adhoc

completed
2026-09-22T22:40:13.180314+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
269.8 s
total steps
304
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, two plush toys in the middle, a yellow marker left-centre and two markers right-centre. Classes: plush toys vs markers. Moving the left gripper over the yellow marker first.
move_to
left_x0.3000left_y-0.0800left_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0277, 0.7994, 0.617, -0.3786, -0.0216, -0.0334, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0185, -0.0223, 0.9995] state[eef_state]: left_x=0.2969 left_y=-0.0008 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0007 right_z=0.1823 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [0.1026, -1.7162, 9.2786, 1.7558, -0.022, 0.1538, -0.0562, -0.4308, -1.4564, 9.812, 1.7558, -0.0513, 0.0757, -0.0659] 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": {"left_x": 0.3, "left_y": -0.08, "left_z": 0.1}, "note": "Scene: two teal baskets at the back, two plush toys in the middle, a yellow marker left-centre and two markers right-centre. Classes: plush toys vs markers. Moving the left gripper over the yellow marker first."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteYellow marker is lined up just left of the jaw column in the left wrist view, running forward-back. Descending to table level to grasp it across.
move_to
left_x0.3100left_y-0.0770left_z-0.0100
agent noteClosing on the yellow marker.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5102, 1.0302, 0.3679, 0.0093, -0.4061, -0.3, 0.9995, -0.0208, 0.8024, 0.6083, -0.3847, -0.0189, -0.0227, 0.9995] state[eef_state]: left_x=0.2967 left_y=-0.082 left_z=0.094 left_yaw=-0.0189 left_pitch=-0.0313 left_roll=0.011 left_gripper=0.9995 right_x=0.2952 right_y=0.0008 right_z=0.1786 right_yaw=0.0005 right_pitch=-0.0133 right_roll=0.0002 right_gripper=0.9995 state[joint_eff]: [0.0205, -2.988, 6.2291, 1.7265, -0.315, -0.0171, -0.0171, -0.294, -1.5521, 7.4735, 1.7753, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.077, "left_z": -0.01}, "note": "Yellow marker is lined up just left of the jaw column in the left wrist view, running forward-back. Descending to table level to grasp it across."})
move_to({"targets": {"left_gripper": 0}, "note": "Closing on the yellow marker."})
tool
executing move_to over 7 steps (0.7s)
tool
ignored: one tool call per turn
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteAt table level the marker sits left of the jaw centre in the wrist view; shifting 2 cm to the arm's left to centre it before closing.
move_to
left_y-0.0600left_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]: [-0.453, 1.7035, 0.1757, 0.9516, -0.3588, -0.281, 0.9995, -0.0208, 0.8078, 0.6075, -0.3851, -0.0185, -0.0227, 0.9995] state[eef_state]: left_x=0.3191 left_y=-0.0824 left_z=0.0033 left_yaw=-0.0107 left_pitch=0.0251 left_roll=-0.0317 left_gripper=0.9995 right_x=0.2954 right_y=0.0007 right_z=0.1767 right_yaw=0.0002 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9995 state[joint_eff]: [0.1983, -4.3419, 2.5778, 1.2088, -0.1538, 0.1587, -0.0122, -0.0615, -1.4564, 7.0769, 1.7509, -0.0415, -0.0317, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.06, "left_z": -0.01}, "note": "At table level the marker sits left of the jaw centre in the wrist view; shifting 2 cm to the arm's left to centre it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteMarker is between the jaws at table level; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3428, 1.8069, 0.1528, 1.1488, -0.2905, -0.2375, 0.9995, -0.0208, 0.8127, 0.6067, -0.392, -0.0193, -0.0227, 0.9994] state[eef_state]: left_x=0.3297 left_y=-0.0601 left_z=0.0039 left_yaw=0.0209 left_pitch=0.0776 left_roll=-0.0539 left_gripper=0.9995 right_x=0.2947 right_y=0.0009 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0324 right_roll=0.0008 right_gripper=0.9994 state[joint_eff]: [-0.1983, -3.9453, 1.0872, 1.2137, -0.0366, 0.0952, -0.0122, -0.0889, -1.4974, 7.1453, 1.7656, -0.0366, -0.0317, -0.0171] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Marker is between the jaws at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteGripper settled at 0.20 (~1.9 cm), so the marker is held. Lifting it clear before handing it toward the centre for the right arm, since the right basket is outside the left arm's reach.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3424, 1.8065, 0.1543, 1.2015, -0.2916, -0.2398, 0.1998, -0.0208, 0.8127, 0.6067, -0.3923, -0.0189, -0.0231, 0.9995] state[eef_state]: left_x=0.3358 left_y=-0.062 left_z=0.0156 left_yaw=0.0255 left_pitch=0.1286 left_roll=-0.0751 left_gripper=0.1998 right_x=0.2946 right_y=0.0008 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0328 right_roll=0.0003 right_gripper=0.9995 state[joint_eff]: [-0.0342, -5.3265, 2.441, 1.243, -0.0806, -0.0317, 1.033, -0.1709, -1.3333, 7.0085, 1.707, -0.0366, -0.0464, -0.0073] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper settled at 0.20 (~1.9 cm), so the marker is held. Lifting it clear before handing it toward the centre for the right arm, since the right basket is outside the left arm's reach."})
tool
executing move_to over 7 steps (0.7s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteMarker held (visible at bottom-left of the wrist view). Carrying it toward the table centre, in front of the bases and clear of the teddy, to hand off to the right arm.
move_to
left_x0.2000left_y-0.3600left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3424, 1.1213, 0.3237, 0.3325, -0.2913, -0.244, 0.2009, -0.0208, 0.8185, 0.6067, -0.392, -0.0185, -0.0231, 0.9994] state[eef_state]: left_x=0.3323 left_y=-0.0608 left_z=0.1092 left_yaw=0.0268 left_pitch=0.1149 left_roll=-0.0738 left_gripper=0.2009 right_x=0.295 right_y=0.0007 right_z=0.172 right_yaw=0.0004 right_pitch=-0.0381 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.1299, -3.453, 8.3214, 1.8193, -0.1245, -0.0024, 0.9109, -0.0615, -1.8393, 7.0085, 1.7607, -0.0269, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.2, "left_y": -0.36, "left_z": 0.12}, "note": "Marker held (visible at bottom-left of the wrist view). Carrying it toward the table centre, in front of the bases and clear of the teddy, to hand off to the right arm."})
tool
executing move_to over 27 steps (2.7s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteTop view shows the yellow marker still on the table; the left gripper actually caught a brown plush toy (fur fills the wrist view). Plush toys go in the left basket, so carrying it there.
move_to
left_x0.4500left_y-0.1300left_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]: [-1.4654, 1.9144, 1.2568, -0.6582, -1.0821, -1.3876, 0.2011, -0.0208, 0.8192, 0.6067, -0.3923, -0.0185, -0.0231, 0.9995] state[eef_state]: left_x=0.1984 left_y=-0.3591 left_z=0.1104 left_yaw=0.0191 left_pitch=0.0873 left_roll=-0.0752 left_gripper=0.2011 right_x=0.295 right_y=0.0007 right_z=0.1717 right_yaw=0.0004 right_pitch=-0.0393 right_roll=0.0002 right_gripper=0.9995 state[joint_eff]: [-0.4034, -8.9915, 8.0342, 0.5543, -0.8523, -0.0171, 0.8034, -0.3624, -1.265, 7.0496, 1.707, -0.0464, -0.0708, -0.0073] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.13, "left_z": 0.22}, "note": "Top view shows the yellow marker still on the table; the left gripper actually caught a brown plush toy (fur fills the wrist view). Plush toys go in the left basket, so carrying it there."})
tool
executing move_to over 21 steps (2.1s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteTop view shows the held plush over the left rim of the left basket; shifting 5 cm right to centre over the basket.
move_to
left_y-0.1800left_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]: [-0.4156, 1.5261, 1.0889, -0.1177, -0.3576, -0.3088, 0.2022, -0.0208, 0.8249, 0.6067, -0.3931, -0.0189, -0.0261, 0.9995] state[eef_state]: left_x=0.4435 left_y=-0.1242 left_z=0.2024 left_yaw=0.0409 left_pitch=0.0433 left_roll=-0.0656 left_gripper=0.2022 right_x=0.2953 right_y=0.0008 right_z=0.17 right_yaw=0.0024 right_pitch=-0.0458 right_roll=-0.002 right_gripper=0.9995 state[joint_eff]: [-0.2803, -7.1726, 9.4427, 1.917, -0.0122, 0.1636, 0.6618, -0.2393, -1.7162, 7.159, 1.7363, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.18, "left_z": 0.22}, "note": "Top view shows the held plush over the left rim of the left basket; shifting 5 cm right to centre over the basket."})
tool
executing move_to over 5 steps (0.5s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
Over the basket now; releasing.
agent noteThe held plush is now centred over the left basket in both views. Opening to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5663, 1.6169, 1.2289, -0.2466, -0.4721, -0.4046, 0.2014, -0.0208, 0.8249, 0.6067, -0.3927, -0.0189, -0.0261, 0.9995] state[eef_state]: left_x=0.4374 left_y=-0.1786 left_z=0.2039 left_yaw=0.0337 left_pitch=0.0036 left_roll=-0.0524 left_gripper=0.2014 right_x=0.2953 right_y=0.0008 right_z=0.1701 right_yaw=0.0024 right_pitch=-0.0454 right_roll=-0.002 right_gripper=0.9995 state[joint_eff]: [0.0068, -8.0342, 9.6068, 1.7802, -0.3443, 0.0073, 0.6764, -0.0615, -1.2376, 7.0632, 1.7265, -0.0464, -0.0562, -0.0171] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
Over the basket now; releasing.
move_to({"targets": {"left_gripper": 1}, "note": "The held plush is now centred over the left basket in both views. Opening to drop it in."})
tool
executing move_to over 8 steps (0.8s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteBrown plush dropped into the left basket (plush basket). Now the right arm goes over the two markers lying right of the teddy to put them in the right (marker) basket.
move_to
right_x0.3000right_y0.1500right_z0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5663, 1.6169, 1.2285, -0.2531, -0.4713, -0.4133, 0.9955, -0.0208, 0.8249, 0.6067, -0.3931, -0.0189, -0.0261, 0.9994] state[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0378 left_pitch=-0.0026 left_roll=-0.0563 left_gripper=0.9955 right_x=0.2953 right_y=0.0008 right_z=0.17 right_yaw=0.0024 right_pitch=-0.0458 right_roll=-0.002 right_gripper=0.9994 state[joint_eff]: [-0.3077, -8.0479, 6.9812, 1.6581, -0.232, 0.0171, -0.188, -0.0889, -1.4154, 7.0632, 1.6825, -0.0464, -0.0366, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.15, "right_z": 0.1}, "note": "Brown plush dropped into the left basket (plush basket). Now the right arm goes over the two markers lying right of the teddy to put them in the right (marker) basket."})
tool
executing move_to over 13 steps (1.3s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteRight wrist view shows two markers running forward-back; the white one is just right of the jaw column. Descending on it with a 1 cm shift right.
move_to
right_x0.3100right_y0.1400right_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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4198, 0.9968, 0.7464, 1.2655, 0.5266, -0.0719, 0.5613, 0.4541, 0.9994] state[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0412 left_pitch=-0.0031 left_roll=-0.0616 left_gripper=0.9968 right_x=0.2916 right_y=0.1465 right_z=0.0841 right_yaw=0.0301 right_pitch=-0.0956 right_roll=-0.0365 right_gripper=0.9994 state[joint_eff]: [-0.0752, -8.0752, 7.0222, 1.6386, -0.232, 0.0269, 0.1197, 0.4855, -3.7949, 8.5675, 1.5702, 0.4567, 0.2076, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.14, "right_z": -0.01}, "note": "Right wrist view shows two markers running forward-back; the white one is just right of the jaw column. Descending on it with a 1 cm shift right."})
tool
executing move_to over 7 steps (0.7s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteBoth markers are between the open jaws (blue left, black right, ~7 cm apart). Centering between them and pressing to table level to try grabbing both at once.
move_to
right_y0.1370right_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]: [-0.5663, 1.6169, 1.2285, -0.2539, -0.4713, -0.4206, 0.9968, 0.6724, 1.6917, 0.382, 0.6338, 0.5148, 0.4042, 0.9994] state[eef_state]: left_x=0.4364 left_y=-0.1782 left_z=0.2024 left_yaw=0.0416 left_pitch=-0.0035 left_roll=-0.062 left_gripper=0.9968 right_x=0.324 right_y=0.1514 right_z=0.013 right_yaw=0.0231 right_pitch=-0.0107 right_roll=0.0325 right_gripper=0.9994 state[joint_eff]: [-0.0205, -8.0752, 6.9675, 1.6044, -0.2222, -0.0317, -0.0073, -0.4034, -4.0137, 2.7282, 0.9499, 0.0464, -0.2076, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.137, "right_z": -0.015}, "note": "Both markers are between the open jaws (blue left, black right, ~7 cm apart). Centering between them and pressing to table level to try grabbing both at once."})
tool
executing move_to over 2 steps (0.2s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteDescent stopped at z≈1.2 cm, which is within the markers' height; both markers are between the jaws, so closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4202, 0.9968, 0.6262, 1.8236, 0.342, 0.9363, 0.4889, 0.3702, 0.9994] state[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0414 left_pitch=-0.0031 left_roll=-0.0619 left_gripper=0.9968 right_x=0.339 right_y=0.1473 right_z=0.0118 right_yaw=0.0131 right_pitch=0.0871 right_roll=0.0922 right_gripper=0.9994 state[joint_eff]: [-0.1709, -8.0752, 6.9402, 1.6679, -0.1734, -0.0317, -0.0122, -0.6769, -4.4239, 1.8256, 0.9841, -0.0317, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Descent stopped at z\u22481.2 cm, which is within the markers' height; both markers are between the jaws, so closing."})
tool
executing move_to over 10 steps (1.0s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteBoth markers are pinched together in the right jaws (reading 0.32 ≈ 3 cm). Lifting them clear before carrying to the right basket.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4206, 0.9968, 0.6262, 1.824, 0.3393, 0.9482, 0.4854, 0.3626, 0.3221] state[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0416 left_pitch=-0.0031 left_roll=-0.0622 left_gripper=0.9968 right_x=0.3392 right_y=0.1481 right_z=0.0131 right_yaw=0.0195 right_pitch=0.0937 right_roll=0.0919 right_gripper=0.3221 state[joint_eff]: [-0.1846, -7.9932, 6.9402, 1.5897, -0.2076, -0.0415, -0.0073, -0.6359, -4.4513, 2.0308, 0.8571, 0.0024, -0.0024, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Both markers are pinched together in the right jaws (reading 0.32 \u2248 3 cm). Lifting them clear before carrying to the right basket."})
tool
executing move_to over 14 steps (1.4s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteMarkers lifted; the right basket is straight ahead in the wrist view. Moving forward over its centre.
move_to
right_x0.4700right_y0.1500right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5667, 1.6169, 1.2285, -0.2535, -0.4713, -0.4206, 0.9968, 0.6262, 1.1885, 0.7971, -0.1593, 0.4698, 0.358, 0.324] state[eef_state]: left_x=0.4364 left_y=-0.1784 left_z=0.2025 left_yaw=0.0413 left_pitch=-0.0031 left_roll=-0.0622 left_gripper=0.9968 right_x=0.3405 right_y=0.152 right_z=0.2 right_yaw=0.0354 right_pitch=0.0777 right_roll=0.0865 right_gripper=0.324 state[joint_eff]: [-0.253, -7.9658, 7.1726, 1.6386, -0.2466, -0.0562, -0.0073, -0.2256, -5.9966, 9.6479, 1.6679, 0.3346, 0.0171, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.15, "right_z": 0.22}, "note": "Markers lifted; the right basket is straight ahead in the wrist view. Moving forward over its centre."})
tool
executing move_to over 10 steps (1.0s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteMarkers are over the middle of the right basket; opening to drop them 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]: [-0.5663, 1.6176, 1.2285, -0.2543, -0.4717, -0.4206, 0.9968, 0.408, 1.607, 1.1648, -0.1257, 0.281, 0.2394, 0.3244] state[eef_state]: left_x=0.4365 left_y=-0.1781 left_z=0.202 left_yaw=0.0419 left_pitch=-0.0043 left_roll=-0.0611 left_gripper=0.9968 right_x=0.4577 right_y=0.1484 right_z=0.1964 right_yaw=0.037 right_pitch=0.0211 right_roll=0.0641 right_gripper=0.3244 state[joint_eff]: [-0.1436, -8.1573, 7.0359, 1.5995, -0.2173, -0.0513, -0.0073, -0.5538, -8.6222, 9.7299, 1.8632, 0.0562, 0.0024, 1.0085] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Markers are over the middle of the right basket; opening to drop them in."})
tool
executing move_to over 7 steps (0.7s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteBoth markers are in the right basket and the brown plush is in the left one. Next, the left arm goes over the tan teddy in the centre to put it in the left (plush) basket.
move_to
left_x0.3000left_y-0.2700left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5663, 1.6176, 1.2285, -0.2539, -0.4713, -0.4206, 0.9968, 0.4053, 1.6218, 1.1679, -0.123, 0.2756, 0.2325, 0.9949] state[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2021 left_yaw=0.0416 left_pitch=-0.0041 left_roll=-0.0616 left_gripper=0.9968 right_x=0.4599 right_y=0.1489 right_z=0.1914 right_yaw=0.0425 right_pitch=0.0117 right_roll=0.0577 right_gripper=0.9949 state[joint_eff]: [-0.1436, -7.9658, 7.0632, 1.58, -0.2076, -0.0317, -0.0073, 0.1436, -9.306, 6.7214, 1.6386, 0.0855, 0.0855, -0.1685] 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
move_to({"targets": {"left_x": 0.3, "left_y": -0.27, "left_z": 0.14}, "note": "Both markers are in the right basket and the brown plush is in the left one. Next, the left arm goes over the tan teddy in the centre to put it in the left (plush) basket."})
tool
executing move_to over 11 steps (1.1s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe teddy is directly under the jaws (its ear/head at the bottom of the wrist view). Descending onto it to grab it.
move_to
left_z0.0200left_y-0.2750
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0565, 1.5978, 1.0317, -0.3073, -0.7883, -0.8097, 0.9968, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.2314, 0.996] state[eef_state]: left_x=0.3046 left_y=-0.2771 left_z=0.1461 left_yaw=-0.0053 left_pitch=-0.012 left_roll=-0.0735 left_gripper=0.9968 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.996 state[joint_eff]: [-0.0752, -6.1744, 5.5863, 1.2869, -0.5983, -0.0562, -0.0073, -0.1026, -8.1162, 7.0085, 1.6874, 0.0415, -0.0366, 0.105] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02, "left_y": -0.275}, "note": "The teddy is directly under the jaws (its ear/head at the bottom of the wrist view). Descending onto it to grab it."})
tool
executing move_to over 9 steps (0.9s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe descent stopped on the teddy at z≈5 cm, with its ear/arm between the jaws. Closing to grab it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0527, 1.8362, 0.8047, 0.2047, -0.865, -0.7925, 0.9969, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.3139 left_y=-0.2719 left_z=0.0516 left_yaw=0.0404 left_pitch=0.0615 left_roll=-0.0721 left_gripper=0.9969 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961 state[joint_eff]: [-0.1436, -4.9026, 3.0154, 0.8718, 0.696, -0.1783, -0.0073, -0.1846, -7.7197, 7.0222, 1.6679, 0.0122, -0.0708, 0.0024] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The descent stopped on the teddy at z\u22485 cm, with its ear/arm between the jaws. Closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteGripper stopped at 0.58 on the teddy's squishy ear, so it's gripped. Lifting it to check the hold before carrying it to the left basket.
move_to
left_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]: [-1.0447, 1.8381, 0.7971, 0.2474, -0.9016, -0.7856, 0.5801, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.3195 left_y=-0.2671 left_z=0.0576 left_yaw=0.0714 left_pitch=0.1005 left_roll=-0.0837 left_gripper=0.5801 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961 state[joint_eff]: [-0.8, -8.2256, 5.7368, 0.9597, -0.0122, -0.1001, 0.7643, -0.1846, -7.9248, 7.0632, 1.6825, 0.0122, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Gripper stopped at 0.58 on the teddy's squishy ear, so it's gripped. Lifting it to check the hold before carrying it to the left basket."})
tool
executing move_to over 13 steps (1.3s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteTeddy is hanging from the left jaws. Carrying it over the left basket, which already holds the brown plush.
move_to
left_x0.4400left_y-0.1700left_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]: [-1.0439, 1.5894, 1.2541, -0.5209, -0.8909, -0.7853, 0.5823, 0.4053, 1.6218, 1.1679, -0.1223, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.3203 left_y=-0.2703 left_z=0.2153 left_yaw=0.0604 left_pitch=0.0656 left_roll=-0.0306 left_gripper=0.5823 right_x=0.4599 right_y=0.1491 right_z=0.1915 right_yaw=0.0439 right_pitch=0.0123 right_roll=0.0571 right_gripper=0.9961 state[joint_eff]: [-0.3897, -10.7145, 9.7983, 1.4823, -0.4713, -0.0464, 0.2027, -0.0342, -8.1162, 7.1453, 1.7558, 0.0366, -0.0513, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.17, "left_z": 0.25}, "note": "Teddy is hanging from the left jaws. Carrying it over the left basket, which already holds the brown plush."})
tool
executing move_to over 10 steps (1.0s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe teddy hangs to the right of the jaws, over the gap between the baskets. Shifting the arm 4 cm to its left so the teddy sits over the left basket.
move_to
left_y-0.1200left_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]: [-0.5808, 1.5826, 1.2785, -0.374, -0.5659, -0.421, 0.5843, 0.4053, 1.6222, 1.1679, -0.1223, 0.2752, 0.231, 0.9961] state[eef_state]: left_x=0.4265 left_y=-0.1623 left_z=0.2225 left_yaw=0.1021 left_pitch=0.0028 left_roll=0.0056 left_gripper=0.5843 right_x=0.46 right_y=0.149 right_z=0.1913 right_yaw=0.0436 right_pitch=0.012 right_roll=0.0567 right_gripper=0.9961 state[joint_eff]: [0.0889, -7.1316, 10.4821, 1.9609, -0.1294, 0.1197, 0.2076, -0.1299, -8.1436, 7.241, 1.6777, 0.0562, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.12, "left_z": 0.25}, "note": "The teddy hangs to the right of the jaws, over the gap between the baskets. Shifting the arm 4 cm to its left so the teddy sits over the left basket."})
tool
executing move_to over 4 steps (0.4s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe teddy is still over the left basket's right rim in the top view. Shifting 3 cm more to the arm's left.
move_to
left_y-0.0900left_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]: [-0.4774, 1.552, 1.28, -0.4335, -0.4946, -0.3656, 0.5856, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.4301 left_y=-0.124 left_z=0.2218 left_yaw=0.1207 left_pitch=-0.0468 left_roll=0.0317 left_gripper=0.5856 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961 state[joint_eff]: [-0.0752, -10.947, 8.0615, 1.7705, -0.1685, 0.0366, 0.1245, -0.2256, -8.1026, 7.241, 1.7314, 0.0171, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.09, "left_z": 0.25}, "note": "The teddy is still over the left basket's right rim in the top view. Shifting 3 cm more to the arm's left."})
tool
executing move_to over 4 steps (0.4s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteArm only reached y=-0.118; the teddy still hangs over the basket's right rim. Pushing a bit further left so it drops inside.
move_to
left_y-0.0700left_x0.4300left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.466, 1.5227, 1.28, -0.4557, -0.485, -0.3477, 0.5871, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.4255 left_y=-0.1178 left_z=0.2297 left_yaw=0.1149 left_pitch=-0.0445 left_roll=0.0373 left_gripper=0.5871 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961 state[joint_eff]: [-0.0342, -9.306, 8.1983, 1.7509, -0.1392, 0.0464, 0.149, -0.1983, -8.1026, 6.9675, 1.6728, 0.0317, -0.0757, -0.0122] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.07, "left_x": 0.43, "left_z": 0.24}, "note": "Arm only reached y=-0.118; the teddy still hangs over the basket's right rim. Pushing a bit further left so it drops inside."})
tool
executing move_to over 5 steps (0.5s)
step 224
assistant
agent noteThe arm won't move further left (the teddy is probably catching on the basket), but in the wrist view the teddy is mostly over the basket's inside. Releasing 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]: [-0.466, 1.5227, 1.28, -0.4557, -0.485, -0.3477, 0.5887, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.4255 left_y=-0.1178 left_z=0.2297 left_yaw=0.1149 left_pitch=-0.0445 left_roll=0.0373 left_gripper=0.5887 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961 state[joint_eff]: [-0.335, -9.1829, 8.0889, 1.8046, -0.1343, 0.0317, 0.1538, -0.0615, -8.1026, 7.1453, 1.6777, 0.0562, -0.0708, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The arm won't move further left (the teddy is probably catching on the basket), but in the wrist view the teddy is mostly over the basket's inside. Releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 229
assistant
agent noteThe teddy fell just short of the left basket and lies on the table in front of it. Moving the left gripper back over it to try again.
move_to
left_x0.3300left_y-0.1700left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.466, 1.523, 1.2797, -0.4561, -0.4858, -0.3542, 0.9957, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.2314, 0.9961] state[eef_state]: left_x=0.4254 left_y=-0.1176 left_z=0.2294 left_yaw=0.119 left_pitch=-0.0451 left_roll=0.033 left_gripper=0.9957 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.9961 state[joint_eff]: [0.0889, -7.2137, 7.0906, 1.5507, -0.232, 0.1001, -0.1001, -0.3487, -7.9385, 7.1316, 1.7118, 0.0366, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.17, "left_z": 0.12}, "note": "The teddy fell just short of the left basket and lies on the table in front of it. Moving the left gripper back over it to try again."})
tool
executing move_to over 8 steps (0.8s)
step 237
assistant
agent noteThe teddy's head is right under the open jaws. Descending onto it.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7914, 1.4643, 0.8288, -0.2562, -0.6823, -0.5961, 0.9968, 0.4053, 1.6222, 1.1679, -0.1219, 0.2745, 0.231, 0.9961] state[eef_state]: left_x=0.3312 left_y=-0.1716 left_z=0.1163 left_yaw=0.0771 left_pitch=-0.0891 left_roll=0.0697 left_gripper=0.9968 right_x=0.46 right_y=0.1492 right_z=0.1914 right_yaw=0.0442 right_pitch=0.0123 right_roll=0.0573 right_gripper=0.9961 state[joint_eff]: [-0.0752, -6.8718, 6.4479, 1.5018, -0.5201, -0.0317, 0.1001, -0.0479, -8.1299, 7.0632, 1.7167, 0.0513, -0.0611, -0.0122] 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": {"left_z": 0.03}, "note": "The teddy's head is right under the open jaws. Descending onto it."})
tool
executing move_to over 6 steps (0.6s)
step 243
assistant
agent noteThe jaws are in the teddy's fur at z≈6 cm. Closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7952, 1.636, 0.6781, 0.1326, -0.7368, -0.5907, 0.9968, 0.4053, 1.6222, 1.1679, -0.1226, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.3418 left_y=-0.174 left_z=0.0621 left_yaw=0.1048 left_pitch=-0.0152 left_roll=0.0489 left_gripper=0.9968 right_x=0.4599 right_y=0.1491 right_z=0.1912 right_yaw=0.0439 right_pitch=0.0116 right_roll=0.0568 right_gripper=0.9961 state[joint_eff]: [0.1846, -3.6444, 2.9197, 0.6081, 0.315, -0.0904, -0.0122, -0.0615, -8.1162, 7.1453, 1.6777, 0.0317, -0.0415, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The jaws are in the teddy's fur at z\u22486 cm. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 253
assistant
agent noteEmpty close (0.013); the jaws only skimmed the top of the fur. Opening and pushing lower into the teddy's body.
move_to
left_gripper1.0000left_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]: [-0.7971, 1.6409, 0.6693, 0.1604, -0.7475, -0.5953, 0.013, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.3427 left_y=-0.1738 left_z=0.0623 left_yaw=0.1126 left_pitch=-0.0003 left_roll=0.0388 left_gripper=0.013 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961 state[joint_eff]: [-0.0479, -6.9538, 6.2017, 1.1502, -0.2418, 0.0024, 1.0672, -0.0615, -8.1436, 7.1043, 1.7705, 0.0415, -0.0611, -0.0122] 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": {"left_gripper": 1, "left_z": 0.0}, "note": "Empty close (0.013); the jaws only skimmed the top of the fur. Opening and pushing lower into the teddy's body."})
tool
executing move_to over 10 steps (1.0s)
step 263
assistant
agent noteThe jaws are now deeper in the teddy's body (z≈4.6 cm). Closing again.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.804, 1.8267, 0.627, 0.5564, -0.8097, -0.5953, 0.9939, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.362 left_y=-0.1862 left_z=0.0459 left_yaw=0.1597 left_pitch=0.1326 left_roll=-0.072 left_gripper=0.9939 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961 state[joint_eff]: [0.294, -3.4256, 1.9077, 0.1636, 0.3736, -0.0757, -0.232, -0.0205, -7.9248, 6.9812, 1.6679, 0.0415, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The jaws are now deeper in the teddy's body (z\u22484.6 cm). Closing again."})
tool
executing move_to over 10 steps (1.0s)
step 273
assistant
agent noteSecond empty close: the teddy's body is too wide and soft to pinch. Its ear sticks up at the left of the wrist view, so I'm opening and shifting left to grab the ear.
move_to
left_gripper1.0000left_y-0.1450left_x0.3500left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8047, 1.8252, 0.63, 0.5999, -0.831, -0.6022, 0.0156, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.3662 left_y=-0.1873 left_z=0.0557 left_yaw=0.185 left_pitch=0.1694 left_roll=-0.1116 left_gripper=0.0156 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961 state[joint_eff]: [-0.1573, -7.5556, 4.4376, 1.1013, -0.1001, 0.0415, 0.9548, -0.0205, -7.9658, 6.9675, 1.7216, 0.0122, -0.0708, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_y": -0.145, "left_x": 0.35, "left_z": 0.02}, "note": "Second empty close: the teddy's body is too wide and soft to pinch. Its ear sticks up at the left of the wrist view, so I'm opening and shifting left to grab the ear."})
tool
executing move_to over 10 steps (1.0s)
step 283
assistant
agent noteThe jaws are pressed into the teddy near its ear. Closing to try to pinch the ear.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7483, 1.8671, 0.4625, 0.9703, -0.7895, -0.5461, 0.9947, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.2314, 0.9961] state[eef_state]: left_x=0.3614 left_y=-0.1595 left_z=0.0512 left_yaw=0.2057 left_pitch=0.2482 left_roll=-0.2056 left_gripper=0.9947 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.9961 state[joint_eff]: [1.0188, -3.9726, 1.812, 0.6911, -0.0513, -0.1685, -0.188, -0.0615, -8.1162, 6.9675, 1.7118, 0.0708, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The jaws are pressed into the teddy near its ear. Closing to try to pinch the ear."})
tool
executing move_to over 10 steps (1.0s)
step 293
assistant
agent noteThird empty close on the teddy, and I'm nearly out of calls. Lifting the left arm clear so the top camera shows the final state.
move_to
left_gripper1.0000left_z0.2000left_x0.3000left_y-0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7506, 1.8698, 0.4572, 1.0111, -0.8013, -0.5507, 0.0155, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961] state[eef_state]: left_x=0.3621 left_y=-0.1593 left_z=0.0566 left_yaw=0.2231 left_pitch=0.2703 left_roll=-0.2351 left_gripper=0.0155 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961 state[joint_eff]: [-0.1162, -7.3504, 4.2598, 1.2283, -0.0611, 0.022, 0.6471, -0.1026, -8.1299, 7.0769, 1.746, 0.0562, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.2, "left_x": 0.3, "left_y": -0.05}, "note": "Third empty close on the teddy, and I'm nearly out of calls. Lifting the left arm clear so the top camera shows the final state."})
tool
executing move_to over 10 steps (1.0s)
step 303
assistant
agent noteOnly part of the task is done. I sorted the objects into two groups: plush toys go in the left basket and markers go in the right basket. Two markers (one black, one blue) went into the right basket together in a single grab. A brown plush is in the left basket; I grabbed it by accident when I was aiming for the yellow marker. The tan teddy never made it in: I carried it over the left basket, but when I let go it landed on the table just in front. Three tries to pick it up again all closed on nothing, because its body is too wide and soft. Still on the table: the tan teddy, a grey plush on the far left, the yellow marker, and possibly one more dark marker near the left arm. I stopped here because I was about to run out of calls.
done
hindsight- Take a careful look at the whole top-camera frame before the first move. The resting arms hide objects: a brown plush and a grey plush were only visible once the left arm moved. - Top-camera mapping for the left arm, measured by where the gripper appeared: (x 0.30, y -0.08) is at pixel (60,130), and (x 0.20, y -0.36) is at (135,165). That's about 2.7 px/cm sideways. - Where things are in each arm's frame: left basket about x 0.44, y -0.10 to -0.12. Right basket about x 0.46, y 0.15. The markers on the right started at about x 0.33, y 0.14 (right arm). - Neither arm can reach both baskets, so sort objects by which arm can reach them: left basket for things on the left, right basket for things on the right. Anything on the far side of the table has to be moved closer first, which costs calls. - Markers lying close together can be grabbed in one close (settled reading 0.32). - Plush toys: grab an ear or limb from above, and descend until the arm stops, around z 0.05. Closing on the body comes up empty. - A hanging plush swings about 5 cm off to the side of the jaws. At x 0.43 the left arm would not move past y -0.118, so drop plushes from higher up, or line them up using the wrist view rather than the top view. - Moves were limited to small steps per call (the approver clamped them). Save calls for the objects themselves.
