqAVk3DoTAD+ymRsvxsjEHsQHBSLKsQxAX+oUlv7JkZeiJnFhK/sAC/gBIENmzPQpCJpw7PGCrmm2wwgveze2su4otw9Tm2xlFGzVuYKJVAFSxJNhdcqsVwjOhaQjkYUxwhDdDa1JMKXGz2qDe1YRIRgNeQAp4L+9c3DDof3LlRcOuCfFK+zJkN9+R0xmKmo72Gjcx5FDOJKGyZbE44PM8qfMUuLlfDgLo5ze/e1/+bIzHaTbC0iG3df26I+a60xdS7CITLyTt47wLlnSNKUAETVPH3R4g1avgtGYIXGAH+AmWUHDhqcAHnoealtSDzIvaIHcVngOU28fFR5fWvgX4eRBuofLNPsfAaM7zHRw/MhO1FQe+Ft67ZSXLKzac01NJrAMjAZR/dgkmS0UMcv1o37a62ceghuYuqOVfJLRvogz8A3bDuMNIAcfBR+nL7t6yUMt1bp9z/eiu4/vheu82EZFgp8zqBWPmSk96CxcG28bZVkdMzXuw4bR83C66SgP0Bum1tnu7SumM43CTEF1CZS2qJ+3N/CZa0w9Hd/ThP0cTddj98Bx2x0C1+a6RSv/9XDXsijRZ2S7X3AV2skGI4pmKcCNNDA/wNxFJXaFLbCtm2IPhl6dxPPpzvGjg1Ih72uYabTGgWpjJsuymeORE4XsejNK8REY3887cvtLGEIRyoRepi6siVYB38FsvU1hJyjTZz0KW9SYEeNTaidkNptgA3vnti5iJxQRE4jMOucTQTMZZQVUJgfMYAullU8aBt+EUw7j0W535vY0y7jGxETlzhneDCoNQ1qBqhQL0pjBNw1e24EmrXLLgY3McfWFyLN+bugGrNFLWfydt8amoVc7hLhKiTxSNDR5GB4Lnp+8mmfnTxwhzQ3IytsN7tm3Pnq4r+i9NDwWOdHuczwcmiZxwbixxYDg2Hm3x0WQfaVxszDhor9UiB8yUBKQBFaHvQ8nf1e5ofV56SAkrmdo+iM7E1EdW9AXSmHyqXa41zEIYUWW1brCs/n91ScW21B66Hju3PhIuqt4hK+9CXtz1IZ3y7RP4VsAsrohaYhCfivibaogZsNFxi6AVkMmmQADTvFvOrFnenyOez9i5PZQADMTvNzELl1zBTQtVTDMgMZPd9hxw3Cj7DJhQ5iFM4BUbbrVpkoszC+S5UROGYrvZg23jPKd9BS7dWd/PxOAefer3CTkeAmDXeC4KYcks/o7H9D29akyxgv6TzHzf5e8+YCANlwGd/IFljIbcfbKKo/jzKG40wiJXWfDR5Y7TgSr7hSEKnY7q7iOp0yozaLk1f4kE9GPL0bK/ZLNBywaBXUWcO0cOKAJMN7oP1tU9kyR1PETIce0kYTLpIIWS+XvUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GmQTasEqBUGqRszfMLAAEw",
      "input": {
        "note": "The left gripper holds the small bear (reading 0.117). The right close came up empty; the pen lies a little behind the right gripper. Carrying the bear to the left basket while opening the right gripper and backing it up to look for the pen.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.12,
          "left_z": 0.25,
          "right_gripper": 1.0,
          "right_x": 0.2,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01GmQTasEqBUGqRszfMLAAEw",
      "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]: [-0.3859, 1.6623, 1.5497, -0.672, -0.3119, -0.3016, 0.1186, 0.1967, 0.902, 0.2859, -0.194, -0.6991, -0.7017, 0.9969]\nstate[eef_state]: left_x=0.4507 left_y=-0.1207 left_z=0.2389 left_yaw=0.0302 left_pitch=-0.1752 left_roll=0.0045 left_gripper=0.1186 right_x=0.2051 right_y=0.1604 right_z=0.078 right_yaw=1.1337 right_pitch=-0.0309 right_roll=-0.0822 right_gripper=0.9969\nstate[joint_eff]: [0.1573, -8.2667, 8.5402, 1.1013, -0.0855, 0.2906, 0.9646, 0.5128, -1.0051, 7.7744, 1.2869, -0.3346, 0.0708, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cc358f4b53c6b9ae7938385d487c8e870a0e19ebf1920765a160f7eec01d0bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fa823ac81aa099ece98dd02a30ba15721ef1fd1c476f0c901ee27c51426c042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f2e2c6544474a2cda39e75192c274c820bd30796b1e5415a4037836b6269320",
