adhoc

completed
2026-09-22T22:54:25.857444+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
279.1 s
total steps
415
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; plush toys in the middle, pens/markers scattered (one yellow marker at left, two pens on the right). Plan: pens go in the right basket, plushes in the left. Lowering the right arm over the pen right below its wrist camera.
move_to
right_z0.0800right_y0.0100
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]: [-0.0227, 0.7986, 0.6174, -0.3805, -0.0219, -0.0261, 0.9996, -0.0154, 0.7979, 0.6109, -0.3836, -0.012, -0.0158, 0.9996] state[eef_state]: left_x=0.2966 left_y=0.0007 left_z=0.1848 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1813 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.3197, 9.4564, 1.8193, -0.0024, 0.0806, -0.0562, -0.7316, -1.1419, 9.7846, 1.8193, -0.1148, 0.0024, -0.0611] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08, "right_y": 0.01}, "note": "Scene: two teal baskets at the back; plush toys in the middle, pens/markers scattered (one yellow marker at left, two pens on the right). Plan: pens go in the right basket, plushes in the left. Lowering the right arm over the pen right below its wrist camera."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteRight wrist camera shows the black-capped pen slightly left of the jaw column, running radially. Shifting left ~3 cm and descending to table level to straddle it.
move_to
right_y0.0400right_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]: [-0.0231, 0.7986, 0.617, -0.3805, -0.0219, -0.0265, 0.9996, 0.0402, 0.9276, 0.2298, 0.0891, 0.025, 0.0032, 0.9996] state[eef_state]: left_x=0.2966 left_y=0.0006 left_z=0.1846 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0008 left_gripper=0.9996 right_x=0.2903 right_y=0.0109 right_z=0.0709 right_yaw=0.0139 right_pitch=-0.038 right_roll=-0.0051 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.2513, 7.0906, 1.7216, -0.022, -0.0269, -0.0122, 0.2256, -2.0991, 6.8581, 1.9414, 0.1538, 0.0757, -0.0171] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.04, "right_z": 0.0}, "note": "Right wrist camera shows the black-capped pen slightly left of the jaw column, running radially. Shifting left ~3 cm and descending to table level to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
Pen now on jaw column. Z at 0.013; press a bit lower and close.
agent notePen is centred between the jaws in the right wrist view. Pressing to table level and closing on it.
move_to
right_z-0.0100right_gripper0.0000
agent noteLifting to check the pen came up with the gripper.
move_to
right_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]: [-0.0231, 0.8043, 0.617, -0.3798, -0.0219, -0.0269, 0.9996, 0.2295, 1.4578, 0.0875, 0.794, 0.1566, 0.1143, 0.9995] state[eef_state]: left_x=0.2971 left_y=0.0006 left_z=0.1832 left_yaw=-0.0001 left_pitch=-0.0053 left_roll=-0.001 left_gripper=0.9996 right_x=0.3006 right_y=0.0456 right_z=0.0131 right_yaw=0.0326 right_pitch=0.0021 right_roll=0.0178 right_gripper=0.9995 state[joint_eff]: [-0.1983, -1.3333, 7.0769, 1.8046, -0.0513, -0.0415, -0.0122, 0.212, -2.6462, 2.6735, 0.9353, 0.2125, -0.0952, -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
Pen now on jaw column. Z at 0.013; press a bit lower and close.
move_to({"targets": {"right_z": -0.01, "right_gripper": 0.0}, "note": "Pen is centred between the jaws in the right wrist view. Pressing to table level and closing on it."})
move_to({"targets": {"right_z": 0.08}, "note": "Lifting to check the pen came up with the gripper."})
tool
executing move_to over 10 steps (1.0s)
tool
ignored: one tool call per turn
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 0.14 (~1.4 cm), so the pen is held. Lifting clear to carry it to the right basket.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0227, 0.8051, 0.6163, -0.3805, -0.0223, -0.0269, 0.9996, 0.2298, 1.7069, 0.0738, 1.1545, 0.1497, 0.1093, 0.1438] state[eef_state]: left_x=0.297 left_y=0.0008 left_z=0.1824 left_yaw=0.0006 left_pitch=-0.0076 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3147 right_y=0.0503 right_z=0.0128 right_yaw=0.0406 right_pitch=0.0973 right_roll=0.0357 right_gripper=0.1438 state[joint_eff]: [-0.1846, -1.3607, 7.159, 1.7509, -0.022, -0.0464, -0.0122, -0.1162, -2.8786, 1.6615, 1.1453, 0.0806, 0.0171, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.14 (~1.4 cm), so the pen is held. Lifting clear to carry it to the right basket."})
tool
executing move_to over 13 steps (1.3s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent notePen held; right basket is ahead-left of the right gripper in both views. Carrying the pen high over the basket.
move_to
right_x0.4700right_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]: [-0.0231, 0.8108, 0.6159, -0.3805, -0.0219, -0.0265, 0.9996, 0.2291, 0.8787, 0.5907, -0.2356, 0.1463, 0.1085, 0.1438] state[eef_state]: left_x=0.2973 left_y=0.0006 left_z=0.1807 left_yaw=-0.0003 left_pitch=-0.0137 left_roll=-0.0005 left_gripper=0.9996 right_x=0.3125 right_y=0.0501 right_z=0.181 right_yaw=0.0437 right_pitch=0.0528 right_roll=0.0282 right_gripper=0.1438 state[joint_eff]: [-0.0752, -1.6068, 7.0769, 1.6923, -0.0171, -0.0513, -0.0122, -0.1573, -2.8786, 9.7709, 1.7167, 0.0171, -0.0611, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.17, "right_z": 0.22}, "note": "Pen held; right basket is ahead-left of the right gripper in both views. Carrying the pen high over the basket."})
tool
executing move_to over 13 steps (1.3s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
Gripper is over the basket interior. Releasing.
agent noteRight wrist view shows the basket interior directly below; opening to drop the pen 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]: [-0.0231, 0.8169, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.4526, 1.6688, 1.2701, -0.2012, 0.3294, 0.2108, 0.1473] state[eef_state]: left_x=0.2977 left_y=0.0006 left_z=0.1787 left_yaw=-0.0001 left_pitch=-0.0202 left_roll=-0.0007 left_gripper=0.9996 right_x=0.4648 right_y=0.1665 right_z=0.2012 right_yaw=0.0602 right_pitch=0.0069 right_roll=0.0008 right_gripper=0.1473 state[joint_eff]: [-0.1436, -1.7709, 7.2547, 1.7216, -0.0317, -0.0122, -0.0122, 0.4991, -8.6906, 9.6068, 1.7558, 0.2271, 0.1441, 1.033] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
Gripper is over the basket interior. Releasing.
move_to({"targets": {"right_gripper": 1.0}, "note": "Right wrist view shows the basket interior directly below; opening to drop the pen in."})
tool
executing move_to over 9 steps (0.9s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteFirst pen is in the right basket. Moving the right arm over the second (blue) pen lying just right of the teddy bear.
move_to
right_x0.2900right_y0.1600right_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]: [-0.0231, 0.8173, 0.6151, -0.3805, -0.0216, -0.0269, 0.9996, 0.4515, 1.6688, 1.269, -0.2092, 0.329, 0.2031, 0.9949] state[eef_state]: left_x=0.2976 left_y=0.0005 left_z=0.1785 left_yaw=-0.0004 left_pitch=-0.021 left_roll=-0.0009 left_gripper=0.9996 right_x=0.4639 right_y=0.1655 right_z=0.1991 right_yaw=0.0635 right_pitch=-0.0017 right_roll=-0.009 right_gripper=0.9949 state[joint_eff]: [-0.1846, -1.0051, 7.2684, 1.7167, -0.0415, -0.0366, -0.0122, -0.0615, -8.5265, 7.3094, 1.707, 0.0122, -0.0073, -0.2125] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.16, "right_z": 0.08}, "note": "First pen is in the right basket. Moving the right arm over the second (blue) pen lying just right of the teddy bear."})
tool
executing move_to over 14 steps (1.4s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteBlue pen visible just right of the jaw column in the right wrist view, running radially. Shifting ~1.5 cm right and descending to table level.
move_to
right_y0.1450right_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]: [-0.0227, 0.8238, 0.6151, -0.3801, -0.0216, -0.0269, 0.9996, 0.7975, 1.3071, 0.4446, 0.1173, 0.5766, 0.4248, 0.996] state[eef_state]: left_x=0.2981 left_y=0.0006 left_z=0.1768 left_yaw=-0.0 left_pitch=-0.0271 left_roll=-0.0008 left_gripper=0.9996 right_x=0.2875 right_y=0.1618 right_z=0.072 right_yaw=0.0919 right_pitch=-0.0345 right_roll=-0.0275 right_gripper=0.996 state[joint_eff]: [-0.0615, -1.8256, 7.0769, 1.707, -0.0366, -0.0611, -0.0171, 0.3214, -5.0667, 5.9419, 1.6581, 0.5006, 0.1392, 0.105] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.145, "right_z": -0.01}, "note": "Blue pen visible just right of the jaw column in the right wrist view, running radially. Shifting ~1.5 cm right and descending to table level."})
tool
executing move_to over 6 steps (0.6s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent notePen still right of the jaw centre (image x≈145 vs ≈110) and the arm only reached y=0.157. Shifting further right to y=0.13 and pressing down.
move_to
right_y0.1300right_z-0.0150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.8276, 0.6151, -0.3801, -0.0219, -0.0265, 0.9996, 0.7437, 1.6894, 0.2672, 0.8028, 0.5407, 0.3973, 0.9962] state[eef_state]: left_x=0.2984 left_y=0.0006 left_z=0.1758 left_yaw=-0.0003 left_pitch=-0.0309 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3001 right_y=0.1573 right_z=0.0123 right_yaw=0.0801 right_pitch=0.0489 right_roll=0.0464 right_gripper=0.9962 state[joint_eff]: [-0.0889, -1.388, 7.0496, 1.6972, -0.0415, -0.022, -0.0171, -0.6359, -3.6855, 2.2085, 1.0037, 0.022, -0.232, 0.0024] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.13, "right_z": -0.015}, "note": "Pen still right of the jaw centre (image x\u2248145 vs \u2248110) and the arm only reached y=0.157. Shifting further right to y=0.13 and pressing down."})
tool
executing move_to over 3 steps (0.3s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
Pen now centred between jaws. Closing.
agent noteBlue pen is centred between the jaws at table level. Closing on it.
move_to
right_gripper0.0000right_z-0.0150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.8303, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.6399, 1.8683, 0.1951, 1.1988, 0.4847, 0.3218, 0.9963] state[eef_state]: left_x=0.2985 left_y=0.0006 left_z=0.175 left_yaw=-0.0001 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3146 right_y=0.1361 right_z=0.0113 right_yaw=0.0544 right_pitch=0.1522 right_roll=0.0876 right_gripper=0.9963 state[joint_eff]: [-0.1983, -1.7162, 7.0222, 1.6825, -0.0415, -0.0366, -0.0122, -0.4308, -3.6991, 0.9094, 1.0232, -0.2027, 0.0024, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
Pen now centred between jaws. Closing.
move_to({"targets": {"right_gripper": 0.0, "right_z": -0.015}, "note": "Blue pen is centred between the jaws at table level. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
Held (0.148). Carry to basket.
agent noteBlue pen grasped (gripper settled at 0.15). Lifting and carrying it over the right basket, where the first pen already sits.
move_to
right_z0.2200right_x0.4400right_y0.1700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0227, 0.8303, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.6392, 1.8683, 0.1932, 1.2263, 0.4515, 0.3351, 0.1481] state[eef_state]: left_x=0.2985 left_y=0.0007 left_z=0.175 left_yaw=0.0003 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3152 right_y=0.1427 right_z=0.0153 right_yaw=0.0719 right_pitch=0.1648 right_roll=0.1267 right_gripper=0.1481 state[joint_eff]: [-0.0479, -1.4564, 7.0632, 1.7363, -0.0366, -0.0513, -0.0122, -0.5265, -3.8632, 1.1829, 0.7839, 0.0611, -0.1343, 0.9939] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
Held (0.148). Carry to basket.
move_to({"targets": {"right_z": 0.22, "right_x": 0.44, "right_y": 0.17}, "note": "Blue pen grasped (gripper settled at 0.15). Lifting and carrying it over the right basket, where the first pen already sits."})
tool
executing move_to over 14 steps (1.4s)
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 noteRight wrist view shows the basket interior below with the first pen inside. Releasing the blue pen.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.8314, 0.6151, -0.3801, -0.0223, -0.0265, 0.9996, 0.4805, 1.507, 0.9867, 0.104, 0.3012, 0.2615, 0.154] state[eef_state]: left_x=0.2986 left_y=0.0006 left_z=0.1747 left_yaw=0.0 left_pitch=-0.0347 left_roll=0.0002 left_gripper=0.9996 right_x=0.4342 right_y=0.1712 right_z=0.2093 right_yaw=0.0778 right_pitch=0.1691 right_roll=0.1298 right_gripper=0.154 state[joint_eff]: [-0.0752, -1.5248, 7.0496, 1.7314, -0.0464, -0.0317, -0.0122, -0.6359, -6.1744, 8.8137, 1.619, 0.0269, -0.0317, 1.0281] approver: 1 step(s) modified (delta_clamped). 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({"targets": {"right_gripper": 1.0}, "note": "Right wrist view shows the basket interior below with the first pen inside. Releasing the blue pen."})
tool
executing move_to over 9 steps (0.9s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteBlue pen released over the right basket. Parking the right arm out of the way so the top camera can confirm both pens are in the basket.
move_to
right_x0.2200right_y-0.0500right_z0.1800
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]: [-0.0231, 0.8314, 0.6151, -0.3805, -0.0219, -0.0265, 0.9996, 0.4782, 1.5146, 0.984, 0.0872, 0.3004, 0.2543, 0.9949] state[eef_state]: left_x=0.2986 left_y=0.0006 left_z=0.1746 left_yaw=-0.0003 left_pitch=-0.0351 left_roll=-0.0 left_gripper=0.9996 right_x=0.4333 right_y=0.1697 right_z=0.2011 right_yaw=0.0818 right_pitch=0.1445 right_roll=0.1127 right_gripper=0.9949 state[joint_eff]: [-0.1436, -1.4701, 7.2274, 1.7265, -0.022, -0.022, -0.0122, 0.0752, -7.7333, 7.2, 1.9267, 0.0366, -0.0122, -0.2173] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.22, "right_y": -0.05, "right_z": 0.18}, "note": "Blue pen released over the right basket. Parking the right arm out of the way so the top camera can confirm both pens are in the basket."})
tool
executing move_to over 19 steps (1.9s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteTop view shows the blue pen still on the table (the previous grasp missed; it was likely nudged). It lies just right of the teddy bear, in front of the right basket; moving back over it.
move_to
right_x0.3300right_y0.1800right_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]: [-0.0231, 0.8364, 0.614, -0.3801, -0.0219, -0.0265, 0.9996, -0.8635, 0.548, 0.4744, -0.5842, -0.7578, -0.3695, 0.996] state[eef_state]: left_x=0.2988 left_y=0.0006 left_z=0.1728 left_yaw=-0.0003 left_pitch=-0.0408 left_roll=0.0001 left_gripper=0.9996 right_x=0.2253 right_y=-0.0712 right_z=0.1702 right_yaw=-0.057 right_pitch=0.1065 right_roll=0.114 right_gripper=0.996 state[joint_eff]: [-0.2256, -1.9624, 7.1863, 1.7558, -0.0513, -0.0269, -0.0122, 0.7453, 0.3624, 9.5248, 1.326, -0.6129, -0.0904, 0.1001] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.18, "right_z": 0.08}, "note": "Top view shows the blue pen still on the table (the previous grasp missed; it was likely nudged). It lies just right of the teddy bear, in front of the right basket; moving back over it."})
tool
executing move_to over 21 steps (2.1s)
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 noteBlue pen is visible running up from the jaws, slightly left of centre. Shifting ~2 cm left and descending to table level.
move_to
right_y0.1900right_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]: [-0.0231, 0.8433, 0.6109, -0.3805, -0.0219, -0.0269, 0.9996, 0.7776, 1.52, 0.4801, 0.3664, 0.638, 0.4992, 0.9962] state[eef_state]: left_x=0.2987 left_y=0.0006 left_z=0.1694 left_yaw=-0.0001 left_pitch=-0.0511 left_roll=0.0 left_gripper=0.9996 right_x=0.3194 right_y=0.1719 right_z=0.0627 right_yaw=-0.0149 right_pitch=0.0448 right_roll=0.0549 right_gripper=0.9962 state[joint_eff]: [-0.212, -2.0991, 7.2957, 1.6532, -0.0317, -0.0464, -0.0171, 0.335, -6.4205, 7.0359, 1.7363, 0.5495, 0.1734, 0.0024] 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({"targets": {"right_y": 0.19, "right_z": -0.01}, "note": "Blue pen is visible running up from the jaws, slightly left of centre. Shifting ~2 cm left and descending to table level."})
tool
executing move_to over 5 steps (0.5s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
Pen centred. Closing.
agent noteBlue pen centred on the jaw column at table level. Closing.
move_to
right_gripper0.0000right_z-0.0150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.849, 0.6102, -0.3805, -0.0223, -0.0265, 0.9996, 0.8185, 1.8637, 0.4656, 0.7506, 0.6956, 0.5461, 0.9962] state[eef_state]: left_x=0.2989 left_y=0.0006 left_z=0.1675 left_yaw=0.0001 left_pitch=-0.0576 left_roll=0.0007 left_gripper=0.9996 right_x=0.3271 right_y=0.1891 right_z=0.0098 right_yaw=-0.0446 right_pitch=0.0865 right_roll=0.0912 right_gripper=0.9962 state[joint_eff]: [-0.0342, -1.9897, 7.0906, 1.6679, -0.0562, -0.0317, -0.0122, 0.8957, -4.6017, 3.0701, 0.3639, -0.232, -0.2271, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
Pen centred. Closing.
move_to({"targets": {"right_gripper": 0.0, "right_z": -0.015}, "note": "Blue pen centred on the jaw column at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteGripper settled at 0.148, same as the last (apparently failed) grasp, so lifting 6 cm to verify the pen actually comes up.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.8494, 0.6102, -0.3801, -0.0223, -0.0269, 0.9996, 0.8181, 1.9648, 0.4667, 0.944, 0.7338, 0.5358, 0.1481] state[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1674 left_yaw=0.0003 left_pitch=-0.0576 left_roll=0.0004 left_gripper=0.9996 right_x=0.3369 right_y=0.1918 right_z=0.0101 right_yaw=-0.0782 right_pitch=0.1634 right_roll=0.1405 right_gripper=0.1481 state[joint_eff]: [-0.253, -1.5385, 7.1863, 1.6874, -0.0513, -0.0659, -0.0122, -0.1436, -4.2735, 2.8103, 0.8864, -0.1685, 0.0757, 0.989] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.07}, "note": "Gripper settled at 0.148, same as the last (apparently failed) grasp, so lifting 6 cm to verify the pen actually comes up."})
tool
executing move_to over 4 steps (0.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe pen rose with the jaws (still seen extending from the gripper), so it's held. Carrying it high over the right basket.
move_to
right_x0.4500right_y0.1700right_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]: [-0.0231, 0.8509, 0.6098, -0.3801, -0.0223, -0.0265, 0.9996, 0.8169, 1.6958, 0.4911, 0.701, 0.7223, 0.535, 0.1525] state[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1668 left_yaw=0.0001 left_pitch=-0.0595 left_roll=0.0007 left_gripper=0.9996 right_x=0.3387 right_y=0.1954 right_z=0.069 right_yaw=-0.0767 right_pitch=0.1904 right_roll=0.1834 right_gripper=0.1525 state[joint_eff]: [-0.2393, -1.1692, 7.2, 1.7265, -0.0611, -0.0317, -0.0122, -0.0205, -6.3795, 6.3932, 1.5653, 0.315, -0.0073, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.17, "right_z": 0.25}, "note": "The pen rose with the jaws (still seen extending from the gripper), so it's held. Carrying it high over the right basket."})
tool
executing move_to over 12 steps (1.2s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe last carry move didn't execute (arm stayed at z≈0.06). Trying a simpler straight lift first, easing y inward.
move_to
right_z0.2000right_x0.3300right_y0.1500
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]: [-0.0231, 0.8509, 0.6098, -0.3801, -0.0219, -0.0269, 0.9996, 0.7898, 1.6661, 0.4988, 0.6025, 0.6868, 0.5163, 0.1525] state[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1668 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=0.0002 left_gripper=0.9996 right_x=0.3383 right_y=0.1873 right_z=0.0626 right_yaw=-0.0574 right_pitch=0.1388 right_roll=0.1305 right_gripper=0.1525 state[joint_eff]: [-0.1709, -1.4564, 7.1179, 1.707, -0.0317, -0.0269, -0.0122, -0.3624, -7.9111, 7.3368, 1.8779, 0.2076, -0.0562, 1.0281] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.33, "right_y": 0.15}, "note": "The last carry move didn't execute (arm stayed at z\u22480.06). Trying a simpler straight lift first, easing y inward."})
tool
executing move_to over 9 steps (0.9s)
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 notePen held and lifted; the right basket (with the black pen) is straight ahead in the wrist view. Moving forward over it.
move_to
right_x0.4700right_y0.1600right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0227, 0.8566, 0.6094, -0.3805, -0.0216, -0.0269, 0.9996, 0.7067, 1.1862, 0.6964, -0.0357, 0.6025, 0.4595, 0.1544] state[eef_state]: left_x=0.2992 left_y=0.0006 left_z=0.165 left_yaw=0.0 left_pitch=-0.066 left_roll=0.0001 left_gripper=0.9996 right_x=0.3304 right_y=0.1552 right_z=0.1864 right_yaw=-0.0459 right_pitch=0.1389 right_roll=0.1376 right_gripper=0.1544 state[joint_eff]: [-0.1436, -1.935, 7.1316, 1.7021, -0.0464, -0.0464, -0.0122, -0.4308, -4.4786, 8.9094, 1.5311, 0.2662, -0.0513, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.16, "right_z": 0.22}, "note": "Pen held and lifted; the right basket (with the black pen) is straight ahead in the wrist view. Moving forward over it."})
tool
executing move_to over 11 steps (1.1s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe held pen is over the right basket's interior next to the black pen. Releasing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.8619, 0.609, -0.3813, -0.0219, -0.0269, 0.9996, 0.4633, 1.6188, 1.1301, -0.0254, 0.3862, 0.329, 0.1545] state[eef_state]: left_x=0.2993 left_y=0.0006 left_z=0.1632 left_yaw=-0.0 left_pitch=-0.0725 left_roll=0.0005 left_gripper=0.9996 right_x=0.4583 right_y=0.1586 right_z=0.1989 right_yaw=-0.0418 right_pitch=0.0937 right_roll=0.1137 right_gripper=0.1545 state[joint_eff]: [-0.1846, -2.0581, 7.0632, 1.663, -0.0366, -0.0611, -0.0122, -0.7043, -8.0615, 9.6752, 1.8144, 0.0464, 0.0122, 1.0281] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The held pen is over the right basket's interior next to the black pen. Releasing."})
tool
executing move_to over 9 steps (0.9s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe pen fell short and is lying on the table just in front of the right basket. Backing off and lowering to re-grasp it.
move_to
right_x0.3700right_y0.1700right_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]: [-0.0231, 0.8623, 0.6086, -0.3805, -0.0219, -0.0265, 0.9996, 0.4587, 1.6329, 1.1282, -0.0326, 0.3721, 0.3202, 0.9946] state[eef_state]: left_x=0.2994 left_y=0.0006 left_z=0.1631 left_yaw=-0.0002 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9996 right_x=0.4587 right_y=0.1589 right_z=0.1896 right_yaw=-0.0291 right_pitch=0.0704 right_roll=0.1011 right_gripper=0.9946 state[joint_eff]: [-0.1709, -1.6889, 7.0906, 1.6386, -0.0122, -0.0122, -0.0122, 0.294, -9.306, 7.0632, 1.8242, 0.2711, 0.1978, 0.2076] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.17, "right_z": 0.08}, "note": "The pen fell short and is lying on the table just in front of the right basket. Backing off and lowering to re-grasp it."})
tool
executing move_to over 8 steps (0.8s)
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 notePen lies diagonally ahead-left of the jaws in the wrist view. Shifting ~2 cm left and forward and descending to table level to straddle its middle.
move_to
right_x0.3850right_y0.1900right_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]: [-0.0227, 0.8635, 0.6086, -0.3801, -0.0219, -0.0269, 0.9996, 0.6296, 1.6028, 0.6273, 0.3294, 0.4866, 0.4015, 0.996] state[eef_state]: left_x=0.2995 left_y=0.0007 left_z=0.1628 left_yaw=0.0003 left_pitch=-0.0732 left_roll=0.0005 left_gripper=0.9996 right_x=0.3668 right_y=0.1695 right_z=0.0706 right_yaw=0.0072 right_pitch=0.0082 right_roll=0.0596 right_gripper=0.996 state[joint_eff]: [-0.1299, -1.1829, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122, 0.2393, -6.5299, 6.147, 2.0049, 0.2906, 0.0806, 0.1294] 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({"targets": {"right_x": 0.385, "right_y": 0.19, "right_z": -0.01}, "note": "Pen lies diagonally ahead-left of the jaws in the wrist view. Shifting ~2 cm left and forward and descending to table level to straddle its middle."})
tool
executing move_to over 6 steps (0.6s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
assistant
Pen between jaws. Close.
agent notePen now runs between the jaws at table level. Closing on it.
move_to
right_gripper0.0000right_z-0.0150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.868, 0.6075, -0.3805, -0.0223, -0.0269, 0.9996, 0.6426, 1.948, 0.6537, 0.701, 0.5095, 0.4187, 0.9962] state[eef_state]: left_x=0.2995 left_y=0.0006 left_z=0.1609 left_yaw=0.0003 left_pitch=-0.0793 left_roll=0.0009 left_gripper=0.9996 right_x=0.3921 right_y=0.1903 right_z=0.0129 right_yaw=-0.0084 right_pitch=0.0577 right_roll=0.095 right_gripper=0.9962 state[joint_eff]: [-0.0205, -2.0308, 7.3094, 1.6679, -0.0073, -0.0317, -0.0171, 0.6496, -5.7094, 3.8906, 0.6325, -0.2173, -0.0562, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
Pen between jaws. Close.
move_to({"targets": {"right_gripper": 0.0, "right_z": -0.015}, "note": "Pen now runs between the jaws at table level. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent notePen gripped firmly (seen between the jaws). Lifting high first so its forward-pointing tip clears the basket rim.
move_to
right_z0.2600
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]: [-0.0231, 0.8696, 0.6075, -0.3805, -0.0219, -0.0269, 0.9996, 0.6415, 2.0331, 0.6567, 0.8825, 0.5331, 0.4049, 0.1456] state[eef_state]: left_x=0.2996 left_y=0.0005 left_z=0.1605 left_yaw=-0.0 left_pitch=-0.0809 left_roll=0.0007 left_gripper=0.9996 right_x=0.4039 right_y=0.1941 right_z=0.0144 right_yaw=-0.0276 right_pitch=0.1448 right_roll=0.1343 right_gripper=0.1456 state[joint_eff]: [-0.0205, -1.8393, 7.0496, 1.6777, -0.0024, -0.0659, -0.0122, 0.0205, -5.6274, 3.3573, 0.9597, -0.1099, 0.0708, 1.0085] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.26}, "note": "Pen gripped firmly (seen between the jaws). Lifting high first so its forward-pointing tip clears the basket rim."})
tool
executing move_to over 16 steps (1.6s)
step 253
assistant
agent noteRight basket is directly ahead, slightly right, with the black pen inside. Moving further forward than last time so the whole pen lands inside.
move_to
right_x0.5000right_y0.1800right_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]: [-0.0231, 0.8715, 0.6067, -0.3805, -0.0219, -0.0265, 0.9996, 0.6415, 1.4967, 1.1328, -0.1543, 0.5156, 0.4034, 0.1507] state[eef_state]: left_x=0.2995 left_y=0.0005 left_z=0.1596 left_yaw=-0.0002 left_pitch=-0.0835 left_roll=0.0011 left_gripper=0.9996 right_x=0.4068 right_y=0.1996 right_z=0.2335 right_yaw=-0.0103 right_pitch=0.1204 right_roll=0.1246 right_gripper=0.1507 state[joint_eff]: [-0.1162, -1.8803, 7.0769, 1.663, -0.0317, -0.0464, -0.0122, -0.0752, -9.4564, 9.8256, 1.7558, 0.2808, -0.0317, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.18, "right_z": 0.25}, "note": "Right basket is directly ahead, slightly right, with the black pen inside. Moving further forward than last time so the whole pen lands inside."})
tool
executing move_to over 8 steps (0.8s)
step 261
assistant
agent noteThe pen now sits well inside the basket outline in the wrist view. Releasing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.8768, 0.6067, -0.3805, -0.0216, -0.0269, 0.9996, 0.4641, 1.7336, 1.4052, -0.1928, 0.3595, 0.3115, 0.1539] state[eef_state]: left_x=0.2998 left_y=0.0005 left_z=0.1581 left_yaw=-0.0003 left_pitch=-0.0889 left_roll=0.0006 left_gripper=0.9996 right_x=0.4898 right_y=0.1796 right_z=0.2332 right_yaw=-0.0091 right_pitch=0.0821 right_roll=0.1064 right_gripper=0.1539 state[joint_eff]: [-0.1162, -2.0718, 7.241, 1.5946, -0.0415, -0.0659, -0.0171, -0.4308, -8.8547, 9.7846, 1.8046, 0.1099, -0.0611, 1.0281] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The pen now sits well inside the basket outline in the wrist view. Releasing."})
tool
executing move_to over 9 steps (0.9s)
step 270
assistant
agent noteBoth pens are now in the right basket. Pulling the right arm back while the left arm drops onto the yellow marker, which lies just ahead and slightly right of its jaws.
move_to
right_x0.3000right_y0.0500right_z0.2000left_y-0.0200left_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]: [-0.0231, 0.8772, 0.6067, -0.3801, -0.0223, -0.0269, 0.9996, 0.4587, 1.7504, 1.4059, -0.1986, 0.347, 0.3054, 0.9949] state[eef_state]: left_x=0.2999 left_y=0.0006 left_z=0.1581 left_yaw=0.0003 left_pitch=-0.0889 left_roll=0.0011 left_gripper=0.9996 right_x=0.4916 right_y=0.1798 right_z=0.2236 right_yaw=-0.0 right_pitch=0.0602 right_roll=0.097 right_gripper=0.9949 state[joint_eff]: [-0.1299, -1.7709, 7.0359, 1.6581, -0.0366, -0.0659, -0.0122, 0.2393, -10.6325, 7.0222, 1.7411, 0.1929, 0.0904, 0.0269] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.2, "left_y": -0.02, "left_z": -0.01}, "note": "Both pens are now in the right basket. Pulling the right arm back while the left arm drops onto the yellow marker, which lies just ahead and slightly right of its jaws."})
tool
executing move_to over 15 steps (1.5s)
step 285
assistant
agent noteLeft jaws are at table level; the yellow marker is ~3 cm right of the jaw centre. Sliding right to straddle it.