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]: [-0.5053, 0.7937, 0.379, 0.1368, -0.6029, -0.4595, 0.9951, 0.4053, 1.6238, 1.1675, -0.1204, 0.2745, 0.231, 0.9961] state[eef_state]: left_x=0.3047 left_y=-0.05 left_z=0.1975 left_yaw=0.2729 left_pitch=0.3111 left_roll=-0.2867 left_gripper=0.9951 right_x=0.4602 right_y=0.1493 right_z=0.1908 right_yaw=0.0442 right_pitch=0.0119 right_roll=0.0571 right_gripper=0.9961 state[joint_eff]: [0.1026, -0.9094, 10.2222, 1.7558, -0.0415, 0.2125, 0.0366, -0.0479, -8.0615, 6.9812, 1.7509, 0.0415, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
done({"summary": "Only part of the task is done. I sorted the objects into two groups: plush toys go in the left basket and markers go in the right basket. Two markers (one black, one blue) went into the right basket together in a single grab. A brown plush is in the left basket; I grabbed it by accident when I was aiming for the yellow marker. The tan teddy never made it in: I carried it over the left basket, but when I let go it landed on the table just in front. Three tries to pick it up again all closed on nothing, because its body is too wide and soft. Still on the table: the tan teddy, a grey plush on the far left, the yellow marker, and possibly one more dark marker near the left arm. I stopped here because I was about to run out of calls.", "hindsight": "- Take a careful look at the whole top-camera frame before the first move. The resting arms hide objects: a brown plush and a grey plush were only visible once the left arm moved.\n- Top-camera mapping for the left arm, measured by where the gripper appeared: (x 0.30, y -0.08) is at pixel (60,130), and (x 0.20, y -0.36) is at (135,165). That's about 2.7 px/cm sideways.\n- Where things are in each arm's frame: left basket about x 0.44, y -0.10 to -0.12. Right basket about x 0.46, y 0.15. The markers on the right started at about x 0.33, y 0.14 (right arm).\n- Neither arm can reach both baskets, so sort objects by which arm can reach them: left basket for things on the left, right basket for things on the right. Anything on the far side of the table has to be moved closer first, which costs calls.\n- Markers lying close together can be grabbed in one close (settled reading 0.32).\n- Plush toys: grab an ear or limb from above, and descend until the arm stops, around z 0.05. Closing on the body comes up empty.\n- A hanging plush swings about 5 cm off to the side of the jaws. At x 0.43 the left arm would not move past y -0.118, so drop plushes from higher up, or line them up using the wrist view rather than the top view.\n- Moves were limited to small steps per call (the approver clamped them). Save calls for the objects themselves."})
tool
done: Only part of the task is done. I sorted the objects into two groups: plush toys go in the left basket and markers go in the right basket. Two markers (one black, one blue) went into the right basket together in a single grab. A brown plush is in the left basket; I grabbed it by accident when I was aiming for the yellow marker. The tan teddy never made it in: I carried it over the left basket, but when I let go it landed on the table just in front. Three tries to pick it up again all closed on nothing, because its body is too wide and soft. Still on the table: the tan teddy, a grey plush on the far left, the yellow marker, and possibly one more dark marker near the left arm. I stopped here because I was about to run out of calls.
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 · 19.78 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]: [-0.0277, 0.7994, 0.617, -0.3786, -0.0216, -0.0334, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0185, -0.0223, 0.9995]\nstate[eef_state]: left_x=0.2969 left_y=-0.0008 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0007 right_z=0.1823 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [0.1026, -1.7162, 9.2786, 1.7558, -0.022, 0.1538, -0.0562, -0.4308, -1.4564, 9.812, 1.7558, -0.0513, 0.0757, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26b12338527b63fbcfe446228b6c18319935def065b535cb187f9ef64a946123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54f80f25a4b3412cea199352b5278387d864f2c6bcf0a7a923631ddc55dc417",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2f44472160bd60f23b743bb2e07ebfd5ed99484030d3670f88df56052ca5e3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 6.372 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]: [-0.0277, 0.7994, 0.617, -0.3786, -0.0216, -0.0334, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0185, -0.0223, 0.9995]\nstate[eef_state]: left_x=0.2969 left_y=-0.0008 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0007 right_z=0.1823 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [0.1026, -1.7162, 9.2786, 1.7558, -0.022, 0.1538, -0.0562, -0.4308, -1.4564, 9.812, 1.7558, -0.0513, 0.0757, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26b12338527b63fbcfe446228b6c18319935def065b535cb187f9ef64a946123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54f80f25a4b3412cea199352b5278387d864f2c6bcf0a7a923631ddc55dc417",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2f44472160bd60f23b743bb2e07ebfd5ed99484030d3670f88df56052ca5e3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5CIKEAgSGAI4AUIIdGhpbmtpbmcSDHnbunC9HnJ56QM3KBoMaF/eTZyHtm47clPDIjAK+GV/IKYdQd8PjIHNhuA9vGTCMX4yJmvOID9Vh6QP4dCzto5H8IHjNFvxZHcFa9EqgSJrx6aHVK3VYgbcLDpJZleaXSmqOSC2BrVitnAQqdWp0dS2VqX1jdM/4vvQbKtiPW19ydW2DoQXlHCulVB9wcgtqM2gQKqoIVienx6Cszf+p1G3449BQQSFPHNQTlvluK5jTw3A5L41KIfTBJX9ZnTBJHsylS5Jh01eHRpzZU3tUnvfEUditevgtkuJxnk3j0iT4jh/ZGx86H5URSBbrChtfkXtIA76dcGuX6EZDredkYeQUV7k/CLuj6TjiXZdGp6Qf4Vlka/nbm1RjiFYliHQyTJqFLPZxOSavdAf3QIyuplI4WqMNNrzs0x6gXx146yVvCUCjoSx/SslyanaA3MPGX8VYWW7HZPBqyV33duozucSBgmmDzwDFAfODGK809NRVTj+4GH81KYvIH8riN5bmsx1f5TISjfoE7++bFQIGMl6TcCQljBcRyc1+5KjMRpooqwIylGCTLbdw6EwuAffA4jshLKllUP18Cn5PJ2aYfxq02YT+WY7A2hzmahEVRhsbbbN0AwqHx0K1z1SYIlhLurm3LmiJPLErM37dLU/55/fNoTktuBxzZ11gJhUroUZmbgINf3DGIYDflAU94Rhkdl/yDLPUnNLSmtyhRB44JJpJ8gepGizEjSyBlvIRU5+1Yxk4Qo+/tEhXUo94id2hYCtpRSpcqt2C4uL923EoeIpbGefzE1mxLjeWBEB/7lY1oFAZzIOu0VR3Sw3StlecV5b+sqzPKU+9/Y/3QY4Vmrh6fPDyZObdko7/SOQfyZI2bWKm4FLESLZ6x4IwLxF/rVCyBzzsia8S7JK/Hd5VmyF/e2nIp+WrqIFAA6/gURQPFXYAYatMwgZIjrgf9SUl7TW592z0wf37t0Culmc0DCV+QceN1uQkw76lc3N1NlgBwRypOFrOlGNU96AysrrryiBaRLca90RGsmNBOBDAAr+HALvOcHiEduruf5MVvQwc0aKVJvbLJyBH+eV8mJenlBSqBXFX+h2lMN9Rxab4pDC0eLlWcLi27shD+cfCv68HKE+aGSvC9LeLhqaTyHLLwQ4Mqx7a5MmkDzNR59x2t2WnNkmJRZxnhPksu+J3sOQMvJ9dfFLkiqLmmhy+SYvC0FbqVPCfKzkVYB9nR7YonfzPmE/HlXWqt81Wctln0ARtERb0ijNaDItkgj4feeZ7yPTinddIuBvvisWr9nYW048A/aiTu7DJMM3p2/JtyuehUeCj8FN88AatFSgFn56Ida/xt8T2k1kyzPbeVhJPUWg02BWWopRrqftsUJD3MUWi+Nds/kYtV6AM/IJt9HnSx/6Kv45uyYJpMbRCVhi4olPM7VT2u0pljQAlf+Mr1bAKw1/nL2SnhX3OKKMp7SDdQIiBEHdpINr155TyjGexypEV5pw2vAnVeFTwgNRPHP80UaCBSeZwVTnqxC7icEUCqUfojobQaP0l0CmskkMxA7b0tGBdxgrO4QmOZ/4ulUZvaZ4fqXrYLAkXA9cOAt2YQQKMu5jb3pF0W5GvVZ2fSC2PEvS8TKTrr+Sq6KKTlC/XD2BAwmABpQKHs7Jb5mqQ15+Ufq11jezEWveGWgN2DeMis4zoWRD3gQNONUZ2PyW4tamY7KPypXmvWdWN8pOTBeK2++/eNxZk1jlu+aRUSPxUIAR4Vib1ZJYHlqlMW2JPCuboPv8tVjAv3XW7j5JvD/GvIgSY95RlWzMBXI210+mImJIC29dU6akzBq20XkeyhjN3IUQpVNzjzKSOTRIntLUIUUDb6siXbXOVABT1naO3bdBa+54MQml+ObFJC+o5Szj2nDj3SMHL5CEpKWQlelyWsoyMgzg5yvY8N13usdirhfhGKniMTg+WAeS/om11pMYLowVxDM7wzHXFVYpTMzZnMLZHX+lBIoDLvbMekIlSDkaqvSI6WmyqrXqNFNpi9cfJ2PBMfGtEIvuyciZzz1I467jO2g6vAAwYCOhcnSzS4+9AJB2TZvJ0E8YHJMrRFNVj9NsqnUV5i1+5qHoAsOpHLDrqFQawFtluTq4yW5b1RNZpQ+wXeQpVurEaVj8RjCJJryRegPXweSoADKW1wW6m2UHiR67pdBvjY0MY4TVl4wkf2vVlpq5C/g2ucRNPT3Cy1FiKR50ukKjFiVH6FWXyHnspkFQifNHLDupYSm7LE7TVGg007WAEs2DIsS8IcwkFMtNjO+mSPyTLbqvuj2coKqI0mRX3+gY4FIU7TXdajqIAuwGTZY7adPzvSDFSI06Ce8seQe/rYSwbdHSbl9D4HLPDOQztOk7PjA/PVkfM7IunbqBeLJgNneuqA6ZdzAZwpaGwVkz/ss+sInew8jx9RNyFTVt4GZ4JQMyJHjEqsTJjYPwSB3950q41/bCoNU+ARCLvzpCBVQAtrmfjUTOUqbIZB8SRNe9AW8vsUS+iRMowg2GXqWUJkKKNc0rNOw2/d7jqsK8Tzpok4DAxtVImaE9nfameAruA3gMCTA62tmRngrwBDmkJn+vS48ve+4Eh2a+NdFImq6C6efk/gLsBGXLky1etKuOKE2ubZ4r8AeQJZ+GiSqPfEvX1jcIvqUduhXIZ51o+x4AxCbgQIEpPhJzAoBRNO95zju/rVLbL/xzVL9LwN7nVvhT7rz2Pmx+jmCRIHFHYYMngXMhBX7JWNyiPDSl4sB562v4OvuFR1Jw56ZIrjjAm6UIluAI/gljjg1CX1ExREjiub9H6eUt+2UkovrMfODzT8+GrdbwRNC6UMhAjz5MgU3sOrL9w/nhG4rLu0V8ANb8JkucbBMtgBpfu+xmwzwsKZCbAb+ZirPaPyn0hQ28aTH82F1Hk0cQcUeTYlIgquIMF31cKnCHV9GU2wSmIT60cbItenH3Z34wcRPVKzXG2udtJUiYRFneQ7z8a+9MJNBVicY4jbwFW2KOBCU8VmhGiHdBzLs6OapqZ2lj62BvOG8K1nLF0v/ht7b0gjuXIUuNwfIlw6g8m3CKIJNXJWoT1KWcR1yMel2E72+hlBLwOL8w0QQyhsNiaUy+RUqo3190Us+ezH3MhGq0EclUhYslHLZg7XDi6wZtCc+AeUV/c/eAHE84XM25wxXK4jQcLPI4OA/ABpyHBAs6z85l2PDaHqG6Pkq3g502Wxn3XywydSN/Dvq+3A7Br4ZPjEB0YswNuSY8qNVppG1+b66hLeLv/JsP78NT7cQTuplE8HbzsT+LtDM2mIR9ywwY2zAhlSc58JjNrNZMYBOf61Y9+o9RBC6iD8i6IfOc8zE+hZEpb7qxpwk4AE0ghtq2gd7TTDeZ49g2aR2ONAXpcUYrxhptboB0LazbWh9EaurUTFv7Zwjca2C/SxqvnDcqEFePkqPjr/mDTq+EYpLLGZXqmpJy/q5gvAMprg2re8LRPjy+h9zFwup2BLqPFfVe8Vnufz30KjfTZ2loWyi+IdQ5cgGoEfcQv0ZCVI94QmXzh+fytlGCT/tD6PDQiIqdJNhabxSiGNx4Du6npwZubH/2eevcM2DkjSW6jFcWAhSwu7qDRzA90+MmY6zgVstuL0SJ487CuG+pvo8zdGgx/M0Ph5OuIMFuHs9WtioMfK3MVbdokH47sRjBQCtV03jZdKbdO5gXJ+VFG+JdToka8ucZJn5kUKLP1N+g5iv3n+AHHWxi4WXzv/23XCjh/n8gxYtSbtqPAxeGxMfu4v01sUpdTbsq1Kxy09CFFeAvbGPpeZ/KkHbUL9Qcjy7y5aWNiRWehXM2DMn6sqPpJx2dNH7oOcARAxwWVpF3AxSX1G0XgOosYEW2VYCWByd4NMKflR4l1mWK/fkfQjK65Xes6uOi5A5ZNSvsJVS4oY5v+LyzxgZIxcU53QKRngR6vq6Sbb1NO6AYagY50p+KEEmPwVTXchpZjsXMpxXITl3ScW46mPh+6RIvwPbjTxTLj0rjMgAlRC4l5c1s3KNGeK01RkXn3aOTOMtOieZ9CN+ToD61N7SK0d4M6SCw70DaVmD8v6qZsSwPzIT1uWxd+OsPFje/O9e8n/yYqymDVMvHCPwWgjZDGX07F9AESkLzu1mbt3Ckx5S/dSDu6qDaRm+Dwp2rom9REIE+Wt422kQNVyzTXPsROo1Y80I1iPxS3Sn3GK11mK3YRJ6x93hFWY1zpms5vJb9O21t4TK0TfyWVqNXp0Vse2Elt/Jep2zTXokfv53VSfD6FCh7FmXh005GNDIOcnZYQWvMoc4LE0cD3F+5y3jiBv3egRGwIAgshbk2wLBmjebQJuMgdo/BreBjPlrIPo6FD3yA/9OJa9qYELPmOuGo0lnYCGgwV8/ug8UFrvq9ztaJEEMq7PS6BOiVoFet72spdxCAKI7S5cb87tVx+4W+6OwMTR9JbcagJmME2+yhXFTBl1IsHx7ZVoXyq9ErEpeGMmVLC3G4X7srtFvEcV6MkJWgYcZnKDNvO97WQKPja8ru8LireIjPQ3G4iOIvt/j1XZ/p3tw/mF8IrJgwxisviTrF41bo/fy8pgs+tLlb1GW+aza6UShdoo6Rr88dmeKXkLOzfLmBGJg5d12elxe2o3joJnJQK48fe91d7tZLlDIdN0Q+63trbflwWvLsJWV6psPY3q6abi3Csa4BAwBulE1jCbW16n77n/qvadnn/T+Yt6e6aEF3ukKkDO33wVy2QF/Wnph+7q7g5QGT/5V7hSWzQXqvv84j4g29yF8kuVjtC+sOx1MurK7xkbB7EPuBhoHi8OKcRUKywZD20v4xi+ZJ7sKJALTqDW1Hy2af2hnZhgPEeWsu9T++tHxm9bbCbmrpX/UObDECKQet/tfel9El4rkTJjpZ/3jHC1MlpDSlFZxge5RUJSV8pCVE6R9GaRYNAx7bBjN6qRaySK0E713S2C78YOm66UNsHr1zlyan8GVIbIOr8Mq9+orETgg6iYVcFnaIu3hjG8MpynnnJXa/SqdIfMeRWpKBGvHLx+mS+WEHo++OpIP8RHRJeQy4ei2W5n6qhwCY28zWzHa8UC9m4n3+pBx7GFCn8f7B+hE3hzG7T1FZlsNKoSArQ7cDQRlBULl7hbl+s/4KS3g/E5E8qQi+RUko8lS7FPGcY/DuW42tyfDwsu9Vn3s7D+TkJpebhkv8WeHqWSl7Oc+QXGR+mNGW2wpCXS5TjNEgFua1FRMA7zVNiu5bQTLRqUNIJq8lfCxc+ujvRGOxSw0cCBtLc0EUykzzpsfx4RvZp0Vu+i/r4Z58ZbbbiH98D+PD+biwmJwQWEixkn/04ZVct/7uHry0hPGciy4D3m60zVwc333B+uL+R7Nfrq3gfZ5goHoqsLrl2Lg1hsCLD2cv7PzzN9V0ec7bK4Z0IBCltDEGfpStT0Y93FDxJ+LgmWjtNAAh6JfmhIGUoiHpSLdee/tjZNQVwO36P8BIK/VP6a2h34xcJEu7li96K3314Fce/kFMeYGxhbGhOYpHlftmVNwdbmHvbhyonpyixKTgBi2VHoTbr/tFf5KnPwH6JUVwkj9yBGZRxHumj6bEB7dyHSW5Tkf8yioTBpHYgorYU/rYy73BKqt+hGk6emvkGmvzizhBnOe/TWn0BZPu5Jlkvel4xTy4w/fq8WKiTd2eViLFg3IxBKN1g8fLUtvTX6NzVCMlD/xnax+t5pNGChFp0bvT0ZR7Hu9csf83yDwiwmGTRF66QUe5gMedwlWh3dNi8KRJlh1tS6vrEBcggkZrw1eJdD+ePdQoMhpfgNgxfMPw8k2xmWE6KNd1vHWctOSNMOXRL5Vg1WUSC7srLo5I0ECUS9unXe3hhlv5f5xouGR0bvHWZaaRfBz2GUzFfxQ+3yNND6QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016DpymZhZtqXDbjZDNLDuXA",
      "input": {
        "note": "Scene: two teal baskets at the back, two plush toys in the middle, a yellow marker left-centre and two markers right-centre. Classes: plush toys vs markers. Moving the left gripper over the yellow marker first.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.08,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016DpymZhZtqXDbjZDNLDuXA",
      "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]: [-0.5102, 1.0302, 0.3679, 0.0093, -0.4061, -0.3, 0.9995, -0.0208, 0.8024, 0.6083, -0.3847, -0.0189, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.2967 left_y=-0.082 left_z=0.094 left_yaw=-0.0189 left_pitch=-0.0313 left_roll=0.011 left_gripper=0.9995 right_x=0.2952 right_y=0.0008 right_z=0.1786 right_yaw=0.0005 right_pitch=-0.0133 right_roll=0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.0205, -2.988, 6.2291, 1.7265, -0.315, -0.0171, -0.0171, -0.294, -1.5521, 7.4735, 1.7753, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2abfd7388a9423d4578337137058007b70b6f1ed707bfb8bc4570d1ec45c5ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44d38b7cef8ea94caee1433c496f0f24b941370cdc62444b4de3eaae3f7d366",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c9ab86ac819dfe30859909f6a5e51f88fc626e972757e3741a40d58b1540a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.964 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]: [-0.0277, 0.7994, 0.617, -0.3786, -0.0216, -0.0334, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0185, -0.0223, 0.9995]\nstate[eef_state]: left_x=0.2969 left_y=-0.0008 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0007 right_z=0.1823 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [0.1026, -1.7162, 9.2786, 1.7558, -0.022, 0.1538, -0.0562, -0.4308, -1.4564, 9.812, 1.7558, -0.0513, 0.0757, -0.0659]",
      "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]: [-0.5102, 1.0302, 0.3679, 0.0093, -0.4061, -0.3, 0.9995, -0.0208, 0.8024, 0.6083, -0.3847, -0.0189, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.2967 left_y=-0.082 left_z=0.094 left_yaw=-0.0189 left_pitch=-0.0313 left_roll=0.011 left_gripper=0.9995 right_x=0.2952 right_y=0.0008 right_z=0.1786 right_yaw=0.0005 right_pitch=-0.0133 right_roll=0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.0205, -2.988, 6.2291, 1.7265, -0.315, -0.0171, -0.0171, -0.294, -1.5521, 7.4735, 1.7753, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2abfd7388a9423d4578337137058007b70b6f1ed707bfb8bc4570d1ec45c5ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44d38b7cef8ea94caee1433c496f0f24b941370cdc62444b4de3eaae3f7d366",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c9ab86ac819dfe30859909f6a5e51f88fc626e972757e3741a40d58b1540a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShAoKEAgSGAI4AUIIdGhpbmtpbmcSDKpyMLxtkEs1+QGn5BoMhKqnVHv7l4y0MVsyIjDGaACG+dxiJnnrehkysl/TcudTYxflcDlPMc+T2HbfoPpb5/nSOrS7HAWwSAF6zfEqoQnxsVLRz+6m3afJIcW0nWCNDwGIkG7156LKbTTkui1sLDyXnQ/djaUUope/qhlEKn7i0EsDFWkvg28HRzN8JIkFct4BhnrJVBPQi5Y2G99/lwBNVVoSTSwx0WwGhTYPUICe6RN5n0baG2RNckPypzhNTGUivIwCWxknTeSPp5/bqNpqaq6YtuEcRHRerDar8htjK9jdkmc9uvVhBLn3B1SWYbbfN4Uwyix6DvMRksrM85QWYUYDO9ABz9hNUCtxIbNgO9pPRHP2BSNR28wsvJCBYphwYusDvNuoAy8gBi4XMGOb/BVIOADPNj+9kVpZ0wJTcCrHbXk5JwG92ZppJ7vI64DmwENj3vbVFFLM5zSRvGPv1QJu4D0yayLPBj+79siKpKP33Z0dgqoh0d6eqK6wfXFGNf56aPXX7YEPLn+rD+h3v3JK4wiejBuJivyMpg389I9ByxTKOYGenaox2fHW8hDjhjKte1RnrQsokG+Hc27lyYtVs+bMzf5lkuoMmgZEXSSIvPq3iB+JJUIXCEZ46xybheUSQu3QK9jf2kuCuASyLzllm+8EiWMH3WheApc3ap9kGbtbjuTmPLAHkSXEdAkDRcNP0dj344ILHuTn+uzDOuPmTzvniiFFEpi46LOqsAHmGouON09/DTcHDB8MWYlahQ8z3BWIVz1O6M6REiqQ/mZmqOHt2I2vmAKzTOmLjbtTUXkbEqwBihlxmpbj/BGH9U4WJXW/kcSAhnW/3TPzhUoneE8PY+A7LLIJbPts/YmTtB1Fz1byLatnjtpWpnWSCG4K8CienqNL/vX+I2y5Clk/MQyjQv10aVMd4zwanvV1rHli1Ce71XEDN16BeQHBegf9TCp1oJ/pEl+n3V/7SXvmJCbClJOKRx1JrQqysDCpQ+Wv1QuZ+aSFpL/osrVJHpy2mflgwtx5IMCT/A6TXP0SByTRJ1Lv7LZX8/dKm2NAXv0YuqgxImopJd6Oji7ZDa+qwJNLuOW4hcA7iChKgJhPz9R8rMRAI0RYViO3VPkd2SgmSpfOAz8JOzmzbgmrVel3Ss3Qdr/sndV/lGUZ6ZOpl9aNWI5tBenaQ6xAqWvW/FPCqvC/jJWdAN02qpsLJNSX0cTANXIFgbS5w06v21fhvDFm+QEnNK17TqXF61sM5EVZ16YcgLSKBJx9LHhy36Dvlpdob+Wf5TBYK7TZrUngZkUV3GiWFALKrBaRSiYz3iZtdKy8o6aszx+bRhv+9B6ztp25XNftCXJkG7Bn9f1alYL98b45hcWUnCa8BqgSKs5+gK2omVb9Tqei+JIGy4rcP89lBy4YdHLH68+zFDcW1P0Nx6cfUFbrXLHgZ6KJgOhwbhu0aCHJYkgeMzrFka5e2u10tZ55XbYM7trI/YNKSpCjd6CQQblaklpsE3cgs1RaOCDJeFC016nRwiYLJXdEUdH250ae+m91xLDDya9qsWMZAMblEjVlcO0KemNtSeycp929ERlnTJMOHU726q38dnnbKFKZ0e8nqf+fYNiGxIDK6eql4xKKISQdfnhJhKJdLQGmhBBansu4sf+0kcBCQF3i8IXlTd/NifwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NyUabLDu2ezb35cEH1BRE2",
      "input": {
        "note": "Yellow marker is lined up just left of the jaw column in the left wrist view, running forward-back. Descending to table level to grasp it across.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.077,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AcJ9sGwW6ScY5HsesnnS9W",
      "input": {
        "note": "Closing on the yellow marker.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NyUabLDu2ezb35cEH1BRE2",
      "type": "tool_result"
    },
    {
      "content": "ignored: one tool call per turn",
      "tool_use_id": "toolu_01AcJ9sGwW6ScY5HsesnnS9W",
      "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]: [-0.453, 1.7035, 0.1757, 0.9516, -0.3588, -0.281, 0.9995, -0.0208, 0.8078, 0.6075, -0.3851, -0.0185, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.3191 left_y=-0.0824 left_z=0.0033 left_yaw=-0.0107 left_pitch=0.0251 left_roll=-0.0317 left_gripper=0.9995 right_x=0.2954 right_y=0.0007 right_z=0.1767 right_yaw=0.0002 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -4.3419, 2.5778, 1.2088, -0.1538, 0.1587, -0.0122, -0.0615, -1.4564, 7.0769, 1.7509, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d92d42e2091fdf25718c5f9533e64117bf21c50de5db208852501d8d9262d040",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65b33dffcf22cc06098d1c639b390a0fc2266b5a0b5dca3ece5565d9ce7ce3d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3613e9398b9092497361867e3476896c347744e0e4f91d48fce0ee762c4c8110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.946 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]: [-0.0277, 0.7994, 0.617, -0.3786, -0.0216, -0.0334, 0.9996, -0.0208, 0.7986, 0.6109, -0.3779, -0.0185, -0.0223, 0.9995]\nstate[eef_state]: left_x=0.2969 left_y=-0.0008 left_z=0.1848 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2962 right_y=0.0007 right_z=0.1823 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [0.1026, -1.7162, 9.2786, 1.7558, -0.022, 0.1538, -0.0562, -0.4308, -1.4564, 9.812, 1.7558, -0.0513, 0.0757, -0.0659]",
      "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]: [-0.5102, 1.0302, 0.3679, 0.0093, -0.4061, -0.3, 0.9995, -0.0208, 0.8024, 0.6083, -0.3847, -0.0189, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.2967 left_y=-0.082 left_z=0.094 left_yaw=-0.0189 left_pitch=-0.0313 left_roll=0.011 left_gripper=0.9995 right_x=0.2952 right_y=0.0008 right_z=0.1786 right_yaw=0.0005 right_pitch=-0.0133 right_roll=0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.0205, -2.988, 6.2291, 1.7265, -0.315, -0.0171, -0.0171, -0.294, -1.5521, 7.4735, 1.7753, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.453, 1.7035, 0.1757, 0.9516, -0.3588, -0.281, 0.9995, -0.0208, 0.8078, 0.6075, -0.3851, -0.0185, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.3191 left_y=-0.0824 left_z=0.0033 left_yaw=-0.0107 left_pitch=0.0251 left_roll=-0.0317 left_gripper=0.9995 right_x=0.2954 right_y=0.0007 right_z=0.1767 right_yaw=0.0002 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -4.3419, 2.5778, 1.2088, -0.1538, 0.1587, -0.0122, -0.0615, -1.4564, 7.0769, 1.7509, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d92d42e2091fdf25718c5f9533e64117bf21c50de5db208852501d8d9262d040",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65b33dffcf22cc06098d1c639b390a0fc2266b5a0b5dca3ece5565d9ce7ce3d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3613e9398b9092497361867e3476896c347744e0e4f91d48fce0ee762c4c8110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAgKEAgSGAI4AUIIdGhpbmtpbmcSDNoqlPIQbtHYmlidfxoMk1mZPLUrXZeft+shIjCk8MNs/LZI9iGXHpNM22I0HTYEXAeflPqA01wSZuh+CioFX2wEnY+kPn2HwkUVYr4q0QfDP72kLq8YJgxllDFlVDLIZL9+GyBeWGH1AHZpB4nlP23Z6N7AxDkVrQR5ibWCBU3UoyHL1sk5ZMHvWY+aiIpdagwtQnxG/rpH4dCrETAV0t4PO3m4wYr7cNZAYyo2/ydtV+kQt4OyV5Y6ORwYAetY1ehQkaCFpqubNt/J1oOxYjD/Oy2g9bfsWUDfY9mqf3Er2UvXfQ8PbqZhm+BAEnsMxTXXJMkQDYJMmpk9FIdO5Rkg0ffkihKtqfta4foqPFU6tBzW1glxDGoRpG2l2fT/TCwVQ1pCUJpY9Xq67YTDmD/zp8VtmMU4Q+u9S7b3AL8QpYb14kxpRGTE8OA7mXesVTtJR7t9VGvEGgDT8JCyxkj/PZu54oGpxhRrkuYqWD5lakTaMAQxgeFxCBFagsJ7iIexN+UJKTDKjU4sIaLYt1dbYHfkO2WPBqE5jK38rGOlLqB8POlQEis40Rfi9qTZ2PCYic1AhJdAZ1qLhBx/u/GMl3vclBdddlrUJ+gjQIoK1MQvfhT8I+NFY6zWrXNfsP2XXmBLCyJrvnEte7y9d0kFIFPDXYfBhJJavZvCl7KybM8fxurY/u7kjx534f7nSvFErzUSTpPY3UDgoEiXaPZ1aCk98ktnC5melK/kvNrkxEIFHWZaoBIxNcusCaBHMml62m6Ro2m+J8X0n299OpdHb1r5O2/VWOiIcMAG6HYURFsrHd6FWY4OuJRPndwpWyXxBSEZH8yZp9Sk0R4TpLmzoj2A0MiGg+CGIczfR6VF32LaihEFoe0J36DdrVUbkrNvGDaFF/cEj3F3f7XUIl5yTfvlQ5TOXSfDpFVtg9uIAbYWbzYjxkaLeAj0IGKfQq6HUcSzq6uPut/rZ6S13H/bps8BNv+koNVJaigBn3wRkIb+SpRaKjHt10wZMd9dtQr/wGo0pUJBRDcH7CzBUX7lXzFxn5GFnIIpWkYvpsR5tSdRuUk1rz6pL9JtTfqssG9lWM84Ys9AGZmEqwmeEaqhZhqfui4chcEi0R0pxqkuz8GLm9PfGA6xgbUgeOhywNYuRr1d58OvnfNezwcPqDOyoRsONb6uuFMO73gvKb1/y6ICI8gIQh7UnIosxOUFSfAREOdgIkubqyghQT6muzndGpj7ee5iWUZf441pnQ/z5sDUBv4I5t12sOb3oGBLkGWLX0466b9e62e3XT904ViPvYrbTsfMY7251OEHtJEQnB1qUdw72+y5mJ9n7kKhbXAeOHl2W+iC7P5HtP73D2r9UUPKK3spDVMAvp5DpNRkSxkDryZFcawvvEWQPFN0MRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PgtN3V3KaY6nVFM31oVzsH",
      "input": {
        "note": "At table level the marker sits left of the jaw centre in the wrist view; shifting 2 cm to the arm's left to centre it before closing.",
        "targets": {
          "left_y": -0.06,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01PgtN3V3KaY6nVFM31oVzsH",
