adhoc

completed
2026-09-22T22:08:40.240155+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
274.5 s
total steps
392
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: two teal baskets at the back, plush bears plus marker-like sticks in front. The left wrist cam shows a yellow marker just right of and below the jaws; lowering and nudging right to line up on it.
move_to
left_x0.3100left_y-0.0200left_z0.0700
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8013, 0.6174, -0.3782, -0.0223, -0.0158, 0.9994, -0.0154, 0.7986, 0.6106, -0.3782, -0.0189, -0.0257, 0.9998] state[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2961 right_y=0.0023 right_z=0.1821 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5812, -1.894, 9.306, 1.7509, -0.0611, -0.0171, -0.0708, -0.8821, -1.6342, 9.7983, 1.7509, -0.0464, 0.0952, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.02, "left_z": 0.07}, "note": "Scene: two teal baskets at the back, plush bears plus marker-like sticks in front. The left wrist cam shows a yellow marker just right of and below the jaws; lowering and nudging right to line up on it."})
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 still slightly right of the jaw column in the left wrist view; shifting right before descending.
move_to
left_y-0.0350left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1539, 1.079, 0.2398, 0.2459, -0.1291, -0.0834, 0.9994, -0.0154, 0.8024, 0.6086, -0.3847, -0.0189, -0.0261, 0.9998] state[eef_state]: left_x=0.3075 left_y=-0.0211 left_z=0.0655 left_yaw=-0.0084 left_pitch=-0.0259 left_roll=0.004 left_gripper=0.9994 right_x=0.2953 right_y=0.0024 right_z=0.1788 right_yaw=0.0002 right_pitch=-0.0122 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1026, -2.5778, 5.7641, 1.8046, -0.1392, -0.0952, -0.0122, -0.3897, -1.5658, 7.2274, 1.7851, -0.022, -0.0073, -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_y": -0.035, "left_z": 0.06}, "note": "Yellow marker still slightly right of the jaw column in the left wrist view; shifting right before descending."})
tool
executing move_to over 2 steps (0.2s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteMarker nearly centred between the jaws; small right correction and descend to table level to grasp.
move_to
left_y-0.0470left_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]: [-0.2382, 1.1236, 0.239, 0.2657, -0.1703, -0.1135, 0.9994, -0.0154, 0.8024, 0.6086, -0.3847, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3058 left_y=-0.0397 left_z=0.057 left_yaw=-0.0417 left_pitch=-0.0468 left_roll=0.0066 left_gripper=0.9994 right_x=0.2953 right_y=0.0023 right_z=0.1788 right_yaw=0.0001 right_pitch=-0.0122 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.335, -2.8103, 5.5179, 1.8632, -0.2466, -0.0904, -0.0122, -0.3214, -1.0872, 7.0222, 1.7363, -0.0366, -0.0269, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.047, "left_z": 0.0}, "note": "Marker nearly centred between the jaws; small right correction and descend to table level to grasp."})
tool
executing move_to over 4 steps (0.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteYellow marker is centred between the jaws at table level; closing to grasp.
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]: [-0.281, 1.5448, 0.1352, 0.7784, -0.2043, -0.1318, 0.9993, -0.0154, 0.8051, 0.6086, -0.3859, -0.0185, -0.0265, 0.9998] state[eef_state]: left_x=0.3069 left_y=-0.0475 left_z=0.0005 left_yaw=-0.0461 left_pitch=-0.0543 left_roll=0.0137 left_gripper=0.9993 right_x=0.2953 right_y=0.0023 right_z=0.1778 right_yaw=0.0001 right_pitch=-0.016 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1983, -3.3436, 3.0017, 1.58, -0.1197, -0.1001, -0.0171, -0.3624, -1.4974, 7.0906, 1.7558, -0.0317, -0.0269, -0.0171] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Yellow marker is centred between the jaws at table level; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteGripper settled at 0.15 (~1.4 cm), so the marker is held. Lifting to carry height. Plan: markers go in the right basket, plush toys in the left basket.
move_to
left_z0.2000left_x0.3500
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]: [-0.281, 1.5505, 0.1322, 0.8009, -0.2066, -0.1398, 0.1512, -0.0151, 0.8051, 0.6083, -0.3855, -0.0185, -0.0269, 0.9998] state[eef_state]: left_x=0.3083 left_y=-0.0475 left_z=0.0024 left_yaw=-0.04 left_pitch=-0.0405 left_roll=0.0051 left_gripper=0.1512 right_x=0.2953 right_y=0.0024 right_z=0.1777 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.0205, -3.6718, 3.0017, 1.7509, -0.1245, -0.0073, 1.0379, -0.253, -1.1282, 7.0359, 1.6972, -0.0269, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.35}, "note": "Gripper settled at 0.15 (~1.4 cm), so the marker is held. Lifting to carry height. Plan: markers go in the right basket, plush toys in the left basket."})
tool
executing move_to over 13 steps (1.3s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteMarker held. Swinging right as far as the left arm's box allows (y=-0.40) over the right basket's near-left region to check whether it can drop the marker inside.
move_to
left_x0.4500left_y-0.4000left_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]: [-0.2298, 1.1004, 0.8013, -0.3252, -0.1761, -0.1276, 0.1517, -0.0147, 0.8116, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.3489 left_y=-0.0462 left_z=0.19 left_yaw=-0.021 left_pitch=-0.0512 left_roll=-0.0006 left_gripper=0.1517 right_x=0.2946 right_y=0.0026 right_z=0.1738 right_yaw=0.0028 right_pitch=-0.0309 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [0.1709, -3.8222, 8.8684, 1.5165, 0.0366, 0.1392, 1.033, -0.1846, -1.853, 7.1726, 1.7656, -0.0317, 0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.4, "left_z": 0.22}, "note": "Marker held. Swinging right as far as the left arm's box allows (y=-0.40) over the right basket's near-left region to check whether it can drop the marker inside."})
tool
executing move_to over 32 steps (3.2s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteLeft wrist cam and overhead both show the yellow marker directly over the inside of the right basket; 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]: [-0.9207, 2.426, 2.5229, -0.9756, -0.6849, -0.6445, 0.1574, -0.0147, 0.8146, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.4485 left_y=-0.3993 left_z=0.2095 left_yaw=-0.0251 left_pitch=-0.077 left_roll=0.0069 left_gripper=0.1574 right_x=0.2948 right_y=0.0026 right_z=0.173 right_yaw=0.0028 right_pitch=-0.0339 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-0.5538, -13.6547, 8.7726, 1.326, -0.4811, 0.0562, 1.033, -0.1026, -1.4154, 7.0085, 1.7509, -0.0171, -0.0415, -0.0171] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Left wrist cam and overhead both show the yellow marker directly over the inside of the right basket; releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteYellow marker is now in the right basket (markers basket). Next: plush toys to the left basket; moving the left arm above the brown bear in the centre.
move_to
left_x0.3000left_y-0.2800left_z0.1600
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]: [-0.9203, 2.426, 2.5225, -0.9794, -0.6807, -0.6552, 0.9954, -0.0143, 0.8146, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.448 left_y=-0.3992 left_z=0.2085 left_yaw=-0.0216 left_pitch=-0.082 left_roll=-0.0004 left_gripper=0.9954 right_x=0.2947 right_y=0.0027 right_z=0.1729 right_yaw=0.0032 right_pitch=-0.0343 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-0.0615, -13.9829, 6.3248, 1.3504, -0.398, 0.1001, -0.2418, -0.0889, -1.347, 7.1453, 1.7021, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.28, "left_z": 0.16}, "note": "Yellow marker is now in the right basket (markers basket). Next: plush toys to the left basket; moving the left arm above the brown bear in the centre."})
tool
executing move_to over 12 steps (1.2s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteTeddy bear is centred below the left jaws; descending to grab it.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0542, 1.6653, 1.2003, -0.5491, -0.7391, -0.7868, 0.9966, -0.0147, 0.8185, 0.6067, -0.3923, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.3026 left_y=-0.2845 left_z=0.1484 left_yaw=-0.0373 left_pitch=-0.1169 left_roll=0.0305 left_gripper=0.9966 right_x=0.295 right_y=0.0025 right_z=0.172 right_yaw=0.0025 right_pitch=-0.0377 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [-0.294, -9.3607, 7.5282, 1.3553, -0.5934, -0.0513, 0.105, -0.0479, -1.5385, 7.1316, 1.7363, -0.0464, -0.0757, -0.0171] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05}, "note": "Teddy bear is centred below the left jaws; descending to grab it."})
tool
executing move_to over 7 steps (0.7s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteJaws are resting on the bear's head (descent stopped at 7 cm); closing to pinch the bear.
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]: [-1.055, 1.7878, 0.9901, -0.1886, -0.7612, -0.8009, 0.9967, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.3065 left_y=-0.2862 left_z=0.0714 left_yaw=-0.02 left_pitch=-0.0864 left_roll=0.0051 left_gripper=0.9967 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0028 right_pitch=-0.0381 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [0.1026, -6.2017, 4.3966, 0.7692, -0.1294, 0.0855, -0.0024, -0.0479, -1.3744, 7.2274, 1.6972, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are resting on the bear's head (descent stopped at 7 cm); closing to pinch the bear."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteGripper reads 0.03, possibly only a pinch of soft fabric; lifting to see if the bear comes up.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0534, 1.7973, 0.9867, -0.144, -0.7673, -0.8074, 0.03, -0.0147, 0.8185, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.3103 left_y=-0.2901 left_z=0.0722 left_yaw=-0.0135 left_pitch=-0.0659 left_roll=-0.0249 left_gripper=0.03 right_x=0.295 right_y=0.0026 right_z=0.172 right_yaw=0.0028 right_pitch=-0.0377 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-0.2256, -9.347, 6.1744, 0.823, -0.2857, -0.0269, 0.5104, -0.1162, -1.4017, 7.0085, 1.7509, -0.022, -0.0366, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13}, "note": "Gripper reads 0.03, possibly only a pinch of soft fabric; lifting to see if the bear comes up."})
tool
executing move_to over 4 steps (0.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe bear stays fixed in the wrist view while the background moved, so it is held. Carrying it over the left basket (plush basket).
move_to
left_x0.4400left_y-0.1600left_z0.2300
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]: [-1.0534, 1.7443, 1.0798, -0.3176, -0.7559, -0.8127, 0.0387, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.3091 left_y=-0.2909 left_z=0.1031 left_yaw=-0.0157 left_pitch=-0.088 left_roll=-0.0103 left_gripper=0.0387 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0028 right_pitch=-0.0381 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-0.1709, -11.4667, 8.4581, 1.1795, -0.5055, 0.022, 1.033, -0.2393, -1.3744, 7.3368, 1.7118, -0.0464, -0.0562, -0.0171] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.16, "left_z": 0.23}, "note": "The bear stays fixed in the wrist view while the background moved, so it is held. Carrying it over the left basket (plush basket)."})
tool
executing move_to over 12 steps (1.2s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteOverhead shows the hanging bear just in front of/right of the left basket; moving further forward and left to be over its interior.
move_to
left_x0.5000left_y-0.1200left_z0.2300
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]: [-0.5121, 1.6295, 1.3521, -0.49, -0.408, -0.3779, 0.0387, -0.0143, 0.8192, 0.6067, -0.3923, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.4325 left_y=-0.1586 left_z=0.2051 left_yaw=0.0272 left_pitch=-0.1289 left_roll=-0.0091 left_gripper=0.0387 right_x=0.295 right_y=0.0026 right_z=0.1717 right_yaw=0.0029 right_pitch=-0.0385 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [0.1162, -8.2667, 9.6479, 1.4823, -0.0122, 0.2027, 1.0281, -0.0479, -1.4701, 7.0085, 1.7216, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.12, "left_z": 0.23}, "note": "Overhead shows the hanging bear just in front of/right of the left basket; moving further forward and left to be over its interior."})
tool
executing move_to over 6 steps (0.6s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteBear is over the front-right corner of the left basket; shifting a bit further forward and left to be over the middle.
move_to
left_x0.5300left_y-0.0700left_z0.2300
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]: [-0.3477, 1.7947, 1.5875, -0.5739, -0.3016, -0.2916, 0.0387, -0.0147, 0.8211, 0.6067, -0.3931, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.4895 left_y=-0.1178 left_z=0.2098 left_yaw=0.0598 left_pitch=-0.1753 left_roll=-0.0039 left_gripper=0.0387 right_x=0.295 right_y=0.0026 right_z=0.1711 right_yaw=0.0028 right_pitch=-0.0412 right_roll=-0.0025 right_gripper=0.9998 state[joint_eff]: [0.3077, -9.388, 9.1419, 1.5995, 0.0464, 0.1783, 1.0281, -0.212, -1.4974, 7.0496, 1.6923, -0.0171, -0.022, -0.0122] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.07, "left_z": 0.23}, "note": "Bear is over the front-right corner of the left basket; shifting a bit further forward and left to be over the middle."})
tool
executing move_to over 5 steps (0.5s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
Bear is over the left basket in the overhead view. Releasing.
agent noteOverhead view shows the bear hanging over the left basket; 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]: [-0.2073, 1.9049, 1.7489, -0.6647, -0.2214, -0.2283, 0.0387, -0.0147, 0.8249, 0.6067, -0.3931, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.5207 left_y=-0.0662 left_z=0.2054 left_yaw=0.1016 left_pitch=-0.233 left_roll=0.0019 left_gripper=0.0387 right_x=0.2953 right_y=0.0026 right_z=0.17 right_yaw=0.0028 right_pitch=-0.045 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.4718, -10.906, 9.6889, 1.6435, 0.0464, 0.2662, 1.0281, -0.1846, -1.6615, 7.0085, 1.6972, -0.0366, -0.0562, -0.0171] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
Bear is over the left basket in the overhead view. Releasing.
move_to({"targets": {"left_gripper": 1.0}, "note": "Overhead view shows the bear hanging over the left basket; opening to drop it in."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteBig bear is in the left basket. Next plush: the small brown bear in front of the left basket; moving above it.
move_to
left_x0.2700left_y-0.1700left_z0.1500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2024, 1.9114, 1.7691, -0.6689, -0.2016, -0.2012, 0.9954, -0.0147, 0.8249, 0.6067, -0.3927, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.5238 left_y=-0.0677 left_z=0.2093 left_yaw=0.0743 left_pitch=-0.2282 left_roll=0.0044 left_gripper=0.9954 right_x=0.2953 right_y=0.0025 right_z=0.1701 right_yaw=0.0025 right_pitch=-0.0446 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [-0.4034, -11.0974, 9.5248, 1.6093, -0.0513, 0.1197, -0.2564, -0.1299, -1.4017, 7.0496, 1.7265, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.17, "left_z": 0.15}, "note": "Big bear is in the left basket. Next plush: the small brown bear in front of the left basket; moving above it."})
tool
executing move_to over 20 steps (2.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteSmall brown bear is just left of the jaw column; shifting left slightly and descending to grasp it.
move_to
left_y-0.1600left_z0.0300left_pitch0.0000
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]: [-0.8864, 1.3159, 0.9516, -0.6792, -0.5846, -0.7563, 0.9966, -0.0147, 0.8257, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.2763 left_y=-0.1787 left_z=0.1485 left_yaw=0.0248 left_pitch=-0.2428 left_roll=0.0012 left_gripper=0.9966 right_x=0.2954 right_y=0.0026 right_z=0.17 right_yaw=0.0028 right_pitch=-0.045 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.0752, -6.0239, 5.9829, 1.072, -0.4371, -0.022, 0.1148, -0.1436, -1.4838, 7.2821, 1.6972, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.16, "left_z": 0.03, "left_pitch": 0.0}, "note": "Small brown bear is just left of the jaw column; shifting left slightly and descending to grasp it."})
tool
executing move_to over 9 steps (0.9s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteSmall bear fills the space between the jaws; closing.
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]: [-0.9283, 1.4937, 0.3927, 0.1539, -0.749, -0.6724, 0.9967, -0.0147, 0.8276, 0.6067, -0.3931, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.2673 left_y=-0.1504 left_z=0.0222 left_yaw=0.0279 left_pitch=-0.0767 left_roll=0.0697 left_gripper=0.9967 right_x=0.2954 right_y=0.0025 right_z=0.1693 right_yaw=0.0025 right_pitch=-0.0477 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [-0.5675, -5.1761, 4.6154, 1.3553, -0.5348, -0.0317, -0.0024, -0.1709, -1.5932, 7.0632, 1.6777, -0.0317, -0.0269, -0.0171] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Small bear fills the space between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteEmpty close (0.01): the bear sits a few cm forward of the fingertips in the wrist view. Opening and lifting slightly to reposition.
move_to
left_gripper1.0000left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9318, 1.5105, 0.3721, 0.157, -0.7506, -0.6727, 0.0099, -0.0147, 0.828, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.2618 left_y=-0.1443 left_z=0.0127 left_yaw=0.028 left_pitch=-0.0954 left_roll=0.0984 left_gripper=0.0099 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0028 right_pitch=-0.0477 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [0.1436, -6.0786, 6.188, 1.1209, -0.3443, -0.0024, 0.8327, -0.1573, -1.4838, 7.159, 1.7021, -0.0513, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.06}, "note": "Empty close (0.01): the bear sits a few cm forward of the fingertips in the wrist view. Opening and lifting slightly to reposition."})
tool
executing move_to over 10 steps (1.0s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteBear is centred in the wrist view but ~5 cm ahead of the fingertips; advancing and lowering to straddle it.
move_to
left_x0.3100left_y-0.1450left_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]: [-0.9318, 1.3319, 0.4461, -0.104, -0.7479, -0.6735, 0.9952, -0.0147, 0.828, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.2595 left_y=-0.1418 left_z=0.05 left_yaw=0.0275 left_pitch=-0.102 left_roll=0.1034 left_gripper=0.9952 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0028 right_pitch=-0.0473 right_roll=-0.0024 right_gripper=0.9998 state[joint_eff]: [-0.3214, -4.8205, 7.9385, 1.0525, -0.3736, -0.0171, -0.022, -0.1436, -1.2103, 7.0359, 1.7607, -0.0415, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.145, "left_z": 0.02}, "note": "Bear is centred in the wrist view but ~5 cm ahead of the fingertips; advancing and lowering to straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteBear now fills the space right in front of the jaws; closing.
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]: [-0.7776, 1.5848, 0.4633, 0.1326, -0.6727, -0.551, 0.9965, -0.0143, 0.8307, 0.6067, -0.3958, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.2925 left_y=-0.1285 left_z=0.0075 left_yaw=0.07 left_pitch=-0.1602 left_roll=0.1587 left_gripper=0.9965 right_x=0.2952 right_y=0.0027 right_z=0.1679 right_yaw=0.0032 right_pitch=-0.0534 right_roll=-0.0023 right_gripper=0.9998 state[joint_eff]: [0.0342, -6.2974, 6.5162, 1.3065, -0.2955, 0.0464, 0.1245, -0.1299, -1.6479, 7.0359, 1.7265, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bear now fills the space right in front of the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteSecond empty close; the overhead view shows the bear still a few cm forward-left of the jaws. Opening and lifting to reposition further forward.
move_to
left_gripper1.0000left_z0.0500left_pitch0.1000
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]: [-0.7631, 1.6028, 0.4675, 0.2295, -0.6502, -0.5053, 0.0103, -0.0147, 0.8314, 0.6067, -0.4004, -0.0185, -0.0299, 0.9998] state[eef_state]: left_x=0.3049 left_y=-0.1387 left_z=0.0134 left_yaw=0.0366 left_pitch=-0.1207 left_roll=0.1199 left_gripper=0.0103 right_x=0.2946 right_y=0.0025 right_z=0.1668 right_yaw=0.0027 right_pitch=-0.0587 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [-0.2256, -5.8872, 5.9966, 1.3895, -0.2662, 0.0073, 0.8278, -0.0889, -1.5248, 7.0632, 1.7558, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.05, "left_pitch": 0.1}, "note": "Second empty close; the overhead view shows the bear still a few cm forward-left of the jaws. Opening and lifting to reposition further forward."})
tool
executing move_to over 10 steps (1.0s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
right_cam
camera right_cam step 217
assistant
agent noteBoth jaw tips now visible at the bottom corners, bear centred just ahead of them; advancing 3 cm and lowering to table to straddle it.
move_to
left_x0.3350left_y-0.1350left_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]: [-0.8307, 1.557, 0.3717, 0.4332, -0.7872, -0.44, 0.9953, -0.0147, 0.8314, 0.6067, -0.4053, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.3017 left_y=-0.1394 left_z=0.0386 left_yaw=0.0258 left_pitch=0.0528 left_roll=0.1292 left_gripper=0.9953 right_x=0.2939 right_y=0.0025 right_z=0.1658 right_yaw=0.0025 right_pitch=-0.0637 right_roll=-0.0023 right_gripper=0.9998 state[joint_eff]: [-0.2667, -6.3111, 4.3556, 1.536, -0.4615, 0.0952, -0.1832, -0.1162, -1.347, 6.9949, 1.7851, -0.0366, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_y": -0.135, "left_z": 0.0}, "note": "Both jaw tips now visible at the bottom corners, bear centred just ahead of them; advancing 3 cm and lowering to table to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteBear body is right between the jaw tips at table level; closing.
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]: [-0.7284, 1.816, 0.3946, 0.6998, -0.7597, -0.392, 0.9965, -0.0147, 0.8352, 0.6064, -0.4099, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.3287 left_y=-0.1254 left_z=0.004 left_yaw=0.0842 left_pitch=0.056 left_roll=0.1362 left_gripper=0.9965 right_x=0.2933 right_y=0.0026 right_z=0.1637 right_yaw=0.0029 right_pitch=-0.0725 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [0.0205, -5.5863, 3.4256, 0.2711, 0.3053, 0.315, 0.1197, -0.2393, -1.306, 7.0496, 1.7802, -0.0122, -0.0611, -0.0171] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bear body is right between the jaw tips at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 230
assistant
agent noteThird empty close: overhead shows the bear sits ~6 cm further forward than the jaws. Opening and lifting to hop over and come down on it.
move_to
left_gripper1.0000left_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.73, 1.8324, 0.3981, 0.7155, -0.7563, -0.3923, 0.0107, -0.0147, 0.836, 0.6029, -0.4091, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.3296 left_y=-0.1274 left_z=0.0018 left_yaw=0.0805 left_pitch=0.0562 left_roll=0.1324 left_gripper=0.0107 right_x=0.293 right_y=0.0026 right_z=0.1621 right_yaw=0.0029 right_pitch=-0.0759 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [-0.2256, -7.7744, 3.0838, 1.3162, -0.2613, 0.0024, 0.6618, -0.0479, -1.4017, 7.2684, 1.6679, -0.0171, 0.0073, -0.0171] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.08}, "note": "Third empty close: overhead shows the bear sits ~6 cm further forward than the jaws. Opening and lifting to hop over and come down on it."})
tool
executing move_to over 10 steps (1.0s)
step 240
assistant
agent noteFrom above, the bear sits centred about 4 cm ahead of the jaw tips, against the basket front; advancing and descending onto it.
move_to
left_x0.3700left_y-0.1300left_z0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.73, 1.4811, 0.4812, 0.2855, -0.7555, -0.3977, 0.9951, -0.0147, 0.8364, 0.6022, -0.4088, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.3287 left_y=-0.1267 left_z=0.0712 left_yaw=0.0829 left_pitch=0.0594 left_roll=0.124 left_gripper=0.9951 right_x=0.2929 right_y=0.0026 right_z=0.1617 right_yaw=0.0029 right_pitch=-0.0766 right_roll=-0.0019 right_gripper=0.9998 state[joint_eff]: [-0.1162, -5.8462, 7.3778, 1.4628, -0.315, 0.105, -0.0464, -0.1299, -1.0051, 7.0906, 1.6972, -0.0415, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.13, "left_z": 0.01}, "note": "From above, the bear sits centred about 4 cm ahead of the jaw tips, against the basket front; advancing and descending onto it."})
tool
executing move_to over 4 steps (0.4s)
step 244
assistant
agent noteBear fills the view right between the jaw tips; closing.