move_to
left_y-0.0500left_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]: [-0.1482, 1.5059, 0.1265, 0.7319, -0.1326, -0.0845, 0.9988, 0.2638, 0.8509, 0.6502, -0.3004, 0.1925, 0.2127, 0.996] state[eef_state]: left_x=0.3047 left_y=-0.0183 left_z=-0.0014 left_yaw=-0.0006 left_pitch=-0.0796 left_roll=0.0213 left_gripper=0.9988 right_x=0.3088 right_y=0.0521 right_z=0.2037 right_yaw=-0.0169 right_pitch=0.0763 right_roll=0.1026 right_gripper=0.996 state[joint_eff]: [-0.4308, -3.4393, 2.1675, 0.1636, 0.2613, -0.2222, -0.0855, -0.3897, -1.6342, 7.3504, 1.9267, -0.0317, -0.0708, 0.105] camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.05, "left_z": -0.01}, "note": "Left jaws are at table level; the yellow marker is ~3 cm right of the jaw centre. Sliding right to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 288
assistant
agent noteYellow marker is centred between the left jaws at table level. Closing.
move_to
left_gripper0.0000left_z-0.0150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3145, 1.586, 0.1394, 0.8257, -0.2337, -0.1513, 0.9988, 0.2558, 0.8589, 0.6403, -0.3271, 0.1745, 0.202, 0.9962] state[eef_state]: left_x=0.3093 left_y=-0.0539 left_z=-0.0003 left_yaw=-0.0466 left_pitch=-0.0402 left_roll=0.0201 left_gripper=0.9988 right_x=0.3053 right_y=0.0518 right_z=0.1908 right_yaw=-0.0035 right_pitch=0.0315 right_roll=0.0901 right_gripper=0.9962 state[joint_eff]: [0.5812, -3.2342, 3.9453, 1.1844, -0.105, -0.2027, -0.022, 0.5949, -1.9897, 7.8427, 2.0, 0.1734, 0.0855, -0.0024] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": -0.015}, "note": "Yellow marker is centred between the left jaws at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteYellow marker gripped (0.16). Carrying it high toward the right (pens) basket at the left arm's cross-over limit, which should reach the basket's left side.
move_to
left_z0.2500left_x0.4900left_y-0.4000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3325, 1.5967, 0.1463, 0.8272, -0.2852, -0.1993, 0.1577, 0.2554, 0.8589, 0.6403, -0.3256, 0.1711, 0.2008, 0.9962] state[eef_state]: left_x=0.3109 left_y=-0.051 left_z=0.0002 left_yaw=0.004 left_pitch=-0.0329 left_roll=0.0097 left_gripper=0.1577 right_x=0.3054 right_y=0.0524 right_z=0.1911 right_yaw=-0.0004 right_pitch=0.0325 right_roll=0.0912 right_gripper=0.9962 state[joint_eff]: [-0.1846, -3.494, 3.5761, 1.2527, -0.0708, -0.0415, 1.0134, -0.1709, -1.6752, 7.0906, 1.7216, 0.0464, -0.0415, -0.0122] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25, "left_x": 0.49, "left_y": -0.4}, "note": "Yellow marker gripped (0.16). Carrying it high toward the right (pens) basket at the left arm's cross-over limit, which should reach the basket's left side."})
tool
executing move_to over 32 steps (3.2s)
step 330
assistant
agent noteTop view shows the left gripper over the left part of the right (pens) basket; releasing the yellow marker into it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8627, 2.701, 2.8826, -1.1362, -0.6807, -0.6212, 0.1577, 0.2546, 0.8642, 0.6403, -0.3328, 0.1707, 0.2005, 0.9962] state[eef_state]: left_x=0.4831 left_y=-0.3878 left_z=0.1587 left_yaw=0.0219 left_pitch=-0.1286 left_roll=0.0907 left_gripper=0.1577 right_x=0.305 right_y=0.0521 right_z=0.188 right_yaw=-0.0005 right_pitch=0.0203 right_roll=0.0879 right_gripper=0.9962 state[joint_eff]: [-0.6222, -21.3402, 10.5504, 1.3455, -0.7253, 0.2076, 1.033, -0.0615, -2.0991, 7.0906, 1.7705, 0.022, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Top view shows the left gripper over the left part of the right (pens) basket; releasing the yellow marker into it."})
tool
executing move_to over 9 steps (0.9s)
step 339
assistant
agent noteThe marker bounced off the basket rim and landed on the table left of the right basket. Sending the left arm home and bringing the right arm over the marker.
move_to
left_x0.3000left_y0.0000left_z0.2000right_x0.4000right_y0.2300right_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8616, 2.7136, 2.97, -1.2797, -0.6765, -0.6369, 0.9955, 0.2546, 0.8642, 0.6403, -0.3325, 0.1707, 0.1982, 0.9962] state[eef_state]: left_x=0.471 left_y=-0.3735 left_z=0.1644 left_yaw=0.0369 left_pitch=-0.1735 left_roll=0.1305 left_gripper=0.9955 right_x=0.305 right_y=0.0521 right_z=0.1881 right_yaw=0.0007 right_pitch=0.0208 right_roll=0.086 right_gripper=0.9962 state[joint_eff]: [-0.3214, -13.5453, 8.0342, 1.16, -0.3297, 0.149, -0.1978, -0.0342, -1.6889, 7.0632, 1.7314, -0.0073, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.2, "right_x": 0.4, "right_y": 0.23, "right_z": 0.07}, "note": "The marker bounced off the basket rim and landed on the table left of the right basket. Sending the left arm home and bringing the right arm over the marker."})
tool
executing move_to over 34 steps (3.4s)
step 373
assistant
agent noteYellow marker lies radially right on the right arm's jaw column. Descending to table level over it.
move_to
right_y0.2320right_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]: [-0.1444, 1.0111, 0.8467, -0.688, -0.2337, -0.0662, 0.9968, 0.7078, 1.8103, 0.8474, 0.2565, 0.5243, 0.458, 0.9962] state[eef_state]: left_x=0.294 left_y=0.0022 left_z=0.1728 left_yaw=0.0865 left_pitch=-0.2686 left_roll=0.1428 left_gripper=0.9968 right_x=0.3907 right_y=0.2226 right_z=0.0571 right_yaw=0.025 right_pitch=-0.027 right_roll=0.0515 right_gripper=0.9962 state[joint_eff]: [-0.0479, -4.1231, 8.3487, 1.7558, -0.1392, 0.1099, 0.1148, 0.759, -8.0479, 7.8701, 1.7509, 0.4274, 0.2027, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.232, "right_z": -0.01}, "note": "Yellow marker lies radially right on the right arm's jaw column. Descending to table level over it."})
tool
executing move_to over 5 steps (0.5s)
step 378
assistant
agent noteMarker centred between the right jaws at table level. Closing.
move_to
right_gripper0.0000right_z-0.0150
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1463, 1.021, 0.8448, -0.6811, -0.2276, -0.0612, 0.9968, 0.7193, 1.9987, 0.8211, 0.5163, 0.5419, 0.4782, 0.9962] state[eef_state]: left_x=0.2955 left_y=0.0004 left_z=0.1702 left_yaw=0.0769 left_pitch=-0.2749 left_roll=0.1428 left_gripper=0.9968 right_x=0.399 right_y=0.2331 right_z=0.013 right_yaw=0.012 right_pitch=0.0139 right_roll=0.0887 right_gripper=0.9962 state[joint_eff]: [0.0615, -3.4256, 6.8991, 1.3651, -0.2125, -0.1099, -0.0073, 0.9094, -6.2974, 4.6154, 0.5397, -0.0024, -0.1294, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 378): [image omitted: streamed camera frame] camera 'left_cam' (step 378): [image omitted: streamed camera frame] camera 'right_cam' (step 378): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": -0.015}, "note": "Marker centred between the right jaws at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 388
assistant
agent noteMarker gripped (0.18). Carrying it up and over the centre of the right (pens) basket.
move_to
right_x0.5000right_y0.1800right_z0.2700
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]: [-0.1463, 1.0214, 0.8448, -0.688, -0.2276, -0.0635, 0.9968, 0.7189, 2.0624, 0.82, 0.6773, 0.5583, 0.4721, 0.1773] state[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.169 left_yaw=0.0786 left_pitch=-0.2818 left_roll=0.1429 left_gripper=0.9968 right_x=0.4102 right_y=0.2394 right_z=0.0146 right_yaw=-0.0015 right_pitch=0.0932 right_roll=0.1393 right_gripper=0.1773 state[joint_eff]: [-0.0889, -2.6462, 6.7214, 1.4579, -0.149, -0.0464, -0.0073, -0.1983, -6.2701, 3.7128, 0.9939, -0.0073, 0.0269, 1.1404] camera 'top_cam' (step 388): [image omitted: streamed camera frame] camera 'left_cam' (step 388): [image omitted: streamed camera frame] camera 'right_cam' (step 388): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.18, "right_z": 0.27}, "note": "Marker gripped (0.18). Carrying it up and over the centre of the right (pens) basket."})
tool
executing move_to over 17 steps (1.7s)
step 405
assistant
agent noteMarker is over the basket's left rim; shifting right toward the basket centre while opening so it drops inside.
move_to
right_y0.1300right_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]: [-0.1463, 1.0222, 0.8448, -0.6884, -0.2276, -0.0635, 0.9968, 0.4534, 1.7638, 1.4982, -0.252, 0.3264, 0.3229, 0.18] state[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1688 left_yaw=0.0787 left_pitch=-0.2829 left_roll=0.1432 left_gripper=0.9968 right_x=0.499 right_y=0.1841 right_z=0.2474 right_yaw=0.0015 right_pitch=0.0775 right_roll=0.133 right_gripper=0.18 state[joint_eff]: [-0.1162, -2.6872, 6.735, 1.4383, -0.1587, -0.0757, -0.0122, -0.4034, -10.359, 9.8803, 1.6679, 0.0024, 0.0269, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.13, "right_gripper": 1.0}, "note": "Marker is over the basket's left rim; shifting right toward the basket centre while opening so it drops inside."})
tool
executing move_to over 9 steps (0.9s)
step 414
assistant
agent noteI only finished half the task. The objects fall into two types: writing tools (a black-capped marker, a blue pen and a yellow Sharpie highlighter) and plush toys (a grey plush and a teddy bear). All three writing tools are now in the right basket; the wrist camera shows them lying inside. The two plush toys are still on the table and the left basket is empty. I ran out of my call budget before I could move them. The misses that cost the most calls: a first pen grasp that came up empty, and two drops that landed outside the basket (a pen that fell short, and the highlighter, which bounced off the rim when the left arm dropped it at the edge of its reach).
done
hindsightBasket layout: the right basket is at roughly right-frame (x 0.50, y 0.17). The left arm's limit (left_y ≥ −0.40, which is right-frame +0.25) only gets it to the basket's rim, so left-side objects bound for the right basket should be handed across the centre for the right arm to deliver, not dropped by the left arm. The left basket is at roughly left-frame (0.45–0.5, −0.1). Plan by budget: each pick-and-place needs about 4–5 calls (hover/look, adjust+descend, close, carry, release). With 5 objects and 40 calls there is no room for retries, so assign arms so no object crosses sides, and move both arms in the same call when you can. The gripper settles at ≈0.145–0.18 on a pen, both when holding it and on a miss, so the reading alone didn't tell me; checking the wrist cam after lifting did. Long pens stick out forward from the jaws: carry at z ≥ 0.22 and release at x ≈ 0.50 (basket centre) so the whole pen lands inside. At x ≈ 0.46 a pen fell out over the front rim. A combined forward+up move from table level sometimes doesn't execute; lift first. At z≈0.07 the wrist camera shows about 10–12 px per cm of sideways offset from the jaw column (x≈110); shifting by that amount then descending worked well.
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]: [-0.1463, 1.0241, 0.8448, -0.6918, -0.2276, -0.0635, 0.9968, 0.3298, 1.7218, 1.4067, -0.2386, 0.2207, 0.2581, 0.9951] state[eef_state]: left_x=0.2938 left_y=0.0006 left_z=0.1677 left_yaw=0.0791 left_pitch=-0.2881 left_roll=0.1444 left_gripper=0.9968 right_x=0.5011 right_y=0.1344 right_z=0.2268 right_yaw=0.0018 right_pitch=0.0277 right_roll=0.1128 right_gripper=0.9951 state[joint_eff]: [-0.0479, -2.4821, 6.8581, 1.4628, -0.1392, -0.022, -0.0073, -0.4855, -11.9726, 6.9675, 1.9805, -0.0562, 0.0317, -0.2173] camera 'top_cam' (step 414): [image omitted: streamed camera frame] camera 'left_cam' (step 414): [image omitted: streamed camera frame] camera 'right_cam' (step 414): [image omitted: streamed camera frame]
assistant
done({"summary": "I only finished half the task. The objects fall into two types: writing tools (a black-capped marker, a blue pen and a yellow Sharpie highlighter) and plush toys (a grey plush and a teddy bear). All three writing tools are now in the right basket; the wrist camera shows them lying inside. The two plush toys are still on the table and the left basket is empty. I ran out of my call budget before I could move them. The misses that cost the most calls: a first pen grasp that came up empty, and two drops that landed outside the basket (a pen that fell short, and the highlighter, which bounced off the rim when the left arm dropped it at the edge of its reach).", "hindsight": "Basket layout: the right basket is at roughly right-frame (x 0.50, y 0.17). The left arm's limit (left_y \u2265 \u22120.40, which is right-frame +0.25) only gets it to the basket's rim, so left-side objects bound for the right basket should be handed across the centre for the right arm to deliver, not dropped by the left arm. The left basket is at roughly left-frame (0.45\u20130.5, \u22120.1). Plan by budget: each pick-and-place needs about 4\u20135 calls (hover/look, adjust+descend, close, carry, release). With 5 objects and 40 calls there is no room for retries, so assign arms so no object crosses sides, and move both arms in the same call when you can. The gripper settles at \u22480.145\u20130.18 on a pen, both when holding it and on a miss, so the reading alone didn't tell me; checking the wrist cam after lifting did. Long pens stick out forward from the jaws: carry at z \u2265 0.22 and release at x \u2248 0.50 (basket centre) so the whole pen lands inside. At x \u2248 0.46 a pen fell out over the front rim. A combined forward+up move from table level sometimes doesn't execute; lift first. At z\u22480.07 the wrist camera shows about 10\u201312 px per cm of sideways offset from the jaw column (x\u2248110); shifting by that amount then descending worked well."})
tool
done: I only finished half the task. The objects fall into two types: writing tools (a black-capped marker, a blue pen and a yellow Sharpie highlighter) and plush toys (a grey plush and a teddy bear). All three writing tools are now in the right basket; the wrist camera shows them lying inside. The two plush toys are still on the table and the left basket is empty. I ran out of my call budget before I could move them. The misses that cost the most calls: a first pen grasp that came up empty, and two drops that landed outside the basket (a pen that fell short, and the highlighter, which bounced off the rim when the left arm dropped it at the edge of its reach).
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 · 21.1 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]: [-0.0227, 0.7986, 0.6174, -0.3805, -0.0219, -0.0261, 0.9996, -0.0154, 0.7979, 0.6109, -0.3836, -0.012, -0.0158, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0007 left_z=0.1848 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1813 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3197, 9.4564, 1.8193, -0.0024, 0.0806, -0.0562, -0.7316, -1.1419, 9.7846, 1.8193, -0.1148, 0.0024, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1af0e99c6db37ac048877fcb7497491e3ea09d747d6b3c2c788f36ca3aec3a68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3939a0eda32a8fca1b652090334ae8edc8411e40923e7daa376ab7ab48638e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac1919b6f83aff510b3882b2591eb34706f535006d900df0db6601f9ec0ace90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.591 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]: [-0.0227, 0.7986, 0.6174, -0.3805, -0.0219, -0.0261, 0.9996, -0.0154, 0.7979, 0.6109, -0.3836, -0.012, -0.0158, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0007 left_z=0.1848 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1813 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3197, 9.4564, 1.8193, -0.0024, 0.0806, -0.0562, -0.7316, -1.1419, 9.7846, 1.8193, -0.1148, 0.0024, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1af0e99c6db37ac048877fcb7497491e3ea09d747d6b3c2c788f36ca3aec3a68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3939a0eda32a8fca1b652090334ae8edc8411e40923e7daa376ab7ab48638e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac1919b6f83aff510b3882b2591eb34706f535006d900df0db6601f9ec0ace90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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HuiIo+GFPudSJvjB5ddhZA6DGh+9bg6qhjYQ803VQewuECaYoeQZbFeMjpaKrLmha3/4IxqHRgHEuK0cgKJ91BaNHF85J7eqBBNAMWVhvV00iwu5Y8J5/uBl9pUJomhBnkJqwhnfuEd/X60RY7DUOGjqBD4IvUq6KF2D0E7QqmwH7lEo/qZbFR4wZ8UqgnqH8IgAcGV+mDtodB1ixThzsQ3ZrCDuvdvGMQdw7WvEZJQsSvYpKYv+Dgp3kHwCDxF/Yo+5BXDo21UukEMOstfv81qbvtY2BoOhz0T3J29dRlzRLCMmCZVlQkrBF7kLbOwNKPPcoVc9TKJWLLI7dF35jXp0WgWatbUvdtKnfDzdjkHJYcmDVgxdbmjFxFlWok0t45ervWoUq6uc04BBUrGgds0kYpqYFuChKaytOt7yED10FG3u4KX+aSj6qawZATHP8oAm5avGDDyVG00e5V3YI+27w2//2zZOS5+bhiN2B87Hx8vDc3hUZo1sJ6l0rhVy/kJFFPlJlTc/sOJAa2WDMv3dJW9vasNjK9YMUgoID8wRb5DaDrYA5OlkdK1onDerjRY4pT1GYWOXuX9/mANM0sfFpgETV7sRDQBxDKXWc8PPRQlXP+aDi2EkiZB1HqThVYpyy+f3lhAcz+16MhPyMhF/xNpar/tONjZFrtn0yfBGtJ6VKckQs5nANSHQJkMv3fhNtXAiHnCBrBf0q1VTJLJTvV+mzK+LU222LZTwXhpW6VGO2/5wmIXA63oI5i+6eY4lTLFqZ69y3esxw3w4yUixM8BHE65CIDZVSBtJyx9D6f6RgA4bGFGrQer2DCSTBdliZ69hB69kPubHGl13yD0EbFHLXE4ZKWIf/y7OOK4ByamtU3f8hpO1bXmkUtExIn+++AM3dfre0/NGfEJzmY5yhhR5pQVh53UFgc8iJuXtMSvAPU0DVoI5megGsU65DqzGlktXUxNAZV8jDuBhl0ssdhgkshw5Z8FW3s7YaG/ro3sRh/lNhGlEYq4boeK+H22C2gMsxzXlblygWFgQG9IGT3bGhPSvA0kxLuxN+PKSg8tijp7Bq5PoodSZm6HP4MJLPVRF9A2g9bJXo9zRuaUw4UULhKOOLREQKDgEYqATLUa70p+7wte9yHmC5lvEHwv1peoCoY8k7fnCdf/djJp+nd38sMgxaWr+nzV4sB5L46XAV+Gcuz/bUz0Ml3Tq1mdBoXWRDC1cbibqw0PzGTr7OGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012vtHbGGwt8nTKAuXfAGzpK",
      "input": {
        "note": "Scene: two teal baskets at the back; plush toys in the middle, pens/markers scattered (one yellow marker at left, two pens on the right). Plan: pens go in the right basket, plushes in the left. Lowering the right arm over the pen right below its wrist camera.",
        "targets": {
          "right_y": 0.01,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012vtHbGGwt8nTKAuXfAGzpK",
      "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]: [-0.0231, 0.7986, 0.617, -0.3805, -0.0219, -0.0265, 0.9996, 0.0402, 0.9276, 0.2298, 0.0891, 0.025, 0.0032, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0006 left_z=0.1846 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0008 left_gripper=0.9996 right_x=0.2903 right_y=0.0109 right_z=0.0709 right_yaw=0.0139 right_pitch=-0.038 right_roll=-0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2513, 7.0906, 1.7216, -0.022, -0.0269, -0.0122, 0.2256, -2.0991, 6.8581, 1.9414, 0.1538, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f954081d0acedff2660fb6c7d48c54136f8246f0ea751b02434df38197aa29db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec22cd2795c3a10485c503907d828a82104e3cefa47312b32010a07171ab3114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f7410e36cbc9d2120b18e2306ad1f81c62e1cc9e03e33c101aae3e0577bf0cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.444 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]: [-0.0227, 0.7986, 0.6174, -0.3805, -0.0219, -0.0261, 0.9996, -0.0154, 0.7979, 0.6109, -0.3836, -0.012, -0.0158, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0007 left_z=0.1848 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1813 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3197, 9.4564, 1.8193, -0.0024, 0.0806, -0.0562, -0.7316, -1.1419, 9.7846, 1.8193, -0.1148, 0.0024, -0.0611]",
      "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]: [-0.0231, 0.7986, 0.617, -0.3805, -0.0219, -0.0265, 0.9996, 0.0402, 0.9276, 0.2298, 0.0891, 0.025, 0.0032, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0006 left_z=0.1846 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0008 left_gripper=0.9996 right_x=0.2903 right_y=0.0109 right_z=0.0709 right_yaw=0.0139 right_pitch=-0.038 right_roll=-0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2513, 7.0906, 1.7216, -0.022, -0.0269, -0.0122, 0.2256, -2.0991, 6.8581, 1.9414, 0.1538, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f954081d0acedff2660fb6c7d48c54136f8246f0ea751b02434df38197aa29db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec22cd2795c3a10485c503907d828a82104e3cefa47312b32010a07171ab3114",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f7410e36cbc9d2120b18e2306ad1f81c62e1cc9e03e33c101aae3e0577bf0cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwgKEAgSGAI4AUIIdGhpbmtpbmcSDMiYP4KNW47dCQN0HRoMlrQgVqsAMHSKK47xIjBarRe3Ug0T2Z0vU5KAyTKdb36c8VScyAywbEW+HkAWNRYlvj/C1pZTU0IjhU0APzoq4AehD3n1RVUxte9pEJZKSg++2lOPOpvp3O4WM7FOCTjo3LfO5NekaWQ0ei/xyOVcJy+6zNyoY2UYNbkA3rzSkjtEN67l1W8QWCT4vDhg9jdeNLzx+OFT03o+gr6ziI9nIu83nPVKTDk+B6y9gc0S2EmAQk8hneuk4VWs/IIUo9qzJEEQ0szwMCTvd7EuqzbVJh6IKSbM/YgyrXiD62qA1V0dW0fhLOKfjGO8mSMLS3qZ6zvcBlfl+3QbdP949/F8TnWrnt2lCYg7eVQ3hovNndLANkbOtvYZECMYmNcQ+GSmcF4E5RTsjSw+RABo9QhpTlqMevlhna3e+HqgfW1FT86fH2X+vAwf2HuI4qJRnlqId5oDB44s6E+ElcEAro/CKQQzGnZ/kSo37Dyzs1dDlh6mqnBJWg++ku4eoBipDpcbWPWG6gsitTUBniW9AgzE+UgqEFpFBeS/UVEp8E8uiJevsHXsvm4omRWXTkNJToGqS2EI9xTPd6gOKI8cFC63kmeoXq1ivgVTMCr66bi+HZPUenUlnJUstt5sxVxUgpj2Yb0ELGYGN7bH5EkEJLRuggwknZRGIfWzxadgqfMpqjMLhw0m1ZFyAhJG6TScAJmK/uB1lAdIrYbUtPuROILpijAOjf0SA0YIqmBZxVu5CBsDa3AuslZETif+z10KK/WejCgfZbYORm5HPjxxlprNIcNNF9O4FTq6i9UMYPBBHmow+WKDfORXYA47IW+uPJflLQH1Nh81IMgpbT5D522NXp3m+0JohjZwyYnl9CkVubobQey0Ceopsi4s2jZkQUntHBFOst1nUUvjPQd13LZ1x0CuOD7RVkF/t/GILeBSCfzRLGAz3hojEgs9iusAuFDYQQ57bDIb7N97fYFFCdboPqz9vG4fN+aD73n8F7eQ8sqdcq1WavGDY5bZqprrBJRUyAigPcs1lZ5gFLbYCWFQX+eNh8QIIxQXn490bycab7SdtrdYjiofjH7P1NTYHxCL9mBQb/Wy4kEkGVZD5u6psAQf3avI7SaxmupOXlUDMRBSkogneWcFaEEJ1sVs40dlo7tn31RnAxYiLTzpqhiTmaaoiEqGDZ532tmqY3qwpXm/WK/qdmJyUDUyiMi5UkF1D64PVcRy8sX7S18PMxA60EOMriDWOOmi7hJAcrqW8PCKkSga7kXri2zpxV35iTLUBmFp2wdbXuU1lEdJYqszohYnL+ICwz9wfesPNTi73bKauM+q0bJwgMGyHXyPzJOUrg8Z71J1LDH5llOPW8+6mI/SOf2+F37iSGDPCZ6fbj5MmCUjhm7oGYkZY1UP4qwbnxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011MVdihq7UioKbtT5wDj8mJ",
      "input": {
        "note": "Right wrist camera shows the black-capped pen slightly left of the jaw column, running radially. Shifting left ~3 cm and descending to table level to straddle it.",
        "targets": {
          "right_y": 0.04,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011MVdihq7UioKbtT5wDj8mJ",
      "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]: [-0.0231, 0.8043, 0.617, -0.3798, -0.0219, -0.0269, 0.9996, 0.2295, 1.4578, 0.0875, 0.794, 0.1566, 0.1143, 0.9995]\nstate[eef_state]: left_x=0.2971 left_y=0.0006 left_z=0.1832 left_yaw=-0.0001 left_pitch=-0.0053 left_roll=-0.001 left_gripper=0.9996 right_x=0.3006 right_y=0.0456 right_z=0.0131 right_yaw=0.0326 right_pitch=0.0021 right_roll=0.0178 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.3333, 7.0769, 1.8046, -0.0513, -0.0415, -0.0122, 0.212, -2.6462, 2.6735, 0.9353, 0.2125, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1207167665f5f748657ce093f6b8c3891d7494f552f903cb283e6edb126051cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709f7bc90b3513795dca1780cf541be4559617d2dad3837dcc1a323982a07313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf1bde96c043b57aab964906c1f302489faedae8814c4f373d7e6d3064aec312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 3 attempt 0 · /messages · status 200 · 4.059 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]: [-0.0227, 0.7986, 0.6174, -0.3805, -0.0219, -0.0261, 0.9996, -0.0154, 0.7979, 0.6109, -0.3836, -0.012, -0.0158, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0007 left_z=0.1848 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9996 right_x=0.2954 right_y=0.0011 right_z=0.1813 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.3197, 9.4564, 1.8193, -0.0024, 0.0806, -0.0562, -0.7316, -1.1419, 9.7846, 1.8193, -0.1148, 0.0024, -0.0611]",