      "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]: [-0.3428, 1.8069, 0.1528, 1.1488, -0.2905, -0.2375, 0.9995, -0.0208, 0.8127, 0.6067, -0.392, -0.0193, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3297 left_y=-0.0601 left_z=0.0039 left_yaw=0.0209 left_pitch=0.0776 left_roll=-0.0539 left_gripper=0.9995 right_x=0.2947 right_y=0.0009 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0324 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -3.9453, 1.0872, 1.2137, -0.0366, 0.0952, -0.0122, -0.0889, -1.4974, 7.1453, 1.7656, -0.0366, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8338b063fdd575cf0e9a9f8e1f2276f146d49786b33b56cda440984a15e99f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61ebcdc2a008e8fdeec0e121e74802f9802e5b6006ab0b5596a2966b002fb8e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6fb60cd13d4a0d09a40af8c7717b90a9cb70b6316a70a48515ef3aa1d813360f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 11.68 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]: [-0.5102, 1.0302, 0.3679, 0.0093, -0.4061, -0.3, 0.9995, -0.0208, 0.8024, 0.6083, -0.3847, -0.0189, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.2967 left_y=-0.082 left_z=0.094 left_yaw=-0.0189 left_pitch=-0.0313 left_roll=0.011 left_gripper=0.9995 right_x=0.2952 right_y=0.0008 right_z=0.1786 right_yaw=0.0005 right_pitch=-0.0133 right_roll=0.0002 right_gripper=0.9995\nstate[joint_eff]: [0.0205, -2.988, 6.2291, 1.7265, -0.315, -0.0171, -0.0171, -0.294, -1.5521, 7.4735, 1.7753, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.453, 1.7035, 0.1757, 0.9516, -0.3588, -0.281, 0.9995, -0.0208, 0.8078, 0.6075, -0.3851, -0.0185, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.3191 left_y=-0.0824 left_z=0.0033 left_yaw=-0.0107 left_pitch=0.0251 left_roll=-0.0317 left_gripper=0.9995 right_x=0.2954 right_y=0.0007 right_z=0.1767 right_yaw=0.0002 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -4.3419, 2.5778, 1.2088, -0.1538, 0.1587, -0.0122, -0.0615, -1.4564, 7.0769, 1.7509, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.8069, 0.1528, 1.1488, -0.2905, -0.2375, 0.9995, -0.0208, 0.8127, 0.6067, -0.392, -0.0193, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3297 left_y=-0.0601 left_z=0.0039 left_yaw=0.0209 left_pitch=0.0776 left_roll=-0.0539 left_gripper=0.9995 right_x=0.2947 right_y=0.0009 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0324 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -3.9453, 1.0872, 1.2137, -0.0366, 0.0952, -0.0122, -0.0889, -1.4974, 7.1453, 1.7656, -0.0366, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8338b063fdd575cf0e9a9f8e1f2276f146d49786b33b56cda440984a15e99f05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61ebcdc2a008e8fdeec0e121e74802f9802e5b6006ab0b5596a2966b002fb8e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fb60cd13d4a0d09a40af8c7717b90a9cb70b6316a70a48515ef3aa1d813360f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AgKEAgSGAI4AUIIdGhpbmtpbmcSDP0F+8SMS7XUmQ29fhoMZMGsgXbjk/489rVsIjCsQop2n7/zzPT4OCVpc4EaJbxjwF88dDqou+7d1gR8wMOr4QVyyPO3AHsftOrxiWsq/QdJ2tRAVPnGKSQ8QYfJmMaJBT1Rm+ydSuSnWRAEDKJzoQyiuIS3lHZ1l866PhsI50N/8B/Rj4WrVJpr9KGI/D9S+FUw3DNd1TV3C5tuapQwyl+fRbpzwqm2PT4cByhpiNT8nG/RAmJsrANyx2polrO+cWJ8LabkXWSBMqR2zmgDgRePd7XqjLS6+tx6zVsmkSpxtMxLq6lNBhIK4J19MkyZ/6N+4l7dHxsoAr1Bb3uFUueea8oeo9cUMoOUcgimrSkKhLN8M5J5yEho+gR5zejcalEzSpy6kkVAKGr2UaNyFgrrgyGKGIz0hpQOtoKBATfVxGm/TqfLWNcSxvaf+cgrPRwL27dy1aeRoFKRbb7qG5cxEoxKJINyZrly+1GisPpPf7i05iIHzCrqVAZa/+O/UxjCo7IwNWNtuAyS2Ce3hIBjIvQJUuDd2B98l1W0BFIj7g+Ldkhq4U0aYPhNUwu+P7fqQrvkGNf+9SJCdyOmZfCx0PFSoM2DqqhiLmkv1O63ND0FAMeimhqxhP/aY5fGWGvUvjkCUbCKV/fA9CSJ6GbbidRsKPzs4qI33CawqAFG6kx9IyrbSWfgbNNlhVXMvWVV3FO9OE8IzvMeCPS64Sqh7joK1mxkLqEfB/LUztsmYcFDQTVMM+AU94DyZeU5AnApQ7Ks3qa8wpG3902tcJezWpYpWH6p4Y8ltXoLfo7sh10JRHdkyVXh4eSyipWM7nK/RgQIGSUukJNKDINfrgxael3dfxVENHWYRfa7ITu0UuGXK+rF9J52sySwET9KvdSkGwyxJbZydNLvJDDy4vwv6hSu+qHP2iPCybW9JfSApgNunSsA9HQPHkFrLSQaZVn1nKjndpNEUff0JCw5+8e6GXBBzaspd1N7fMtsVhcTv4+816ZsYk/nMauTTZi1W67iBtn1YNoTFusYcZHgmZt+riZKJzZqDScvlkDVVr/riKxL8MN1gW6iVnx4O1/3qNJMhuMvMVLUb194haoWtcjaAEIahQ14Jb8dbgb5JXzGtYqCfDKX+VB7CFhuEZK/n+wFpQwawIvwWcJISteJXg0OejH2OvNXiM8OBw0RBaXjQJiqXkV8bx1Z8ne610FIchwi2BpZK4jSC2onxH6X4GQaJbq3gkdk3ZCA7M1KOyOO5dtqzBXYwvWb+ng4GfFLty3L522JkC+aPRqac3WaPtRGvkVB+xcP+O02K5zPDNr7RFdYhzP0Znk5/Qn2Fwfn3D7ng3ULkTtIFpWjLS52U37S6UpWa5bb1qhu016nsAgbeOBDM2A3LEg4sQuVfHYFfG00/SnWstGoLcEE/QGJfabVS3h7eRZIh5hrk07ATW6j/3WQ/PhvzljE0yj4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017EY5N49VusgguV1dBYxtHG",
      "input": {
        "note": "Marker is between the jaws at table level; closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017EY5N49VusgguV1dBYxtHG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.8065, 0.1543, 1.2015, -0.2916, -0.2398, 0.1998, -0.0208, 0.8127, 0.6067, -0.3923, -0.0189, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.3358 left_y=-0.062 left_z=0.0156 left_yaw=0.0255 left_pitch=0.1286 left_roll=-0.0751 left_gripper=0.1998 right_x=0.2946 right_y=0.0008 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0328 right_roll=0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -5.3265, 2.441, 1.243, -0.0806, -0.0317, 1.033, -0.1709, -1.3333, 7.0085, 1.707, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:412a57b71c8e22df3db40ed7557e2ca8093eddec117e44c5c677f4bbf0dc1a83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9fde6b30be583fabd13803bcb425296196c2a35d7153d29aebafb6450c97755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49667c868ce92e7e8e763df9c1277ef65e3341a76effa66c591241d718566ba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.933 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]: [-0.453, 1.7035, 0.1757, 0.9516, -0.3588, -0.281, 0.9995, -0.0208, 0.8078, 0.6075, -0.3851, -0.0185, -0.0227, 0.9995]\nstate[eef_state]: left_x=0.3191 left_y=-0.0824 left_z=0.0033 left_yaw=-0.0107 left_pitch=0.0251 left_roll=-0.0317 left_gripper=0.9995 right_x=0.2954 right_y=0.0007 right_z=0.1767 right_yaw=0.0002 right_pitch=-0.0198 right_roll=0.0001 right_gripper=0.9995\nstate[joint_eff]: [0.1983, -4.3419, 2.5778, 1.2088, -0.1538, 0.1587, -0.0122, -0.0615, -1.4564, 7.0769, 1.7509, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3428, 1.8069, 0.1528, 1.1488, -0.2905, -0.2375, 0.9995, -0.0208, 0.8127, 0.6067, -0.392, -0.0193, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3297 left_y=-0.0601 left_z=0.0039 left_yaw=0.0209 left_pitch=0.0776 left_roll=-0.0539 left_gripper=0.9995 right_x=0.2947 right_y=0.0009 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0324 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -3.9453, 1.0872, 1.2137, -0.0366, 0.0952, -0.0122, -0.0889, -1.4974, 7.1453, 1.7656, -0.0366, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.8065, 0.1543, 1.2015, -0.2916, -0.2398, 0.1998, -0.0208, 0.8127, 0.6067, -0.3923, -0.0189, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.3358 left_y=-0.062 left_z=0.0156 left_yaw=0.0255 left_pitch=0.1286 left_roll=-0.0751 left_gripper=0.1998 right_x=0.2946 right_y=0.0008 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0328 right_roll=0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -5.3265, 2.441, 1.243, -0.0806, -0.0317, 1.033, -0.1709, -1.3333, 7.0085, 1.707, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:412a57b71c8e22df3db40ed7557e2ca8093eddec117e44c5c677f4bbf0dc1a83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9fde6b30be583fabd13803bcb425296196c2a35d7153d29aebafb6450c97755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49667c868ce92e7e8e763df9c1277ef65e3341a76effa66c591241d718566ba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M1wuTRbVGE2RYS9w1zb3xA",
      "input": {
        "note": "Gripper settled at 0.20 (~1.9 cm), so the marker is held. Lifting it clear before handing it toward the centre for the right arm, since the right basket is outside the left arm's reach.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01M1wuTRbVGE2RYS9w1zb3xA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.1213, 0.3237, 0.3325, -0.2913, -0.244, 0.2009, -0.0208, 0.8185, 0.6067, -0.392, -0.0185, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.3323 left_y=-0.0608 left_z=0.1092 left_yaw=0.0268 left_pitch=0.1149 left_roll=-0.0738 left_gripper=0.2009 right_x=0.295 right_y=0.0007 right_z=0.172 right_yaw=0.0004 right_pitch=-0.0381 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -3.453, 8.3214, 1.8193, -0.1245, -0.0024, 0.9109, -0.0615, -1.8393, 7.0085, 1.7607, -0.0269, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac59f980c244f426eba817ba5cf233a74b1df1e49da8b0f866917f6ca5d254b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75526204d84de4d34f83f11cc4abce3935b4fca4708ecfc96562e044018a385d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be31637ff6d92d4b6e67ba7b4ffd2cd8dccd8b4f599114bea83c469d9a53acd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 12.07 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]: [-0.3428, 1.8069, 0.1528, 1.1488, -0.2905, -0.2375, 0.9995, -0.0208, 0.8127, 0.6067, -0.392, -0.0193, -0.0227, 0.9994]\nstate[eef_state]: left_x=0.3297 left_y=-0.0601 left_z=0.0039 left_yaw=0.0209 left_pitch=0.0776 left_roll=-0.0539 left_gripper=0.9995 right_x=0.2947 right_y=0.0009 right_z=0.1736 right_yaw=0.0009 right_pitch=-0.0324 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -3.9453, 1.0872, 1.2137, -0.0366, 0.0952, -0.0122, -0.0889, -1.4974, 7.1453, 1.7656, -0.0366, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3424, 1.8065, 0.1543, 1.2015, -0.2916, -0.2398, 0.1998, -0.0208, 0.8127, 0.6067, -0.3923, -0.0189, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.3358 left_y=-0.062 left_z=0.0156 left_yaw=0.0255 left_pitch=0.1286 left_roll=-0.0751 left_gripper=0.1998 right_x=0.2946 right_y=0.0008 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0328 right_roll=0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -5.3265, 2.441, 1.243, -0.0806, -0.0317, 1.033, -0.1709, -1.3333, 7.0085, 1.707, -0.0366, -0.0464, -0.0073]",
      "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]: [-0.3424, 1.1213, 0.3237, 0.3325, -0.2913, -0.244, 0.2009, -0.0208, 0.8185, 0.6067, -0.392, -0.0185, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.3323 left_y=-0.0608 left_z=0.1092 left_yaw=0.0268 left_pitch=0.1149 left_roll=-0.0738 left_gripper=0.2009 right_x=0.295 right_y=0.0007 right_z=0.172 right_yaw=0.0004 right_pitch=-0.0381 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -3.453, 8.3214, 1.8193, -0.1245, -0.0024, 0.9109, -0.0615, -1.8393, 7.0085, 1.7607, -0.0269, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac59f980c244f426eba817ba5cf233a74b1df1e49da8b0f866917f6ca5d254b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75526204d84de4d34f83f11cc4abce3935b4fca4708ecfc96562e044018a385d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be31637ff6d92d4b6e67ba7b4ffd2cd8dccd8b4f599114bea83c469d9a53acd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgcKEAgSGAI4AUIIdGhpbmtpbmcSDOnqZgd058jEvD9ScxoMs2dmNJmu8PZkI8tpIjA+ypdMReILxnugYB4zgBmBIHssQpNfkUZMoL88cOYMLaEYq3GYfqimTwvT4k8uZ1MqqwY89dAZ6BnMXBl+5L2a6aLhd9EEg0ndEipLhOlOW5/bNFTByOhkqI6eciqDzjCXWQIao4kFGXiUh0FocDGz9SVfXf0VCtZXxyJRyQdhR/ThbfzIkNX9ckF3FioJ/UfdQdYSASySqVH4pcUAmAZX46YoPY8taR3toKi0/cBrDd5jGyfzXe0Hy7EWvVGWHVOd0Hi4CW0Fu8GBIW6WETgR5Q5Eg0PbHdCdwmdm+wfyasX4fHe9Gq2yOrjPnD9L6Ko6K0Ycl3aMdwVGj7vBk/XgNGX9YoZTwtDLmJwyljN9qekys5oHR+3JWPUfpsFlbDmlckmuKgGPP2ok5oKesL+TeWMbAIpkJfF928vW2j0u+QF2QdlH+EKFAsqoUdnwgcYP+3OYXCb5hNmmbgAkDlDKEv1AxNbcZTIzgb4PbwQ4tQHbqf+iOiaEwtIyHOhJe/IAxwzxAys3u02ru7wJf9pnPepPNvV+OaT/boxgiAgy3GVNC+jOLiP+svzt941GpgJI4ftUSgfbFpGJfbq9cLLdFZjR1V3G1xTZMJLZOB3b8BTILVFNFgCbmCxIVKL15YeRi1pKAO224EKiNw4z1Uiq+60Kz1zKQ0xree6h6sZeckl2qx4x857sGMuCGTymQmboKnKtroLJOmQzm+cGcA5mYvWzoKo41AzbmP8HeYXUl6GNtfiPf+4Zs8UUuvGh6x2pxrn6sqqlw40e3cKZ4qJnZ1bh0E3MnXYXVNzSgtORgv71gKlvl35rDXTFZ7kvNB8g63i0iiHcv0eTHlJftcKsTR3RkZMafbJgSKu67DnOK25IsZAw6YAkKDSdx4K47/YCzrpNr5M2lO7BAF8XHmweLnfEye2mGr0QRIersaGuRI/za4LtfPq3IkCggCZlqY/SKTVsrGnzFVWepbRlgeZrSVgnZijO2c4PwV61SLbpo6DBxil+3M5RHvIi7KhXg/echVGjVP3CRbWWdC0f/86af2S7x8loeR2pOyxHOz9lcG7lC3lno0MyylHIeb0q8YSRUi5q7o2MScm+TGm/ZSGGosvl2h2uGzIX0hGgnEK9ax02xOKnjyow2t3c/iE1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SNZSN2azBeQ3ZJXf46pRjv",
      "input": {
        "note": "Marker held (visible at bottom-left of the wrist view). Carrying it toward the table centre, in front of the bases and clear of the teddy, to hand off to the right arm.",
        "targets": {
          "left_x": 0.2,
          "left_y": -0.36,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01SNZSN2azBeQ3ZJXf46pRjv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.4654, 1.9144, 1.2568, -0.6582, -1.0821, -1.3876, 0.2011, -0.0208, 0.8192, 0.6067, -0.3923, -0.0185, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.1984 left_y=-0.3591 left_z=0.1104 left_yaw=0.0191 left_pitch=0.0873 left_roll=-0.0752 left_gripper=0.2011 right_x=0.295 right_y=0.0007 right_z=0.1717 right_yaw=0.0004 right_pitch=-0.0393 right_roll=0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -8.9915, 8.0342, 0.5543, -0.8523, -0.0171, 0.8034, -0.3624, -1.265, 7.0496, 1.707, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808c9acf63a3d2f40506c09ca517a7ae5e3139936844bccae381a87ab9c2df50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7287d4cbadcc83977e6b8f75eed57e53b2f5aaa3fbece6a84f9d9098a7e8174d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:538a1d5747ab7ad6a3840c5da022405fe83e05552bd2b5f28780e30343feff24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.17 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]: [-0.3424, 1.8065, 0.1543, 1.2015, -0.2916, -0.2398, 0.1998, -0.0208, 0.8127, 0.6067, -0.3923, -0.0189, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.3358 left_y=-0.062 left_z=0.0156 left_yaw=0.0255 left_pitch=0.1286 left_roll=-0.0751 left_gripper=0.1998 right_x=0.2946 right_y=0.0008 right_z=0.1735 right_yaw=0.0007 right_pitch=-0.0328 right_roll=0.0003 right_gripper=0.9995\nstate[joint_eff]: [-0.0342, -5.3265, 2.441, 1.243, -0.0806, -0.0317, 1.033, -0.1709, -1.3333, 7.0085, 1.707, -0.0366, -0.0464, -0.0073]",
      "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]: [-0.3424, 1.1213, 0.3237, 0.3325, -0.2913, -0.244, 0.2009, -0.0208, 0.8185, 0.6067, -0.392, -0.0185, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.3323 left_y=-0.0608 left_z=0.1092 left_yaw=0.0268 left_pitch=0.1149 left_roll=-0.0738 left_gripper=0.2009 right_x=0.295 right_y=0.0007 right_z=0.172 right_yaw=0.0004 right_pitch=-0.0381 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -3.453, 8.3214, 1.8193, -0.1245, -0.0024, 0.9109, -0.0615, -1.8393, 7.0085, 1.7607, -0.0269, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-1.4654, 1.9144, 1.2568, -0.6582, -1.0821, -1.3876, 0.2011, -0.0208, 0.8192, 0.6067, -0.3923, -0.0185, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.1984 left_y=-0.3591 left_z=0.1104 left_yaw=0.0191 left_pitch=0.0873 left_roll=-0.0752 left_gripper=0.2011 right_x=0.295 right_y=0.0007 right_z=0.1717 right_yaw=0.0004 right_pitch=-0.0393 right_roll=0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -8.9915, 8.0342, 0.5543, -0.8523, -0.0171, 0.8034, -0.3624, -1.265, 7.0496, 1.707, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:808c9acf63a3d2f40506c09ca517a7ae5e3139936844bccae381a87ab9c2df50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7287d4cbadcc83977e6b8f75eed57e53b2f5aaa3fbece6a84f9d9098a7e8174d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:538a1d5747ab7ad6a3840c5da022405fe83e05552bd2b5f28780e30343feff24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrBQKEAgSGAI4AUIIdGhpbmtpbmcSDIRKHaeiaU02g1OkIRoMW1HlIvUOMwXSTJGbIjC1SSrdK4eMTDsu/oGAFWW+EkQxjAuAktheIXyiWbxOzIU+yy3WH09IdbEXa9PCwFwqyRO1SiyCLkyRuO5hfezewkj+QnMZLhWSwGGA47XnXq/pvmZp4q7NpZ5yrZymmmPrNFyl2lNJPyMewxjfAi8t8725+XsEemmftkAcTU4i4IPDDl7J/DkCk6Omp7UQBRQx66HnLM6VjwpEKvgJu7ydrm0csxvE472X4xf581l/oFn8dW/bQBnTqZbYwDB2O81xWCjGtlqQsYibtGzwx9/ShdngOKJD12ATK8KjV0wacKaW5rKadxCF+8wquWTQ3cq3xWFBH2BGZKswVq2Gb3A+ZrUNYXuJRxXD8X1GSGIBy9cYq9ZRoidWlScs/VCDUelrgyW5+IqHwFPmMtc7Zrv2aEBOzt5nfp4Wk4SeR31tE9DIWKhltEg0bfBmsc591zyFleQOgI/7R8D3PDh9CJm9RvIfKbLhK95kpeGp6lxAI4gF2EO4g2h9QA9UOLSVtEQEYV725lORSeMYzo6DWjCIZBUaA1BXZdueHgQ25Uv6lfSA3+eFAr4yXpsCEanxdD9QY6wv4Z+g1YVYFLSjcNI0WNz8901SHgoWqbS/U+5D7+0/5x+YzKf4aKoe+iWxs24sNoSedTXEyLk5cLByiIidV+tg401cQo3HKolgGlA71vYPQLsXY2KlnJGrrnAn7AH1CeZsoA4CM21OYQ47KjtV3CTuFfCi5a4Ei7PAotwPVNFvQE0qmlwtLUEfmwbu2JF7yGLc070E+VmT4T7VSh3jRLzv50hKber/VxAHQIBdnXbGqy/CkzPeq42iAfZ51DvDyO+GsVBCEQErc0sdSPrJTiXICWnUlGo18r0nUll1TpnSIy6oQgdnbipq+UGICOfeo6phnF7hm1yY5/G1phawr+qvZzq2rVZiqmC9vonMkNZxnkE3WEL1nNiQOD3Oj8IDEAblvuKdwTpyJHGeemVyAYa3QtJebRxbZIS+F37rO3eYlklbMBnjVlXU+RSkxuyFh2qLf0cQ6ucdONbQlGXE/FE6PChizK6fFMhdp3hoEE45Im1kfhNWHOEuXVUvd7ZT5XR/pFLDM49+gb5JGBZhwQoTC4TpqT06mRtUVP/5vhByM0x9HmRoIww3/zxCun6x+KhBhyn17wPHmaaCb+0mmwubG8OTUru6dB3Ga5BFygRgzDQBC1ytjyUcUdtumlSH41ZoCbGnBrE3CF2MTliLh7dBm/XPFeU8eJTB8YBrxclO+IVjJT3b1z3ybB++/wDf2d1YDgS0IP0HmVlAFIqSvDyjB6VnO800ryYcQZIYZnD8tXCUCU1EyHYVHD8I3Rzs9gk3FffpI090txHpi0+bE0hBNzTCwgyDDrfzcG7FYuoorsiF6/8TH/iuF8hvXb/7aE331VIZj9OH24DGptW0rmelr0B4IUsW4t8fwaPhup+kHgT3ib1lecb9J7wezqzPGG1aNIl5wob54yp4SlX8wt5z3KFb/c76NochgoypNIpPSUfug22ZpxvC1JZs6OBmUDXJuvC36rNScYYog4ilexWgtIj3hJkgX6tG6/pd8iBgNHQIhdecV7g3LroZ6v5BCm3mW5yJUdsKtUmQNh+PCeiCPoVBPCQGve1jwzMmyYmVumpWCYfqLzIkFck2mk4/N+tMLOKMHl04D1trqyvuQpu6qp87F5LGUo/xFVYpZfR+m5dB5GofObiINfVb5wKdaKDuLWDelKUDeZFb69CHSYhM2awgBQhwrvrwt2KQWwgcgxcfGFgvsqm2wGLQEbYMD9prT9cJ8FkIR7nRoNDsqq4MqC72Ctl+wNpUCtzmqCW7fZmBkdubOZ5QRJJU3d+4WOhjWVTyTfhRMDgPdjkn6fxJ6J5n2PpCbg/+hox+7EghsdiWjBidGAN1R/S/8ggaaxRMpNcXjKMaHaO+DxdBgrtuWLsgdHRBIR721CZwzHf3vYyQCEJ+2aPqio/hVPKuTgtgpcLobHzj12BEp0d4c6vz28yd9D0w5B4PZkVM3W5GdP5ma1QaTjsYtJNV9GFcqOgDtkWympKDsGcG1neHRKI9wU9IyetMJL8UEUFO/zvT21z2Nt71fJUOlgcFJIob1jaIpp61Rw1h+V/K+ig/7eb03BoB/4BckFdKi/0PUFAELiLt0lZrxt/YrkC9lrL+JDGFTgNl1g+wRVcYLeyk3ZakXXx0hqYUljJWOMHA1FpYy8HrAHBjLLS+ZJftrd17mhwfUqfJL9PwUNM2xSsW4tRLkr1vBJZ44QnAuc80WEnKfRTYydQMmoQzhBxlEPagt2aHrgCxn4CjWKnbhkKYmTbqK3JfFIkKyqhpXp19TF2utCTpPOGyxBWFMyiCMfOIROVBBx18IUMZcpoYmhhUTfEvOdECC1zYbBZwRIWLoi8V2rPcTFPYFC8LJ3nDiY9RAExY5DWRdtQqm5LqOJdFvJS/LxZuu74y6tdbsj3llrx1EDcK5mtjrHjK+0tNNti0Nu8eMV8ydVSS0NqVAh03PnT/c0zW7eb0vTumxTpal9jqJkiIvZRbcrFHpQHgEOfr/XqvItn1pfG+nxovv7+mPcbsK8D5thfZsfF+WEG0aHYQt5T3vKTNehrMmlOpf5zNHMOvycfKbZPvbmmlsSyYfllvNYUHeQEYwlnLlpTVROrThSUk2Tp85ifglCzxOSsb/AMQUxP6ZBz7npuXcfA5y0xDSldt5rIVE0x5YBHb/fHKjrkDFVxdocTLBFRhMr+FmIJ0304riVmTVxPTRBhKkP0izdE3iQbsBFLUwh4I2BtZWl8lSvS1U0/xn33I+Sq9rS6jdByhDhg4gGG+QP2cFiZ7ELSXz3iahsdQ+m4UAaHOs1oiAI1OeghSBJ/UWS4t0e5Pqm0lUeHpPyAJ9rzq/iaOW7uQtVBLDhCNmLPNI2EPY/MSeQswwF0eSJ6jSw+rVLpzjzVY/durFZgFTyKyXoorRvACyZf3WyqOaXQcvzMES/81UwEAF3L6/Rcx6feK0YqQzWEyI76E8leJ7FCdm8Rq/6Jtxr5f3L88yxadLpGEGyhN6wdNCJDIViBUUJz6lUNsn3ZZmszFL5N9nmgCquHiwtFd9+k4/VpvB9t0PX7+fdiMFWZMAv0+lW9SaNRx8GakgWJUk9J+dOP6+PRZAI5mfsdoGkjXSpNCmwGTtipU2+bKztNV7IDyLjWcd2w78AA3jbTbDiEUTt9f3RiDRtbgoCcV/QsTsvFHLO2cmgWmcARCau/XNDBaH99kDKxj+fzkGmKtnmh531y2iAamsg1pc7t0RBVQbonXi1p4EuY2O6vwLppnjFnA0heT+CIBvuCcEsNgemXS9nBYhNQp0fZ8xEajEirQKQMTvqjgGdhQs8uQPMBBeuPXqV6fKeKfnXgFH0ZSHgsvbk8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012gypybnWG3wdMm8fHpRMtY",
      "input": {
        "note": "Top view shows the yellow marker still on the table; the left gripper actually caught a brown plush toy (fur fills the wrist view). Plush toys go in the left basket, so carrying it there.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.13,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_012gypybnWG3wdMm8fHpRMtY",
      "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]: [-0.4156, 1.5261, 1.0889, -0.1177, -0.3576, -0.3088, 0.2022, -0.0208, 0.8249, 0.6067, -0.3931, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4435 left_y=-0.1242 left_z=0.2024 left_yaw=0.0409 left_pitch=0.0433 left_roll=-0.0656 left_gripper=0.2022 right_x=0.2953 right_y=0.0008 right_z=0.17 right_yaw=0.0024 right_pitch=-0.0458 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -7.1726, 9.4427, 1.917, -0.0122, 0.1636, 0.6618, -0.2393, -1.7162, 7.159, 1.7363, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c6a26d653d5ccac580bfa6db53539a9d93c2c749a43d4da628f3276e01ff4fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a8aea0bae7e05f9f0efd261c284e9a2404b7e5b90c47fac059c59ba317b998d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97003e32ab45e7b46afb6899b1af805f37b16c9233c912e52286c55c9332b612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.132 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]: [-0.3424, 1.1213, 0.3237, 0.3325, -0.2913, -0.244, 0.2009, -0.0208, 0.8185, 0.6067, -0.392, -0.0185, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.3323 left_y=-0.0608 left_z=0.1092 left_yaw=0.0268 left_pitch=0.1149 left_roll=-0.0738 left_gripper=0.2009 right_x=0.295 right_y=0.0007 right_z=0.172 right_yaw=0.0004 right_pitch=-0.0381 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -3.453, 8.3214, 1.8193, -0.1245, -0.0024, 0.9109, -0.0615, -1.8393, 7.0085, 1.7607, -0.0269, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.4654, 1.9144, 1.2568, -0.6582, -1.0821, -1.3876, 0.2011, -0.0208, 0.8192, 0.6067, -0.3923, -0.0185, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.1984 left_y=-0.3591 left_z=0.1104 left_yaw=0.0191 left_pitch=0.0873 left_roll=-0.0752 left_gripper=0.2011 right_x=0.295 right_y=0.0007 right_z=0.1717 right_yaw=0.0004 right_pitch=-0.0393 right_roll=0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -8.9915, 8.0342, 0.5543, -0.8523, -0.0171, 0.8034, -0.3624, -1.265, 7.0496, 1.707, -0.0464, -0.0708, -0.0073]",