        "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 · 5.07 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]: [-0.7876, 1.5299, 0.5411, 0.0711, -0.5728, -0.5995, 0.9964, 0.1417, 1.5154, 0.3187, 0.2985, -0.7486, -0.7353, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.1615 left_z=0.0307 left_yaw=0.0047 left_pitch=-0.1687 left_roll=0.0206 left_gripper=0.9964 right_x=0.2548 right_y=0.1614 right_z=0.0136 right_yaw=1.1331 right_pitch=-0.0513 right_roll=-0.0161 right_gripper=0.9965\nstate[joint_eff]: [-0.4718, -5.1897, 6.9949, 1.2332, -0.398, -0.0513, -0.0171, 0.1162, -3.5761, 4.5197, 1.1209, -0.3541, 0.2076, -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]: [-0.8085, 1.5337, 0.5629, 0.0261, -0.5766, -0.625, 0.1173, 0.1425, 1.5085, 0.3115, 0.3233, -0.7422, -0.7467, 0.0098]\nstate[eef_state]: left_x=0.2973 left_y=-0.1667 left_z=0.0308 left_yaw=0.0037 left_pitch=-0.1849 left_roll=0.0233 left_gripper=0.1173 right_x=0.2572 right_y=0.1611 right_z=0.0159 right_yaw=1.1347 right_pitch=-0.0424 right_roll=-0.0488 right_gripper=0.0098\nstate[joint_eff]: [-0.0342, -5.2581, 6.5026, 1.1941, -0.3834, -0.0122, 1.0183, -0.1709, -3.8359, 5.0256, 1.1209, -0.3541, 0.105, 0.7985]",
      "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]: [-0.3859, 1.6623, 1.5497, -0.672, -0.3119, -0.3016, 0.1186, 0.1967, 0.902, 0.2859, -0.194, -0.6991, -0.7017, 0.9969]\nstate[eef_state]: left_x=0.4507 left_y=-0.1207 left_z=0.2389 left_yaw=0.0302 left_pitch=-0.1752 left_roll=0.0045 left_gripper=0.1186 right_x=0.2051 right_y=0.1604 right_z=0.078 right_yaw=1.1337 right_pitch=-0.0309 right_roll=-0.0822 right_gripper=0.9969\nstate[joint_eff]: [0.1573, -8.2667, 8.5402, 1.1013, -0.0855, 0.2906, 0.9646, 0.5128, -1.0051, 7.7744, 1.2869, -0.3346, 0.0708, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cc358f4b53c6b9ae7938385d487c8e870a0e19ebf1920765a160f7eec01d0bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fa823ac81aa099ece98dd02a30ba15721ef1fd1c476f0c901ee27c51426c042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f2e2c6544474a2cda39e75192c274c820bd30796b1e5415a4037836b6269320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AkKEAgSGAI4AUIIdGhpbmtpbmcSDKNFdDEoDw0TGrvmbRoMu5YSVvZ5FyYjnBnQIjAvlCpTdUkZgVoYK8YONeae3k3We6KklSt3CdOaKT2cpyWZFxGkCMN7uxEmNrxkfr0qiQmu/gS9YKXQz58wHyj7U3ZI/oUkp1dWQQy6VAUbq3UlJI20kAmjK3b+hkiYtu3Mc36mJzhUo61GiBmnwo9mW3Og88co5gSqEnnFT8sYv4sUXAC3rENNiJuBJBXukgLCVBAuVtr5xGAUPrdM+woUVCsV4ym/82gkt2QbBOqROaWIDGDIbsPR12BhvM4Htrcy8CWNMSOTyTscPjBxoZMoWnIFNepT7sXXqfvfXTz+sdV6kQiNTSE9rAaC8RxwA8NxokWXCbTDUZl8CodK2ASXpzfKqS0FnjMhTB5kUh9Z+eyYx2/Gd1deBDvk11dFqdxtE2HZdkRyYG0NpGWlJQ7k4zllBV1+WuYGY/afAcoFhtmlMNQgYFdugpFsg7OEBC8U8hZaSXzLfyGBDfjQ/w1EAbF52alzlbA4PctZ+t43fcMOnKlTbJw45myXLEPKGXCF+w3xPVn3WCYZaln6GcXLROvFP/2OiKHWAvYASE9PxBMjMX+I1U3BKYnFMXcudyf9lMyqTS4zzRmbRor+nIU4hfJ+sm+rBWym4LL9+hZGqE7EOYrZBQlg9z9sdPqgS8M13ukvfiU36QIPWOP+Je2eSW0eg/NRcfaMhXNJ7oWj3dreh7J6R1O1AmdePrSEeJGnDbrDSIuf1xHTCYpnPRr2t6jCq2kffDAis4cOWv1gCR/H/Dn1h8LhbGhbuyBcuelqtkd+vSRYfciLlSwrjtiY2ChrbQ3OsjmDCcTjk7MjwYUDn6dxnJJM/45XYtbpWc7Z2mqSK4uxfZFTfF52lxayeC+AIain3SHbEWp++qSUNzsBw19OtmIJQFnwI0+I+HutU/EPSe2QmCeLnP5BkJZu+m4ld4MfuJwHdIlMOb+NaXk8VkCpdtXLR6lBc0F2emXwAMiwKDYyo3YDq8lwAQvPVrc+HIpObvmN1JujcNqy77VR3aPJdjI7rgUonIX+l2JqCJuwAvUsyJHp/amjJI2IVjtUwrIKt6dWHwK0NFjKZM2QrBRiq3tyvaf8iN/9Gu87SZCRgyu/vAsdpfErJcW9nSzdufk+0r5DTHLls8SNlOToxgv6eYfkKPJvVdvgoooNzGIJJCO4YUuGvOF+M0GwGSTaqiKmbCTX6ES7/GQaseew0yyvboQ9NN3gjOmQybgXYXRlvNWm99SyHEqHOyZSczgCxpJoeyHX64UPAKQ3OHa2080HB+GWPw8uek4HVP6GwFV2HkYRlo6fk/KgReV16xCl89wLeKiCEpLnA0pXpmuLF3OLJ+4tjvRS6VUi3zE4lmERHXa/sbApXa8I9gcOgt3e50aMEr2FTjBd/3MLi6hHYBbYkcirdLYYAA3HNuxMjtKKnmz0jc7SVWGsj4hJeCH6pJ4zjRUKia0f8GziizaD/ArcCequKoqhizGTu3k8SvnlSOYB5miQMiOJnG7O7ys/pDWnP7w0gbXN9jutF2puw0T4QDjVXbEAQUaWTIRAzelrb5Xn6d1a4x+oAGFScGMy2L9lQJvDnEVrVubI5Ie4gQ1axY8bCMNruFPl0QfQsm1fNGK/8+PmBQMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BfWkMrzAcJdTBxh57tTsuq",
      "input": {
        "note": "The left wrist view shows the small bear right over the left basket, so I'm releasing it. The pen's blue end shows at the bottom-left of the right wrist view, so the right arm shifts back and left and descends to grasp it.",
        "targets": {
          "left_gripper": 1.0,
          "right_x": 0.175,
          "right_y": 0.175,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01BfWkMrzAcJdTBxh57tTsuq",
      "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]: [-0.3828, 1.6684, 1.5536, -0.6884, -0.3099, -0.3111, 0.9951, 0.342, 1.2514, 0.0158, 0.4862, -0.6395, -0.5858, 0.9973]\nstate[eef_state]: left_x=0.4496 left_y=-0.1191 left_z=0.2349 left_yaw=0.0382 left_pitch=-0.1927 left_roll=0.0039 left_gripper=0.9951 right_x=0.1797 right_y=0.1797 right_z=0.0069 right_yaw=1.1735 right_pitch=-0.0204 right_roll=-0.0589 right_gripper=0.9973\nstate[joint_eff]: [-0.335, -8.841, 6.4615, 1.6923, -0.2173, 0.0659, -0.0513, 0.4444, -1.7436, 3.2068, 0.6227, 0.4664, 0.0513, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d02fc3827a5fb5d70ba449586ea6d4d56bcf3a5fbb788ac036f5aa57c20a32d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff1916794851b29cfcf531dbc5bc4f9f47c73c7e3fb05029e24dc7544582f3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d794e85580fbba40ac044c178871e3e124291bf68fab6dced42bb9b12a9afb96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 