      "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]: [-0.0231, 0.7986, 0.617, -0.3805, -0.0219, -0.0265, 0.9996, 0.0402, 0.9276, 0.2298, 0.0891, 0.025, 0.0032, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0006 left_z=0.1846 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0008 left_gripper=0.9996 right_x=0.2903 right_y=0.0109 right_z=0.0709 right_yaw=0.0139 right_pitch=-0.038 right_roll=-0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2513, 7.0906, 1.7216, -0.022, -0.0269, -0.0122, 0.2256, -2.0991, 6.8581, 1.9414, 0.1538, 0.0757, -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]: [-0.0231, 0.8043, 0.617, -0.3798, -0.0219, -0.0269, 0.9996, 0.2295, 1.4578, 0.0875, 0.794, 0.1566, 0.1143, 0.9995]\nstate[eef_state]: left_x=0.2971 left_y=0.0006 left_z=0.1832 left_yaw=-0.0001 left_pitch=-0.0053 left_roll=-0.001 left_gripper=0.9996 right_x=0.3006 right_y=0.0456 right_z=0.0131 right_yaw=0.0326 right_pitch=0.0021 right_roll=0.0178 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.3333, 7.0769, 1.8046, -0.0513, -0.0415, -0.0122, 0.212, -2.6462, 2.6735, 0.9353, 0.2125, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1207167665f5f748657ce093f6b8c3891d7494f552f903cb283e6edb126051cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709f7bc90b3513795dca1780cf541be4559617d2dad3837dcc1a323982a07313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf1bde96c043b57aab964906c1f302489faedae8814c4f373d7e6d3064aec312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen now on jaw column. Z at 0.013; press a bit lower and close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V4o5tHNM7zzFEric5BzKUQ",
      "input": {
        "note": "Pen is centred between the jaws in the right wrist view. Pressing to table level and closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QsTsNeiZUCFio3cRBqygAE",
      "input": {
        "note": "Lifting to check the pen came up with the gripper.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01V4o5tHNM7zzFEric5BzKUQ",
      "type": "tool_result"
    },
    {
      "content": "ignored: one tool call per turn",
      "tool_use_id": "toolu_01QsTsNeiZUCFio3cRBqygAE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.8051, 0.6163, -0.3805, -0.0223, -0.0269, 0.9996, 0.2298, 1.7069, 0.0738, 1.1545, 0.1497, 0.1093, 0.1438]\nstate[eef_state]: left_x=0.297 left_y=0.0008 left_z=0.1824 left_yaw=0.0006 left_pitch=-0.0076 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3147 right_y=0.0503 right_z=0.0128 right_yaw=0.0406 right_pitch=0.0973 right_roll=0.0357 right_gripper=0.1438\nstate[joint_eff]: [-0.1846, -1.3607, 7.159, 1.7509, -0.022, -0.0464, -0.0122, -0.1162, -2.8786, 1.6615, 1.1453, 0.0806, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31327f5b75657791e137f12b84d416064c0d27754906e9fa0f3c788df2de06f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57f34eb208ea819a2fdad6bdef8f09f23ac8b312a7949dd9bfdbd01f0049f18f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5285ee40cea08f8489528f6647d9dbf9e9d1e947a104bc5d9180d4558aa7c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 6.274 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]: [-0.0231, 0.7986, 0.617, -0.3805, -0.0219, -0.0265, 0.9996, 0.0402, 0.9276, 0.2298, 0.0891, 0.025, 0.0032, 0.9996]\nstate[eef_state]: left_x=0.2966 left_y=0.0006 left_z=0.1846 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0008 left_gripper=0.9996 right_x=0.2903 right_y=0.0109 right_z=0.0709 right_yaw=0.0139 right_pitch=-0.038 right_roll=-0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2513, 7.0906, 1.7216, -0.022, -0.0269, -0.0122, 0.2256, -2.0991, 6.8581, 1.9414, 0.1538, 0.0757, -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]: [-0.0231, 0.8043, 0.617, -0.3798, -0.0219, -0.0269, 0.9996, 0.2295, 1.4578, 0.0875, 0.794, 0.1566, 0.1143, 0.9995]\nstate[eef_state]: left_x=0.2971 left_y=0.0006 left_z=0.1832 left_yaw=-0.0001 left_pitch=-0.0053 left_roll=-0.001 left_gripper=0.9996 right_x=0.3006 right_y=0.0456 right_z=0.0131 right_yaw=0.0326 right_pitch=0.0021 right_roll=0.0178 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.3333, 7.0769, 1.8046, -0.0513, -0.0415, -0.0122, 0.212, -2.6462, 2.6735, 0.9353, 0.2125, -0.0952, -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]: [-0.0227, 0.8051, 0.6163, -0.3805, -0.0223, -0.0269, 0.9996, 0.2298, 1.7069, 0.0738, 1.1545, 0.1497, 0.1093, 0.1438]\nstate[eef_state]: left_x=0.297 left_y=0.0008 left_z=0.1824 left_yaw=0.0006 left_pitch=-0.0076 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3147 right_y=0.0503 right_z=0.0128 right_yaw=0.0406 right_pitch=0.0973 right_roll=0.0357 right_gripper=0.1438\nstate[joint_eff]: [-0.1846, -1.3607, 7.159, 1.7509, -0.022, -0.0464, -0.0122, -0.1162, -2.8786, 1.6615, 1.1453, 0.0806, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31327f5b75657791e137f12b84d416064c0d27754906e9fa0f3c788df2de06f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57f34eb208ea819a2fdad6bdef8f09f23ac8b312a7949dd9bfdbd01f0049f18f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5285ee40cea08f8489528f6647d9dbf9e9d1e947a104bc5d9180d4558aa7c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQYKEAgSGAI4AUIIdGhpbmtpbmcSDFeFuJoYIzytj1oU6hoMEnNyVKq5QJrqMcYgIjBnTRHBpjrNtVkcqzNMGB/TXLN6MqtB/fXcUolA6ewOMo8OzBz1FQp7/bgqEBXO+HgqzgVk2kVEku/FfUyoehZDqmBJIiZgqess/xD0m4b471V+6l9isa3YJvxz6QA4SrL7sp/xrHvjj6SGHLFYe3v6Jru8a+rCgorh6TVWjVw/eRZaLK+A6c972JGHdeMB0mTM+1HfT9XH/7vcq7TUkhqGVs6jqmChF8A6KFVeaM17ZHAlT1Ih1vwlrPyH4CdJ8poAkHt9hDeOQw2j4EYRBjwTaE9iVc6W8NiAzMp7QSOJzmjsvsR8roj5m4yZRKBDaY+tgJ7VC4DIb5TNL9LBnKTSTz6yrEnXKicb+EWZkUwUqhmP9rYvLZHJmIZAEMRhUwGkoVCoZD4kTt0ojg8Sr8Rt94Yj9I/p9tHjH45KBiTJYdKBefWn1k9Lr6zq8zCoTsqsKHTe62T/MpWY/lM/zwUGm0Xx5ifHiIY8Jl82kD7MEdhhP1Jzwa44ks3BIZs3zaBaHFPkXMARffekb1+bIp2B+KJf+0CKKirgkJFYKLelOXFOhYnLZMW7Uw1NgATB2LNbtRXHPhMabhjK4GuKkM35YMO2E6iVQS/iXpvRC0PHakePM78ifwv7m2ZpqFCKQxGvCZHLCkafpOqGTf5cHyIp8PlhW/C8vxRPbM0vRHsq6uR+jvYRQX/NHpGZRzGtWkPsjGIXj61l157KF6n60Kv9pJ6BeNoXmbU5TyAuLvlPKrkXOt55kHzuO7P5gNWy7C9pcTINt4QU1iVExog/A4hlmZ7CEs2gZWqpDfzDTGIwQWdixW9LZ2tqry6l43DpBsaWooKnFm8e7DOgb9lIE+ZD/QE3Ln1nV5h7sBAGG7WTue8EPe2HFWSbyQWSBKwEAj7f2U46DL5gI47d7wJm7sr99+73+IZcbtIo73sC76q/vv/M1pwaBM7JKQIzy/gxBKY0ntEkCrCIPGpym5kjmbKLnR1Cfz/2GDB1wRef14Ex60VNStbX9IA6l9EONR8HlzbXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Wdtf2QKEEijsSBSa23LqJ",
      "input": {
        "note": "Gripper settled at 0.14 (~1.4 cm), so the pen is held. Lifting clear to carry it to the right basket.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_011Wdtf2QKEEijsSBSa23LqJ",
      "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]: [-0.0231, 0.8108, 0.6159, -0.3805, -0.0219, -0.0265, 0.9996, 0.2291, 0.8787, 0.5907, -0.2356, 0.1463, 0.1085, 0.1438]\nstate[eef_state]: left_x=0.2973 left_y=0.0006 left_z=0.1807 left_yaw=-0.0003 left_pitch=-0.0137 left_roll=-0.0005 left_gripper=0.9996 right_x=0.3125 right_y=0.0501 right_z=0.181 right_yaw=0.0437 right_pitch=0.0528 right_roll=0.0282 right_gripper=0.1438\nstate[joint_eff]: [-0.0752, -1.6068, 7.0769, 1.6923, -0.0171, -0.0513, -0.0122, -0.1573, -2.8786, 9.7709, 1.7167, 0.0171, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86abe7008b9fd18d6011b0cd90c31f9ac7ff7b4d24f57405c595668bf4b3fcea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:812f7ed9683dd7bfb1ed1002ee0bd9577c570dd816f6aabc00cca3b73e35d399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f38f0b7529ccfd9b40b2ef3c4d2f77780c451e1bd341832a43d080271602835d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.105 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]: [-0.0231, 0.8043, 0.617, -0.3798, -0.0219, -0.0269, 0.9996, 0.2295, 1.4578, 0.0875, 0.794, 0.1566, 0.1143, 0.9995]\nstate[eef_state]: left_x=0.2971 left_y=0.0006 left_z=0.1832 left_yaw=-0.0001 left_pitch=-0.0053 left_roll=-0.001 left_gripper=0.9996 right_x=0.3006 right_y=0.0456 right_z=0.0131 right_yaw=0.0326 right_pitch=0.0021 right_roll=0.0178 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.3333, 7.0769, 1.8046, -0.0513, -0.0415, -0.0122, 0.212, -2.6462, 2.6735, 0.9353, 0.2125, -0.0952, -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]: [-0.0227, 0.8051, 0.6163, -0.3805, -0.0223, -0.0269, 0.9996, 0.2298, 1.7069, 0.0738, 1.1545, 0.1497, 0.1093, 0.1438]\nstate[eef_state]: left_x=0.297 left_y=0.0008 left_z=0.1824 left_yaw=0.0006 left_pitch=-0.0076 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3147 right_y=0.0503 right_z=0.0128 right_yaw=0.0406 right_pitch=0.0973 right_roll=0.0357 right_gripper=0.1438\nstate[joint_eff]: [-0.1846, -1.3607, 7.159, 1.7509, -0.022, -0.0464, -0.0122, -0.1162, -2.8786, 1.6615, 1.1453, 0.0806, 0.0171, 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 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]: [-0.0231, 0.8108, 0.6159, -0.3805, -0.0219, -0.0265, 0.9996, 0.2291, 0.8787, 0.5907, -0.2356, 0.1463, 0.1085, 0.1438]\nstate[eef_state]: left_x=0.2973 left_y=0.0006 left_z=0.1807 left_yaw=-0.0003 left_pitch=-0.0137 left_roll=-0.0005 left_gripper=0.9996 right_x=0.3125 right_y=0.0501 right_z=0.181 right_yaw=0.0437 right_pitch=0.0528 right_roll=0.0282 right_gripper=0.1438\nstate[joint_eff]: [-0.0752, -1.6068, 7.0769, 1.6923, -0.0171, -0.0513, -0.0122, -0.1573, -2.8786, 9.7709, 1.7167, 0.0171, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86abe7008b9fd18d6011b0cd90c31f9ac7ff7b4d24f57405c595668bf4b3fcea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:812f7ed9683dd7bfb1ed1002ee0bd9577c570dd816f6aabc00cca3b73e35d399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f38f0b7529ccfd9b40b2ef3c4d2f77780c451e1bd341832a43d080271602835d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1goKEAgSGAI4AUIIdGhpbmtpbmcSDETXJhKyhi5XatX5kxoMKEKiX2rpjH2+g8PyIjBXz/Gx8JDoem9kKzmoG12AHyq/wcl+MyDlyRVfXbyxG8+WAp+qY6g8lWoM4IyUISEq8wlROl1z1OtohevzdSwuGl41jHVvDmwDEShCBY56y8nwnNeawntEFSbVFKDHeJmKZ4F9kFJPK9qw0mgR5wP+Bt39Gx9SeEIofGeVw8Cepj6r8Xc80PJlVQt37EhD6bN8UqCzKtpckXFT4d4Q/GvW42MGrqolEhQQSD5QYgqGdEB+IMdcUoj0O5hqjNltyWCSNfBtePSh4zWK2VbNMA/wX5oPLpdJcAZWHXcISk/oVnGhM7K3Zoe0QD3/8D2omoxtzn08+vBymy4xo2DOarlDDN4rJ/cKs39AmMWg3yqA4rzR5Z8BsViKcLDJgXFJJUsxbiGhnDIITH72Azj+wuYtkr5LqZZMXUUjy976LuvHwcAIlDB2eGQlkHc2qbKkk7zLaqZ2ULWsaLYYeZ7sa0OJZ8rj/FtMSQfhnlACcdT5rUiMSBm9Gc+iX3Ki2WoolyNwXavWNcdAvMDfUyHmEbh/anU5v8PZBj4PqEMuCau6IughbskpNJVhivD98VJ9s/TUdZ7jZ7qcgj1XYdUzN1qyisj1KFzwlaiwosjHEDWaEHzIUrJetZiSr4K5BjIdbE6vzktmpxvspQt4k8oZDNJHZMOl+Y61agq0y7qDSwatiyyzmhk+SsDe1yJ4V7x/U8BkfMDzwFp5qbLPtlswkiW6FNVkrDRfahVTe8UXl2Vp429m0ztAegfrv/rEf19b1jF9XMVbhZDDqKPmcDFoJCezyeJIaYY63hetxzjBf6oMm33r1sejxFZHdT+eWQDZeSyZXz0sYllVEpV/0IxnRKhAqo2dnHvzH8QSLltN2Y9ZC7Dkrg0I58NpHZ7rksQOyt7RIoHvzUOOqVHYDoPaOqCsENUF95sRvlbCMosNqS7vhzOr+RebbxmQ9+sQOGUe+AYmR99Wf0grb7T6pqb7Tya7A80Laki4WevVDJh8BbpMzogLNvtn+CkTRuSVVRV0BfpWa9gTo51JPu0kRoFNgt63X+PU60qlCPJfBa/VG1S2hMkq0GE7csaVjnwiSKBaAqWK+iw7gZeLznOLF4QEv+6j0C33kXG7DrGhxZlYOAyrO/RBKy3+7FqCYe7G0JmtoUAH37rfxJJtfH75XX79kxjbcMvyPYO0JxTM7KRqgVD6kD4F4rOYyYovYCfWAJa5TmP8Z4gNz70UHD/9+wPunXZmUYYgsH4s0ZwxFn3P+HXimuVWIbQlp2MSMPj8rCVLl8nApvM/d9HwjC4rHuEK1WL+8iaolekzAquaQhF7XNtiXg0uX0NMBC4njUbLX/WdArSbSJYKsF+l6yPS+ADDKuaBsFw+26F3LnlQt1clIT6o23GmNszMfs/pQRf5YPa5eStZGwPlwNJIMeR8fAOTDX6yrqD5kvVbHI+Os0oaeuew+8MUTgW/YGihbPj+mcFcQSGbwI3GZ+4iVgNwZ2WwTRA6fn65OfF7JPje1clzXxwnliJXByTSw06KPhoNpgQizHKiacX/7CKjscQtlLJM2OerCczIH4zfxWD3Yj9nJuA9VFxs65OMhqnmtb6rgImcBbJb2QAFKqwV5Ipil+vX2AvOL1A/K/IUgeUhBDqcaMh8UnEroogEaUclaKkJc/TVeuwIzMif/tQLkj7oBMTTH6FGNOmq5qjTFCHSgax9rLzflavaURi8rJN+zBAa6MEwYXt97AO8aYxzsa42SVUI7x2oPIuI61Z9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019LB76v8UuTpTG8eKfMZppT",
      "input": {
        "note": "Pen held; right basket is ahead-left of the right gripper in both views. Carrying the pen high over the basket.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.17,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_019LB76v8UuTpTG8eKfMZppT",
      "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]: [-0.0231, 0.8169, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.4526, 1.6688, 1.2701, -0.2012, 0.3294, 0.2108, 0.1473]\nstate[eef_state]: left_x=0.2977 left_y=0.0006 left_z=0.1787 left_yaw=-0.0001 left_pitch=-0.0202 left_roll=-0.0007 left_gripper=0.9996 right_x=0.4648 right_y=0.1665 right_z=0.2012 right_yaw=0.0602 right_pitch=0.0069 right_roll=0.0008 right_gripper=0.1473\nstate[joint_eff]: [-0.1436, -1.7709, 7.2547, 1.7216, -0.0317, -0.0122, -0.0122, 0.4991, -8.6906, 9.6068, 1.7558, 0.2271, 0.1441, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc2fbf45e99b0c8eb60daa5528e43f60b941747a37fada6f87b16cf183ebdf51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7fecbf62a6f068ed68a86dde5318340b187d416df5406a233376f592ede7ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d09e5c363653a3dab5b2b869e5917a8cdbbad185699092429ffcc0d413677e95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 6.396 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.8051, 0.6163, -0.3805, -0.0223, -0.0269, 0.9996, 0.2298, 1.7069, 0.0738, 1.1545, 0.1497, 0.1093, 0.1438]\nstate[eef_state]: left_x=0.297 left_y=0.0008 left_z=0.1824 left_yaw=0.0006 left_pitch=-0.0076 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3147 right_y=0.0503 right_z=0.0128 right_yaw=0.0406 right_pitch=0.0973 right_roll=0.0357 right_gripper=0.1438\nstate[joint_eff]: [-0.1846, -1.3607, 7.159, 1.7509, -0.022, -0.0464, -0.0122, -0.1162, -2.8786, 1.6615, 1.1453, 0.0806, 0.0171, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8108, 0.6159, -0.3805, -0.0219, -0.0265, 0.9996, 0.2291, 0.8787, 0.5907, -0.2356, 0.1463, 0.1085, 0.1438]\nstate[eef_state]: left_x=0.2973 left_y=0.0006 left_z=0.1807 left_yaw=-0.0003 left_pitch=-0.0137 left_roll=-0.0005 left_gripper=0.9996 right_x=0.3125 right_y=0.0501 right_z=0.181 right_yaw=0.0437 right_pitch=0.0528 right_roll=0.0282 right_gripper=0.1438\nstate[joint_eff]: [-0.0752, -1.6068, 7.0769, 1.6923, -0.0171, -0.0513, -0.0122, -0.1573, -2.8786, 9.7709, 1.7167, 0.0171, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0231, 0.8169, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.4526, 1.6688, 1.2701, -0.2012, 0.3294, 0.2108, 0.1473]\nstate[eef_state]: left_x=0.2977 left_y=0.0006 left_z=0.1787 left_yaw=-0.0001 left_pitch=-0.0202 left_roll=-0.0007 left_gripper=0.9996 right_x=0.4648 right_y=0.1665 right_z=0.2012 right_yaw=0.0602 right_pitch=0.0069 right_roll=0.0008 right_gripper=0.1473\nstate[joint_eff]: [-0.1436, -1.7709, 7.2547, 1.7216, -0.0317, -0.0122, -0.0122, 0.4991, -8.6906, 9.6068, 1.7558, 0.2271, 0.1441, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc2fbf45e99b0c8eb60daa5528e43f60b941747a37fada6f87b16cf183ebdf51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7fecbf62a6f068ed68a86dde5318340b187d416df5406a233376f592ede7ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d09e5c363653a3dab5b2b869e5917a8cdbbad185699092429ffcc0d413677e95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper is over the basket interior. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RM6kLigPMR1Pdi9C45s8Ly",
      "input": {
        "note": "Right wrist view shows the basket interior directly below; opening to drop the pen in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RM6kLigPMR1Pdi9C45s8Ly",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8173, 0.6151, -0.3805, -0.0216, -0.0269, 0.9996, 0.4515, 1.6688, 1.269, -0.2092, 0.329, 0.2031, 0.9949]\nstate[eef_state]: left_x=0.2976 left_y=0.0005 left_z=0.1785 left_yaw=-0.0004 left_pitch=-0.021 left_roll=-0.0009 left_gripper=0.9996 right_x=0.4639 right_y=0.1655 right_z=0.1991 right_yaw=0.0635 right_pitch=-0.0017 right_roll=-0.009 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -1.0051, 7.2684, 1.7167, -0.0415, -0.0366, -0.0122, -0.0615, -8.5265, 7.3094, 1.707, 0.0122, -0.0073, -0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87dea3b3a9f69d75f497334a80275446369507945690f8c16a4f1a4adee6fadc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b10dc1139826ded55b786335b37062f269a614cd2f16d44cbc814ba48a25802c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:871552a96959bc8364da3dc9522a69bbe88c035e0eb62ccef1af464a9befdd60",
        "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 · 4.116 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]: [-0.0231, 0.8108, 0.6159, -0.3805, -0.0219, -0.0265, 0.9996, 0.2291, 0.8787, 0.5907, -0.2356, 0.1463, 0.1085, 0.1438]\nstate[eef_state]: left_x=0.2973 left_y=0.0006 left_z=0.1807 left_yaw=-0.0003 left_pitch=-0.0137 left_roll=-0.0005 left_gripper=0.9996 right_x=0.3125 right_y=0.0501 right_z=0.181 right_yaw=0.0437 right_pitch=0.0528 right_roll=0.0282 right_gripper=0.1438\nstate[joint_eff]: [-0.0752, -1.6068, 7.0769, 1.6923, -0.0171, -0.0513, -0.0122, -0.1573, -2.8786, 9.7709, 1.7167, 0.0171, -0.0611, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8169, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.4526, 1.6688, 1.2701, -0.2012, 0.3294, 0.2108, 0.1473]\nstate[eef_state]: left_x=0.2977 left_y=0.0006 left_z=0.1787 left_yaw=-0.0001 left_pitch=-0.0202 left_roll=-0.0007 left_gripper=0.9996 right_x=0.4648 right_y=0.1665 right_z=0.2012 right_yaw=0.0602 right_pitch=0.0069 right_roll=0.0008 right_gripper=0.1473\nstate[joint_eff]: [-0.1436, -1.7709, 7.2547, 1.7216, -0.0317, -0.0122, -0.0122, 0.4991, -8.6906, 9.6068, 1.7558, 0.2271, 0.1441, 1.033]",
      "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]: [-0.0231, 0.8173, 0.6151, -0.3805, -0.0216, -0.0269, 0.9996, 0.4515, 1.6688, 1.269, -0.2092, 0.329, 0.2031, 0.9949]\nstate[eef_state]: left_x=0.2976 left_y=0.0005 left_z=0.1785 left_yaw=-0.0004 left_pitch=-0.021 left_roll=-0.0009 left_gripper=0.9996 right_x=0.4639 right_y=0.1655 right_z=0.1991 right_yaw=0.0635 right_pitch=-0.0017 right_roll=-0.009 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -1.0051, 7.2684, 1.7167, -0.0415, -0.0366, -0.0122, -0.0615, -8.5265, 7.3094, 1.707, 0.0122, -0.0073, -0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87dea3b3a9f69d75f497334a80275446369507945690f8c16a4f1a4adee6fadc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b10dc1139826ded55b786335b37062f269a614cd2f16d44cbc814ba48a25802c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:871552a96959bc8364da3dc9522a69bbe88c035e0eb62ccef1af464a9befdd60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FEGLXJEvuxujuMfSQp7vNN",
      "input": {
        "note": "First pen is in the right basket. Moving the right arm over the second (blue) pen lying just right of the teddy bear.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.16,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01FEGLXJEvuxujuMfSQp7vNN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.8238, 0.6151, -0.3801, -0.0216, -0.0269, 0.9996, 0.7975, 1.3071, 0.4446, 0.1173, 0.5766, 0.4248, 0.996]\nstate[eef_state]: left_x=0.2981 left_y=0.0006 left_z=0.1768 left_yaw=-0.0 left_pitch=-0.0271 left_roll=-0.0008 left_gripper=0.9996 right_x=0.2875 right_y=0.1618 right_z=0.072 right_yaw=0.0919 right_pitch=-0.0345 right_roll=-0.0275 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.8256, 7.0769, 1.707, -0.0366, -0.0611, -0.0171, 0.3214, -5.0667, 5.9419, 1.6581, 0.5006, 0.1392, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f3843e976f8c69b3811512052f10a81216367fcfd617cc919a2fad0cd9a986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee401b8ab17128d6e4d3a84023c4d2bbeafc71a93ad343576b40216fdbe1eeac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a089518d9d7291ae30f2659ea5260c0a5c555a6ef163237b82361bccabeea20f",
        "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 · 4.902 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]: [-0.0231, 0.8169, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.4526, 1.6688, 1.2701, -0.2012, 0.3294, 0.2108, 0.1473]\nstate[eef_state]: left_x=0.2977 left_y=0.0006 left_z=0.1787 left_yaw=-0.0001 left_pitch=-0.0202 left_roll=-0.0007 left_gripper=0.9996 right_x=0.4648 right_y=0.1665 right_z=0.2012 right_yaw=0.0602 right_pitch=0.0069 right_roll=0.0008 right_gripper=0.1473\nstate[joint_eff]: [-0.1436, -1.7709, 7.2547, 1.7216, -0.0317, -0.0122, -0.0122, 0.4991, -8.6906, 9.6068, 1.7558, 0.2271, 0.1441, 1.033]",
      "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]: [-0.0231, 0.8173, 0.6151, -0.3805, -0.0216, -0.0269, 0.9996, 0.4515, 1.6688, 1.269, -0.2092, 0.329, 0.2031, 0.9949]\nstate[eef_state]: left_x=0.2976 left_y=0.0005 left_z=0.1785 left_yaw=-0.0004 left_pitch=-0.021 left_roll=-0.0009 left_gripper=0.9996 right_x=0.4639 right_y=0.1655 right_z=0.1991 right_yaw=0.0635 right_pitch=-0.0017 right_roll=-0.009 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -1.0051, 7.2684, 1.7167, -0.0415, -0.0366, -0.0122, -0.0615, -8.5265, 7.3094, 1.707, 0.0122, -0.0073, -0.2125]",
      "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]: [-0.0227, 0.8238, 0.6151, -0.3801, -0.0216, -0.0269, 0.9996, 0.7975, 1.3071, 0.4446, 0.1173, 0.5766, 0.4248, 0.996]\nstate[eef_state]: left_x=0.2981 left_y=0.0006 left_z=0.1768 left_yaw=-0.0 left_pitch=-0.0271 left_roll=-0.0008 left_gripper=0.9996 right_x=0.2875 right_y=0.1618 right_z=0.072 right_yaw=0.0919 right_pitch=-0.0345 right_roll=-0.0275 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.8256, 7.0769, 1.707, -0.0366, -0.0611, -0.0171, 0.3214, -5.0667, 5.9419, 1.6581, 0.5006, 0.1392, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f3843e976f8c69b3811512052f10a81216367fcfd617cc919a2fad0cd9a986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee401b8ab17128d6e4d3a84023c4d2bbeafc71a93ad343576b40216fdbe1eeac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a089518d9d7291ae30f2659ea5260c0a5c555a6ef163237b82361bccabeea20f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQgKEAgSGAI4AUIIdGhpbmtpbmcSDMTH0dW9QOhC3ZMZzBoMg+JGiN8AOmPH94iDIjAZGV4GEUG6K8b9Y6kpFZeltvcIH0YOELvVMwmFOI93Gl1z5CmLQhAZMYVAUDMlJZwqrgfzHlmrG5fPvx000sMvh8xeu6rsof6zO1YKWIKOFzXt74V0fJfCrNp2Kztt3fF9QBf8+BLQJG55IPkHlx4v38KlMfPn6E3J3edE+SJHn7cuLHkPC9zXCnfaynUve5ahdr4nkshzytMwp6iReSaXvXw7xmV3Uiv/DAaJ86uGOlq6lhGYaMQCnshuTHwsVvXfAjE087bhI0SLHZrYReujKMd6xBjnw7P32XYrrZ3DhckLFftqS0ySdqseeScDOPYj0bPMrEYFKbknGaI6Zzjhy41eAyGUSaGzjrBCSWTNlwD2ykV3B+BH2Jb6HuC7Twrz4NL/flgn/SQAD3kzh10ahZ108ca9ALwn47228MYUKRUrfTJwFOShQNDEjsXUB004Ph3c2O2GCFs/BPzAZVl5Yr+WGH/m+8KgQF5Jyn4deZSfAnutMdqHWDt7OuozXT0GAlU/X0VuDaCyQN7Uv5fL/5KCamAzavYjfL3kHdhEPisPAWWVcUxGCFnlAtECjQT1QVxikLyh9q68XaWi446PLlg8SPQzu/p4UFeHnI163dNaw8DVXnDoM6JO6jyz9coPNBko0/fvWetG11lFTg7jOe7+6VM7tQnLAYnsYZMSOCsWO1AurQWJTSWgq21a/Z5nQodgXabXnFXQHdVbz+YotRLglysdQ4hER8WVU+umx8sXchOYORpFGYYx8r0aHOIiLjPqXSjNBaRVBmDIwDXikfBwlBUyr7TJsNwl6U2Di/rtO+APtRkkj/biCLnU3RL7tMd80voggyNM3c+rb6s6lzUTOwWDwOG7+hYmuWyuNskgVUMh1r+Iq+kZ/RxSUXLD6Ip3gY01O2OGc1+iAY9q8esISYvpV+kgeg4hfXe1xLG8eIBZ3Wc9UeV4ObRaqcAiRqstl/cgczpAFWCh75R1waAEIdAH5mCposX1svWD4aabJj6k1h0beJzKV0JQTsFVRs5o9Z60QkC0g9P4dt3YxsiK/TlXevqIDs6ayXH7oLqBQ4XX05OzQPiyhgngLOFnbNzLqWQJHYe4abvqtiHAsNg+DwQdaysD9bMNrUCdjrccgGGUmvK+x0NznkGlDYwjjoSnIdCZ/qs7snmP2CGnv6zTtSguKQwhrEW+IZH1qW+UyrU7/KRcnlZfkJWTI1fUnnahIXELpsdGYVF+4EhZDy3RlxnLUr4pPJsgx0PDy1RWrkVKSekP7ZpONDY8hrxXPyDCRWb3py9tdrdQK7BrZv1I6zuAC98BqgtO1TsFFhwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PQ1bLRVcroU5L85aWyqktK",
      "input": {
        "note": "Blue pen visible just right of the jaw column in the right wrist view, running radially. Shifting ~1.5 cm right and descending to table level.",
        "targets": {
          "right_y": 0.145,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PQ1bLRVcroU5L85aWyqktK",
      "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]: [-0.0231, 0.8276, 0.6151, -0.3801, -0.0219, -0.0265, 0.9996, 0.7437, 1.6894, 0.2672, 0.8028, 0.5407, 0.3973, 0.9962]\nstate[eef_state]: left_x=0.2984 left_y=0.0006 left_z=0.1758 left_yaw=-0.0003 left_pitch=-0.0309 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3001 right_y=0.1573 right_z=0.0123 right_yaw=0.0801 right_pitch=0.0489 right_roll=0.0464 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -1.388, 7.0496, 1.6972, -0.0415, -0.022, -0.0171, -0.6359, -3.6855, 2.2085, 1.0037, 0.022, -0.232, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:905b24172e20f904d8de6e2ddeb8f17417c13a87385e5bff16312be09de9dcf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08f3b17bd58a09a7273e54c57474e29dc0c29b5e4ceca294e1b53cea9f6d6197",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5586310f2039520fea4678f83f1d358f99366790d1a6b42e43ebbaa3ee5387e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 2.942 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]: [-0.0231, 0.8173, 0.6151, -0.3805, -0.0216, -0.0269, 0.9996, 0.4515, 1.6688, 1.269, -0.2092, 0.329, 0.2031, 0.9949]\nstate[eef_state]: left_x=0.2976 left_y=0.0005 left_z=0.1785 left_yaw=-0.0004 left_pitch=-0.021 left_roll=-0.0009 left_gripper=0.9996 right_x=0.4639 right_y=0.1655 right_z=0.1991 right_yaw=0.0635 right_pitch=-0.0017 right_roll=-0.009 right_gripper=0.9949\nstate[joint_eff]: [-0.1846, -1.0051, 7.2684, 1.7167, -0.0415, -0.0366, -0.0122, -0.0615, -8.5265, 7.3094, 1.707, 0.0122, -0.0073, -0.2125]",