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]: [-0.6437, 1.8381, 0.5121, 0.5922, -0.7181, -0.3553, 0.9965, -0.0143, 0.8417, 0.601, -0.4099, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.3585 left_y=-0.1192 left_z=0.0076 left_yaw=0.119 left_pitch=0.0247 left_roll=0.1571 left_gripper=0.9965 right_x=0.2929 right_y=0.0027 right_z=0.1595 right_yaw=0.0033 right_pitch=-0.0843 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [0.1162, -6.3521, 4.3145, 0.8767, -0.0757, 0.0952, 0.1294, -0.1026, -1.9077, 7.1043, 1.6923, -0.0122, -0.0317, -0.0171] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bear fills the view right between the jaw tips; closing."})
tool
executing move_to over 10 steps (1.0s)
step 254
assistant
agent noteGripper settled at 0.11, the small bear is held. Lifting straight up to clear the basket wall right in front of it.
move_to
left_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]: [-0.6342, 1.8759, 0.5217, 0.6788, -0.6876, -0.3279, 0.1106, -0.0143, 0.8471, 0.5991, -0.4103, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.3681 left_y=-0.1272 left_z=0.0084 left_yaw=0.0928 left_pitch=0.052 left_roll=0.1268 left_gripper=0.1106 right_x=0.2928 right_y=0.0027 right_z=0.1571 right_yaw=0.0033 right_pitch=-0.0919 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [-0.3214, -7.0906, 4.2872, 1.663, -0.1929, 0.0562, 0.8132, -0.1162, -1.812, 7.159, 1.6337, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.24}, "note": "Gripper settled at 0.11, the small bear is held. Lifting straight up to clear the basket wall right in front of it."})
tool
executing move_to over 15 steps (1.5s)
step 269
assistant
agent noteSmall bear held above the table; moving it over the left basket where the first bear went.
move_to
left_x0.5100left_y-0.0800left_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]: [-0.6342, 1.3674, 1.0481, -0.3687, -0.68, -0.3328, 0.1126, -0.0147, 0.8494, 0.5972, -0.4103, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.3728 left_y=-0.1319 left_z=0.2191 left_yaw=0.0893 left_pitch=0.0397 left_roll=0.1272 left_gripper=0.1126 right_x=0.2926 right_y=0.0026 right_z=0.1556 right_yaw=0.0026 right_pitch=-0.0961 right_roll=-0.0018 right_gripper=0.9998 state[joint_eff]: [-0.2667, -7.8564, 8.8274, 1.4676, -0.3541, -0.0024, 0.2027, -0.1846, -1.7162, 7.1726, 1.6142, -0.0513, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.51, "left_y": -0.08, "left_z": 0.24}, "note": "Small bear held above the table; moving it over the left basket where the first bear went."})
tool
executing move_to over 11 steps (1.1s)
step 280
assistant
agent noteSmall bear is over the left basket; 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]: [-0.3061, 1.726, 1.4166, -0.3111, -0.4332, -0.1375, 0.1156, -0.0143, 0.8532, 0.5972, -0.4103, -0.0185, -0.0296, 0.9998] state[eef_state]: left_x=0.5002 left_y=-0.0766 left_z=0.2216 left_yaw=0.121 left_pitch=-0.0004 left_roll=0.1321 left_gripper=0.1156 right_x=0.2927 right_y=0.0027 right_z=0.1546 right_yaw=0.003 right_pitch=-0.0999 right_roll=-0.0017 right_gripper=0.9998 state[joint_eff]: [0.1709, -9.388, 9.306, 1.7363, -0.022, 0.2173, 0.3004, -0.0342, -1.6752, 7.1179, 1.619, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Small bear is over the left basket; releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 289
assistant
agent noteBoth bears are in the left basket. Two markers remain in front of the right basket; the right wrist cam shows the nearer one just left of the jaws, so the right arm goes down onto it with jaws straddling it.
move_to
right_x0.3100right_y0.0900right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3061, 1.7374, 1.4185, -0.3206, -0.4259, -0.1467, 0.9953, -0.0143, 0.8539, 0.5972, -0.4099, -0.0189, -0.0296, 0.9998] state[eef_state]: left_x=0.5005 left_y=-0.0779 left_z=0.2148 left_yaw=0.12 left_pitch=-0.0188 left_roll=0.1284 left_gripper=0.9953 right_x=0.2928 right_y=0.0027 right_z=0.1545 right_yaw=0.0033 right_pitch=-0.1003 right_roll=-0.0015 right_gripper=0.9998 state[joint_eff]: [-0.0479, -10.1128, 7.0632, 1.6972, -0.2808, 0.0317, -0.1587, -0.0479, -1.4564, 7.1316, 1.6484, -0.0464, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.09, "right_z": 0.0, "right_gripper": 1.0}, "note": "Both bears are in the left basket. Two markers remain in front of the right basket; the right wrist cam shows the nearer one just left of the jaws, so the right arm goes down onto it with jaws straddling it."})
tool
executing move_to over 10 steps (1.0s)
step 299
assistant
agent noteRight gripper is at table level over the right-hand marker; a dark stick shows between the jaws in the wrist view, 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]: [-0.3061, 1.7412, 1.4178, -0.3279, -0.4255, -0.1497, 0.9966, 0.4412, 1.4979, 0.276, 0.5213, 0.3073, 0.2501, 0.9998] state[eef_state]: left_x=0.4998 left_y=-0.0777 left_z=0.2113 left_yaw=0.1214 left_pitch=-0.0295 left_roll=0.1305 left_gripper=0.9966 right_x=0.3136 right_y=0.093 right_z=0.012 right_yaw=0.0332 right_pitch=-0.0956 right_roll=0.0105 right_gripper=0.9998 state[joint_eff]: [-0.0479, -9.4974, 7.0085, 1.7118, -0.1783, -0.0171, 0.1148, 0.3077, -3.0974, 3.1795, 0.0659, 0.188, -0.1685, -0.0366] camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Right gripper is at table level over the right-hand marker; a dark stick shows between the jaws in the wrist view, so closing."})
tool
executing move_to over 10 steps (1.0s)
step 309
assistant
agent noteGripper settled at 0.15, so the marker is held. Lifting steeply while moving over the near half of the right basket (the markers basket).
move_to
right_x0.4400right_y0.1700right_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1501, 0.9967, 0.4438, 1.507, 0.271, 0.5468, 0.3031, 0.2443, 0.1529] state[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0298 left_roll=0.1304 left_gripper=0.9967 right_x=0.3143 right_y=0.095 right_z=0.0122 right_yaw=0.0428 right_pitch=-0.0861 right_roll=0.0129 right_gripper=0.1529 state[joint_eff]: [-0.0752, -9.265, 6.9675, 1.5849, -0.1978, -0.0708, -0.0073, -0.4308, -5.3128, 4.8889, 1.37, 0.0806, 0.0317, 1.0134] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.17, "right_z": 0.28}, "note": "Gripper settled at 0.15, so the marker is held. Lifting steeply while moving over the near half of the right basket (the markers basket)."})
tool
executing move_to over 18 steps (1.8s)
step 327
assistant
Right gripper is over the right basket interior (yellow marker visible inside). Releasing.
agent noteRight wrist cam shows the basket interior (with the yellow marker) directly below; dropping the held marker 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]: [-0.3061, 1.7412, 1.4174, -0.3283, -0.4255, -0.1501, 0.9967, 0.4786, 1.6382, 1.5711, -0.6174, 0.3138, 0.2489, 0.1585] state[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0301 left_roll=0.1305 left_gripper=0.9967 right_x=0.4414 right_y=0.1716 right_z=0.2684 right_yaw=0.0664 right_pitch=-0.0793 right_roll=0.0122 right_gripper=0.1585 state[joint_eff]: [-0.3077, -9.1145, 6.9675, 1.5751, -0.2173, -0.0464, -0.0073, 0.1162, -8.1436, 8.8, 1.2039, 0.2759, 0.1685, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
Right gripper is over the right basket interior (yellow marker visible inside). Releasing.
move_to({"targets": {"right_gripper": 1.0}, "note": "Right wrist cam shows the basket interior (with the yellow marker) directly below; dropping the held marker in."})
tool
executing move_to over 9 steps (0.9s)
step 336
assistant
agent noteTwo markers are now in the right basket. The last item, a thin black pen, lies radially in front of the right basket; bringing the open right gripper down to straddle it.
move_to
right_x0.3000right_y0.1900right_z-0.0100
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4252, -0.1501, 0.9967, 0.4786, 1.6485, 1.5677, -0.635, 0.3054, 0.2405, 0.9952] state[eef_state]: left_x=0.4997 left_y=-0.0778 left_z=0.2111 left_yaw=0.1213 left_pitch=-0.0299 left_roll=0.1302 left_gripper=0.9967 right_x=0.4397 right_y=0.1723 right_z=0.2588 right_yaw=0.0767 right_pitch=-0.1101 right_roll=-0.0019 right_gripper=0.9952 state[joint_eff]: [-0.0205, -9.1829, 6.9402, 1.5897, -0.1294, -0.0708, -0.022, -0.1846, -9.0598, 7.1316, 1.7753, 0.149, -0.0122, -0.1832] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.19, "right_z": -0.01}, "note": "Two markers are now in the right basket. The last item, a thin black pen, lies radially in front of the right basket; bringing the open right gripper down to straddle it."})
tool
executing move_to over 18 steps (1.8s)
step 354
assistant
agent noteThe pen lies between the open jaws (slightly left of centre) at table level; pressing to the table and closing.
move_to
right_gripper0.0000right_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]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1497, 0.9967, 0.8005, 1.7126, 0.4984, 0.4511, 0.5457, 0.4828, 0.9963] state[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1214 left_pitch=-0.0298 left_roll=0.1307 left_gripper=0.9967 right_x=0.3131 right_y=0.1963 right_z=0.012 right_yaw=0.0756 right_pitch=-0.0663 right_roll=0.0284 right_gripper=0.9963 state[joint_eff]: [-0.212, -9.2239, 6.9675, 1.5849, -0.1978, -0.0659, -0.022, 0.6906, -3.535, 2.4684, 0.4713, -0.1978, -0.1148, 0.0904] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0, "right_z": -0.01}, "note": "The pen lies between the open jaws (slightly left of centre) at table level; pressing to the table and closing."})
tool
executing move_to over 10 steps (1.0s)
step 364
assistant
agent noteThe pen is centred between the closed jaws (reading 0.16). Lifting it steeply over the near half of the right basket.
move_to
right_x0.4400right_y0.1700right_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1501, 0.9967, 0.804, 1.7908, 0.485, 0.6266, 0.5545, 0.4789, 0.1598] state[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0298 left_roll=0.1304 left_gripper=0.9967 right_x=0.3219 right_y=0.2053 right_z=0.0107 right_yaw=0.0762 right_pitch=0.0004 right_roll=0.0767 right_gripper=0.1598 state[joint_eff]: [-0.0752, -9.2376, 6.9675, 1.6435, -0.1978, -0.0415, -0.022, -0.4034, -4.1915, 3.5761, 0.9109, 0.0513, -0.0073, 1.0623] camera 'top_cam' (step 364): [image omitted: streamed camera frame] camera 'left_cam' (step 364): [image omitted: streamed camera frame] camera 'right_cam' (step 364): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.17, "right_z": 0.28}, "note": "The pen is centred between the closed jaws (reading 0.16). Lifting it steeply over the near half of the right basket."})
tool
executing move_to over 18 steps (1.8s)
step 382
assistant
agent notePen is held over the right basket, which already has the other two markers in it; releasing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3283, -0.4255, -0.1501, 0.9967, 0.4751, 1.562, 1.417, -0.4389, 0.2878, 0.2649, 0.1609] state[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0301 left_roll=0.1305 left_gripper=0.9967 right_x=0.4381 right_y=0.173 right_z=0.2681 right_yaw=0.0773 right_pitch=0.0068 right_roll=0.0792 right_gripper=0.1609 state[joint_eff]: [-0.0342, -9.265, 6.9402, 1.6093, -0.1587, -0.0464, -0.022, -0.7863, -7.0632, 9.6342, 1.453, 0.0659, -0.0464, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Pen is held over the right basket, which already has the other two markers in it; releasing."})
tool
executing move_to over 9 steps (0.9s)
step 391
assistant
agent noteI sorted the objects into plush toys (left basket) and pens/markers (right basket), but one pen didn't make it in. Both teddy bears are in the left basket, and the yellow marker and the black marker are in the right basket. The last one, a thin blue pen, was grasped and carried over the right basket, but after release the overhead camera showed it on the table just in front of the basket at about right_x 0.31, right_y 0.19. It probably slipped out during the lift, and I had no calls left to try again.
done
hindsight- Around the far workspace the top camera is about 3.4 px/cm in x, measured from arm positions. The arm's image position gives a good reference for converting other objects' pixels into coordinates. - Basket positions: the left basket's middle is at left arm (x≈0.50–0.52, y≈−0.07). The right basket's near half is at right arm (x≈0.44, y≈0.17). The left arm can also drop into the right basket's left side at left_y=−0.40, x=0.45. - Diagonal lift-and-carry moves to z≈0.28 cleared the basket walls. - Plush bears: after lining up in the wrist view, the fingertips are about 4–6 cm *behind* what looks like jaw centre. I had three empty closes on the small bear before advancing about 6 cm radially worked. When in doubt, advance more. - Soft bears grasp fine; a settled reading of 0.03–0.11 still held. - Thin pens: the reading was 0.16 at close, yet the pen was lost before the drop. Descend to −0.01 or lower, close fully, and look in the wrist view to confirm it's held before transporting. Or lift it only after re-centring it between the jaws. - The wrist pitch drifts to about −0.2 during long moves, which tilts the wrist view back. Commanding pitch 0–0.1 brings the jaws into view. - Budget: each object costs about 4–6 calls. Plan to combine approach and descent into one move.
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]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1497, 0.9967, 0.4717, 1.5711, 1.4143, -0.4587, 0.2783, 0.2562, 0.9952] state[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1214 left_pitch=-0.0298 left_roll=0.1307 left_gripper=0.9967 right_x=0.4369 right_y=0.1724 right_z=0.2586 right_yaw=0.0863 right_pitch=-0.0242 right_roll=0.0647 right_gripper=0.9952 state[joint_eff]: [-0.1299, -9.1692, 6.9402, 1.663, -0.188, -0.0122, -0.022, 0.1846, -8.4308, 7.1726, 1.8877, 0.1099, 0.1001, -0.1001] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
done({"summary": "I sorted the objects into plush toys (left basket) and pens/markers (right basket), but one pen didn't make it in. Both teddy bears are in the left basket, and the yellow marker and the black marker are in the right basket. The last one, a thin blue pen, was grasped and carried over the right basket, but after release the overhead camera showed it on the table just in front of the basket at about right_x 0.31, right_y 0.19. It probably slipped out during the lift, and I had no calls left to try again.", "hindsight": "- Around the far workspace the top camera is about 3.4 px/cm in x, measured from arm positions. The arm's image position gives a good reference for converting other objects' pixels into coordinates.\n- Basket positions: the left basket's middle is at left arm (x\u22480.50\u20130.52, y\u2248\u22120.07). The right basket's near half is at right arm (x\u22480.44, y\u22480.17). The left arm can also drop into the right basket's left side at left_y=\u22120.40, x=0.45.\n- Diagonal lift-and-carry moves to z\u22480.28 cleared the basket walls.\n- Plush bears: after lining up in the wrist view, the fingertips are about 4\u20136 cm *behind* what looks like jaw centre. I had three empty closes on the small bear before advancing about 6 cm radially worked. When in doubt, advance more.\n- Soft bears grasp fine; a settled reading of 0.03\u20130.11 still held.\n- Thin pens: the reading was 0.16 at close, yet the pen was lost before the drop. Descend to \u22120.01 or lower, close fully, and look in the wrist view to confirm it's held before transporting. Or lift it only after re-centring it between the jaws.\n- The wrist pitch drifts to about \u22120.2 during long moves, which tilts the wrist view back. Commanding pitch 0\u20130.1 brings the jaws into view.\n- Budget: each object costs about 4\u20136 calls. Plan to combine approach and descent into one move."})
tool
done: I sorted the objects into plush toys (left basket) and pens/markers (right basket), but one pen didn't make it in. Both teddy bears are in the left basket, and the yellow marker and the black marker are in the right basket. The last one, a thin blue pen, was grasped and carried over the right basket, but after release the overhead camera showed it on the table just in front of the basket at about right_x 0.31, right_y 0.19. It probably slipped out during the lift, and I had no calls left to try again.
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 · 19.4 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6174, -0.3782, -0.0223, -0.0158, 0.9994, -0.0154, 0.7986, 0.6106, -0.3782, -0.0189, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2961 right_y=0.0023 right_z=0.1821 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.894, 9.306, 1.7509, -0.0611, -0.0171, -0.0708, -0.8821, -1.6342, 9.7983, 1.7509, -0.0464, 0.0952, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d10f83cb114897e66d9f95d894da355a7e82cab1a593c79b6cf6e503a94e4daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c95fe57b3a189d14db99c3e1239725ad17c33cbbdbde5d0a65762c54113b70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:788b911f43767aeecae8f0eba6b6d05ea9f87729868ae8fcd3371e7214029ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.815 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6174, -0.3782, -0.0223, -0.0158, 0.9994, -0.0154, 0.7986, 0.6106, -0.3782, -0.0189, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2961 right_y=0.0023 right_z=0.1821 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.894, 9.306, 1.7509, -0.0611, -0.0171, -0.0708, -0.8821, -1.6342, 9.7983, 1.7509, -0.0464, 0.0952, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d10f83cb114897e66d9f95d894da355a7e82cab1a593c79b6cf6e503a94e4daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c95fe57b3a189d14db99c3e1239725ad17c33cbbdbde5d0a65762c54113b70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:788b911f43767aeecae8f0eba6b6d05ea9f87729868ae8fcd3371e7214029ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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g/BkcDqoia6gakjf4ffFEq0/nONBJ8vrSc9MHC6D4FS4lb+DuHPty18zZjLK1rmZccxj7di+Fy7ntS/WzbQ/eYMGwk2UQVAL1lpcanNHZMS6ITw4sl4rCBpbTqdKJ0QUGrkvgH0YJ+SD+KLNHtDSSi6ZYygR9UOxp/B0vte+boQetrGB6vYN8ztBy1XpktLYqNSlrYPLWJvVIE21ZOFt7sPrd3btOyrioV5oEuqcSDg8o0AZTKwbn7zmGsW6VTUU2QINm0/2liVoIXI8PhqVMteJPY7goBW1Ne+0Q0+MZzFAIvvS8BnNrjZ600PbNEdlfWbIaqKexshyqj5Qb7nIA8OBuY8t1o3g6hX2Sg29g3puz/p/Q8eeDQcjzchq6HTsMM3zlGlNLq8jn2TtJQzwdY0dKRNIcynsfLUflB3wuUzxSNE2LDSRT8UNwPzuEK1hDVyZtC/CJ0D+W7i0zYP0HlqQmvqtI18dRRct3Tn5ddN34P6qlCVIVHgsGV3zDQbisXIY9ywdtg9c/a0pBKGcGMi5gr7vy9+ecQWFGUt0xhwUV8F+Uhk0ahnlTDEn6etu/UFfNvNcVnA1+Ne76XsG137w0EyjWu8sGrx7OD9JZg8TgD+3OSq97Z3rFIMIlXPXm60hfmkbgJIqrnFFuWFk1srtKM0H4zWe24WxP+icFFzbHLlR5dchvmSrLcNC6K/Bo1472hOFZw18rP1+xJxLWqztF+CWolHeejJqymFaEYnnSh1hyEOndnVnqAt0rXA287ccUHD8tS8D6zs6RomF+iqdG0+xS1z7rTUHJQu9LT+weJArDxpUEPv7hTsmB4qhOkzkgg95F/7Ea7qLK25NK70rSTIxwG3s0ZDIv5aprzOiWJsVLhP2craugM9niUp9aS2g+E+C8O7XqU0sko0D+W4zW75Vhlhn9aSLX+arNcfP+aIzBcMDqa1lIM2k7hSFBnaK5zMuiYmIeKs37Eg6fV8GLiGczoCWTbzlXdL+BjQ0TRCJSVE2gXTcBnx6blDEWONDsRi1eka265H2KbJ1btkFf5e7lJPRErO6FiaIXIGLF75HiAJ+4sx7zT35BRFm0syVAWTkUtBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0111tchvemRSxQghUZxPG8e5",
      "input": {
        "note": "Scene: two teal baskets at the back, plush bears plus marker-like sticks in front. The left wrist cam shows a yellow marker just right of and below the jaws; lowering and nudging right to line up on it.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.02,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0111tchvemRSxQghUZxPG8e5",