4.243 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]: [-0.8085, 1.5337, 0.5629, 0.0261, -0.5766, -0.625, 0.1173, 0.1425, 1.5085, 0.3115, 0.3233, -0.7422, -0.7467, 0.0098]\nstate[eef_state]: left_x=0.2973 left_y=-0.1667 left_z=0.0308 left_yaw=0.0037 left_pitch=-0.1849 left_roll=0.0233 left_gripper=0.1173 right_x=0.2572 right_y=0.1611 right_z=0.0159 right_yaw=1.1347 right_pitch=-0.0424 right_roll=-0.0488 right_gripper=0.0098\nstate[joint_eff]: [-0.0342, -5.2581, 6.5026, 1.1941, -0.3834, -0.0122, 1.0183, -0.1709, -3.8359, 5.0256, 1.1209, -0.3541, 0.105, 0.7985]",
      "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]: [-0.3859, 1.6623, 1.5497, -0.672, -0.3119, -0.3016, 0.1186, 0.1967, 0.902, 0.2859, -0.194, -0.6991, -0.7017, 0.9969]\nstate[eef_state]: left_x=0.4507 left_y=-0.1207 left_z=0.2389 left_yaw=0.0302 left_pitch=-0.1752 left_roll=0.0045 left_gripper=0.1186 right_x=0.2051 right_y=0.1604 right_z=0.078 right_yaw=1.1337 right_pitch=-0.0309 right_roll=-0.0822 right_gripper=0.9969\nstate[joint_eff]: [0.1573, -8.2667, 8.5402, 1.1013, -0.0855, 0.2906, 0.9646, 0.5128, -1.0051, 7.7744, 1.2869, -0.3346, 0.0708, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3828, 1.6684, 1.5536, -0.6884, -0.3099, -0.3111, 0.9951, 0.342, 1.2514, 0.0158, 0.4862, -0.6395, -0.5858, 0.9973]\nstate[eef_state]: left_x=0.4496 left_y=-0.1191 left_z=0.2349 left_yaw=0.0382 left_pitch=-0.1927 left_roll=0.0039 left_gripper=0.9951 right_x=0.1797 right_y=0.1797 right_z=0.0069 right_yaw=1.1735 right_pitch=-0.0204 right_roll=-0.0589 right_gripper=0.9973\nstate[joint_eff]: [-0.335, -8.841, 6.4615, 1.6923, -0.2173, 0.0659, -0.0513, 0.4444, -1.7436, 3.2068, 0.6227, 0.4664, 0.0513, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d02fc3827a5fb5d70ba449586ea6d4d56bcf3a5fbb788ac036f5aa57c20a32d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff1916794851b29cfcf531dbc5bc4f9f47c73c7e3fb05029e24dc7544582f3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d794e85580fbba40ac044c178871e3e124291bf68fab6dced42bb9b12a9afb96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gkKEAgSGAI4AUIIdGhpbmtpbmcSDBD8SGCWjsTJIG2WsxoMK492TmTLkhQqZ/g/IjCKx2Rmh0UKIcUrdC4a53/vF7sTQ8U5f9fq65irwRGM8C1SOtUX2DSDL/013aXiewwqkwnV7Axh8UcfFt3J6UWuz/y/hec3QnDIvGXYZywQGD/KemwFebpt+GTU5CnJYNzOjsLSlM2I4ANKivKdKRzfIzt3L6/DVOXx6UoEoRQpwMDUDhbxAktEs8egZTuehCIxDOTGiHrpx8aJJYAr4cUWB6RnPAVo73iQnIqG7BXDtnblWFx+OKcSt7uxEH7Mxhslov1BmCgzWf1/uHb0o7LbwMU7yBtV4YnEQ58R+sL1monA/k4sm3bUr2WShXJ4ZbNgO5YUs/wjJEchXHLCGoCQaFLDrWDiIh8RcuXKDK1LGxN8gUvbnXSpscj3e75NJAp5eGfDpuTYNUGPQgXCZjfrjIDpFPUEbfkYMmfbVp5GEY8bkkG6wPdDPCxdAOiz6ZWt81dVw7f8dwM1vMcE5GVa9WpnlB8wDjLhSXmlKmd4dwwcVDLJvJ+SjC7QO72CyGugYCIT/oHV1ZUg/NWgcyuihdLlOG06iPROl+7Qis2RDGP2jNi0PdezWoxUhlDsHjiqCkI0T+Qu7hn1snTfsZC63atzsGUvKrQqSMP2l122uhYSNzUY5xZ2UAlUuVtb0Q46qYHfQ2tH5xPgnD+u5fLI401MQOmJVRg7HnCEJpJ2hqMLnhJHOYYPtp9YTZ7aEuPTCvAJUmPbjtSEB/RVLVYdTLEF60rwKP/mzRHRc8uiSi/0favO079er1em6jlGyYj42piv20U+qHW3C+k7pCD5M5jz2Cs9AmQPqufRtPoJ+q5Uugcdp08XbNF8cjZi/ai+//CqaXvTjBopFMlMl1WSR070jCsDwF5cHobqCAblYKlQogwrReGBT9GDM62u3QDh/M67AVZjgreeByY/q1qErhtF7B4D9BJkCPuEAQ+QRIZsoBw1TqiluSRFKdCDnpEyGzQKs0opKVvPnWxciFzuCiFlr1dE508vQh/zWCLyPd/b0AcowY5c9FFaOHnIoz0vD0YcYt5zetBUr+P/NFZipeyjCYhZdIstPI68JMsON9zWAEQ8Jc3SQ+/5OgiLFezrUu+CD6ea/RMWt8Sg77q+95B/ZkgxyjCfGvFV6st1UiX5rpM+3eohPIG+OMJhkXRmOEyg2DpC1bLkZxjhW2sb9Re8smDuEwe6pskKlm8Qgpoipem0x9hwAwi0XEIgFBPTSTPLtr5WrArh2lbdeu/emH2oyadS212bwYOLWCBjAaNALhgzccR8VLNR4ef8jt55z0WH/tYb9IUrH8Cb8OgHP7UoMPhklH6AACU/VIYLJzsMGnZinBchLsIg2P1nbRAhrnXcOpAZ/8H5DSG1+Wb5+NLURJhIkuzEPrzNWoG7CqHL66yoqQldHuvBzEwG3P9fhmvoTGLMieqpcDM2pjn/XRFGnnRLxaa4OJpKD1Vx5PEs3N05CQJYQn7j/araK0dOkI83vpv/TW4w6xkzq/IJmorLNh5b3k/gf7QDNegXYZkuN++jz/eWfxrD3AE8W6aEb9DJnttYRGF+ZdcEeODYy/u+xyU6m71p8hiiY5hstdui4/XiFnXWQraW946mPmhMgo/zS/KhxmDj+FJGCw5EpykYUug0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FKcLEQ1YA7yc8FrV6LkFjf",
      "input": {
        "note": "The small bear is now in the left basket. The blue pen sits between the right jaws, left of centre, so I'm closing the right gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FKcLEQ1YA7yc8FrV6LkFjf",
      "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]: [-0.3828, 1.6684, 1.5536, -0.6918, -0.3099, -0.3138, 0.9962, 0.3431, 1.2545, 0.009, 0.5098, -0.6472, -0.5869, 0.1468]\nstate[eef_state]: left_x=0.449 left_y=-0.1189 left_z=0.2344 left_yaw=0.0399 left_pitch=-0.1958 left_roll=0.0033 left_gripper=0.9962 right_x=0.1791 right_y=0.1809 right_z=0.0085 right_yaw=1.1807 right_pitch=-0.0074 right_roll=-0.0666 right_gripper=0.1468\nstate[joint_eff]: [-0.0752, -8.3624, 6.8991, 1.5067, -0.1832, -0.0073, 0.1001, -0.1846, -2.0718, 4.8752, 1.2381, -0.1978, -0.0366, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb5cc5d2ce2aaea560d47dcd3cd83de348a22bdd4e21e0e7f420a1cc576e5f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b93dfc2f94b0a9f7642d61d3fe4963b18409f87f9cad1106ffa288db752ec961",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b58c93000a5cc10b514bef6c23b3bc082b1c441daaba95125e2c4edccd98467",