      "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]: [-0.4156, 1.5261, 1.0889, -0.1177, -0.3576, -0.3088, 0.2022, -0.0208, 0.8249, 0.6067, -0.3931, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4435 left_y=-0.1242 left_z=0.2024 left_yaw=0.0409 left_pitch=0.0433 left_roll=-0.0656 left_gripper=0.2022 right_x=0.2953 right_y=0.0008 right_z=0.17 right_yaw=0.0024 right_pitch=-0.0458 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -7.1726, 9.4427, 1.917, -0.0122, 0.1636, 0.6618, -0.2393, -1.7162, 7.159, 1.7363, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c6a26d653d5ccac580bfa6db53539a9d93c2c749a43d4da628f3276e01ff4fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a8aea0bae7e05f9f0efd261c284e9a2404b7e5b90c47fac059c59ba317b998d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97003e32ab45e7b46afb6899b1af805f37b16c9233c912e52286c55c9332b612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQkKEAgSGAI4AUIIdGhpbmtpbmcSDDD2QAOtQpwT2PvUAxoMc4CzoIYe5+aG/rd6IjB4Cmen9nW/U8sBJpD6L0A4e3M6Y3BFrSq0kHP0O/tSSxuH9KwTF/pjmfWJOsH3Hmsq4gj/nXo5Oz8swmu2crVpQQ7EUytdPjRyX8FIB0C9+YJEMzO2nXzfn1j+e0zSlZipzSxIqR3Gznt9eKLH5rxESRmMgZkEZ9H37Y/Y7JtFu2zmkGXuBu2aOAQbEjWsNkS1byce861rA0NgBNR76CwN/7SLtDAvzlL8horrTRG0tb7zq/9S6GJsqA7QQvRyVrT4JOLfUglE/bhbmqqaqGg+xh02vHsGrbEHezjHIltURnJVSIxRHku4ebDAoAmjfWNaj+QSllFodFXd+OLRy7oIoJ+D0H7ZhGeEfLQUKTuG+e6r8AF5ViM/frvDQsKIYs4j5xwj1Kddp9Uii5LdLkZlVUykB9epIGpW9S7ZmsBjowTMAeXL/rcitoEH/U+3oS/GjnLPPTFPU+3N07dIeweVQKQJeNP/m1uvMw8KqR63Nfj+P/OOS/AxglCjpvdg2wFRAYpJ03rNbEevsQWIkv77ZWfGxadNqnLCjn0hfSNJ5mGjDHF6t3oFC9l7ytBlk/mQt4fyRdcx0GZh6CGEus6oPbUpHoQ3xUzGy+ciC3K7N31XQu8KH2wDOQF2+HPMSkR6F5EZyWadAtE85cmqfL9hss5TFFwfl2ANsv1hQ6XipVYJhhwV6XFkfnMtaQSYBkyCo8iQl8Rtffku+C3ghDK8i1qj/FpU5uf8v1Kt0L2XSRiU5wRZh0qKlJXffnjOkfjV10EtqXjRdBbnO0SpKum1rYYlzhWRXeYFXr2t5FaCMyKZiYdKtYgsmOkfogtRzUbUDB5cMV39sLBTGQwcnvVZ4cWoU6BE71vwCr0eu+Hlk8AF5VxrLgDtqbWQvYJwjU3N3+JL9+aad1L6tydLXqQ1wNTRH81wF8nhz6U8zNpaUrJqz/Wo6H/uI7ooeFbSqz+BJRSuFPpNDGPCpPBRh5AxwULvSZvCmB2yXhdSzOV668s5CIQypezvR2kd8UI21U7GtqjqEli9uBGnFsf3xSvzpmxXzPztmiJIaMOuYIJSTumVRZ69Dxbta9nZhcXuPXUDKxahgmGvtPU+bYzXjLjU5ZLrjMElzcR7t7pmI8UgYdqWHFUVzUJdkn7xrXuwBiYiahZLqzm+2CmHrBKOS3865vSa89L5tb7MAc8fDTw1sQPY2BUhS43B/SHdtSYua6hjywVVirMobpS2v780Sx9sdYIOIKwXYSc4GPyaQY0xObx8MSHQF9o/xtzFGWKS5N5YokOIk8wWMDT2YS82Dd+bFbBk9zxzeQLOhcG5yYcYN4n8AKnLTI8CHDSnJlKC+DlVMertsR7a+0PGrCkx3XXyour9aFcZLTeGM4RV6g/zmOTBEqHxWwqQsS0ww7exHlXtLcZuj31XAsJY5R4tmzpVmQrHM50f5P29FZF/gXmd5tIFiYqBWVRPoELV4papTXH9bWLbMnzvv4wjqyK9W+nycDNPhvVbUAvkhGybNZ6xOqHA6FEoGq5dcPUBf6zxlCHH7FonHWokHwuIocXGs0lMMhtrcF0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DQ3GAWaaDuXtDA8PRCteuq",
      "input": {
        "note": "Top view shows the held plush over the left rim of the left basket; shifting 5 cm right to centre over the basket.",
        "targets": {
          "left_y": -0.18,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DQ3GAWaaDuXtDA8PRCteuq",
      "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]: [-0.5663, 1.6169, 1.2289, -0.2466, -0.4721, -0.4046, 0.2014, -0.0208, 0.8249, 0.6067, -0.3927, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4374 left_y=-0.1786 left_z=0.2039 left_yaw=0.0337 left_pitch=0.0036 left_roll=-0.0524 left_gripper=0.2014 right_x=0.2953 right_y=0.0008 right_z=0.1701 right_yaw=0.0024 right_pitch=-0.0454 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -8.0342, 9.6068, 1.7802, -0.3443, 0.0073, 0.6764, -0.0615, -1.2376, 7.0632, 1.7265, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7005171c3bff4f3fa136ecd047dc4cebbcbf4b91bf49e53d6461bd08a31f284d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbf33da02ecdf94c00cb1bcfccfa846732edc8de9b722febac7a6ac1e5afe48e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:282948ec5a56b33bdd3660e0f55239a40a09bb304f4f9a7f7a1a03d67ebadcde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 7.231 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]: [-1.4654, 1.9144, 1.2568, -0.6582, -1.0821, -1.3876, 0.2011, -0.0208, 0.8192, 0.6067, -0.3923, -0.0185, -0.0231, 0.9995]\nstate[eef_state]: left_x=0.1984 left_y=-0.3591 left_z=0.1104 left_yaw=0.0191 left_pitch=0.0873 left_roll=-0.0752 left_gripper=0.2011 right_x=0.295 right_y=0.0007 right_z=0.1717 right_yaw=0.0004 right_pitch=-0.0393 right_roll=0.0002 right_gripper=0.9995\nstate[joint_eff]: [-0.4034, -8.9915, 8.0342, 0.5543, -0.8523, -0.0171, 0.8034, -0.3624, -1.265, 7.0496, 1.707, -0.0464, -0.0708, -0.0073]",
      "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]: [-0.4156, 1.5261, 1.0889, -0.1177, -0.3576, -0.3088, 0.2022, -0.0208, 0.8249, 0.6067, -0.3931, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4435 left_y=-0.1242 left_z=0.2024 left_yaw=0.0409 left_pitch=0.0433 left_roll=-0.0656 left_gripper=0.2022 right_x=0.2953 right_y=0.0008 right_z=0.17 right_yaw=0.0024 right_pitch=-0.0458 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -7.1726, 9.4427, 1.917, -0.0122, 0.1636, 0.6618, -0.2393, -1.7162, 7.159, 1.7363, -0.0464, -0.0317, -0.0122]",
      "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]: [-0.5663, 1.6169, 1.2289, -0.2466, -0.4721, -0.4046, 0.2014, -0.0208, 0.8249, 0.6067, -0.3927, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4374 left_y=-0.1786 left_z=0.2039 left_yaw=0.0337 left_pitch=0.0036 left_roll=-0.0524 left_gripper=0.2014 right_x=0.2953 right_y=0.0008 right_z=0.1701 right_yaw=0.0024 right_pitch=-0.0454 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -8.0342, 9.6068, 1.7802, -0.3443, 0.0073, 0.6764, -0.0615, -1.2376, 7.0632, 1.7265, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7005171c3bff4f3fa136ecd047dc4cebbcbf4b91bf49e53d6461bd08a31f284d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbf33da02ecdf94c00cb1bcfccfa846732edc8de9b722febac7a6ac1e5afe48e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:282948ec5a56b33bdd3660e0f55239a40a09bb304f4f9a7f7a1a03d67ebadcde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Over the basket now; releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KNa5c6BhzwRYuDDfyZVC2H",
      "input": {
        "note": "The held plush is now centred over the left basket in both views. Opening to drop it in.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KNa5c6BhzwRYuDDfyZVC2H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5663, 1.6169, 1.2285, -0.2531, -0.4713, -0.4133, 0.9955, -0.0208, 0.8249, 0.6067, -0.3931, -0.0189, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0378 left_pitch=-0.0026 left_roll=-0.0563 left_gripper=0.9955 right_x=0.2953 right_y=0.0008 right_z=0.17 right_yaw=0.0024 right_pitch=-0.0458 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -8.0479, 6.9812, 1.6581, -0.232, 0.0171, -0.188, -0.0889, -1.4154, 7.0632, 1.6825, -0.0464, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1309feb48fe90a8940f2d4c78c6868fe3aaa3eafb5c8506bfbd88022ea857deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e9e99df25a57b810d3a5bdc020f6a67d41049a2674d28ca5ddbbaa621fe889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0cd609ab7db0aaca24f7c9451f06bf144f6d514e6fc505a46105b5daedf0605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.909 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]: [-0.4156, 1.5261, 1.0889, -0.1177, -0.3576, -0.3088, 0.2022, -0.0208, 0.8249, 0.6067, -0.3931, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4435 left_y=-0.1242 left_z=0.2024 left_yaw=0.0409 left_pitch=0.0433 left_roll=-0.0656 left_gripper=0.2022 right_x=0.2953 right_y=0.0008 right_z=0.17 right_yaw=0.0024 right_pitch=-0.0458 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -7.1726, 9.4427, 1.917, -0.0122, 0.1636, 0.6618, -0.2393, -1.7162, 7.159, 1.7363, -0.0464, -0.0317, -0.0122]",
      "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]: [-0.5663, 1.6169, 1.2289, -0.2466, -0.4721, -0.4046, 0.2014, -0.0208, 0.8249, 0.6067, -0.3927, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4374 left_y=-0.1786 left_z=0.2039 left_yaw=0.0337 left_pitch=0.0036 left_roll=-0.0524 left_gripper=0.2014 right_x=0.2953 right_y=0.0008 right_z=0.1701 right_yaw=0.0024 right_pitch=-0.0454 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -8.0342, 9.6068, 1.7802, -0.3443, 0.0073, 0.6764, -0.0615, -1.2376, 7.0632, 1.7265, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5663, 1.6169, 1.2285, -0.2531, -0.4713, -0.4133, 0.9955, -0.0208, 0.8249, 0.6067, -0.3931, -0.0189, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0378 left_pitch=-0.0026 left_roll=-0.0563 left_gripper=0.9955 right_x=0.2953 right_y=0.0008 right_z=0.17 right_yaw=0.0024 right_pitch=-0.0458 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -8.0479, 6.9812, 1.6581, -0.232, 0.0171, -0.188, -0.0889, -1.4154, 7.0632, 1.6825, -0.0464, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1309feb48fe90a8940f2d4c78c6868fe3aaa3eafb5c8506bfbd88022ea857deb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54e9e99df25a57b810d3a5bdc020f6a67d41049a2674d28ca5ddbbaa621fe889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0cd609ab7db0aaca24f7c9451f06bf144f6d514e6fc505a46105b5daedf0605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MYx12qR3eJy5WKWkc7XTK3",
      "input": {
        "note": "Brown plush dropped into the left basket (plush basket). Now the right arm goes over the two markers lying right of the teddy to put them in the right (marker) basket.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.15,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01MYx12qR3eJy5WKWkc7XTK3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4198, 0.9968, 0.7464, 1.2655, 0.5266, -0.0719, 0.5613, 0.4541, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0412 left_pitch=-0.0031 left_roll=-0.0616 left_gripper=0.9968 right_x=0.2916 right_y=0.1465 right_z=0.0841 right_yaw=0.0301 right_pitch=-0.0956 right_roll=-0.0365 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -8.0752, 7.0222, 1.6386, -0.232, 0.0269, 0.1197, 0.4855, -3.7949, 8.5675, 1.5702, 0.4567, 0.2076, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164fe0974494fd471daf2bcffb3fa53029ad534165717ecd64cdb8f984b082f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb8572fc68d55a2e9484e13895f478eef8609b4d1c716d7e4c5a9723edb9f289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c1989a137f5bd0f9cd78c2e7c8e600a7bc8b31b506f910dcfe66636ca14ba9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.943 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]: [-0.5663, 1.6169, 1.2289, -0.2466, -0.4721, -0.4046, 0.2014, -0.0208, 0.8249, 0.6067, -0.3927, -0.0189, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4374 left_y=-0.1786 left_z=0.2039 left_yaw=0.0337 left_pitch=0.0036 left_roll=-0.0524 left_gripper=0.2014 right_x=0.2953 right_y=0.0008 right_z=0.1701 right_yaw=0.0024 right_pitch=-0.0454 right_roll=-0.002 right_gripper=0.9995\nstate[joint_eff]: [0.0068, -8.0342, 9.6068, 1.7802, -0.3443, 0.0073, 0.6764, -0.0615, -1.2376, 7.0632, 1.7265, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5663, 1.6169, 1.2285, -0.2531, -0.4713, -0.4133, 0.9955, -0.0208, 0.8249, 0.6067, -0.3931, -0.0189, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0378 left_pitch=-0.0026 left_roll=-0.0563 left_gripper=0.9955 right_x=0.2953 right_y=0.0008 right_z=0.17 right_yaw=0.0024 right_pitch=-0.0458 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -8.0479, 6.9812, 1.6581, -0.232, 0.0171, -0.188, -0.0889, -1.4154, 7.0632, 1.6825, -0.0464, -0.0366, -0.0171]",
      "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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4198, 0.9968, 0.7464, 1.2655, 0.5266, -0.0719, 0.5613, 0.4541, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0412 left_pitch=-0.0031 left_roll=-0.0616 left_gripper=0.9968 right_x=0.2916 right_y=0.1465 right_z=0.0841 right_yaw=0.0301 right_pitch=-0.0956 right_roll=-0.0365 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -8.0752, 7.0222, 1.6386, -0.232, 0.0269, 0.1197, 0.4855, -3.7949, 8.5675, 1.5702, 0.4567, 0.2076, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164fe0974494fd471daf2bcffb3fa53029ad534165717ecd64cdb8f984b082f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb8572fc68d55a2e9484e13895f478eef8609b4d1c716d7e4c5a9723edb9f289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c1989a137f5bd0f9cd78c2e7c8e600a7bc8b31b506f910dcfe66636ca14ba9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQgKEAgSGAI4AUIIdGhpbmtpbmcSDOwHkmLao8Yt7o/n0BoM1u3IzuEw7SQFW0Q4IjDtBtsy/kuh+DS11ICJVhus/TbgVEqVpHz+ET9U9aYNav8zziyl7BtOgierypZRNtQqngdcqBrTMItM59LzttWcycAfGVC2nQkf9aY/KRTYzd9kqm5YSqc4IQaIhE00qSTOUTlO/gNEj1Li4wn9FeRlHLWKYCOYbIrHgett4SwP6LCvpyTBZsyCBLtVzyrlXB4Yh43+54AfatQ4h327cEaZcRLNf1cvhLPOLIuXHZWEiH/fNtauUNB7EeMUcpXaAs06Te6D81DFypA/fUcUI85wqrN83NNOltTJXuCf8GR2aFkeGnUI9DfccJzskA8WD5braK377wrMCZ4ygmG0PAf9hDTsywDimMF2YoudRjSW7snRN1E61cTWfpS7hoVARRgJov5HCln1PPMKo8Wp0LmrIK+jt2uCZP+ZKAk7bQd8UDza3uqMbSQaeTBJpg3PpxegXiK3Q0LA/UeCzLbOUUEY9Iv2vSIWBeeNVquf8rqHL03xNu65vp8lieTcHzW5gyGaXw/DUPwc7+nV6vFjIvEZhRTrdk3IAE9f6j47nDMx4fVsfrRLAhOEeUk+PsZVO2p5UfnnUCN02V+qM4TElEVliOJnLS9QCo6k9lOwhtiwi8YzEfi5rDogPZXpAyvjGFtZfwvpYRZEQIWJva6WNSawyotr51qbnw6HYoIz9renCvglT9JJciR1D4XtIolQX4bwTtJyyKlzqt6f8Zp3PTL6b2V5LQgSvxIWuR/EN7jU1pSubqWobiH0p+gY7GD3qYrjfgk7kbqyFF9GEYPE8eUpWPzKQI5MRkCvvu7rd9IS5vv3TYEtfkEcUTChlz2ejRPrESV6fZc4er4hwd07FCiHhpwgBUKzqg1Je/JEHwCh4kr+PwzDPEzGrrArGJcoMSVbJcMC6C0FM9aDRk04yddRvs5TmOo9xW1fiZ+l21K55nbZ0yRoUJapMFhHrcWgPTvuZsxIwdaQJ9lbahzXztllnUS3UbW6xzGbKEHmK4aTFT1wuh/o3bMdlpuz2hPAsGmRGyXt4uu6yXC6JB8TQ8fzItK76CoIaphuqFjq44qtSSn9RJjC1Z4ZzRM9is94nw0XzN2ITfdmQmiMlafmBAI2uJrhaalc96mH2VjfCQvlHdLovfrDO3sE5FOAnLr8AFE+i3VqYqLGal29VjrdVoJFfOGs8PyWj/ZhCTD/Qqt4ZHm3Bve8zGvhAz9zqn/0od8vDQU8EXL2oyVnkUiXvb6+g0Ac7rYTeiLT9aYC0E8ymG2R6sbgZ40CbjEYNdQhcPNak0Hmsj58Q1qPCo1MMyYe9xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LAD1XY6QsQGaoKX7TjpQTQ",
      "input": {
        "note": "Right wrist view shows two markers running forward-back; the white one is just right of the jaw column. Descending on it with a 1 cm shift right.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.14,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LAD1XY6QsQGaoKX7TjpQTQ",
      "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]: [-0.5663, 1.6169, 1.2285, -0.2539, -0.4713, -0.4206, 0.9968, 0.6724, 1.6917, 0.382, 0.6338, 0.5148, 0.4042, 0.9994]\nstate[eef_state]: left_x=0.4364 left_y=-0.1782 left_z=0.2024 left_yaw=0.0416 left_pitch=-0.0035 left_roll=-0.062 left_gripper=0.9968 right_x=0.324 right_y=0.1514 right_z=0.013 right_yaw=0.0231 right_pitch=-0.0107 right_roll=0.0325 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -8.0752, 6.9675, 1.6044, -0.2222, -0.0317, -0.0073, -0.4034, -4.0137, 2.7282, 0.9499, 0.0464, -0.2076, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8529c3a69ec929cd7c787eb518be38eac0722953c6c68440af096df5ba887b4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2eb0d9717d452b059ba9c9adcfdb65558a2e35a1a0bb557217f40e363b0479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50cc1138bf939b8470478cd073f6316c166596252a02264a8f3e15581ba14348",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 4.445 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]: [-0.5663, 1.6169, 1.2285, -0.2531, -0.4713, -0.4133, 0.9955, -0.0208, 0.8249, 0.6067, -0.3931, -0.0189, -0.0261, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0378 left_pitch=-0.0026 left_roll=-0.0563 left_gripper=0.9955 right_x=0.2953 right_y=0.0008 right_z=0.17 right_yaw=0.0024 right_pitch=-0.0458 right_roll=-0.002 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -8.0479, 6.9812, 1.6581, -0.232, 0.0171, -0.188, -0.0889, -1.4154, 7.0632, 1.6825, -0.0464, -0.0366, -0.0171]",
      "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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4198, 0.9968, 0.7464, 1.2655, 0.5266, -0.0719, 0.5613, 0.4541, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0412 left_pitch=-0.0031 left_roll=-0.0616 left_gripper=0.9968 right_x=0.2916 right_y=0.1465 right_z=0.0841 right_yaw=0.0301 right_pitch=-0.0956 right_roll=-0.0365 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -8.0752, 7.0222, 1.6386, -0.232, 0.0269, 0.1197, 0.4855, -3.7949, 8.5675, 1.5702, 0.4567, 0.2076, -0.0122]",
      "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]: [-0.5663, 1.6169, 1.2285, -0.2539, -0.4713, -0.4206, 0.9968, 0.6724, 1.6917, 0.382, 0.6338, 0.5148, 0.4042, 0.9994]\nstate[eef_state]: left_x=0.4364 left_y=-0.1782 left_z=0.2024 left_yaw=0.0416 left_pitch=-0.0035 left_roll=-0.062 left_gripper=0.9968 right_x=0.324 right_y=0.1514 right_z=0.013 right_yaw=0.0231 right_pitch=-0.0107 right_roll=0.0325 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -8.0752, 6.9675, 1.6044, -0.2222, -0.0317, -0.0073, -0.4034, -4.0137, 2.7282, 0.9499, 0.0464, -0.2076, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8529c3a69ec929cd7c787eb518be38eac0722953c6c68440af096df5ba887b4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2eb0d9717d452b059ba9c9adcfdb65558a2e35a1a0bb557217f40e363b0479",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50cc1138bf939b8470478cd073f6316c166596252a02264a8f3e15581ba14348",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugoKEAgSGAI4AUIIdGhpbmtpbmcSDH2uBHhcQlPx3XmXqBoMR5fFSIit2P517s55IjDQmUXCVVfe+rSBF787KjtNAcVSADXPV1fTLoJ5dioteVbR8XAPknhmLbRTxoqLvJsq1wleyIBgZVuFokgeYIG23MJCkKYLdZ2g3RgoSMsI3naqYUbAndToRa6Fm8BTMv4lskQl1krQPKsB7bPcXhAe6ck8TW7RG9eaQBJsaxvTKPAbEm+yhH151pp6igcOfjladEyp3Wz387tZqbQbP8nwwYkpO1IB5ya0lLQEq45mpaYThReqyaUs11gq1bf2HoWX2y1PCVgm/G1buc6jAZPR4VDyd62uSk4c86P/7D69EQ96Yqj/HQKvFHEH2zOYwuW+INOu9HOo1IfLpwdE6l67edoMPWQWBS8PykvGJH5Ss3t6/HFCV8Wtwbsy9lp5NqRZXtRZBhfMZQxqR6G2mvpWFYDRW4RlyouJnmqsO1cNyxwH/ESTnhPb3jzATB8D2EPqHDeomGQzusA8XOi+9xYsiV7AZXrAx/0df32H3Rfj/gw1ByJRVmYj3WF/qqg6HtP+Avt3BTRdp7qxW1iJJPfYYM1bAZXJ9urH5ODFTyvuBx25z+lEp1sC0+sduo0DBUrFLwFccpfrgPkMml4IZMPmOH2/Xfz8TjFHR9Rvj0qvybAIqdAIpQc6LMH9Fg+NoKGu+pQDaLToNqDu3YYLQ/smOGYkE/ZS/xkF/rPSJNV34gb0AqM8nTcjBX9nax2FyECHicfhiDBH1Iu8KZpQlwUMbvCbbDaSziE8l85iQm4o+tCtxhsm1Wqr6vb6hTGdOoyP65eIkvmvIZTgrdbHhcBeG2UpF2wIT1OQNk+gKVr70R1O65iESA7vJ9NNo7seVZAOprIpTUEBgx/3wHC0+K6wHW+kinMsVJW6Jt0Z0WbL43QClLRXdfPjfY8pyLyD/xxiKHDG3Hetkgi5yXHP2nfnRjH15esCVU2xS8FogVbvk3s4TSasKLu4B5dTnAvzbLPZRbAUKB2DoXJz//OrM2WgnghREtyTJjsWQP1mwOHUTZ1OLp50CdkY3g31M+umgp//xSC2sMZ5wz7+4PKpiJtnWXFfbPTG+y/opnXuNKJzMjrwTumhCwEzygDydXmgZ3SNMyzayvxtiiVemRTZ9xKBOiiSlGzWDQLwCyeS7uJAJO4Az8ybw/MpAV6iKL9a7J/9Mtwt+UICIsDENCoUsfcuFAtW2sRQefmuj9wKpAAUuJGIuEx6XAR4H260t7hbqICArnB0EGWXFkQ58vjIGd5ABfNLtZOWidWW2HxpYPehqerw0uTE1Nn2EKn0qAjyiRNUeokANnvPZL0dWQTn+LcZZUAvy0aGdqq4wM0k2c6PxEXQ2Qfl5PvaP3yW+szfMGgHOmm+ZaBL+jFRkCIjQblJHZH4WAR3+9Yymuu9ukk4kVjDKp15MI6/IcAct2ye/Jp87IIXu4Q1l3Oe8BLS2DOWOkgXjLJIKebGgQv6dG8y/ESaYGFJ5BeAaWOOCwdcbUP6cz7SVBTi6/ez62s7tyBymUeMguiWZ2KDYYmpLsC+ghPu4qcc91AfYaLbUZvOzg5WcMJhhmHcWH3AheIC8Y6ZkQcOldNbMMkCfWmcR7zKYIhG6X77+3VWlbJRD0xrVGkHrmix+KRTAnA3KAny6w7dol6hQhW/2rDG2NUOesTssxp6kfBpfMvp+ZUseUbBsBj75IWeWeQI5bHUh2VEslYltQsPagjWztUeyqzGspyz72Le7fw4UTOXVlsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JmcgN5RVvZC7WAZck8L3hW",
      "input": {
        "note": "Both markers are between the open jaws (blue left, black right, ~7 cm apart). Centering between them and pressing to table level to try grabbing both at once.",
        "targets": {
          "right_y": 0.137,
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01JmcgN5RVvZC7WAZck8L3hW",
      "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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4202, 0.9968, 0.6262, 1.8236, 0.342, 0.9363, 0.4889, 0.3702, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0414 left_pitch=-0.0031 left_roll=-0.0619 left_gripper=0.9968 right_x=0.339 right_y=0.1473 right_z=0.0118 right_yaw=0.0131 right_pitch=0.0871 right_roll=0.0922 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -8.0752, 6.9402, 1.6679, -0.1734, -0.0317, -0.0122, -0.6769, -4.4239, 1.8256, 0.9841, -0.0317, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33a5d53466ddc530e2b6e93b27bd065d10dba9ba071d5f3abdff821911cf93b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b19fd6930bdd7514635ac6abc6933873d6b307eb8eec5d8494a850f43dc661a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73c84b08a6ca00651b9cc16618166fcab4fdff75dc223dadb8dbf404c4c56556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.457 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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4198, 0.9968, 0.7464, 1.2655, 0.5266, -0.0719, 0.5613, 0.4541, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0412 left_pitch=-0.0031 left_roll=-0.0616 left_gripper=0.9968 right_x=0.2916 right_y=0.1465 right_z=0.0841 right_yaw=0.0301 right_pitch=-0.0956 right_roll=-0.0365 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -8.0752, 7.0222, 1.6386, -0.232, 0.0269, 0.1197, 0.4855, -3.7949, 8.5675, 1.5702, 0.4567, 0.2076, -0.0122]",
      "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]: [-0.5663, 1.6169, 1.2285, -0.2539, -0.4713, -0.4206, 0.9968, 0.6724, 1.6917, 0.382, 0.6338, 0.5148, 0.4042, 0.9994]\nstate[eef_state]: left_x=0.4364 left_y=-0.1782 left_z=0.2024 left_yaw=0.0416 left_pitch=-0.0035 left_roll=-0.062 left_gripper=0.9968 right_x=0.324 right_y=0.1514 right_z=0.013 right_yaw=0.0231 right_pitch=-0.0107 right_roll=0.0325 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -8.0752, 6.9675, 1.6044, -0.2222, -0.0317, -0.0073, -0.4034, -4.0137, 2.7282, 0.9499, 0.0464, -0.2076, -0.0122]",