      "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]: [-0.0227, 0.8238, 0.6151, -0.3801, -0.0216, -0.0269, 0.9996, 0.7975, 1.3071, 0.4446, 0.1173, 0.5766, 0.4248, 0.996]\nstate[eef_state]: left_x=0.2981 left_y=0.0006 left_z=0.1768 left_yaw=-0.0 left_pitch=-0.0271 left_roll=-0.0008 left_gripper=0.9996 right_x=0.2875 right_y=0.1618 right_z=0.072 right_yaw=0.0919 right_pitch=-0.0345 right_roll=-0.0275 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.8256, 7.0769, 1.707, -0.0366, -0.0611, -0.0171, 0.3214, -5.0667, 5.9419, 1.6581, 0.5006, 0.1392, 0.105]",
      "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]: [-0.0231, 0.8276, 0.6151, -0.3801, -0.0219, -0.0265, 0.9996, 0.7437, 1.6894, 0.2672, 0.8028, 0.5407, 0.3973, 0.9962]\nstate[eef_state]: left_x=0.2984 left_y=0.0006 left_z=0.1758 left_yaw=-0.0003 left_pitch=-0.0309 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3001 right_y=0.1573 right_z=0.0123 right_yaw=0.0801 right_pitch=0.0489 right_roll=0.0464 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -1.388, 7.0496, 1.6972, -0.0415, -0.022, -0.0171, -0.6359, -3.6855, 2.2085, 1.0037, 0.022, -0.232, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:905b24172e20f904d8de6e2ddeb8f17417c13a87385e5bff16312be09de9dcf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08f3b17bd58a09a7273e54c57474e29dc0c29b5e4ceca294e1b53cea9f6d6197",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5586310f2039520fea4678f83f1d358f99366790d1a6b42e43ebbaa3ee5387e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QgKEAgSGAI4AUIIdGhpbmtpbmcSDAta+Kv4g49GHGk9tRoMMiTJFDyuiXPGhOu8IjCLlNQ4/LfU22sjNxIAp3+kTJ5lXnjl8OVhRkUtFKCU7KCpYtOo9Uzzoz6Xy2traGwq7gdSqOns922e3/ccTRU4u3UxXHngmldwMYfRxH/RvUhoCbTQLNLbUDtuyvzejpukluOyE5k7tbEd4AmzU/0Fy46nJfIFo7PWW+uEchxj4tdHPRE3MMM8RVZ0G1fbX2hY7T4FjmVS2pu170Wp+fRIrfKcCw+mjWZ6aqsHiW9RsVsT8yiz/yj82dqUhX+scbiDm1dP78Cz5HJ0r8I+5omtS+0BxdYQu+rdIcEhcjNzc5LXG4EMRiduYNrqfEE9QiWRRfkAkh6+fNhc3k6LYv8Kvbz1ZO3gBFhgHJZ7E4GDQNFaUY7e5XFcNO8obrEl72eOHNoEzxA86ydUKOsQ5JLvTNqqXxS1xP1ZtU9GS+JSwWH8e7hN4IdhKIIE+dsUJIhSDkR8lxg5DOMbpWPZryJ1ThLc0uNnBVhT2t6+2yuDV49uRE/Rd2q3vtFmjD9BSEQzVO7k4IgRqaLkj0/hrwFfLWqUC5Vx+4mGITwqZWWKBVhNByNqG40W2jitOj3zZxIirIWHnRdNFlxCo5Jl2gsYqeSB0oogo07zYDuGV6TpZYdjzwDeNMPXU+0YW8feHUcDEIA48O2YP7zrh35iXtV3af4arZwzLdS/FxoFayiyL1NM0bALiNUpMCFLFGDUMKParKZ1wctbaRKgedUDkQ5rfclcrJT00mU8sBDsGZsPdXHf3Ptv2EURNcWRCVGE7EdzWKxkDLVv6mxnJ4t03Ck/PfYN8f2Hd3uOyW6+DutzH5pyxwyc/uNy5giFQ+fcaEnMYgWGZMRlK1IXLKe5sc2KB1OViUVIzjFXGNAUxpwlCo1BAjof1PFzualgR8xAh7hn56Js3vYoFBMd24L9H7YWrM1AEOV5NpC2vmlBysDOWBrMT36mGoHHF327lBTzuhoQ4SMS59mVrcyyjwUl+y0BgxoenHqwbh/yEJmQF5bFZcopyyKmlXOFyNGyI1zAOtpneVu8b07pf3g23rjYH7lZrgRGrvcjvQqUg8l0xubfpcua5yEMIilIM9uwHABinZ8wauATeHAJB1K3ORu6oE98M26HFAEio6OO+iAx1agJuZ04h4MYjTJWdgWfJ6pSzQUWUzSmUEJqFNDHdV9eJcoWLU6EIDtJuOLpFdoZxf4qQK0QBjQa82YQp/nwvzT1rBtbtglO0pqJgQWafs82egF6ZA41hMyg7eu1NTldlmBtc0gbzhzxNt8abeaMNqF/bixPyPRKu6Wsqrr8/2dmzM0Q0WJ1OG6Ks3gNfXnFIR9vu8Qn4z8oWtGSmVxex8TjLulxm0SypV9wC/gQf4RPKBtuqVpNeQ+GUhMgkUxfL3lh0emaeKetCQmm9iwglYHUTN0hGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QkXZ1QrB1RFbzBdf7HWS2Y",
      "input": {
        "note": "Pen still right of the jaw centre (image x≈145 vs ≈110) and the arm only reached y=0.157. Shifting further right to y=0.13 and pressing down.",
        "targets": {
          "right_y": 0.13,
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QkXZ1QrB1RFbzBdf7HWS2Y",
      "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]: [-0.0231, 0.8303, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.6399, 1.8683, 0.1951, 1.1988, 0.4847, 0.3218, 0.9963]\nstate[eef_state]: left_x=0.2985 left_y=0.0006 left_z=0.175 left_yaw=-0.0001 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3146 right_y=0.1361 right_z=0.0113 right_yaw=0.0544 right_pitch=0.1522 right_roll=0.0876 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.7162, 7.0222, 1.6825, -0.0415, -0.0366, -0.0122, -0.4308, -3.6991, 0.9094, 1.0232, -0.2027, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0799676d5815d0122c7037f96e9538d5b48f3be3a3eaae86fb2fbc19cae0462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ae6d97048fb1a25fd433bd138867529aa34c07b3b12b57707f560b5b29146f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:797101b7979e9ec8a76655208b19672c9ee2c4db78d76b96c192cb59e35ad98a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 3.447 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]: [-0.0227, 0.8238, 0.6151, -0.3801, -0.0216, -0.0269, 0.9996, 0.7975, 1.3071, 0.4446, 0.1173, 0.5766, 0.4248, 0.996]\nstate[eef_state]: left_x=0.2981 left_y=0.0006 left_z=0.1768 left_yaw=-0.0 left_pitch=-0.0271 left_roll=-0.0008 left_gripper=0.9996 right_x=0.2875 right_y=0.1618 right_z=0.072 right_yaw=0.0919 right_pitch=-0.0345 right_roll=-0.0275 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -1.8256, 7.0769, 1.707, -0.0366, -0.0611, -0.0171, 0.3214, -5.0667, 5.9419, 1.6581, 0.5006, 0.1392, 0.105]",
      "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]: [-0.0231, 0.8276, 0.6151, -0.3801, -0.0219, -0.0265, 0.9996, 0.7437, 1.6894, 0.2672, 0.8028, 0.5407, 0.3973, 0.9962]\nstate[eef_state]: left_x=0.2984 left_y=0.0006 left_z=0.1758 left_yaw=-0.0003 left_pitch=-0.0309 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3001 right_y=0.1573 right_z=0.0123 right_yaw=0.0801 right_pitch=0.0489 right_roll=0.0464 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -1.388, 7.0496, 1.6972, -0.0415, -0.022, -0.0171, -0.6359, -3.6855, 2.2085, 1.0037, 0.022, -0.232, 0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8303, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.6399, 1.8683, 0.1951, 1.1988, 0.4847, 0.3218, 0.9963]\nstate[eef_state]: left_x=0.2985 left_y=0.0006 left_z=0.175 left_yaw=-0.0001 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3146 right_y=0.1361 right_z=0.0113 right_yaw=0.0544 right_pitch=0.1522 right_roll=0.0876 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.7162, 7.0222, 1.6825, -0.0415, -0.0366, -0.0122, -0.4308, -3.6991, 0.9094, 1.0232, -0.2027, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0799676d5815d0122c7037f96e9538d5b48f3be3a3eaae86fb2fbc19cae0462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ae6d97048fb1a25fd433bd138867529aa34c07b3b12b57707f560b5b29146f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:797101b7979e9ec8a76655208b19672c9ee2c4db78d76b96c192cb59e35ad98a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen now centred between jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HQHUGCYT7a4w6h1J9ejyGm",
      "input": {
        "note": "Blue pen is centred between the jaws at table level. Closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HQHUGCYT7a4w6h1J9ejyGm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.8303, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.6392, 1.8683, 0.1932, 1.2263, 0.4515, 0.3351, 0.1481]\nstate[eef_state]: left_x=0.2985 left_y=0.0007 left_z=0.175 left_yaw=0.0003 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3152 right_y=0.1427 right_z=0.0153 right_yaw=0.0719 right_pitch=0.1648 right_roll=0.1267 right_gripper=0.1481\nstate[joint_eff]: [-0.0479, -1.4564, 7.0632, 1.7363, -0.0366, -0.0513, -0.0122, -0.5265, -3.8632, 1.1829, 0.7839, 0.0611, -0.1343, 0.9939]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e258a842ed22c781ed7102a4bc2b47891fb11d1d7ba1d37918d25933f4ca9c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbc62d1c5eaed36424429b5f9ad660fd556b57f65bef3a203fccd7dd236fd66a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d077cb03f93cdb7b45cd4c1af91e69133d839127f8b15755ed0482da5e4b8b1",
        "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 · 2.942 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]: [-0.0231, 0.8276, 0.6151, -0.3801, -0.0219, -0.0265, 0.9996, 0.7437, 1.6894, 0.2672, 0.8028, 0.5407, 0.3973, 0.9962]\nstate[eef_state]: left_x=0.2984 left_y=0.0006 left_z=0.1758 left_yaw=-0.0003 left_pitch=-0.0309 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3001 right_y=0.1573 right_z=0.0123 right_yaw=0.0801 right_pitch=0.0489 right_roll=0.0464 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -1.388, 7.0496, 1.6972, -0.0415, -0.022, -0.0171, -0.6359, -3.6855, 2.2085, 1.0037, 0.022, -0.232, 0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8303, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.6399, 1.8683, 0.1951, 1.1988, 0.4847, 0.3218, 0.9963]\nstate[eef_state]: left_x=0.2985 left_y=0.0006 left_z=0.175 left_yaw=-0.0001 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3146 right_y=0.1361 right_z=0.0113 right_yaw=0.0544 right_pitch=0.1522 right_roll=0.0876 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.7162, 7.0222, 1.6825, -0.0415, -0.0366, -0.0122, -0.4308, -3.6991, 0.9094, 1.0232, -0.2027, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0227, 0.8303, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.6392, 1.8683, 0.1932, 1.2263, 0.4515, 0.3351, 0.1481]\nstate[eef_state]: left_x=0.2985 left_y=0.0007 left_z=0.175 left_yaw=0.0003 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3152 right_y=0.1427 right_z=0.0153 right_yaw=0.0719 right_pitch=0.1648 right_roll=0.1267 right_gripper=0.1481\nstate[joint_eff]: [-0.0479, -1.4564, 7.0632, 1.7363, -0.0366, -0.0513, -0.0122, -0.5265, -3.8632, 1.1829, 0.7839, 0.0611, -0.1343, 0.9939]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e258a842ed22c781ed7102a4bc2b47891fb11d1d7ba1d37918d25933f4ca9c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbc62d1c5eaed36424429b5f9ad660fd556b57f65bef3a203fccd7dd236fd66a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d077cb03f93cdb7b45cd4c1af91e69133d839127f8b15755ed0482da5e4b8b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Held (0.148). Carry to basket.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Ea4Wa3n3m18hsBAtgZXfs",
      "input": {
        "note": "Blue pen grasped (gripper settled at 0.15). Lifting and carrying it over the right basket, where the first pen already sits.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.17,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_015Ea4Wa3n3m18hsBAtgZXfs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8314, 0.6151, -0.3801, -0.0223, -0.0265, 0.9996, 0.4805, 1.507, 0.9867, 0.104, 0.3012, 0.2615, 0.154]\nstate[eef_state]: left_x=0.2986 left_y=0.0006 left_z=0.1747 left_yaw=0.0 left_pitch=-0.0347 left_roll=0.0002 left_gripper=0.9996 right_x=0.4342 right_y=0.1712 right_z=0.2093 right_yaw=0.0778 right_pitch=0.1691 right_roll=0.1298 right_gripper=0.154\nstate[joint_eff]: [-0.0752, -1.5248, 7.0496, 1.7314, -0.0464, -0.0317, -0.0122, -0.6359, -6.1744, 8.8137, 1.619, 0.0269, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff664914a53e1a8d24b4306e9e94166fa748d894fe42de9a6f861455a1cad53c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65f305fe79e2c8c7a253b18cf93327b9f1879d3aeff96517041b7cc01b45de2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdee2b24ff8513efa7fe225c06c4fa888d05a54acec41eeebbac9775ccdc8eab",
        "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 · 5.757 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]: [-0.0231, 0.8303, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.6399, 1.8683, 0.1951, 1.1988, 0.4847, 0.3218, 0.9963]\nstate[eef_state]: left_x=0.2985 left_y=0.0006 left_z=0.175 left_yaw=-0.0001 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3146 right_y=0.1361 right_z=0.0113 right_yaw=0.0544 right_pitch=0.1522 right_roll=0.0876 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.7162, 7.0222, 1.6825, -0.0415, -0.0366, -0.0122, -0.4308, -3.6991, 0.9094, 1.0232, -0.2027, 0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0227, 0.8303, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.6392, 1.8683, 0.1932, 1.2263, 0.4515, 0.3351, 0.1481]\nstate[eef_state]: left_x=0.2985 left_y=0.0007 left_z=0.175 left_yaw=0.0003 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3152 right_y=0.1427 right_z=0.0153 right_yaw=0.0719 right_pitch=0.1648 right_roll=0.1267 right_gripper=0.1481\nstate[joint_eff]: [-0.0479, -1.4564, 7.0632, 1.7363, -0.0366, -0.0513, -0.0122, -0.5265, -3.8632, 1.1829, 0.7839, 0.0611, -0.1343, 0.9939]\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]: [-0.0231, 0.8314, 0.6151, -0.3801, -0.0223, -0.0265, 0.9996, 0.4805, 1.507, 0.9867, 0.104, 0.3012, 0.2615, 0.154]\nstate[eef_state]: left_x=0.2986 left_y=0.0006 left_z=0.1747 left_yaw=0.0 left_pitch=-0.0347 left_roll=0.0002 left_gripper=0.9996 right_x=0.4342 right_y=0.1712 right_z=0.2093 right_yaw=0.0778 right_pitch=0.1691 right_roll=0.1298 right_gripper=0.154\nstate[joint_eff]: [-0.0752, -1.5248, 7.0496, 1.7314, -0.0464, -0.0317, -0.0122, -0.6359, -6.1744, 8.8137, 1.619, 0.0269, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff664914a53e1a8d24b4306e9e94166fa748d894fe42de9a6f861455a1cad53c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65f305fe79e2c8c7a253b18cf93327b9f1879d3aeff96517041b7cc01b45de2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdee2b24ff8513efa7fe225c06c4fa888d05a54acec41eeebbac9775ccdc8eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U3yKk2edJNriQLVdCmgTSm",
      "input": {
        "note": "Right wrist view shows the basket interior below with the first pen inside. Releasing the blue pen.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01U3yKk2edJNriQLVdCmgTSm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8314, 0.6151, -0.3805, -0.0219, -0.0265, 0.9996, 0.4782, 1.5146, 0.984, 0.0872, 0.3004, 0.2543, 0.9949]\nstate[eef_state]: left_x=0.2986 left_y=0.0006 left_z=0.1746 left_yaw=-0.0003 left_pitch=-0.0351 left_roll=-0.0 left_gripper=0.9996 right_x=0.4333 right_y=0.1697 right_z=0.2011 right_yaw=0.0818 right_pitch=0.1445 right_roll=0.1127 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -1.4701, 7.2274, 1.7265, -0.022, -0.022, -0.0122, 0.0752, -7.7333, 7.2, 1.9267, 0.0366, -0.0122, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b178986106e21530cc5c056e0b5764942e32fb6507038d9b7f17015eebcb33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccdd99f361ceb3682678e97383c9bd246378131fa9aa80ad826fd61480d29938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75595b1e73c6756efedd5e6be76b0c3c9e48c5e3e61d04c800e2dbd2432e5a44",
        "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 · 7.273 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]: [-0.0227, 0.8303, 0.6151, -0.3801, -0.0219, -0.0269, 0.9996, 0.6392, 1.8683, 0.1932, 1.2263, 0.4515, 0.3351, 0.1481]\nstate[eef_state]: left_x=0.2985 left_y=0.0007 left_z=0.175 left_yaw=0.0003 left_pitch=-0.0336 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3152 right_y=0.1427 right_z=0.0153 right_yaw=0.0719 right_pitch=0.1648 right_roll=0.1267 right_gripper=0.1481\nstate[joint_eff]: [-0.0479, -1.4564, 7.0632, 1.7363, -0.0366, -0.0513, -0.0122, -0.5265, -3.8632, 1.1829, 0.7839, 0.0611, -0.1343, 0.9939]\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]: [-0.0231, 0.8314, 0.6151, -0.3801, -0.0223, -0.0265, 0.9996, 0.4805, 1.507, 0.9867, 0.104, 0.3012, 0.2615, 0.154]\nstate[eef_state]: left_x=0.2986 left_y=0.0006 left_z=0.1747 left_yaw=0.0 left_pitch=-0.0347 left_roll=0.0002 left_gripper=0.9996 right_x=0.4342 right_y=0.1712 right_z=0.2093 right_yaw=0.0778 right_pitch=0.1691 right_roll=0.1298 right_gripper=0.154\nstate[joint_eff]: [-0.0752, -1.5248, 7.0496, 1.7314, -0.0464, -0.0317, -0.0122, -0.6359, -6.1744, 8.8137, 1.619, 0.0269, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8314, 0.6151, -0.3805, -0.0219, -0.0265, 0.9996, 0.4782, 1.5146, 0.984, 0.0872, 0.3004, 0.2543, 0.9949]\nstate[eef_state]: left_x=0.2986 left_y=0.0006 left_z=0.1746 left_yaw=-0.0003 left_pitch=-0.0351 left_roll=-0.0 left_gripper=0.9996 right_x=0.4333 right_y=0.1697 right_z=0.2011 right_yaw=0.0818 right_pitch=0.1445 right_roll=0.1127 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -1.4701, 7.2274, 1.7265, -0.022, -0.022, -0.0122, 0.0752, -7.7333, 7.2, 1.9267, 0.0366, -0.0122, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b178986106e21530cc5c056e0b5764942e32fb6507038d9b7f17015eebcb33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccdd99f361ceb3682678e97383c9bd246378131fa9aa80ad826fd61480d29938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75595b1e73c6756efedd5e6be76b0c3c9e48c5e3e61d04c800e2dbd2432e5a44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQsKEAgSGAI4AUIIdGhpbmtpbmcSDDI4+FbLXCTpQ8Fk1hoM8WLkoz4Oz5/yBvMZIjCdCp/dZiKr7M0wmOei48f11H8SMFJDRs7gzeOOyhhSl+eNUWXer5VsgDdvNNM0QEkqvgq48fNk7IFh8q1pIs0yQvJwDYER5TVIj5v+q5qONZ++H5XqzmmwX/M+zOEqPe4Ql787fFksVruO535ALyEgWGmG82peOOyKoOjQ+t6dXpz6QYdSALq62o9hMTtq4/2HuQEcogu5BHQxsFTpE1/XDvv/SkHY0MREC7F72LufqB8j2sO5InXVrO0PAoIFWsY43NPJaaTSttsz3r+cy5rUx944IcnKzc54VtQPENZuX9hINuYiBZHL6j5spflIDjPbHwumMS22k4G+dAHEG/SSKP4+fL1njbfMKQBUK5PgmOvrPcaJFdTbDeh326V1Mq7UapBPUNx+Mb5rOjWeWQWPDlfxC9SrlMbl8pDNkbxoKyHSHsWy8OiVgn5otPFlczMWz5ch42zC+iIUgqSBbi5zSb+8iR21rjfGlRNz+8dhYav7fJOUrWovZ6++CN/H7swBMSppz4wqCo0enswMum/5p/O2vhK6FnBug3uIvmRGSuqSMa/3ZOEpCalsfgPSAqeGYwko3SORE/GBRYmpHbC2mL+S7vHDoLxFq33YxqIOqG+D4nh/Y7dit4eNbiR+IWU58vAWG06NC9jXk1yGEeAdH31T39eQAE0UUrcM9wBO/9jiMrBc1ZVYSFDEY8Dv95O9OHpx4mI6kSxyntpv2hUZCEkWZS5BeAh4dZenwEwYjfoUJM17s5ve2NTBZAbRqpBZ+w1HI2XSC9CfETjkI7y8753oadG3yhTdmRxF2Msq0U5Kc6YzRk2XT21mfjSLYGKCx0fZDviwTS+0gk+0zDhhhwKu+3/mwd/JspkZacVd/ssVku7Ilv1lrai0/TZ7/t0IaFy+Q1FN7lnU/ZoMAHFnidqiBQcwdnjIrbLdg5nbaOJTikIYdpt/MwvuilBZZnFa/oSceZi8rgKxlqSdZD1mx+2tMGgLAfgz/c5/c1kNneBiPQQODRvBlz/wvDfroP+0cu/Tzz8ud3TLjlXLEawxThD7EGj3yNFdBt9msHnUZsuTU5f88oaVFEuV+mszhep23EcpCwxkpO3ca31SO6cgOdYCxBSh2xTETXw90c+a+Lnnbxr4k0iqs5fLD1B2g4Y4A1rf/c5cXmnekuCcL/4hNsWnV+IqsrZgYmaw4WEQt1O28LTuQhVO4buDn6zlwDzRlFgGIrh+5fZNLF+LwMK7X0Fd61v0byJyKbqR6uwBnve3PkbdMen1vTKn//cWqPFgSK71rVbHoMT/CAByicKYB/H+c2L+cxGIcZbVDChtR1Ezsr3JcgIqYJiNmxUxXC515tU6N7DXYSQlBQPejPtgcQtaWxvJUwnbIytJcK/R+u/Mxm+RQVPIxn9ZshSNZnwBJEMdB7sN+fZA/OH+FlChIyM9u3hKR6HUyIVmttWR6h6rhqMSXPXNbuZWHvLcSEgys23A2YxrtaLGiLnwT/emFtLrB4bGfWWcVfSA/L5R1irebKsyKjh7/MfPKPhGMRZxEz1bgYS+iFy7SstprI272VhPLTnwSoDH1K1+r3aKZZ15QCoQC5MGIRQx13GsSiF9mmC3jwurJBDcqeYtIyxGR4NZH3nrit46jzKeZhz36goXU8rF7EvsOKPnnog2Uk3p532cr/eOVdJuQDYmPzKbCDpFpW1EFe7cje6KLmAdv7+THR5gxKxS0ke3ywaDRDmGlyLjG7N/dexhuzVwzI5i8fviwGFtq6xnJbO8hss+A48BaZeSE9LiPukoWkczCqOJ5Tcp30d2Q2pTGiuPgkKwg7Z7vhQgNtsehc8BUbWriFVOTD/h8pEFS0KYJ3XXYciTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Ci3KcE8AeJdUtdTyP51xZ",
      "input": {
        "note": "Blue pen released over the right basket. Parking the right arm out of the way so the top camera can confirm both pens are in the basket.",
        "targets": {
          "right_x": 0.22,
          "right_y": -0.05,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_016Ci3KcE8AeJdUtdTyP51xZ",
      "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]: [-0.0231, 0.8364, 0.614, -0.3801, -0.0219, -0.0265, 0.9996, -0.8635, 0.548, 0.4744, -0.5842, -0.7578, -0.3695, 0.996]\nstate[eef_state]: left_x=0.2988 left_y=0.0006 left_z=0.1728 left_yaw=-0.0003 left_pitch=-0.0408 left_roll=0.0001 left_gripper=0.9996 right_x=0.2253 right_y=-0.0712 right_z=0.1702 right_yaw=-0.057 right_pitch=0.1065 right_roll=0.114 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -1.9624, 7.1863, 1.7558, -0.0513, -0.0269, -0.0122, 0.7453, 0.3624, 9.5248, 1.326, -0.6129, -0.0904, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3aca2c14bf9e66de560509128407dcf08e10b62255db147f2709f8339b202c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bdb11af52d7e08b7dfa6937aef0fc16ccb789b08dda6ef44fbffa7f456082d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff91bb7c0fcdebd25996f93d68cae884246e37d63846bd3546f07fdafda18f15",
        "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 · 4.189 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]: [-0.0231, 0.8314, 0.6151, -0.3801, -0.0223, -0.0265, 0.9996, 0.4805, 1.507, 0.9867, 0.104, 0.3012, 0.2615, 0.154]\nstate[eef_state]: left_x=0.2986 left_y=0.0006 left_z=0.1747 left_yaw=0.0 left_pitch=-0.0347 left_roll=0.0002 left_gripper=0.9996 right_x=0.4342 right_y=0.1712 right_z=0.2093 right_yaw=0.0778 right_pitch=0.1691 right_roll=0.1298 right_gripper=0.154\nstate[joint_eff]: [-0.0752, -1.5248, 7.0496, 1.7314, -0.0464, -0.0317, -0.0122, -0.6359, -6.1744, 8.8137, 1.619, 0.0269, -0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8314, 0.6151, -0.3805, -0.0219, -0.0265, 0.9996, 0.4782, 1.5146, 0.984, 0.0872, 0.3004, 0.2543, 0.9949]\nstate[eef_state]: left_x=0.2986 left_y=0.0006 left_z=0.1746 left_yaw=-0.0003 left_pitch=-0.0351 left_roll=-0.0 left_gripper=0.9996 right_x=0.4333 right_y=0.1697 right_z=0.2011 right_yaw=0.0818 right_pitch=0.1445 right_roll=0.1127 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -1.4701, 7.2274, 1.7265, -0.022, -0.022, -0.0122, 0.0752, -7.7333, 7.2, 1.9267, 0.0366, -0.0122, -0.2173]",
      "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]: [-0.0231, 0.8364, 0.614, -0.3801, -0.0219, -0.0265, 0.9996, -0.8635, 0.548, 0.4744, -0.5842, -0.7578, -0.3695, 0.996]\nstate[eef_state]: left_x=0.2988 left_y=0.0006 left_z=0.1728 left_yaw=-0.0003 left_pitch=-0.0408 left_roll=0.0001 left_gripper=0.9996 right_x=0.2253 right_y=-0.0712 right_z=0.1702 right_yaw=-0.057 right_pitch=0.1065 right_roll=0.114 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -1.9624, 7.1863, 1.7558, -0.0513, -0.0269, -0.0122, 0.7453, 0.3624, 9.5248, 1.326, -0.6129, -0.0904, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3aca2c14bf9e66de560509128407dcf08e10b62255db147f2709f8339b202c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bdb11af52d7e08b7dfa6937aef0fc16ccb789b08dda6ef44fbffa7f456082d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff91bb7c0fcdebd25996f93d68cae884246e37d63846bd3546f07fdafda18f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018hTWzHAEEEJPKt2Rh1zuad",
      "input": {
        "note": "Top view shows the blue pen still on the table (the previous grasp missed; it was likely nudged). It lies just right of the teddy bear, in front of the right basket; moving back over it.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.18,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_018hTWzHAEEEJPKt2Rh1zuad",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8433, 0.6109, -0.3805, -0.0219, -0.0269, 0.9996, 0.7776, 1.52, 0.4801, 0.3664, 0.638, 0.4992, 0.9962]\nstate[eef_state]: left_x=0.2987 left_y=0.0006 left_z=0.1694 left_yaw=-0.0001 left_pitch=-0.0511 left_roll=0.0 left_gripper=0.9996 right_x=0.3194 right_y=0.1719 right_z=0.0627 right_yaw=-0.0149 right_pitch=0.0448 right_roll=0.0549 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -2.0991, 7.2957, 1.6532, -0.0317, -0.0464, -0.0171, 0.335, -6.4205, 7.0359, 1.7363, 0.5495, 0.1734, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22da448605c978ca0643691e5befa2fba3fe67cec289e0f36b336706dc987d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb8dfe54b6a7c25d40c1643cc530cc54ca76220e1cce435f196436ed57c1cf7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b0cfa6df8f6d54af8fe212e5435b4faaf80699d1b6b3c4a6380907e32c87daf",
        "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 · 2.991 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]: [-0.0231, 0.8314, 0.6151, -0.3805, -0.0219, -0.0265, 0.9996, 0.4782, 1.5146, 0.984, 0.0872, 0.3004, 0.2543, 0.9949]\nstate[eef_state]: left_x=0.2986 left_y=0.0006 left_z=0.1746 left_yaw=-0.0003 left_pitch=-0.0351 left_roll=-0.0 left_gripper=0.9996 right_x=0.4333 right_y=0.1697 right_z=0.2011 right_yaw=0.0818 right_pitch=0.1445 right_roll=0.1127 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -1.4701, 7.2274, 1.7265, -0.022, -0.022, -0.0122, 0.0752, -7.7333, 7.2, 1.9267, 0.0366, -0.0122, -0.2173]",