      "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]: [-0.1539, 1.079, 0.2398, 0.2459, -0.1291, -0.0834, 0.9994, -0.0154, 0.8024, 0.6086, -0.3847, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3075 left_y=-0.0211 left_z=0.0655 left_yaw=-0.0084 left_pitch=-0.0259 left_roll=0.004 left_gripper=0.9994 right_x=0.2953 right_y=0.0024 right_z=0.1788 right_yaw=0.0002 right_pitch=-0.0122 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -2.5778, 5.7641, 1.8046, -0.1392, -0.0952, -0.0122, -0.3897, -1.5658, 7.2274, 1.7851, -0.022, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a29c89c5f89b4df8dfa7282a97ce7446ba6d4809899506f36f61cdb9f85f8276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e6e53927ee2b86de6a466af6bdc13111eb371d9ad3265232ef90258d252a63c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ca1af672e4178ec1c0f0c4626c3ff7360ba45b5cae0a3696e77b0977a971ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.965 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6174, -0.3782, -0.0223, -0.0158, 0.9994, -0.0154, 0.7986, 0.6106, -0.3782, -0.0189, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2961 right_y=0.0023 right_z=0.1821 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.894, 9.306, 1.7509, -0.0611, -0.0171, -0.0708, -0.8821, -1.6342, 9.7983, 1.7509, -0.0464, 0.0952, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.079, 0.2398, 0.2459, -0.1291, -0.0834, 0.9994, -0.0154, 0.8024, 0.6086, -0.3847, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3075 left_y=-0.0211 left_z=0.0655 left_yaw=-0.0084 left_pitch=-0.0259 left_roll=0.004 left_gripper=0.9994 right_x=0.2953 right_y=0.0024 right_z=0.1788 right_yaw=0.0002 right_pitch=-0.0122 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -2.5778, 5.7641, 1.8046, -0.1392, -0.0952, -0.0122, -0.3897, -1.5658, 7.2274, 1.7851, -0.022, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a29c89c5f89b4df8dfa7282a97ce7446ba6d4809899506f36f61cdb9f85f8276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e6e53927ee2b86de6a466af6bdc13111eb371d9ad3265232ef90258d252a63c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca1af672e4178ec1c0f0c4626c3ff7360ba45b5cae0a3696e77b0977a971ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QoKEAgSGAI4AUIIdGhpbmtpbmcSDLRI7s7dNl6V380LgRoML/S0dfmliXXylsAaIjCMG5dboBXvVc4z8EQLYzI7D9x4etEabW78STjTGuCnQl+lDAICeKsOB6YW9am+OvYqhgrVfMhJdKEejy5FCyEjFxEvbxk88E+8xnJWi0udPTrLFQB6WYHR7VkMaPneiKc1Gn5MKYw05bX2plW/NIosTAn7DsDJVSG+oo1wWuIQ5K/qa64Juqcq651zHkhzJlnw7/LjseW+9477ExI1OlwNMqaKgw2v8aUHgjBJXtWSjX6S8o3QYB0MYj2OOYVTtCzHusg0L6n+jr4tydhlVmG3W88CjFzhYIiEd2fSvr5HnG0C017guphoMW1b+FRZemuW+uxIKtORPDKSoFVrSOMU48Qep0R3U6sYbF5tNCJMJn3fJog1wEcj7U9o5ximUuy03YoixG0js9yYKjzNsBi448h34ZFYpKo4env7JGuZ6rPtJofjQanXEkaaZXit/iEcRd53vpZg+5/4RqkA+Q1HQJr0ug2DBA7Li864td7iSRvvusVfu9k7H+gj0TARBd0MMYcBMPvW/lcDTX+TITCh/Z01xMoRdB2jctbUc+9l6hv6CBXquW3EmBl04S6g59FaVx3Z/8PXdM+YMCIy8+aFhd6okWNmnU6mndHPVvirNuFS49Z7UCyv310Dja+ohjdSeVbtWkpJTSBlZP9by5T8lde/2fOZWRb+A4ZtmRclqSl0E4sJuPNyMuG3q0amOJnMGlefzoLD0WSVPvWC4u7Aa9MA8uzXoqZffMJd3g/RfcfPePxh3c19IrvxEQDnWrRQrctR8/S1dx62hk0SY5g/ffzwyhJeScQTEEwx+NWJtlVLWfRuhTlxZenoIbsv/0egpheya4nkqhgmiNBbg2CvMUt3xDEeeZV8o2MPt8dr3nbYrLu9Zms7wgdE+yGWgaEQ39GdLYWGCrx9X8vIBxjpzLT9+JsJ1oFFEx0DMs0rowJ6KOXHAS/RnPDfD54kTG20uHPC95Ayo8WBTpqewpv6fgPM8FPh1O1IaOxFbcFq0Y+3Yw712nVl0lthbXM4Dci4TUbOW/fnWnUCPE6XIeMCZ5jluY1YRgJJU1HyNi2gTXpKtzQDfdLWAkSSi/jOI5GnWEPb86X/IcA+Lba08noTn3k3hX57V1VV0CULfMpqVHG+j0akhpxIAccAeukFStQ52vN8pT0W8XaddP7cHZHiVYbxwIg7RJF5Oxje60bXHtHWVuY5m1DJv6Ut/bgj7aWw9EGjAjGYHSgWjqjE2WhUR8zKn4sNat7azZi1IFBVqz7PaQPSDosszJjAI3w3ZABsKDaykzr7nOUfLIEKQVFelHRXDKu07ectPc98Ks2IbRTkjScyFRREfijsELU0SmBW03Sts/n8/iCVjGpJx+RMCIR8uCjuvFxqfcKTMN1m44f0Wp/V6Bqk0lSExGgxeMN4b9iS0p/6WxI1w2oE0TZ30+REGnw+ClV+CMkPJ5RNMkkpVhUbzjG976+L+Gyyc+CJ7fZ6Rp/hUAHRXuXAJ6zrVqvAyPeZEc2YhxCoRQ6Dy27D1eAMl4ZK017aNwex2dPQSze9Q7DKotw+Qr2E1NJbEXTEC4oESkEccJ18UC8Fne8JDAKqUCgsN63hp6gxJvpQS7btI8+4CgNgOIiH0OXue6Sj+ZQxZ0sxK9lmJT02BAGcsYceTxa3z57jIhqK+s0U9EnWu6xQ116ZBHpWugPkkP9+vSf9XlcAUUoZeNmCkJeuF++HMlCS0Kav8pS3V/J+7utB3mQUF0eDPCW8k9GXNVIASNvjfXiHtQfB8ayTR2a1GkhyzRTB9BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VeU9xro17zszt2fLRofLFy",
      "input": {
        "note": "Yellow marker still slightly right of the jaw column in the left wrist view; shifting right before descending.",
        "targets": {
          "left_y": -0.035,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01VeU9xro17zszt2fLRofLFy",
      "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]: [-0.2382, 1.1236, 0.239, 0.2657, -0.1703, -0.1135, 0.9994, -0.0154, 0.8024, 0.6086, -0.3847, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3058 left_y=-0.0397 left_z=0.057 left_yaw=-0.0417 left_pitch=-0.0468 left_roll=0.0066 left_gripper=0.9994 right_x=0.2953 right_y=0.0023 right_z=0.1788 right_yaw=0.0001 right_pitch=-0.0122 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.335, -2.8103, 5.5179, 1.8632, -0.2466, -0.0904, -0.0122, -0.3214, -1.0872, 7.0222, 1.7363, -0.0366, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05086a7b9433212f52f11519a4b16817d7ee4bdb2b4afb2a5bc8b09da92c2dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c59a1eb71c3ddd1827e4ce5c15ac628bccbe0132073c0490c0a3097391c9616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d961d2abf97e5ca1b9c8d1cf383980f48eb3fa928a1e751207fa06593510dcb",
        "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 · 2.75 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6174, -0.3782, -0.0223, -0.0158, 0.9994, -0.0154, 0.7986, 0.6106, -0.3782, -0.0189, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0018 left_z=0.1845 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2961 right_y=0.0023 right_z=0.1821 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.894, 9.306, 1.7509, -0.0611, -0.0171, -0.0708, -0.8821, -1.6342, 9.7983, 1.7509, -0.0464, 0.0952, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1539, 1.079, 0.2398, 0.2459, -0.1291, -0.0834, 0.9994, -0.0154, 0.8024, 0.6086, -0.3847, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3075 left_y=-0.0211 left_z=0.0655 left_yaw=-0.0084 left_pitch=-0.0259 left_roll=0.004 left_gripper=0.9994 right_x=0.2953 right_y=0.0024 right_z=0.1788 right_yaw=0.0002 right_pitch=-0.0122 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -2.5778, 5.7641, 1.8046, -0.1392, -0.0952, -0.0122, -0.3897, -1.5658, 7.2274, 1.7851, -0.022, -0.0073, -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]: [-0.2382, 1.1236, 0.239, 0.2657, -0.1703, -0.1135, 0.9994, -0.0154, 0.8024, 0.6086, -0.3847, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3058 left_y=-0.0397 left_z=0.057 left_yaw=-0.0417 left_pitch=-0.0468 left_roll=0.0066 left_gripper=0.9994 right_x=0.2953 right_y=0.0023 right_z=0.1788 right_yaw=0.0001 right_pitch=-0.0122 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.335, -2.8103, 5.5179, 1.8632, -0.2466, -0.0904, -0.0122, -0.3214, -1.0872, 7.0222, 1.7363, -0.0366, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05086a7b9433212f52f11519a4b16817d7ee4bdb2b4afb2a5bc8b09da92c2dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c59a1eb71c3ddd1827e4ce5c15ac628bccbe0132073c0490c0a3097391c9616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d961d2abf97e5ca1b9c8d1cf383980f48eb3fa928a1e751207fa06593510dcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxgcKEAgSGAI4AUIIdGhpbmtpbmcSDOT80b0+fskeGCPlshoMrY72bUeVsqOrkTYCIjAOz23rwwrynZO1QiaRo/Dp4rDChLNK8nHEy+lEmm8xkBIMY9O0h2zra8CoRPLrrU0q4wYUtim0fmms5ibRMYrjY9rxYvIPVsFzW1DdmD77Ijy883E7DYPL4nPkBQs66cbJDhzbZyiVWbUC2PmdzZBNEuAMr5AKF9UZ8TTi0GZS7pq2ciJuYPtGdAdJh34eCSoQFmQ5gGUKrVaPBL2TO85f7Ge2R6fGgwluN0PQwj1FG12PZlYJMRlNwDsB8PXg7loIEbkDFhwfk7cM0Cxmx6uYATb2VPUcWYHSmYGc8nfGspSd6UeD8x3EVcBwAi3rYnOTp5WIu3rp0vilIFOqrrsYFvra8+Bj4GVR+fzmGUrO0DOWVFF9LPgREcAX72tOvUDC7ltO0YXMgPXtvg2zDC/0QCMAP1APiXzsimp36y0O7FOVO7MH0NEnq0NyzBasUOrQkcHVJFpnLdGDIz/54B2SnQ1SrzB7CBBH5z4ogAhKUYMAEvNyY9ipGd28ZVun8+qp2ZKdcujZC9vDtnOwSmNx/KCWoZMm4qz63/B5OklCIRYL6p+RtQZRpnmfAQ/bVzEbs/fnSRAev5NsK0GcdpfEGP2mZqn4wyCOoefpqxoSFg6xVJCbVLHd9rBagV0hoqWOAgXwo7taiOqhv2eZkxAT+FN8j/wMcb4c0yXkDQn5RzeH2RcAd5yYwmfRLdYetQ5Teri7mbE2FfxU5B73MIGzjopZXg++6Nd3QtnFp7IdsL3/4M7QUwO2wyK2kOplYJWUoEj4LgQokR2vtDZGxKjR+ohbs3+2SsmPDNYxbl6XBSs8Qg/Z0Re6NzWHs65koK9dawcSakP/xcv1SZznbQAkCLi4ZDJGGp95ktIV4q26vFQd2Md4083NhD+4TlEx5r1CDN9b/vQxOfcwuTKg0BuJlS+vjCDhwyoMhCafcW15iNBkzhXrXl6kQ7xPlDH6DDXYTFWzumpVD840KdUzCUNnxG16p5wZCOaqJs8YLL/Mn3m3Si5DaZvLvjZ1moI5t7Y85JgLuFAwBzW/vg0oSrG4pOWK8cCJpFHIiapZFn42osL3d1tSReDJMA9Szp3nBfnfy8ObJiismAiAhAY8tS1mIdUoKM7s4MmRK7G2mrjHKa2J2IVHYrJuiWcKDztEyYlUDhvPrhUQmpqrMxkjg5MLL2B07o5eiaicNIMFGVg6WQh8hJnYZUXw1O/1ne0+g2gvEAXHnZEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0119VQMfD56VXvHYjHi878x3",
      "input": {
        "note": "Marker nearly centred between the jaws; small right correction and descend to table level to grasp.",
        "targets": {
          "left_y": -0.047,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0119VQMfD56VXvHYjHi878x3",
      "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]: [-0.281, 1.5448, 0.1352, 0.7784, -0.2043, -0.1318, 0.9993, -0.0154, 0.8051, 0.6086, -0.3859, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3069 left_y=-0.0475 left_z=0.0005 left_yaw=-0.0461 left_pitch=-0.0543 left_roll=0.0137 left_gripper=0.9993 right_x=0.2953 right_y=0.0023 right_z=0.1778 right_yaw=0.0001 right_pitch=-0.016 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.3436, 3.0017, 1.58, -0.1197, -0.1001, -0.0171, -0.3624, -1.4974, 7.0906, 1.7558, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8637919daf860c50f8c523c5ab40bf5c681c8d47adccc4d1496220773cd433d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b56c23454e8e259f8a03e99e4d9efcca11a292d218b20c0460b71af87074f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7626dfe48a79c289efa1ddb4a827da41f8cb074812a339078d3eb9f67e624a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 13.8 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]: [-0.1539, 1.079, 0.2398, 0.2459, -0.1291, -0.0834, 0.9994, -0.0154, 0.8024, 0.6086, -0.3847, -0.0189, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3075 left_y=-0.0211 left_z=0.0655 left_yaw=-0.0084 left_pitch=-0.0259 left_roll=0.004 left_gripper=0.9994 right_x=0.2953 right_y=0.0024 right_z=0.1788 right_yaw=0.0002 right_pitch=-0.0122 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -2.5778, 5.7641, 1.8046, -0.1392, -0.0952, -0.0122, -0.3897, -1.5658, 7.2274, 1.7851, -0.022, -0.0073, -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]: [-0.2382, 1.1236, 0.239, 0.2657, -0.1703, -0.1135, 0.9994, -0.0154, 0.8024, 0.6086, -0.3847, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3058 left_y=-0.0397 left_z=0.057 left_yaw=-0.0417 left_pitch=-0.0468 left_roll=0.0066 left_gripper=0.9994 right_x=0.2953 right_y=0.0023 right_z=0.1788 right_yaw=0.0001 right_pitch=-0.0122 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.335, -2.8103, 5.5179, 1.8632, -0.2466, -0.0904, -0.0122, -0.3214, -1.0872, 7.0222, 1.7363, -0.0366, -0.0269, -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]: [-0.281, 1.5448, 0.1352, 0.7784, -0.2043, -0.1318, 0.9993, -0.0154, 0.8051, 0.6086, -0.3859, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3069 left_y=-0.0475 left_z=0.0005 left_yaw=-0.0461 left_pitch=-0.0543 left_roll=0.0137 left_gripper=0.9993 right_x=0.2953 right_y=0.0023 right_z=0.1778 right_yaw=0.0001 right_pitch=-0.016 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.3436, 3.0017, 1.58, -0.1197, -0.1001, -0.0171, -0.3624, -1.4974, 7.0906, 1.7558, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8637919daf860c50f8c523c5ab40bf5c681c8d47adccc4d1496220773cd433d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b56c23454e8e259f8a03e99e4d9efcca11a292d218b20c0460b71af87074f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7626dfe48a79c289efa1ddb4a827da41f8cb074812a339078d3eb9f67e624a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgYKEAgSGAI4AUIIdGhpbmtpbmcSDKQfZ1dIvIklw+9aWRoMhlIRV2NZ5PZRkoagIjCC33Ut6lG/wNTSCMtjL+eUZnZzzDjnrCzMmKxlFTQLAPvwmRkhEJK1xCb73bTJsi8qywXoblXZoXgSt1TTCZnTJgnsEdaeBYwr69M+zss9crcO2zs4hKnGONQjG+dK2Je0OT6C2BJwkW/yazkoZSVWQe/FHQqZR3IB4c3S/oItapssQTgP6yJPTbSWpSKgKW9Eg4wqpYT/2K5TOi0B/Pm2Z8cNavrQg17IuGN8MzRy9C1cGKfHMogA8mq3Fk3Zm/Z3cRu5Rd5eUqzgPHmPexeUpzXltu1P3xOxZEx8Oiwh5qdbGJPQ2Ie14bewKaqlUF9llWDQNoy7Uk+ZTCUbDVlkCuYgMIZExqcwVMG3mm7U7CQMPMcQxzTQVYIbwcR/xnahjjSfhUNYAnf7XSSFRMN4066TPXh9PNys9bI3c3Z0IHBslW/FzWHySK3qa96KEo3M+gbm09ZeY0dXXb/iDi0Da2uNM30fKd/7McCQQornlQm8QVdZ4fOGYIKH6NetMa6iwPRKyYNScZv1NTueFBSf73HCQQ3JXdHX0Wyrnc/kCEjvqGdu3R7dmx1j20KqFvhilq/m0cU29PzBeNemg8pQOBUeYwEDS6Ycdzsp/MgG+VxDBAdWCrLJmBAKoRgt/8U/yWTocXnVZASS7Y+2vAm26+yJQwG6TwBcwZFZVI3u0rTLfjvnwwuVWaPvqPBzQgFXgxKbhV9uA8ivp0Tt40UzKJYZ3ax8A+JX59XtR7Vxj+8PugtGJFqz1+gN04UhHhIMBh+yXwSMD7vBdpUNzPtC7g7SYgcupLWTdx6kMA9zFy/3S3bVj1SUN0WXoPIJJyEXY1MEe6lbm8B2MM5r8XmpKN3OMHEs+pCiAZnSzjIm6KfB6R7OUKQL4MWtCQrKbvwZ6kWYA8UfKHmAlm0ARRHi5k1hEFlGbpaLPaBoWCuXXpsb6zfYElw6xaDz7LWSNkpBPhqo+Bz6EztbaupqZPzBwJn43SiKhEvDUKXXpIPXaphbEUUCvKsIqY1gFDW+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rn3j6c4bfjjkaCEBvkhoHd",
      "input": {
        "note": "Yellow marker is centred between the jaws at table level; closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Rn3j6c4bfjjkaCEBvkhoHd",
      "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]: [-0.281, 1.5505, 0.1322, 0.8009, -0.2066, -0.1398, 0.1512, -0.0151, 0.8051, 0.6083, -0.3855, -0.0185, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3083 left_y=-0.0475 left_z=0.0024 left_yaw=-0.04 left_pitch=-0.0405 left_roll=0.0051 left_gripper=0.1512 right_x=0.2953 right_y=0.0024 right_z=0.1777 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -3.6718, 3.0017, 1.7509, -0.1245, -0.0073, 1.0379, -0.253, -1.1282, 7.0359, 1.6972, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f72baedd059f1da68e452515c2b698b64a60c95cc8b903f490d59481d30a4312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fccfa82c64ed158e380eb36b864c301bf678310d1caf9fe6d8d624493d923414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80336dd05426c19b451ae5919020fadb09fe7e13a5ad0a38238d1a954ca756c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 9.426 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]: [-0.2382, 1.1236, 0.239, 0.2657, -0.1703, -0.1135, 0.9994, -0.0154, 0.8024, 0.6086, -0.3847, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3058 left_y=-0.0397 left_z=0.057 left_yaw=-0.0417 left_pitch=-0.0468 left_roll=0.0066 left_gripper=0.9994 right_x=0.2953 right_y=0.0023 right_z=0.1788 right_yaw=0.0001 right_pitch=-0.0122 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.335, -2.8103, 5.5179, 1.8632, -0.2466, -0.0904, -0.0122, -0.3214, -1.0872, 7.0222, 1.7363, -0.0366, -0.0269, -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]: [-0.281, 1.5448, 0.1352, 0.7784, -0.2043, -0.1318, 0.9993, -0.0154, 0.8051, 0.6086, -0.3859, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3069 left_y=-0.0475 left_z=0.0005 left_yaw=-0.0461 left_pitch=-0.0543 left_roll=0.0137 left_gripper=0.9993 right_x=0.2953 right_y=0.0023 right_z=0.1778 right_yaw=0.0001 right_pitch=-0.016 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.3436, 3.0017, 1.58, -0.1197, -0.1001, -0.0171, -0.3624, -1.4974, 7.0906, 1.7558, -0.0317, -0.0269, -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]: [-0.281, 1.5505, 0.1322, 0.8009, -0.2066, -0.1398, 0.1512, -0.0151, 0.8051, 0.6083, -0.3855, -0.0185, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3083 left_y=-0.0475 left_z=0.0024 left_yaw=-0.04 left_pitch=-0.0405 left_roll=0.0051 left_gripper=0.1512 right_x=0.2953 right_y=0.0024 right_z=0.1777 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -3.6718, 3.0017, 1.7509, -0.1245, -0.0073, 1.0379, -0.253, -1.1282, 7.0359, 1.6972, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f72baedd059f1da68e452515c2b698b64a60c95cc8b903f490d59481d30a4312",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fccfa82c64ed158e380eb36b864c301bf678310d1caf9fe6d8d624493d923414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80336dd05426c19b451ae5919020fadb09fe7e13a5ad0a38238d1a954ca756c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012EbvgBt5ocnmyKaju185aS",
      "input": {
        "note": "Gripper settled at 0.15 (~1.4 cm), so the marker is held. Lifting to carry height. Plan: markers go in the right basket, plush toys in the left basket.",
        "targets": {
          "left_x": 0.35,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_012EbvgBt5ocnmyKaju185aS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2298, 1.1004, 0.8013, -0.3252, -0.1761, -0.1276, 0.1517, -0.0147, 0.8116, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3489 left_y=-0.0462 left_z=0.19 left_yaw=-0.021 left_pitch=-0.0512 left_roll=-0.0006 left_gripper=0.1517 right_x=0.2946 right_y=0.0026 right_z=0.1738 right_yaw=0.0028 right_pitch=-0.0309 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -3.8222, 8.8684, 1.5165, 0.0366, 0.1392, 1.033, -0.1846, -1.853, 7.1726, 1.7656, -0.0317, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061e3e3cb1726fa2aa6e697bcd47cf9d0034a3d6fc86a2afcfffdf24af59f778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a467a23a21cdab1139f8446e72db739a8b81bd981e96fbfafb3f41dcc51810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea5bcdf2a194efec120788c76ea303c8b72475b346f68a72c870da588dc2ebda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 3.572 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]: [-0.281, 1.5448, 0.1352, 0.7784, -0.2043, -0.1318, 0.9993, -0.0154, 0.8051, 0.6086, -0.3859, -0.0185, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3069 left_y=-0.0475 left_z=0.0005 left_yaw=-0.0461 left_pitch=-0.0543 left_roll=0.0137 left_gripper=0.9993 right_x=0.2953 right_y=0.0023 right_z=0.1778 right_yaw=0.0001 right_pitch=-0.016 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -3.3436, 3.0017, 1.58, -0.1197, -0.1001, -0.0171, -0.3624, -1.4974, 7.0906, 1.7558, -0.0317, -0.0269, -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]: [-0.281, 1.5505, 0.1322, 0.8009, -0.2066, -0.1398, 0.1512, -0.0151, 0.8051, 0.6083, -0.3855, -0.0185, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3083 left_y=-0.0475 left_z=0.0024 left_yaw=-0.04 left_pitch=-0.0405 left_roll=0.0051 left_gripper=0.1512 right_x=0.2953 right_y=0.0024 right_z=0.1777 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -3.6718, 3.0017, 1.7509, -0.1245, -0.0073, 1.0379, -0.253, -1.1282, 7.0359, 1.6972, -0.0269, -0.0415, -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 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]: [-0.2298, 1.1004, 0.8013, -0.3252, -0.1761, -0.1276, 0.1517, -0.0147, 0.8116, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3489 left_y=-0.0462 left_z=0.19 left_yaw=-0.021 left_pitch=-0.0512 left_roll=-0.0006 left_gripper=0.1517 right_x=0.2946 right_y=0.0026 right_z=0.1738 right_yaw=0.0028 right_pitch=-0.0309 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -3.8222, 8.8684, 1.5165, 0.0366, 0.1392, 1.033, -0.1846, -1.853, 7.1726, 1.7656, -0.0317, 0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061e3e3cb1726fa2aa6e697bcd47cf9d0034a3d6fc86a2afcfffdf24af59f778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a467a23a21cdab1139f8446e72db739a8b81bd981e96fbfafb3f41dcc51810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5bcdf2a194efec120788c76ea303c8b72475b346f68a72c870da588dc2ebda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YQw7MAVPZ2Sry8e824feT4",
      "input": {
        "note": "Marker held. Swinging right as far as the left arm's box allows (y=-0.40) over the right basket's near-left region to check whether it can drop the marker inside.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.4,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_01YQw7MAVPZ2Sry8e824feT4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9207, 2.426, 2.5229, -0.9756, -0.6849, -0.6445, 0.1574, -0.0147, 0.8146, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.3993 left_z=0.2095 left_yaw=-0.0251 left_pitch=-0.077 left_roll=0.0069 left_gripper=0.1574 right_x=0.2948 right_y=0.0026 right_z=0.173 right_yaw=0.0028 right_pitch=-0.0339 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -13.6547, 8.7726, 1.326, -0.4811, 0.0562, 1.033, -0.1026, -1.4154, 7.0085, 1.7509, -0.0171, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2ab2da3afa5d19e3e18fddf39f8977c8fda38180c8dc34a2173d54d459edd26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90bc4ffc47b630abcc35668d9e7bc42f9f8822c15c1ac653a2c9536a38d0ff54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c63676a77a6cacfa28344609a2469ccdd7036da23dc6e80aa9abbf35fed451af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 7.767 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]: [-0.281, 1.5505, 0.1322, 0.8009, -0.2066, -0.1398, 0.1512, -0.0151, 0.8051, 0.6083, -0.3855, -0.0185, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3083 left_y=-0.0475 left_z=0.0024 left_yaw=-0.04 left_pitch=-0.0405 left_roll=0.0051 left_gripper=0.1512 right_x=0.2953 right_y=0.0024 right_z=0.1777 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -3.6718, 3.0017, 1.7509, -0.1245, -0.0073, 1.0379, -0.253, -1.1282, 7.0359, 1.6972, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2298, 1.1004, 0.8013, -0.3252, -0.1761, -0.1276, 0.1517, -0.0147, 0.8116, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3489 left_y=-0.0462 left_z=0.19 left_yaw=-0.021 left_pitch=-0.0512 left_roll=-0.0006 left_gripper=0.1517 right_x=0.2946 right_y=0.0026 right_z=0.1738 right_yaw=0.0028 right_pitch=-0.0309 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -3.8222, 8.8684, 1.5165, 0.0366, 0.1392, 1.033, -0.1846, -1.853, 7.1726, 1.7656, -0.0317, 0.0073, -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]: [-0.9207, 2.426, 2.5229, -0.9756, -0.6849, -0.6445, 0.1574, -0.0147, 0.8146, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.3993 left_z=0.2095 left_yaw=-0.0251 left_pitch=-0.077 left_roll=0.0069 left_gripper=0.1574 right_x=0.2948 right_y=0.0026 right_z=0.173 right_yaw=0.0028 right_pitch=-0.0339 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -13.6547, 8.7726, 1.326, -0.4811, 0.0562, 1.033, -0.1026, -1.4154, 7.0085, 1.7509, -0.0171, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2ab2da3afa5d19e3e18fddf39f8977c8fda38180c8dc34a2173d54d459edd26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90bc4ffc47b630abcc35668d9e7bc42f9f8822c15c1ac653a2c9536a38d0ff54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c63676a77a6cacfa28344609a2469ccdd7036da23dc6e80aa9abbf35fed451af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3QcKEAgSGAI4AUIIdGhpbmtpbmcSDK2xhf4+gBKwBkmJLRoMpKRsOd8ULKRW9m5gIjDrQNemE7Z/IDJ5paGHVCzOAoy5vPOkjW1Qrfd6RIjD1Ww0YYeLUkR40BnpbJ1OMO8q+gaGy5sqAsYsML5MYK8q7fY66MSh1upna2bALjduIT34diBTVgJjC1xDltiQKbKeTupjgeIUxF8Rx4mUI2yumGnj9yaujWylms+EJmmFlYnAEqZdbcnqQ5eIngxJ/Un/36WzfPMn7eQVsDbbV+7znnXuqJeKOdLTQF/zSWKz/IJlFn679L6k0Fz7ggjjn9lb8gKJCIdLDFS/vBbKTndxjNczYfhtXNGtu8GdXIj9Sy7AatQfcD3XOoztN8F86FH/6OnzSRaghXrtSPMbudjsCtTlxUNs2WExYMxm335vO8AKjkb0hdimCxUjNDDNEznIoMgZ76o/PVEjSkaBGZn4mu420Z7Mw7v/CRPglMnz6sJk1cpQnpOTq6605yEAhA7x73mVfLUlRmHXG5w4eBxEQDuyl5EjvwpEk/5cXfatBrgNZoIh9Ky6Nag25MfUUv+ludIbQIcdIj4588mz/b3GYfXKGFDOkvy7tAReIGS6pS6mMlNg4h8C3YlCH1Jf4fBUPFGeeNa5Rosd/5SD3Tn9lneYBtkYCCAfESf008ek10ErdAJZDnZvKEOk/DLypdYSv65g4bJhSHdEZOfQLvKGuO+zXEy0K7XaNzXmF/kRU2jITZNeObRoO665rtL/hNb8SNzKGDM3h9h7xaIpuqhJlHNmfbw7ZwKI+o6f5eW51oLgHSvRW+Hta3kEvmyGVSlVtf9dS+Ry5jmmheVL57eEHtJhCRY09vq9sYVk6/4QHE6QCHJMVCspEgZvwNy4Ml3kzCcBeT5LLQs7gkEHTBVmVGX4KCMHl9PUoxJIY4GRrWTBMe6E8I4G3LMqQsf3EQCCdbJ9OwI3SjjeqA5WMYJnq80pSPlwCzCXuEaUMnLhIoRq/SjSpw/BgrXUPyKMS7J8g639rebnoVfS/a4R5LeNih9Dnfiu0O8tB5dkN3uJtSv2P+PKnlkTMEL7K2RvxGZ783nSiKvLp+yRlTYXass1tkATkQfOj5H9Tn58j8h5rVhaZe4tQXvDWXgoizWKTiGT3q+7wYwtjY47SccGVYPZ3b7yPocrt5XNJLoMKFB+XrbEuHHa9/vN7eslh23TD5Nk3PxYxbUFvTn1h6JpMp8jo/6UXGa1eV3xRi13yckRuVPnVIWwpaH8FIuhs0GNfvopPShvq/oVkkYwbHXuecGx/UUlCNpGFSwgMpRcNhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UQLd13rLyKXFL7ueQQix1H",