      "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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4202, 0.9968, 0.6262, 1.8236, 0.342, 0.9363, 0.4889, 0.3702, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0414 left_pitch=-0.0031 left_roll=-0.0619 left_gripper=0.9968 right_x=0.339 right_y=0.1473 right_z=0.0118 right_yaw=0.0131 right_pitch=0.0871 right_roll=0.0922 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -8.0752, 6.9402, 1.6679, -0.1734, -0.0317, -0.0122, -0.6769, -4.4239, 1.8256, 0.9841, -0.0317, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33a5d53466ddc530e2b6e93b27bd065d10dba9ba071d5f3abdff821911cf93b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b19fd6930bdd7514635ac6abc6933873d6b307eb8eec5d8494a850f43dc661a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73c84b08a6ca00651b9cc16618166fcab4fdff75dc223dadb8dbf404c4c56556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wgKEAgSGAI4AUIIdGhpbmtpbmcSDJxqt9EMaucuTHh9dRoMIWREzgXoVnTxWW1xIjAuutA3qNU5mZ6NaIgwVjBQajqTPNyPLLXnRiTpKeqAuSPXf6lCAe+7Qst3JNyJM0sqgAiZLyYNq4oZhShQJTTC+bM6/5rjwzVdzu0sX0rwh3kwWeX7XhttSh+bpQv7n2qnzeoudKvw99I6bJO4WBIhLCWrZwIYEy1WWd5Cu/h4WtTQ7M4y0AjcYavmcqGPuwL/mjkZahBpx1x9noIx5nRBw0Ke0pa1HtZfidMU+yn/28zUrqeij9eB+fkyzMcQ+57P4uybt5E1x2uZV1HEviFfxb0kwKHKNyGP5/YLe3wtT26x+EjI/J0EZPp7FryM/bZKYmyJRXsTTISlFR8lc4db3l+zSXlDsGymbKl574qO1f2h8t4AAcCdiRcFLuHx+gCoHej84CiomfczF5neU8ZXsHSucTTApOw1+pjyyO1w/9ZMgq9rnmqjkltb88azyd5xBGNUYaF5Pv1diO0/PnHENfaBBjgdqgyE2PDl2iDMpjD9kMpzMhlHJIiYDb00Ly6h1d/pbGvCpxpt+9735+a2mSf+170waD6ywckjzHd2Jxor5VP9mclJ4UMTkNrI9A3Ee+ZfFEiftqoEA/N7/QJMHv137qg19AnjlGy7xmN6EDDYZ43YZ0nPSzd2TQEj10JhkXOhxDU/9yC4CV2XIWDDXG5VK7as4lWEDftlotAw6mDbm/QKmjiKo/wsqFwa4dPsV4v4CkPRW0WYw7mKfGW+vd2CW5IO+dYHzNtg1EQRknGDEC+LY2E32hW8LwlcQbr9C8S07a3r6rVhB81PvfybPJt9r0QhaA3chVAMKcYLSeU5TEM153eIZhPGAUs85SvPU37Fw9TzYphqAk4tIIW7I1mc7HRqorpnaq/yanVzCcl1klmelgbHheqP6WqIuZwt9UOVB0JgalsMrpUV2xcBBhoPvYYKWHUDpYx9in8I9MakEUdNnD0sf2AjvCHqkqciwuaLLv1xBqooCKawzdhdjK9KOJaALxKPZ/fLegGyJTYV9WFT5jctkE6Lnzb2j9MstMWywV5E189YYzrTcfQyKCvI2ARsapMEElIuQWvtaEbAMejHNOKE5akX18txghhagvNgc4+stVkKGIpBkzNYm5zXhvutcx4xtTE3r7unTtk37agEU7RyEv2Z86BZ3wv0TzKpUNMj1aJtTzIsEg+RG8DCW5gKBwfsZMKoM8rldKkiFWS0bl/5Wnv4HDZPMHvL8Duq8DL2E7fotI7pO09IbSEYKG8ZbLHQZX0BW6E80ngTZA2ybKGlxDeEfaoWkVYktdeTPlkuD4KjONoBTJKCs24yWSCC3GIHp7fb4PSKgAhWwtIC+cDokeUdcAQUrIPEZz+IBzgq+V+9mO396JzuyyMJY4hKk1ess1i//PfNK+nSG+WdGQXGFjfLCBWplV2HoDNnQ4qQnYjrVVPrMmtOdgT4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015qug3YGNRDZ8HqGwH83pN3",
      "input": {
        "note": "Descent stopped at z≈1.2 cm, which is within the markers' height; both markers are between the jaws, so closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015qug3YGNRDZ8HqGwH83pN3",
      "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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4206, 0.9968, 0.6262, 1.824, 0.3393, 0.9482, 0.4854, 0.3626, 0.3221]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0416 left_pitch=-0.0031 left_roll=-0.0622 left_gripper=0.9968 right_x=0.3392 right_y=0.1481 right_z=0.0131 right_yaw=0.0195 right_pitch=0.0937 right_roll=0.0919 right_gripper=0.3221\nstate[joint_eff]: [-0.1846, -7.9932, 6.9402, 1.5897, -0.2076, -0.0415, -0.0073, -0.6359, -4.4513, 2.0308, 0.8571, 0.0024, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57445dc3aaa15ed1b6815d7f506286b937b9d97a1c6d9d531174a86119a22aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3355d4ef5ff36a6dfb1e54e75b0cdac07d320edd9326041ada98521522fca488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0f838dc8df04a35878bd23919d5e835919711c7d557d12fc43bd01682b15fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 3.775 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]: [-0.5663, 1.6169, 1.2285, -0.2539, -0.4713, -0.4206, 0.9968, 0.6724, 1.6917, 0.382, 0.6338, 0.5148, 0.4042, 0.9994]\nstate[eef_state]: left_x=0.4364 left_y=-0.1782 left_z=0.2024 left_yaw=0.0416 left_pitch=-0.0035 left_roll=-0.062 left_gripper=0.9968 right_x=0.324 right_y=0.1514 right_z=0.013 right_yaw=0.0231 right_pitch=-0.0107 right_roll=0.0325 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -8.0752, 6.9675, 1.6044, -0.2222, -0.0317, -0.0073, -0.4034, -4.0137, 2.7282, 0.9499, 0.0464, -0.2076, -0.0122]",
      "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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4202, 0.9968, 0.6262, 1.8236, 0.342, 0.9363, 0.4889, 0.3702, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0414 left_pitch=-0.0031 left_roll=-0.0619 left_gripper=0.9968 right_x=0.339 right_y=0.1473 right_z=0.0118 right_yaw=0.0131 right_pitch=0.0871 right_roll=0.0922 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -8.0752, 6.9402, 1.6679, -0.1734, -0.0317, -0.0122, -0.6769, -4.4239, 1.8256, 0.9841, -0.0317, -0.0611, -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 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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4206, 0.9968, 0.6262, 1.824, 0.3393, 0.9482, 0.4854, 0.3626, 0.3221]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0416 left_pitch=-0.0031 left_roll=-0.0622 left_gripper=0.9968 right_x=0.3392 right_y=0.1481 right_z=0.0131 right_yaw=0.0195 right_pitch=0.0937 right_roll=0.0919 right_gripper=0.3221\nstate[joint_eff]: [-0.1846, -7.9932, 6.9402, 1.5897, -0.2076, -0.0415, -0.0073, -0.6359, -4.4513, 2.0308, 0.8571, 0.0024, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57445dc3aaa15ed1b6815d7f506286b937b9d97a1c6d9d531174a86119a22aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3355d4ef5ff36a6dfb1e54e75b0cdac07d320edd9326041ada98521522fca488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0f838dc8df04a35878bd23919d5e835919711c7d557d12fc43bd01682b15fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwgKEAgSGAI4AUIIdGhpbmtpbmcSDO+qQMPPM/lDyqMEvRoM/ui5BNcQ8zG8y8q3IjBr18zN1RqmuLsLcT/TVQn1EbhWNVH0FZXKVhEXrBVcZ4Hgy8reRlK1JaZqT8arlXUqzAcf2429Py9B6oHLkhANql2OPLR5ZOJBq7BEd6oTfW3L4ADSii3WEXIYtqiEr5ZNhX1WFCGxQN5PpGDhnae1oqQBiWaK2PO24wA7o5ic10SYBaUj/JW6YXbJG9sHJjuwiJp/MTdygD2pN1jWwmu2nNDbbH7W9umFahXbQRX3sIE6SZwR42DRFzaP/0ja0dpMGlqsWh+aq3ZWwLJjUx/+8I6kJx6WtnYennJFVqiYLbqj0G6m+Mr1JmY59T78ElKfEkeUnkzuf+L3DF3ICG0CqMCUHJ85j+KLuNDKNnngf5Ey3fmzmyBF4XU4BMJMpHMmx9+Usfz3Rx1+Sw+wP1N9Mj5MZi5hew/S0xoZKDfL7sO2YrHE4oQq9WEfviSm1f4xN3HP/hLiUv8AsFIQ5YokbsoxTkbQhIdmbUbLhWhFXEhmah8WYKPqov4yURWYyydkyZHt+t6FPROOwnTxdM9a6MFATwPkMpgRTfzH5DPuDvgFpwIjGt6UVwmwLnzIi2fvFa1Yq5ZeGJGwQrJ6UW1byHW6N8C0Vp+RXf2HdXQ+VBLuaWtqbXzSfsJrTNXKY+8tFBA66AlhZCrnl5pLFAnR8N/m+Ek7X/8x9vWZQzwU8ddF2nzOqeRNMHjtU8mEOkLePqe0H14wHbOhnaIS8p9Oy80PFTPRDVXMJ5L15NBAmkjvVnPFKWsCMrVMRptbn+aUcC+DYJf/r3gtpMdgKHE5bMKhhlPB61zm6uIrD8zG0Vl+FU4Gj/oIJaQj6RjtjLvY5FwYEt+2E6Cfd532W91DDkf5q42ok9PXjZ1X7sCZLHJHMU9yzEzeyGYEZc1HQVnaSu+8ri45kKcdgehX7bQskkDj0qlEzMjDZ05qESDz+pOj2RgQrK5nAfd+33VvaJzxpAqsbVFF6lbv6YfH0OBO2ZiC47aU5ZVkh3ZJANjuJK65cKmljo4QXSZUXy8koAZqYMQCbDhGbPbJJYdpMihGEuZYFUYBIO4+d8ZoMsanVxskprueATmMSpxx8Z4pKElzYiHtGuo3hOkkjY6o8+pmiqsbo0zGp4AxFlq+RQjPhbr5fhquz+2/K+a2EoYJvdcaWo0OGvM0cSq8/iUphnSLBEhDAA06fXN4Qsc7aWwB6Sqbb/JqmbMgBDM03g26tDqwyTFRa1aWFvU8Z3Y0wFSVStYgQm3JayL7zrlLtUUPF5s80i3B2r7K44lr1TKuBtkUGC5BwWHgwqPutS6yM095/wyZFshVaWy2HstHrnGornAkVqAN8WkS5NWTxi+kDfA/006JKJ73LyMdSmDCZqQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VSeGzzx84zqPUzZQajm4vL",
      "input": {
        "note": "Both markers are pinched together in the right jaws (reading 0.32 ≈ 3 cm). Lifting them clear before carrying to the right basket.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01VSeGzzx84zqPUzZQajm4vL",
      "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]: [-0.5667, 1.6169, 1.2285, -0.2535, -0.4713, -0.4206, 0.9968, 0.6262, 1.1885, 0.7971, -0.1593, 0.4698, 0.358, 0.324]\nstate[eef_state]: left_x=0.4364 left_y=-0.1784 left_z=0.2025 left_yaw=0.0413 left_pitch=-0.0031 left_roll=-0.0622 left_gripper=0.9968 right_x=0.3405 right_y=0.152 right_z=0.2 right_yaw=0.0354 right_pitch=0.0777 right_roll=0.0865 right_gripper=0.324\nstate[joint_eff]: [-0.253, -7.9658, 7.1726, 1.6386, -0.2466, -0.0562, -0.0073, -0.2256, -5.9966, 9.6479, 1.6679, 0.3346, 0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7816380d1a84eda9b04209606c001f60011a7461fe69378ac9973409c0213c89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e6a3cb4d80b15c221329bf28ebd781e349b072a0f6860aa3ccd29b91fd89e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ddf2b8cad869c88de185dd98f596edd68f03514fa69e60162be0ea0d195c46d",
        "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 · 3.014 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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4202, 0.9968, 0.6262, 1.8236, 0.342, 0.9363, 0.4889, 0.3702, 0.9994]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0414 left_pitch=-0.0031 left_roll=-0.0619 left_gripper=0.9968 right_x=0.339 right_y=0.1473 right_z=0.0118 right_yaw=0.0131 right_pitch=0.0871 right_roll=0.0922 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -8.0752, 6.9402, 1.6679, -0.1734, -0.0317, -0.0122, -0.6769, -4.4239, 1.8256, 0.9841, -0.0317, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4206, 0.9968, 0.6262, 1.824, 0.3393, 0.9482, 0.4854, 0.3626, 0.3221]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0416 left_pitch=-0.0031 left_roll=-0.0622 left_gripper=0.9968 right_x=0.3392 right_y=0.1481 right_z=0.0131 right_yaw=0.0195 right_pitch=0.0937 right_roll=0.0919 right_gripper=0.3221\nstate[joint_eff]: [-0.1846, -7.9932, 6.9402, 1.5897, -0.2076, -0.0415, -0.0073, -0.6359, -4.4513, 2.0308, 0.8571, 0.0024, -0.0024, 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 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]: [-0.5667, 1.6169, 1.2285, -0.2535, -0.4713, -0.4206, 0.9968, 0.6262, 1.1885, 0.7971, -0.1593, 0.4698, 0.358, 0.324]\nstate[eef_state]: left_x=0.4364 left_y=-0.1784 left_z=0.2025 left_yaw=0.0413 left_pitch=-0.0031 left_roll=-0.0622 left_gripper=0.9968 right_x=0.3405 right_y=0.152 right_z=0.2 right_yaw=0.0354 right_pitch=0.0777 right_roll=0.0865 right_gripper=0.324\nstate[joint_eff]: [-0.253, -7.9658, 7.1726, 1.6386, -0.2466, -0.0562, -0.0073, -0.2256, -5.9966, 9.6479, 1.6679, 0.3346, 0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7816380d1a84eda9b04209606c001f60011a7461fe69378ac9973409c0213c89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e6a3cb4d80b15c221329bf28ebd781e349b072a0f6860aa3ccd29b91fd89e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ddf2b8cad869c88de185dd98f596edd68f03514fa69e60162be0ea0d195c46d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvQcKEAgSGAI4AUIIdGhpbmtpbmcSDDUmY88IcxYxCbal1BoM+zQdma2kamH4CtD7IjCdNgVR8NdUzhA7WQTJliE+nA6Tr5z5dINOGwyErvr+nyiubPVoSc2PtsoOGHz9WiAq2gYdB70ovQpIgre1TDfhsHyL7qlZtPxfCw0u+T6cKEm9+/5tKCoENSRoSeu/LU9gZdZnpW1g1ku/Vp4rbyhNKTU3nKc/58PkF3m+hJwechu07e3y/dqTaBAomxAPJ4faf1Lt5JX7iyXtj2Wv7NV4oz+B5w3o0ZZyvTrNTFejkM9IyFQt9WTds1SV88aYuAW23nBaYgSMiFaGdhjzrvRz2RUf5q5cijNjExeIvEr5yJxW/5hez+7+kFzCO7JXvIeSPnOHF9kX8pfmDw8SSFABpGyFtj/WpGzx3T3NEL6mmFfKaDrnR4tALoH4lwGsIuxfUnbiefnUI9KVkIvJylc8Ik9CR9JcKa1gDNkVFdTFauFJB0Sgthzi0exc/PokVsJ/u7NJbsDquwRVc1oBqVp5NtJp+vnErI5VDzrdGxOO1eKK+5bfadV72GKhr1R3E95FTPWI/g+CbE6hPFeAietbCKaXvoKJMo/cKmSukri7j7ijWnKKJH/CIa4iaJbL0tV+GjspQ9q4TVvPmIc6m+MSq6yZOIy+10bkxngsn2YU5SjHEudk3HSBg1l9owBCki5B8JINAuOfJ32TrH+COk5//a9rpaMZ5U+KRmglElOfRm1l8bZ9aVpBWH3uy2DxSBcMhgSBpjrLqB14Eeys4MRolFoqQ6BvnYKWfOMWueT0poWSV7uwbV+LvSPTG+qrf2GNr1/fIUUIhb456v9duslVm7UcZzULmViNK5khqfkbyiCt1sX0UaRAgyv6HfSjlqJFzq9osHW8qkNiah3wcZ0EoR88KvbHuQtvVnNGHcy20sC9WrdFLuln7hKzdMMvB3ykc7SxEZ4nfJEkTi8LDAlEbQ+FaBniipu1VZNhtBYefntcX3L3bGCiqiBggoyyqmQaHOjfoHqtoeejiHqkJxfITidrwZ0zHeKIh9PU0JEjzQZkwPQjmZZ28EhXiEePU9T9PTUB9sfiXOs21iQDLfge0VVDi+LOlEvji9DuyasuQhyKPpXMhoYl1XneZ8peK4u2weZnv9LTfDAIvBTu4vaUlUiDqyEoPjpR89CtjzoUl+BOseLeGeCOic/zHKP5k6njY1oEPfLMr89PI8FvA1OUg4Wh6SLW3AmoSnH8Tos+sPp4V0ViNCZXkaAEWnwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0188HuHEG7HzZBYxewRPpubR",
      "input": {
        "note": "Markers lifted; the right basket is straight ahead in the wrist view. Moving forward over its centre.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.15,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0188HuHEG7HzZBYxewRPpubR",
      "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]: [-0.5663, 1.6176, 1.2285, -0.2543, -0.4717, -0.4206, 0.9968, 0.408, 1.607, 1.1648, -0.1257, 0.281, 0.2394, 0.3244]\nstate[eef_state]: left_x=0.4365 left_y=-0.1781 left_z=0.202 left_yaw=0.0419 left_pitch=-0.0043 left_roll=-0.0611 left_gripper=0.9968 right_x=0.4577 right_y=0.1484 right_z=0.1964 right_yaw=0.037 right_pitch=0.0211 right_roll=0.0641 right_gripper=0.3244\nstate[joint_eff]: [-0.1436, -8.1573, 7.0359, 1.5995, -0.2173, -0.0513, -0.0073, -0.5538, -8.6222, 9.7299, 1.8632, 0.0562, 0.0024, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf73313af6c96374a4d4b2982063666c98221f3733506febf8c2d1e054e3226f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e102ea58886e007abcd31fe90fb38d4aecd7aaec6d2efe004433ba2116412d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:094e7fddde051c18f333d2be494b07378cea7fd90a8a92b73f44d3102e9144c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 7.231 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]: [-0.5663, 1.6169, 1.2285, -0.2535, -0.4713, -0.4206, 0.9968, 0.6262, 1.824, 0.3393, 0.9482, 0.4854, 0.3626, 0.3221]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2025 left_yaw=0.0416 left_pitch=-0.0031 left_roll=-0.0622 left_gripper=0.9968 right_x=0.3392 right_y=0.1481 right_z=0.0131 right_yaw=0.0195 right_pitch=0.0937 right_roll=0.0919 right_gripper=0.3221\nstate[joint_eff]: [-0.1846, -7.9932, 6.9402, 1.5897, -0.2076, -0.0415, -0.0073, -0.6359, -4.4513, 2.0308, 0.8571, 0.0024, -0.0024, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5667, 1.6169, 1.2285, -0.2535, -0.4713, -0.4206, 0.9968, 0.6262, 1.1885, 0.7971, -0.1593, 0.4698, 0.358, 0.324]\nstate[eef_state]: left_x=0.4364 left_y=-0.1784 left_z=0.2025 left_yaw=0.0413 left_pitch=-0.0031 left_roll=-0.0622 left_gripper=0.9968 right_x=0.3405 right_y=0.152 right_z=0.2 right_yaw=0.0354 right_pitch=0.0777 right_roll=0.0865 right_gripper=0.324\nstate[joint_eff]: [-0.253, -7.9658, 7.1726, 1.6386, -0.2466, -0.0562, -0.0073, -0.2256, -5.9966, 9.6479, 1.6679, 0.3346, 0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5663, 1.6176, 1.2285, -0.2543, -0.4717, -0.4206, 0.9968, 0.408, 1.607, 1.1648, -0.1257, 0.281, 0.2394, 0.3244]\nstate[eef_state]: left_x=0.4365 left_y=-0.1781 left_z=0.202 left_yaw=0.0419 left_pitch=-0.0043 left_roll=-0.0611 left_gripper=0.9968 right_x=0.4577 right_y=0.1484 right_z=0.1964 right_yaw=0.037 right_pitch=0.0211 right_roll=0.0641 right_gripper=0.3244\nstate[joint_eff]: [-0.1436, -8.1573, 7.0359, 1.5995, -0.2173, -0.0513, -0.0073, -0.5538, -8.6222, 9.7299, 1.8632, 0.0562, 0.0024, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf73313af6c96374a4d4b2982063666c98221f3733506febf8c2d1e054e3226f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e102ea58886e007abcd31fe90fb38d4aecd7aaec6d2efe004433ba2116412d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094e7fddde051c18f333d2be494b07378cea7fd90a8a92b73f44d3102e9144c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MPBmBdmkDEZPpm53Lw5bjP",
      "input": {
        "note": "Markers are over the middle of the right basket; opening to drop them in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MPBmBdmkDEZPpm53Lw5bjP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5663, 1.6176, 1.2285, -0.2539, -0.4713, -0.4206, 0.9968, 0.4053, 1.6218, 1.1679, -0.123, 0.2756, 0.2325, 0.9949]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2021 left_yaw=0.0416 left_pitch=-0.0041 left_roll=-0.0616 left_gripper=0.9968 right_x=0.4599 right_y=0.1489 right_z=0.1914 right_yaw=0.0425 right_pitch=0.0117 right_roll=0.0577 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -7.9658, 7.0632, 1.58, -0.2076, -0.0317, -0.0073, 0.1436, -9.306, 6.7214, 1.6386, 0.0855, 0.0855, -0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bab823e6154bbe04e0d53012dbe32fe5c6b2c8817a6add36b6b5a50f7b99435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0939920a5568063ceedc2f95d5c841b4aa2125340c8249f0f691bc14a2a00f91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f9862213b52254039a33c1a57e5103aecb8ec45237bde3c6dd5a192194876d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 3.735 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]: [-0.5667, 1.6169, 1.2285, -0.2535, -0.4713, -0.4206, 0.9968, 0.6262, 1.1885, 0.7971, -0.1593, 0.4698, 0.358, 0.324]\nstate[eef_state]: left_x=0.4364 left_y=-0.1784 left_z=0.2025 left_yaw=0.0413 left_pitch=-0.0031 left_roll=-0.0622 left_gripper=0.9968 right_x=0.3405 right_y=0.152 right_z=0.2 right_yaw=0.0354 right_pitch=0.0777 right_roll=0.0865 right_gripper=0.324\nstate[joint_eff]: [-0.253, -7.9658, 7.1726, 1.6386, -0.2466, -0.0562, -0.0073, -0.2256, -5.9966, 9.6479, 1.6679, 0.3346, 0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.5663, 1.6176, 1.2285, -0.2543, -0.4717, -0.4206, 0.9968, 0.408, 1.607, 1.1648, -0.1257, 0.281, 0.2394, 0.3244]\nstate[eef_state]: left_x=0.4365 left_y=-0.1781 left_z=0.202 left_yaw=0.0419 left_pitch=-0.0043 left_roll=-0.0611 left_gripper=0.9968 right_x=0.4577 right_y=0.1484 right_z=0.1964 right_yaw=0.037 right_pitch=0.0211 right_roll=0.0641 right_gripper=0.3244\nstate[joint_eff]: [-0.1436, -8.1573, 7.0359, 1.5995, -0.2173, -0.0513, -0.0073, -0.5538, -8.6222, 9.7299, 1.8632, 0.0562, 0.0024, 1.0085]",
      "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]: [-0.5663, 1.6176, 1.2285, -0.2539, -0.4713, -0.4206, 0.9968, 0.4053, 1.6218, 1.1679, -0.123, 0.2756, 0.2325, 0.9949]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2021 left_yaw=0.0416 left_pitch=-0.0041 left_roll=-0.0616 left_gripper=0.9968 right_x=0.4599 right_y=0.1489 right_z=0.1914 right_yaw=0.0425 right_pitch=0.0117 right_roll=0.0577 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -7.9658, 7.0632, 1.58, -0.2076, -0.0317, -0.0073, 0.1436, -9.306, 6.7214, 1.6386, 0.0855, 0.0855, -0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bab823e6154bbe04e0d53012dbe32fe5c6b2c8817a6add36b6b5a50f7b99435",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0939920a5568063ceedc2f95d5c841b4aa2125340c8249f0f691bc14a2a00f91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f9862213b52254039a33c1a57e5103aecb8ec45237bde3c6dd5a192194876d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgsKEAgSGAI4AUIIdGhpbmtpbmcSDLIUkbmOdPSiNCvqJhoMYXUdfKMtBDme55K5IjDB2qrB+BHVf+2kTettS0fSAlT8m94PrFphZ593fRCThbpJg7EuZEsSZ2UG+PLWYVwq2wr+MGA593PapqiHHuEW799D+ov23iUdG2jzZSMJCq1VkmtSBk0I4iCH78PN6BIhKYs/Cl3Dh4zStsUzwbuNWv8tleuZrSib4MjhUIm1SILrAyMJSXVsaZhBvaAqnL7+4DHynL93iQ5Q+tjO/ygIBkf2RFGyViNRfKnDf63/Ni7BS+O4H/kc/XYmqvJKys1bnOLtUyPqWmj+e157wFYe6dyKN8PCP4WPlFQfFM/ZpSnK6DexVNGYhL74nELoT1YG6tpjxuiGt7RZBuKKGJHnkEk9NNRMvVGK6kOqk9Ud6un42uDD5/irZB8aJGXYTwt2TN8qikZHFQkMG1KYWmnO1hImjJrmwmmIhI99nt3LNuC4uE+S87HRApC73RhmW+AczyqHWm8g/giMNfRbXQkozbjtv2kk6xcZ/FJKaIw++JZHnOOBhJp9Y/F6SyJCwvXW9JuhhKKxaUYs2P0Pg81GXjxsaWWGb13Ezlqtuf/hki+BIMlx4/h2/iHpqDYcZTRIVwEQeSOQaiyJqS7aNCqLCUdIfLULLPghgb82rdrYBTc76jsBiNJVPhV6XT255vUnVeDjt4/fjIykgXvyKnkzhjy7iVURUeUa3HzKl9iJRfgR/lh1D7EKoxT+l3/RcbBJQtvnT2iv63hYyFeCKpY7xit55CtiAuLK7rc68I0P0HVBIOftjKo1ioRvDAPRddcULRank4rptCsWarU8ighD7K8TSe172Tj5BKGEze5ZM5wj24uHxm6NPamOgBdOB60AYhXhVcpsq0KO4PbaVE9ogjU80P28sayjq+poiLF4hzHT0HwYD/7xEOSp6KNRTFpXBoBvj9f9Zl5gc/rEcQH11yk9DUV6B6qyuYbC7bl7fMVdKfzIgYa4fbQwfAdKuxvchvaVw0D4sliM2KQPYKNMglY3Ks9wQFr/h8TMzFpV0cQOkl2O4fy7Si+AEJSjQheB2uzgTRVZ8BOCMQkcPNpVeN40VtGPwt0LUy8ycZFutsrQPF4bNJRucC7R0yH2/ikofV01rjuJR5Pkx7FhPWXVcuHP2Cff8qECp5RaEReIgrfYD8h3KFho/3LXyQ4Kk5ASNdKfx2VL7h6KGvLzN+XkkPJN+4U9AD2DUKfx3YKyPvajoElvSAgBRVHpPbkCfDzcuMJKh+qmBC/odxTexDB0vxEoCTEPHeGKPr2va0rfW8vicny6xp+efh9Bg5olpWSkMQo/yUHmMUqzRSWj99XuPVuLPXQFobErjOfD3lE7h7fmyF5j7UAvN8mNaXulZBTV2Mk6AQsXGoSKH+RXwzRCHEI75FRQYoe9vKTWsasvbiQvvghVK+3hp02fBvqNn5trqru2vurrgbtTtCifdUaxTlB/xRVL67nCh/YVeiiTskKrblDWt4zqHD8jtH3K1lC4k207SKipJMNoJNCh2FIePC9G2MwX+CX6nhke9C93m6SiznjhOM/45jnMVAd9i4RRO5fplFlLOSKC1l9DCyCRs7Wb98EYFMNU6fewMi5ffRkNX+dEd/J1Fie7GMiLfXmISF8VZiqA0cdiLVCRg4b0KiT7W3oKCkdgXF32X2wtXoOvj9bSMYQKplPmeI6J1TVahTTNn1+JpY9IYoZk2GYfADZmV3CvlxHSsrs7A8vhe5A7RzrUd4hqaDUbcYtQBC5kc2tDQasFPkLn0yctb5ts7UHTItB9zhKTDdiL/9P5iSC46oe6+txeff7VK8zNf67YyVQb4AlEPTKyENpAp+6Ka+vSJW7w/bp9+EBxUZQ7qP8TD+gRqLevVzB/nyw7C5IRa6N2d43TpAKsXe+IRWp4YraVjfQvaoNQ5lmJbT8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q2vawFVrRyqryzho7u4utP",
      "input": {
        "note": "Both markers are in the right basket and the brown plush is in the left one. Next, the left arm goes over the tan teddy in the centre to put it in the left (plush) basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.27,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Q2vawFVrRyqryzho7u4utP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0565, 1.5978, 1.0317, -0.3073, -0.7883, -0.8097, 0.9968, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.2314, 0.996]\nstate[eef_state]: left_x=0.3046 left_y=-0.2771 left_z=0.1461 left_yaw=-0.0053 left_pitch=-0.012 left_roll=-0.0735 left_gripper=0.9968 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.996\nstate[joint_eff]: [-0.0752, -6.1744, 5.5863, 1.2869, -0.5983, -0.0562, -0.0073, -0.1026, -8.1162, 7.0085, 1.6874, 0.0415, -0.0366, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2580f7cdd9b4882c37bb03b826b20f8800a55f87f5f25f87b7b01b131853cf72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bf883ec5d6f520be79a8871339a750ac79451512453ee489e2b7158c3b5e7ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08e5a6d16bf64542c32b5e6edb31370783546d64475445043c8a7fff2b8e3af1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.776 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]: [-0.5663, 1.6176, 1.2285, -0.2543, -0.4717, -0.4206, 0.9968, 0.408, 1.607, 1.1648, -0.1257, 0.281, 0.2394, 0.3244]\nstate[eef_state]: left_x=0.4365 left_y=-0.1781 left_z=0.202 left_yaw=0.0419 left_pitch=-0.0043 left_roll=-0.0611 left_gripper=0.9968 right_x=0.4577 right_y=0.1484 right_z=0.1964 right_yaw=0.037 right_pitch=0.0211 right_roll=0.0641 right_gripper=0.3244\nstate[joint_eff]: [-0.1436, -8.1573, 7.0359, 1.5995, -0.2173, -0.0513, -0.0073, -0.5538, -8.6222, 9.7299, 1.8632, 0.0562, 0.0024, 1.0085]",