      "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]: [-0.0231, 0.8364, 0.614, -0.3801, -0.0219, -0.0265, 0.9996, -0.8635, 0.548, 0.4744, -0.5842, -0.7578, -0.3695, 0.996]\nstate[eef_state]: left_x=0.2988 left_y=0.0006 left_z=0.1728 left_yaw=-0.0003 left_pitch=-0.0408 left_roll=0.0001 left_gripper=0.9996 right_x=0.2253 right_y=-0.0712 right_z=0.1702 right_yaw=-0.057 right_pitch=0.1065 right_roll=0.114 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -1.9624, 7.1863, 1.7558, -0.0513, -0.0269, -0.0122, 0.7453, 0.3624, 9.5248, 1.326, -0.6129, -0.0904, 0.1001]",
      "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]: [-0.0231, 0.8433, 0.6109, -0.3805, -0.0219, -0.0269, 0.9996, 0.7776, 1.52, 0.4801, 0.3664, 0.638, 0.4992, 0.9962]\nstate[eef_state]: left_x=0.2987 left_y=0.0006 left_z=0.1694 left_yaw=-0.0001 left_pitch=-0.0511 left_roll=0.0 left_gripper=0.9996 right_x=0.3194 right_y=0.1719 right_z=0.0627 right_yaw=-0.0149 right_pitch=0.0448 right_roll=0.0549 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -2.0991, 7.2957, 1.6532, -0.0317, -0.0464, -0.0171, 0.335, -6.4205, 7.0359, 1.7363, 0.5495, 0.1734, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22da448605c978ca0643691e5befa2fba3fe67cec289e0f36b336706dc987d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb8dfe54b6a7c25d40c1643cc530cc54ca76220e1cce435f196436ed57c1cf7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0cfa6df8f6d54af8fe212e5435b4faaf80699d1b6b3c4a6380907e32c87daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AcKEAgSGAI4AUIIdGhpbmtpbmcSDBFd115OBUQDzb1i1RoMBfi6+WNXYnLwyXEuIjAyg0vLeA/tMBKs56VzRPzLvojKWamCrYUnXJPnkUjjqSG4CzEysRxeoWauJv3mE7gqiQfPPl/fElGVmu8ZrjIqD/jFtjMhkxRkp8NlylvYVWd8LBuMSvs0sXsr8W7bdZRsM0NcdDEDGkCQBMKQcq3ORpB/dZmY4n+kQI8R5D1UDyViy+bHvskioK/LUX5lOWifxMpmw1HzUXrCZnAtjgVTU22lhOmvar8JsYfKL+0kTit5QrmMgxAdPyhhKf4uWV5Ebe9LbToGrsnQ7P2CgTyMKO0lsRNfbUCuFBr4Ru9+cfO/pUMrft14kZgDpii0zAwdEurI8zZSE7u8dOjy45/9IL1vFhUljnge19Lmtm+tOzqHuRuDVa5TJ7ug1UMDHDMbVh8d/FiYD/OLAddeEgYgnpkmUTZo7RRjOf9CTNYix9gPQhx22l0eo3qQfbUxLRFzCVD9tbt1O+IbEPy/So7jeahezFUZYLSwulf9n1b9DaronDFJ1UCvXg4wP7wYYMpYs/bSd1iUKZNmfZ5yTPpx0I3zE99DNEKCQ92e7s69oM9cUme7vussXELeRK/uymvFEIOt31KPAdjdY3/Rqaqh/zefy/hL+Ejl04bpfnv8ddj+gYe+h5qvigZhSyelzmGCs88hIRG9zEqRhZ6RL/XZ1k16xgUYT5rCF7gqGqnxPd2SawpAd/Ux6r9AnpArXVc6ziSQaG2oncwATCqqVUseBTlzrv4YCzz3o0ORvDdYUTI1jlHAMHpGX55XwBP8gJyFxjYcjQEOqb8Fqa272vVjHg3fn1LVDCixLo+WfAh+BvtVK4BmGnIb0FJWSLZN/i8tBK/0hF3ES1vp5QdI8rjz7PCtk9oXeyQLuIuxeFz6UchI++ujm81mq2Gd4YzJkDJb56aBnNDjshjDaqfJiOc/eu4aahlztVpJgbZByHwRXaexFuuIkkRFgV6WCUFytDt43xeNeGedsFQ1Dmiii7/IlgshppNTxg0zS17efl+aLbwfuo3oR3711UvQ/QdV/LzSeoX0cUVtUZ+0wALclI+cTY0yuuPS86Yqg//0ZJGef9tVFvyLi3nI1XU9pmPu/0CL3y8xhkQxAu1qD7qayQXzQVjzWLW1AReaIS5lo2qsiPCYlrZSTgyOeOCnxkqA7MhYoM/2LF7+2XeuBwkBMTOczhPfDFwvFKIjmLLsB5ipwPbux+mjaGRi4Ji2WqyDUZe+1EEyT3zNeiix/Pv6Gvvpvvayp6qj9fVsM5QGoYjMvu8bOTkPrs/SXIgZDxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LtvNyFbr8Qo36dCrWq9BAc",
      "input": {
        "note": "Blue pen is visible running up from the jaws, slightly left of centre. Shifting ~2 cm left and descending to table level.",
        "targets": {
          "right_y": 0.19,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LtvNyFbr8Qo36dCrWq9BAc",
      "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]: [-0.0231, 0.849, 0.6102, -0.3805, -0.0223, -0.0265, 0.9996, 0.8185, 1.8637, 0.4656, 0.7506, 0.6956, 0.5461, 0.9962]\nstate[eef_state]: left_x=0.2989 left_y=0.0006 left_z=0.1675 left_yaw=0.0001 left_pitch=-0.0576 left_roll=0.0007 left_gripper=0.9996 right_x=0.3271 right_y=0.1891 right_z=0.0098 right_yaw=-0.0446 right_pitch=0.0865 right_roll=0.0912 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.9897, 7.0906, 1.6679, -0.0562, -0.0317, -0.0122, 0.8957, -4.6017, 3.0701, 0.3639, -0.232, -0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e8e593e77bf16631b0c89c3a20ed5a09b52873172c8b3edb8a39e0f469a1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a0e42b585f2fea57baedba4d9f5644956a154dff87d982147ed9656129e117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd80a8a64476c55cb32df962be4f1f37229107a5c87b6780bbd7c4176a5df723",
        "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 · 4.116 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]: [-0.0231, 0.8364, 0.614, -0.3801, -0.0219, -0.0265, 0.9996, -0.8635, 0.548, 0.4744, -0.5842, -0.7578, -0.3695, 0.996]\nstate[eef_state]: left_x=0.2988 left_y=0.0006 left_z=0.1728 left_yaw=-0.0003 left_pitch=-0.0408 left_roll=0.0001 left_gripper=0.9996 right_x=0.2253 right_y=-0.0712 right_z=0.1702 right_yaw=-0.057 right_pitch=0.1065 right_roll=0.114 right_gripper=0.996\nstate[joint_eff]: [-0.2256, -1.9624, 7.1863, 1.7558, -0.0513, -0.0269, -0.0122, 0.7453, 0.3624, 9.5248, 1.326, -0.6129, -0.0904, 0.1001]",
      "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]: [-0.0231, 0.8433, 0.6109, -0.3805, -0.0219, -0.0269, 0.9996, 0.7776, 1.52, 0.4801, 0.3664, 0.638, 0.4992, 0.9962]\nstate[eef_state]: left_x=0.2987 left_y=0.0006 left_z=0.1694 left_yaw=-0.0001 left_pitch=-0.0511 left_roll=0.0 left_gripper=0.9996 right_x=0.3194 right_y=0.1719 right_z=0.0627 right_yaw=-0.0149 right_pitch=0.0448 right_roll=0.0549 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -2.0991, 7.2957, 1.6532, -0.0317, -0.0464, -0.0171, 0.335, -6.4205, 7.0359, 1.7363, 0.5495, 0.1734, 0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.849, 0.6102, -0.3805, -0.0223, -0.0265, 0.9996, 0.8185, 1.8637, 0.4656, 0.7506, 0.6956, 0.5461, 0.9962]\nstate[eef_state]: left_x=0.2989 left_y=0.0006 left_z=0.1675 left_yaw=0.0001 left_pitch=-0.0576 left_roll=0.0007 left_gripper=0.9996 right_x=0.3271 right_y=0.1891 right_z=0.0098 right_yaw=-0.0446 right_pitch=0.0865 right_roll=0.0912 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.9897, 7.0906, 1.6679, -0.0562, -0.0317, -0.0122, 0.8957, -4.6017, 3.0701, 0.3639, -0.232, -0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e8e593e77bf16631b0c89c3a20ed5a09b52873172c8b3edb8a39e0f469a1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a0e42b585f2fea57baedba4d9f5644956a154dff87d982147ed9656129e117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd80a8a64476c55cb32df962be4f1f37229107a5c87b6780bbd7c4176a5df723",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen centred. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XUfw6tfX8trMrTnVkqEgNQ",
      "input": {
        "note": "Blue pen centred on the jaw column at table level. Closing.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XUfw6tfX8trMrTnVkqEgNQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8494, 0.6102, -0.3801, -0.0223, -0.0269, 0.9996, 0.8181, 1.9648, 0.4667, 0.944, 0.7338, 0.5358, 0.1481]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1674 left_yaw=0.0003 left_pitch=-0.0576 left_roll=0.0004 left_gripper=0.9996 right_x=0.3369 right_y=0.1918 right_z=0.0101 right_yaw=-0.0782 right_pitch=0.1634 right_roll=0.1405 right_gripper=0.1481\nstate[joint_eff]: [-0.253, -1.5385, 7.1863, 1.6874, -0.0513, -0.0659, -0.0122, -0.1436, -4.2735, 2.8103, 0.8864, -0.1685, 0.0757, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b39179781f1918e9f078166f9a6e3b32552a4ed7990c6131fb833f59e32816a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daabb94ccbd5b7a760935dfcbb220e65bf4ddf18c0b7694c97c2c59a54b81ef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89632a1492df18ea3a94234defc81cccae0213c8423d9239a406d48f8b88e0df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.931 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]: [-0.0231, 0.8433, 0.6109, -0.3805, -0.0219, -0.0269, 0.9996, 0.7776, 1.52, 0.4801, 0.3664, 0.638, 0.4992, 0.9962]\nstate[eef_state]: left_x=0.2987 left_y=0.0006 left_z=0.1694 left_yaw=-0.0001 left_pitch=-0.0511 left_roll=0.0 left_gripper=0.9996 right_x=0.3194 right_y=0.1719 right_z=0.0627 right_yaw=-0.0149 right_pitch=0.0448 right_roll=0.0549 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -2.0991, 7.2957, 1.6532, -0.0317, -0.0464, -0.0171, 0.335, -6.4205, 7.0359, 1.7363, 0.5495, 0.1734, 0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.849, 0.6102, -0.3805, -0.0223, -0.0265, 0.9996, 0.8185, 1.8637, 0.4656, 0.7506, 0.6956, 0.5461, 0.9962]\nstate[eef_state]: left_x=0.2989 left_y=0.0006 left_z=0.1675 left_yaw=0.0001 left_pitch=-0.0576 left_roll=0.0007 left_gripper=0.9996 right_x=0.3271 right_y=0.1891 right_z=0.0098 right_yaw=-0.0446 right_pitch=0.0865 right_roll=0.0912 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.9897, 7.0906, 1.6679, -0.0562, -0.0317, -0.0122, 0.8957, -4.6017, 3.0701, 0.3639, -0.232, -0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8494, 0.6102, -0.3801, -0.0223, -0.0269, 0.9996, 0.8181, 1.9648, 0.4667, 0.944, 0.7338, 0.5358, 0.1481]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1674 left_yaw=0.0003 left_pitch=-0.0576 left_roll=0.0004 left_gripper=0.9996 right_x=0.3369 right_y=0.1918 right_z=0.0101 right_yaw=-0.0782 right_pitch=0.1634 right_roll=0.1405 right_gripper=0.1481\nstate[joint_eff]: [-0.253, -1.5385, 7.1863, 1.6874, -0.0513, -0.0659, -0.0122, -0.1436, -4.2735, 2.8103, 0.8864, -0.1685, 0.0757, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b39179781f1918e9f078166f9a6e3b32552a4ed7990c6131fb833f59e32816a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daabb94ccbd5b7a760935dfcbb220e65bf4ddf18c0b7694c97c2c59a54b81ef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89632a1492df18ea3a94234defc81cccae0213c8423d9239a406d48f8b88e0df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4ggKEAgSGAI4AUIIdGhpbmtpbmcSDCWnJoOOTS92dmE7LRoM/PoA1erIaa6mDS/TIjCJjm75NDwjGV9yGM8mpZUGRwV/K6cRz5f9Os/uklZ0MhgUtsjK9Ch8F9IB23c3ruAq/wfG6ZC2RWo2lkwGnhRmcHGOdpGwHfFbpmxOw3yzhxMcWXorTeG5WmDDAHbwNp02aRf+ib+oaBItR9sD1nbKzGlMIdtBmHsfQJJbti8BaiGVc/E/0fSg3jHT1k3NjfL0YRrfbqRZPfz3XDTytXxTHzPVlEtpfKcm/UxatevBWNPmtDfzQVc2bS9w/jSD5AxGKCe1x3mHQptxYXmWGT/nPaR3Ej5rXVTOqlaGGevn7mAp8cGUze/GhRx7ja4wYotgxAJ1FCE22V41qiYmrxZrOaTM3+KjKsqdJNBNhLUSYKZPqpkGZeIop8kFz22EG9wSuyhBXF2hjXCaas5XLh5xHeJl8BkEx36zjfdxAHErx12a5uLOtbIERxu0Eg7HSck17OkbcDwa0vQXuxLiOrkVzb9bC//t/9xZvXJ4Nfg5cSemOmIHHNVlHiIwI+GQOCRDoPWCLhUdU9kIYdmqkil93tXvSO7IQ6yt+kUrZBkSH6fHw3VAf+ONW2rjCkWJw44suJTxUADqoHhXGuAF6hnK5XsrhQuaN+VUIJj6e4Yc7Rooe+/53j0pA8fAqoHiFuv9/FVsYyADC6y+hRYXb0ojBQU5L0/xWJLzX3M5yVR/IWSU7XpoCj7JsAGSIfLmMR+BJYPbVtNzC5GWIejXHkp3c2lKM4zXmEYYDT6RfTyPKYQsgEp7Y+JnXTJdQ+/3N1e3GOXS87JBcMCe0ST3w++JJ+dolRmr/1tORcxd9IHb0ieh1K34MPRC6Kv8cqqniRDAcbDwMtgaE8ynCN9c4V6Sy+loHiqHcykaWDz1Q/QX/T9M8hB56KLQ5j3JMwL8Nijpw18U0o2RzsGzpBELKNlJaKbeR6Z8PzboOMe7vdE2a9224TpVX2t2SQKsaDwDe2WjoR5izditMNCxvOCedUK6liXI+ZfsLimdFo1edvY00fYEkI6Trk/faSuSvKmGXnL6yOQCMfrBTaIrMN6/PnKJYnqnPEEqkeICCu7Y0c7eTAXb4gew3E8iq2j3HtIiVYwfPwST8y6LeoceSYpqrt6HRTn62P8b1QnN2wxJDkJUG3ZqmIXA0IbCcWeeRZQKab2WXEdgW89uqC+u6Q9lbKxZDp3Mi/UmRMor62dPzSxCz2YopVTd2+Q0aGpL2WYWW7jqrvFCuRAeYI1SkVJ5k4u66/N2AaGVZnb4WxTLjpwUpXtXSgQmSnvi9gxZDdbcne0Mo8YvTX4NfGfdc5t7JPfzX/ZctNLvL9pTk+tTqvmKrikIrfLx1SAnTFIgtY8a0ULa5+n9u3q3G5pJRIdun1y8xZGKui6+exeGMnfFpHrSAFY6SLZvSX668grDGUJ+/NRPb7swPZkgkxtD0PCJ5/lN5BkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tep5GXfRNfhtyAcfsMUWnk",
      "input": {
        "note": "Gripper settled at 0.148, same as the last (apparently failed) grasp, so lifting 6 cm to verify the pen actually comes up.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Tep5GXfRNfhtyAcfsMUWnk",
      "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]: [-0.0231, 0.8509, 0.6098, -0.3801, -0.0223, -0.0265, 0.9996, 0.8169, 1.6958, 0.4911, 0.701, 0.7223, 0.535, 0.1525]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1668 left_yaw=0.0001 left_pitch=-0.0595 left_roll=0.0007 left_gripper=0.9996 right_x=0.3387 right_y=0.1954 right_z=0.069 right_yaw=-0.0767 right_pitch=0.1904 right_roll=0.1834 right_gripper=0.1525\nstate[joint_eff]: [-0.2393, -1.1692, 7.2, 1.7265, -0.0611, -0.0317, -0.0122, -0.0205, -6.3795, 6.3932, 1.5653, 0.315, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0154eb09dd6c2c2e4d5f4bc24aa15f242d3a742da374992016db3f66406e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91377801d13d3d662e8cb0e990b24654f77c591febbb6ae0ffa0c656f71f99f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:170cd0436b617f16950e5a1ac07048903c2f0e70f9dc07ca3c3397b83d9ed40a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 3.808 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.849, 0.6102, -0.3805, -0.0223, -0.0265, 0.9996, 0.8185, 1.8637, 0.4656, 0.7506, 0.6956, 0.5461, 0.9962]\nstate[eef_state]: left_x=0.2989 left_y=0.0006 left_z=0.1675 left_yaw=0.0001 left_pitch=-0.0576 left_roll=0.0007 left_gripper=0.9996 right_x=0.3271 right_y=0.1891 right_z=0.0098 right_yaw=-0.0446 right_pitch=0.0865 right_roll=0.0912 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.9897, 7.0906, 1.6679, -0.0562, -0.0317, -0.0122, 0.8957, -4.6017, 3.0701, 0.3639, -0.232, -0.2271, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8494, 0.6102, -0.3801, -0.0223, -0.0269, 0.9996, 0.8181, 1.9648, 0.4667, 0.944, 0.7338, 0.5358, 0.1481]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1674 left_yaw=0.0003 left_pitch=-0.0576 left_roll=0.0004 left_gripper=0.9996 right_x=0.3369 right_y=0.1918 right_z=0.0101 right_yaw=-0.0782 right_pitch=0.1634 right_roll=0.1405 right_gripper=0.1481\nstate[joint_eff]: [-0.253, -1.5385, 7.1863, 1.6874, -0.0513, -0.0659, -0.0122, -0.1436, -4.2735, 2.8103, 0.8864, -0.1685, 0.0757, 0.989]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8509, 0.6098, -0.3801, -0.0223, -0.0265, 0.9996, 0.8169, 1.6958, 0.4911, 0.701, 0.7223, 0.535, 0.1525]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1668 left_yaw=0.0001 left_pitch=-0.0595 left_roll=0.0007 left_gripper=0.9996 right_x=0.3387 right_y=0.1954 right_z=0.069 right_yaw=-0.0767 right_pitch=0.1904 right_roll=0.1834 right_gripper=0.1525\nstate[joint_eff]: [-0.2393, -1.1692, 7.2, 1.7265, -0.0611, -0.0317, -0.0122, -0.0205, -6.3795, 6.3932, 1.5653, 0.315, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc0154eb09dd6c2c2e4d5f4bc24aa15f242d3a742da374992016db3f66406e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91377801d13d3d662e8cb0e990b24654f77c591febbb6ae0ffa0c656f71f99f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:170cd0436b617f16950e5a1ac07048903c2f0e70f9dc07ca3c3397b83d9ed40a",
        "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+ggKEAgSGAI4AUIIdGhpbmtpbmcSDBUgx9VeNeDWy67JIRoMAdUpgfB5V2VqXo3uIjBfIPw1MSreTJJtoFn2rZdgsDxpUBg6IvFsDcq4w9jQBosnpHTcmqRCcJGEfRkAcOUqlwiJNaz3/tuiqXnWlnXqBE9U2K0auLtETJO5H9o+n9+d142gqbu9yoFdA7USRQNFkDmhnu8hHnaUgIuy/rpMB9XM+868d2dcV1gtWTPimXdS90LbqeZX/1jBZSWYTrof+1b9dcJKC6DAkz+W/5qEVfVvM8B7MZKmopW9xPNkOQcb07UJiaaOWNdJrSa3ndphF7k6CNLGbR6RyVHkIMnaDXgH/mo3uXC0iwK0f+nNc/4FYzG4V1JH/fIRTBYdP3l2HRXr5V6We9iFrajmTIr7o1lnYjoR6QE1bYXqrbRMoKkPLqzwJf3z8+9XE/U4toiv55GjwE3dmrJkyFysAAYpQ9kh46gWYd2exu3k/0xlmmoWfMLC7c8KttRp7rxGLB1FyprOHzUmcyc0LiLeSSRaJi6Es+z9yFMIXncqTPm8ugCEFN7AKzkiNYUDlXtvol4OIpsw31Z1jTaoiGCAa0jrMzn+H1deBdF57R4R8GC1VYt3Hx1gqS4kAOwNr35xWfE5U366BEjzvfjO1ZAl5+YmzkOmnME0cADCRq1550ATlIG8SmdyFkFEXUyAq05qzZjzjgcI4dZLzYkYIsNCFRGUy4pW+IpHRUs7F1TAqTpj22LUZ4g/CkoqpVJOa81yTn5TW/uN/42Ly/AHXnL6hw2JBzPWu5O2slv0IyhBB3DiEh5nK7aBnC1mhzAxqzp8mUEUduzqA71mLJOi4sXfEOY/XdlXuzsB2N0FyQJBA0ht9X86VBQH0A3aIPtXLOYXwipGhWaOJjTuP+IqA9nu/eE9noIYYtM6c3H8VX/msOt/s1teFcwjpDb1BeIj92McG5qNBBfg1EnspLwsdiJp64MTHeEJSyJqojGioAsuM+V0Lr8ehqU2S36bed1JA2Zf1kuIK+PG1AX37fv/qZmkJ/HMlr1S2dpNeidzTx9k+MsY53+rv8Gym56NoIjYpo4nxW9vW1AzvXaTFfMcI1YNNVIminjw8BcaF/v/91cjn+Pk7uOWtraXe5vwlX1guNazShCgWGxTuS5Fbt6KQM6y3U1fFiCRwuToMNYjwYnnGYyDCoxp2aP6HOQ/DQT+DC/lsaeQe9Rd0FUpIcgcDbI1Y5/2r3qHz7qmmEtOXxNQ+gW/Kc3iU5ltqYZhNpY/XuB3lxuD4qYdviN2xPndrkUrq3oWtOp6+2Oj3dBuxgx3zrkOrTyqee7u2K6SyjopjNozfIjS/FkxTBhYLtyRuRYomKeor2AVZZO4hj+ErZ4dnLrIZ7k65EHRMiN58wLt6VHatKa0l8X5yoKOM0soKyfRHqllvor979Fv3Laq5X9FErTWKUpIPz0BfOT+axEXglL0kXDhe8LXE/nlY8ccXJ4PXPeZXCTgPjfbxmVTzV5VEql3eSWnmykiqrD+WwIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VU1XruhEFkGcrxqkVhFj3E",
      "input": {
        "note": "The pen rose with the jaws (still seen extending from the gripper), so it's held. Carrying it high over the right basket.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.17,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01VU1XruhEFkGcrxqkVhFj3E",
      "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]: [-0.0231, 0.8509, 0.6098, -0.3801, -0.0219, -0.0269, 0.9996, 0.7898, 1.6661, 0.4988, 0.6025, 0.6868, 0.5163, 0.1525]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1668 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=0.0002 left_gripper=0.9996 right_x=0.3383 right_y=0.1873 right_z=0.0626 right_yaw=-0.0574 right_pitch=0.1388 right_roll=0.1305 right_gripper=0.1525\nstate[joint_eff]: [-0.1709, -1.4564, 7.1179, 1.707, -0.0317, -0.0269, -0.0122, -0.3624, -7.9111, 7.3368, 1.8779, 0.2076, -0.0562, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcf455a7e54eb1f4b1f69ce4bd11862fc6b9c85289e88c706c1a2835db170b2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08dfbb5a60ec312702ba2e2f1b67fb97bc0f295bd419d87e3e651152f9aaa778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee4fd527d4702ca205ecad566afeea3b515f50fcbfea40418912ac50d047dfb7",
        "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 · 4.121 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8494, 0.6102, -0.3801, -0.0223, -0.0269, 0.9996, 0.8181, 1.9648, 0.4667, 0.944, 0.7338, 0.5358, 0.1481]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1674 left_yaw=0.0003 left_pitch=-0.0576 left_roll=0.0004 left_gripper=0.9996 right_x=0.3369 right_y=0.1918 right_z=0.0101 right_yaw=-0.0782 right_pitch=0.1634 right_roll=0.1405 right_gripper=0.1481\nstate[joint_eff]: [-0.253, -1.5385, 7.1863, 1.6874, -0.0513, -0.0659, -0.0122, -0.1436, -4.2735, 2.8103, 0.8864, -0.1685, 0.0757, 0.989]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8509, 0.6098, -0.3801, -0.0223, -0.0265, 0.9996, 0.8169, 1.6958, 0.4911, 0.701, 0.7223, 0.535, 0.1525]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1668 left_yaw=0.0001 left_pitch=-0.0595 left_roll=0.0007 left_gripper=0.9996 right_x=0.3387 right_y=0.1954 right_z=0.069 right_yaw=-0.0767 right_pitch=0.1904 right_roll=0.1834 right_gripper=0.1525\nstate[joint_eff]: [-0.2393, -1.1692, 7.2, 1.7265, -0.0611, -0.0317, -0.0122, -0.0205, -6.3795, 6.3932, 1.5653, 0.315, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0231, 0.8509, 0.6098, -0.3801, -0.0219, -0.0269, 0.9996, 0.7898, 1.6661, 0.4988, 0.6025, 0.6868, 0.5163, 0.1525]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1668 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=0.0002 left_gripper=0.9996 right_x=0.3383 right_y=0.1873 right_z=0.0626 right_yaw=-0.0574 right_pitch=0.1388 right_roll=0.1305 right_gripper=0.1525\nstate[joint_eff]: [-0.1709, -1.4564, 7.1179, 1.707, -0.0317, -0.0269, -0.0122, -0.3624, -7.9111, 7.3368, 1.8779, 0.2076, -0.0562, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcf455a7e54eb1f4b1f69ce4bd11862fc6b9c85289e88c706c1a2835db170b2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08dfbb5a60ec312702ba2e2f1b67fb97bc0f295bd419d87e3e651152f9aaa778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee4fd527d4702ca205ecad566afeea3b515f50fcbfea40418912ac50d047dfb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gYKEAgSGAI4AUIIdGhpbmtpbmcSDLsYnMXoY67Il91lmRoMVaU1/d1auYMUpCIsIjAW8VIEwwWdWBNiF9ylR5pQgJJdmQFLtFRkdpLm5eDxnlF+LwjmM+DOLrz6vtmilUAqjwZFo6Q6ECw4QraAXpsJlPbbO26IzJDVcnWpin28S5QULdkkW2gZs9Jc53AvGVREdvQZfadSrX2vQPy4e/2lqLVnQcd8LGs83WZOaE/1HcX3wQ2nq10VavXtMRv2DN8i215L4QwbmxfOQwMtLI7mrAK2oEG35ThbttZPZIKBTzyhu+TfX7xiXS4pIEfy+tl5BtQJFo9keCWyK6b0ZOy+KNxBdhYgW1YTWT21I2DpdxdASY6TlhDg+FPMR6jiECJ7AO89eT/6dyUSymn0RbPrQPVOfj/PYIezZTsuKHAUntcrzr7zoc0w9YqofCOQFns0lQeESsGK4FsbWdX8C0/EflxFisYxZhaLO/85Ooccqt9Ik4Dn70lGhFhDH9CpQGEtwI8E8JaeDXX328JVca3Ct6gIjjyvaQ2ME7JPY/ddJWN3mjqx3di9/QHbnzWaXcZjottVMUmjBJ38WxWktVV3x6Yo1cARjJR4/Zbhq5jNw0XHYd0FGLaUDictwGnGjjjON0fRUg4mT8MQ7zqoFzUA858KNNfJ3J7Y6rPFPTvkPgdGgX8M23pLXEEo41Y7YWThepCiTZunYY78A2kh34e2cByJtwryAPYGC0tdwanIn1ALsshZ5NEEn/6tQ+iLu9Yvr7U+XfCm9bVVoqpZlcWf0eA2s+04PMdLpIj5Ak0dv+RmE7FyOZoRiHhnUXxSflrZap+rtRWykUpgUuoX3GoTcEaSIY33fkSiaMJvNBUcSyG/hzrua+1a69f9suZBdfzs0SNbu8cZnHs0MaZGsTeNTRPanKVYvsEVE3E9wXDFT0YOcoUpCuGLJoYi0ZSpNdgSHgiwCQKMIO76pkkQO6qb/gvDPRp5xFDjstA7vOt0M0VfX8zmS2K3ZcF5uMvqSHDL0yDgMY/Zpnzr+X0GxAvRxZaIR8n7jSepnUp2N2oWxskNJEfFbISHbunpd0hTkl8FJ12TTrYBnpwWFiQbVodv8ntFVZvnUZET88p3AErRIqhhuKBKu1+5nud8s/8yPtEvKqC8C9OqnRTaYh+q+qfik/sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015r3HwYJ4azmqrqA5c1dgcE",
      "input": {
        "note": "The last carry move didn't execute (arm stayed at z≈0.06). Trying a simpler straight lift first, easing y inward.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.15,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015r3HwYJ4azmqrqA5c1dgcE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.8566, 0.6094, -0.3805, -0.0216, -0.0269, 0.9996, 0.7067, 1.1862, 0.6964, -0.0357, 0.6025, 0.4595, 0.1544]\nstate[eef_state]: left_x=0.2992 left_y=0.0006 left_z=0.165 left_yaw=0.0 left_pitch=-0.066 left_roll=0.0001 left_gripper=0.9996 right_x=0.3304 right_y=0.1552 right_z=0.1864 right_yaw=-0.0459 right_pitch=0.1389 right_roll=0.1376 right_gripper=0.1544\nstate[joint_eff]: [-0.1436, -1.935, 7.1316, 1.7021, -0.0464, -0.0464, -0.0122, -0.4308, -4.4786, 8.9094, 1.5311, 0.2662, -0.0513, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42ca5a74249746e216e738a4671ebee6d0eda5cfe9786aeb08ce66cf55bb497a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff7c5a8cbcf123a1128b93a581e994da1419622929085c53d8b42f56fd58bb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93a6409b3011bdcfeb4f128e084483f3795fa0b544e53c75beb398c2ec4060d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 2.911 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8509, 0.6098, -0.3801, -0.0223, -0.0265, 0.9996, 0.8169, 1.6958, 0.4911, 0.701, 0.7223, 0.535, 0.1525]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1668 left_yaw=0.0001 left_pitch=-0.0595 left_roll=0.0007 left_gripper=0.9996 right_x=0.3387 right_y=0.1954 right_z=0.069 right_yaw=-0.0767 right_pitch=0.1904 right_roll=0.1834 right_gripper=0.1525\nstate[joint_eff]: [-0.2393, -1.1692, 7.2, 1.7265, -0.0611, -0.0317, -0.0122, -0.0205, -6.3795, 6.3932, 1.5653, 0.315, -0.0073, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8509, 0.6098, -0.3801, -0.0219, -0.0269, 0.9996, 0.7898, 1.6661, 0.4988, 0.6025, 0.6868, 0.5163, 0.1525]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1668 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=0.0002 left_gripper=0.9996 right_x=0.3383 right_y=0.1873 right_z=0.0626 right_yaw=-0.0574 right_pitch=0.1388 right_roll=0.1305 right_gripper=0.1525\nstate[joint_eff]: [-0.1709, -1.4564, 7.1179, 1.707, -0.0317, -0.0269, -0.0122, -0.3624, -7.9111, 7.3368, 1.8779, 0.2076, -0.0562, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.8566, 0.6094, -0.3805, -0.0216, -0.0269, 0.9996, 0.7067, 1.1862, 0.6964, -0.0357, 0.6025, 0.4595, 0.1544]\nstate[eef_state]: left_x=0.2992 left_y=0.0006 left_z=0.165 left_yaw=0.0 left_pitch=-0.066 left_roll=0.0001 left_gripper=0.9996 right_x=0.3304 right_y=0.1552 right_z=0.1864 right_yaw=-0.0459 right_pitch=0.1389 right_roll=0.1376 right_gripper=0.1544\nstate[joint_eff]: [-0.1436, -1.935, 7.1316, 1.7021, -0.0464, -0.0464, -0.0122, -0.4308, -4.4786, 8.9094, 1.5311, 0.2662, -0.0513, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42ca5a74249746e216e738a4671ebee6d0eda5cfe9786aeb08ce66cf55bb497a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff7c5a8cbcf123a1128b93a581e994da1419622929085c53d8b42f56fd58bb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93a6409b3011bdcfeb4f128e084483f3795fa0b544e53c75beb398c2ec4060d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAgKEAgSGAI4AUIIdGhpbmtpbmcSDJVlc1f3ClWuavg3eRoM1EkYyVsO2SEichYCIjDIFYb6Q2BIyETP54PVs9tIg9s/hW+Yvw2GkLL1yYWIm2r2SRcuS9RI7eyi/BOyw0AquQfRm/TQSDyWZGlVBa9NSk5ah5Vte36s0keV143bmA+iLThd1gJwtqPsdhv+08ODNUZqxCybiKUm0WM309hMFSdPAxTwd9N5VSvui1j28hKDmNRJP5mf/jvNGRmA1lECUB8UanTCRvZ6dO6yNh3s9AOxm+gXw00D0KlmsnuHrpKdyVEviKBHblfUwKjQ51sMifXRbh+WHmd6u1vcy+bUiPhDP1iQBbonLQp2EV9L/uJn/W8Cc53nBuaULB212ICKULhGEml1tx4GKCiTPzhKXx8QdZn6eLV1uLBmzw3PK+eUd5g6Nu2HQp9Dq7xPiBN7HVWgb94EqiL5CewtpodCF1Qv3Shb4FHEq1SBTNUwWxIRSNW4TxkTKNZvcvP688FbASW9AtlkPMV3OIY/ezIxuXh3BIs4vGFYMDgpHzh2wT23PFrPDBbgYu/7QngIycJMdq6/bwy8UZf8VmWFGN4qMOeCfInGqO+3+NCMfol8kAfRdINiHZFPohnGmax6os8vO7sX4w8gtCiguLb556Hiv5ZAQcjcsAx9QzKdqeM+nB3P8Atb1vulDC04TEvaKpyhlVo8Z6Ef2NKO3r499WfKjf/nZMqrPzHKw2uxjfLayu31VlCxn7Y8qatkX/1azUX7vYrj121SLyDJOUuUNcIbio6yxHIuc7X1vK3BMxEvM9UlrxsYUY4UNY724qztd37IQXIYrzpJVztDzgCI2tFz2bn9Haj4KAeQ6gEZQRLsWU7bHYeilVc6gDVQ0EiiDrjGk0aphTNzg2mKrBLL75/B4f+eVmqIqqck2ZUDb3B/Pxl2ChIrY0ai0Hl5mN4Qwwt2gdJlbt8HpJls55vH01RvxP2pVTxhZt5jE/80jUVltKOgh46mpV9HiX7ete/tHMUeSLTK6A1TAI4P2Twg5YUTf+sWaVulRjZJKsmtY4uyfjBpCK0bSVV/AggwsGKACwFl62orl+t8lR13xCD4tdnIc2aaCH/sahVUo7SnKA8/LtViT77ELt3uW0jOPYFenGa63lePe6lsSnwHqwXTs56eivuqmQOquwFIGqRBOwtdT8ki27rh67FLlfqiJ4lib3fM87fjrSGuQUhqMqDNcLF8bBEdibTd5Xw4rng2t/odSklj+nPsu2g42N5I4cQ8cK2+sPgRt+2LrA5OozqBr1cYFqOl2SDosO8xB95QSf2VKEaHxIPNmR9SNCDBTH+k2zPhv8ga0BTL0LPM7Gx9cHcHbzSDSJwBZXkI6URNf8hj6ZjmCe/+1abrPqlWshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VNzvhrYS5R3DDLpaLTzRED",