      "input": {
        "note": "Left wrist cam and overhead both show the yellow marker directly over the inside of the right basket; releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UQLd13rLyKXFL7ueQQix1H",
      "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]: [-0.9203, 2.426, 2.5225, -0.9794, -0.6807, -0.6552, 0.9954, -0.0143, 0.8146, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.448 left_y=-0.3992 left_z=0.2085 left_yaw=-0.0216 left_pitch=-0.082 left_roll=-0.0004 left_gripper=0.9954 right_x=0.2947 right_y=0.0027 right_z=0.1729 right_yaw=0.0032 right_pitch=-0.0343 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -13.9829, 6.3248, 1.3504, -0.398, 0.1001, -0.2418, -0.0889, -1.347, 7.1453, 1.7021, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfc222749ace37571552023848aaaa1d4d363cdd5d7d4a5778bf3c1b940bcb1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7856636ef095fea6825f853070114bd97f07789235854051e21f938921ec2e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf3d426e0112f8c4b5ea88ada70c1c82232d1037b7d39e691de77a08dc0223d2",
        "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 · 3.922 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]: [-0.2298, 1.1004, 0.8013, -0.3252, -0.1761, -0.1276, 0.1517, -0.0147, 0.8116, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3489 left_y=-0.0462 left_z=0.19 left_yaw=-0.021 left_pitch=-0.0512 left_roll=-0.0006 left_gripper=0.1517 right_x=0.2946 right_y=0.0026 right_z=0.1738 right_yaw=0.0028 right_pitch=-0.0309 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -3.8222, 8.8684, 1.5165, 0.0366, 0.1392, 1.033, -0.1846, -1.853, 7.1726, 1.7656, -0.0317, 0.0073, -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]: [-0.9207, 2.426, 2.5229, -0.9756, -0.6849, -0.6445, 0.1574, -0.0147, 0.8146, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.3993 left_z=0.2095 left_yaw=-0.0251 left_pitch=-0.077 left_roll=0.0069 left_gripper=0.1574 right_x=0.2948 right_y=0.0026 right_z=0.173 right_yaw=0.0028 right_pitch=-0.0339 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -13.6547, 8.7726, 1.326, -0.4811, 0.0562, 1.033, -0.1026, -1.4154, 7.0085, 1.7509, -0.0171, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9203, 2.426, 2.5225, -0.9794, -0.6807, -0.6552, 0.9954, -0.0143, 0.8146, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.448 left_y=-0.3992 left_z=0.2085 left_yaw=-0.0216 left_pitch=-0.082 left_roll=-0.0004 left_gripper=0.9954 right_x=0.2947 right_y=0.0027 right_z=0.1729 right_yaw=0.0032 right_pitch=-0.0343 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -13.9829, 6.3248, 1.3504, -0.398, 0.1001, -0.2418, -0.0889, -1.347, 7.1453, 1.7021, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfc222749ace37571552023848aaaa1d4d363cdd5d7d4a5778bf3c1b940bcb1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7856636ef095fea6825f853070114bd97f07789235854051e21f938921ec2e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf3d426e0112f8c4b5ea88ada70c1c82232d1037b7d39e691de77a08dc0223d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VxhvmnfDBuFpyX6k6zM3DF",
      "input": {
        "note": "Yellow marker is now in the right basket (markers basket). Next: plush toys to the left basket; moving the left arm above the brown bear in the centre.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.28,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01VxhvmnfDBuFpyX6k6zM3DF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0542, 1.6653, 1.2003, -0.5491, -0.7391, -0.7868, 0.9966, -0.0147, 0.8185, 0.6067, -0.3923, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3026 left_y=-0.2845 left_z=0.1484 left_yaw=-0.0373 left_pitch=-0.1169 left_roll=0.0305 left_gripper=0.9966 right_x=0.295 right_y=0.0025 right_z=0.172 right_yaw=0.0025 right_pitch=-0.0377 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -9.3607, 7.5282, 1.3553, -0.5934, -0.0513, 0.105, -0.0479, -1.5385, 7.1316, 1.7363, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e499932d66e2c0b35a61c6c0916a04f230a7289bf64602eb28993386454cbbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a92eb8cb0eaf84d96b350b546ae0249398fe2263ce8c222adec48652215d17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ba9f02dc05f39e816a47ae77cabff22424c5bffad901129a05b29241377e65c",
        "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 · 2.875 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9207, 2.426, 2.5229, -0.9756, -0.6849, -0.6445, 0.1574, -0.0147, 0.8146, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4485 left_y=-0.3993 left_z=0.2095 left_yaw=-0.0251 left_pitch=-0.077 left_roll=0.0069 left_gripper=0.1574 right_x=0.2948 right_y=0.0026 right_z=0.173 right_yaw=0.0028 right_pitch=-0.0339 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -13.6547, 8.7726, 1.326, -0.4811, 0.0562, 1.033, -0.1026, -1.4154, 7.0085, 1.7509, -0.0171, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9203, 2.426, 2.5225, -0.9794, -0.6807, -0.6552, 0.9954, -0.0143, 0.8146, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.448 left_y=-0.3992 left_z=0.2085 left_yaw=-0.0216 left_pitch=-0.082 left_roll=-0.0004 left_gripper=0.9954 right_x=0.2947 right_y=0.0027 right_z=0.1729 right_yaw=0.0032 right_pitch=-0.0343 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -13.9829, 6.3248, 1.3504, -0.398, 0.1001, -0.2418, -0.0889, -1.347, 7.1453, 1.7021, -0.0366, -0.0366, -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]: [-1.0542, 1.6653, 1.2003, -0.5491, -0.7391, -0.7868, 0.9966, -0.0147, 0.8185, 0.6067, -0.3923, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3026 left_y=-0.2845 left_z=0.1484 left_yaw=-0.0373 left_pitch=-0.1169 left_roll=0.0305 left_gripper=0.9966 right_x=0.295 right_y=0.0025 right_z=0.172 right_yaw=0.0025 right_pitch=-0.0377 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -9.3607, 7.5282, 1.3553, -0.5934, -0.0513, 0.105, -0.0479, -1.5385, 7.1316, 1.7363, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e499932d66e2c0b35a61c6c0916a04f230a7289bf64602eb28993386454cbbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a92eb8cb0eaf84d96b350b546ae0249398fe2263ce8c222adec48652215d17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ba9f02dc05f39e816a47ae77cabff22424c5bffad901129a05b29241377e65c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9ggKEAgSGAI4AUIIdGhpbmtpbmcSDGz1L+S69Gn0SyM4zRoMWeVGm8rC1BtdRjp/IjAFV+4XAG5nuQtMPiK4qa8sE33oT23Ecry2U7ZsSAj/nDYGNoLZ+aCyLCMtNCAn8D4qkwiM56E7wznXSWPHBAN9si+0AYRvGi+ttWB3F15Zt0hvA8nxub39C7QPiOTbs4LFNfFVyNtiZ6YjMATbNqENQX+YVxC5V7Ht0tddZcyrRVygRFVsiW7I6hMfFRXMv9vvbQNx8LBvj+SezjK/kGDMJ5Tc1cgi/4sjO7CasmgqgIc3d72wXWpUIQaLlJcwcS1cy6SNI/ftWxcqbURlz8KNg6oBISEdshv9MaPA7q93pmJ3d19/Ve8zVluOhoqWOnq/BlP02jlgvbsOj5fIx3Z4CvguvRoUXZWXvCmehIXrJnlvwRPlJA3JEOWeWGGN70NljpF7Ipt/sv1NOWpZaIzjhgxX8mFZS3MHzEH4CmRvXgWe5dkZrYELmNMJQkj/+o7q5ys89KUunc9vkJubu0VjzfcrboseLG1u9FnHxVS2M1u+qrU6FpZMfeTsnz/boy0IoPlJAvB/KIh+Q7ICctVmQI4ETTT8R3VReCuPb1Upc1yzB3Gz2pt7Hhovv6j1jlo8pC9821/vGg6uys26RL+i0fDf2pLloqkPHOTuJ8GpY2FgBQG0mKkNU2hCUfwcgeww0AYeOiva4sOM/tQIE8rvnQib036K+9voExkd5W5lxYT7Y2MdtsZymlXiifLQ+06q2VQHAjQCx96THoKbbSIjvo43M0U+I6lSIDxDq3m9nJSTNP3ebquQPCBRAtGxHCaBw5jfFOm62aERUQhP1P7VCYv8n0vLE0zofEtkfRl8oWg5Yzbd0gbm9cJ03IxQsh8QzfQwuuO5IGl0bAnt8ZTJzVW4D7briDOcsz7ajClEgsfRhIrsaFOd/5VNMnGGqaYvD62LP8oPI6ARGaJeBed01vdabtTprRBO5syCzakCO3qsD1o8D97iFhRomL2VI3gjwknNqYw5qYUc9T5Qj6yQ8N1SpiJGrgByWZWZttXX15hR1UkP/A9ooQDOLvSL1hecNFz082AAKfx/yx1UA7fjMQWYwQQthP2EwWLn6WrUMDP2kv8Pmj7dB0F9lF17Nw2VVtmuDyBqcwSKrBYtAKfnCEv2qGk3M5+hUBPzS2WdSSt/rjFhTNp90CCBfYcdo0CIQaspaHY6sqqOt5Q93lakHpa/1CO10I1G/OeOqYkMZpOuHY2DMqtxxMxSfDZouCSS1BxtLDJTORukwowXI/dbsZa16eMPGsJg5KgGtBTil85NpBcSY6c2xNLxIKJs4vvn8viB10umzQUQBJlQvqMBR7+OGm7KUzJ8joYD5t8h3rqIeEUXiysK+NCXoVSMGaUqN5OPspnanoTSpf4L9bCFgug8/41iC24lxqJADBTtkyzrhqaFYSVmmo37EwiFZMK6WwcXq9AcX0PWR9DPIUh91E7ECXLQsGui9Fp1vt1zsKim1BUJURgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qi2sN52FXuRhgqDmtHjHw7",
      "input": {
        "note": "Teddy bear is centred below the left jaws; descending to grab it.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Qi2sN52FXuRhgqDmtHjHw7",
      "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]: [-1.055, 1.7878, 0.9901, -0.1886, -0.7612, -0.8009, 0.9967, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3065 left_y=-0.2862 left_z=0.0714 left_yaw=-0.02 left_pitch=-0.0864 left_roll=0.0051 left_gripper=0.9967 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0028 right_pitch=-0.0381 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -6.2017, 4.3966, 0.7692, -0.1294, 0.0855, -0.0024, -0.0479, -1.3744, 7.2274, 1.6972, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f06a0e4f4b13e0f6de23e2ff0572bf91372517ae74f1ad2da8793706331c2415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a688309db9a9fc3c4c197fee60b05cb0117d111ddc27211d7ddd40e093d5e515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cec5d21e1d374a7a81e3387917975c81a3857f588c05ec524d9d70568e617e88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.425 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]: [-0.9203, 2.426, 2.5225, -0.9794, -0.6807, -0.6552, 0.9954, -0.0143, 0.8146, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.448 left_y=-0.3992 left_z=0.2085 left_yaw=-0.0216 left_pitch=-0.082 left_roll=-0.0004 left_gripper=0.9954 right_x=0.2947 right_y=0.0027 right_z=0.1729 right_yaw=0.0032 right_pitch=-0.0343 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -13.9829, 6.3248, 1.3504, -0.398, 0.1001, -0.2418, -0.0889, -1.347, 7.1453, 1.7021, -0.0366, -0.0366, -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]: [-1.0542, 1.6653, 1.2003, -0.5491, -0.7391, -0.7868, 0.9966, -0.0147, 0.8185, 0.6067, -0.3923, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3026 left_y=-0.2845 left_z=0.1484 left_yaw=-0.0373 left_pitch=-0.1169 left_roll=0.0305 left_gripper=0.9966 right_x=0.295 right_y=0.0025 right_z=0.172 right_yaw=0.0025 right_pitch=-0.0377 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -9.3607, 7.5282, 1.3553, -0.5934, -0.0513, 0.105, -0.0479, -1.5385, 7.1316, 1.7363, -0.0464, -0.0757, -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]: [-1.055, 1.7878, 0.9901, -0.1886, -0.7612, -0.8009, 0.9967, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3065 left_y=-0.2862 left_z=0.0714 left_yaw=-0.02 left_pitch=-0.0864 left_roll=0.0051 left_gripper=0.9967 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0028 right_pitch=-0.0381 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -6.2017, 4.3966, 0.7692, -0.1294, 0.0855, -0.0024, -0.0479, -1.3744, 7.2274, 1.6972, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f06a0e4f4b13e0f6de23e2ff0572bf91372517ae74f1ad2da8793706331c2415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a688309db9a9fc3c4c197fee60b05cb0117d111ddc27211d7ddd40e093d5e515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec5d21e1d374a7a81e3387917975c81a3857f588c05ec524d9d70568e617e88",
        "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/wYKEAgSGAI4AUIIdGhpbmtpbmcSDMo3IXvEqs+WOLDs8BoMhpMP1ZRqyN7s0U3rIjCPBslhk15Q1nquZiygaXz4eexuWF502z/HqJBv2lqhuZT87NLXt18sKndv7VMOhpwqnAYTycH7cS3tTMAbDRAUXcNPor50jJxBHesuFJMX6Po1O2LTgzaKXrbb9CMQ617934evNftuwyfFeb+mdSGId8EYXUKwb4yjRNlq8PrBkN49/F9qyIx4BKzLK23e+KHBv0ZCUkd3buhDmLMLL6k8BdAj4s0+Q7Jt575jYPzaRrnBZ4woxaWDddvQAf4y5C7h7phJ5zBAy1knXHVhFsZ3tFwIjX8ZZ/CQwFVAPjw2OLEV98tykCQRVMlHtdQfR/rEeoDloe4y3CYkDvHO0ElUn39zjAGGSelO6P/FlgHeA62bkqPxTamVFdfhrfM9QDPcRJlJz2yHlu//xWRekYxNi74GP430KHLyo4qz6gYOr2ILJDjbwp3m9x7TNz6oxUeQHEGa9lhFJf8fvTFZbR7UZoStibOBx3ErJPFZY5s/xIwqj6tque4MIrO0+/TuxaL28GNCoS5+/dXtzjMP2p9JGyLIHaZdXb4iRj/K0SMWzDJBw74a+U91AudpPJdvVvHRBPry+sa/soLnelddjPbFrOhJOaDWeJBd+p4qvChEE/PFtb3UxKHr/5BWRtBgTTplRax8l3MbalJgdWAha9U2TuiC/51Ep0X2PdjhPkQGpVvqeO6xvj6+KHHlMoPREYlas7QxPiT3fR8T3HZQXQsb3UBUgh99rM76Z2eOnmNQCqcyu0t8DAGCE+3Gl9fxR//ntA9Gc0NSqRp7U+tkwFMY78GLNSCYkcm7VWjXzz7CFaAhMTFmK7Hev+AA7zpKzYyLl0bWNQ7iq197i8cxs8vSLjJxr3KLwNJJr59MpMhRdZg/hYV0MWa+J5KNn8D/oeIZqAX9Xxqe38UsLbEiGXtYokm6QwevY4CgPoNRs88HOmJgluFdw4iJsj3cF7PlOLSTLm19dt6qRGIUWdATe7zInB/YGQ7LyKdItgxETVfGpqx88Wx7NG5p6uo8vKUmcGJtkYvxI5RT2rAFknayGTZiDg4gcTwnxlPOWQ8VO6YC1zYetvMhJfdwXEx4AeNrG9yw+d5wqflO/qJELqr2hU4s/qNfP7R67L5/w5LOUrvpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D4yBcgjEXjVC86vFqCm5bx",
      "input": {
        "note": "Jaws are resting on the bear's head (descent stopped at 7 cm); closing to pinch the bear.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01D4yBcgjEXjVC86vFqCm5bx",
      "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]: [-1.0534, 1.7973, 0.9867, -0.144, -0.7673, -0.8074, 0.03, -0.0147, 0.8185, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.2901 left_z=0.0722 left_yaw=-0.0135 left_pitch=-0.0659 left_roll=-0.0249 left_gripper=0.03 right_x=0.295 right_y=0.0026 right_z=0.172 right_yaw=0.0028 right_pitch=-0.0377 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.347, 6.1744, 0.823, -0.2857, -0.0269, 0.5104, -0.1162, -1.4017, 7.0085, 1.7509, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6647f47a08e279ded2d9a46085cd2173efe05fe7a4323c22d9b4a8b81a98f73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f367a0efba7434bdca9a90f1d23d1faf534c6766e6b3c19a75b47fd3cd1f9794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e1607f7041db86d6ec71dc44cb5390b2f0baac0c5c060330d45be7fee465700",
        "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 · 4.552 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]: [-1.0542, 1.6653, 1.2003, -0.5491, -0.7391, -0.7868, 0.9966, -0.0147, 0.8185, 0.6067, -0.3923, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3026 left_y=-0.2845 left_z=0.1484 left_yaw=-0.0373 left_pitch=-0.1169 left_roll=0.0305 left_gripper=0.9966 right_x=0.295 right_y=0.0025 right_z=0.172 right_yaw=0.0025 right_pitch=-0.0377 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -9.3607, 7.5282, 1.3553, -0.5934, -0.0513, 0.105, -0.0479, -1.5385, 7.1316, 1.7363, -0.0464, -0.0757, -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]: [-1.055, 1.7878, 0.9901, -0.1886, -0.7612, -0.8009, 0.9967, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3065 left_y=-0.2862 left_z=0.0714 left_yaw=-0.02 left_pitch=-0.0864 left_roll=0.0051 left_gripper=0.9967 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0028 right_pitch=-0.0381 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -6.2017, 4.3966, 0.7692, -0.1294, 0.0855, -0.0024, -0.0479, -1.3744, 7.2274, 1.6972, -0.0317, -0.0415, -0.0122]",
      "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]: [-1.0534, 1.7973, 0.9867, -0.144, -0.7673, -0.8074, 0.03, -0.0147, 0.8185, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.2901 left_z=0.0722 left_yaw=-0.0135 left_pitch=-0.0659 left_roll=-0.0249 left_gripper=0.03 right_x=0.295 right_y=0.0026 right_z=0.172 right_yaw=0.0028 right_pitch=-0.0377 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.347, 6.1744, 0.823, -0.2857, -0.0269, 0.5104, -0.1162, -1.4017, 7.0085, 1.7509, -0.022, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6647f47a08e279ded2d9a46085cd2173efe05fe7a4323c22d9b4a8b81a98f73d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f367a0efba7434bdca9a90f1d23d1faf534c6766e6b3c19a75b47fd3cd1f9794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e1607f7041db86d6ec71dc44cb5390b2f0baac0c5c060330d45be7fee465700",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AoKEAgSGAI4AUIIdGhpbmtpbmcSDJA/QwRIOr/Ur0sNIRoMaPWmiTjX1FN06yFDIjCXjhV5znKjGMXOn3kX/fViARaIF49zcEFKM7y9+WnPHVKw3ZwsEW8y9CV5S/XC7wsq8QmGEIVYbK0UX+rmHr5jozqjZ2kEHUI7xibe5vp3MPgebN3+OfC8xHkAA+WwGTb9zuETw184d66s+ejYBc0ZyRXUWCIz7U6rhd8fiOoVIjVNEOLbFj8UgeXmAhCGoHihxEBeihZqvyoPvJiqsAo1PK3Doo+J7VOwja5MKfjedFhx6R38GFas6aHqI309sRD2NxFwJCcDE18nbq5yDFmUq07SXIM3V2GTR8YKF40csz+oRY8/onF+zq9tGDXzSOO/hnYYcrC98TzLzB6xwI9de698SSxj7EGS7eB3l8mhfD75cHfNM6unpauBsYqOk06h316zciRIJOPPppIORdkM2T8HRq7gn/m7S9MVUgczZUtJsLbG4k70A4bkxPzbtfE8Op5aIebwRnT7lnErR1/MuPvSocD7yvL8txk+dsMaNYSIdAzxjcNsWVIuBS5iNePjZVXoN+0+mAXac11kI755J11RdJOJDOp7861mk2eDUw8s7h08pZ3Tk/eWDB2acfoXXIFe/avhSI6dg9o0Gv6usOvrTLRCbSm4oPDBKMbAtEMESLvUhsMfpUFjhZsgUdZey5no23cgEt6uPUnXrlUov/FcsCf7pfMXN0ayqVDXMabzzB79RJsdFkkVc+liTe2ryAh/kN5XJ95GJCJeJ73gf4sZnesBLu8JM+6nuOKlVq96AaeviAyPeXw+sDgda8q7ISDVt/A05eci+f2g3K53zlJNfKx7CXT1/K1MBHc5YY2oQBQlpXDZvgSRHelidbTUBPfRnx6fyhI2WKzQbzXUpNQbIns3kGeGExX7UpXtpaXqDmnOcCprU+I4L25Rl+u5lAVqQUlTATdYqrevfwZ3zzR+DEOJ2wcO4u7tWTbFKxaF1vVVVDuTl6+zSK3KeKAfN5mvwwcYyeCXa+DCHzkUpHPs0Ec4BlPup/+JILi6+stZ1YNGDpIZwLu+ptY7chYRDvu+zSkKF/oPmUftb5uoTeqgvMYv+ePmntKNaHa9u1ubhH1qmRJ1BgcbyJ9dkmGP7QqaI7h7rVha7e3Zj+GaW+YM1RzeNpnY10FT4r1V38mLJZIqr+VeHG5oL/dD1HIUAEMdyhi6NsErOVwhhUziuqPSwU1VmAtOiHbeWXDc8fhbugFdrsNuFoETR8ufG8wwhpsxemTPM2hyHwyhALcr9gGvBu5Hhxnj9yI215noyk3lqXpRu88Qzr8hq7cNEExIIVMORewl2IvN/1KN6Mc877Gk4VzfY6EjdTEQlfofFcXRugOMe6ij+PdcjLvFyEd7rgmFZSanXffggo+vNt13vgHwCrquHQ34bHRaTpc4DnfnitAeUdeD8uThW/bt80AuI4W4WJCi1p14b+YM9tErfWWFiO+2C34eUjBtk7Ja+CPpRQ1M1aVwtAHCaiQUrcx0bOt3VS8eDIRjPJrsPOWiyBJl6aZzYr4E2ywFqiH1P5AjmRAniIgZrYVRcJD9XL8kroTY84h/7Df9jwnoccTqXDj+sZDZG/NahTZUB/eH3kn18S5VCKXjJR7bB+S/z58VwkAWUzjcSNDUbmkaLetmg+RbrcBsBAy0+izvKuQaQgTBxSR5wYf0BwoI4NIQpeviVMDBjizxJEYNmdgQoxz8aA9z5JuvFhK0GhQ7rGnrP0sAB9ytTk6ASCbzCKHSd9d4TKvEIJ38+fZuAji4jmWiZoEnjxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GfAcpLpyA7fDVbJdHhJ6Nn",
      "input": {
        "note": "Gripper reads 0.03, possibly only a pinch of soft fabric; lifting to see if the bear comes up.",
        "targets": {
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GfAcpLpyA7fDVbJdHhJ6Nn",
      "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]: [-1.0534, 1.7443, 1.0798, -0.3176, -0.7559, -0.8127, 0.0387, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3091 left_y=-0.2909 left_z=0.1031 left_yaw=-0.0157 left_pitch=-0.088 left_roll=-0.0103 left_gripper=0.0387 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0028 right_pitch=-0.0381 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -11.4667, 8.4581, 1.1795, -0.5055, 0.022, 1.033, -0.2393, -1.3744, 7.3368, 1.7118, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21fa3a47f5c7fdc407fd282605fa42c9548f8da16e1c9789d42064874b86271a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15092b51f1358eb0e566d8b4894ecb86d62a0a6eb692dec47b0e85b4d6e787f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa801f6d0c09eccdb8ddf82f548d0af05856f7a6579b069203a2193446b52530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.713 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]: [-1.055, 1.7878, 0.9901, -0.1886, -0.7612, -0.8009, 0.9967, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3065 left_y=-0.2862 left_z=0.0714 left_yaw=-0.02 left_pitch=-0.0864 left_roll=0.0051 left_gripper=0.9967 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0028 right_pitch=-0.0381 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -6.2017, 4.3966, 0.7692, -0.1294, 0.0855, -0.0024, -0.0479, -1.3744, 7.2274, 1.6972, -0.0317, -0.0415, -0.0122]",