      "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]: [-0.5663, 1.6176, 1.2285, -0.2539, -0.4713, -0.4206, 0.9968, 0.4053, 1.6218, 1.1679, -0.123, 0.2756, 0.2325, 0.9949]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2021 left_yaw=0.0416 left_pitch=-0.0041 left_roll=-0.0616 left_gripper=0.9968 right_x=0.4599 right_y=0.1489 right_z=0.1914 right_yaw=0.0425 right_pitch=0.0117 right_roll=0.0577 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -7.9658, 7.0632, 1.58, -0.2076, -0.0317, -0.0073, 0.1436, -9.306, 6.7214, 1.6386, 0.0855, 0.0855, -0.1685]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0565, 1.5978, 1.0317, -0.3073, -0.7883, -0.8097, 0.9968, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.2314, 0.996]\nstate[eef_state]: left_x=0.3046 left_y=-0.2771 left_z=0.1461 left_yaw=-0.0053 left_pitch=-0.012 left_roll=-0.0735 left_gripper=0.9968 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.996\nstate[joint_eff]: [-0.0752, -6.1744, 5.5863, 1.2869, -0.5983, -0.0562, -0.0073, -0.1026, -8.1162, 7.0085, 1.6874, 0.0415, -0.0366, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2580f7cdd9b4882c37bb03b826b20f8800a55f87f5f25f87b7b01b131853cf72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bf883ec5d6f520be79a8871339a750ac79451512453ee489e2b7158c3b5e7ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08e5a6d16bf64542c32b5e6edb31370783546d64475445043c8a7fff2b8e3af1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwgcKEAgSGAI4AUIIdGhpbmtpbmcSDCKAFimbiNou1uiytBoMN07DUHXMRdSiwzVpIjAEZxwAb9KXqpUWAN4btOf5VPoiRIONe+leGcpMw7yFtsnDfXbuz5Z95JWlFTXg6M8q3wa/MnJSSOCFoWb368gZ8gxe92wCzNrajvWcSYfq3uEDLGUh9zTDM5v6Hp8VfZmiCN8d5CeFyeZd7rbk5XHjlDRvC9YX9Z5KhGGV0Q6r3dEhbeeopVEFiadbT5VrNqOEECU7OGGqCULdN2zY/tG5Fy8qMUyz3jTbnXjBcq6TtnSYR3aA0oKen9veAWVKsWRFDZsQNJ8PBJ1a0BPDb1oFxUrPCzAW4uGeq90Ea0ZyjYV2xjeA2oq4O72hE2l/qWJoTg4fB4uHRtikBhfdgF85sk7OgwsjB9VD2tvmU4h5cp7eaNKK5y61VS2/oK5R+B71O8Eh703OshQZZ+Zu1ZZaNpYgCciedxBTIadoAyVuIkRNqGmLLWnhhesEJRMEjKSu//97cq9CMBWnsCZknDj6CwEhMTO6MqblzSp8PssHiyWl6EQvnl5UYKWy0Phot0B9Boo3XQVfAK7X5ZLQ9dh4sH2Wof4ASkgCYhDOEzzCeaNmhWmd5VSu+Y2JS4rnPL6CPkexCtySjejmM+YM+xDfK8PKXoYm3d5PC6pJW+KchahMQv0zhVMxPiF1zzu2QjJc7wu/3cs4OFQX02f4IfmBUYcUm/+RODkbiuxTylyKGSWQQ3sD7pVb428DaYh4AMetSoL2dafWFsfC/oTmz9jyYi+iCkDk3MwPGfzZ7sJ9d9FGa1b2WL5YR2eRzwocnbY/CBl+enqu1oZTPBov2ozrnNH0b/UB73jesNCkG1w2X7PG2ZV1RgJD6WOiVG0uWKZDDptb4kVeLizS+3spr6T3l0tePX59Gtr7OctVXVrHHrQLx2XO4lwKpwDj8EKczbLFhglN07H0OT/jbNfCZ1DwDBsWzcEvB/w0LjxsITOjzI7QlF3Uut1ZWnrOVWYqgRBrUAmnq13xwLXu7xeVVflg9yA7uKfeFIrV/C9pKGI2GvAe/NJiS2einWZTyLBJzSLUBFSo1FMyw+ySF9nw97l/2akPgHaD5nYp6EfObo/MJgkghsFrbHn2+q+xX1L1Ai/lNVy5r/p/dTTT4MzChI1aSZd9lCIpP/Wf13GT+brDRkvEIgmXC4rEqoVuQ4oFN/sNcy36loGBGsVEfmaDp+yWaIrVjv+Ng7gnV+nU2v4xJdb9gOvLsMb8HrX/fCfleKYSQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018jRLCFwK1ESVfW2LEzr4js",
      "input": {
        "note": "The teddy is directly under the jaws (its ear/head at the bottom of the wrist view). Descending onto it to grab it.",
        "targets": {
          "left_y": -0.275,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018jRLCFwK1ESVfW2LEzr4js",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0527, 1.8362, 0.8047, 0.2047, -0.865, -0.7925, 0.9969, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3139 left_y=-0.2719 left_z=0.0516 left_yaw=0.0404 left_pitch=0.0615 left_roll=-0.0721 left_gripper=0.9969 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -4.9026, 3.0154, 0.8718, 0.696, -0.1783, -0.0073, -0.1846, -7.7197, 7.0222, 1.6679, 0.0122, -0.0708, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b115f0c21bfc4de0fe0d03bed8e41fe39e3a3a7d4099c868b92d077d39c2ab7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a919696639d640da7dd69f96cdda22ab94079d99c949fca8b48952908de8650",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:650c8e0baf488249fd98b029ce37e2b952632e46179173c69111a5e7820e219c",
        "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 · 3.685 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]: [-0.5663, 1.6176, 1.2285, -0.2539, -0.4713, -0.4206, 0.9968, 0.4053, 1.6218, 1.1679, -0.123, 0.2756, 0.2325, 0.9949]\nstate[eef_state]: left_x=0.4365 left_y=-0.1782 left_z=0.2021 left_yaw=0.0416 left_pitch=-0.0041 left_roll=-0.0616 left_gripper=0.9968 right_x=0.4599 right_y=0.1489 right_z=0.1914 right_yaw=0.0425 right_pitch=0.0117 right_roll=0.0577 right_gripper=0.9949\nstate[joint_eff]: [-0.1436, -7.9658, 7.0632, 1.58, -0.2076, -0.0317, -0.0073, 0.1436, -9.306, 6.7214, 1.6386, 0.0855, 0.0855, -0.1685]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0565, 1.5978, 1.0317, -0.3073, -0.7883, -0.8097, 0.9968, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.2314, 0.996]\nstate[eef_state]: left_x=0.3046 left_y=-0.2771 left_z=0.1461 left_yaw=-0.0053 left_pitch=-0.012 left_roll=-0.0735 left_gripper=0.9968 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.996\nstate[joint_eff]: [-0.0752, -6.1744, 5.5863, 1.2869, -0.5983, -0.0562, -0.0073, -0.1026, -8.1162, 7.0085, 1.6874, 0.0415, -0.0366, 0.105]",
      "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]: [-1.0527, 1.8362, 0.8047, 0.2047, -0.865, -0.7925, 0.9969, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3139 left_y=-0.2719 left_z=0.0516 left_yaw=0.0404 left_pitch=0.0615 left_roll=-0.0721 left_gripper=0.9969 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -4.9026, 3.0154, 0.8718, 0.696, -0.1783, -0.0073, -0.1846, -7.7197, 7.0222, 1.6679, 0.0122, -0.0708, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b115f0c21bfc4de0fe0d03bed8e41fe39e3a3a7d4099c868b92d077d39c2ab7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a919696639d640da7dd69f96cdda22ab94079d99c949fca8b48952908de8650",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:650c8e0baf488249fd98b029ce37e2b952632e46179173c69111a5e7820e219c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AYKEAgSGAI4AUIIdGhpbmtpbmcSDLqb5Pis39hSdxaQKRoMkKTOcXQ8h6UXIr9fIjC22qDCnP2PbjOfLf4Yk33PLqi0d2w9YmDcp4OfAxogYDXid6bZtPnHhXQ81H7wmSoq/QV2Nk17VLBqiiyUyrzJUHDGHzpbwrwyi2zSMPSlGoJ+gdXQLBIlb+dYBP9bqVZom7Rco1MC1IinvxBqRj6+GBYgRpjSCq10vWzB9klYilV6FVdtmqR6M+FgJf7unOyaDcOFu2RONOnUh3kcEOxsAYYMaMr/mPNJyl0gVhFhrysYT2JMNzu/TQZjER7neuXGoip/WqVQr6OqkskklpmMCB0TSfSQmt9NcKcXbSeMdvxkoy8p9bbUxyhOjHAj3rzhgWzc9hPxMpp0Ax8tPuEx4lW55QJRIB14XnUTr69ylvmTyd45Nhlr45iCeTwzTM+02jWT+cMS4D9B3TKqYbbq+9KlsZfotOVksYQBuR09TaYGCllnnUhCkz92mk97TpwGPs1MvT9fXGBfOMGO37XSP8KS1pcmk/B8mLf6trtFbkqwm7YMydBjwOIzvmCcjU5J4Jn7lWnV5nCrJYyaW2IZ6tALWjyL7zjtOrsXmCUhafbBgOE/u1QkjRBacLumbt+1UyxAe6hYIEJ77V2FPnTAVv1yDbI3aHUczOrP67bb6SlpJ/M0jvP+PaU2QwZ/yspp1Ye3FrvYoXwrtDaykLk/hOOlJMUHyVVlGF7woIgMNaAzFep6zHaS+7nWfCaLbcaMH+2PkLo+U7ok/z7fAqabOq8ei8eG9jVlEBVDKHq8AjB64dJeVRRCU8sEkIrLqZs+EpNlYZjuyNnWrcK7JB3MjmpFMzMewjXwO+4pdv8kSJ6cPUPa9EvZbKkCRivmo+XgLki8QcFzlUZvG/WSLj0TmutGCAqQZNaB+OnCvz4hVWY8GKf6ABIDE2uQEXnAm6zBDnoFX8TJM767dr0VrNgCKD9jeq4L7qn9F2VKo7YHSlBhDRPvEtrr598x3HKOjtfpfqsHdQUOwMI8o015PzOxcMD3fV8dt336J6wTAMpeTAK/4nRewHg5Bo3MUadeAIM4tHlSXRVxMkD07OjDq4izdtYYUFaPBaYeGTQ9tUcBOvoioGzvV9eoiMXZSlLLJDoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UoWrgKM4dA2GhgmNQWck1c",
      "input": {
        "note": "The descent stopped on the teddy at z≈5 cm, with its ear/arm between the jaws. Closing to grab it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UoWrgKM4dA2GhgmNQWck1c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0447, 1.8381, 0.7971, 0.2474, -0.9016, -0.7856, 0.5801, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3195 left_y=-0.2671 left_z=0.0576 left_yaw=0.0714 left_pitch=0.1005 left_roll=-0.0837 left_gripper=0.5801 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.8, -8.2256, 5.7368, 0.9597, -0.0122, -0.1001, 0.7643, -0.1846, -7.9248, 7.0632, 1.6825, 0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcb4b5d7330631cb82074a6f09ce0f088f72737819f931c5c757163d44de9981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bdfb083d62b32cc80120d61b6dafae7afefc789edd88167332048dd934b249e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d57979e7ee8027376dcf671f00d017c8bf4eda98fd6d96c973f18334870e90be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.652 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0565, 1.5978, 1.0317, -0.3073, -0.7883, -0.8097, 0.9968, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.2314, 0.996]\nstate[eef_state]: left_x=0.3046 left_y=-0.2771 left_z=0.1461 left_yaw=-0.0053 left_pitch=-0.012 left_roll=-0.0735 left_gripper=0.9968 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.996\nstate[joint_eff]: [-0.0752, -6.1744, 5.5863, 1.2869, -0.5983, -0.0562, -0.0073, -0.1026, -8.1162, 7.0085, 1.6874, 0.0415, -0.0366, 0.105]",
      "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]: [-1.0527, 1.8362, 0.8047, 0.2047, -0.865, -0.7925, 0.9969, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3139 left_y=-0.2719 left_z=0.0516 left_yaw=0.0404 left_pitch=0.0615 left_roll=-0.0721 left_gripper=0.9969 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -4.9026, 3.0154, 0.8718, 0.696, -0.1783, -0.0073, -0.1846, -7.7197, 7.0222, 1.6679, 0.0122, -0.0708, 0.0024]",
      "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]: [-1.0447, 1.8381, 0.7971, 0.2474, -0.9016, -0.7856, 0.5801, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3195 left_y=-0.2671 left_z=0.0576 left_yaw=0.0714 left_pitch=0.1005 left_roll=-0.0837 left_gripper=0.5801 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.8, -8.2256, 5.7368, 0.9597, -0.0122, -0.1001, 0.7643, -0.1846, -7.9248, 7.0632, 1.6825, 0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcb4b5d7330631cb82074a6f09ce0f088f72737819f931c5c757163d44de9981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bdfb083d62b32cc80120d61b6dafae7afefc789edd88167332048dd934b249e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d57979e7ee8027376dcf671f00d017c8bf4eda98fd6d96c973f18334870e90be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAcKEAgSGAI4AUIIdGhpbmtpbmcSDOkjs6XCw0g9uRRN3BoMgc2Zh+a4e4A2M7vhIjBTR50eBucv/wKqEQVhFPV+6U3pV2V9QsNTJnQZ8hPD8z6Xb2MIUhJNmmufY7rbKJcqoQZ3NLX92alePV9uOhkU2VBBcN2n5z/VtY07AcHDKrTpw/s/LSWaHd56ewxrC8FKb3zIbMwh8CP+USuttp9uxx/BajpdOHDMycEuAMN0xVa5uUQia5uqUTCRRoAXx1F66w5inU0x0Hj5kGe93fuvaeKbaJFqY3GfG8e3yUykGVZqT//GQkuEJC91LCZtGROnzYiOiX52r1IMd8hIY4ccekttrbCzjd2N9EhAFmo9dbu2RXCAlMsBz6QQ1HNuqC2UF8A+f2Z2vpoi3ihEXkqs9cGmTjU0rzxgXFvsWy9LVwLpZU0bQmJt1pvpFW/PgXeHzkQvH7HoxeLiYA6EXWnDaeaz8fG7uBqkZzOhvGVMB76Cd8kKoD1DufnWnb73R43FyaMImchb09vDsxamfS/Vfq/8rsLa9c9RHxmVbnqCFoQKOFTuMKGBIvdyPUmmAPeqkBo0iCW20VOjpjIgR8y4UISQ+ROkzyA9TjR5y7viPsk/h0cht69Wmk0wE0LSO2PgrwUvQNb7W0Tv/1K2JyTg+a4zOGQGfuhGYiMdg9OlefPO+qiReTGlalk277OweyUmIwCT3TRphTMfF6BNhIu8ZwZKlQZjfmx1o+hWs+4k5pa0gsKKOMcBKe9OsOOLQbFAgF9vv+rmCJjpohtEkusTRWUIgADwNlZg9BuqKbPw2B4Gntuh2HWELBHkChhrKobFj+DPfYQejpTgzOvksNHRHthuU0AKL1SG0CPWAvzgBQqwf62rnBzUbklSOHaQ3ZpwGjRYnqssnR9A7COk+1ZjuCEadRh5iP/z6tk/8MQQIUSlK1+1zQVR4arOCKBEEDZLPN0eRQ2wJ8/kvLoWoADC2hK8GB1HoiUEYJHmiNveeqM7D3KCPOOKV5NdXp3b9jlnQCCkUUQNaDMjiDHR++iLr+f5JlJDeec/EKMl++8VmpCJ7y2NnG4Q184/cIQ4VY7e4X9u7SDFZ2anjngO/7lFrwUNHipRZUHpYTYjTqKQjopWGWr+jhF5YnotN7r4BnjLOKT+s1TYyYHilgpBDiDfwhhZXzhLnk0uhL+4FOP2KCnncG0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P1hPKZWFdGzoGoJUJPgLoG",
      "input": {
        "note": "Gripper stopped at 0.58 on the teddy's squishy ear, so it's gripped. Lifting it to check the hold before carrying it to the left basket.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01P1hPKZWFdGzoGoJUJPgLoG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0439, 1.5894, 1.2541, -0.5209, -0.8909, -0.7853, 0.5823, 0.4053, 1.6218, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3203 left_y=-0.2703 left_z=0.2153 left_yaw=0.0604 left_pitch=0.0656 left_roll=-0.0306 left_gripper=0.5823 right_x=0.4599 right_y=0.1491 right_z=0.1915 right_yaw=0.0439 right_pitch=0.0123 right_roll=0.0571 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -10.7145, 9.7983, 1.4823, -0.4713, -0.0464, 0.2027, -0.0342, -8.1162, 7.1453, 1.7558, 0.0366, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e0005857bca95fe2b3452bf1e8c408640f217fb3b10902a4a59f626de5b876c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51a96e55be8b28d0f8c2c2eefac2dbfe22b81abf63692d450fe7047ebf8e4925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8b833d81b1e97e2d350413c58945492dc53dcdde9a9c3c47d831ca0d1aa8c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 7.837 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]: [-1.0527, 1.8362, 0.8047, 0.2047, -0.865, -0.7925, 0.9969, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3139 left_y=-0.2719 left_z=0.0516 left_yaw=0.0404 left_pitch=0.0615 left_roll=-0.0721 left_gripper=0.9969 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -4.9026, 3.0154, 0.8718, 0.696, -0.1783, -0.0073, -0.1846, -7.7197, 7.0222, 1.6679, 0.0122, -0.0708, 0.0024]",
      "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]: [-1.0447, 1.8381, 0.7971, 0.2474, -0.9016, -0.7856, 0.5801, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3195 left_y=-0.2671 left_z=0.0576 left_yaw=0.0714 left_pitch=0.1005 left_roll=-0.0837 left_gripper=0.5801 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.8, -8.2256, 5.7368, 0.9597, -0.0122, -0.1001, 0.7643, -0.1846, -7.9248, 7.0632, 1.6825, 0.0122, -0.0366, -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 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]: [-1.0439, 1.5894, 1.2541, -0.5209, -0.8909, -0.7853, 0.5823, 0.4053, 1.6218, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3203 left_y=-0.2703 left_z=0.2153 left_yaw=0.0604 left_pitch=0.0656 left_roll=-0.0306 left_gripper=0.5823 right_x=0.4599 right_y=0.1491 right_z=0.1915 right_yaw=0.0439 right_pitch=0.0123 right_roll=0.0571 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -10.7145, 9.7983, 1.4823, -0.4713, -0.0464, 0.2027, -0.0342, -8.1162, 7.1453, 1.7558, 0.0366, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e0005857bca95fe2b3452bf1e8c408640f217fb3b10902a4a59f626de5b876c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51a96e55be8b28d0f8c2c2eefac2dbfe22b81abf63692d450fe7047ebf8e4925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8b833d81b1e97e2d350413c58945492dc53dcdde9a9c3c47d831ca0d1aa8c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwcKEAgSGAI4AUIIdGhpbmtpbmcSDOt2g2TgPHye1+NdYBoMHkt31eZItfCu4qm4IjDZaCSpRjDcxJKPtrLkeIBIRqvgk7OwHLui09QALUC0iDEhRvhIyWO702fXA0TFwj8q4AbmoifQWJz+JwE0BX9Wkyff7TNZ+HPdetNEmunpmrJ9jo5Z2mJKyIRQqMgX4TRHK68KgYRpLXyrQQN6Wud9IqtBwxa/1sHNgk1qSFT5kh6q/MpwAYnUHRcKNo8sxZdwNumMsxBF+YjRa4a5nnyklEy9K79x52YVpDYBSkcKE3zk8CY8B/aaHRrQF3WlMZX4ThcaB1ULY22JN99ai0+HnF0ohcfWVD44xZr204+bveqK8YVfHfCwhSNhlRVEpH2r1Rk33nTdV+f/3u2e7HNAokNecIJGPoI5HY2gg2b5IcJ7iqeOeaWubRYPizWQh25EVXXWUNcABnNuwjJCla5Yg6HtKxkBsjzmCsr50w87BwFbtBHzBi2enfwGQ2crrcduDw0OGeFskrzQLT/VHzo8YLTGg4my3saiBIGYNXVmmKuwxt0L19vFlwKl8O3xxpO3bq7zd29svfw5kOtXcZX12esxhWQUKqzlCgzl5OSXbZxFXsQ57GkTmWqi3wlc9Z3uyL9+ueycqZMo74Mf+KrX4UpI1OPOkQJPOoX6x7GcPkvRx8jreAhhu4wkeIFxlnOwuTf6Hx2SOym6hvNRYqUT+z5wMd49/M6iaNaVDORybHYj7Mweo8ogDjly0lrDSxvoT19I4v5x52xuYMlU7mVefBnvSpkATHnoThHmgZ7XV4prx71xaPy3oCf0+BtUZKUsf02CroPPBD4bdJ6X2gAmtxTHfKgu6fmtW7WzQ+3dAKpVzYs9tEL68fnUs4+cd1gvFcsEygM/Gtuoj3WsSnMQF6KNhsS09213D+6nQovrSAiKv+lQjb0wB6Yrf+Qzo5gQ2tz4obAbXB8EkU3oGu2NyERdJlteVRc/XG6wFV03zO0yNZ7AdvN22gZtWkh0Q5pH5uC0IuG/dtzX8cc3PpF3/EE/SjADmwZEoVNcRHGJ/Jwi9EMzQr1i3epVXf7R/nzVmBHWhpRvjbigoVOQKAdHRR6wvEZ29KNw/uX+Vq+3xSQ8omSha6nq9dzXX/R9zgLi+CHvizJy1vdb3sUS/tWUaIaWZ7jjJpGxCch5Abi2Gd9JU0damYY8r2L2P5CnAjXNU0w8bR6y91XEZK7OE04Ae4C/Fsp3Ybi/SqdJhEX4d5ypXqkJs7x2cC9PDjci/1sCjS8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JmFao7uSWaWDogee1XR9sX",
      "input": {
        "note": "Teddy is hanging from the left jaws. Carrying it over the left basket, which already holds the brown plush.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.17,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JmFao7uSWaWDogee1XR9sX",
      "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]: [-0.5808, 1.5826, 1.2785, -0.374, -0.5659, -0.421, 0.5843, 0.4053, 1.6222, 1.1679, -0.1223, 0.2752, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4265 left_y=-0.1623 left_z=0.2225 left_yaw=0.1021 left_pitch=0.0028 left_roll=0.0056 left_gripper=0.5843 right_x=0.46 right_y=0.149 right_z=0.1913 right_yaw=0.0436 right_pitch=0.012 right_roll=0.0567 right_gripper=0.9961\nstate[joint_eff]: [0.0889, -7.1316, 10.4821, 1.9609, -0.1294, 0.1197, 0.2076, -0.1299, -8.1436, 7.241, 1.6777, 0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4970cf6bf74f310a17fee346d44eb3585904cd5e91c1884be99db37bbc244e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f1ca12464ab6686d7e0b5e38e40aa4a02901e2a5cda3edc4150d6309f424b43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0401f2e92d63aba9cb8fc560be98a614806e868c80ef14f4ebabfb9939944781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 3.644 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]: [-1.0447, 1.8381, 0.7971, 0.2474, -0.9016, -0.7856, 0.5801, 0.4053, 1.6218, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3195 left_y=-0.2671 left_z=0.0576 left_yaw=0.0714 left_pitch=0.1005 left_roll=-0.0837 left_gripper=0.5801 right_x=0.4599 right_y=0.1491 right_z=0.1914 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.8, -8.2256, 5.7368, 0.9597, -0.0122, -0.1001, 0.7643, -0.1846, -7.9248, 7.0632, 1.6825, 0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0439, 1.5894, 1.2541, -0.5209, -0.8909, -0.7853, 0.5823, 0.4053, 1.6218, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3203 left_y=-0.2703 left_z=0.2153 left_yaw=0.0604 left_pitch=0.0656 left_roll=-0.0306 left_gripper=0.5823 right_x=0.4599 right_y=0.1491 right_z=0.1915 right_yaw=0.0439 right_pitch=0.0123 right_roll=0.0571 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -10.7145, 9.7983, 1.4823, -0.4713, -0.0464, 0.2027, -0.0342, -8.1162, 7.1453, 1.7558, 0.0366, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.5808, 1.5826, 1.2785, -0.374, -0.5659, -0.421, 0.5843, 0.4053, 1.6222, 1.1679, -0.1223, 0.2752, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4265 left_y=-0.1623 left_z=0.2225 left_yaw=0.1021 left_pitch=0.0028 left_roll=0.0056 left_gripper=0.5843 right_x=0.46 right_y=0.149 right_z=0.1913 right_yaw=0.0436 right_pitch=0.012 right_roll=0.0567 right_gripper=0.9961\nstate[joint_eff]: [0.0889, -7.1316, 10.4821, 1.9609, -0.1294, 0.1197, 0.2076, -0.1299, -8.1436, 7.241, 1.6777, 0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4970cf6bf74f310a17fee346d44eb3585904cd5e91c1884be99db37bbc244e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f1ca12464ab6686d7e0b5e38e40aa4a02901e2a5cda3edc4150d6309f424b43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0401f2e92d63aba9cb8fc560be98a614806e868c80ef14f4ebabfb9939944781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J73gVpqpQAfpM7Mj4gH9ka",
      "input": {
        "note": "The teddy hangs to the right of the jaws, over the gap between the baskets. Shifting the arm 4 cm to its left so the teddy sits over the left basket.",
        "targets": {
          "left_y": -0.12,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01J73gVpqpQAfpM7Mj4gH9ka",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4774, 1.552, 1.28, -0.4335, -0.4946, -0.3656, 0.5856, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4301 left_y=-0.124 left_z=0.2218 left_yaw=0.1207 left_pitch=-0.0468 left_roll=0.0317 left_gripper=0.5856 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -10.947, 8.0615, 1.7705, -0.1685, 0.0366, 0.1245, -0.2256, -8.1026, 7.241, 1.7314, 0.0171, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7def82841c36ee3cdb59ba75e20641a4df6a5f9825c7315abba6372c1011ad02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa82399f2dacb0c0ee4a6603995325e900a00043cfa2655dba6f1dc09ff0f406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5cd1f5fb5a8ad59489ca5b20966aaf046b6a56da972d87117288b8109a05f125",