      "input": {
        "note": "Pen held and lifted; the right basket (with the black pen) is straight ahead in the wrist view. Moving forward over it.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.16,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01VNzvhrYS5R3DDLpaLTzRED",
      "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]: [-0.0231, 0.8619, 0.609, -0.3813, -0.0219, -0.0269, 0.9996, 0.4633, 1.6188, 1.1301, -0.0254, 0.3862, 0.329, 0.1545]\nstate[eef_state]: left_x=0.2993 left_y=0.0006 left_z=0.1632 left_yaw=-0.0 left_pitch=-0.0725 left_roll=0.0005 left_gripper=0.9996 right_x=0.4583 right_y=0.1586 right_z=0.1989 right_yaw=-0.0418 right_pitch=0.0937 right_roll=0.1137 right_gripper=0.1545\nstate[joint_eff]: [-0.1846, -2.0581, 7.0632, 1.663, -0.0366, -0.0611, -0.0122, -0.7043, -8.0615, 9.6752, 1.8144, 0.0464, 0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03142526b51edb12d06d79561653b3edf9c151861a6b3ba048a735d115f7f21d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1bc25e21642cefe5d3fc02f38d6cebfc97999e7765a6de02b2e39b0f515d321",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0bd94e9283b29e78dcd76481d1bc68914c9825811853335d05c0e7b5b5834127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.215 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]: [-0.0231, 0.8509, 0.6098, -0.3801, -0.0219, -0.0269, 0.9996, 0.7898, 1.6661, 0.4988, 0.6025, 0.6868, 0.5163, 0.1525]\nstate[eef_state]: left_x=0.299 left_y=0.0006 left_z=0.1668 left_yaw=-0.0001 left_pitch=-0.0595 left_roll=0.0002 left_gripper=0.9996 right_x=0.3383 right_y=0.1873 right_z=0.0626 right_yaw=-0.0574 right_pitch=0.1388 right_roll=0.1305 right_gripper=0.1525\nstate[joint_eff]: [-0.1709, -1.4564, 7.1179, 1.707, -0.0317, -0.0269, -0.0122, -0.3624, -7.9111, 7.3368, 1.8779, 0.2076, -0.0562, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.8566, 0.6094, -0.3805, -0.0216, -0.0269, 0.9996, 0.7067, 1.1862, 0.6964, -0.0357, 0.6025, 0.4595, 0.1544]\nstate[eef_state]: left_x=0.2992 left_y=0.0006 left_z=0.165 left_yaw=0.0 left_pitch=-0.066 left_roll=0.0001 left_gripper=0.9996 right_x=0.3304 right_y=0.1552 right_z=0.1864 right_yaw=-0.0459 right_pitch=0.1389 right_roll=0.1376 right_gripper=0.1544\nstate[joint_eff]: [-0.1436, -1.935, 7.1316, 1.7021, -0.0464, -0.0464, -0.0122, -0.4308, -4.4786, 8.9094, 1.5311, 0.2662, -0.0513, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0231, 0.8619, 0.609, -0.3813, -0.0219, -0.0269, 0.9996, 0.4633, 1.6188, 1.1301, -0.0254, 0.3862, 0.329, 0.1545]\nstate[eef_state]: left_x=0.2993 left_y=0.0006 left_z=0.1632 left_yaw=-0.0 left_pitch=-0.0725 left_roll=0.0005 left_gripper=0.9996 right_x=0.4583 right_y=0.1586 right_z=0.1989 right_yaw=-0.0418 right_pitch=0.0937 right_roll=0.1137 right_gripper=0.1545\nstate[joint_eff]: [-0.1846, -2.0581, 7.0632, 1.663, -0.0366, -0.0611, -0.0122, -0.7043, -8.0615, 9.6752, 1.8144, 0.0464, 0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03142526b51edb12d06d79561653b3edf9c151861a6b3ba048a735d115f7f21d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1bc25e21642cefe5d3fc02f38d6cebfc97999e7765a6de02b2e39b0f515d321",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bd94e9283b29e78dcd76481d1bc68914c9825811853335d05c0e7b5b5834127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013PFstGX9EMkS6hddeyVidv",
      "input": {
        "note": "The held pen is over the right basket's interior next to the black pen. Releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013PFstGX9EMkS6hddeyVidv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8623, 0.6086, -0.3805, -0.0219, -0.0265, 0.9996, 0.4587, 1.6329, 1.1282, -0.0326, 0.3721, 0.3202, 0.9946]\nstate[eef_state]: left_x=0.2994 left_y=0.0006 left_z=0.1631 left_yaw=-0.0002 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9996 right_x=0.4587 right_y=0.1589 right_z=0.1896 right_yaw=-0.0291 right_pitch=0.0704 right_roll=0.1011 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -1.6889, 7.0906, 1.6386, -0.0122, -0.0122, -0.0122, 0.294, -9.306, 7.0632, 1.8242, 0.2711, 0.1978, 0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4c0dd7c20cb04ff7886f4abd47cf05dad1c05219e5fe2268b8a41dbcca1c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd93ad3f6a3b91baed527b9aac6a0719ed303830bcd75f4f2513d7da80064b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8a31cdc56f1abe7ee5f165ab6ce9e35e9a0730cff04c952084d70cc23707e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.469 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]: [-0.0227, 0.8566, 0.6094, -0.3805, -0.0216, -0.0269, 0.9996, 0.7067, 1.1862, 0.6964, -0.0357, 0.6025, 0.4595, 0.1544]\nstate[eef_state]: left_x=0.2992 left_y=0.0006 left_z=0.165 left_yaw=0.0 left_pitch=-0.066 left_roll=0.0001 left_gripper=0.9996 right_x=0.3304 right_y=0.1552 right_z=0.1864 right_yaw=-0.0459 right_pitch=0.1389 right_roll=0.1376 right_gripper=0.1544\nstate[joint_eff]: [-0.1436, -1.935, 7.1316, 1.7021, -0.0464, -0.0464, -0.0122, -0.4308, -4.4786, 8.9094, 1.5311, 0.2662, -0.0513, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0231, 0.8619, 0.609, -0.3813, -0.0219, -0.0269, 0.9996, 0.4633, 1.6188, 1.1301, -0.0254, 0.3862, 0.329, 0.1545]\nstate[eef_state]: left_x=0.2993 left_y=0.0006 left_z=0.1632 left_yaw=-0.0 left_pitch=-0.0725 left_roll=0.0005 left_gripper=0.9996 right_x=0.4583 right_y=0.1586 right_z=0.1989 right_yaw=-0.0418 right_pitch=0.0937 right_roll=0.1137 right_gripper=0.1545\nstate[joint_eff]: [-0.1846, -2.0581, 7.0632, 1.663, -0.0366, -0.0611, -0.0122, -0.7043, -8.0615, 9.6752, 1.8144, 0.0464, 0.0122, 1.0281]",
      "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]: [-0.0231, 0.8623, 0.6086, -0.3805, -0.0219, -0.0265, 0.9996, 0.4587, 1.6329, 1.1282, -0.0326, 0.3721, 0.3202, 0.9946]\nstate[eef_state]: left_x=0.2994 left_y=0.0006 left_z=0.1631 left_yaw=-0.0002 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9996 right_x=0.4587 right_y=0.1589 right_z=0.1896 right_yaw=-0.0291 right_pitch=0.0704 right_roll=0.1011 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -1.6889, 7.0906, 1.6386, -0.0122, -0.0122, -0.0122, 0.294, -9.306, 7.0632, 1.8242, 0.2711, 0.1978, 0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4c0dd7c20cb04ff7886f4abd47cf05dad1c05219e5fe2268b8a41dbcca1c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd93ad3f6a3b91baed527b9aac6a0719ed303830bcd75f4f2513d7da80064b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8a31cdc56f1abe7ee5f165ab6ce9e35e9a0730cff04c952084d70cc23707e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvQsKEAgSGAI4AUIIdGhpbmtpbmcSDFqHuLZ9JCvMVzlfSxoMHaXrnAxWJpr6R0RWIjBmDzl/Nw1G58F1pcv1t+i97AOjj0lEay1Sy8Jiy2SWCASD1nrqLz8+N/ygtCjT5Pcq2gpEU4MMNNz08zRZGJMhslUiJS4Ow1VPgY4Vs/RUj/WlqdxnGezhwNOQsEE5Cun+yT/DIEj1kloQrMrux4l8tqezjjxmM9wVCTtFcQ7pAkoDANu7E09sa0gKCBDtNKTXn3gmJ+ZX7WvPz5DF76IvgG6bc0l4yjkdEs6A/nx0R+cyeR4C23UkKxkzuaTJsLfsJ9eZTveeGMA723LdGDACvdCuMhdvwNMIzTbPncy7912BaGRVOBy/fs1MWMt6I1wvcYvVIPfNhRp+7Zk7luwPAAG32er0k9uN13cNKI3m6hN0UWcFoA6br2vKPCM4lX5htQhNkTmYUaJpneXqsXFWkk3s7JYqtwfUeuOQ3B1qL36Fxwo9NVklhH4q0CDGJotde5PPPIKSph6cpV/4+LoxH7JyCNmsUyaXiwiTk2MGK6FwdBBNKO5f/r4cPIwXc2z8QXUfu+QdCpUcVi38NwcrBZlLLi+/aTQwvYGVT7+WWvH0oK0rN8NKr/jHx4Pp6S+N38y+0XtfqlZW/33drH4GZJNQfwBlxLMKmk88nFeb1rwDw50nMB1Af1nNf5BJwG7Xle1j5kbWsDYkZNX3MUQiUwTOTNQ0bhywBzC/jpvcbJRA/V8ZXBXTbrqjuzwEeHh4zkOmSujR9/+18alVq3r/60dvPpkE9DBR3Vm1NdqUC3pIi83afmEH798NhQsGF/Kj8TVv8J/5s5s2UvS3rabAXOvTqF+G+I0U0ebbngwJcmYPsZO2UhXx67Lli0jSKjPODDeKorksNLRLEjQkv6YF2EIrM3BiCF84Fe1P+0SjcNqZ354yzonudS0MBlhrkr/yzxBBfhSVSqkFUM1mn9PI1IAVCVaJgQTO+xq3PsZwTU/Q0pUYxBOsGYGtSR0hbzPcW4nw11ioQicuvQ8LCY3zLp5rV/XKcs42T+C7h85k0bqu3OJWwpMgrTqHELYPGwn+JbFdWHdo6Un52iNbZ1Qxeo2fNQy/7EuWWUoPqdDY6HY7ofbPETzzPJoYbSHcy9oa7E/+7qFJQv82YcSQCnGfws6kOxttHnGWKQbuUuPiGUWgfv64qBDdtZw4LAbbokzSxhpIqcfjYs4a+JeZ322mg4fA/1MMdaYvXDWdlD0aYsN3U8agzCjqZ/KUs8PcTDvnYfdLW3GaFRPrLKqj8PhOgZobEwR71W7idIXTjCCH+dVf/PH99RRSf/4/ZK5mVprYDeo9B5AbNKo8ZeDLxf81i5Rv+oZxo+8VTgwfkxbEy79LECsH3zSfiLzGTlQhrd+nfvjbOP/9s98w855fZ6zzFbZ/reucRJUy6AIMSNgC/2J+ppRbZPy9WgDrzuOL3A/AdRO2tRm/mY5rfkaSqLw1Vrak/7fXzec3skFVGTv9kikIvBt00lJJYr/UngWlhvydAcHgpac3xU149rYwaJep6XgjCSXchuFPYta+vCpjDuJsdD+BwNO/C93+R/4x4ggveEe9JhYTEG8KOaV7+TXxGBNZH+GEWTRQuDrPNtb91DWRgN9BV3JSig8bGfdZU/z3wl76/Qj+pf0puaMqg1mUzebMVwFFfVWUuLaSrZWk5LXjade+kzzBE179xVpqzke8wohzfQYZEeGwk+9hj0yc9kGRNqQrBaP1huyA3GUqFffY299VjdWl43Z58VtlOu2nXdqcGsBfw0prjjF7ApIQmB6OXk6PoOqC1sdzZ5vaYTp1Vslc0oI4APO67HRYrEovlYWR2pXFuu9hVAuwAnDXdQWR+UlDcp634usw6HZCg8yYt0LJvjFD3bKAt/mycydwA8PDS118pCLfeshViuJV8irhDk8tAKvCGjrbthgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013BN8xoxNpv6J1cJaqcuECo",
      "input": {
        "note": "The pen fell short and is lying on the table just in front of the right basket. Backing off and lowering to re-grasp it.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.17,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013BN8xoxNpv6J1cJaqcuECo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.8635, 0.6086, -0.3801, -0.0219, -0.0269, 0.9996, 0.6296, 1.6028, 0.6273, 0.3294, 0.4866, 0.4015, 0.996]\nstate[eef_state]: left_x=0.2995 left_y=0.0007 left_z=0.1628 left_yaw=0.0003 left_pitch=-0.0732 left_roll=0.0005 left_gripper=0.9996 right_x=0.3668 right_y=0.1695 right_z=0.0706 right_yaw=0.0072 right_pitch=0.0082 right_roll=0.0596 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -1.1829, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122, 0.2393, -6.5299, 6.147, 2.0049, 0.2906, 0.0806, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2259e3f83f5b810da888dfb2ba98401a9e30adeaebb33400c898505fce7550c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55caa5adacbd056ac80f9da77cd60d5e591adeae2a3978a995d43937319c366c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:650bb02fe20ec28c2dc80b6705495d63d58d3d3017bfc1f980f052fcd5876f00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.066 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]: [-0.0231, 0.8619, 0.609, -0.3813, -0.0219, -0.0269, 0.9996, 0.4633, 1.6188, 1.1301, -0.0254, 0.3862, 0.329, 0.1545]\nstate[eef_state]: left_x=0.2993 left_y=0.0006 left_z=0.1632 left_yaw=-0.0 left_pitch=-0.0725 left_roll=0.0005 left_gripper=0.9996 right_x=0.4583 right_y=0.1586 right_z=0.1989 right_yaw=-0.0418 right_pitch=0.0937 right_roll=0.1137 right_gripper=0.1545\nstate[joint_eff]: [-0.1846, -2.0581, 7.0632, 1.663, -0.0366, -0.0611, -0.0122, -0.7043, -8.0615, 9.6752, 1.8144, 0.0464, 0.0122, 1.0281]",
      "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]: [-0.0231, 0.8623, 0.6086, -0.3805, -0.0219, -0.0265, 0.9996, 0.4587, 1.6329, 1.1282, -0.0326, 0.3721, 0.3202, 0.9946]\nstate[eef_state]: left_x=0.2994 left_y=0.0006 left_z=0.1631 left_yaw=-0.0002 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9996 right_x=0.4587 right_y=0.1589 right_z=0.1896 right_yaw=-0.0291 right_pitch=0.0704 right_roll=0.1011 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -1.6889, 7.0906, 1.6386, -0.0122, -0.0122, -0.0122, 0.294, -9.306, 7.0632, 1.8242, 0.2711, 0.1978, 0.2076]",
      "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]: [-0.0227, 0.8635, 0.6086, -0.3801, -0.0219, -0.0269, 0.9996, 0.6296, 1.6028, 0.6273, 0.3294, 0.4866, 0.4015, 0.996]\nstate[eef_state]: left_x=0.2995 left_y=0.0007 left_z=0.1628 left_yaw=0.0003 left_pitch=-0.0732 left_roll=0.0005 left_gripper=0.9996 right_x=0.3668 right_y=0.1695 right_z=0.0706 right_yaw=0.0072 right_pitch=0.0082 right_roll=0.0596 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -1.1829, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122, 0.2393, -6.5299, 6.147, 2.0049, 0.2906, 0.0806, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2259e3f83f5b810da888dfb2ba98401a9e30adeaebb33400c898505fce7550c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55caa5adacbd056ac80f9da77cd60d5e591adeae2a3978a995d43937319c366c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:650bb02fe20ec28c2dc80b6705495d63d58d3d3017bfc1f980f052fcd5876f00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowkKEAgSGAI4AUIIdGhpbmtpbmcSDEBr5YGOIkwQRp5ToRoMqC8P/UnBaK7BnWKIIjAYg0QCk7Q/7g2Vb/3oGKGiVo1w4POI18aLQiFQONmWggOBYElXPw0gkIFXwh9botIqwAje/rr71Qr4SvrG3NmIu7ykEZH4HqB+qm6y5EpnV9ttk8hs2CydLOMeZri8Z+cgukuvpD48xgfd4eYa68COsxbJbS3SI6M7potIfPlKZOD4XCOaHjoLE0gwHg2IOGJ4NAMRp74GsVL+RSLYlKMB3HwHyzlUDN8P9hmBqBy2otJMuJT97eKR0X8SBQ39Ei19ncoXkgLbNKytwpMCvNSpSeDFbyBlZ9OtgjRtxta0rl9RtmOFjFbflEACApL8OGXfaxAfTPovXL0NKvxKN7M0wA8ejLxVfU4rlqFDKOG+Ma6TnQoC7hg6mG46LEBkywHHZ2bopEM+wwafuKGq46MMvfcGrqjUe37w9Qg3a5+MJeno21olHZjwmtRO7pmUUW6tjMSWAWJhBSA9t4Mwys+zdkuPYKNn43tDyIrHHPW/JEgp6wxAuCvVq8kUb7Vks9VMeDGB86KdwQvm6yHX5KxknHrWqB5idmC/FfFQPdXiWkVlKsyrjO1ah7SLCPbjiEHnwrZiURGAVrFgovfWpEROINnrAwY3wk7vWR8UdN0h2ngn0e6cN9WZ16hYqjPCnwmvsik91hKyzEdTWpzyfX7YEuGa49ya5HgtXFw5GIc4byqJ+gCEeb9asgZwFsQhaa0/XK6DYEriZjkB+97uCn/0TbrPjabIIz1TaBa9pBJGnZU1ViqY+T92VsPjZtDVuq8NtFpAJ4aEyFulI3PDVdBwBXEbYZU8O2pmuPmUxSPq72uenVkr3o6ern1HAkuaYLEeviTNseyFXJ88ejoM3ncqOa5dglHmk6bat/n9gR2CCWp4w6sfEno0H1/4ChbdoP+iPdyB/N980cG4AZC7kSOD1iORUYx1s0aC6fcVrbC8l1lBfNPsbI9zvtk5zc3jytD6iwYrRMAqlKzbehSIzvPzC6tYo5y+wWMpT9MSPDCc72rV9GYBjG7s9K04b3mjUjQ2q7WnNTlpTqoVBfZcK29qxjRfJMQ3d4/wQWvtAhugIEB9JQISKDtb+jmhUribZG5NP0nhc7HVzLdX/W8u/3E494u156Lm66Cgt0iFeeMQCBtwL+H3ghLvZrE4Rm/vvdXZYsqkuB01pD/qnEgxZU0r8xumHH85P5qFQ0HLV1H9f1/c+yXguRtq6EsP+rrb4z5eaMS0t4F3XAjd9dGvwYJo5noCf9UAu1L/QCBu8rBPwo76PZko++wea7b5euCrEl+v6y+Zo9aFn7JfqIKaVsOb+OH5THzAE2M88Wpe217fmAmwLq1zSsiWtpdTrd/x8Wjh0HTC160teKB95KGI1vbKula2vcqtGP6WXyd+12YlO7tZajStgXWRWfpR9OTqg+ZgN2cQLx+JNagD9l8YZVuXvHqt/LTqkc36AYrghO9wYaePQ2Kmn3it1pLCiR8/2v/oq30RHLCzX5v+tg/WbtK/EgQDz5BIc+CyJEjWm5HceF9tGhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011kTANJiNDPCS1pPDzFo39e",
      "input": {
        "note": "Pen lies diagonally ahead-left of the jaws in the wrist view. Shifting ~2 cm left and forward and descending to table level to straddle its middle.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.19,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011kTANJiNDPCS1pPDzFo39e",
      "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]: [-0.0231, 0.868, 0.6075, -0.3805, -0.0223, -0.0269, 0.9996, 0.6426, 1.948, 0.6537, 0.701, 0.5095, 0.4187, 0.9962]\nstate[eef_state]: left_x=0.2995 left_y=0.0006 left_z=0.1609 left_yaw=0.0003 left_pitch=-0.0793 left_roll=0.0009 left_gripper=0.9996 right_x=0.3921 right_y=0.1903 right_z=0.0129 right_yaw=-0.0084 right_pitch=0.0577 right_roll=0.095 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -2.0308, 7.3094, 1.6679, -0.0073, -0.0317, -0.0171, 0.6496, -5.7094, 3.8906, 0.6325, -0.2173, -0.0562, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b4791d4af3d91b5b57a103fb15cb99ef80fa8189d1930568ebca64d4f19135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93778e0c6c9dcf7f06759c4f594f5f860c2fed8a43619680e38b8ee9fb565c2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e165b6bbbba2eabf6d8050ec20fc93826b714fd1de4a76baf39f407d30e841d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.094 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]: [-0.0231, 0.8623, 0.6086, -0.3805, -0.0219, -0.0265, 0.9996, 0.4587, 1.6329, 1.1282, -0.0326, 0.3721, 0.3202, 0.9946]\nstate[eef_state]: left_x=0.2994 left_y=0.0006 left_z=0.1631 left_yaw=-0.0002 left_pitch=-0.0725 left_roll=0.0008 left_gripper=0.9996 right_x=0.4587 right_y=0.1589 right_z=0.1896 right_yaw=-0.0291 right_pitch=0.0704 right_roll=0.1011 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -1.6889, 7.0906, 1.6386, -0.0122, -0.0122, -0.0122, 0.294, -9.306, 7.0632, 1.8242, 0.2711, 0.1978, 0.2076]",
      "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]: [-0.0227, 0.8635, 0.6086, -0.3801, -0.0219, -0.0269, 0.9996, 0.6296, 1.6028, 0.6273, 0.3294, 0.4866, 0.4015, 0.996]\nstate[eef_state]: left_x=0.2995 left_y=0.0007 left_z=0.1628 left_yaw=0.0003 left_pitch=-0.0732 left_roll=0.0005 left_gripper=0.9996 right_x=0.3668 right_y=0.1695 right_z=0.0706 right_yaw=0.0072 right_pitch=0.0082 right_roll=0.0596 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -1.1829, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122, 0.2393, -6.5299, 6.147, 2.0049, 0.2906, 0.0806, 0.1294]",
      "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]: [-0.0231, 0.868, 0.6075, -0.3805, -0.0223, -0.0269, 0.9996, 0.6426, 1.948, 0.6537, 0.701, 0.5095, 0.4187, 0.9962]\nstate[eef_state]: left_x=0.2995 left_y=0.0006 left_z=0.1609 left_yaw=0.0003 left_pitch=-0.0793 left_roll=0.0009 left_gripper=0.9996 right_x=0.3921 right_y=0.1903 right_z=0.0129 right_yaw=-0.0084 right_pitch=0.0577 right_roll=0.095 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -2.0308, 7.3094, 1.6679, -0.0073, -0.0317, -0.0171, 0.6496, -5.7094, 3.8906, 0.6325, -0.2173, -0.0562, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b4791d4af3d91b5b57a103fb15cb99ef80fa8189d1930568ebca64d4f19135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93778e0c6c9dcf7f06759c4f594f5f860c2fed8a43619680e38b8ee9fb565c2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e165b6bbbba2eabf6d8050ec20fc93826b714fd1de4a76baf39f407d30e841d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pen between jaws. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NGkAPLtD8G1rhnSGQt2KDD",
      "input": {
        "note": "Pen now runs between the jaws at table level. Closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NGkAPLtD8G1rhnSGQt2KDD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8696, 0.6075, -0.3805, -0.0219, -0.0269, 0.9996, 0.6415, 2.0331, 0.6567, 0.8825, 0.5331, 0.4049, 0.1456]\nstate[eef_state]: left_x=0.2996 left_y=0.0005 left_z=0.1605 left_yaw=-0.0 left_pitch=-0.0809 left_roll=0.0007 left_gripper=0.9996 right_x=0.4039 right_y=0.1941 right_z=0.0144 right_yaw=-0.0276 right_pitch=0.1448 right_roll=0.1343 right_gripper=0.1456\nstate[joint_eff]: [-0.0205, -1.8393, 7.0496, 1.6777, -0.0024, -0.0659, -0.0122, 0.0205, -5.6274, 3.3573, 0.9597, -0.1099, 0.0708, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4b6a5ff39c6fb47607d50fe9efe9298442a76437a539b947781eac3bfbffe70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649cc250408da64d21354574f7d1a26e6c3c9676c61b70537f466e93d104f00a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35c418b94443b6c8257a9d55a97fc170f125514fea883bab01d201ef1183e807",
        "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 · 3.747 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]: [-0.0227, 0.8635, 0.6086, -0.3801, -0.0219, -0.0269, 0.9996, 0.6296, 1.6028, 0.6273, 0.3294, 0.4866, 0.4015, 0.996]\nstate[eef_state]: left_x=0.2995 left_y=0.0007 left_z=0.1628 left_yaw=0.0003 left_pitch=-0.0732 left_roll=0.0005 left_gripper=0.9996 right_x=0.3668 right_y=0.1695 right_z=0.0706 right_yaw=0.0072 right_pitch=0.0082 right_roll=0.0596 right_gripper=0.996\nstate[joint_eff]: [-0.1299, -1.1829, 7.0496, 1.7265, -0.0464, -0.0513, -0.0122, 0.2393, -6.5299, 6.147, 2.0049, 0.2906, 0.0806, 0.1294]",
      "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]: [-0.0231, 0.868, 0.6075, -0.3805, -0.0223, -0.0269, 0.9996, 0.6426, 1.948, 0.6537, 0.701, 0.5095, 0.4187, 0.9962]\nstate[eef_state]: left_x=0.2995 left_y=0.0006 left_z=0.1609 left_yaw=0.0003 left_pitch=-0.0793 left_roll=0.0009 left_gripper=0.9996 right_x=0.3921 right_y=0.1903 right_z=0.0129 right_yaw=-0.0084 right_pitch=0.0577 right_roll=0.095 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -2.0308, 7.3094, 1.6679, -0.0073, -0.0317, -0.0171, 0.6496, -5.7094, 3.8906, 0.6325, -0.2173, -0.0562, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0231, 0.8696, 0.6075, -0.3805, -0.0219, -0.0269, 0.9996, 0.6415, 2.0331, 0.6567, 0.8825, 0.5331, 0.4049, 0.1456]\nstate[eef_state]: left_x=0.2996 left_y=0.0005 left_z=0.1605 left_yaw=-0.0 left_pitch=-0.0809 left_roll=0.0007 left_gripper=0.9996 right_x=0.4039 right_y=0.1941 right_z=0.0144 right_yaw=-0.0276 right_pitch=0.1448 right_roll=0.1343 right_gripper=0.1456\nstate[joint_eff]: [-0.0205, -1.8393, 7.0496, 1.6777, -0.0024, -0.0659, -0.0122, 0.0205, -5.6274, 3.3573, 0.9597, -0.1099, 0.0708, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4b6a5ff39c6fb47607d50fe9efe9298442a76437a539b947781eac3bfbffe70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649cc250408da64d21354574f7d1a26e6c3c9676c61b70537f466e93d104f00a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c418b94443b6c8257a9d55a97fc170f125514fea883bab01d201ef1183e807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwkKEAgSGAI4AUIIdGhpbmtpbmcSDDBC1+ZlYABCqjSSsRoMrFAKpbA5CONQIxCXIjDXQyJ3726eWso0YTUf5/w4NFApMXxhkWZv0Rfsn0XJEcLz4NWeJbFQHWGmfzuke08quAhySznNHDiNdlDioNkUuTXbY/gklyH79wFJiIrXV3q1Ww9mOdxLz121wPfk7AI9+gjFEIpVd0h6klLdtNYs44PEIqHfuGzzh8aWcsCQjtmult3Vv+UcO5d/X+j5TwDLkmqkfp3wctUAx7QVEj6Unb6Kku6/pQHs2vd5wpATv1rE8WxOwtVI0Y3Eb8tzzirHY6MhCEhbf+fgyXflLgZL6VLNyJeQuZ8ji/wLUbxfbxwmzF4wOes7VNDSl+13ukb1M99EABCiWgw3fxvTuzM9ndEv+902sMz3bku1n58KYrAxejxWZ6m77tjZxBx1rypoBDwDPKA02vKYJapiatqCclVeZnQa+0TEqRvDEl9M3XCGfWRAe8qOD9aRRTNZ3DsWMKsCyGXwS/DzJQp7SmKmoboVMMWJwsSfe11XuSiFzNNAS4wMEnNbHiz+cNY05AOKBNNegHhRouE1WwqRwneqH7Y2xRFTWgzFZLPjGI1mBU/K1lxxPHsa9e6MukE9QLmEVAI41idRAOXQmwrk8/mopyIuoKcKxw6XD2gN3ZLEtqM1eK+4sDh6LmIJstodMOhIme3sgrYeRCpj3K8lwR3EqhAGuFmDhpGv+WOQW9zgYxGsi4IQxFdYfEwJ9VwQ9FhTJDic36LrZhsSjTst0OLGYOUI4ojxwnHljtREF265TJalT2jPSB8lzJK8XpoZIl/h4pf6apqbHpjteIj8SPBFbyBS3OzPkY99KWmRRX94udiuBnfxNUnXtUlr3WSysT0QvuEGSLm+ZKg7n5Zke4U1hxxaxv4/r85mvolI18w9DH52rhjqWKxa85nb28Nl7JtHc0YhqSVLB2lu4evARkWG8tbtoa/hWZeBIkFX+ey8sm6EVZalrTr1E0FCGePZr/m3znlwNrA85V3Q8T9cfzB7nDlfvBpqn6idG1ZznkEIf5b3N1HfUpF2KAjZZBk9mZ87Y2gFDiKDUwQAxCv/geC7pGJJ8qyrUUoIrpnymS5ogliVDoSjQ+O8iKSQuSe86UP7431NM3DIkxMxmt+mfu2VO+79Dxzj4OPI8zxi6Q0NRlECkpv94H4w418vmZovtG+sHZtJjQDpLCXOSp1KcobTBgiAQH9CQCGgd9pBDAmGaEvLUeNWz7+Caj0BWlI4okHXLn9MdP4DJq/MDgNqaQtfFBFs7Iw/2KFIoMNRz/vZj2axiYW/0CVnZhp0OwYeC6raMzibrw4swomVkV82cfOyoScy9jxEuiCo1t/7U3FY/oijDwGeNZUs2h+V5koH4NtegbXzzvJtjjMafahAmbgDYuNnJGHpnrzeK3S+4LcZhSgzk7BTfWejk01Voazbf0agfHlC87ByKUzf1VbCJ+JeJnsyUUII+moVi0khl1CJJkf+zCjZKWk46mkh5sHAlfewI1g49/1Pwl51+X/fHTBWCkCFOLE+hQMtFHgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KjXaVSiHUgGefYkBbX225S",
      "input": {
        "note": "Pen gripped firmly (seen between the jaws). Lifting high first so its forward-pointing tip clears the basket rim.",
        "targets": {
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01KjXaVSiHUgGefYkBbX225S",
      "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]: [-0.0231, 0.8715, 0.6067, -0.3805, -0.0219, -0.0265, 0.9996, 0.6415, 1.4967, 1.1328, -0.1543, 0.5156, 0.4034, 0.1507]\nstate[eef_state]: left_x=0.2995 left_y=0.0005 left_z=0.1596 left_yaw=-0.0002 left_pitch=-0.0835 left_roll=0.0011 left_gripper=0.9996 right_x=0.4068 right_y=0.1996 right_z=0.2335 right_yaw=-0.0103 right_pitch=0.1204 right_roll=0.1246 right_gripper=0.1507\nstate[joint_eff]: [-0.1162, -1.8803, 7.0769, 1.663, -0.0317, -0.0464, -0.0122, -0.0752, -9.4564, 9.8256, 1.7558, 0.2808, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b391b4dfacc4310c6df0e4a072c3a158d6c8fe64e7fe8535bb3f9840d309fdf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf710eaca76ed07521a851c12d421143619df46efc9476094a4f7eff594ba09f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80845f401eaf0e3188f883b72d62e3f6d70104eef97a53cafa2d94e690457e09",