      "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]: [-1.0534, 1.7973, 0.9867, -0.144, -0.7673, -0.8074, 0.03, -0.0147, 0.8185, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.2901 left_z=0.0722 left_yaw=-0.0135 left_pitch=-0.0659 left_roll=-0.0249 left_gripper=0.03 right_x=0.295 right_y=0.0026 right_z=0.172 right_yaw=0.0028 right_pitch=-0.0377 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.347, 6.1744, 0.823, -0.2857, -0.0269, 0.5104, -0.1162, -1.4017, 7.0085, 1.7509, -0.022, -0.0366, -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]: [-1.0534, 1.7443, 1.0798, -0.3176, -0.7559, -0.8127, 0.0387, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3091 left_y=-0.2909 left_z=0.1031 left_yaw=-0.0157 left_pitch=-0.088 left_roll=-0.0103 left_gripper=0.0387 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0028 right_pitch=-0.0381 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -11.4667, 8.4581, 1.1795, -0.5055, 0.022, 1.033, -0.2393, -1.3744, 7.3368, 1.7118, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21fa3a47f5c7fdc407fd282605fa42c9548f8da16e1c9789d42064874b86271a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15092b51f1358eb0e566d8b4894ecb86d62a0a6eb692dec47b0e85b4d6e787f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa801f6d0c09eccdb8ddf82f548d0af05856f7a6579b069203a2193446b52530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgkKEAgSGAI4AUIIdGhpbmtpbmcSDMobGhEzMuXKrKG+uxoM/Scpt7SAhpPfvrhBIjC9RFHJvC1h+cUMzYaTKo5YWwm2/mXv3kwmzmtcKY1UPmeYoH8P4oveM5znpLBHrgwqqwgg28R2lr5wLJ/PQAZ4hALYNGK/TMqBI7uubcWEG1K3ZErWiuWduLRCDS1mqpP4F/NE0kLHw1q4FRsTYvVYNqLtYug6R2wQisIeEEQDo+lWodmaRR+J7cQCXNedMrKFLUmp2s8uDbsGd+vyWbkWNmn/1bl9wfgFG6x/C56q0CKZK6FvqX/ofJcBEExpiORzHQBsFFAD6t0YBz3TM5YqQkLVvfkgPs8vq6hlqtL+XHKI17AEdEvhNDRbs7yB4esp/6a+1maUQ9E3zKteVHe8hbGrWUsilHykHjJK0CF4+qp6ZVzU2XslLRQTgiS1X7icYvQyVUnBHPjqCSDyIsLbR0ijEs49UtpDV11VnlRIQn6rSkc5pKIEqkXOsG6vewWtTdTHzSupCCiZzoKklYJhQHpz5JPm6222sr5TbL67eC8poc73cs7bTKnSEiMZk+Z6Jpqt5cHmkQ4xn6u2MJgfO2a4/NUZeXZlXWLj9fS6DT9a3K8JqYkIjE7ESN5UoxCIkPxd9l0rjKHzgmYlPmvss0atQ4l9E1sX3Ep+LXp1POIdVCBYlp7rWtg5gbil9P+wTGdW0lJPd2YbVTri1tfMnQXHnLF+eQ/USZ1AEL72Q7Eu/xzc/HhJutSrztKndaIpIdFmAReTK3vDkDMiytKSRhrB9cLc1F6+4Jy6C1teR8iKXGIvQos7PzpSBnbMAZukLcmnZkNYHxOyXqowCX68P0wpIBPWV7SHexYiuHzhl/f58KM/1l6NMMypDWwm3NUQc+0I8jjOPgeBrUJbyWfUbdgFEIQ/YHXV0CnFoLJjTLqpgtSGj9FZPJgwNJ9qSKU9YoOnRL26uXfYVc+jcEwM0y7ME3HYunI3mVtdbD74hMOk+1lPXnjqgfHHPnVyk31wRZ1FqMGkNo8fcIkBjzMaU5jsBv+S+4nwKn3wX+5XYEwha1PV8856CEeqP28g+gowD7pUrQwzaOF4e8bOAdL/EKdLmSVmDc6cj6J5YvaEyN+dCtJg2iBg1x4QtSyjd1+plJ7a5wbac6hE9IrAR8pg+r++C/VK42IQcfO6f+tAV+Ddo/qzhqVNsL9lV5fKLQ3/pE0AuIO23f9OJMNtxbcUhqP9te586vsf4KI5GI+U/kWrUAYnV55fka0wPMSObomcFuDSLnC1mIMxWYaHqi+oU8JvYOlDGzGkZbSMFJ5tTxtDnks7x3MWlW+zh4i5deOjwyMhNvUAeJSPhV6YGVXLtJHlDdncLpvrMcHfNE/UGfd5pqiKZwcMHL2wGBIJ2eiD2XLjBTkWw3RTCoRvEP1poSsNWzgYKX/4Qcdmhm0FPtAkzZQzI+eWtyHI9clEEWJ/ZTpjpj9S2+a0UCpl4MXnj0LIwpL+aAHc38y3ydqCrGrzapAg6vVFQU49Fzxi3xcMNqij9qrWfpA/SgEC3xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NaFPZfY51ZnjurnhR54JcV",
      "input": {
        "note": "The bear stays fixed in the wrist view while the background moved, so it is held. Carrying it over the left basket (plush basket).",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.16,
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01NaFPZfY51ZnjurnhR54JcV",
      "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]: [-0.5121, 1.6295, 1.3521, -0.49, -0.408, -0.3779, 0.0387, -0.0143, 0.8192, 0.6067, -0.3923, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4325 left_y=-0.1586 left_z=0.2051 left_yaw=0.0272 left_pitch=-0.1289 left_roll=-0.0091 left_gripper=0.0387 right_x=0.295 right_y=0.0026 right_z=0.1717 right_yaw=0.0029 right_pitch=-0.0385 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -8.2667, 9.6479, 1.4823, -0.0122, 0.2027, 1.0281, -0.0479, -1.4701, 7.0085, 1.7216, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da1592a0a69fc6fdcea2d989a21a7ba8f1a4ec5689354afeb5883b9f665b4180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b2b8d28cc9f8f0f8c37b35bdf9a44a40d051e89f84ca12507810adc11e79cae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49e84a3f85fb184e0c5e43bb9f9c3fbe01596173a867b5e6a3e9423897716548",
        "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 · 4.156 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]: [-1.0534, 1.7973, 0.9867, -0.144, -0.7673, -0.8074, 0.03, -0.0147, 0.8185, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.2901 left_z=0.0722 left_yaw=-0.0135 left_pitch=-0.0659 left_roll=-0.0249 left_gripper=0.03 right_x=0.295 right_y=0.0026 right_z=0.172 right_yaw=0.0028 right_pitch=-0.0377 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -9.347, 6.1744, 0.823, -0.2857, -0.0269, 0.5104, -0.1162, -1.4017, 7.0085, 1.7509, -0.022, -0.0366, -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]: [-1.0534, 1.7443, 1.0798, -0.3176, -0.7559, -0.8127, 0.0387, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3091 left_y=-0.2909 left_z=0.1031 left_yaw=-0.0157 left_pitch=-0.088 left_roll=-0.0103 left_gripper=0.0387 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0028 right_pitch=-0.0381 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -11.4667, 8.4581, 1.1795, -0.5055, 0.022, 1.033, -0.2393, -1.3744, 7.3368, 1.7118, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5121, 1.6295, 1.3521, -0.49, -0.408, -0.3779, 0.0387, -0.0143, 0.8192, 0.6067, -0.3923, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4325 left_y=-0.1586 left_z=0.2051 left_yaw=0.0272 left_pitch=-0.1289 left_roll=-0.0091 left_gripper=0.0387 right_x=0.295 right_y=0.0026 right_z=0.1717 right_yaw=0.0029 right_pitch=-0.0385 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -8.2667, 9.6479, 1.4823, -0.0122, 0.2027, 1.0281, -0.0479, -1.4701, 7.0085, 1.7216, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da1592a0a69fc6fdcea2d989a21a7ba8f1a4ec5689354afeb5883b9f665b4180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b2b8d28cc9f8f0f8c37b35bdf9a44a40d051e89f84ca12507810adc11e79cae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49e84a3f85fb184e0c5e43bb9f9c3fbe01596173a867b5e6a3e9423897716548",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAgKEAgSGAI4AUIIdGhpbmtpbmcSDPsprK6B0FzTOm113BoMmCWnfA0Jc+gQYnW6IjAIZ9PEPSJZDfuIgTubnPih1eNb2IDo6JNlftQwp0uvh6WE7BnlO4Twijk4Mo/HH7IqoQcAeM9qniwCuR0UPVITrkHVEMfKIdikSFfcqppA+zvmIRENIw4WMN4mY2xWlByw/U/wT19kJlyPjvfYshnpcZKMENF8ENlX4bd4hy19nJNUNjAxelxmy2Eq5FDAVtrqa3by+QLfRVmflNK2vCxgyuGEGiWV4YQGjNLbUfOhMTmgojjcKK4mBO4clxNkibpAwZOfx5cTiKWXpigxXXC/UJ3HpLjcV8jLSbf+ydn7I51MqCDRpcWHYFGlkX7T+Dhr76e0TVN/aNLI6xDkfpMTbU2retJpNlCkx/kArX4OvgXqT4YMLnP95mSU8gww1ze39VcqTVuTPv+uknnuX/UyeLlm/V+FEN4BUUJacEvNg03cRSBOvmxvO8+7In3ARzAmALBQ/DCMFmrnSWh1QbY9jLnEF/V6plsWWftIwHq32n2HMIPYn+Bb3JO8ZAk1aSI5SiKpnUhFKzsj5YvpEETPucjoHGc1BYocFe5SkfQFX/Br6sZnSCbtP2jNf9EFcytF5vZNfY9rNeWfXutbZuDmOm34WDVtgamStgiTuW3xV3QvgrB+oZnPwpqJJolQocpMvGy3pP6FOxEPPQQTAux/uKK19JExvyRbBKZQ0e5/A302Hj2xmIWeSNrIRbfsJhdAOkCoxF2pGwWn9qJ4E8IlZbSrBPLoNE1jTWV/qiNTMVbRDh7ZKMhoVBEp0LZ1hhNvCESnVP6rUpxtNH8ZUMZe8qnZ0PSxx7XLK6pV056uJC6Rx9W+x+MwvXJgIVUmOXeMXIsta+nO8LF9ygsaC2bQ1wxmxCs7pxoJ+LoohoPJPiZ4EXERdvp/15Nz3CAINXu1KTbYczpVJXmbF21fWknda/fRxkiLYuPuBlAjACFuxNCIFReBEg5z1BgDgX0jY/Phh7nQdrDNPkgW7nGHcIqKli3aoN9ty0GSu/V09rW0MHsF1KbK5XOHhQ2Vi//6utVu9bpHoBBELY8/1eVebPCFW1+mW/wQ98WkSGvfSWTx1f0xHpYnxdUmwvNkEoYJE951Zk7J0GCIsUg6GLjuTby5ZqsE6gMqKRcbW3LzmacX5l5QsDQvvVoNLfs/RBRPX1CER33RXPql936dnbV4oPQWxDfpTIJbBBagz1o1GRQImCLxONTeWgOuT+/KcqqOve54I7Uh4nFDJ9gJv0l8niD51x042bFq1TQRkQ1Vd9GnGxXWe7E7bDqlc5J5kAvkhW67P0kWq//mUi4KMDLWt8sPKOAWkBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BFBEYisu2V1nD8eib8Cm3q",
      "input": {
        "note": "Overhead shows the hanging bear just in front of/right of the left basket; moving further forward and left to be over its interior.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.12,
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BFBEYisu2V1nD8eib8Cm3q",
      "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]: [-0.3477, 1.7947, 1.5875, -0.5739, -0.3016, -0.2916, 0.0387, -0.0147, 0.8211, 0.6067, -0.3931, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4895 left_y=-0.1178 left_z=0.2098 left_yaw=0.0598 left_pitch=-0.1753 left_roll=-0.0039 left_gripper=0.0387 right_x=0.295 right_y=0.0026 right_z=0.1711 right_yaw=0.0028 right_pitch=-0.0412 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -9.388, 9.1419, 1.5995, 0.0464, 0.1783, 1.0281, -0.212, -1.4974, 7.0496, 1.6923, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1421c285330668866f9689b11e8d9ee1eec55f130b4ee149c3a08619a30271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7074c48ed61619b2c76ad3ff05e385948884fa903b6bf031235bfd258553b2c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea6e9199847e9fb2d7996fdb02d86b312e5b603d2c0388e225008e8d45da4062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 2.737 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]: [-1.0534, 1.7443, 1.0798, -0.3176, -0.7559, -0.8127, 0.0387, -0.0147, 0.8185, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3091 left_y=-0.2909 left_z=0.1031 left_yaw=-0.0157 left_pitch=-0.088 left_roll=-0.0103 left_gripper=0.0387 right_x=0.2949 right_y=0.0026 right_z=0.1719 right_yaw=0.0028 right_pitch=-0.0381 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -11.4667, 8.4581, 1.1795, -0.5055, 0.022, 1.033, -0.2393, -1.3744, 7.3368, 1.7118, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5121, 1.6295, 1.3521, -0.49, -0.408, -0.3779, 0.0387, -0.0143, 0.8192, 0.6067, -0.3923, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4325 left_y=-0.1586 left_z=0.2051 left_yaw=0.0272 left_pitch=-0.1289 left_roll=-0.0091 left_gripper=0.0387 right_x=0.295 right_y=0.0026 right_z=0.1717 right_yaw=0.0029 right_pitch=-0.0385 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -8.2667, 9.6479, 1.4823, -0.0122, 0.2027, 1.0281, -0.0479, -1.4701, 7.0085, 1.7216, -0.022, -0.0415, -0.0122]",
      "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]: [-0.3477, 1.7947, 1.5875, -0.5739, -0.3016, -0.2916, 0.0387, -0.0147, 0.8211, 0.6067, -0.3931, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4895 left_y=-0.1178 left_z=0.2098 left_yaw=0.0598 left_pitch=-0.1753 left_roll=-0.0039 left_gripper=0.0387 right_x=0.295 right_y=0.0026 right_z=0.1711 right_yaw=0.0028 right_pitch=-0.0412 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -9.388, 9.1419, 1.5995, 0.0464, 0.1783, 1.0281, -0.212, -1.4974, 7.0496, 1.6923, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1421c285330668866f9689b11e8d9ee1eec55f130b4ee149c3a08619a30271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7074c48ed61619b2c76ad3ff05e385948884fa903b6bf031235bfd258553b2c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6e9199847e9fb2d7996fdb02d86b312e5b603d2c0388e225008e8d45da4062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QgKEAgSGAI4AUIIdGhpbmtpbmcSDFjCp6vJ64eiU/nkPRoMGQ9dFrmMX14TeV/vIjBLYAbQAlgTk092u2U9h9a5f8FJa7jaZQvN0zbT6kTylV2dpJm77OoQb3S7TlHVkRkqkgi5LF2w6A3ypuAsSYM1BEcGuNVCSOACFpN1snypaEHCi4Iam6jG7mkEbHJzDtz2+InP5fYzGXr9UgorKmmSvuP0U4vrok9UAAmnaxPrvMjJNaJNTyGNkLy1tq0i4AH90FRTAGFRDnGOyfNdGTi8axRjaggX/Y1fXPCd+h5lhPrrOB1RRaAeH4xphBgy+1x++G6vtVcvm2Kz6qf7dIiLdszrTMGQVNuoZ6r0/H5cli9DV8Jxv4+ukKh/cjucKAzuA/h0+I9Ygw6NcfX1ibiXRY6ZSw7alv1lZj+BF65+j7vMg7OeFlNd+EJGqxwRCgjSk1uZZ4tHQi2MEd6wvR8ssULZKggxmabXEg+n3B1squB0bP2rUSVVmVgjeHJFKT4FkXnaBjuPb9xiPmDoj1zULgLaZaN3GulpFjM8bqiXVIgATT1wc0Xy4lrdc6/KrI5z23Oj/nVDD488fpdmFKaT7/sHybbAFZ9+taPOxh9TZiTFp/P5bwRjqNOqHoCND2KoktLesa47P9bR0p3x57MiYS0L5AFXDlvVsAINQGiJ8nJ2xT9AV0hrDbmkKKXLC3bRqPPrqfFc2txinlmLtWX8CLdrxOVmQaHs9O8f4h4nUaQEfkq3xKgEXSNUr1OUbFYfpOorwx5v4ozDl5UlzUzCqc6UOJCWP6Ak76OexcsjqhrMs2UU0Gua7/ZPUDHEVhJwHjgHSi1cKl2G2/Qae5cGvTQinsRHGiNAePLI2dUFhiWwivKE1rrdWiq26C+/pzlODxjW9vXBVRPnloWTLVdghv3jGQHPK3HEx+nZzDuquS5lf5kEhtik+KBxOQZDArRdqXcDNG7Ug2mLmRVCiJMAQxlNMEJ6qPGO5lY3MbFnX7ftiqPXxtMWGwzA4tsEhsloMmhX7t68TODVpVHiEVwMAkb6oRoaY0pVSd2d2LLPKqzFPiUkgF5Lj3IvKOtKc4wRPIXD5iMoJVKqZPe8Cw+5AWRZuHZ2BYIrgDFsECm5Z8o2idMLV7LQq/o155pr+l0y/A3nyvplvQOfIST9bi3/DVodUTZIoDrze70IjgxEVaKGPlh/w+Uv7RYY12UlRLP3QoKUeIf+Kk8zNh/oVEpZo7u/5HnEsy7+V1LHxhHlWbG1pwC7StLCvucr12w+e5bfuJe4ssYwS5SKM0VpfBpkiI86+URKzBLL346pZp648fBpIp7vrb1pghtleX8yXtH2MAavDobbvl85115u9/YSEm3lol6oCpWv8ozjOf8MtkrkajkOO5L7saYz/hrY4bXBlirldE5MTvVOCF1Kkt1WfdbtJJfN+mz3Ao/g0TVQn6mFnF/K8IAfhk7LQlaADcLAqCNGbtPZJ2+p04u/SE9DHuYihCr88IuWMThnTqBVcddD3yvvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MUYQTqdPxzaZ57GyzxE3tm",
      "input": {
        "note": "Bear is over the front-right corner of the left basket; shifting a bit further forward and left to be over the middle.",
        "targets": {
          "left_x": 0.53,
          "left_y": -0.07,
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MUYQTqdPxzaZ57GyzxE3tm",
      "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]: [-0.2073, 1.9049, 1.7489, -0.6647, -0.2214, -0.2283, 0.0387, -0.0147, 0.8249, 0.6067, -0.3931, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5207 left_y=-0.0662 left_z=0.2054 left_yaw=0.1016 left_pitch=-0.233 left_roll=0.0019 left_gripper=0.0387 right_x=0.2953 right_y=0.0026 right_z=0.17 right_yaw=0.0028 right_pitch=-0.045 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.906, 9.6889, 1.6435, 0.0464, 0.2662, 1.0281, -0.1846, -1.6615, 7.0085, 1.6972, -0.0366, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02cec4ac65b7dd9aafec0bf7a6f548b2ef305c72876858e04bb206a74a62a8c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2329d2d445c1b362d7854d16c656d1da1609a2860b2bed67a46fe0199229a495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ec323509a7bf7c81071b343484c25d8a602ae3456cbdb5f5a77adface53f1ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.301 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]: [-0.5121, 1.6295, 1.3521, -0.49, -0.408, -0.3779, 0.0387, -0.0143, 0.8192, 0.6067, -0.3923, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4325 left_y=-0.1586 left_z=0.2051 left_yaw=0.0272 left_pitch=-0.1289 left_roll=-0.0091 left_gripper=0.0387 right_x=0.295 right_y=0.0026 right_z=0.1717 right_yaw=0.0029 right_pitch=-0.0385 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -8.2667, 9.6479, 1.4823, -0.0122, 0.2027, 1.0281, -0.0479, -1.4701, 7.0085, 1.7216, -0.022, -0.0415, -0.0122]",
      "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]: [-0.3477, 1.7947, 1.5875, -0.5739, -0.3016, -0.2916, 0.0387, -0.0147, 0.8211, 0.6067, -0.3931, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4895 left_y=-0.1178 left_z=0.2098 left_yaw=0.0598 left_pitch=-0.1753 left_roll=-0.0039 left_gripper=0.0387 right_x=0.295 right_y=0.0026 right_z=0.1711 right_yaw=0.0028 right_pitch=-0.0412 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -9.388, 9.1419, 1.5995, 0.0464, 0.1783, 1.0281, -0.212, -1.4974, 7.0496, 1.6923, -0.0171, -0.022, -0.0122]",
      "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]: [-0.2073, 1.9049, 1.7489, -0.6647, -0.2214, -0.2283, 0.0387, -0.0147, 0.8249, 0.6067, -0.3931, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5207 left_y=-0.0662 left_z=0.2054 left_yaw=0.1016 left_pitch=-0.233 left_roll=0.0019 left_gripper=0.0387 right_x=0.2953 right_y=0.0026 right_z=0.17 right_yaw=0.0028 right_pitch=-0.045 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.906, 9.6889, 1.6435, 0.0464, 0.2662, 1.0281, -0.1846, -1.6615, 7.0085, 1.6972, -0.0366, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02cec4ac65b7dd9aafec0bf7a6f548b2ef305c72876858e04bb206a74a62a8c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2329d2d445c1b362d7854d16c656d1da1609a2860b2bed67a46fe0199229a495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ec323509a7bf7c81071b343484c25d8a602ae3456cbdb5f5a77adface53f1ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Bear is over the left basket in the overhead view. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DtvsDLHkzb4S2owHn9QhhK",
      "input": {
        "note": "Overhead view shows the bear hanging over the left basket; opening to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DtvsDLHkzb4S2owHn9QhhK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2024, 1.9114, 1.7691, -0.6689, -0.2016, -0.2012, 0.9954, -0.0147, 0.8249, 0.6067, -0.3927, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5238 left_y=-0.0677 left_z=0.2093 left_yaw=0.0743 left_pitch=-0.2282 left_roll=0.0044 left_gripper=0.9954 right_x=0.2953 right_y=0.0025 right_z=0.1701 right_yaw=0.0025 right_pitch=-0.0446 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -11.0974, 9.5248, 1.6093, -0.0513, 0.1197, -0.2564, -0.1299, -1.4017, 7.0496, 1.7265, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd1c347abb6564c203318f7cca8c3943fcf1b15384d25e62e36416e55b90c39d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd12e2e838632c3260b9c3d2960ceeb2e9e52c61cec6d95d2c2b1559f3e5c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af00fedf0cbb911bf809d4148c35a445a14ac8bbc01dd43bb308effb77630385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.38 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]: [-0.3477, 1.7947, 1.5875, -0.5739, -0.3016, -0.2916, 0.0387, -0.0147, 0.8211, 0.6067, -0.3931, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.4895 left_y=-0.1178 left_z=0.2098 left_yaw=0.0598 left_pitch=-0.1753 left_roll=-0.0039 left_gripper=0.0387 right_x=0.295 right_y=0.0026 right_z=0.1711 right_yaw=0.0028 right_pitch=-0.0412 right_roll=-0.0025 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -9.388, 9.1419, 1.5995, 0.0464, 0.1783, 1.0281, -0.212, -1.4974, 7.0496, 1.6923, -0.0171, -0.022, -0.0122]",
      "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]: [-0.2073, 1.9049, 1.7489, -0.6647, -0.2214, -0.2283, 0.0387, -0.0147, 0.8249, 0.6067, -0.3931, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5207 left_y=-0.0662 left_z=0.2054 left_yaw=0.1016 left_pitch=-0.233 left_roll=0.0019 left_gripper=0.0387 right_x=0.2953 right_y=0.0026 right_z=0.17 right_yaw=0.0028 right_pitch=-0.045 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.906, 9.6889, 1.6435, 0.0464, 0.2662, 1.0281, -0.1846, -1.6615, 7.0085, 1.6972, -0.0366, -0.0562, -0.0171]",
      "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]: [-0.2024, 1.9114, 1.7691, -0.6689, -0.2016, -0.2012, 0.9954, -0.0147, 0.8249, 0.6067, -0.3927, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5238 left_y=-0.0677 left_z=0.2093 left_yaw=0.0743 left_pitch=-0.2282 left_roll=0.0044 left_gripper=0.9954 right_x=0.2953 right_y=0.0025 right_z=0.1701 right_yaw=0.0025 right_pitch=-0.0446 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -11.0974, 9.5248, 1.6093, -0.0513, 0.1197, -0.2564, -0.1299, -1.4017, 7.0496, 1.7265, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd1c347abb6564c203318f7cca8c3943fcf1b15384d25e62e36416e55b90c39d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd12e2e838632c3260b9c3d2960ceeb2e9e52c61cec6d95d2c2b1559f3e5c15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af00fedf0cbb911bf809d4148c35a445a14ac8bbc01dd43bb308effb77630385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAoKEAgSGAI4AUIIdGhpbmtpbmcSDPFsXPgX2vBBgo9NlxoMf0ILZh3ZBkvAQNnDIjBRQPJPHuKgH2cz65RzaFwzvXN57LBAacnKPUnHuFObMUc/fSiGmh7XDJrxWXrON3Iq2QnTYAGIyV+DcSxdbrhGv8m7cDYYhRaxScyiBx+dxfi2KULWh+3WjBfeUety0y79YFCwiEJ3mvftCrKYorUdEks7x6lZ74/bpP7i5vgd8DPSQ8r2NKucWvGlPadaJpLdE0FTi7wJeV79jQBFcytDbCHx9b0hgfuyJ07ifvoSoi2BqHnDWQ1G+Nf9YMtVRqL7mDp0ufRtvDWtRtxcrl+ja9PuYqvpgmSH6zNi7g2QBJWb71x2MRDz6+AT3XJgh/iZxVxc8i5+M2u45aU++DirUHDG+ruPKTI/p+fZURnyDokZ622rNtlVaW5jzRaGIngzoA4Zd+AXPD0TyETU04+iHKHycO9XXp0hbwnkTRjDF1lWl8aWEtWjm/g4nTjDfpZfAPzGotL3Ha59PJltrGqB80dZlcG7VGzARs/5nq7CpnUPJIRgk28z67rq1lqBj6O9c1Ol4u983LTKXzTD+PBVzXYz7AxhZRvnqwfPoAwmIPwepEoFfPoEyefUvAxTDFU6NdrzAMCEpzSX3tPOPt3cqRi0VxY/vMOcl8aGDCc+pogA/pCgzNwfzNV6G5DCOR4Nq0tehw09TptZQPEAHFLZrUkwk/xDGPD4M2h9beVpHFsWiC6P7bgCLXiJnisE3lawQYJdKGzWqotZQzOWkcYaouvek3Dnll98rtmTraiqvsV8Hi4iWeEhLpZEiarUv2kq78di+j9xRQj294d2Oymggnzf3K5xt85wiWoO8sPcs5xbDg9/PHb8kK2NpFZV2ZST0AZfdMGn2B0HRepZP4kYJifPxfNLjKdulE7Fy91cypPrpWxpp3jlOTjDljt1dV0fxmv60s43lsuHYa19PFpfTig6f0maNrOphtmuaf2IzkYuj39uUuse5/+X4Hwsu+oNXUk5wqll5fUJF/0bw3qjrN93MnnFEByIu+WFCfITp0cnVegXuQK+mbQB0u3ZnsCMKHC4BOY+p9uzykKlv44uszUP3u2Ol76KbLaUOLBXIg0VLPSH5brtCg/nz7Ch73+P0koJbOy2Sgt13Ijcz4+DJLc3ZRMmmzqwLQIcy70KUozh5sBfJe3zakk/QgkoFVlaIqQdjsuwt8GsRl6NFfz58iCBvBuDGTxLOwCgimCL58nbAXSNJzxbpbnU2K4c485UYZngg+G6QZuedYH327IJIYmMZ28gdq1ChxdHsUwVp2ifUI+kqRvpr8Y6S95Pfp/3Pa4jsLcUQXtcCYIiF7JN3k9a3Wbr84TcJ92pjTmxvfI5qSNcu1U/Mq1D6DKPooUMPaN3w2w+n4/C07XfBZ3AcXlBQuRuJDJu3Ze1TlFLFB5MVJRO+Sa+4BNEHIIoA+hlIlXm+QNIyY9aOkCIf21fN1xOrgXMX/iCGxuO/CeDnXcFXNcZi8JjjKqcMCBCn0LiabISZ1gsewzhh/KlGs8e05WFYOai8S+TpUs5OA8XE8XnWyeP0r/C5g/dDO0DSw4j12Iu+fEPCY+EvdHYkGAOJWqW/0r1cSMaliI8hy03LiUclcl3o6V3qYe/13JMg5VjihTG3N0Q7a/umT5sbUduj0RFHj+kcz/+yjV4RqoV+JOQIYFHf9pRiWAKIwGLDg6Hnqsv21uOF3WMsrsbwJFDiPZqcnuUSTEbzuOaFabVWjBAWsEqgUEPjNQmjxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018KKzzo2n9ipkDxVpDiKjqe",
      "input": {
        "note": "Big bear is in the left basket. Next plush: the small brown bear in front of the left basket; moving above it.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.17,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_018KKzzo2n9ipkDxVpDiKjqe",
      "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]: [-0.8864, 1.3159, 0.9516, -0.6792, -0.5846, -0.7563, 0.9966, -0.0147, 0.8257, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2763 left_y=-0.1787 left_z=0.1485 left_yaw=0.0248 left_pitch=-0.2428 left_roll=0.0012 left_gripper=0.9966 right_x=0.2954 right_y=0.0026 right_z=0.17 right_yaw=0.0028 right_pitch=-0.045 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0239, 5.9829, 1.072, -0.4371, -0.022, 0.1148, -0.1436, -1.4838, 7.2821, 1.6972, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a31244eb8b5ca4406be227fa9bc39638c3a89d9a5e214024bd11df484cc2997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e488dcbc3b819c5904dd52b5a4a7e81ac72eaad31875248c93978d1319ecb9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44060247a51476893a2614996607e43a1a6c71c1403c3d2fe6cc931a5801e6d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 2.674 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]: [-0.2073, 1.9049, 1.7489, -0.6647, -0.2214, -0.2283, 0.0387, -0.0147, 0.8249, 0.6067, -0.3931, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5207 left_y=-0.0662 left_z=0.2054 left_yaw=0.1016 left_pitch=-0.233 left_roll=0.0019 left_gripper=0.0387 right_x=0.2953 right_y=0.0026 right_z=0.17 right_yaw=0.0028 right_pitch=-0.045 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.906, 9.6889, 1.6435, 0.0464, 0.2662, 1.0281, -0.1846, -1.6615, 7.0085, 1.6972, -0.0366, -0.0562, -0.0171]",