        "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 · 2.932 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]: [-0.3859, 1.6623, 1.5497, -0.672, -0.3119, -0.3016, 0.1186, 0.1967, 0.902, 0.2859, -0.194, -0.6991, -0.7017, 0.9969]\nstate[eef_state]: left_x=0.4507 left_y=-0.1207 left_z=0.2389 left_yaw=0.0302 left_pitch=-0.1752 left_roll=0.0045 left_gripper=0.1186 right_x=0.2051 right_y=0.1604 right_z=0.078 right_yaw=1.1337 right_pitch=-0.0309 right_roll=-0.0822 right_gripper=0.9969\nstate[joint_eff]: [0.1573, -8.2667, 8.5402, 1.1013, -0.0855, 0.2906, 0.9646, 0.5128, -1.0051, 7.7744, 1.2869, -0.3346, 0.0708, -0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3828, 1.6684, 1.5536, -0.6884, -0.3099, -0.3111, 0.9951, 0.342, 1.2514, 0.0158, 0.4862, -0.6395, -0.5858, 0.9973]\nstate[eef_state]: left_x=0.4496 left_y=-0.1191 left_z=0.2349 left_yaw=0.0382 left_pitch=-0.1927 left_roll=0.0039 left_gripper=0.9951 right_x=0.1797 right_y=0.1797 right_z=0.0069 right_yaw=1.1735 right_pitch=-0.0204 right_roll=-0.0589 right_gripper=0.9973\nstate[joint_eff]: [-0.335, -8.841, 6.4615, 1.6923, -0.2173, 0.0659, -0.0513, 0.4444, -1.7436, 3.2068, 0.6227, 0.4664, 0.0513, 0.0317]",
      "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]: [-0.3828, 1.6684, 1.5536, -0.6918, -0.3099, -0.3138, 0.9962, 0.3431, 1.2545, 0.009, 0.5098, -0.6472, -0.5869, 0.1468]\nstate[eef_state]: left_x=0.449 left_y=-0.1189 left_z=0.2344 left_yaw=0.0399 left_pitch=-0.1958 left_roll=0.0033 left_gripper=0.9962 right_x=0.1791 right_y=0.1809 right_z=0.0085 right_yaw=1.1807 right_pitch=-0.0074 right_roll=-0.0666 right_gripper=0.1468\nstate[joint_eff]: [-0.0752, -8.3624, 6.8991, 1.5067, -0.1832, -0.0073, 0.1001, -0.1846, -2.0718, 4.8752, 1.2381, -0.1978, -0.0366, 1.0134]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fb5cc5d2ce2aaea560d47dcd3cd83de348a22bdd4e21e0e7f420a1cc576e5f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b93dfc2f94b0a9f7642d61d3fe4963b18409f87f9cad1106ffa288db752ec961",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b58c93000a5cc10b514bef6c23b3bc082b1c441daaba95125e2c4edccd98467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3AcKEAgSGAI4AUIIdGhpbmtpbmcSDF1r0Y7/wnBevilq6RoMEQAdXy8DqjMj0imCIjDfHX8lq7nGmTfvEfsZBQLmp7cagd9ur+1kGdjMZfK76vpRHzHMURhyFf88M3EZrScq+QbbLB9WnURBpeHpVGBHj9yHNsZNP4LaFgf6itW6AAO9G+UDaLWhXydshXuWwS/lpn5hrdbsXsFPn3bIXqwdZ/uPRI0FEdygKvnFgNVTKhBYBDwUQDkODxCdnCqK27MyYHu10+Oulg0ESPVod+dm17L7LUiZJwDJJDbSyEJHvQxEA9AZw/pgD4gqWo5Rr8PY7HgNZzRoc8t4ljeFVJJv6pOUzWD1ihSWrFDLriJcR+gWlCQ4Ci/7ARDrXRh8bRrBb6kk3fnSn9SNoikh/H1JLvmB4Kp/SObCncOQ/I1X4HHAaGPJhorfXgwuhm2OrFsKYTQtOgjE8MZDVn3AzjOan2qwvxvcbP9oDCT/u32cZOgdXiVAycfJcBZuqfvDimX6R6UkkpNJlhMAepvp6QEeY97I+NHvbov6rPrb+UCXRf1qYLo5TlWIq3lRdZ8t1DXEuyF0W40H90IstK037lRP1bc5FvrL86vKmBP+E4H/DRdzv5Uk4oW9AzH8OgRVsLxIjYy/JTujxJQWJ3WPa82l3eNpflLpcUekuZ/