        "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 · 2.886 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]: [-0.0231, 0.868, 0.6075, -0.3805, -0.0223, -0.0269, 0.9996, 0.6426, 1.948, 0.6537, 0.701, 0.5095, 0.4187, 0.9962]\nstate[eef_state]: left_x=0.2995 left_y=0.0006 left_z=0.1609 left_yaw=0.0003 left_pitch=-0.0793 left_roll=0.0009 left_gripper=0.9996 right_x=0.3921 right_y=0.1903 right_z=0.0129 right_yaw=-0.0084 right_pitch=0.0577 right_roll=0.095 right_gripper=0.9962\nstate[joint_eff]: [-0.0205, -2.0308, 7.3094, 1.6679, -0.0073, -0.0317, -0.0171, 0.6496, -5.7094, 3.8906, 0.6325, -0.2173, -0.0562, 0.0073]\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]: [-0.0231, 0.8696, 0.6075, -0.3805, -0.0219, -0.0269, 0.9996, 0.6415, 2.0331, 0.6567, 0.8825, 0.5331, 0.4049, 0.1456]\nstate[eef_state]: left_x=0.2996 left_y=0.0005 left_z=0.1605 left_yaw=-0.0 left_pitch=-0.0809 left_roll=0.0007 left_gripper=0.9996 right_x=0.4039 right_y=0.1941 right_z=0.0144 right_yaw=-0.0276 right_pitch=0.1448 right_roll=0.1343 right_gripper=0.1456\nstate[joint_eff]: [-0.0205, -1.8393, 7.0496, 1.6777, -0.0024, -0.0659, -0.0122, 0.0205, -5.6274, 3.3573, 0.9597, -0.1099, 0.0708, 1.0085]",
      "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]: [-0.0231, 0.8715, 0.6067, -0.3805, -0.0219, -0.0265, 0.9996, 0.6415, 1.4967, 1.1328, -0.1543, 0.5156, 0.4034, 0.1507]\nstate[eef_state]: left_x=0.2995 left_y=0.0005 left_z=0.1596 left_yaw=-0.0002 left_pitch=-0.0835 left_roll=0.0011 left_gripper=0.9996 right_x=0.4068 right_y=0.1996 right_z=0.2335 right_yaw=-0.0103 right_pitch=0.1204 right_roll=0.1246 right_gripper=0.1507\nstate[joint_eff]: [-0.1162, -1.8803, 7.0769, 1.663, -0.0317, -0.0464, -0.0122, -0.0752, -9.4564, 9.8256, 1.7558, 0.2808, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b391b4dfacc4310c6df0e4a072c3a158d6c8fe64e7fe8535bb3f9840d309fdf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf710eaca76ed07521a851c12d421143619df46efc9476094a4f7eff594ba09f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80845f401eaf0e3188f883b72d62e3f6d70104eef97a53cafa2d94e690457e09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAcKEAgSGAI4AUIIdGhpbmtpbmcSDODohuDcSALM3M/tKRoMnGG1nRi82JSJU5SqIjDcimasqUudVQhZfSt+aCJMXk7ABcJQPcj+2qF2F4S20Ea/MgbdoicfdfpRyDOVLFsqsQYhJocCknumR51ZcMWDVZoTMQx7exXQqxptGcdHcL6QgLUEEFOiPjqyA042HDec4kZTbc8xM58WBaL1qOHWmMU7xY26SzodHnM55ykB2tukgJGNxYbSmpo7Nk/yxZJ0LtIp1Wgw+gWECNF1nyPDNUoRJYlMtUNDnV9U2nT5MzHb7a8bQTFoZN6dF9qXxjDsfFlEjRcEMdxVfyZfX6WT+nsQ915Ye6xFdcYam4FIc/ecHpCI/W24IrNXCdyz7+72qq/GfD1KBpz7zSNg5AeczyDI4xnzmfV9QvNb912sYZ2BvdJqpEf7IALomHjeZo9Yw4aM4Oo0oN+3J5vam4Zfavuce+ukL7tOpuBe/TTigJ+E5Tl1LMYFu0IcgEqmBPO4uHk53Kp3aA5scj3NY5JGizD16Tg5Iu5/59SSmMm0uwq4z3C1TfQ2JmbMij3S5RCwuW9qEhUH7dsTUkGgWkY1GdLbR+KQGIhMC/ttZY8X09LLdrnG4xsoErGWpNtZXtsl0SEJvDLjsk1QPyoru6mtV2vZfhWeWTvNlcimj0aGX3Hyc+ppd8nboP/uTPVFrGO+SXt2BwBt1rN+XZej0zCWOJtfU3bZkTutGNQCYxuZT6K2cubHM6ZJDLCxw2wom1Y/YB7QAf/kqGRQWXir75zw/aYUMuUM1EKPKvyh81RMIJBj9J8FBhPcFUOBu2AYOP76gMpVOn0pSzsGkeKXiNc3mq5qCkE1ejvfytQC88nlMknZpV41hMIa1RnpK79+3BlbFIy1HHopzAAoqOYoVYqOTiMaOMEDyMaxUDFTtimrbigTm408qepllyKknpn8aqMJwsS2Dum/aX7Vt8cv+ycmHgNTbcriYj0hUE8F9mjQ38A7Lu+C5+BnfhLq47Z1KizIcvGpboEkDJf7iOvrpVkvpu83Z1Rw0lVJ4L0loB+3LxIHuRTRYg7vhnMxqNaORwNuooeAHka5enrimnFyjEmjsG5AZFgWUGu06yavDQK6JBaHR4fTYuTh93lhdf0lSXrtbP2cVwnSxdGc0EFIgIrJywoxanjjGtAngZIN+grNmQkuZ2xrqpsn+/gT9TET8XAY9CYLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D5Netpjxh2JcBQ7YwTZYWb",
      "input": {
        "note": "Right basket is directly ahead, slightly right, with the black pen inside. Moving further forward than last time so the whole pen lands inside.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.18,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01D5Netpjxh2JcBQ7YwTZYWb",
      "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]: [-0.0231, 0.8768, 0.6067, -0.3805, -0.0216, -0.0269, 0.9996, 0.4641, 1.7336, 1.4052, -0.1928, 0.3595, 0.3115, 0.1539]\nstate[eef_state]: left_x=0.2998 left_y=0.0005 left_z=0.1581 left_yaw=-0.0003 left_pitch=-0.0889 left_roll=0.0006 left_gripper=0.9996 right_x=0.4898 right_y=0.1796 right_z=0.2332 right_yaw=-0.0091 right_pitch=0.0821 right_roll=0.1064 right_gripper=0.1539\nstate[joint_eff]: [-0.1162, -2.0718, 7.241, 1.5946, -0.0415, -0.0659, -0.0171, -0.4308, -8.8547, 9.7846, 1.8046, 0.1099, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb11ac53e70b4e32f07a9f6ea01000848318843e11281327bbe232ac3e75eb1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c68ccc0b5f8686df290945672ce2c2682596490ab8f86576f5faa145b8b86397",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8562d681df69ebaee9c7963f97d93e8ff9daa2a41afcff01cd5857858a3a651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 9.4 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]: [-0.0231, 0.8696, 0.6075, -0.3805, -0.0219, -0.0269, 0.9996, 0.6415, 2.0331, 0.6567, 0.8825, 0.5331, 0.4049, 0.1456]\nstate[eef_state]: left_x=0.2996 left_y=0.0005 left_z=0.1605 left_yaw=-0.0 left_pitch=-0.0809 left_roll=0.0007 left_gripper=0.9996 right_x=0.4039 right_y=0.1941 right_z=0.0144 right_yaw=-0.0276 right_pitch=0.1448 right_roll=0.1343 right_gripper=0.1456\nstate[joint_eff]: [-0.0205, -1.8393, 7.0496, 1.6777, -0.0024, -0.0659, -0.0122, 0.0205, -5.6274, 3.3573, 0.9597, -0.1099, 0.0708, 1.0085]",
      "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]: [-0.0231, 0.8715, 0.6067, -0.3805, -0.0219, -0.0265, 0.9996, 0.6415, 1.4967, 1.1328, -0.1543, 0.5156, 0.4034, 0.1507]\nstate[eef_state]: left_x=0.2995 left_y=0.0005 left_z=0.1596 left_yaw=-0.0002 left_pitch=-0.0835 left_roll=0.0011 left_gripper=0.9996 right_x=0.4068 right_y=0.1996 right_z=0.2335 right_yaw=-0.0103 right_pitch=0.1204 right_roll=0.1246 right_gripper=0.1507\nstate[joint_eff]: [-0.1162, -1.8803, 7.0769, 1.663, -0.0317, -0.0464, -0.0122, -0.0752, -9.4564, 9.8256, 1.7558, 0.2808, -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 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]: [-0.0231, 0.8768, 0.6067, -0.3805, -0.0216, -0.0269, 0.9996, 0.4641, 1.7336, 1.4052, -0.1928, 0.3595, 0.3115, 0.1539]\nstate[eef_state]: left_x=0.2998 left_y=0.0005 left_z=0.1581 left_yaw=-0.0003 left_pitch=-0.0889 left_roll=0.0006 left_gripper=0.9996 right_x=0.4898 right_y=0.1796 right_z=0.2332 right_yaw=-0.0091 right_pitch=0.0821 right_roll=0.1064 right_gripper=0.1539\nstate[joint_eff]: [-0.1162, -2.0718, 7.241, 1.5946, -0.0415, -0.0659, -0.0171, -0.4308, -8.8547, 9.7846, 1.8046, 0.1099, -0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb11ac53e70b4e32f07a9f6ea01000848318843e11281327bbe232ac3e75eb1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c68ccc0b5f8686df290945672ce2c2682596490ab8f86576f5faa145b8b86397",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8562d681df69ebaee9c7963f97d93e8ff9daa2a41afcff01cd5857858a3a651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QsFjr7CtzdPm4pigtGXtbE",
      "input": {
        "note": "The pen now sits well inside the basket outline in the wrist view. Releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QsFjr7CtzdPm4pigtGXtbE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 0.8772, 0.6067, -0.3801, -0.0223, -0.0269, 0.9996, 0.4587, 1.7504, 1.4059, -0.1986, 0.347, 0.3054, 0.9949]\nstate[eef_state]: left_x=0.2999 left_y=0.0006 left_z=0.1581 left_yaw=0.0003 left_pitch=-0.0889 left_roll=0.0011 left_gripper=0.9996 right_x=0.4916 right_y=0.1798 right_z=0.2236 right_yaw=-0.0 right_pitch=0.0602 right_roll=0.097 right_gripper=0.9949\nstate[joint_eff]: [-0.1299, -1.7709, 7.0359, 1.6581, -0.0366, -0.0659, -0.0122, 0.2393, -10.6325, 7.0222, 1.7411, 0.1929, 0.0904, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2859d304a3dd9955300cc1f3aaf4f4cdf0be0127c6dbac0ffdf3fae254642a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfc6dff06c1762f9c249d483a82dee7dc08d50fb19626294aa4f4863e82dcab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82ff32b7c315f16fdadc4833352896a29f2d96ac0956b753fc65416905a02515",
        "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 · 4.367 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]: [-0.0231, 0.8715, 0.6067, -0.3805, -0.0219, -0.0265, 0.9996, 0.6415, 1.4967, 1.1328, -0.1543, 0.5156, 0.4034, 0.1507]\nstate[eef_state]: left_x=0.2995 left_y=0.0005 left_z=0.1596 left_yaw=-0.0002 left_pitch=-0.0835 left_roll=0.0011 left_gripper=0.9996 right_x=0.4068 right_y=0.1996 right_z=0.2335 right_yaw=-0.0103 right_pitch=0.1204 right_roll=0.1246 right_gripper=0.1507\nstate[joint_eff]: [-0.1162, -1.8803, 7.0769, 1.663, -0.0317, -0.0464, -0.0122, -0.0752, -9.4564, 9.8256, 1.7558, 0.2808, -0.0317, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0231, 0.8768, 0.6067, -0.3805, -0.0216, -0.0269, 0.9996, 0.4641, 1.7336, 1.4052, -0.1928, 0.3595, 0.3115, 0.1539]\nstate[eef_state]: left_x=0.2998 left_y=0.0005 left_z=0.1581 left_yaw=-0.0003 left_pitch=-0.0889 left_roll=0.0006 left_gripper=0.9996 right_x=0.4898 right_y=0.1796 right_z=0.2332 right_yaw=-0.0091 right_pitch=0.0821 right_roll=0.1064 right_gripper=0.1539\nstate[joint_eff]: [-0.1162, -2.0718, 7.241, 1.5946, -0.0415, -0.0659, -0.0171, -0.4308, -8.8547, 9.7846, 1.8046, 0.1099, -0.0611, 1.0281]",
      "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]: [-0.0231, 0.8772, 0.6067, -0.3801, -0.0223, -0.0269, 0.9996, 0.4587, 1.7504, 1.4059, -0.1986, 0.347, 0.3054, 0.9949]\nstate[eef_state]: left_x=0.2999 left_y=0.0006 left_z=0.1581 left_yaw=0.0003 left_pitch=-0.0889 left_roll=0.0011 left_gripper=0.9996 right_x=0.4916 right_y=0.1798 right_z=0.2236 right_yaw=-0.0 right_pitch=0.0602 right_roll=0.097 right_gripper=0.9949\nstate[joint_eff]: [-0.1299, -1.7709, 7.0359, 1.6581, -0.0366, -0.0659, -0.0122, 0.2393, -10.6325, 7.0222, 1.7411, 0.1929, 0.0904, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2859d304a3dd9955300cc1f3aaf4f4cdf0be0127c6dbac0ffdf3fae254642a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfc6dff06c1762f9c249d483a82dee7dc08d50fb19626294aa4f4863e82dcab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82ff32b7c315f16fdadc4833352896a29f2d96ac0956b753fc65416905a02515",
        "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_01VBJfd421VvMn7MdsTasmT5",
      "input": {
        "note": "Both pens are now in the right basket. Pulling the right arm back while the left arm drops onto the yellow marker, which lies just ahead and slightly right of its jaws.",
        "targets": {
          "left_y": -0.02,
          "left_z": -0.01,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01VBJfd421VvMn7MdsTasmT5",
      "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]: [-0.1482, 1.5059, 0.1265, 0.7319, -0.1326, -0.0845, 0.9988, 0.2638, 0.8509, 0.6502, -0.3004, 0.1925, 0.2127, 0.996]\nstate[eef_state]: left_x=0.3047 left_y=-0.0183 left_z=-0.0014 left_yaw=-0.0006 left_pitch=-0.0796 left_roll=0.0213 left_gripper=0.9988 right_x=0.3088 right_y=0.0521 right_z=0.2037 right_yaw=-0.0169 right_pitch=0.0763 right_roll=0.1026 right_gripper=0.996\nstate[joint_eff]: [-0.4308, -3.4393, 2.1675, 0.1636, 0.2613, -0.2222, -0.0855, -0.3897, -1.6342, 7.3504, 1.9267, -0.0317, -0.0708, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2d776872159f0855930163e42ebc9990674d9ed6f0ccd61fb3c17c6a68ce20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc206a8eee457b81c4f2cf6c4359b4345d599eafcefea4641076eaec62ef86a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7da879480bdf2700b03fd202602dea66a9f695e6c8b818f50bfaa5a2a409fa1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 2.783 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]: [-0.0231, 0.8768, 0.6067, -0.3805, -0.0216, -0.0269, 0.9996, 0.4641, 1.7336, 1.4052, -0.1928, 0.3595, 0.3115, 0.1539]\nstate[eef_state]: left_x=0.2998 left_y=0.0005 left_z=0.1581 left_yaw=-0.0003 left_pitch=-0.0889 left_roll=0.0006 left_gripper=0.9996 right_x=0.4898 right_y=0.1796 right_z=0.2332 right_yaw=-0.0091 right_pitch=0.0821 right_roll=0.1064 right_gripper=0.1539\nstate[joint_eff]: [-0.1162, -2.0718, 7.241, 1.5946, -0.0415, -0.0659, -0.0171, -0.4308, -8.8547, 9.7846, 1.8046, 0.1099, -0.0611, 1.0281]",
      "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]: [-0.0231, 0.8772, 0.6067, -0.3801, -0.0223, -0.0269, 0.9996, 0.4587, 1.7504, 1.4059, -0.1986, 0.347, 0.3054, 0.9949]\nstate[eef_state]: left_x=0.2999 left_y=0.0006 left_z=0.1581 left_yaw=0.0003 left_pitch=-0.0889 left_roll=0.0011 left_gripper=0.9996 right_x=0.4916 right_y=0.1798 right_z=0.2236 right_yaw=-0.0 right_pitch=0.0602 right_roll=0.097 right_gripper=0.9949\nstate[joint_eff]: [-0.1299, -1.7709, 7.0359, 1.6581, -0.0366, -0.0659, -0.0122, 0.2393, -10.6325, 7.0222, 1.7411, 0.1929, 0.0904, 0.0269]",
      "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]: [-0.1482, 1.5059, 0.1265, 0.7319, -0.1326, -0.0845, 0.9988, 0.2638, 0.8509, 0.6502, -0.3004, 0.1925, 0.2127, 0.996]\nstate[eef_state]: left_x=0.3047 left_y=-0.0183 left_z=-0.0014 left_yaw=-0.0006 left_pitch=-0.0796 left_roll=0.0213 left_gripper=0.9988 right_x=0.3088 right_y=0.0521 right_z=0.2037 right_yaw=-0.0169 right_pitch=0.0763 right_roll=0.1026 right_gripper=0.996\nstate[joint_eff]: [-0.4308, -3.4393, 2.1675, 0.1636, 0.2613, -0.2222, -0.0855, -0.3897, -1.6342, 7.3504, 1.9267, -0.0317, -0.0708, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2d776872159f0855930163e42ebc9990674d9ed6f0ccd61fb3c17c6a68ce20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc206a8eee457b81c4f2cf6c4359b4345d599eafcefea4641076eaec62ef86a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7da879480bdf2700b03fd202602dea66a9f695e6c8b818f50bfaa5a2a409fa1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QgKEAgSGAI4AUIIdGhpbmtpbmcSDPSdHBEE2Ty0SKOmYRoMKqqjNDT0aB02ckeGIjATNRP0iN8G+YiXt0VRHhZfEXj1sAzP4kem1/mDistA+5GPvnIw2oRlwBzPuLVHm/QqigjviisvOzbu0LHaqcMPcjFT9lYlkl1HvtejGAFoWL2MajR2RzjP7O6Q62v+MUuooNjox9xBXNxQ+BhKwjUHoo1mr8eL7NXECMzmTkov6vs3bBovFTc9EL8ZOCTsSDBFWLEwy8ZVQTtoda7hhJrs1vLZ8nl2xBYH/cstnMyLjOF3nLskc2+YnDByihXQ4RGIu0U+zglmHU6h3bMOlIDrvL2lejkrkzkIFjobShlKcA8QLfl3vQh4JciAe9FTwVIkHrzKS3gxC1nkpk2KvYw053jiJwxDGywB+NkDqwRzpNW0mqSkAXpwGZMHxUlovxJE9l7Qfkf8I195OurKsZngkB+WzLufVKAtEtOx+pPYMq+RRMYyq4+nf4M6x07ua9+AQ2t6ZeNvgL44uc0oGekySdTrZUcNpkH9YJKqGXVVjH9XIEoZ7RgrfZCSddzsDHCTrgpuZiApIEzreTLVxW1NjhtcBK577pPn+sQSjfI4FDVZRXk+9kQ9UthBhSmucUvwNQgytglb0eUy55WpqJwWuCu7065IeCuM8iOVbZQ/XOCG1pmclTkLaL1roaDJCX8zjsLkCr4KKynaLi7cjCnZLR7m2d2vqCZ7pORsj1OKQ6f+MFEUrCoSrwX/FR56eDq3k8a+6pceKTQwjMUQsCLijV6tJOh1ryUOJmoOlHWHhz36UWI4gF2Ebrrz8lbMYXIMFOZCNJDi2vwxrYGoykH/NoL+4LlwOlB6TE66n6Yqna+kuh8EePWIa4JIk7+e8zrA+PdkvJLUKDqF2dhFPr6+93ChZ9OPZbF7bVQ9RHPt+9HD47Y9Ty+0jcrFlAYTIFrHe7Jp8rKInK1mEND81SHWGHLnL+MCp4Q+bOSUGx//S0SHMpjkRaEdW6YncT0pIUi563pcadNy5C88OyWhGrGMX/DXLAbDkPO9Kv3rbKMxFkJ/4wMDAcThjL+n/OZEM745uZPDEdC1PGZ81sbLnWoczEC5Pg8pgOhe7fkLioLso/nmFjaMF3Phkw4XTz8Joziw9bBRXIX6h7EvGGs9sKv0on0dNn6nXNZAzzPf1KzOxaM3coTW2WsAWw7gC+AiNWjZcVYETKKkMFjZ/yCyrqtsNR+2HWU7hxaxsAQyQBRdJ59WF0jWM3N0iIdBZTN60LNA7aeuNUAqHUM8dr7jroUa+BG/1FkbGtBZ1Q8EzOpvv11TZBXAEbYmD9sEbVBOUZUGibqQ2NsZGeXzWfiwASxyldomSXC/7NCV4Q4acpbRXD5FOeSdZLMLWIJY335YYRhpiziRMhZS4rzd0rmcJ3km0vu5BVzBtJOYd9br3Ip1D2On2QdMJidjvIozIJFspjctClApgrTzAfeyCcGAciWPcjBUZHse0eXeI3+rFBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016DS5SN5UC92iVTatzryTrG",
      "input": {
        "note": "Left jaws are at table level; the yellow marker is ~3 cm right of the jaw centre. Sliding right to straddle it.",
        "targets": {
          "left_y": -0.05,
          "left_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_016DS5SN5UC92iVTatzryTrG",
      "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]: [-0.3145, 1.586, 0.1394, 0.8257, -0.2337, -0.1513, 0.9988, 0.2558, 0.8589, 0.6403, -0.3271, 0.1745, 0.202, 0.9962]\nstate[eef_state]: left_x=0.3093 left_y=-0.0539 left_z=-0.0003 left_yaw=-0.0466 left_pitch=-0.0402 left_roll=0.0201 left_gripper=0.9988 right_x=0.3053 right_y=0.0518 right_z=0.1908 right_yaw=-0.0035 right_pitch=0.0315 right_roll=0.0901 right_gripper=0.9962\nstate[joint_eff]: [0.5812, -3.2342, 3.9453, 1.1844, -0.105, -0.2027, -0.022, 0.5949, -1.9897, 7.8427, 2.0, 0.1734, 0.0855, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e5b8b6770bac475bc9ef0aa24e87b43e81cf6f25e8b0a07559c2bc2b22fe074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2941f7de2654180502a2daaa1f6b357206ffb1dbd40f7015bdff2dbf59cde66e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2db3a426b514657ad38df17364d025c444158981350212dc9bc8843896b39df9",
        "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 · 11.21 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]: [-0.0231, 0.8772, 0.6067, -0.3801, -0.0223, -0.0269, 0.9996, 0.4587, 1.7504, 1.4059, -0.1986, 0.347, 0.3054, 0.9949]\nstate[eef_state]: left_x=0.2999 left_y=0.0006 left_z=0.1581 left_yaw=0.0003 left_pitch=-0.0889 left_roll=0.0011 left_gripper=0.9996 right_x=0.4916 right_y=0.1798 right_z=0.2236 right_yaw=-0.0 right_pitch=0.0602 right_roll=0.097 right_gripper=0.9949\nstate[joint_eff]: [-0.1299, -1.7709, 7.0359, 1.6581, -0.0366, -0.0659, -0.0122, 0.2393, -10.6325, 7.0222, 1.7411, 0.1929, 0.0904, 0.0269]",
      "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]: [-0.1482, 1.5059, 0.1265, 0.7319, -0.1326, -0.0845, 0.9988, 0.2638, 0.8509, 0.6502, -0.3004, 0.1925, 0.2127, 0.996]\nstate[eef_state]: left_x=0.3047 left_y=-0.0183 left_z=-0.0014 left_yaw=-0.0006 left_pitch=-0.0796 left_roll=0.0213 left_gripper=0.9988 right_x=0.3088 right_y=0.0521 right_z=0.2037 right_yaw=-0.0169 right_pitch=0.0763 right_roll=0.1026 right_gripper=0.996\nstate[joint_eff]: [-0.4308, -3.4393, 2.1675, 0.1636, 0.2613, -0.2222, -0.0855, -0.3897, -1.6342, 7.3504, 1.9267, -0.0317, -0.0708, 0.105]",
      "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]: [-0.3145, 1.586, 0.1394, 0.8257, -0.2337, -0.1513, 0.9988, 0.2558, 0.8589, 0.6403, -0.3271, 0.1745, 0.202, 0.9962]\nstate[eef_state]: left_x=0.3093 left_y=-0.0539 left_z=-0.0003 left_yaw=-0.0466 left_pitch=-0.0402 left_roll=0.0201 left_gripper=0.9988 right_x=0.3053 right_y=0.0518 right_z=0.1908 right_yaw=-0.0035 right_pitch=0.0315 right_roll=0.0901 right_gripper=0.9962\nstate[joint_eff]: [0.5812, -3.2342, 3.9453, 1.1844, -0.105, -0.2027, -0.022, 0.5949, -1.9897, 7.8427, 2.0, 0.1734, 0.0855, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e5b8b6770bac475bc9ef0aa24e87b43e81cf6f25e8b0a07559c2bc2b22fe074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2941f7de2654180502a2daaa1f6b357206ffb1dbd40f7015bdff2dbf59cde66e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db3a426b514657ad38df17364d025c444158981350212dc9bc8843896b39df9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JcnzZHs5KMUaYNtZtkanDg",
      "input": {
        "note": "Yellow marker is centred between the left jaws at table level. Closing.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JcnzZHs5KMUaYNtZtkanDg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3325, 1.5967, 0.1463, 0.8272, -0.2852, -0.1993, 0.1577, 0.2554, 0.8589, 0.6403, -0.3256, 0.1711, 0.2008, 0.9962]\nstate[eef_state]: left_x=0.3109 left_y=-0.051 left_z=0.0002 left_yaw=0.004 left_pitch=-0.0329 left_roll=0.0097 left_gripper=0.1577 right_x=0.3054 right_y=0.0524 right_z=0.1911 right_yaw=-0.0004 right_pitch=0.0325 right_roll=0.0912 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -3.494, 3.5761, 1.2527, -0.0708, -0.0415, 1.0134, -0.1709, -1.6752, 7.0906, 1.7216, 0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c22b65517730522c8f9500fc388a774c007765e147415c56e60ee75fe345e13b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cc8a2746ddb59e12ca93beb9e86ac7321d05d9a063f0ea38afd9d5e38d1518b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77ff43e42497ea6a75b69049e0888c2b63012187a5f00695133e7d54e8b1108b",
        "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 · 8.259 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]: [-0.1482, 1.5059, 0.1265, 0.7319, -0.1326, -0.0845, 0.9988, 0.2638, 0.8509, 0.6502, -0.3004, 0.1925, 0.2127, 0.996]\nstate[eef_state]: left_x=0.3047 left_y=-0.0183 left_z=-0.0014 left_yaw=-0.0006 left_pitch=-0.0796 left_roll=0.0213 left_gripper=0.9988 right_x=0.3088 right_y=0.0521 right_z=0.2037 right_yaw=-0.0169 right_pitch=0.0763 right_roll=0.1026 right_gripper=0.996\nstate[joint_eff]: [-0.4308, -3.4393, 2.1675, 0.1636, 0.2613, -0.2222, -0.0855, -0.3897, -1.6342, 7.3504, 1.9267, -0.0317, -0.0708, 0.105]",
      "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]: [-0.3145, 1.586, 0.1394, 0.8257, -0.2337, -0.1513, 0.9988, 0.2558, 0.8589, 0.6403, -0.3271, 0.1745, 0.202, 0.9962]\nstate[eef_state]: left_x=0.3093 left_y=-0.0539 left_z=-0.0003 left_yaw=-0.0466 left_pitch=-0.0402 left_roll=0.0201 left_gripper=0.9988 right_x=0.3053 right_y=0.0518 right_z=0.1908 right_yaw=-0.0035 right_pitch=0.0315 right_roll=0.0901 right_gripper=0.9962\nstate[joint_eff]: [0.5812, -3.2342, 3.9453, 1.1844, -0.105, -0.2027, -0.022, 0.5949, -1.9897, 7.8427, 2.0, 0.1734, 0.0855, -0.0024]",
      "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]: [-0.3325, 1.5967, 0.1463, 0.8272, -0.2852, -0.1993, 0.1577, 0.2554, 0.8589, 0.6403, -0.3256, 0.1711, 0.2008, 0.9962]\nstate[eef_state]: left_x=0.3109 left_y=-0.051 left_z=0.0002 left_yaw=0.004 left_pitch=-0.0329 left_roll=0.0097 left_gripper=0.1577 right_x=0.3054 right_y=0.0524 right_z=0.1911 right_yaw=-0.0004 right_pitch=0.0325 right_roll=0.0912 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -3.494, 3.5761, 1.2527, -0.0708, -0.0415, 1.0134, -0.1709, -1.6752, 7.0906, 1.7216, 0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c22b65517730522c8f9500fc388a774c007765e147415c56e60ee75fe345e13b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cc8a2746ddb59e12ca93beb9e86ac7321d05d9a063f0ea38afd9d5e38d1518b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ff43e42497ea6a75b69049e0888c2b63012187a5f00695133e7d54e8b1108b",
        "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_019SNVddKG2BgaV8sjVip33P",
      "input": {
        "note": "Yellow marker gripped (0.16). Carrying it high toward the right (pens) basket at the left arm's cross-over limit, which should reach the basket's left side.",
        "targets": {
          "left_x": 0.49,
          "left_y": -0.4,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_019SNVddKG2BgaV8sjVip33P",
      "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]: [-0.8627, 2.701, 2.8826, -1.1362, -0.6807, -0.6212, 0.1577, 0.2546, 0.8642, 0.6403, -0.3328, 0.1707, 0.2005, 0.9962]\nstate[eef_state]: left_x=0.4831 left_y=-0.3878 left_z=0.1587 left_yaw=0.0219 left_pitch=-0.1286 left_roll=0.0907 left_gripper=0.1577 right_x=0.305 right_y=0.0521 right_z=0.188 right_yaw=-0.0005 right_pitch=0.0203 right_roll=0.0879 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -21.3402, 10.5504, 1.3455, -0.7253, 0.2076, 1.033, -0.0615, -2.0991, 7.0906, 1.7705, 0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a84c9931db73a674868b1a7080d1ec49fdc7b0227dd197e6187a23db5c59c55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:469f3e1e6a0e1b1ed3f7e5e861889e6ae2666953499efcbb39c1262cc83db8fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a5e5124d637aa87585133bd6b570e3b3955bd10387221db9e05a3d68df0f761",
        "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 · 8.368 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]: [-0.3145, 1.586, 0.1394, 0.8257, -0.2337, -0.1513, 0.9988, 0.2558, 0.8589, 0.6403, -0.3271, 0.1745, 0.202, 0.9962]\nstate[eef_state]: left_x=0.3093 left_y=-0.0539 left_z=-0.0003 left_yaw=-0.0466 left_pitch=-0.0402 left_roll=0.0201 left_gripper=0.9988 right_x=0.3053 right_y=0.0518 right_z=0.1908 right_yaw=-0.0035 right_pitch=0.0315 right_roll=0.0901 right_gripper=0.9962\nstate[joint_eff]: [0.5812, -3.2342, 3.9453, 1.1844, -0.105, -0.2027, -0.022, 0.5949, -1.9897, 7.8427, 2.0, 0.1734, 0.0855, -0.0024]",