      "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]: [-0.2024, 1.9114, 1.7691, -0.6689, -0.2016, -0.2012, 0.9954, -0.0147, 0.8249, 0.6067, -0.3927, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5238 left_y=-0.0677 left_z=0.2093 left_yaw=0.0743 left_pitch=-0.2282 left_roll=0.0044 left_gripper=0.9954 right_x=0.2953 right_y=0.0025 right_z=0.1701 right_yaw=0.0025 right_pitch=-0.0446 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -11.0974, 9.5248, 1.6093, -0.0513, 0.1197, -0.2564, -0.1299, -1.4017, 7.0496, 1.7265, -0.0415, -0.0171, -0.0122]",
      "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]: [-0.8864, 1.3159, 0.9516, -0.6792, -0.5846, -0.7563, 0.9966, -0.0147, 0.8257, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2763 left_y=-0.1787 left_z=0.1485 left_yaw=0.0248 left_pitch=-0.2428 left_roll=0.0012 left_gripper=0.9966 right_x=0.2954 right_y=0.0026 right_z=0.17 right_yaw=0.0028 right_pitch=-0.045 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0239, 5.9829, 1.072, -0.4371, -0.022, 0.1148, -0.1436, -1.4838, 7.2821, 1.6972, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a31244eb8b5ca4406be227fa9bc39638c3a89d9a5e214024bd11df484cc2997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e488dcbc3b819c5904dd52b5a4a7e81ac72eaad31875248c93978d1319ecb9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44060247a51476893a2614996607e43a1a6c71c1403c3d2fe6cc931a5801e6d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugcKEAgSGAI4AUIIdGhpbmtpbmcSDOWVec+fb7XHX3ZThhoMwaWDweNNSl2A+40ZIjCzIwq9f36pIHsa2SvpGaRQYUlEQpT/3ZGgpxPyEI8uxcoxa+H5CKP+V9lghcA/x7oq1wYaY0zbYxxkRAQxqhdkD2CifkPAHN0lkCzYAfinpm+vxIkv5s5+oVSHR+UGfmAvdwFas5RBWampPjoAYMH/I8hYfKAhZaUOUMSHnqfrxRMDKAmPsyjQSW6r42KXi8NPIorDfEzZBU0Mhz3+Swb3GV3gd/iRNasa/e1+7lRHAQvg9737xad4HFNPChWUiE0t6QAzlkCO3GURRV5xD7QpkC/iGFxefrQbRksrKPsLw9QnO9cceSbMGzPd3fS029Q+RvWQmDRs7vX6AwjnTrKeeB5rrg8nRDV/BxFmkqyjaGe1hjX6POK8uyVDYZ4PAJxMpvtEE8CAe9puNMCuRA8eAqnT8Pl0x7Lj2C8Bl3OVhuBmc+6MN7Dzhq/3fNrAmygxZ7ax10LSyH6YhqjA5iAJdsAzocz7eX0qbLLAsRhPH0jcQNTAzcWdSr0aHl+tINWUiIsq+hD+VyVOPJjEZdcgDeZOtaubhQLX3M8ZumneJq0giEa7zzJ5NDak6BGBbxWu4TTkoZzuWMEcZ3cFnqsw1D8QjjsZh9XktXd2IRkYym9nWHeS2trAKpsp5W314A+bxF2BUwoDCNZZvZE5+Rofc+VnHQ0Z3ngnuq3L5xX3H8+epZeE7fvMlKJaaoqpwQDuCo9Hq9M6Zu52bkR+VirTZHiXKi+H29ZNu/ja36XPj7MSXEi/qBKjq89aYg5O67GOADY/zPoonUvuaaoqRslJZ4xI4Uu1w5MvqThoi3oDaTGhdwLkalChCThFRLfjd7snq0D1Mp5vMowxoFADnc9AldiJpL4oGr4oOoP4DLtMmtLPbraZaT+X+qwbqWdOSAKu1c8CRgc+MnryXazS8omdisKcAGyTIDYxBzHwwvR2MhJNvUgSzbp4IR+/XvOqG/Ow/TfcpCrsr46gDm/6HOpJB28YdQ5d52qSqDbatA7Ns2Gn+NNPLtN5e3ITVzRFMZygdqCG9Q0K/W2rqI+26UgmH18V9gnhCWMOvHak2N2XfvlqqVvEq0/6gK+SHcQklQjmhDiP2w4xIeyRchN6xJWWa2M6Bo7aG2FPk6qQuW3xsquWSdc3etnHqyp5iq/yKpncjBnLULJyJ7DmYBAjAsRi9jEbSnMnvOWbUYbxp0zzIEXY3WyOqQNytDcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YMxTQCmjjDijer7LnnU7HV",
      "input": {
        "note": "Small brown bear is just left of the jaw column; shifting left slightly and descending to grasp it.",
        "targets": {
          "left_pitch": 0.0,
          "left_y": -0.16,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01YMxTQCmjjDijer7LnnU7HV",
      "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]: [-0.9283, 1.4937, 0.3927, 0.1539, -0.749, -0.6724, 0.9967, -0.0147, 0.8276, 0.6067, -0.3931, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2673 left_y=-0.1504 left_z=0.0222 left_yaw=0.0279 left_pitch=-0.0767 left_roll=0.0697 left_gripper=0.9967 right_x=0.2954 right_y=0.0025 right_z=0.1693 right_yaw=0.0025 right_pitch=-0.0477 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -5.1761, 4.6154, 1.3553, -0.5348, -0.0317, -0.0024, -0.1709, -1.5932, 7.0632, 1.6777, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43981acad2d8bb3493c26156d2196495101c337c94f82df97d4587795eb46fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d802b53c7ea756ff19db39b1930c86bbe86de6283c96f3a3de999e48c171cb98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3378fad553feb472a7f53246de916a011f85d8f137acc9ab712fab816a9fb9e",
        "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 · 3.399 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]: [-0.2024, 1.9114, 1.7691, -0.6689, -0.2016, -0.2012, 0.9954, -0.0147, 0.8249, 0.6067, -0.3927, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5238 left_y=-0.0677 left_z=0.2093 left_yaw=0.0743 left_pitch=-0.2282 left_roll=0.0044 left_gripper=0.9954 right_x=0.2953 right_y=0.0025 right_z=0.1701 right_yaw=0.0025 right_pitch=-0.0446 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -11.0974, 9.5248, 1.6093, -0.0513, 0.1197, -0.2564, -0.1299, -1.4017, 7.0496, 1.7265, -0.0415, -0.0171, -0.0122]",
      "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]: [-0.8864, 1.3159, 0.9516, -0.6792, -0.5846, -0.7563, 0.9966, -0.0147, 0.8257, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2763 left_y=-0.1787 left_z=0.1485 left_yaw=0.0248 left_pitch=-0.2428 left_roll=0.0012 left_gripper=0.9966 right_x=0.2954 right_y=0.0026 right_z=0.17 right_yaw=0.0028 right_pitch=-0.045 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0239, 5.9829, 1.072, -0.4371, -0.022, 0.1148, -0.1436, -1.4838, 7.2821, 1.6972, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9283, 1.4937, 0.3927, 0.1539, -0.749, -0.6724, 0.9967, -0.0147, 0.8276, 0.6067, -0.3931, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2673 left_y=-0.1504 left_z=0.0222 left_yaw=0.0279 left_pitch=-0.0767 left_roll=0.0697 left_gripper=0.9967 right_x=0.2954 right_y=0.0025 right_z=0.1693 right_yaw=0.0025 right_pitch=-0.0477 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -5.1761, 4.6154, 1.3553, -0.5348, -0.0317, -0.0024, -0.1709, -1.5932, 7.0632, 1.6777, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43981acad2d8bb3493c26156d2196495101c337c94f82df97d4587795eb46fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d802b53c7ea756ff19db39b1930c86bbe86de6283c96f3a3de999e48c171cb98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3378fad553feb472a7f53246de916a011f85d8f137acc9ab712fab816a9fb9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AYKEAgSGAI4AUIIdGhpbmtpbmcSDNa4yqLOsfgH7NVrThoM0/dXfEQkzdFI7P1uIjCBJpsw/rF/7ufDaTtgJPqTF01ltaR3dAozL+cAdB71Vy8vvo2exZqkRIJDX7N0gVUq9QW9H9+Tk1FsRXXdpyo8s/NbStmDuFUCsy0TTQB3FZDanofPSkDPwqQ1Z0Vm3OIfNpoKWGy/7GWCYB72Rl7tRMIDVOK3v37ZQrrtBJbxghA/uIES07D4yKaZkCja6ZeT+yoGxG05DpDqvyORLzlR0fdyLdxfnjkky1B3VP54YYrCuoMucdDH8Ips1n4SaT6hYaR4SejSuOtKWKfl6F3mqrEFgklQiFuIYZwAsg4kFq3lhOERKvr3GQuZet3xaJcB4ihGU4/dcCanhSsSqz/5LiAgEMK0oH+fKjNEimkO6RQPQDc1iTOtcMu73U6yEHeItcYQ9zGtHDJaaSEhDM0J5pME41Ve2xxRrsSL/1x5IrfypRiPSrgqP5DVYx7GU3V5aomYudrqq5GHQ1mce8ljkOGzoX+8ZgvUjXcVrXagTpmUuilfC1Ze0S1pMKQeMBcDfXvaxCKArtw7uJhsaR5SEfugZQ/gmZwEdJg48I4BVrfCWtq4vkPWt4hWpK0t9qSUMchYNX90egL7LpIBe6Ru/VAhq9nue+BNTU5M8nnloDMOPni2khXbuREI+WK/mmZkFzBUv11c0ug/w8h8c9LZCxUcbVBjvAElUk8QaF5N14wP7VEemBQpsmhirzKtOaPuDkswje7Nz8cn3I6TX0LI1ncNxsEhMOnzYWr35O7ESDv35AICq2jns0icqOTYGGvu/to3tTMwxBCRYL5A1DUGrIRMji2zhQTu9cArpBQLz/Kyc6FKsTuUehLmIKncyTZSrAU7gae/6E5qVOMjq973LAeZyS+wMlQW+iacnNIvQ3eFAGyPpGBvjQICmmAed8c+rHvRXNUzvsk+a2KXwd0mbxOxMdozGb3NF2Hj1j2ikyGhkIhHhLtcejY9HEHz6+PDKILNcFKHZxzttDKT8Y/CwXgouNfkJWzlYyKnyadVqNCPF0EvYcI400OCM0c1z1G7oSuDA73206a+9Il9HOZOsnw7ILVFPbs678RLnazHB7YERJTmVwPPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0181a2u9BYTpXuNUgoJP3eu2",
      "input": {
        "note": "Small bear fills the space between the jaws; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0181a2u9BYTpXuNUgoJP3eu2",
      "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]: [-0.9318, 1.5105, 0.3721, 0.157, -0.7506, -0.6727, 0.0099, -0.0147, 0.828, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2618 left_y=-0.1443 left_z=0.0127 left_yaw=0.028 left_pitch=-0.0954 left_roll=0.0984 left_gripper=0.0099 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0028 right_pitch=-0.0477 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -6.0786, 6.188, 1.1209, -0.3443, -0.0024, 0.8327, -0.1573, -1.4838, 7.159, 1.7021, -0.0513, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bab5d7b7acecd2001e55330b4be164249cf23228af1f99932146fa63a38c21d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf27546a1eb3da4a10871c5237a17b0c6973d08d77d7d7accd1ca772d5882a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d96b9c645ecd9cbb6348c88c6653edbd3826415ea0ef27733429e532f6fad8d4",
        "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 · 3.52 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]: [-0.8864, 1.3159, 0.9516, -0.6792, -0.5846, -0.7563, 0.9966, -0.0147, 0.8257, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2763 left_y=-0.1787 left_z=0.1485 left_yaw=0.0248 left_pitch=-0.2428 left_roll=0.0012 left_gripper=0.9966 right_x=0.2954 right_y=0.0026 right_z=0.17 right_yaw=0.0028 right_pitch=-0.045 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.0239, 5.9829, 1.072, -0.4371, -0.022, 0.1148, -0.1436, -1.4838, 7.2821, 1.6972, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9283, 1.4937, 0.3927, 0.1539, -0.749, -0.6724, 0.9967, -0.0147, 0.8276, 0.6067, -0.3931, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2673 left_y=-0.1504 left_z=0.0222 left_yaw=0.0279 left_pitch=-0.0767 left_roll=0.0697 left_gripper=0.9967 right_x=0.2954 right_y=0.0025 right_z=0.1693 right_yaw=0.0025 right_pitch=-0.0477 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -5.1761, 4.6154, 1.3553, -0.5348, -0.0317, -0.0024, -0.1709, -1.5932, 7.0632, 1.6777, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9318, 1.5105, 0.3721, 0.157, -0.7506, -0.6727, 0.0099, -0.0147, 0.828, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2618 left_y=-0.1443 left_z=0.0127 left_yaw=0.028 left_pitch=-0.0954 left_roll=0.0984 left_gripper=0.0099 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0028 right_pitch=-0.0477 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -6.0786, 6.188, 1.1209, -0.3443, -0.0024, 0.8327, -0.1573, -1.4838, 7.159, 1.7021, -0.0513, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bab5d7b7acecd2001e55330b4be164249cf23228af1f99932146fa63a38c21d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf27546a1eb3da4a10871c5237a17b0c6973d08d77d7d7accd1ca772d5882a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d96b9c645ecd9cbb6348c88c6653edbd3826415ea0ef27733429e532f6fad8d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDMp1tr6hrLthPM8g8hoMsjwV6HX3iQKrjp6DIjBrCtGuH9Nl4oMb20TLTMVsNjfQ0b4C5T2C9ainbs4cT7r3oKqjR3T1qsv3lQTYhrUqggej4SlDcKLFxyn5mTPc2KLkBxFSHe4eZ1boyCCE28qvXJpTtxKXXNWKCCTyCEaHClSMIL3xhrkaozUrBFBy7VRrGG0KC2dsrqWh+OnP0IX8zj/LMLnDINK6d9jrJiib85oIJcIdsTP+L1uqO/KrJ7e28eUjMk1tnxDTtjCer5ALozx95e2Ot+In49roOlUaWpbt8Ru9/trwrxHjVKoQYUghanaE3LCJv/lGGleEZbAMbcy3mLEw35PKVTbzJt5/Bh3fxG60myg1MXn+YLgAgJeLc1g3wLTMamfljoDBL3pF4YPE1YrsfXRX3NLif9umKI0ehOqWy5Sdr405U+OGLpYNeFjvy+eQeV9tkAY0CwZtkPGzxTbIEQj/0wt67OS+JrhUk6TvFT9mdtbSJB4kwYd4LXXfiXb4k+Y7h3xD3jY4XQNVk8QmNu+IIwWhP0I3qOrg4absOLZybny/gm04u2AK/NlURC77QlFNoXszhcXm3bDpCG8sdc+ksdnVa1mJgRQBzqPWAwMoxGuYybbndEBlbxDU24Wg4U/+awYQvfKvJ3M8Ej1xnkNLEDu6i09DlITGVIVAytz+whz0HKEzzmuf4rKF30jHD7VX9MEmAl5QDThBmAEjAKEBoZyO7cvBFb6refPZzRms0kVubvqntt0yqYR8CHL9uL5/3/1/NN01eJZlyAAoDZfEY5CPXDZNRGZFW8xAABDIeFa7SRef7Q7DucWpRYzIH6HQSoR+g7M1H63OPuAuNz4owfN5hNl/gJSelh5qpT3RNWqzbl2nPImMs+vNkbW4cPo5nzR8dOrRYpBHQS85oqoPGMZg8hzShPAPMGptfrvSeE9uMTnuGEOzw8Q8XVU3yIFXoVhT95YRdKqIW2RarOWCzondHLDh4DnYIZ/5FGdgEUQ8g2/AFFnhOvoh3MuPFu1+zR7o30qLLXrS2nsSW1uxSZwiMYevkgcM7Y2Xt62N8Yqlz7Ltgw7J8xafP5Y4p1+ITQfcMBfksRb7CWKY0hE4LlYD5ax1Mf1JohyufF+JqHNHsvXuB5NYWrslchtqpK1ylsNzRQ1hGaFycMA+wgPCkVb27XWMNDnigGk3qIWjazMZy8rrlHMKgUfi1Sz0cp7zy83Xy0iZm72DkLqw3L+F60jab8BE42CCxT1qIQLjneviKwJ1vQNZXyqeyOtUE/8jVEPxRWQQILhbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012sSX5SnKJGepTx9drqK6Jh",
      "input": {
        "note": "Empty close (0.01): the bear sits a few cm forward of the fingertips in the wrist view. Opening and lifting slightly to reposition.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012sSX5SnKJGepTx9drqK6Jh",
      "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]: [-0.9318, 1.3319, 0.4461, -0.104, -0.7479, -0.6735, 0.9952, -0.0147, 0.828, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2595 left_y=-0.1418 left_z=0.05 left_yaw=0.0275 left_pitch=-0.102 left_roll=0.1034 left_gripper=0.9952 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0028 right_pitch=-0.0473 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -4.8205, 7.9385, 1.0525, -0.3736, -0.0171, -0.022, -0.1436, -1.2103, 7.0359, 1.7607, -0.0415, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0981ca79bd165cfe932f8e44f8b44cd39ef8b53532429d60240ced7d4c7c4ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b6462c23b7a81f9d99fa9d49a6d01cbfb08d8268fbf75d5190c1a1b6a32f758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f826c15627858ee9be3f0b10476d7a042fef370bde038e6cec3651274410899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 2.932 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9283, 1.4937, 0.3927, 0.1539, -0.749, -0.6724, 0.9967, -0.0147, 0.8276, 0.6067, -0.3931, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2673 left_y=-0.1504 left_z=0.0222 left_yaw=0.0279 left_pitch=-0.0767 left_roll=0.0697 left_gripper=0.9967 right_x=0.2954 right_y=0.0025 right_z=0.1693 right_yaw=0.0025 right_pitch=-0.0477 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -5.1761, 4.6154, 1.3553, -0.5348, -0.0317, -0.0024, -0.1709, -1.5932, 7.0632, 1.6777, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9318, 1.5105, 0.3721, 0.157, -0.7506, -0.6727, 0.0099, -0.0147, 0.828, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2618 left_y=-0.1443 left_z=0.0127 left_yaw=0.028 left_pitch=-0.0954 left_roll=0.0984 left_gripper=0.0099 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0028 right_pitch=-0.0477 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -6.0786, 6.188, 1.1209, -0.3443, -0.0024, 0.8327, -0.1573, -1.4838, 7.159, 1.7021, -0.0513, -0.0366, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9318, 1.3319, 0.4461, -0.104, -0.7479, -0.6735, 0.9952, -0.0147, 0.828, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2595 left_y=-0.1418 left_z=0.05 left_yaw=0.0275 left_pitch=-0.102 left_roll=0.1034 left_gripper=0.9952 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0028 right_pitch=-0.0473 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -4.8205, 7.9385, 1.0525, -0.3736, -0.0171, -0.022, -0.1436, -1.2103, 7.0359, 1.7607, -0.0415, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0981ca79bd165cfe932f8e44f8b44cd39ef8b53532429d60240ced7d4c7c4ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b6462c23b7a81f9d99fa9d49a6d01cbfb08d8268fbf75d5190c1a1b6a32f758",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f826c15627858ee9be3f0b10476d7a042fef370bde038e6cec3651274410899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrQcKEAgSGAI4AUIIdGhpbmtpbmcSDHDMCfxyT2AqSbN1wBoM6fvBSf4rmYk2CrNEIjD+C9P7jP80RzflrOO4kCijAU17r6BxZ0pD+TOpiZRS2cwdn8dpaaCEjzIP5yuC3gAqygbDdl7QzBM3+Ikm3AeAxdutGnCODxTK6x6qdqKL1YaFTni0b0+bbRAewGe0pY0vQRRaxLCIiOTzMFRzoSEutnDLcOjDOzrkZFZXcXMaXVzbYSGLQvcD2oQUEv477w1+E1UwR8NwXl+ukTddpTKzbc1f86lHUqPVb0CJmClSXK5ULTpTC8MaqRcpUZx68fIMRfrzHW9yUVWxfLyoOglz76ZthYNE08JmJ3h34p4I6npFhDg1CbKtD79/F5tRWa10UbP//+q4Np+L36pLiv4wr/8AXXQMlbwFCuoIjGxiV1Fi3soE9nBAOZdKzkxkmd0EhbH1Nr6wkOrunMTtf7y6uLj4dv+XgWpx3hNOIkDYxsbw2fCwir1D2/hBcfD8norOwm3Z+AeaywM8Cm9icbo6fkDNI76f/eJ8xIoIWVmlgJjEx28EHaWDkPUj3ixSQAvzjxCjxzqKCUgid+FZlUVwMvr+6jlwXFMn+McvOzRxkMg/4Y5wX5/dU3/2YoeaDN9figpBeCxI0M/Q+SLD8o1ghtKjXAPHB6u11YLMNesuotc/Zua1SzKD2HyJ+c6kGCK24cqHVM3mh6LRXBCuBzdGty46zskw1t6eH1j+88ZJamJMmIJOBoXpLakhTZ0cFPwgUld5u4GDk9w16h2Qx1Rb+7mjcYWBYe1c+uD8gepGgzdtxk04+WQ8jcB3MGoYVf8g98UZYAoB4Hzgh2kU9X/5KOKUYmULEjGh2GKywckbN6IBIlNvAg/bCSWv1yZVbCebsPXw/0LOicV917QXb0izAlRs7eJKgFACUulmRNGKNIz+L+6ongYj4K8BLSo6/LloBoUmZHHl6l9ScFRXg1jKEnGFLgSxIlEYVGhMvrNW+O0l+9X2BtkrjvCsLW329a+mvT8+nZV7vnr5kQcNhRx6qqHPVp0ix/b0tie34HmqkTKihRmUzvmsk48FSBc0p34zsbFonPFohIyxu4YYSlUFQrIJrx02lKcWUnKRPdLLLva4j4L7FZSU1Af8rte1PszaswMRSXL8GRbjzGLRBqWIbwbP+bdTV+b59p3x3OZ+A82AY90TIEiNgWb1pwzSRXej837ngZqljOpKeZy/lf19GT/PxIaLTIeHROziURgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V6J9xsH6SkNfh8P9MCEkuE",
      "input": {
        "note": "Bear is centred in the wrist view but ~5 cm ahead of the fingertips; advancing and lowering to straddle it.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.145,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01V6J9xsH6SkNfh8P9MCEkuE",
      "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]: [-0.7776, 1.5848, 0.4633, 0.1326, -0.6727, -0.551, 0.9965, -0.0143, 0.8307, 0.6067, -0.3958, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=-0.1285 left_z=0.0075 left_yaw=0.07 left_pitch=-0.1602 left_roll=0.1587 left_gripper=0.9965 right_x=0.2952 right_y=0.0027 right_z=0.1679 right_yaw=0.0032 right_pitch=-0.0534 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -6.2974, 6.5162, 1.3065, -0.2955, 0.0464, 0.1245, -0.1299, -1.6479, 7.0359, 1.7265, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df48cd3048a028a13b102d17568229b17ba42daa03669ef7ff1b16b2e67d217b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f607124ef74828c1c8d36c28b5796c32da808338f222350633eb99e7dcee8da7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d21379779df629c134ef4c74699d61a5609f01c6af1290a5f89fac6003e7a2d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 5.276 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9318, 1.5105, 0.3721, 0.157, -0.7506, -0.6727, 0.0099, -0.0147, 0.828, 0.6067, -0.3927, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2618 left_y=-0.1443 left_z=0.0127 left_yaw=0.028 left_pitch=-0.0954 left_roll=0.0984 left_gripper=0.0099 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0028 right_pitch=-0.0477 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -6.0786, 6.188, 1.1209, -0.3443, -0.0024, 0.8327, -0.1573, -1.4838, 7.159, 1.7021, -0.0513, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9318, 1.3319, 0.4461, -0.104, -0.7479, -0.6735, 0.9952, -0.0147, 0.828, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2595 left_y=-0.1418 left_z=0.05 left_yaw=0.0275 left_pitch=-0.102 left_roll=0.1034 left_gripper=0.9952 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0028 right_pitch=-0.0473 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -4.8205, 7.9385, 1.0525, -0.3736, -0.0171, -0.022, -0.1436, -1.2103, 7.0359, 1.7607, -0.0415, -0.0659, -0.0171]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7776, 1.5848, 0.4633, 0.1326, -0.6727, -0.551, 0.9965, -0.0143, 0.8307, 0.6067, -0.3958, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=-0.1285 left_z=0.0075 left_yaw=0.07 left_pitch=-0.1602 left_roll=0.1587 left_gripper=0.9965 right_x=0.2952 right_y=0.0027 right_z=0.1679 right_yaw=0.0032 right_pitch=-0.0534 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -6.2974, 6.5162, 1.3065, -0.2955, 0.0464, 0.1245, -0.1299, -1.6479, 7.0359, 1.7265, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df48cd3048a028a13b102d17568229b17ba42daa03669ef7ff1b16b2e67d217b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f607124ef74828c1c8d36c28b5796c32da808338f222350633eb99e7dcee8da7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21379779df629c134ef4c74699d61a5609f01c6af1290a5f89fac6003e7a2d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQcKEAgSGAI4AUIIdGhpbmtpbmcSDLbh7tXW+rb2hQKuuxoMkPy66K6enI+5GFahIjBPN2dtHhcqf8FRmQolswalyJqD3EDNpSCZoTi0pKSjh6IMPqH2j+B5x5qF+oFjlxkqpgbtDIT7oKufmk/O/kuBkaq3sl3HVtmXrNrYCSgtw4PpZzSjeWODEIjPGWJHCepzMFZPKB5Co90GYBd7+SwKY+gzsL376m9BokgVrvouoAkbQilx68/FEBf8Pyxw5LYxSkGZpSY1or1Ws/wrvnkoEnsPiLMOBMzgeZdVTj+IlwBa877rDoVwRMgrfiQaQ8dWX2oD0+1/1cf2kMy1IBzylyxw+Vqh/aB7oTD9sbV5uweZ+4BPAFxsu6afj9YazutQ2Xrl5qZDSU8jh/UhGo5bqTotpV83ZY3qhRLXnK4xEvyFkFWr4vTsPhfI51xhuQjmjVBN8FwK4abJXXwSx2/f9nJ5vgsrCOj/yZD+hERtBe0m5uLMXFJu62/DEQ9Z4/iYLMYH8t+ab4mS0pfg9QXylaXU5teymTZWbuK+bK8cE+jri0KXVHU0YrYPnhLGHYIuizo1PpsJc0t8R61Nq+eR0oFX4U6xLGEmRXu4TpPbYZwOaDxmRl4wSpanxjLeEI+S+XIzys/0Mu3bSMLfsddgXSnUhqbe+4TrFPRsFcvRshrKF3NYDtzeMbNIZpSBx8oQdr964SBR7MpTUKYOmUmmmx9G7tJY1nyJwtZhkaL40nNGKLBH4/uqr70KGJj0j1yqfSgourwyClaaLWBOCBtGJ8fdJIVVxuJDLcxnp6HBKFz94OG3kkaiZ9PWZs+cHocRn60cuE3pIWgxychbIcMyZr11lIB1zykTE36CNo6Y+hTEAjdm10ViZO+BbJiiIBHn1S1uUYpxpJgX+bB7BSbSgEAbu8X96C++H7xbWfFyjYzd6+L7E/dwP4tPlHgXCwJ5WuavZC1RDlT3PvhBHm8/UQbhD977qAhBxFWEDqQU7STXey8fs7T2RzUwITYVKc1Z9DxqzFqTiNBtZUVbwS9MLdokB2D0cb52bxjuu0my8pHVA19spKZpEzUkvfrOZyV2xFIgBsMfRAn2uTu6+pzLKhmN2Bv0IZPaYaZFKfwzif3s5H4Ne1csfOoYM0rBllLpLTMncvYvGS+RjFtlaCnyv/6/tXI1OrDoIsV4txK82abG9uhj/Vq+DRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YXWbx3voqqjjDF88DshdGn",
      "input": {
        "note": "Bear now fills the space right in front of the jaws; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YXWbx3voqqjjDF88DshdGn",