        "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 · 5.425 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]: [-1.0439, 1.5894, 1.2541, -0.5209, -0.8909, -0.7853, 0.5823, 0.4053, 1.6218, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3203 left_y=-0.2703 left_z=0.2153 left_yaw=0.0604 left_pitch=0.0656 left_roll=-0.0306 left_gripper=0.5823 right_x=0.4599 right_y=0.1491 right_z=0.1915 right_yaw=0.0439 right_pitch=0.0123 right_roll=0.0571 right_gripper=0.9961\nstate[joint_eff]: [-0.3897, -10.7145, 9.7983, 1.4823, -0.4713, -0.0464, 0.2027, -0.0342, -8.1162, 7.1453, 1.7558, 0.0366, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.5808, 1.5826, 1.2785, -0.374, -0.5659, -0.421, 0.5843, 0.4053, 1.6222, 1.1679, -0.1223, 0.2752, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4265 left_y=-0.1623 left_z=0.2225 left_yaw=0.1021 left_pitch=0.0028 left_roll=0.0056 left_gripper=0.5843 right_x=0.46 right_y=0.149 right_z=0.1913 right_yaw=0.0436 right_pitch=0.012 right_roll=0.0567 right_gripper=0.9961\nstate[joint_eff]: [0.0889, -7.1316, 10.4821, 1.9609, -0.1294, 0.1197, 0.2076, -0.1299, -8.1436, 7.241, 1.6777, 0.0562, -0.022, -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 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]: [-0.4774, 1.552, 1.28, -0.4335, -0.4946, -0.3656, 0.5856, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4301 left_y=-0.124 left_z=0.2218 left_yaw=0.1207 left_pitch=-0.0468 left_roll=0.0317 left_gripper=0.5856 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -10.947, 8.0615, 1.7705, -0.1685, 0.0366, 0.1245, -0.2256, -8.1026, 7.241, 1.7314, 0.0171, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7def82841c36ee3cdb59ba75e20641a4df6a5f9825c7315abba6372c1011ad02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa82399f2dacb0c0ee4a6603995325e900a00043cfa2655dba6f1dc09ff0f406",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cd1f5fb5a8ad59489ca5b20966aaf046b6a56da972d87117288b8109a05f125",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAcKEAgSGAI4AUIIdGhpbmtpbmcSDPYw34cM+4RMStNKQxoMUV+/8lLn3l1Y6oq5IjAVj3ShelrmiAqQZ/U4rFNuUJDQzXKhDpGtmOdD4i+Qg9DO48sRtoOKQdG7XPWrPDEqzQbJ3QJCmcA6xFOjIu1LYsRg2iHymxerduCrRZ02AIKEEAECl3sWr1Tgf7EemICrH+A+xhXB1RtbqIncq9xc5VyqULr/2/n3Afp0aiYoMAeomg//NZ+mWq6xsKVmehN2pY+ITahRH3O82ev1gdNLZwWkheHXTVdMVBOKT8PPV3NU4voZ1+cKNHk1TMOG5J3i0pcZFKR65uJXr9bCdRkLBp5ZPzCjuixy7PeI/b/4rcsq5KFBCh0wGP+Kz1cFVqnJhuewD9JZgQDmWMKiOaRB+YJXTGd52KzVfU0DhA95YELBwsqPNE5pL95qySc7BX6Qn56vgQQMK8+Jp3fXgE5+NNJwqbd9h6jvlf5yk/mLv3P8tLgIuxTXZiet9EKbHOHvaLCosJD6pmQu1b6KK3giigWlvlBz1RWSKLF3xpGvvMU41FktciwOudrhIhWDarHxWZ09gy/MwB4TJzSdpx6g9Zs0n1UiHPjm8iNiXPDt3So+bniuinQaRwTRNPaJRF6CYiRlVZc7e9vKlP5eMFkeJ6khsOlX1T7Xl/vRkQBXxoR7+1JnAVrLqH6LnRGuTRfpN37eC1BQIyJy2rKyPbqvJ8EpV84gAH6cdUHLev5pKCaZ3oL6bZWplulUXaDGefhIotB5RuVfnIzH5uLlJRLRd7nBQcgjl1QEXTZXbH3HmnsiUR2gv00EvJsNQicd0IUUuk3KHD9ZullNKR+Y7P21pB3n0rm+c3PTcRFknKJMBROnywiT7Fines8zdZSFLjoKLmwgdmS7xjpqmokkwlK3qbHl2JjJgJHNz2roY4CLsT+cavF+ct/IgxZsT3O+JWiRkH7iquwwIptjBb1STgwvGtgKLcxx6GOiO8e0bUU5kPu8DP0ZsM6oIOXMPb5XldcQ0M04S0UWS/KtK8TQUHJjr1Nr0UTmN7zNQaxkhV805cKyvPUfyH993JsSSjJmI3OGS5PNr3WvVSaP+vtD17MozVmZ6YGhjVCMRLlXUrZfThuB3/hxPM7rjC8DGNqqYYE2NfbmM8hetujtx5JpQivYDDEKbPQ1TSe74100TWcbCVln3zUpsscxRkSWVEnNZDpyZ97AmS+QlNUoxKZUyDcXRQAqsqn2lT3tKEntTkv9ARgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JbTu34aHTDF5gFhgcmSe6R",
      "input": {
        "note": "The teddy is still over the left basket's right rim in the top view. Shifting 3 cm more to the arm's left.",
        "targets": {
          "left_y": -0.09,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JbTu34aHTDF5gFhgcmSe6R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 1.5227, 1.28, -0.4557, -0.485, -0.3477, 0.5871, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4255 left_y=-0.1178 left_z=0.2297 left_yaw=0.1149 left_pitch=-0.0445 left_roll=0.0373 left_gripper=0.5871 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -9.306, 8.1983, 1.7509, -0.1392, 0.0464, 0.149, -0.1983, -8.1026, 6.9675, 1.6728, 0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a31f480ff7f3d363a8bf9a0d0dea0625738fcdba4708df4356de2394fd4095",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa997c711ba52ce13e7bcd64a392fd27d8c0a476fb51170ec8929c2ad5f3fc84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9393547fa991ed8ee7d5552b47965c15754f17112e779e1767a0294721f4fe3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.397 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]: [-0.5808, 1.5826, 1.2785, -0.374, -0.5659, -0.421, 0.5843, 0.4053, 1.6222, 1.1679, -0.1223, 0.2752, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4265 left_y=-0.1623 left_z=0.2225 left_yaw=0.1021 left_pitch=0.0028 left_roll=0.0056 left_gripper=0.5843 right_x=0.46 right_y=0.149 right_z=0.1913 right_yaw=0.0436 right_pitch=0.012 right_roll=0.0567 right_gripper=0.9961\nstate[joint_eff]: [0.0889, -7.1316, 10.4821, 1.9609, -0.1294, 0.1197, 0.2076, -0.1299, -8.1436, 7.241, 1.6777, 0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4774, 1.552, 1.28, -0.4335, -0.4946, -0.3656, 0.5856, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4301 left_y=-0.124 left_z=0.2218 left_yaw=0.1207 left_pitch=-0.0468 left_roll=0.0317 left_gripper=0.5856 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -10.947, 8.0615, 1.7705, -0.1685, 0.0366, 0.1245, -0.2256, -8.1026, 7.241, 1.7314, 0.0171, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.466, 1.5227, 1.28, -0.4557, -0.485, -0.3477, 0.5871, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4255 left_y=-0.1178 left_z=0.2297 left_yaw=0.1149 left_pitch=-0.0445 left_roll=0.0373 left_gripper=0.5871 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -9.306, 8.1983, 1.7509, -0.1392, 0.0464, 0.149, -0.1983, -8.1026, 6.9675, 1.6728, 0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a31f480ff7f3d363a8bf9a0d0dea0625738fcdba4708df4356de2394fd4095",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa997c711ba52ce13e7bcd64a392fd27d8c0a476fb51170ec8929c2ad5f3fc84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9393547fa991ed8ee7d5552b47965c15754f17112e779e1767a0294721f4fe3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2gkKEAgSGAI4AUIIdGhpbmtpbmcSDLcXxDQ5HBFMRhR8QhoMvVR9oScjrGHoV/jJIjAp5nGVXw1WowYJvhOTaV2bTS0yEoMM+djMbH749Y3z7huxzJbgzahp/3LX1qPDYMQq9wg8adxeJ8aKhA3TEaGEw9RZ5+nbrgsNi0XSmSHytQLiETzWOxozXm4hdoWTBiuskpkt+ZHRe3e+eiPgy8gSVEPtU1qcvWYXm9L15Sciq8gprlysyjffXCzUf5VU8Aqz2nHBpRF3or5YZsTweswVcXNMLvacfOpzkoXpTgs/6ivldLghyPASoPISvETAdrcARafHqv6bSuRLgKfoEXGxfHpmybiMR8Zm4gXKDqU9OQfx7nZ6vPWpZttx/Xhvtj1QFknjz7kPOASPHlE7Nofd9dIAvaSgqlzZmoTV4mpEtufIA1ZbGGqv854BBYHRJu4CiZErGhOkHx3LfsMCv3kEX4w+p4xTKiztxbq09K87qFP4GIwRCYrw8SZoIhZjW+qtydgMESVZ44Sfw2uJ/nR5vZEzNRp7TFoR6MkEfMs2Kiaih3u+4nSZswJVqOcFWbXTntX85owkNeznSG8/u70aTr2QQLQrK8H+IvPHrpEUqcl7SOcQlJBN/oH6aN+hpeuwo8omLzCqPuFfxs0T8VRMkYk6XRYVNr6x8U45vTtaewolxcAoXY+eitMtVXKD6zsaL7IRfcQLA12JYjfbhPJxd1TeC1w5TwU3s0+nF/d/Fbu8H2H18CewfvgE/vJKxPpGt1Puy7t6mbtH1y5u1kX245Aes/AYPcMPXbg2Pqaj49YA6XIg0MrFEIY1RmvxFABGO3cgnm3Qp0bDl0l7PfZuvNqJJN56vxHWLfx6FSOCH4gOAlwlM0XgqJ4mXZcnc77ewGBpsZjcIzNiffm/ok/cOnnr2o2rY84DYWppxOatwUiNqd8nIqWxvlhIwldZDmSyXqdiyCnn4fScdy9qVYTX/UNMdld+hm/rQ/VTQNfRjtV63FWoc1KATB0R0Xu/CLF23G04iSuvTFQQD8CD154o5HVImI2TpHwIuKHhZNbVDp3atOvBvCQfRiAMSq/KyVXqwp0zVeyHVgKcgnDDBJI7q39dQo9pRUpFEv3HIF1ajevmYjjUblDJjcH4n6iI5GhIu8idbFevf1/o3RluOXxFlb/itQli7J9AQWgVaSje8urEQaDPRTG29KF/x0M2vgBB6dY/vzDbRk0JxJK40lV+q3+CLOwhFjMnk6HdZCfnMJuJnyqFOr6oHv2H7Hk9Aa3Kh3J2qNFG1I6VsXxiYXcqbTNlaHdwPXU2Djcf4PL4gkL2BQ8IRJ8MqzLmjw5xpxpEjrBQRhqAUJbDjcWf6PopxjCHZ6WnAT/MiQ7iVd6Ucr4OLp0gxGowIjr4+/ceWgxkI8BwLz4dR9nRzNQaQXsWXsGFcJsMCZZHvux29m3oAk7wi/92x+K2HpEoVuJ1xu0dJd2Hiaeafqe6CFYCl1JlEs2bmSCasPGnQYCRutGWDsGIbFdBdrYh2Ij2R8KLq++SdSKBw8Ewafn8buuadnNV9Hu18RYX/IajbO4Grrlml6vDv9kT2mbK2pMq+uufACKbTqzCrGCIX9qOpE9MdMXE1gJpC+QQirmSgBLDl0+1vrxeOFBA9IX8Ok0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01451fGBA3Z8x3YrRu3FUvYm",
      "input": {
        "note": "Arm only reached y=-0.118; the teddy still hangs over the basket's right rim. Pushing a bit further left so it drops inside.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.07,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01451fGBA3Z8x3YrRu3FUvYm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 1.5227, 1.28, -0.4557, -0.485, -0.3477, 0.5887, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4255 left_y=-0.1178 left_z=0.2297 left_yaw=0.1149 left_pitch=-0.0445 left_roll=0.0373 left_gripper=0.5887 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -9.1829, 8.0889, 1.8046, -0.1343, 0.0317, 0.1538, -0.0615, -8.1026, 7.1453, 1.6777, 0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fa2173920dee17bff8a8a0eb6b982bc6c878cebb88cbd428a33a0014e157579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4e236ecd445b9aadbba47b51cfba2b4989e74424c31938693b81894a81e607f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51998dddb2c957905c0f994b56043d941164f64706d01078838197889c6b34c4",
        "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 · 10.45 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]: [-0.4774, 1.552, 1.28, -0.4335, -0.4946, -0.3656, 0.5856, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4301 left_y=-0.124 left_z=0.2218 left_yaw=0.1207 left_pitch=-0.0468 left_roll=0.0317 left_gripper=0.5856 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -10.947, 8.0615, 1.7705, -0.1685, 0.0366, 0.1245, -0.2256, -8.1026, 7.241, 1.7314, 0.0171, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 1.5227, 1.28, -0.4557, -0.485, -0.3477, 0.5871, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4255 left_y=-0.1178 left_z=0.2297 left_yaw=0.1149 left_pitch=-0.0445 left_roll=0.0373 left_gripper=0.5871 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -9.306, 8.1983, 1.7509, -0.1392, 0.0464, 0.149, -0.1983, -8.1026, 6.9675, 1.6728, 0.0317, -0.0757, -0.0122]",
      "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]: [-0.466, 1.5227, 1.28, -0.4557, -0.485, -0.3477, 0.5887, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4255 left_y=-0.1178 left_z=0.2297 left_yaw=0.1149 left_pitch=-0.0445 left_roll=0.0373 left_gripper=0.5887 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -9.1829, 8.0889, 1.8046, -0.1343, 0.0317, 0.1538, -0.0615, -8.1026, 7.1453, 1.6777, 0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fa2173920dee17bff8a8a0eb6b982bc6c878cebb88cbd428a33a0014e157579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4e236ecd445b9aadbba47b51cfba2b4989e74424c31938693b81894a81e607f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51998dddb2c957905c0f994b56043d941164f64706d01078838197889c6b34c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAgKEAgSGAI4AUIIdGhpbmtpbmcSDF7mXzmxF3m6TXkPkRoMz0PYliqhVB3SQdjFIjBUVNeYRESw5EaZpaDGsgdO4wdVOQ3ojjq83PDwYdV29RhGkWkDQX4aCrr9s8FOcAQquQcmsxGcFf3ZxvP6zgQw0qj79JHirNOF1N/XR1W3psHtK2XGEFmc3lMNhyv7eHZ5VT+/6fRCLrk6T+UK1thF/kTRcIL1UcUz5bDkf4NCJM4Df+ijUn4tYdPgMxe35DLYEVnFyLPrSfK9ym6vhkK4iRcXLiQi0IVFiSX//KDyy9UpOWeDQ5mOBfCpkcGgRpXebpLj7ss8dT4T2bhUYUacGkq8NXQs/F6551XkrHuvmSj1pBcutdLP902AAB422TqCGBw2QjQgjv9Ppdy3AKNIjREY0KEQ7vlfvUZaI2V4yuaMxcPwFkMHjXRuRov1zLme+KKysHdJv4txgHx2XafDtXx1kq8ANQ9m8srm/MYWv1a8FGEM/qogqxmORTkh1x88AfDy/5hkKv3/+tSFBiVnmL5F7nphPjyT1lLD5wzTBo26FSNo5/CG9gLCp35PgXVT+Qz9fO/BHkm1J5KGjC9PSMFvPZhRC/tE9QxMQiUrRJ22u+3ojsjQPk3lHvTDqqD/o30AeqsQqUpGNAff2iUAS+qJO+eyADQ6g8lr8zuNHNxOe6vItvdGR5vvFf4yxxcRxY7iMbJSolkinqX188oeO9f3AtsWZ808e3o6CI57lw6R/zQeVXwqRfHQG71EraLcs8ujdbeBjFe5cDyH/1aqFoS6FIlcEh7BoaGyso7hu05tdaLDP8zPpAOXVWy3BSUGr9Nhw1RjbWfHK/3/Af85T9S4ke343R1m/u3KVAxVpKy/E0a2Gcxy+DX9Ehv9ILMn4HuEVewo2tmZjILbNzA5pDcj01rLEgRbmvWuXfE4yiIcz/ntS833xVU3SIdIz1NMiGpnSaLHqKyydjuuwHXzDKT0jyIMuyMhwoOVwdlfrTTgtyVKifK4kMuWhWVKe8hprtJ5XjzSYuRmVcPXf6yKiVWyi6xFCfxexl5nj5xUTkxtyDApXO2EEy+r+FX0mnBmSoLFTN9qdaWIkvg0H7vyh4xBmo2gVLsPT7DQAIpL/ZJQq5R+u5nJZIkCFfy4PNPXGrfBGnfLyaI5L2upcWWParMcX/+4JOA+kkhlVHQJTCOijlsFdKrx6ttNRarbhH1S9rzzT0TGtqoUgBtbWuIcHJ6Zr8P8cFSbGwronv7lJ1PzXtbkFIp5Cz0xGUp2To60zOPpCV7yTWAZqJYjzhD80zYa/aSTlMtIk09KWsU6kWhpHCor4vyJJM2QGbSrduz5c50OKbrbjciaZzkp8HAx4IyVeo9V8r0UHMZ+sRpAPR+dYXPinq0VMo3/uRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ETgrd75rQGAoojhwmBbFLr",
      "input": {
        "note": "The arm won't move further left (the teddy is probably catching on the basket), but in the wrist view the teddy is mostly over the basket's inside. Releasing it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01ETgrd75rQGAoojhwmBbFLr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.466, 1.523, 1.2797, -0.4561, -0.4858, -0.3542, 0.9957, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.2314, 0.9961]\nstate[eef_state]: left_x=0.4254 left_y=-0.1176 left_z=0.2294 left_yaw=0.119 left_pitch=-0.0451 left_roll=0.033 left_gripper=0.9957 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.9961\nstate[joint_eff]: [0.0889, -7.2137, 7.0906, 1.5507, -0.232, 0.1001, -0.1001, -0.3487, -7.9385, 7.1316, 1.7118, 0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b5cc7411229ad535831c42050c02b7533d875095ca5b64bd02ba033ca85899d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21e3211a01c8138ea41da5653eec92ee47044573fbb4d25ca1067537166f9e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b506369b07029103588a73e898e169388758498a049460c41f8091090949287a",
        "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 · 3.503 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]: [-0.466, 1.5227, 1.28, -0.4557, -0.485, -0.3477, 0.5871, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4255 left_y=-0.1178 left_z=0.2297 left_yaw=0.1149 left_pitch=-0.0445 left_roll=0.0373 left_gripper=0.5871 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -9.306, 8.1983, 1.7509, -0.1392, 0.0464, 0.149, -0.1983, -8.1026, 6.9675, 1.6728, 0.0317, -0.0757, -0.0122]",
      "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]: [-0.466, 1.5227, 1.28, -0.4557, -0.485, -0.3477, 0.5887, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4255 left_y=-0.1178 left_z=0.2297 left_yaw=0.1149 left_pitch=-0.0445 left_roll=0.0373 left_gripper=0.5887 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -9.1829, 8.0889, 1.8046, -0.1343, 0.0317, 0.1538, -0.0615, -8.1026, 7.1453, 1.6777, 0.0562, -0.0708, -0.0122]",
      "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]: [-0.466, 1.523, 1.2797, -0.4561, -0.4858, -0.3542, 0.9957, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.2314, 0.9961]\nstate[eef_state]: left_x=0.4254 left_y=-0.1176 left_z=0.2294 left_yaw=0.119 left_pitch=-0.0451 left_roll=0.033 left_gripper=0.9957 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.9961\nstate[joint_eff]: [0.0889, -7.2137, 7.0906, 1.5507, -0.232, 0.1001, -0.1001, -0.3487, -7.9385, 7.1316, 1.7118, 0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b5cc7411229ad535831c42050c02b7533d875095ca5b64bd02ba033ca85899d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21e3211a01c8138ea41da5653eec92ee47044573fbb4d25ca1067537166f9e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b506369b07029103588a73e898e169388758498a049460c41f8091090949287a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QRv31FX5yy3hzdHq8uC3PX",
      "input": {
        "note": "The teddy fell just short of the left basket and lies on the table in front of it. Moving the left gripper back over it to try again.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.17,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QRv31FX5yy3hzdHq8uC3PX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7914, 1.4643, 0.8288, -0.2562, -0.6823, -0.5961, 0.9968, 0.4053, 1.6222, 1.1679, -0.1219, 0.2745, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3312 left_y=-0.1716 left_z=0.1163 left_yaw=0.0771 left_pitch=-0.0891 left_roll=0.0697 left_gripper=0.9968 right_x=0.46 right_y=0.1492 right_z=0.1914 right_yaw=0.0442 right_pitch=0.0123 right_roll=0.0573 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -6.8718, 6.4479, 1.5018, -0.5201, -0.0317, 0.1001, -0.0479, -8.1299, 7.0632, 1.7167, 0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0ef39dd1ca6ec2539f75488fde183fb9445be14a567c7a67f5d8f875b02ab28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff1027f5d5b09dcb081dfff2a24e865e4f59a7704238842cf00a62f0047fd60b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b60b49b709027800d364d49f89d332895f485aacdfada77a2e7dd94dfe6a1a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 2.894 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]: [-0.466, 1.5227, 1.28, -0.4557, -0.485, -0.3477, 0.5887, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.4255 left_y=-0.1178 left_z=0.2297 left_yaw=0.1149 left_pitch=-0.0445 left_roll=0.0373 left_gripper=0.5887 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.335, -9.1829, 8.0889, 1.8046, -0.1343, 0.0317, 0.1538, -0.0615, -8.1026, 7.1453, 1.6777, 0.0562, -0.0708, -0.0122]",
      "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]: [-0.466, 1.523, 1.2797, -0.4561, -0.4858, -0.3542, 0.9957, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.2314, 0.9961]\nstate[eef_state]: left_x=0.4254 left_y=-0.1176 left_z=0.2294 left_yaw=0.119 left_pitch=-0.0451 left_roll=0.033 left_gripper=0.9957 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.9961\nstate[joint_eff]: [0.0889, -7.2137, 7.0906, 1.5507, -0.232, 0.1001, -0.1001, -0.3487, -7.9385, 7.1316, 1.7118, 0.0366, -0.0317, -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 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]: [-0.7914, 1.4643, 0.8288, -0.2562, -0.6823, -0.5961, 0.9968, 0.4053, 1.6222, 1.1679, -0.1219, 0.2745, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3312 left_y=-0.1716 left_z=0.1163 left_yaw=0.0771 left_pitch=-0.0891 left_roll=0.0697 left_gripper=0.9968 right_x=0.46 right_y=0.1492 right_z=0.1914 right_yaw=0.0442 right_pitch=0.0123 right_roll=0.0573 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -6.8718, 6.4479, 1.5018, -0.5201, -0.0317, 0.1001, -0.0479, -8.1299, 7.0632, 1.7167, 0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0ef39dd1ca6ec2539f75488fde183fb9445be14a567c7a67f5d8f875b02ab28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff1027f5d5b09dcb081dfff2a24e865e4f59a7704238842cf00a62f0047fd60b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b60b49b709027800d364d49f89d332895f485aacdfada77a2e7dd94dfe6a1a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QcKEAgSGAI4AUIIdGhpbmtpbmcSDCqVk06wAywYdVqKNxoMAKIb2aqbf7+vTH4CIjCROGZV+5XbP8WSBfS3P3vHszBcWdls8hMQdmBriV6xNZWxz6vsH5GqQUj2P7yueCAq8gaOC0fGWvkSqh9u3MnTEKXOROscM+IjJaVa6GqVUChDV3G4l/IXBAGN2uAC7pElYgXYtaNCS8VT9qZM8D5lfZJx4xMpuv8WbWo03GM5kWP/Tziyn3ZoRL+RYeZaq0o/yhNC817HYyeieKsFiKE59Ih9tkR6xwjbdGrVwO5tf8Ney3kYPw4cQvaraLg9ue9mX4CY4cWmMbSqn1XGkYIxEzppaG2aPtXqMFCKhACoIm3vlzRMTIpUSg/kqD2IwJp8+md1Rpz8VKLNBK0l4WtrVMj4UxfmnQVtlzrnOfT+xgdg/5bd+pA26L3khybDYlz6tP2beBRZytphwiaC+SOaHq9jmwO3afYKN56pfg1c7UNPXXm+IEiWLxAkSenhubz1iduz5GoHbSziAv/ZOaKgcBpDKf9qfBP8zQBvjJ1uA4lHUuQh6cGadjqN+lShdGGGI+9UU38zpLMyNaewuLekDkLKIMvmQv+ISv6u4YZygn+5fCzqBsRalrwbljNhpcfzS77sHgK3B8iTgx05Ch9tDbJBtfnylFQbZwSl4W0kbVFYXNOZ361Z5yMWt6auDKtZlr3lWh3E1qexisdrmnRxfQQc2NeqWLNEVNufo80odAGPrO4QhzqJW/+fRQmq92VIyAab/YR1yLtOMWoG5ZtT14wGR3NdgYnUDZasaYFD2KdcnqH5Up04uAGuXlKh6n8MD+zcfvpgAHbf4IlNLknq2EjjbQjiSv9TEXwG135jFO71fd6xl1zytQl4bo1rfy7516A8IA5joMocfhrPlrORgK9+yO+BmCnJ/3gKjVEwiFGOQI17j6/DjX6b4q8DyD4Hm5VUYOJdY5HArg3Cn2T2CbugrGKNXR8dMYpFTxBJuTKyWQGLFGIoc4RuAPvwLgwgTEOVHcs92hGTZbNrge9C7IVOqaw8ga5kDu2uKAEDPeLV6bxiTqAb03INE4M/hJR1CPyDhJfmy755jwNDF4RhAa0EVE7XBYjjdR+Ssz77+D666ylZzLpJgbJHQRKFVLu9h4UrWSjoQKsl0NyPOUb/uytsTfPog0W8n668brVHy5A8S8ft8G37+EMn/JKIijIdIDNjvJAifTmGEFYHr9c2RaFsqBbXExIn9SXbojS08OB4+0Yk31BhGJx/l0WOsdspPX6erPNoOh+e4kd0g26e8/7WXJIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TV93Tjb94km6KfpFGCsnaY",
      "input": {
        "note": "The teddy's head is right under the open jaws. Descending onto it.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TV93Tjb94km6KfpFGCsnaY",
      "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]: [-0.7952, 1.636, 0.6781, 0.1326, -0.7368, -0.5907, 0.9968, 0.4053, 1.6222, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3418 left_y=-0.174 left_z=0.0621 left_yaw=0.1048 left_pitch=-0.0152 left_roll=0.0489 left_gripper=0.9968 right_x=0.4599 right_y=0.1491 right_z=0.1912 right_yaw=0.0439 right_pitch=0.0116 right_roll=0.0568 right_gripper=0.9961\nstate[joint_eff]: [0.1846, -3.6444, 2.9197, 0.6081, 0.315, -0.0904, -0.0122, -0.0615, -8.1162, 7.1453, 1.6777, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:476f4efe2a90de523bf5bad0114ae8473be6c740533420038669470f61a5cc9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a9b42c1d81e03dda37aa04908b313beb470020952fc4349a5b1844717bee797",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df1b612378cf5c6767df50e0705b89efe493f23844ae804fd54179ddbe95eb2e",
        "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 · 4.276 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]: [-0.466, 1.523, 1.2797, -0.4561, -0.4858, -0.3542, 0.9957, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.2314, 0.9961]\nstate[eef_state]: left_x=0.4254 left_y=-0.1176 left_z=0.2294 left_yaw=0.119 left_pitch=-0.0451 left_roll=0.033 left_gripper=0.9957 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.9961\nstate[joint_eff]: [0.0889, -7.2137, 7.0906, 1.5507, -0.232, 0.1001, -0.1001, -0.3487, -7.9385, 7.1316, 1.7118, 0.0366, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7914, 1.4643, 0.8288, -0.2562, -0.6823, -0.5961, 0.9968, 0.4053, 1.6222, 1.1679, -0.1219, 0.2745, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3312 left_y=-0.1716 left_z=0.1163 left_yaw=0.0771 left_pitch=-0.0891 left_roll=0.0697 left_gripper=0.9968 right_x=0.46 right_y=0.1492 right_z=0.1914 right_yaw=0.0442 right_pitch=0.0123 right_roll=0.0573 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -6.8718, 6.4479, 1.5018, -0.5201, -0.0317, 0.1001, -0.0479, -8.1299, 7.0632, 1.7167, 0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7952, 1.636, 0.6781, 0.1326, -0.7368, -0.5907, 0.9968, 0.4053, 1.6222, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3418 left_y=-0.174 left_z=0.0621 left_yaw=0.1048 left_pitch=-0.0152 left_roll=0.0489 left_gripper=0.9968 right_x=0.4599 right_y=0.1491 right_z=0.1912 right_yaw=0.0439 right_pitch=0.0116 right_roll=0.0568 right_gripper=0.9961\nstate[joint_eff]: [0.1846, -3.6444, 2.9197, 0.6081, 0.315, -0.0904, -0.0122, -0.0615, -8.1162, 7.1453, 1.6777, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:476f4efe2a90de523bf5bad0114ae8473be6c740533420038669470f61a5cc9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a9b42c1d81e03dda37aa04908b313beb470020952fc4349a5b1844717bee797",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df1b612378cf5c6767df50e0705b89efe493f23844ae804fd54179ddbe95eb2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Ft2dsCc6o8TCik4xFCcLF",
      "input": {