      "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]: [-0.3325, 1.5967, 0.1463, 0.8272, -0.2852, -0.1993, 0.1577, 0.2554, 0.8589, 0.6403, -0.3256, 0.1711, 0.2008, 0.9962]\nstate[eef_state]: left_x=0.3109 left_y=-0.051 left_z=0.0002 left_yaw=0.004 left_pitch=-0.0329 left_roll=0.0097 left_gripper=0.1577 right_x=0.3054 right_y=0.0524 right_z=0.1911 right_yaw=-0.0004 right_pitch=0.0325 right_roll=0.0912 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -3.494, 3.5761, 1.2527, -0.0708, -0.0415, 1.0134, -0.1709, -1.6752, 7.0906, 1.7216, 0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8627, 2.701, 2.8826, -1.1362, -0.6807, -0.6212, 0.1577, 0.2546, 0.8642, 0.6403, -0.3328, 0.1707, 0.2005, 0.9962]\nstate[eef_state]: left_x=0.4831 left_y=-0.3878 left_z=0.1587 left_yaw=0.0219 left_pitch=-0.1286 left_roll=0.0907 left_gripper=0.1577 right_x=0.305 right_y=0.0521 right_z=0.188 right_yaw=-0.0005 right_pitch=0.0203 right_roll=0.0879 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -21.3402, 10.5504, 1.3455, -0.7253, 0.2076, 1.033, -0.0615, -2.0991, 7.0906, 1.7705, 0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a84c9931db73a674868b1a7080d1ec49fdc7b0227dd197e6187a23db5c59c55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:469f3e1e6a0e1b1ed3f7e5e861889e6ae2666953499efcbb39c1262cc83db8fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a5e5124d637aa87585133bd6b570e3b3955bd10387221db9e05a3d68df0f761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PUiaEcToPq8qmu6WeHRZan",
      "input": {
        "note": "Top view shows the left gripper over the left part of the right (pens) basket; releasing the yellow marker into it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PUiaEcToPq8qmu6WeHRZan",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8616, 2.7136, 2.97, -1.2797, -0.6765, -0.6369, 0.9955, 0.2546, 0.8642, 0.6403, -0.3325, 0.1707, 0.1982, 0.9962]\nstate[eef_state]: left_x=0.471 left_y=-0.3735 left_z=0.1644 left_yaw=0.0369 left_pitch=-0.1735 left_roll=0.1305 left_gripper=0.9955 right_x=0.305 right_y=0.0521 right_z=0.1881 right_yaw=0.0007 right_pitch=0.0208 right_roll=0.086 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -13.5453, 8.0342, 1.16, -0.3297, 0.149, -0.1978, -0.0342, -1.6889, 7.0632, 1.7314, -0.0073, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0210636acbc75b15a3057fc5f7486ec279712d4235faf41f3497a81ac1b6548d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:967a0eef736a3b90fef61049ffd7225f89e303ea89481459f6048f5e8efaaaba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:798a521d7ab9fd4be1631669586662ce1828e59ab1e056309047edc59e439bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 3.988 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]: [-0.3325, 1.5967, 0.1463, 0.8272, -0.2852, -0.1993, 0.1577, 0.2554, 0.8589, 0.6403, -0.3256, 0.1711, 0.2008, 0.9962]\nstate[eef_state]: left_x=0.3109 left_y=-0.051 left_z=0.0002 left_yaw=0.004 left_pitch=-0.0329 left_roll=0.0097 left_gripper=0.1577 right_x=0.3054 right_y=0.0524 right_z=0.1911 right_yaw=-0.0004 right_pitch=0.0325 right_roll=0.0912 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -3.494, 3.5761, 1.2527, -0.0708, -0.0415, 1.0134, -0.1709, -1.6752, 7.0906, 1.7216, 0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8627, 2.701, 2.8826, -1.1362, -0.6807, -0.6212, 0.1577, 0.2546, 0.8642, 0.6403, -0.3328, 0.1707, 0.2005, 0.9962]\nstate[eef_state]: left_x=0.4831 left_y=-0.3878 left_z=0.1587 left_yaw=0.0219 left_pitch=-0.1286 left_roll=0.0907 left_gripper=0.1577 right_x=0.305 right_y=0.0521 right_z=0.188 right_yaw=-0.0005 right_pitch=0.0203 right_roll=0.0879 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -21.3402, 10.5504, 1.3455, -0.7253, 0.2076, 1.033, -0.0615, -2.0991, 7.0906, 1.7705, 0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8616, 2.7136, 2.97, -1.2797, -0.6765, -0.6369, 0.9955, 0.2546, 0.8642, 0.6403, -0.3325, 0.1707, 0.1982, 0.9962]\nstate[eef_state]: left_x=0.471 left_y=-0.3735 left_z=0.1644 left_yaw=0.0369 left_pitch=-0.1735 left_roll=0.1305 left_gripper=0.9955 right_x=0.305 right_y=0.0521 right_z=0.1881 right_yaw=0.0007 right_pitch=0.0208 right_roll=0.086 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -13.5453, 8.0342, 1.16, -0.3297, 0.149, -0.1978, -0.0342, -1.6889, 7.0632, 1.7314, -0.0073, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0210636acbc75b15a3057fc5f7486ec279712d4235faf41f3497a81ac1b6548d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:967a0eef736a3b90fef61049ffd7225f89e303ea89481459f6048f5e8efaaaba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:798a521d7ab9fd4be1631669586662ce1828e59ab1e056309047edc59e439bb6",
        "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_01G44uapKJdsf1gaLF4wncTM",
      "input": {
        "note": "The marker bounced off the basket rim and landed on the table left of the right basket. Sending the left arm home and bringing the right arm over the marker.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_x": 0.4,
          "right_y": 0.23,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 34 steps (3.4s)",
      "tool_use_id": "toolu_01G44uapKJdsf1gaLF4wncTM",
      "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]: [-0.1444, 1.0111, 0.8467, -0.688, -0.2337, -0.0662, 0.9968, 0.7078, 1.8103, 0.8474, 0.2565, 0.5243, 0.458, 0.9962]\nstate[eef_state]: left_x=0.294 left_y=0.0022 left_z=0.1728 left_yaw=0.0865 left_pitch=-0.2686 left_roll=0.1428 left_gripper=0.9968 right_x=0.3907 right_y=0.2226 right_z=0.0571 right_yaw=0.025 right_pitch=-0.027 right_roll=0.0515 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -4.1231, 8.3487, 1.7558, -0.1392, 0.1099, 0.1148, 0.759, -8.0479, 7.8701, 1.7509, 0.4274, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ea09e05ea41c7bc2d7f78bc2ea95bd6b89d64d0eefb4d322ece99b9a3e4df79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0aefe5109ba55a6b9505fd0af3d9dba71de03b4ecba5cad74abc6ee37a7a91d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a325cbcec7a85f4310f8233daec18f515341a9cdb31ada8d5d6ac3d81204b03",
        "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 · 2.898 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]: [-0.8627, 2.701, 2.8826, -1.1362, -0.6807, -0.6212, 0.1577, 0.2546, 0.8642, 0.6403, -0.3328, 0.1707, 0.2005, 0.9962]\nstate[eef_state]: left_x=0.4831 left_y=-0.3878 left_z=0.1587 left_yaw=0.0219 left_pitch=-0.1286 left_roll=0.0907 left_gripper=0.1577 right_x=0.305 right_y=0.0521 right_z=0.188 right_yaw=-0.0005 right_pitch=0.0203 right_roll=0.0879 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -21.3402, 10.5504, 1.3455, -0.7253, 0.2076, 1.033, -0.0615, -2.0991, 7.0906, 1.7705, 0.022, -0.0317, -0.0122]\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]: [-0.8616, 2.7136, 2.97, -1.2797, -0.6765, -0.6369, 0.9955, 0.2546, 0.8642, 0.6403, -0.3325, 0.1707, 0.1982, 0.9962]\nstate[eef_state]: left_x=0.471 left_y=-0.3735 left_z=0.1644 left_yaw=0.0369 left_pitch=-0.1735 left_roll=0.1305 left_gripper=0.9955 right_x=0.305 right_y=0.0521 right_z=0.1881 right_yaw=0.0007 right_pitch=0.0208 right_roll=0.086 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -13.5453, 8.0342, 1.16, -0.3297, 0.149, -0.1978, -0.0342, -1.6889, 7.0632, 1.7314, -0.0073, -0.0073, -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 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]: [-0.1444, 1.0111, 0.8467, -0.688, -0.2337, -0.0662, 0.9968, 0.7078, 1.8103, 0.8474, 0.2565, 0.5243, 0.458, 0.9962]\nstate[eef_state]: left_x=0.294 left_y=0.0022 left_z=0.1728 left_yaw=0.0865 left_pitch=-0.2686 left_roll=0.1428 left_gripper=0.9968 right_x=0.3907 right_y=0.2226 right_z=0.0571 right_yaw=0.025 right_pitch=-0.027 right_roll=0.0515 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -4.1231, 8.3487, 1.7558, -0.1392, 0.1099, 0.1148, 0.759, -8.0479, 7.8701, 1.7509, 0.4274, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ea09e05ea41c7bc2d7f78bc2ea95bd6b89d64d0eefb4d322ece99b9a3e4df79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0aefe5109ba55a6b9505fd0af3d9dba71de03b4ecba5cad74abc6ee37a7a91d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a325cbcec7a85f4310f8233daec18f515341a9cdb31ada8d5d6ac3d81204b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gcKEAgSGAI4AUIIdGhpbmtpbmcSDLqIu6rlxfhz+z2ZgxoM5+GT2Ft89No/3b39IjBRaQlP5pxFPlYJWS7ObMd2Mxnpvfu11VzJonFbLJ6ZliqwPfolkeRHoNDRM0UwVdwq7wbeIzkh9hP2py+mz4dwLiLBS/HkmUhZojQy1LgflEJLfQ6h1eHCUKQGH92IYSMWDYJWqBXOCqK93SZLWtZZRiXkDSj/Kl14u+9Rl7G1IoSJb7TeBJHAMS+aozVj20sIIcv6X+P5t7E0kB8cWgogYdJF6RenCxx+owGGnc7i0Y+71zYmwO3VkMGHdiP5hYWXlj5/Lmg/mW8wn3h4/skoMhoIgeShSHy+CT95jtzJMMAray6xr5jAbFfWdkKcUANwKVPaIBpdfifGdo5/Cacf1PldHIT90tx1eTU3Bev7l4fEV8rBzUc40zTmab7HM7qaDIhwWIicaq1XPIPdQcIgasMZ0LHmVC+0VCsK5Aukl5vz6GSCy2R+ajtE2g4jmLv/HMqgvoiR2VJ335Y2EeVRZv5264qxFFBKQWMML2xq7USHpHAwrDTP2NmLIqj962v/77xrBXDfkFnemOpOYVIJJONao/Rr8NxQJ/cIiD/R85FdxzL1vKYqFlnSThAyTWBHKMT5puhzkDP0zHtxUEsVn2oP7jStU9BzWuwlrkMeE3rUGrFA21iMbCuJSCR1/tfCcnETToOK1Hq9Am3Fo2gB1F9AW21XI5JE826G6NJf1oWOFPhzZxWjK1/BNSMEWtCPPzdbrcDXPjs5MreNAlJyNnWiRNp1lnvLyBSkI00hm6JxaGVhj5JB+zcOs3eLmLRxrV4PBwMfz0j7AmVYcRxY8bZJ0/KxuEKYWAzw1MHUqd+dVZh8spOQk6p8RmMs77Ji3MVcT5lxGOUqXDnxe2JkTGyB5T25lC+R4iHtq9FN/VpeW6sixrwmoilS80TZr6IqCsEm6J3Eq0u+5SbxoifxbtO/pueMZlyMWiqed5zh1XlzlCtBwLD5rkVhbvhQ2SuHLbU2KAblXXkVcszPbZG6ZKKu3NvH9cmmuz+GskoTuSjacXxZE49KmJwjCYp9FpMBn0CiybhW476mNNpEKA8wWRLMuqqTLO3U1YqBhx43CYZnvBm7biyn5ihSf/P3yh6r9d68DvlZyQ1fDi3ZbKW6WbTvCJoAeYQTIS0LA7PFDvuFNEYvpPHreLZdBc/FdX/eRN2HAWq0azLXyogN76+dZ/fmerf0alFgYXGTn9fB6/1vW4m4ZsKv3qkJUnDDSCW9cqVBcZN4AF6tpoyDU0XmMuwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012cVath6iBXESsRVkdAwVwz",
      "input": {
        "note": "Yellow marker lies radially right on the right arm's jaw column. Descending to table level over it.",
        "targets": {
          "right_y": 0.232,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012cVath6iBXESsRVkdAwVwz",
      "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]: [-0.1463, 1.021, 0.8448, -0.6811, -0.2276, -0.0612, 0.9968, 0.7193, 1.9987, 0.8211, 0.5163, 0.5419, 0.4782, 0.9962]\nstate[eef_state]: left_x=0.2955 left_y=0.0004 left_z=0.1702 left_yaw=0.0769 left_pitch=-0.2749 left_roll=0.1428 left_gripper=0.9968 right_x=0.399 right_y=0.2331 right_z=0.013 right_yaw=0.012 right_pitch=0.0139 right_roll=0.0887 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -3.4256, 6.8991, 1.3651, -0.2125, -0.1099, -0.0073, 0.9094, -6.2974, 4.6154, 0.5397, -0.0024, -0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e6f6975ecb7cf1a3d5397a760b606539edfeaa9a620831e72f160df39d6317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae5210f63c036d1b0a85e1a21145b6c9e2549ec493883083c12a3336bfc0c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5789382bfa4942d06bce26efe9a68c4a9deed9178b38c672a1aab4253342cdb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 4.329 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]: [-0.8616, 2.7136, 2.97, -1.2797, -0.6765, -0.6369, 0.9955, 0.2546, 0.8642, 0.6403, -0.3325, 0.1707, 0.1982, 0.9962]\nstate[eef_state]: left_x=0.471 left_y=-0.3735 left_z=0.1644 left_yaw=0.0369 left_pitch=-0.1735 left_roll=0.1305 left_gripper=0.9955 right_x=0.305 right_y=0.0521 right_z=0.1881 right_yaw=0.0007 right_pitch=0.0208 right_roll=0.086 right_gripper=0.9962\nstate[joint_eff]: [-0.3214, -13.5453, 8.0342, 1.16, -0.3297, 0.149, -0.1978, -0.0342, -1.6889, 7.0632, 1.7314, -0.0073, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1444, 1.0111, 0.8467, -0.688, -0.2337, -0.0662, 0.9968, 0.7078, 1.8103, 0.8474, 0.2565, 0.5243, 0.458, 0.9962]\nstate[eef_state]: left_x=0.294 left_y=0.0022 left_z=0.1728 left_yaw=0.0865 left_pitch=-0.2686 left_roll=0.1428 left_gripper=0.9968 right_x=0.3907 right_y=0.2226 right_z=0.0571 right_yaw=0.025 right_pitch=-0.027 right_roll=0.0515 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -4.1231, 8.3487, 1.7558, -0.1392, 0.1099, 0.1148, 0.759, -8.0479, 7.8701, 1.7509, 0.4274, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1463, 1.021, 0.8448, -0.6811, -0.2276, -0.0612, 0.9968, 0.7193, 1.9987, 0.8211, 0.5163, 0.5419, 0.4782, 0.9962]\nstate[eef_state]: left_x=0.2955 left_y=0.0004 left_z=0.1702 left_yaw=0.0769 left_pitch=-0.2749 left_roll=0.1428 left_gripper=0.9968 right_x=0.399 right_y=0.2331 right_z=0.013 right_yaw=0.012 right_pitch=0.0139 right_roll=0.0887 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -3.4256, 6.8991, 1.3651, -0.2125, -0.1099, -0.0073, 0.9094, -6.2974, 4.6154, 0.5397, -0.0024, -0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e6f6975ecb7cf1a3d5397a760b606539edfeaa9a620831e72f160df39d6317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae5210f63c036d1b0a85e1a21145b6c9e2549ec493883083c12a3336bfc0c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5789382bfa4942d06bce26efe9a68c4a9deed9178b38c672a1aab4253342cdb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NkNbQBGn8cSTgPb4Zu7BU1",
      "input": {
        "note": "Marker centred between the right jaws at table level. Closing.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NkNbQBGn8cSTgPb4Zu7BU1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 1.0214, 0.8448, -0.688, -0.2276, -0.0635, 0.9968, 0.7189, 2.0624, 0.82, 0.6773, 0.5583, 0.4721, 0.1773]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.169 left_yaw=0.0786 left_pitch=-0.2818 left_roll=0.1429 left_gripper=0.9968 right_x=0.4102 right_y=0.2394 right_z=0.0146 right_yaw=-0.0015 right_pitch=0.0932 right_roll=0.1393 right_gripper=0.1773\nstate[joint_eff]: [-0.0889, -2.6462, 6.7214, 1.4579, -0.149, -0.0464, -0.0073, -0.1983, -6.2701, 3.7128, 0.9939, -0.0073, 0.0269, 1.1404]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ab6172e0acb34e3028fadb461844cb1272f8475902d3a4edca939d0f628aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50d89509c5c22f229664a905c5731836e570ff331e26b44a0c784e0419e383f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2688ef61055b59e14628c5e8e5cad83f7175b9897ef0a2bb136eebabecc3afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 5.078 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1444, 1.0111, 0.8467, -0.688, -0.2337, -0.0662, 0.9968, 0.7078, 1.8103, 0.8474, 0.2565, 0.5243, 0.458, 0.9962]\nstate[eef_state]: left_x=0.294 left_y=0.0022 left_z=0.1728 left_yaw=0.0865 left_pitch=-0.2686 left_roll=0.1428 left_gripper=0.9968 right_x=0.3907 right_y=0.2226 right_z=0.0571 right_yaw=0.025 right_pitch=-0.027 right_roll=0.0515 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -4.1231, 8.3487, 1.7558, -0.1392, 0.1099, 0.1148, 0.759, -8.0479, 7.8701, 1.7509, 0.4274, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 1.021, 0.8448, -0.6811, -0.2276, -0.0612, 0.9968, 0.7193, 1.9987, 0.8211, 0.5163, 0.5419, 0.4782, 0.9962]\nstate[eef_state]: left_x=0.2955 left_y=0.0004 left_z=0.1702 left_yaw=0.0769 left_pitch=-0.2749 left_roll=0.1428 left_gripper=0.9968 right_x=0.399 right_y=0.2331 right_z=0.013 right_yaw=0.012 right_pitch=0.0139 right_roll=0.0887 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -3.4256, 6.8991, 1.3651, -0.2125, -0.1099, -0.0073, 0.9094, -6.2974, 4.6154, 0.5397, -0.0024, -0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 1.0214, 0.8448, -0.688, -0.2276, -0.0635, 0.9968, 0.7189, 2.0624, 0.82, 0.6773, 0.5583, 0.4721, 0.1773]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.169 left_yaw=0.0786 left_pitch=-0.2818 left_roll=0.1429 left_gripper=0.9968 right_x=0.4102 right_y=0.2394 right_z=0.0146 right_yaw=-0.0015 right_pitch=0.0932 right_roll=0.1393 right_gripper=0.1773\nstate[joint_eff]: [-0.0889, -2.6462, 6.7214, 1.4579, -0.149, -0.0464, -0.0073, -0.1983, -6.2701, 3.7128, 0.9939, -0.0073, 0.0269, 1.1404]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ab6172e0acb34e3028fadb461844cb1272f8475902d3a4edca939d0f628aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50d89509c5c22f229664a905c5731836e570ff331e26b44a0c784e0419e383f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 388):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2688ef61055b59e14628c5e8e5cad83f7175b9897ef0a2bb136eebabecc3afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQkKEAgSGAI4AUIIdGhpbmtpbmcSDPnnHZKFLXV3jEmyEhoMSrlhUv+f8sVX2DhCIjDyNh3Ga7vgKHOROgENPr8a2gvgzxWGXD9NY1NyxDTRkozR5CjRkMbH897MajfU1aMqnghy3pBIL0WvWH0D0va43i1+5AR9FHQnvoZRI1C3+xHv1lDy/UMdxV8NLPR1bIhhCpEeXAk0rq1+HVUqYWPMigN4Myod7edtXHpOa0jJhIKTGgMdfdi10lpJ7x2r55Lt+YOW5kg/Jkud6ru11S2rSfe13i2F/BAlsCDgfM9Vjkec3M8MZhSoWU3ZpGw+hWPIZIrqFkqW5Y7UkD5e/WrAM85YTG1AwW/4GgA2mV1rndImh8jU2mCPlFOhxfQhvSfWRDP7drBE6KgU4hpv6AnsRf7in+zlByjAzc29VetABE7TBPYFJsyLlEt19QHonk2U/qmmKqNI4hgWysL898y2JGiFf9pqF2HdCKb6sKAyDjlOK9NSx7SFGn53nnpzPgXnMvQEC2kcdWhz8eyXGrQCRdpbMeYbQetmPZXstTXARVyckdeFSq8zdB/wvmsjRgJjjybHZamPClhmwogFqCGif03GCelkgcikhOYBL8HPJakb8KU8mi/Eim42InGq3kxDIL9BlUdcV8aGpmpR+/1zkerh47JkJZ1yOUw+vIZZ3Xg2MmTSY7AcrkGWc91bvP0vi1aiWKWIZ0n9uIyndxHp2mkYSU6N/02FwiL8/7Ol7fQ4cI3vRREcHG/O7TeEbNY1iR0aiRchuZDNmBvcpsegcSnGtZduV1DuzgVPuja5wQ04pTpCrTW2hirrzRe6OZT33SXV8gNAVSEdatKiPmrLaa2UpXcq+uHrjkANRfbjbYSD/556BCgRZR3yHGQPtYZamitcX17mkF/qL3KjZ88QqpNwzQkGlSCfHD9NtymrFxgz3gan3YMshYLArRkff/FuysMXLYt1Ljkjw77Gh5xo+A8wm9o5jGK5cnYz9LxHHh4gEzrInUahOjq49ldJd6Ne9TshFhZtseFuLWLV/58d6D4tfG1MY3KANxUjGEOtVcge6PZNwWI92HI6nuOuQqLcCd3Poz32VYj0zgFy4A6fwRGhQeNdYyn6lm+2RMyvEUdfgMYiZxFcQGqsJRTnsYqRYQ5wEvi/eKxMuNry1eUgq1b3AQAWmf7Mss4n4BM/Rt3ljleYTVPw8wzy9yRyep2GS7BPZI6YCzKzE6imllOJ60b3k9/O05jLerUGOgM/uU788ZTOZypWdngj68T8lLRhYUkKnzi3Rb2U4McfOeVUyuHVIfqbGsqPTZ19jhGwAgoD1s2zIDGvXlDr9knOV3tN2sUip11mD6Inyb3IwvhV6qrpbfGm1v0id6GUo9cZ1pUVf1d3ghl2M164W0HdUNrlArBXetbke0vEzNsdKA2NA15ELpyCd48+sayxMekagHN/0PU/q2FEDaGRB7567wuUwHf0+z4/xj3l4rDKoWazgjAxNzZQJC3eNt/1ayscTd79z3f1Y4QAu+LG1cStmOnRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P2YJDKzdbgtcCEuHf1wgVp",
      "input": {
        "note": "Marker gripped (0.18). Carrying it up and over the centre of the right (pens) basket.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.18,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01P2YJDKzdbgtcCEuHf1wgVp",
      "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]: [-0.1463, 1.0222, 0.8448, -0.6884, -0.2276, -0.0635, 0.9968, 0.4534, 1.7638, 1.4982, -0.252, 0.3264, 0.3229, 0.18]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1688 left_yaw=0.0787 left_pitch=-0.2829 left_roll=0.1432 left_gripper=0.9968 right_x=0.499 right_y=0.1841 right_z=0.2474 right_yaw=0.0015 right_pitch=0.0775 right_roll=0.133 right_gripper=0.18\nstate[joint_eff]: [-0.1162, -2.6872, 6.735, 1.4383, -0.1587, -0.0757, -0.0122, -0.4034, -10.359, 9.8803, 1.6679, 0.0024, 0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b594fdd89c2d0a55876612cd4578a0412a81fad966f0841350c5ac1487b30c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17032cb24469127c0ef38eb634cefb91da8acba9d291397c3c29c2e3ac3e44c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:875172df356ed51d18b1e1db812dc8273ba140953de3f586e4231792af9dc7d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 10.4 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

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]: [-0.1463, 1.021, 0.8448, -0.6811, -0.2276, -0.0612, 0.9968, 0.7193, 1.9987, 0.8211, 0.5163, 0.5419, 0.4782, 0.9962]\nstate[eef_state]: left_x=0.2955 left_y=0.0004 left_z=0.1702 left_yaw=0.0769 left_pitch=-0.2749 left_roll=0.1428 left_gripper=0.9968 right_x=0.399 right_y=0.2331 right_z=0.013 right_yaw=0.012 right_pitch=0.0139 right_roll=0.0887 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -3.4256, 6.8991, 1.3651, -0.2125, -0.1099, -0.0073, 0.9094, -6.2974, 4.6154, 0.5397, -0.0024, -0.1294, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 1.0214, 0.8448, -0.688, -0.2276, -0.0635, 0.9968, 0.7189, 2.0624, 0.82, 0.6773, 0.5583, 0.4721, 0.1773]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.169 left_yaw=0.0786 left_pitch=-0.2818 left_roll=0.1429 left_gripper=0.9968 right_x=0.4102 right_y=0.2394 right_z=0.0146 right_yaw=-0.0015 right_pitch=0.0932 right_roll=0.1393 right_gripper=0.1773\nstate[joint_eff]: [-0.0889, -2.6462, 6.7214, 1.4579, -0.149, -0.0464, -0.0073, -0.1983, -6.2701, 3.7128, 0.9939, -0.0073, 0.0269, 1.1404]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 1.0222, 0.8448, -0.6884, -0.2276, -0.0635, 0.9968, 0.4534, 1.7638, 1.4982, -0.252, 0.3264, 0.3229, 0.18]\nstate[eef_state]: left_x=0.2943 left_y=0.0005 left_z=0.1688 left_yaw=0.0787 left_pitch=-0.2829 left_roll=0.1432 left_gripper=0.9968 right_x=0.499 right_y=0.1841 right_z=0.2474 right_yaw=0.0015 right_pitch=0.0775 right_roll=0.133 right_gripper=0.18\nstate[joint_eff]: [-0.1162, -2.6872, 6.735, 1.4383, -0.1587, -0.0757, -0.0122, -0.4034, -10.359, 9.8803, 1.6679, 0.0024, 0.0269, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b594fdd89c2d0a55876612cd4578a0412a81fad966f0841350c5ac1487b30c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17032cb24469127c0ef38eb634cefb91da8acba9d291397c3c29c2e3ac3e44c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:875172df356ed51d18b1e1db812dc8273ba140953de3f586e4231792af9dc7d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4wkKEAgSGAI4AUIIdGhpbmtpbmcSDLq37iEaBVU62MW6YBoMZssxZYiRh9cWsRKRIjAe0YnCa6g/YFPff93uqPWMPAaIqMx44rgE3vaUWEaqbDK/6QDnhcd86ilB5UtaHeYqgAknQPU/42dqjAJTsDkp2mLPbTjLzrd4LSZhreM2UkSaUimTODjszzQ7blxiDDVqhY0s0TaHHKFxeB5pKaxiQgPmBgVEDJLgnwLwCSkZyzOSBAEBrcRBG3es4mh1/c7RHBcFgrST9vo7oa9iA+E2U9m+FD5L2QybP235Ih9etStX/0JSf8QYhcCsv6+6LbYz1O3YTVrsdA0+dbv9BdRwfl1rygSMr+Wm3q0UuJ2ex5HsAJhSqRjzU+KzSpm1x14mfgBTe0GJylbEnLzJdQwgY7plw8SxvUtkXHMmsNzFaeSrf2qXmVqbksmthTWrS7/0EoCziI0Xt527onVSgnwFk3jpqE8c4VP/0gATk8dC4/WR1+MA49QY/7M5cft+R/PrrsOZTnPDdjQgM1B2W/HkTWjoxwMeW2qb1lyAe7YmbWS7W2hMGVuwC1M/iu9oO78eUw9Jsld0qP8/eVz4k6IyGr4g5wMauwyM+60TBDAbElvoQ9sayomTyrykEMO8zGTPbXljeQ0hQawXelcGB1k9O1x+gD1XIj7l+1/2u6MZYM+Ibt8UUGlmwBTwufcG6u1PgSaEmrT9zj55tZmEQpdCjDuT7RzO35CgY0JgiI5G6hF89FLPYzFmPvORrgdaQHixML/zSHm4vMobeAp++6TjG3L7TRokcicbObMZWtn5R+Ohuke2ODaXaUBfil50FEnXP0aUiZ6gwfmrlwD1CwN8d4Hp7ZCxwCk079jua8upXrr+7Br9t5emqHaCbQoeOMqQXzc4x5X3T+r1RZ3EC8YigByV0ANLqOQJs15BdtLmTVrJpZrX+I6T1AtHGF1Ot/6G1YsmwcQgkNSJi/TNitQVgQOMal/l6WlinA1AAicFpfdDulPd7FwumDp/RsVC1CTloxqg9yfHW2kcBGdh/tXebS17hQKBS2qxMJY1KNrZBWDCxxhYlS35zXtu346OQJDXmNvGbUYTpOjDX6qBmU/pWwFh2pnR8/xNGkUKYIn+4VkgedhO7cGpODQ49C1IyktU/G/2EG5hdlKa9kiELLb9VXJJlDqTtcfx/qdbJsweiUrLN9CwQwOwfJZNcHWlJaIbg6VXMTdVxtWPX5Kr03MdRbQAsWQAMzC7i9Vwp/wYZ5hpJNsGRVYjxI92bLM9CIrMOMgPG0U+128HB4HQYWNEkKOdPKJ9w8fdO2dyV/VD7JkESJ1UH/aG4S+8wRbh1lg3WNyc3gn15GZXFsMAScmXlO+8oQIHk27Ug4ZWnUbceWjs+OIe1gpEa9uHgvKxdNMZTtaBw3xVDgT/OEy+EfVRv5da6jGhkdtskG/4AreotEZ6s9BgKJkQsqutJH1MDYu8gUPX5eu+W7J6UlAvJN2QZdCD7fMRJ0YydMYZTI9ryFSJCUO/0Do6+FzKLJ3cQvB+jUSsrKwwA0z1viL0lBNET+Ce+ObyXThucofXy4FdgA40RLnoA2CSDpduRYUwx9ZBNiN0kFkERvgQLMAJAIPURbGjHV/w0L9P8EyNm4MQ7h+XgHNzNK32KQlX7/Y4IaiyT38YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wbs75XSrixJJ4dVeu7CR2N",
      "input": {
        "note": "Marker is over the basket's left rim; shifting right toward the basket centre while opening so it drops inside.",
        "targets": {
          "right_gripper": 1.0,
          "right_y": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Wbs75XSrixJJ4dVeu7CR2N",
      "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]: [-0.1463, 1.0241, 0.8448, -0.6918, -0.2276, -0.0635, 0.9968, 0.3298, 1.7218, 1.4067, -0.2386, 0.2207, 0.2581, 0.9951]\nstate[eef_state]: left_x=0.2938 left_y=0.0006 left_z=0.1677 left_yaw=0.0791 left_pitch=-0.2881 left_roll=0.1444 left_gripper=0.9968 right_x=0.5011 right_y=0.1344 right_z=0.2268 right_yaw=0.0018 right_pitch=0.0277 right_roll=0.1128 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -2.4821, 6.8581, 1.4628, -0.1392, -0.022, -0.0073, -0.4855, -11.9726, 6.9675, 1.9805, -0.0562, 0.0317, -0.2173]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8540fb7bef8739919999e8576c61e744fe94ae61f741dc58de136f067bf2cce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea138b930420246b0770cb406d6521df268f2cca7638a655900ec6a91a128267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a830732d489075202009fe80b0578f6d2ae0db5b8cc5ac8b984f8f54520ab166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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