      "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]: [-0.7631, 1.6028, 0.4675, 0.2295, -0.6502, -0.5053, 0.0103, -0.0147, 0.8314, 0.6067, -0.4004, -0.0185, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.3049 left_y=-0.1387 left_z=0.0134 left_yaw=0.0366 left_pitch=-0.1207 left_roll=0.1199 left_gripper=0.0103 right_x=0.2946 right_y=0.0025 right_z=0.1668 right_yaw=0.0027 right_pitch=-0.0587 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -5.8872, 5.9966, 1.3895, -0.2662, 0.0073, 0.8278, -0.0889, -1.5248, 7.0632, 1.7558, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03691a8ddc24f417e1ca62ceedbd9fd19fb59cdeed6b8b77ebdef14916577b39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b6ca8d165cae3d0c062b3aaeb360ac2a2638c2200f3a19f6ea352ab81d8ccff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9724850a319dc9286c1a5f7f4ceb81a4825199fc0c19076b759fb12b23845775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 4.348 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9318, 1.3319, 0.4461, -0.104, -0.7479, -0.6735, 0.9952, -0.0147, 0.828, 0.6067, -0.3923, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2595 left_y=-0.1418 left_z=0.05 left_yaw=0.0275 left_pitch=-0.102 left_roll=0.1034 left_gripper=0.9952 right_x=0.2955 right_y=0.0026 right_z=0.1693 right_yaw=0.0028 right_pitch=-0.0473 right_roll=-0.0024 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -4.8205, 7.9385, 1.0525, -0.3736, -0.0171, -0.022, -0.1436, -1.2103, 7.0359, 1.7607, -0.0415, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7776, 1.5848, 0.4633, 0.1326, -0.6727, -0.551, 0.9965, -0.0143, 0.8307, 0.6067, -0.3958, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=-0.1285 left_z=0.0075 left_yaw=0.07 left_pitch=-0.1602 left_roll=0.1587 left_gripper=0.9965 right_x=0.2952 right_y=0.0027 right_z=0.1679 right_yaw=0.0032 right_pitch=-0.0534 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -6.2974, 6.5162, 1.3065, -0.2955, 0.0464, 0.1245, -0.1299, -1.6479, 7.0359, 1.7265, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7631, 1.6028, 0.4675, 0.2295, -0.6502, -0.5053, 0.0103, -0.0147, 0.8314, 0.6067, -0.4004, -0.0185, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.3049 left_y=-0.1387 left_z=0.0134 left_yaw=0.0366 left_pitch=-0.1207 left_roll=0.1199 left_gripper=0.0103 right_x=0.2946 right_y=0.0025 right_z=0.1668 right_yaw=0.0027 right_pitch=-0.0587 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -5.8872, 5.9966, 1.3895, -0.2662, 0.0073, 0.8278, -0.0889, -1.5248, 7.0632, 1.7558, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03691a8ddc24f417e1ca62ceedbd9fd19fb59cdeed6b8b77ebdef14916577b39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b6ca8d165cae3d0c062b3aaeb360ac2a2638c2200f3a19f6ea352ab81d8ccff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9724850a319dc9286c1a5f7f4ceb81a4825199fc0c19076b759fb12b23845775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/QkKEAgSGAI4AUIIdGhpbmtpbmcSDEnNpCJnGb0ujj+KgBoM4uiSE0TbBDoyXbhiIjCBYxhVUlmOlrSD7y7N6Fe+gY5kGXU4d2jeFJ5nUQZ0tU9KH56Kva5+Y5Fdi4Fdg7sqmgkY0h0PRVAGTgqc6Ebt/0r9bT9J2cUrjbWv3YNiCuDF+skd1YVPyYCbVh2ngKprFKn9pI7rP+HlneTYdpuaD5E0nGNeog35tb7mC4d61kMjm3Bq3GaxDFqM5AH2Jy6eyIsTzK2fRvY3KcHIe7rukmqQJjLhlTkksYIQGAhIijfpBoqK7W+XOpOOfXeuQgHD/z3/YCLkxeegDvzverAJNkkeKuGbo6BReSHEq76PfQZAC90R25NCzGWcWKPc2mC2TWcygM88GbSP3yCTCRWZVepRbAyf5vHTBQnnxlllnwK3tTW75dzdOAWmS1VuJq8jpTrED3cnz7ioKKv5qp+VF5dVmy37VXBeFUKcICgypy/8Ec6HYZ47njoqt9ykfhs5VXArKjzjCOnKyiH1Xx7nnUUikRZ0iFbg9wih3QlTOXOQLbWx8AmuuXFivrGiPoH5tgC0ljEAuiTHk15PLvtbNqacWjBX6xJnrPVLSp+N3uCvc11UVdMTOvpz+hYVAx65CmxhiRnI6fqx0xdxdAaSb3GA7bNMGsH+com+DYBujxczzFwWPQfPI0sM0Wo+9FVsYO2s1t9b4CegVp1V7jtfVQLO5wE+he31jVXjIkZNlpAn0Nem1eklyPvidGxRlyaz8y6qQEB2N3HwRin2NtPhwHuC7qPc4Lonoueadlc8dr9ediOvinpdzi/eKn9w/XY6g9Y3qITtqdCwU9M7CiTRIl/xyfl4jKCBobtS0U7v2meBOZ2EMlTKLpRvgQZO+ZKeKghVWfQvTCpKfvPgjD8M2/xRpeGkI/1m8QIVgwRXrJKMr6CeuUU+ElY+8RFXU3BSst7bkisywtbeZ/+MJnTt0KHV04uSgaHyhbkTz7Xl8i9WNsMg3ibjjSiToo05NJ4WoRwAiXr/glp0XBE88NfMALnZlHKNICy9jNkUrn4RBZtdCckucM44x2dMkpGix7FBNo91JyzS8cU8lzRy/rWQp9Wh6CAmX9QFzsruCTctxBoMre5HJ0dUr+SomoCoqbCdp0ytrEtFfAzb15TYm5Q7WeO8oY8LiAl4eJjogNBPo6awCS9NtPwE7lF2VoSU04z253trnPZPQOtqGVhHK7qw8IjBQAZ0k/I1KeSPaNCetc7o6z59etpQ91SxVnToyBWHBEGGSje2l2VSp0NjjUEw8pSeD5jWL29Ow4dwVxPhHkMBtKbREiP1b6WAetyxkMBhBx/n1RQwjdbdpWuv54+x3SBdIGkai5vLEkKuGaTgAX6ovZ5dG5zqV/92+sEDUNDMvL0OcDOwm52Oc/fZ3/tsRgw9g2y4zUoVMAVy79JhB/VvcfCoulKuCPkxMBnvK5FiuNU1lg7J9kT9gw+KbQLeyJY2y0becqwuBcYkkjdnWTigcscqZmk9tFZAifezbcgE1+wi/bCnWH7fMyhjRDmiRm4+RyLMybbJbgzI3FuSBWiaYnQ8FDK60bvs6sUmYGQZHJIyksK1AEVGxi+1TlRq+opHc5LsJL6HNHoEwRCVLmh13aSVu9lQEx4v3br/0sD4OUjiT/iXB/O3t5Tf088EwMDq27parSlnDXHBoRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LvAeHYcNrJZ2v8Q2NzAho3",
      "input": {
        "note": "Second empty close; the overhead view shows the bear still a few cm forward-left of the jaws. Opening and lifting to reposition further forward.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.1,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LvAeHYcNrJZ2v8Q2NzAho3",
      "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]: [-0.8307, 1.557, 0.3717, 0.4332, -0.7872, -0.44, 0.9953, -0.0147, 0.8314, 0.6067, -0.4053, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3017 left_y=-0.1394 left_z=0.0386 left_yaw=0.0258 left_pitch=0.0528 left_roll=0.1292 left_gripper=0.9953 right_x=0.2939 right_y=0.0025 right_z=0.1658 right_yaw=0.0025 right_pitch=-0.0637 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -6.3111, 4.3556, 1.536, -0.4615, 0.0952, -0.1832, -0.1162, -1.347, 6.9949, 1.7851, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2fd8e95c85fc26af360f73d226af652d112ef36f10b82c2f4fa90de04aae08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5720ce98c4c14095e41c59d16e9299a2ba954890e938c1805909c8937d75d5c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4b8a6db9c2f8e9c237896282348b9447f1c1f487cff6e140e73a0e6889f6070",
        "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 · 4.363 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7776, 1.5848, 0.4633, 0.1326, -0.6727, -0.551, 0.9965, -0.0143, 0.8307, 0.6067, -0.3958, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.2925 left_y=-0.1285 left_z=0.0075 left_yaw=0.07 left_pitch=-0.1602 left_roll=0.1587 left_gripper=0.9965 right_x=0.2952 right_y=0.0027 right_z=0.1679 right_yaw=0.0032 right_pitch=-0.0534 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -6.2974, 6.5162, 1.3065, -0.2955, 0.0464, 0.1245, -0.1299, -1.6479, 7.0359, 1.7265, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7631, 1.6028, 0.4675, 0.2295, -0.6502, -0.5053, 0.0103, -0.0147, 0.8314, 0.6067, -0.4004, -0.0185, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.3049 left_y=-0.1387 left_z=0.0134 left_yaw=0.0366 left_pitch=-0.1207 left_roll=0.1199 left_gripper=0.0103 right_x=0.2946 right_y=0.0025 right_z=0.1668 right_yaw=0.0027 right_pitch=-0.0587 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -5.8872, 5.9966, 1.3895, -0.2662, 0.0073, 0.8278, -0.0889, -1.5248, 7.0632, 1.7558, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 1.557, 0.3717, 0.4332, -0.7872, -0.44, 0.9953, -0.0147, 0.8314, 0.6067, -0.4053, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3017 left_y=-0.1394 left_z=0.0386 left_yaw=0.0258 left_pitch=0.0528 left_roll=0.1292 left_gripper=0.9953 right_x=0.2939 right_y=0.0025 right_z=0.1658 right_yaw=0.0025 right_pitch=-0.0637 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -6.3111, 4.3556, 1.536, -0.4615, 0.0952, -0.1832, -0.1162, -1.347, 6.9949, 1.7851, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2fd8e95c85fc26af360f73d226af652d112ef36f10b82c2f4fa90de04aae08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5720ce98c4c14095e41c59d16e9299a2ba954890e938c1805909c8937d75d5c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b8a6db9c2f8e9c237896282348b9447f1c1f487cff6e140e73a0e6889f6070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQgKEAgSGAI4AUIIdGhpbmtpbmcSDCSsCwgMoLT4zwLgtBoM/JiwWSPxJXLBLRyEIjDHlq62TKIRTTR4vyW7a7AGueJJ46ndqbCGZ8qE7OxHtL4qdamzcxE+CZimgsOGFwAqogdAZ+gFihJnZjemHy+YG+04Ds9uRSn6ZN1/SJRCBj3oQF8qeSu8V3Cdx8n1PfuZvD3k3QziyZW+U6fQiZv57YthTLqugs2HMAdD4PHSs3CUjvsvFBuNxqcVDiEeuoERstVdKZI1HVGwz9b02zSIMUdehaAqEEMc5iKzd4X9qPVaFh/y7aG8YJVFR1kdnCI2hvK1FiT3eu9i2/c/OUzLOGXntvz3UKoDS/uiwvPdAeVi+/fX3h2qtQMWsYvsKAYv/dO4Cf866u8QLIT+1XHFq6Hc/UajGTugFU5WtIOsEyYI4bMyeleiSer1JcmxcwjiunCaq6UBApPByrcCNk+lgcPeXL42fIUcbEkwr0zDrADbXIaWkFZ2cSw5of1rpNRwI+LAnwqbomfYjwhEJKYtpEb33Gwa6V2ZyOQOABhlgN3fPgyPXOvL3fn4CkCibpDIo9Dpo5mfmA8WSRDBwahg/aCuTnU3FOkuaqaXfIlW1OK6UOrRaf/ZKpS96LUpsNQvaewJYZsB1uW7I6m7k+0K6VMTdkiSv6/AN16zz4Lz6NWB13PVCbPZjx5ZkCXxxFgH6ra5QyYb8HJwtvb8XDuYT9CTZS0SiSvWdQ+JE+noJB+e9hOxBENGkwH/oqSEOfUK5O+WG2Oh5cFyHGmN9I8OYOXtqI90pibavjzBv0cM++vS0TR7tKD++FmJ6mp2Q4+hh7EMzk9SWyqkf96pwuOcMv5l03Ml8h+yQQEt84Z9Iavb5xKnS+ydCMDj6N9t8X/o+PhxkIsNctwPN+pcuqx2BlbKbk5qj8adFPRnVcr1pvZlBaDXmd79Q5mZEAo4hc2sdCHDWbNXARiHs9Jc3UkexykfeVaxwKqU/DgnryqC1eEEyo1gphfkerO/kppTutJdBxmK4GF6o2m95fXGaD1po9Ca53CDwiDe6xaPdFjHxdAOe2nUGWKmwc2Kqy8TwGvAu3mb/gt9xdF2ZsIfJwvjWsU6cgtiMt2YeswRG+fegPiXZHzkVM0gxVe+5LbTbRIhauIpEy80Ub0FC3e0p7zL49s28TZZhl3yC26FZV4+B9zDvxBD8sodkH5ecbras58MXj0DOAq21s85wn/6ZGN1ft9/PPGKlAruoV5PsbBZwMKAUJT3NxXT+Pj5pmvXS1KrbBuHCo5txIT2+J5qtsnPnr2JXW9VEppkrWOMs/4pRRI1zOBcNGdRDhDlMfPjS7HqNIAkCMVFItVtdYYqbRXSKitJ8UgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RvD6tmfvxTxDMgH3wbtnRm",
      "input": {
        "note": "Both jaw tips now visible at the bottom corners, bear centred just ahead of them; advancing 3 cm and lowering to table to straddle it.",
        "targets": {
          "left_x": 0.335,
          "left_y": -0.135,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RvD6tmfvxTxDMgH3wbtnRm",
      "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]: [-0.7284, 1.816, 0.3946, 0.6998, -0.7597, -0.392, 0.9965, -0.0147, 0.8352, 0.6064, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.1254 left_z=0.004 left_yaw=0.0842 left_pitch=0.056 left_roll=0.1362 left_gripper=0.9965 right_x=0.2933 right_y=0.0026 right_z=0.1637 right_yaw=0.0029 right_pitch=-0.0725 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -5.5863, 3.4256, 0.2711, 0.3053, 0.315, 0.1197, -0.2393, -1.306, 7.0496, 1.7802, -0.0122, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5a444c23aad341cce5cf3aa7aceee388bc2cf61eb3e37302b23f0a731377be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83558a0178a50b44d7c145356eafe2f3114f1f481d6fdb62d72c71eba68e8189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac40a9e217b95efce6e8ea23b5e0fa81bda10d23e59ff8b13ae2dd3378defcda",
        "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 · 6.374 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]: [-0.7631, 1.6028, 0.4675, 0.2295, -0.6502, -0.5053, 0.0103, -0.0147, 0.8314, 0.6067, -0.4004, -0.0185, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.3049 left_y=-0.1387 left_z=0.0134 left_yaw=0.0366 left_pitch=-0.1207 left_roll=0.1199 left_gripper=0.0103 right_x=0.2946 right_y=0.0025 right_z=0.1668 right_yaw=0.0027 right_pitch=-0.0587 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -5.8872, 5.9966, 1.3895, -0.2662, 0.0073, 0.8278, -0.0889, -1.5248, 7.0632, 1.7558, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 1.557, 0.3717, 0.4332, -0.7872, -0.44, 0.9953, -0.0147, 0.8314, 0.6067, -0.4053, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3017 left_y=-0.1394 left_z=0.0386 left_yaw=0.0258 left_pitch=0.0528 left_roll=0.1292 left_gripper=0.9953 right_x=0.2939 right_y=0.0025 right_z=0.1658 right_yaw=0.0025 right_pitch=-0.0637 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -6.3111, 4.3556, 1.536, -0.4615, 0.0952, -0.1832, -0.1162, -1.347, 6.9949, 1.7851, -0.0366, -0.0806, -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 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]: [-0.7284, 1.816, 0.3946, 0.6998, -0.7597, -0.392, 0.9965, -0.0147, 0.8352, 0.6064, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.1254 left_z=0.004 left_yaw=0.0842 left_pitch=0.056 left_roll=0.1362 left_gripper=0.9965 right_x=0.2933 right_y=0.0026 right_z=0.1637 right_yaw=0.0029 right_pitch=-0.0725 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -5.5863, 3.4256, 0.2711, 0.3053, 0.315, 0.1197, -0.2393, -1.306, 7.0496, 1.7802, -0.0122, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5a444c23aad341cce5cf3aa7aceee388bc2cf61eb3e37302b23f0a731377be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83558a0178a50b44d7c145356eafe2f3114f1f481d6fdb62d72c71eba68e8189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac40a9e217b95efce6e8ea23b5e0fa81bda10d23e59ff8b13ae2dd3378defcda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NcE2xu1Bgcri53PUGd3N54",
      "input": {
        "note": "Bear body is right between the jaw tips at table level; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NcE2xu1Bgcri53PUGd3N54",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.73, 1.8324, 0.3981, 0.7155, -0.7563, -0.3923, 0.0107, -0.0147, 0.836, 0.6029, -0.4091, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3296 left_y=-0.1274 left_z=0.0018 left_yaw=0.0805 left_pitch=0.0562 left_roll=0.1324 left_gripper=0.0107 right_x=0.293 right_y=0.0026 right_z=0.1621 right_yaw=0.0029 right_pitch=-0.0759 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.7744, 3.0838, 1.3162, -0.2613, 0.0024, 0.6618, -0.0479, -1.4017, 7.2684, 1.6679, -0.0171, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d2bd80e346e1b7fa8ae06af5ef105507b3aa6db321f110580dbda1bd534168f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:279fbc629221e7994c15f19a728a020d25d2bb841740336e24d48136a963a66b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:786d2311c03245aa955e682fa65a2cea92c19f7516e6d8bcb05fcac7b2f86256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.804 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]: [-0.8307, 1.557, 0.3717, 0.4332, -0.7872, -0.44, 0.9953, -0.0147, 0.8314, 0.6067, -0.4053, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3017 left_y=-0.1394 left_z=0.0386 left_yaw=0.0258 left_pitch=0.0528 left_roll=0.1292 left_gripper=0.9953 right_x=0.2939 right_y=0.0025 right_z=0.1658 right_yaw=0.0025 right_pitch=-0.0637 right_roll=-0.0023 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -6.3111, 4.3556, 1.536, -0.4615, 0.0952, -0.1832, -0.1162, -1.347, 6.9949, 1.7851, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.7284, 1.816, 0.3946, 0.6998, -0.7597, -0.392, 0.9965, -0.0147, 0.8352, 0.6064, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.1254 left_z=0.004 left_yaw=0.0842 left_pitch=0.056 left_roll=0.1362 left_gripper=0.9965 right_x=0.2933 right_y=0.0026 right_z=0.1637 right_yaw=0.0029 right_pitch=-0.0725 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -5.5863, 3.4256, 0.2711, 0.3053, 0.315, 0.1197, -0.2393, -1.306, 7.0496, 1.7802, -0.0122, -0.0611, -0.0171]",
      "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]: [-0.73, 1.8324, 0.3981, 0.7155, -0.7563, -0.3923, 0.0107, -0.0147, 0.836, 0.6029, -0.4091, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3296 left_y=-0.1274 left_z=0.0018 left_yaw=0.0805 left_pitch=0.0562 left_roll=0.1324 left_gripper=0.0107 right_x=0.293 right_y=0.0026 right_z=0.1621 right_yaw=0.0029 right_pitch=-0.0759 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.7744, 3.0838, 1.3162, -0.2613, 0.0024, 0.6618, -0.0479, -1.4017, 7.2684, 1.6679, -0.0171, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d2bd80e346e1b7fa8ae06af5ef105507b3aa6db321f110580dbda1bd534168f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:279fbc629221e7994c15f19a728a020d25d2bb841740336e24d48136a963a66b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:786d2311c03245aa955e682fa65a2cea92c19f7516e6d8bcb05fcac7b2f86256",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQsKEAgSGAI4AUIIdGhpbmtpbmcSDHB2s2lsiW482vcFShoMx1uCj6uIlXSZBZ7mIjCQFmsaUkH4D2K5E3TF9CgF3WQiZjj9Y9KzRA6pcJg8EncBkQOST+b6L2RplbhPKyMq1govTsC+xqxkehtaw7AML9+RPmyD/s6ttun/siW7hu+PqEhy2dUc/dudjAA7dkgm5d27bgOv9r69tKal/4Dwz595uIiF09DhZQh3mTHGJGsk8RnDaNmz1fJ/529PPWBo51sqFqC3JTeWxqZvfRkJ2DO28QFQEbtIWX+byDJsdxKDS/4GWVPWTn1PJyKFoLZQpCpkj+lGsWmDIWHPNoe3cfrWlewfmMez3lc/FTEXezvJTmDXjcry37uNB+ZUZ+QVIsY7MYaeUVCuBbo/QPCY0e/uoXguaiNyTi6kDOA42a6769FFtyi7jNWYtn+Lpflfu4W7xu+e7RxT2nqN4WIQvE6NKjzmjPtUswR1jhWClgePutC1YCS04pxwDihR82t4LfK7UGkUGgcN0sKDy39dfXe5ynJUoJFaZKVjpgIKQ6SzpuMUIQjJtsZ7J23ehd4JPIwXuBQM9xg+YQu/OzA8MFajTfYWrhYqam1ovX+7KcZ2LF6Y0Jh5wKscvaENy/WwRE19/3gJgrsG/cCYsUXUarZMQy6UmkVpu/74xu60hzEbS+JaQbY74AEwh1U7MG0XFk4HfG47OTUJc0XDS3ujJIn4yG+dO4H1lBThoWlB2LpngpgHaPR0vwdbqAmf78SLOHkbVg3sKRDBDtT4eYhHYTVOa5n5tyeNQgWK1otFBORAFRKZNe2ujVkEzxPrkFLfP1SOikM79Px0HaObRahcB/Qubn0+aj+P52i6DG8nxS2qhHxOy3TpFy6U3PnWtOEFoUH7xcNxKrDXtzOYt+GC80QrEyy0bIGHR2CWSWm/wC2HzWw36ymBVPOWtwgMrx93llddMDfDWlp5qoIG1uTNR9EY7TeuEMNwNy7y6WS8iJo4OFW/yyGR86uVQMEXQCsX0gwgeD4Wk9HrTk9xkOLNipTq43P1Afk5wRvGqG3xxu6x4NXvm3Wk8UMH4PG0GBIi7/ajBoYeiCUONRRIi0pLAK/u97zx4lWXV+KeiIgFBBJjDbMUBaINzY0pHKHWu3YoKW+DmcVj3b5ddJR/EZDvodq2fKWBmH4KFZQzVrx6Q4NOa4c+f916wqUCeh38IdfTNMV1wMr0aljz1aS7HmkE035VKlvKwQTKQsjXbiRnyd9v5ouHZEWgBC9FKOkhjkmNT3SCKY+N4KfL49ReK6e3JBvS50j2zJgom+J9eSdyZywVvx5wrnDWP2HB4wiE1gedzR1U57jjsDon1cVHwscAKIT1+GUibQMsmWePyGS7CuCViEg4Ff/v9//AZtLChfSybIsT4Ig1A8NT11abDa743NJ0iHQzPLRkYwWAeXHn8EXgb7Qe2jp5k9wrxf8ugEkmJ0vMmROOHSrBGCn2y4nsLVhVTCVPKHwb8/avpqlR8TL4erj3qyhHO2pNSmJuw9Ilfpa5wSdqj/c748jPjEzcMJsVkvSBwajyY/0bziIgJwtHhXmC6A1roj47VGDpkiAWF+BTm6nXAQBI2/KMN/rW0b33EcOwZJ80+1NWzeTebkUqgm/boNLdXe+o/TdeYELgd2i2TeCLClbz9ImRBawGzfy3ih8D2Ki2Ke+B6QartKr7VmdzJNS3+CS+oBuoSp9qzQN6KY4D1x3/yiSA1uN9c6/IL2jRJ3tKmmsTL9e5EzaSsOFI64GDRMEQfi5COeZcm3FLchPBBzW6McfOOHzJUgdR62i+Ht1K/oyIAANxEnRwL2bzVOfyfOMbJ43hYBERZxCq8RGse1BdrH3PERIxvTOqJZfuc5OntM5hL/LT1GHHcvr8tDQngaDWkEWkFw99WhMy7ENvSsltxHBkGRm/wN1+NijsdARGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015841dt6ok2RkX21gkydXiD",
      "input": {
        "note": "Third empty close: overhead shows the bear sits ~6 cm further forward than the jaws. Opening and lifting to hop over and come down on it.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015841dt6ok2RkX21gkydXiD",
      "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]: [-0.73, 1.4811, 0.4812, 0.2855, -0.7555, -0.3977, 0.9951, -0.0147, 0.8364, 0.6022, -0.4088, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.1267 left_z=0.0712 left_yaw=0.0829 left_pitch=0.0594 left_roll=0.124 left_gripper=0.9951 right_x=0.2929 right_y=0.0026 right_z=0.1617 right_yaw=0.0029 right_pitch=-0.0766 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.8462, 7.3778, 1.4628, -0.315, 0.105, -0.0464, -0.1299, -1.0051, 7.0906, 1.6972, -0.0415, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd7dc2289ce1c391df5c5bbd1cd5be76580559ad12af713004b067450709005b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08a492a6750ccf154fb2926ee5dd677d9927a216a2fa1b61b391473a884713ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:041f6dec3b5a8794fbf27be0315326e703899bf77486d7b55039fb606c97c53c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 2.687 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]: [-0.7284, 1.816, 0.3946, 0.6998, -0.7597, -0.392, 0.9965, -0.0147, 0.8352, 0.6064, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.1254 left_z=0.004 left_yaw=0.0842 left_pitch=0.056 left_roll=0.1362 left_gripper=0.9965 right_x=0.2933 right_y=0.0026 right_z=0.1637 right_yaw=0.0029 right_pitch=-0.0725 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -5.5863, 3.4256, 0.2711, 0.3053, 0.315, 0.1197, -0.2393, -1.306, 7.0496, 1.7802, -0.0122, -0.0611, -0.0171]",
      "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]: [-0.73, 1.8324, 0.3981, 0.7155, -0.7563, -0.3923, 0.0107, -0.0147, 0.836, 0.6029, -0.4091, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3296 left_y=-0.1274 left_z=0.0018 left_yaw=0.0805 left_pitch=0.0562 left_roll=0.1324 left_gripper=0.0107 right_x=0.293 right_y=0.0026 right_z=0.1621 right_yaw=0.0029 right_pitch=-0.0759 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.7744, 3.0838, 1.3162, -0.2613, 0.0024, 0.6618, -0.0479, -1.4017, 7.2684, 1.6679, -0.0171, 0.0073, -0.0171]",