        "note": "The jaws are in the teddy's fur at z≈6 cm. Closing to grip it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013Ft2dsCc6o8TCik4xFCcLF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7971, 1.6409, 0.6693, 0.1604, -0.7475, -0.5953, 0.013, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3427 left_y=-0.1738 left_z=0.0623 left_yaw=0.1126 left_pitch=-0.0003 left_roll=0.0388 left_gripper=0.013 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -6.9538, 6.2017, 1.1502, -0.2418, 0.0024, 1.0672, -0.0615, -8.1436, 7.1043, 1.7705, 0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:302dde9c5d8801733131ec6be146efa530730f8096de82b354af9f923c520f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf48c96eb04b1d4b385e2d469affd26c91dd2ec28d27bd4c72fa47aecbca4d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82e85c08d2b631935e1cf40014d538fdd4c01b79ba1962ca2d1526363ce55fdf",
        "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 · 3.072 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]: [-0.7914, 1.4643, 0.8288, -0.2562, -0.6823, -0.5961, 0.9968, 0.4053, 1.6222, 1.1679, -0.1219, 0.2745, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3312 left_y=-0.1716 left_z=0.1163 left_yaw=0.0771 left_pitch=-0.0891 left_roll=0.0697 left_gripper=0.9968 right_x=0.46 right_y=0.1492 right_z=0.1914 right_yaw=0.0442 right_pitch=0.0123 right_roll=0.0573 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -6.8718, 6.4479, 1.5018, -0.5201, -0.0317, 0.1001, -0.0479, -8.1299, 7.0632, 1.7167, 0.0513, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7952, 1.636, 0.6781, 0.1326, -0.7368, -0.5907, 0.9968, 0.4053, 1.6222, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3418 left_y=-0.174 left_z=0.0621 left_yaw=0.1048 left_pitch=-0.0152 left_roll=0.0489 left_gripper=0.9968 right_x=0.4599 right_y=0.1491 right_z=0.1912 right_yaw=0.0439 right_pitch=0.0116 right_roll=0.0568 right_gripper=0.9961\nstate[joint_eff]: [0.1846, -3.6444, 2.9197, 0.6081, 0.315, -0.0904, -0.0122, -0.0615, -8.1162, 7.1453, 1.6777, 0.0317, -0.0415, -0.0122]",
      "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]: [-0.7971, 1.6409, 0.6693, 0.1604, -0.7475, -0.5953, 0.013, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3427 left_y=-0.1738 left_z=0.0623 left_yaw=0.1126 left_pitch=-0.0003 left_roll=0.0388 left_gripper=0.013 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -6.9538, 6.2017, 1.1502, -0.2418, 0.0024, 1.0672, -0.0615, -8.1436, 7.1043, 1.7705, 0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:302dde9c5d8801733131ec6be146efa530730f8096de82b354af9f923c520f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf48c96eb04b1d4b385e2d469affd26c91dd2ec28d27bd4c72fa47aecbca4d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82e85c08d2b631935e1cf40014d538fdd4c01b79ba1962ca2d1526363ce55fdf",
        "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/QcKEAgSGAI4AUIIdGhpbmtpbmcSDBE/fc4IEo3wWzUA8RoMGJIHnvym5OyZ8DfSIjAwdqY0IRep1JRBc3qM8su7SNIuMbsjl2GmsoEVuwnBLCLg566+t9pflWXCMH44Ux8qmgdvtUnRThf/B0BdXR8Yufv1mDz4oh3EzE6EnpspO3w5DV3mUpYOHg2IFWjA6NvVrDGYa98NYKJUCiuA5P03pkpf89mxEX7zRzfLV8gBjgd0VzwLrrHDjJsFuArXkXzCnhzsxcwImVg0kibJMDFgSslmiRKKbWBk2geV3tazffhXACNuYIupu5KMrxFxuBXfif61pg9seiorCwO+08Wr2QDrRmWtIgFsshJu/HyaM+Q3Y1vaKfhgamFTfha79jtkNsQSdkihPy8Zi55bK5MvrCYkmrboh3NCoCJyabjX10biigOZ6veAcRVVM6XWv1YMmeVtFPU7jTXcIk8Ehuj5RYLo155HLBhzuR4Ql+A6PDpR/VTq38R98n0lXIHYf/CQFJ+O7TOZSAdD8ykeQqNWbxDf6DL873DisQ/yL6vZxAvwiLjQ3sFm9LGmzzD3Z9gmzVYPJN8wrC05q3aD+ist7UC6dyvcinyOQCUnEv7oBNqQbKT4c5+4ypAryBZOZW6HWU6drb0UZz/gQ8JDOJF9OOaxsLuhRm6q7dP8Xgy9MXTXAzG29Uup1FXL0XwWwsQBPunu9ofnRFb0NPyqUjTEHXZ0hI9ofIdwMd+UUmlEEr25dS07fmA8omgDX4iGTuVbBK2uFBL3tZFdcAIuXfnW45G0PshpyIwm5sB2RuQTKA883L+8WtyZirZG0+FG50PNY4z65I01SSz11EIqBVQjmzXRha6Urtilv6skZCajVFif0ib9c0T21aBoCSLoIyV2lfTR/I8WRB4aqmFP0sBar8We13RXO/f935UcLqwalZaVsiW/3wrODblWjBnQhotK2IBiXA4Bpvbr0DbXuDLyjLWOgAYXusdV0uULoqCO7cW9FnBXga9eYDJspku6u/He2MY4B4doOnynJUvz5lLTrBuj4xs8DLG+gkNTuRMpytiEoDPDvOWoblXEyQYRgOqJ+vklfPTsoMTrZ53w51vaLf7t/lGw2Y1TwknBEBdZ8CVvn/iNsJhZPeUxS1XBJ6C9h8g+krRU66qxwHweWqT2/FANXHLZhU3w2zut3t098C9wq4R0GQ5Ydvnojb7x7WMQ4iGlFHSqVeAzogrgDCxFMDEX3F0QnDXiusb+2KTsnNOAFHzgPpA8dCwtfwzq40lh+l3ACWft5+qotvXVop5ltS/Exi4ALDVcH+aF/XLZsNYq6tNS1Pvr7qLbwTUP6XT9PwD7IhlZ7mRgVL27GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bvcgza7Bd8V78VFzDyb9yj",
      "input": {
        "note": "Empty close (0.013); the jaws only skimmed the top of the fur. Opening and pushing lower into the teddy's body.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Bvcgza7Bd8V78VFzDyb9yj",
      "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]: [-0.804, 1.8267, 0.627, 0.5564, -0.8097, -0.5953, 0.9939, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.362 left_y=-0.1862 left_z=0.0459 left_yaw=0.1597 left_pitch=0.1326 left_roll=-0.072 left_gripper=0.9939 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [0.294, -3.4256, 1.9077, 0.1636, 0.3736, -0.0757, -0.232, -0.0205, -7.9248, 6.9812, 1.6679, 0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e978407a2ce6ee41dbcb0e9b4ec3c0a69323a780b263dc077dd7104c42d1592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a500d8e2339e8ee2cd4ccb16cce141f437045a4125bfb30eb7ed0ffc017b56be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b80429537131a0ad037ee94bead086da71244034e481f8ba32bdab882dbf8f8a",
        "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 · 5.921 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]: [-0.7952, 1.636, 0.6781, 0.1326, -0.7368, -0.5907, 0.9968, 0.4053, 1.6222, 1.1679, -0.1226, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3418 left_y=-0.174 left_z=0.0621 left_yaw=0.1048 left_pitch=-0.0152 left_roll=0.0489 left_gripper=0.9968 right_x=0.4599 right_y=0.1491 right_z=0.1912 right_yaw=0.0439 right_pitch=0.0116 right_roll=0.0568 right_gripper=0.9961\nstate[joint_eff]: [0.1846, -3.6444, 2.9197, 0.6081, 0.315, -0.0904, -0.0122, -0.0615, -8.1162, 7.1453, 1.6777, 0.0317, -0.0415, -0.0122]",
      "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]: [-0.7971, 1.6409, 0.6693, 0.1604, -0.7475, -0.5953, 0.013, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3427 left_y=-0.1738 left_z=0.0623 left_yaw=0.1126 left_pitch=-0.0003 left_roll=0.0388 left_gripper=0.013 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -6.9538, 6.2017, 1.1502, -0.2418, 0.0024, 1.0672, -0.0615, -8.1436, 7.1043, 1.7705, 0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.804, 1.8267, 0.627, 0.5564, -0.8097, -0.5953, 0.9939, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.362 left_y=-0.1862 left_z=0.0459 left_yaw=0.1597 left_pitch=0.1326 left_roll=-0.072 left_gripper=0.9939 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [0.294, -3.4256, 1.9077, 0.1636, 0.3736, -0.0757, -0.232, -0.0205, -7.9248, 6.9812, 1.6679, 0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e978407a2ce6ee41dbcb0e9b4ec3c0a69323a780b263dc077dd7104c42d1592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a500d8e2339e8ee2cd4ccb16cce141f437045a4125bfb30eb7ed0ffc017b56be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b80429537131a0ad037ee94bead086da71244034e481f8ba32bdab882dbf8f8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QBfVn8v8VKWGhJSqvrmVzx",
      "input": {
        "note": "The jaws are now deeper in the teddy's body (z≈4.6 cm). Closing again.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QBfVn8v8VKWGhJSqvrmVzx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8047, 1.8252, 0.63, 0.5999, -0.831, -0.6022, 0.0156, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3662 left_y=-0.1873 left_z=0.0557 left_yaw=0.185 left_pitch=0.1694 left_roll=-0.1116 left_gripper=0.0156 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -7.5556, 4.4376, 1.1013, -0.1001, 0.0415, 0.9548, -0.0205, -7.9658, 6.9675, 1.7216, 0.0122, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:456cf177dcacb53cbc80b77da23147a3ac89b7daf7e141f67e61f14c0515d2a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f14b4b7dc505fda04a8a812405531acbb5f40f0483922693d5e21e7a9e6d19cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15ed6b90949c9c3af830fe97fd86a0ee012648cc300099efb5f5d95efec6c5ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 3.303 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]: [-0.7971, 1.6409, 0.6693, 0.1604, -0.7475, -0.5953, 0.013, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3427 left_y=-0.1738 left_z=0.0623 left_yaw=0.1126 left_pitch=-0.0003 left_roll=0.0388 left_gripper=0.013 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -6.9538, 6.2017, 1.1502, -0.2418, 0.0024, 1.0672, -0.0615, -8.1436, 7.1043, 1.7705, 0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.804, 1.8267, 0.627, 0.5564, -0.8097, -0.5953, 0.9939, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.362 left_y=-0.1862 left_z=0.0459 left_yaw=0.1597 left_pitch=0.1326 left_roll=-0.072 left_gripper=0.9939 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [0.294, -3.4256, 1.9077, 0.1636, 0.3736, -0.0757, -0.232, -0.0205, -7.9248, 6.9812, 1.6679, 0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8047, 1.8252, 0.63, 0.5999, -0.831, -0.6022, 0.0156, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3662 left_y=-0.1873 left_z=0.0557 left_yaw=0.185 left_pitch=0.1694 left_roll=-0.1116 left_gripper=0.0156 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -7.5556, 4.4376, 1.1013, -0.1001, 0.0415, 0.9548, -0.0205, -7.9658, 6.9675, 1.7216, 0.0122, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:456cf177dcacb53cbc80b77da23147a3ac89b7daf7e141f67e61f14c0515d2a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f14b4b7dc505fda04a8a812405531acbb5f40f0483922693d5e21e7a9e6d19cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15ed6b90949c9c3af830fe97fd86a0ee012648cc300099efb5f5d95efec6c5ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wkKEAgSGAI4AUIIdGhpbmtpbmcSDMCs4OX9sNtVNv+QgxoMPZdTGE6pOaG3FoAHIjAX3mPbF3p7z2IDGhF/xsZ1bZbOrmREfzbdrdU5zw6FQcqJrJR/slBvOQLE1mcdwBkq8AhFypWt2Q5Gjcyn7HJHWLOOJ+zbi3wKYLOERSyvK8sniHB07yAa6xthsFCcMMiRBKrpV/FTmfitBWTjhbkmmbi/HO1Wyum1xI0hvRfzdPWk6H70b7JxdrlucZ0ol37aT+U0/BNsBD45Y8n6IzaQ/9+2JsmTKcZUx0DwJP06kKjUIvqJgveZcQsUIU0o8M1ER81VunllnIHO/ftYHcbH6syHmv24ONvCCfopu20JlzXcR3V/N35Wy7vFrxLIu+T6A14mYCOnBetPfKx80BubQvDTvFdcShYTdom+c+ahgPReeeDnYbWFMMXhjXkzdtK88cdm6TMIGqBIO5qnTPg1+cuwhHba0YZYlDVR9msdMRc2/Ic1Te4YhfHzunXl33/4dG2XpYkPls1fyx9+70SUdar9Vy629DdOcrWpKaWfdITQILCbs6tQmiDmOZs9BIw0Jw1Lcsagsi3Qv1n078nDQDeVgUafP/cVjytbj42vXqZWEphsoyUe93rMdZcvmV8c+b/9xdnopdREjswn7SvVBvLTuVLxbNLWrT0SsJSB2XwZW91/LCijjMjGEHdroJbet2lA78IzO98nTJSypnwhgzLoXELPg2glEWvnGdPpojFS4p2FrE/eON4OytE1V0a0cBwqO6wn/NjNyWpIL41ZHkqEH2+F7K+2H08FOCmPP9wMsGQ3BjFyIA6upcCMtBXxccrLH/BMiN+iVMAWKTRlx+BlYhWF1FhbJY85JzbZfX8KoXYpMktWzQcHNN0IgyTfw70LPFb4t3gzp8YBLuQm/dCxhbcOQzfp784AKcl7CSG9LdqdNqkd6CYZhu3LuzE9PsHZzgo/GiEB9NmrtAPoMn6w/JOtKteBXF70JMsdBzzK98IddsNcfCdeeHF2J+Vsk+NM2KG/xrogBnW/v0zPqJWJk/S4a0J89NhCmecDOsmhi6X1QGL5cAjUyOHNgD/hMIVjAV6M8SR2EInCFj+BR9e4P/bP7vLfShJ4bl5Z7iIyvTG1I0PzlfnYkeL8mzU588nWtxA16/vO4Ir42hA3FYIH8kjVOdftOzDRMXz05YgvosDqfytSnQMF8+6/QSerBbwXmFssr/75/ZnIRmmIs9+sQGgQz6rMMiPiB/tzpXIlrxoqYUzFaFEozsTdlhYL+KakWazvJS6CEyMFai3lv1Jhh/agkd58/nDJ8l+RYHoqlQu4LdNtQCnNP3nUGCN8yQUizTVOClBOT/WaIe9feC2xrbowgKz6T+e0KeOfFhzDnGRlL+56ytqrZ5RweRwt2yFZGAFA4Op2yxcr9ye6VlIWf2hx7l+Fp5m7m1Mf2rDxrUcsyloTK7fkLSS6A4FOJ4Ep9ipkSXUCrDxq0ULpFNkkKzyq70ZSMQ/tZQC08bQNPFSnEfba9jTd6v/eC2dfmvgEmyjfkbE02LJlOAVeAEy7l2UoL7xSisBsTTCeOvO57suLgLvWCzfBVkEdjOLehLwC862dCUQlpxHIFzznJ6b1hMBpwo3QehRI3IrwV1hiMhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EY3L8mP8UENYc8x3aYbQTw",
      "input": {
        "note": "Second empty close: the teddy's body is too wide and soft to pinch. Its ear sticks up at the left of the wrist view, so I'm opening and shifting left to grab the ear.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.35,
          "left_y": -0.145,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EY3L8mP8UENYc8x3aYbQTw",
      "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]: [-0.7483, 1.8671, 0.4625, 0.9703, -0.7895, -0.5461, 0.9947, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.2314, 0.9961]\nstate[eef_state]: left_x=0.3614 left_y=-0.1595 left_z=0.0512 left_yaw=0.2057 left_pitch=0.2482 left_roll=-0.2056 left_gripper=0.9947 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.9961\nstate[joint_eff]: [1.0188, -3.9726, 1.812, 0.6911, -0.0513, -0.1685, -0.188, -0.0615, -8.1162, 6.9675, 1.7118, 0.0708, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b11739a6f71d53de2987af50e31067b096251726dd72f1e34b752c5676f4b60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e92042cf573b641ac1d4e54fca3d2d3a30201740a6bf4f593bc56ccd58c5eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1cf5f0c7e1d9eb0b75027ae1f5656ca987393294a59960bcf8631faacc8111f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 6.003 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]: [-0.804, 1.8267, 0.627, 0.5564, -0.8097, -0.5953, 0.9939, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.362 left_y=-0.1862 left_z=0.0459 left_yaw=0.1597 left_pitch=0.1326 left_roll=-0.072 left_gripper=0.9939 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [0.294, -3.4256, 1.9077, 0.1636, 0.3736, -0.0757, -0.232, -0.0205, -7.9248, 6.9812, 1.6679, 0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.8047, 1.8252, 0.63, 0.5999, -0.831, -0.6022, 0.0156, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3662 left_y=-0.1873 left_z=0.0557 left_yaw=0.185 left_pitch=0.1694 left_roll=-0.1116 left_gripper=0.0156 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -7.5556, 4.4376, 1.1013, -0.1001, 0.0415, 0.9548, -0.0205, -7.9658, 6.9675, 1.7216, 0.0122, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7483, 1.8671, 0.4625, 0.9703, -0.7895, -0.5461, 0.9947, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.2314, 0.9961]\nstate[eef_state]: left_x=0.3614 left_y=-0.1595 left_z=0.0512 left_yaw=0.2057 left_pitch=0.2482 left_roll=-0.2056 left_gripper=0.9947 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.9961\nstate[joint_eff]: [1.0188, -3.9726, 1.812, 0.6911, -0.0513, -0.1685, -0.188, -0.0615, -8.1162, 6.9675, 1.7118, 0.0708, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b11739a6f71d53de2987af50e31067b096251726dd72f1e34b752c5676f4b60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e92042cf573b641ac1d4e54fca3d2d3a30201740a6bf4f593bc56ccd58c5eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cf5f0c7e1d9eb0b75027ae1f5656ca987393294a59960bcf8631faacc8111f7",
        "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+gYKEAgSGAI4AUIIdGhpbmtpbmcSDL3uZc5qZXqTXlIuGhoMjupyR/qQiyPLDACdIjBZTS8GOd2cREkNl2dIWiPpHYvsKf9+yc5Pb5Q5/IdMxGTQcHSqDCMLSeXAOiG30hUqlwYyXAMwFWfuPPdhMgQQz+Dtd3Z6l6ca4oTy0V5IzaXlQnGXqO8Viov/9mg18N/WQ43+316ONamUoBnaaQSkYE9d74lwSy/JlzaIUe9pzmeWdwwxbz1YG+qxIgEiiyLxktZoiLOwiaoQivRp+miphQ6u7P3PkZWJwJagLTwAPg3Fy46SewZTjDkk06AyjX4Cdo4L3G5FOmlkQ27G0S6Kc3b74NfmJuGnwj5Bwvm37qTTPEYZ+Cx4ldbUnoTg1eAFjY+C1Bljj12rbafNwZ6eHDs6V7GlzGlB1P9N7Ptl1P1reQZl5kTbTqQiLUjaMvcCLiA3sxVGGTa6W4TWq3FEq8v36qZ1rxwVLLKxNcT/DVQEQRNkI4zJelWfQy7E87080d4ZV5tK042iOfqZQPPllMFLZD5CjRvwYgjd21qSN0aVTM+iQO98E7Tr8lUeQ+kgUtxOpJYEgEWvNlJmW3irMWR/FKYZuYWbWwEHXg+NkFx7eLf2CR3qgZen7TQNGvZgGfaWy480K/UVFuz6HVh34XpZiY/l1wObizQ7VbyI8JfS2l4TeQF/NhkB4IA6n4yKG+OydiG7HrtoBoCyXWJFmWoyJ3WNK/W6SaoB7uUJH2R0kaxCpWgK/tsSQV0ybVXQps/O+JXOvKqwEcAav4INIqrLIbmLBi0f3PFCKDbPoOUAIwAaRM1bVbndT6vuoLIyMcxEKmnkLDLUiz7/gTJvG0q4UTLlYxS/baK2AUF4z9ybAFta2I8ZAfoIan0aevUyNnXGfHnzEE2YrsWj/yLtQYtswKfIHHqZWkVDhhTeGGzyBsY5tBq26hgB9k074zczah1fRrE8Xoe5QbLtVclq+H1U+sEoy0RLK+luQiqnj0e3VpxnELeuWmJwGsoVzG6Tt3Q6ZORdDJDqTHzDINndplCJiOjBNktG4V6EOS2okspi2T2HrmfmFcDegynnt6eSig1KoxrY8bw2uyAA/weqgjfvycvOhmuUBo6aaqvstNxLKKI4UDecPh61FeJPGmUE7H2AwYaFDT0LAG7rbes5/uyuKjY6kIqKPhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012XfBTWfL4bGUj1Sz12x8RH",
      "input": {
        "note": "The jaws are pressed into the teddy near its ear. Closing to try to pinch the ear.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012XfBTWfL4bGUj1Sz12x8RH",
      "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]: [-0.7506, 1.8698, 0.4572, 1.0111, -0.8013, -0.5507, 0.0155, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3621 left_y=-0.1593 left_z=0.0566 left_yaw=0.2231 left_pitch=0.2703 left_roll=-0.2351 left_gripper=0.0155 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -7.3504, 4.2598, 1.2283, -0.0611, 0.022, 0.6471, -0.1026, -8.1299, 7.0769, 1.746, 0.0562, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc6c68e9385695c71f37713511eced994bcdab354e34a89aba5dd6929123163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3e98161a832d7c68b99b71b8d5a682edd4dcc7af100681fe5e219c463816a27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d0d87346945df8f93501a2a88257572553f3e30226c99feef12890300a2ce02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 11.89 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]: [-0.8047, 1.8252, 0.63, 0.5999, -0.831, -0.6022, 0.0156, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3662 left_y=-0.1873 left_z=0.0557 left_yaw=0.185 left_pitch=0.1694 left_roll=-0.1116 left_gripper=0.0156 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -7.5556, 4.4376, 1.1013, -0.1001, 0.0415, 0.9548, -0.0205, -7.9658, 6.9675, 1.7216, 0.0122, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7483, 1.8671, 0.4625, 0.9703, -0.7895, -0.5461, 0.9947, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.2314, 0.9961]\nstate[eef_state]: left_x=0.3614 left_y=-0.1595 left_z=0.0512 left_yaw=0.2057 left_pitch=0.2482 left_roll=-0.2056 left_gripper=0.9947 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0437 right_pitch=0.012 right_roll=0.0572 right_gripper=0.9961\nstate[joint_eff]: [1.0188, -3.9726, 1.812, 0.6911, -0.0513, -0.1685, -0.188, -0.0615, -8.1162, 6.9675, 1.7118, 0.0708, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7506, 1.8698, 0.4572, 1.0111, -0.8013, -0.5507, 0.0155, 0.4053, 1.6222, 1.1679, -0.1223, 0.2749, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3621 left_y=-0.1593 left_z=0.0566 left_yaw=0.2231 left_pitch=0.2703 left_roll=-0.2351 left_gripper=0.0155 right_x=0.46 right_y=0.1491 right_z=0.1913 right_yaw=0.0439 right_pitch=0.012 right_roll=0.0569 right_gripper=0.9961\nstate[joint_eff]: [-0.1162, -7.3504, 4.2598, 1.2283, -0.0611, 0.022, 0.6471, -0.1026, -8.1299, 7.0769, 1.746, 0.0562, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc6c68e9385695c71f37713511eced994bcdab354e34a89aba5dd6929123163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3e98161a832d7c68b99b71b8d5a682edd4dcc7af100681fe5e219c463816a27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0d87346945df8f93501a2a88257572553f3e30226c99feef12890300a2ce02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1AoKEAgSGAI4AUIIdGhpbmtpbmcSDIRCWNTKMOqGwUiukRoMTq1TqGBi5MX3B0cSIjCtBbULnJ4Ddlgg5I4sBQp28KV0Nlf9dV1HRo4CAmL2Lx1FqVLneB7YdjfdnZe2MhAq8QkQzEBVQoc4h5zEnQCH3RS8tjZyUTspbm2kCeGLjs1aKaTLqcVpZ00ek+qqbM/ngNWmxguH0Vuv+lbV9Am3TpeyB0mUVvzaFYlpayyoMUbitY5q5ZWu+Ky0DdUgRqlFwkERJP159rdF+CPeB3qqRbSQlJYImbBbPRnjhAuQgpsaX/1OWhTuWdRw5CpFTOs8lYNT45hZ1IlJTcgHC1Km0HBFIDdq1ecwaR7+L3prpu7kJ08mwdA5J5MD78kMLkEwMLt1huh+37Wem24C+e+kPvPaY5SLK3qu2I5seHJMIEK+aD7Judpy1/8mCfDQCBBN9xKMDzWkJoyLuRLE+rcb3lEvSFnylkITF8rFKw3QLbKk5D0OGIDzbcYrp/FYBGK952eJbfwqV9ZKt9MryWoyz4xaIvwcxlud2CW9HVLRG1Se0upzrVcxbB5JYBK6fqYR3RmVcxy7RfT/5te8wxVG2ik9daoIBtTVYe7tQDlOxAk/XfFYAd7dkWHdadg8oO/wzTk3IEZmZ0zOGEfAig8msNIjYY90hcmY3sg3T9LiBR7ZMzUElcJweCVThXNZuofsHqLe1ixJoTjYsCXhNDSoXpaZanxgi5q3miF5TjFAmpadXpFfDI2hX+hg0VnB+XWUdXnlpp0YuNdCr4gsURMib4zT04yARppQK9NR2BTDfeoGw3gI/nt8HPkL/wSJ3ILjqLM3TU8Xfy4OI9IUl+FNzMiJb5J7aBLLdp9/rlKzTYbiydxX31t+PKa0mf1kFJzqGyli1j8qf4bgHSGps0AqiHnUkJVzG491MeJZLrggci74i4OlyifdN1dpxu2obkaW+zXCqBNxaoarCP3VtaKSiT1PVDAy1q/O0PUFVnPP/PLDrlc8GPmuQDyTgrLRr+YqW4oMFSVFuLMia6rzLG1j8/2cy6CY8v3oFc5kFg+4kZtC7g029O18WnanFz8K1o71ylDxDu1CXsdCfA1MOF2mjKhL0C+Veo2RzGFZC3ui4rJDzWJJwU+oLPBO2MYoNcRoUDZ5N/cy8z2WGPwEEkGEA/KKCWPjDfQN0atqWOksd8t0xWg6ZKliYq1euQY0jbYY1NbB3vOnhU6OGt/UPmHrrsNrxA96pm6qLIV6ACHRx6NroBnBAh4WTq8dpaG5sF5h3nM2TOjNyvFnYWo/Z0soV2PrqMTnncPcTJvQUUMKnL5UgxOA3wLHRh9sJRI3fHa8QyPgnPya3Ok8kESkGcsjo+AAgOX+2LUAx8vC/j/9QrfIVvUM+Ou1e1hH9h/IvlkdOeX5pB5geuSptkxERJ3hCoZZFIRNsVJzaHV8CC7r32MJbtZlsrc7Gb/i06WVovszuK7K82ZeTAo4cqJR7a/4M/mn9DBEh26fGLyhXxNNgqU9XXTns09KoZGy+diNdb5m4cYVuK4zLKXxggKEzJY40Kw1s2yLLOrZw6S8LQ6AWYMPGjljO8MMOL7n3zMZEpZ6owswDF88p8RurZH3JtQpBFcqbeO4ypmwbGFU4dxbelUCG/b//wxp2qJykiSmE6qLgU5jF/kjETAIO4ocTC9ImRTytwM8WWzM9GFpNxX40uDqHxs0yd8ujklu3CDUxEuVd2wC5RJwv92f1iSVL3jFq/6nct2vIHEJypG6V1+JS+ppM1XlKHuGlL22ktM0IZN35zGK2397CHvEr975QA4jZ/jh4xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X7x91qvuEBLFMwwovbqbEU",
      "input": {
        "note": "Third empty close on the teddy, and I'm nearly out of calls. Lifting the left arm clear so the top camera shows the final state.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01X7x91qvuEBLFMwwovbqbEU",
      "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]: [-0.5053, 0.7937, 0.379, 0.1368, -0.6029, -0.4595, 0.9951, 0.4053, 1.6238, 1.1675, -0.1204, 0.2745, 0.231, 0.9961]\nstate[eef_state]: left_x=0.3047 left_y=-0.05 left_z=0.1975 left_yaw=0.2729 left_pitch=0.3111 left_roll=-0.2867 left_gripper=0.9951 right_x=0.4602 right_y=0.1493 right_z=0.1908 right_yaw=0.0442 right_pitch=0.0119 right_roll=0.0571 right_gripper=0.9961\nstate[joint_eff]: [0.1026, -0.9094, 10.2222, 1.7558, -0.0415, 0.2125, 0.0366, -0.0479, -8.0615, 6.9812, 1.7509, 0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01be4a68d4e4bec941b963735dacf6afbb7444f655f96be5bef82034cb117a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090c887caa9734120838b41f13d655d9796d25322f421ceac8615d469fdebf78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:273e2ad0e0e7b90227e93f140f14af95d892936fb296af10cbdefa48706cc139",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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