FmxZANBm/TVSaEAzlxuAudKIkGgNdffJv1rp105thVd2qLac37j+cMkxvifY9EPbAEJS1VA4/smAuwvTNkN9GjSfqTjkQY80aqeSm9kkTMTcR7UmZaNR7ZOgKS14ESY9oFz7tD4+KN/kFsGuFwu5662yowvS8bVFrHj4cnU/SrQIMrDUIAkMF6XrYA88xZ3mUcTCcwGK3Hn8SycGs4b7luxAd9rA35+eY4BZXkqnHbW7das4fIL08JnQXD8rnpwfvnMM1ZzCJt9zDLPQZYXEJp08bNxKWynaaHRJKJ9x89gDic/9ueE4yD6JFUHZra9QaoZ74n71SVQNQ8ftsL2tMAL6lDSqWfreHCPxxM9b2Zz6+7JtkYkvb8EGn+cxXMJhzicyEVhgap+Y3EuIg6W62UKNsrOzT741n/5SsCNjMHGEfjIn2id6Xh301eJoGbmF3rr1lW59Kodbv89svHPWflqZqfCMG18XHQrshNIcOm3nNVrjqt8DKCiE5e5xzI9uhIlMS41s7Hd8sdrFJRl4qdiqxHJ99B/ApxFqHfhjRTmJJVdm8GlWpTQh34CUkKW6EguhxWZmdixSrUTf2m8SVjLpSTXWtUJhe/eauj61VOZVkwBLoh8ipXC94yAu63VNlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NqTEfPS1BanzaALBsscPE7",
      "input": {
        "note": "The blue pen is held (0.147). Carrying it over the right basket, the spot used for the earlier marker drops.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.18,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01NqTEfPS1BanzaALBsscPE7",
      "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]: [-0.3828, 1.6684, 1.5536, -0.6937, -0.3099, -0.3141, 0.9964, 0.1246, 1.6855, 1.3792, -0.5411, -0.7738, -0.8051, 0.1518]\nstate[eef_state]: left_x=0.4487 left_y=-0.1187 left_z=0.2341 left_yaw=0.0403 left_pitch=-0.1976 left_roll=0.0039 left_gripper=0.9964 right_x=0.4129 right_y=0.1797 right_z=0.2105 right_yaw=1.1681 right_pitch=-0.0106 right_roll=-0.1072 right_gripper=0.1518\nstate[joint_eff]: [-0.0615, -8.3761, 7.0222, 1.4921, -0.1929, -0.0464, -0.0073, -0.8547, -8.7179, 8.1846, 0.8376, -0.6374, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99026d8480453e7b53a831fa063f1c3d116f809aa6183d3bea6813453839f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c26cbc4a7f5f9f43c5626c87990cf1f3e7fe1e4612e32799d10425674efcaa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e7a5dc4bc1f297f06dc8fd9ff6eb65ccd7dcd259a9e2be1e75f785cd6679c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 14.14 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.6684, 1.5536, -0.6884, -0.3099, -0.3111, 0.9951, 0.342, 1.2514, 0.0158, 0.4862, -0.6395, -0.5858, 0.9973]\nstate[eef_state]: left_x=0.4496 left_y=-0.1191 left_z=0.2349 left_yaw=0.0382 left_pitch=-0.1927 left_roll=0.0039 left_gripper=0.9951 right_x=0.1797 right_y=0.1797 right_z=0.0069 right_yaw=1.1735 right_pitch=-0.0204 right_roll=-0.0589 right_gripper=0.9973\nstate[joint_eff]: [-0.335, -8.841, 6.4615, 1.6923, -0.2173, 0.0659, -0.0513, 0.4444, -1.7436, 3.2068, 0.6227, 0.4664, 0.0513, 0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.6684, 1.5536, -0.6918, -0.3099, -0.3138, 0.9962, 0.3431, 1.2545, 0.009, 0.5098, -0.6472, -0.5869, 0.1468]\nstate[eef_state]: left_x=0.449 left_y=-0.1189 left_z=0.2344 left_yaw=0.0399 left_pitch=-0.1958 left_roll=0.0033 left_gripper=0.9962 right_x=0.1791 right_y=0.1809 right_z=0.0085 right_yaw=1.1807 right_pitch=-0.0074 right_roll=-0.0666 right_gripper=0.1468\nstate[joint_eff]: [-0.0752, -8.3624, 6.8991, 1.5067, -0.1832, -0.0073, 0.1001, -0.1846, -2.0718, 4.8752, 1.2381, -0.1978, -0.0366, 1.0134]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.6684, 1.5536, -0.6937, -0.3099, -0.3141, 0.9964, 0.1246, 1.6855, 1.3792, -0.5411, -0.7738, -0.8051, 0.1518]\nstate[eef_state]: left_x=0.4487 left_y=-0.1187 left_z=0.2341 left_yaw=0.0403 left_pitch=-0.1976 left_roll=0.0039 left_gripper=0.9964 right_x=0.4129 right_y=0.1797 right_z=0.2105 right_yaw=1.1681 right_pitch=-0.0106 right_roll=-0.1072 right_gripper=0.1518\nstate[joint_eff]: [-0.0615, -8.3761, 7.0222, 1.4921, -0.1929, -0.0464, -0.0073, -0.8547, -8.7179, 8.1846, 0.8376, -0.6374, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99026d8480453e7b53a831fa063f1c3d116f809aa6183d3bea6813453839f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c26cbc4a7f5f9f43c5626c87990cf1f3e7fe1e4612e32799d10425674efcaa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e7a5dc4bc1f297f06dc8fd9ff6eb65ccd7dcd259a9e2be1e75f785cd6679c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ls9gjhC78LgyeHYsoecLif",
      "input": {
        "note": "The blue pen is hanging over the right basket, next to the marker already inside. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Ls9gjhC78LgyeHYsoecLif",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3828, 1.6684, 1.5536, -0.6945, -0.3099, -0.3141, 0.9964, 0.1211, 1.6962, 1.3808, -0.5442, -0.7677, -0.812, 0.9954]\nstate[eef_state]: left_x=0.4486 left_y=-0.1187 left_z=0.2339 left_yaw=0.0404 left_pitch=-0.1983 left_roll=0.0042 left_gripper=0.9964 right_x=0.4149 right_y=0.1777 right_z=0.2057 right_yaw=1.1644 right_pitch=-0.0211 right_roll=-0.1048 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -8.1846, 6.8718, 1.4676, -0.1929, -0.0366, -0.022, -0.0889, -9.3197, 6.6256, 1.3504, -0.4518, 0.0122, -0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85c0f492e049309e43b86f694aa0aedd707944e32a130ffd6e38a8f9b9d5cd17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 370):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:016c70eb713301ebb92bea317e54cd7f300956a10dece9dfa5b36bbab07c204d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 370):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98e40f1c553df3cbc315e63b7f949bcbb36b2218d6b145b7b5e79c2f0422ea9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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