      "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]: [-0.73, 1.4811, 0.4812, 0.2855, -0.7555, -0.3977, 0.9951, -0.0147, 0.8364, 0.6022, -0.4088, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.1267 left_z=0.0712 left_yaw=0.0829 left_pitch=0.0594 left_roll=0.124 left_gripper=0.9951 right_x=0.2929 right_y=0.0026 right_z=0.1617 right_yaw=0.0029 right_pitch=-0.0766 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.8462, 7.3778, 1.4628, -0.315, 0.105, -0.0464, -0.1299, -1.0051, 7.0906, 1.6972, -0.0415, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd7dc2289ce1c391df5c5bbd1cd5be76580559ad12af713004b067450709005b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08a492a6750ccf154fb2926ee5dd677d9927a216a2fa1b61b391473a884713ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:041f6dec3b5a8794fbf27be0315326e703899bf77486d7b55039fb606c97c53c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwcKEAgSGAI4AUIIdGhpbmtpbmcSDDAuoKAa2mFZIK0ncBoMoras0iKfvzrCPBenIjCZHOqFAMk0kkajCRODvNOXNn1JUDrgCrgh7sbWevj99gHhEnAinU2DnRLvLJ9UyOEq7AahWQaZrW3XNyQ1iWolR7iJw/W5Gn9kMG+TE9DdfvoH0XWRaYxN5t2FBfNkdETfhH6BtpQEn+KoSOzDONCLzeOhwAf1oDehcvSkR8EGroChJAOoD71TSUI7hVrUfeDGffRU5LWi3ERW9Fg6R4Vfb/j8ALFapD+AZpfH9eaKSwZEoHVYYaQRyVLqmi6zzQIp17EXd9kOvYuvq1zL5y0eZ6tcw7pRT6519XwvoFoHethXBE1W7ZY4emKhFzw4NNdi/IMYmocD9Z8rhZWlWAht9VeSLqCTeV2GT51MMwBI8PAZwkreuWtOqG/I/XRTfpDq1EV4XoTkkk+bkro4SAPOk7xaXdLXP1QEDcI+rURCMhCFd61yYbLs2X7grWUZpv2dZt/MtPjE2/JxlAVV7VpFhgnIB7ei4ly0U32PjUW/EAUD//9gpiI+U61fxEIB7bBeIOp4Gyu/ImDpLz+jaTe/arW+nkkwGNtmFVnrv6nwf61DhVD0kc5tZ6b28tfPCnKEqlTcT3LNHQxXDNMNqT3ckBc+hJacD9TddwiCEqRma88k4/BxfK6xCn9Lln0KtTJk1xGRHGSpArSbQuAms94gzMPqkYY42LFJtTMIitUZ6yPKWNW+XIsGZT+lzYv5rMkXztoqsewGR4HQOV46OwE1D9O65U1tHuvrDpQoKJ8DbJHjZu9eoN/Nn3Jh18EHD+KW/yb3qc58jCuJ2J75iRlU3rV6aufxe/DCnRFA2OHcdDi9DdIbMaA5t0Wp4NhGVuYF1QR4v9Hwcxt31aeb8+24tuNxyBM8wryMwO5yQPH2W1hlptO6siD1ay4sfxx47v9sKoVOUrJGEXAsH2/8gjp54B7SX23+1jOouQm6SfuPdE/t+b6stZJgNSaPIbAruxfao+bgjwGUHIDbKEWIoG+QidQEC7KXgAyYbka8C1iNhQZWYFuJpPED5mabwLmjLaXkvrX0asN1rrKdA3sbENesRbmqlanP0Rs9i1YdUWFgB3/vMdxz0zxjAY0Fezc27fxRiLCP1qqiLFPn8/9YiNgP5FH2Nt/Oc1rdumgTaBYyawj20Xhw7ewgNAf+q1Qdy4TbFTwjlUgJPpSE7iIMV1KGfdoTpFoGS0+6UuIO8RBc1H2VcYJ8WLkwdoaTutVYtVjvbAgTVwED+O6xJRkhxXwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BMjwUfZzVDZV2kSB34PgRT",
      "input": {
        "note": "From above, the bear sits centred about 4 cm ahead of the jaw tips, against the basket front; advancing and descending onto it.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.13,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BMjwUfZzVDZV2kSB34PgRT",
      "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]: [-0.6437, 1.8381, 0.5121, 0.5922, -0.7181, -0.3553, 0.9965, -0.0143, 0.8417, 0.601, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3585 left_y=-0.1192 left_z=0.0076 left_yaw=0.119 left_pitch=0.0247 left_roll=0.1571 left_gripper=0.9965 right_x=0.2929 right_y=0.0027 right_z=0.1595 right_yaw=0.0033 right_pitch=-0.0843 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.3521, 4.3145, 0.8767, -0.0757, 0.0952, 0.1294, -0.1026, -1.9077, 7.1043, 1.6923, -0.0122, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2708957be37cdce6bc231eb78a527c66f29229e017cc7b04a68b32dc05c4da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66f39ce4a259b9ebda63f012038a2adfb3526a1df39af028af740cb0c68d5176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:135aad2152d0216951f75c7b23afd98c68ce9990a4138acb8e8a28969fd0fb90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.141 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]: [-0.73, 1.8324, 0.3981, 0.7155, -0.7563, -0.3923, 0.0107, -0.0147, 0.836, 0.6029, -0.4091, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3296 left_y=-0.1274 left_z=0.0018 left_yaw=0.0805 left_pitch=0.0562 left_roll=0.1324 left_gripper=0.0107 right_x=0.293 right_y=0.0026 right_z=0.1621 right_yaw=0.0029 right_pitch=-0.0759 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.7744, 3.0838, 1.3162, -0.2613, 0.0024, 0.6618, -0.0479, -1.4017, 7.2684, 1.6679, -0.0171, 0.0073, -0.0171]",
      "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]: [-0.73, 1.4811, 0.4812, 0.2855, -0.7555, -0.3977, 0.9951, -0.0147, 0.8364, 0.6022, -0.4088, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.1267 left_z=0.0712 left_yaw=0.0829 left_pitch=0.0594 left_roll=0.124 left_gripper=0.9951 right_x=0.2929 right_y=0.0026 right_z=0.1617 right_yaw=0.0029 right_pitch=-0.0766 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.8462, 7.3778, 1.4628, -0.315, 0.105, -0.0464, -0.1299, -1.0051, 7.0906, 1.6972, -0.0415, -0.0562, -0.0171]\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 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]: [-0.6437, 1.8381, 0.5121, 0.5922, -0.7181, -0.3553, 0.9965, -0.0143, 0.8417, 0.601, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3585 left_y=-0.1192 left_z=0.0076 left_yaw=0.119 left_pitch=0.0247 left_roll=0.1571 left_gripper=0.9965 right_x=0.2929 right_y=0.0027 right_z=0.1595 right_yaw=0.0033 right_pitch=-0.0843 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.3521, 4.3145, 0.8767, -0.0757, 0.0952, 0.1294, -0.1026, -1.9077, 7.1043, 1.6923, -0.0122, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2708957be37cdce6bc231eb78a527c66f29229e017cc7b04a68b32dc05c4da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66f39ce4a259b9ebda63f012038a2adfb3526a1df39af028af740cb0c68d5176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135aad2152d0216951f75c7b23afd98c68ce9990a4138acb8e8a28969fd0fb90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019X4VPsqiU8sNMgKUbcz3eR",
      "input": {
        "note": "Bear fills the view right between the jaw tips; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019X4VPsqiU8sNMgKUbcz3eR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6342, 1.8759, 0.5217, 0.6788, -0.6876, -0.3279, 0.1106, -0.0143, 0.8471, 0.5991, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3681 left_y=-0.1272 left_z=0.0084 left_yaw=0.0928 left_pitch=0.052 left_roll=0.1268 left_gripper=0.1106 right_x=0.2928 right_y=0.0027 right_z=0.1571 right_yaw=0.0033 right_pitch=-0.0919 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.0906, 4.2872, 1.663, -0.1929, 0.0562, 0.8132, -0.1162, -1.812, 7.159, 1.6337, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e8ddb12eb27a35f3b72dd27d6ffa69567a80529c3012c2b5dee53f6ff441f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2944eebba5e06337a8a3214ea9004736348e56d41a032f40dd53760bc67fbabb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2bc1655acf988b28be3f437ff59cd626052eb634edd6433cb8335626f45c3bc",
        "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 · 2.723 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]: [-0.73, 1.4811, 0.4812, 0.2855, -0.7555, -0.3977, 0.9951, -0.0147, 0.8364, 0.6022, -0.4088, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.1267 left_z=0.0712 left_yaw=0.0829 left_pitch=0.0594 left_roll=0.124 left_gripper=0.9951 right_x=0.2929 right_y=0.0026 right_z=0.1617 right_yaw=0.0029 right_pitch=-0.0766 right_roll=-0.0019 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -5.8462, 7.3778, 1.4628, -0.315, 0.105, -0.0464, -0.1299, -1.0051, 7.0906, 1.6972, -0.0415, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.6437, 1.8381, 0.5121, 0.5922, -0.7181, -0.3553, 0.9965, -0.0143, 0.8417, 0.601, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3585 left_y=-0.1192 left_z=0.0076 left_yaw=0.119 left_pitch=0.0247 left_roll=0.1571 left_gripper=0.9965 right_x=0.2929 right_y=0.0027 right_z=0.1595 right_yaw=0.0033 right_pitch=-0.0843 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.3521, 4.3145, 0.8767, -0.0757, 0.0952, 0.1294, -0.1026, -1.9077, 7.1043, 1.6923, -0.0122, -0.0317, -0.0171]",
      "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]: [-0.6342, 1.8759, 0.5217, 0.6788, -0.6876, -0.3279, 0.1106, -0.0143, 0.8471, 0.5991, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3681 left_y=-0.1272 left_z=0.0084 left_yaw=0.0928 left_pitch=0.052 left_roll=0.1268 left_gripper=0.1106 right_x=0.2928 right_y=0.0027 right_z=0.1571 right_yaw=0.0033 right_pitch=-0.0919 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.0906, 4.2872, 1.663, -0.1929, 0.0562, 0.8132, -0.1162, -1.812, 7.159, 1.6337, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e8ddb12eb27a35f3b72dd27d6ffa69567a80529c3012c2b5dee53f6ff441f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2944eebba5e06337a8a3214ea9004736348e56d41a032f40dd53760bc67fbabb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2bc1655acf988b28be3f437ff59cd626052eb634edd6433cb8335626f45c3bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQgKEAgSGAI4AUIIdGhpbmtpbmcSDLzXasGd2DqFG/9dyBoMUICRChV1hZ9Z92rOIjCPFXlbGoY6mLOa+C43245gJu5fBjX2Cnex391E2QPsxuaY0JAD1SwOJ8aD/8PBnuYq5gdilnLwwvcx5WMbZG07NyOnho3VEDi/bKoKMQclDraWNY7twz8nKeI9lFriqDOyjLJdpE+pGQ5mL2K5Q2ktjkjJoGe+/FFsw9sZEO54U8eaHZY86jt7Um3ypRKftqMeQ3P7ldSlJjDHgH1LmFlw0miUzz9ixJzfl2u+/8JnA7K9fKheDFp8X6vaMX/JpHHWq5yJa47zoDoWmPPHUx8ZKaI8tmWdAVq9FZQB/8ADjgs3vAJ265bRCdAaBtf/t6v28Ox6HgMyc/loSSr4K37sOOqf3KHLdJdkmeKpMlcnZKcDOwThcjUakyAouwfGLdM2zNOc+7aAS6MQ9c+ksC2RNtVrqL/p5SJcVQbMu4+Km/jKe9wDc0frnsrqrM+rotF6slpSUKbgSXu7+r41GnrISQ3dFUkS1arxQAkFcJgiB86e9Ym8uE3Scb/gwr+5EXGyBMcbFuqapoxpZDwLwHJl/L5E3RO1FOCakxns1LAK6yBMWtg1vtSdSsl1dTnJLmpm1/d5HiZ9C5L9m2UawSBhVdEbeOzL+dMwbwThrbpUJhDGZFrFx6GiAhBzYvtYuIi2bSsRUyIyG14B8MPe5Z5I/u5Km7rIdWHlhj2SQLkwRlBXGIVpSzsGKgxE1jbfm+jiDp95COJF4qh1jl0Nzx09LF6vHcz/RkYqDHMgJ2/lDuYpO4lY+JNkcJg9oF8s1p070LsnzaLq6v3DATyJ/4JVO/3FLpfytKPytgLEaZ9AGnp9/12n7GSxfyZhgZpoxl2/0UwQCLRfonkKok6D+2eAGyNZsmFZernGAmfDa1/nNC2pcX5bBHIdgxiKkmrqoahz8mNxnrscrDU9Uo00OliKxan5gNfNiH+kGLkpq2aKd777p/Srkb5TUAYmcY6JBU4rDSY0vZSVMfYefWG2flX3caEzMBu3iVmwAWkH4ScJHR+kc+cmOdFvPds9hCHDr+tLeX9iPQFXqQzC1KZA+z4pcebfod1yaVT1jqXO8HQIfacr6T4mEc8s8yxsfZ8XDBrxJjOapV1Lsde9KASE68zKil3Wzuwf5bCE3w0HRSE5i0iu3aPl7Z6Yf7zOeR236bRhBgEKDjwXjvqydVFaleuKMWZrG68trCegEwI+HqhwGo6olJWTORpYBWHnpxcWJ36/lalT44XJp6m6gtc0HChP1Qu3xqweEI/U+tNpVXvrdohL6O+/SDY3d6yoNdJqjGpCUkhip80PHMp08DT7TsE3JE2Xx4WJlBQuQhhHFuL53I2og5S54yCW9UNc6EzwXzUgFXgUbzqbohD5/RixoMzPi5aZn7dMw8qtSzpKFBZ/opzMnh+Lw5fIfxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RpcnvhTtAfWwtheMsoFLwe",
      "input": {
        "note": "Gripper settled at 0.11, the small bear is held. Lifting straight up to clear the basket wall right in front of it.",
        "targets": {
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01RpcnvhTtAfWwtheMsoFLwe",
      "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]: [-0.6342, 1.3674, 1.0481, -0.3687, -0.68, -0.3328, 0.1126, -0.0147, 0.8494, 0.5972, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3728 left_y=-0.1319 left_z=0.2191 left_yaw=0.0893 left_pitch=0.0397 left_roll=0.1272 left_gripper=0.1126 right_x=0.2926 right_y=0.0026 right_z=0.1556 right_yaw=0.0026 right_pitch=-0.0961 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.8564, 8.8274, 1.4676, -0.3541, -0.0024, 0.2027, -0.1846, -1.7162, 7.1726, 1.6142, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec5ab1492dfae2f4075147216102ec15ebf5fed6243937bdb37731ef2d78d1df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320de91176146067176539bf0ba6c66782c80069ca391d440d61dc54439e5f1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:460333351d2c99a560954086225438c8a55c1819f46e9e31b2e791b8960abd35",
        "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 · 3.412 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]: [-0.6437, 1.8381, 0.5121, 0.5922, -0.7181, -0.3553, 0.9965, -0.0143, 0.8417, 0.601, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3585 left_y=-0.1192 left_z=0.0076 left_yaw=0.119 left_pitch=0.0247 left_roll=0.1571 left_gripper=0.9965 right_x=0.2929 right_y=0.0027 right_z=0.1595 right_yaw=0.0033 right_pitch=-0.0843 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.3521, 4.3145, 0.8767, -0.0757, 0.0952, 0.1294, -0.1026, -1.9077, 7.1043, 1.6923, -0.0122, -0.0317, -0.0171]",
      "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]: [-0.6342, 1.8759, 0.5217, 0.6788, -0.6876, -0.3279, 0.1106, -0.0143, 0.8471, 0.5991, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3681 left_y=-0.1272 left_z=0.0084 left_yaw=0.0928 left_pitch=0.052 left_roll=0.1268 left_gripper=0.1106 right_x=0.2928 right_y=0.0027 right_z=0.1571 right_yaw=0.0033 right_pitch=-0.0919 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.0906, 4.2872, 1.663, -0.1929, 0.0562, 0.8132, -0.1162, -1.812, 7.159, 1.6337, -0.0415, -0.0562, -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]: [-0.6342, 1.3674, 1.0481, -0.3687, -0.68, -0.3328, 0.1126, -0.0147, 0.8494, 0.5972, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3728 left_y=-0.1319 left_z=0.2191 left_yaw=0.0893 left_pitch=0.0397 left_roll=0.1272 left_gripper=0.1126 right_x=0.2926 right_y=0.0026 right_z=0.1556 right_yaw=0.0026 right_pitch=-0.0961 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.8564, 8.8274, 1.4676, -0.3541, -0.0024, 0.2027, -0.1846, -1.7162, 7.1726, 1.6142, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec5ab1492dfae2f4075147216102ec15ebf5fed6243937bdb37731ef2d78d1df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320de91176146067176539bf0ba6c66782c80069ca391d440d61dc54439e5f1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:460333351d2c99a560954086225438c8a55c1819f46e9e31b2e791b8960abd35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017p6kW9L6qHvFqMoDs3rmHb",
      "input": {
        "note": "Small bear held above the table; moving it over the left basket where the first bear went.",
        "targets": {
          "left_x": 0.51,
          "left_y": -0.08,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_017p6kW9L6qHvFqMoDs3rmHb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.726, 1.4166, -0.3111, -0.4332, -0.1375, 0.1156, -0.0143, 0.8532, 0.5972, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5002 left_y=-0.0766 left_z=0.2216 left_yaw=0.121 left_pitch=-0.0004 left_roll=0.1321 left_gripper=0.1156 right_x=0.2927 right_y=0.0027 right_z=0.1546 right_yaw=0.003 right_pitch=-0.0999 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.388, 9.306, 1.7363, -0.022, 0.2173, 0.3004, -0.0342, -1.6752, 7.1179, 1.619, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0dafcfc687592f03a463d92ecff7e90748ae5e40acdaa3b09c7484e75edc9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60de2219fdba318386e764aefc4305562ef4ce601a4af594bce7bc6978d8d235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f6c6dff2717730461efff5a71262ed2e008b3ebb17ab8d041406193dad7f2a4",
        "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 · 10.48 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]: [-0.6342, 1.8759, 0.5217, 0.6788, -0.6876, -0.3279, 0.1106, -0.0143, 0.8471, 0.5991, -0.4103, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3681 left_y=-0.1272 left_z=0.0084 left_yaw=0.0928 left_pitch=0.052 left_roll=0.1268 left_gripper=0.1106 right_x=0.2928 right_y=0.0027 right_z=0.1571 right_yaw=0.0033 right_pitch=-0.0919 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.0906, 4.2872, 1.663, -0.1929, 0.0562, 0.8132, -0.1162, -1.812, 7.159, 1.6337, -0.0415, -0.0562, -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]: [-0.6342, 1.3674, 1.0481, -0.3687, -0.68, -0.3328, 0.1126, -0.0147, 0.8494, 0.5972, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3728 left_y=-0.1319 left_z=0.2191 left_yaw=0.0893 left_pitch=0.0397 left_roll=0.1272 left_gripper=0.1126 right_x=0.2926 right_y=0.0026 right_z=0.1556 right_yaw=0.0026 right_pitch=-0.0961 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.8564, 8.8274, 1.4676, -0.3541, -0.0024, 0.2027, -0.1846, -1.7162, 7.1726, 1.6142, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3061, 1.726, 1.4166, -0.3111, -0.4332, -0.1375, 0.1156, -0.0143, 0.8532, 0.5972, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5002 left_y=-0.0766 left_z=0.2216 left_yaw=0.121 left_pitch=-0.0004 left_roll=0.1321 left_gripper=0.1156 right_x=0.2927 right_y=0.0027 right_z=0.1546 right_yaw=0.003 right_pitch=-0.0999 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.388, 9.306, 1.7363, -0.022, 0.2173, 0.3004, -0.0342, -1.6752, 7.1179, 1.619, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0dafcfc687592f03a463d92ecff7e90748ae5e40acdaa3b09c7484e75edc9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60de2219fdba318386e764aefc4305562ef4ce601a4af594bce7bc6978d8d235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f6c6dff2717730461efff5a71262ed2e008b3ebb17ab8d041406193dad7f2a4",
        "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/QgKEAgSGAI4AUIIdGhpbmtpbmcSDAUCXsTNlpHCunJ6GBoMEEGaMR85T6FG3vd4IjCn2iCDQeAR81cxwdTs5nIR6Kt9AiNEGSMRFb3qtHIj18EQ8l/8yWYdvDANDr2ZYmgqmghmoO1G+2NgbVP7aL2b3HgILbBR2Il2rqDL86KgF8HVctYj/BL0BL0bnvjMacsTYUVXRDKcOxeOJiHu8OwO6HHXIvk1+XM0gSKJHRkk+Eil7muoBf8AV4xvLDk2VRONERXr+kWq+Uo4GBsx1+3DCdFBdBodJr1vkPSGd/90qlakoAuyerYw/IK6FzhwDGGgC9PamvxEEN6z+aJcxEdecxinQkl9XDk3ZHy8oIDtjlTNIgdO2eDYusheWTxpgtknUZFxGUZL0w9WwXcIwQh/5tXdSa8vjeIej0JTucqQr/jn2NwMm69/8bQII8M5WUgMaE2Pzial1QMwtiuwVJZzOUR5pUDnOY6eWC7p2F4JpFUh7G9fmRnjW/rWkx9WayKMULhZhxfh8ywFYw8uLgxAotCqv/dXaHfG/W/blGujKDeITycLeRJsDGPqm/LuQvZPAptGH27JWq79Va0Al3I9477BqnFMrqxRSuoaGQQRyofakW0KEt+KcYXanG0QfBo0HhByh1dS7PFYlrDQUkz08WCV4Gf5mMvNJkX4+8tmCzb+TklaJH2kMljLW9hTA+nOOw06lux1tRrzw6FO+Rkfh91GoKkDu4bL4agCwhGPAizf4qxe7m7bN6xsFVLm41YcDMnVFeyH8J7hn4HkLt644Vh3LDHb20dT62lC3tV41tfVJwUA8cMEIr0ZvFRpgwrBK97GpU1HTbSwZ1iki9gx5Q9nq1FXrhDv0P1LLdCJFP9oL4DmwGMkFfJ9y/6NepXIu4RzdHmEYAAlWBYKiZTbFbmjkX4HwkFMMZpTgskf9qX4F1m9GXpiHBYrxueGWC0GVRT5ycv88ceABT3f0F2BSQkPBVWM5ayiNtlqfXy49UWuL317awJLzk/0PuWZZcq1UCQJ6jial9oVswujYzr8J6IWPZPd/+iF+rLoU7nXM755vDYr1GfOFxUo061ly6shP5Ec0hPCXl+qi+lqIYVxWbnwa9Gw3AVJxlftF+q5d6buP8rjog8pO5OK7RRsvdNfisDOdBGwHgEAeqDhqBwsTcCAJw1M2nsr5p37q6lQwkQ13YYyCCh4vIi+g92xhyhM7q4B/6Pd3kc1TSjYfEkjGrAx6fGdEUmIVB0HtZqnXJTUama3ZHkYtadHwWT5QWOHmXTs4vW3LX0UXvK1qJ1pDrkgNezdDgxYvW4dI1h+UerFnEHosPyVn+KbhfSRgej230AVnZxLHEz90MZVxk7rdu4UQ4BASb4zKgfobHy2VTh9H2iw1xIgMSbEVbwNIqNrFpqzOqwdFYB+s/V0Qbq3tRbst5m4YzXlKt4NBT4w2B5jeEEGiagKIBd9qk9jCKpRmF6YoN9pT4jTC/y0aZRpuT+JW8onIguBZFhafy0oKcSWbyFsU6HHrv8PAuIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LKRa5BNiux6F1kF4e8PAoc",
      "input": {
        "note": "Small bear is over the left basket; releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01LKRa5BNiux6F1kF4e8PAoc",
      "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]: [-0.3061, 1.7374, 1.4185, -0.3206, -0.4259, -0.1467, 0.9953, -0.0143, 0.8539, 0.5972, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5005 left_y=-0.0779 left_z=0.2148 left_yaw=0.12 left_pitch=-0.0188 left_roll=0.1284 left_gripper=0.9953 right_x=0.2928 right_y=0.0027 right_z=0.1545 right_yaw=0.0033 right_pitch=-0.1003 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.1128, 7.0632, 1.6972, -0.2808, 0.0317, -0.1587, -0.0479, -1.4564, 7.1316, 1.6484, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc52d2299b51ed5930d33dd7f368a2de70246c2e1aea4f4b8fdec20b82a19630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c0c29032807ec731eb5a403084671538eb212611cfd513b14d6b0ad39bf6d89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23aa531882c8348ac5b53f310d844f9aaddd7a40f733d9d8ae2256e7d6b4a1aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 3.65 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]: [-0.6342, 1.3674, 1.0481, -0.3687, -0.68, -0.3328, 0.1126, -0.0147, 0.8494, 0.5972, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.3728 left_y=-0.1319 left_z=0.2191 left_yaw=0.0893 left_pitch=0.0397 left_roll=0.1272 left_gripper=0.1126 right_x=0.2926 right_y=0.0026 right_z=0.1556 right_yaw=0.0026 right_pitch=-0.0961 right_roll=-0.0018 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -7.8564, 8.8274, 1.4676, -0.3541, -0.0024, 0.2027, -0.1846, -1.7162, 7.1726, 1.6142, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3061, 1.726, 1.4166, -0.3111, -0.4332, -0.1375, 0.1156, -0.0143, 0.8532, 0.5972, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5002 left_y=-0.0766 left_z=0.2216 left_yaw=0.121 left_pitch=-0.0004 left_roll=0.1321 left_gripper=0.1156 right_x=0.2927 right_y=0.0027 right_z=0.1546 right_yaw=0.003 right_pitch=-0.0999 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.388, 9.306, 1.7363, -0.022, 0.2173, 0.3004, -0.0342, -1.6752, 7.1179, 1.619, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7374, 1.4185, -0.3206, -0.4259, -0.1467, 0.9953, -0.0143, 0.8539, 0.5972, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5005 left_y=-0.0779 left_z=0.2148 left_yaw=0.12 left_pitch=-0.0188 left_roll=0.1284 left_gripper=0.9953 right_x=0.2928 right_y=0.0027 right_z=0.1545 right_yaw=0.0033 right_pitch=-0.1003 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.1128, 7.0632, 1.6972, -0.2808, 0.0317, -0.1587, -0.0479, -1.4564, 7.1316, 1.6484, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc52d2299b51ed5930d33dd7f368a2de70246c2e1aea4f4b8fdec20b82a19630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c0c29032807ec731eb5a403084671538eb212611cfd513b14d6b0ad39bf6d89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23aa531882c8348ac5b53f310d844f9aaddd7a40f733d9d8ae2256e7d6b4a1aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6BIKEAgSGAI4AUIIdGhpbmtpbmcSDDu/qu16A4BHAq5HUBoMEkuTsZXEJsGiSMV6IjAg2LV0TJESmUmw5aPlERVgzJPG6kbOr5o+flg2Ip1aCMxOcigyc8vApkx4Mlql51oqhRJAkL7a4kvErDoWKXMA1aBg5C8hNt3W9fmW/D2lU7o5idow6YEuLq4Yw1ThqOILrXGnnlVS8m6pKirKQ+YX1Tj06Ik3YzIac/hbucR9qvuHaZc8NEY7Nrmwd8Dwh3ctWlU8JpSjZTMeRbfkitSirbVx0C1nfMSD9q7LJRBrQYoA6oiAqLpF2mdINbHf2KngDh3XRNO2pDzGGjm7BAAhPgU6/dfbcYZnLMVV+kPfGCU4G23BNZ9J4MpX1BxZ8KcDb3C9B3rPDYkFkMMUQFky1hZrzMfnreSQiL3ZD6HTxvBGrm2CP7gQaia0B64gwSO5K7CtcVv8n2WJMCSnkB7Dhselohej/CHqjWxIf/gLafIBcfEzo19qNa2MaHfkl7UO0vks/r0rhDwK7/CRg1u3E7asFQ07N8RLied29OAUCSrl7l6wTw+wqYI6VU/1AZT4Je0uS6AiPimQPk0FKWbXVKU2pSqE4WIIYPcu21G/8m7NUiCHsHoY3avA6feSgiXWQnE9oml+zvISDNBLz43jwx4TDiy8R1fGZXTcsFq3BAztcO22ncy/cxRPCOLZPedtrj59dYzq/NS8XmZ7fIRWeNn3iF+5vYAg10n+7Y8d0I7IrxGNP9IksrCczvy2Hu0g17uX3vJngGi3avAs8cmAfJT03J+OPcsw03VRPUT+XzSZMfdxGPajDb/Yu4RBpv3o+6mwkdwClnSU0tZ/BlB1SOUBm8z857Afof1rzN2A7U759BqPSilJlJiFKteJ8n8yauOZUO6YksPOpX2PpWkr8RoKYlmwPIFKvoDcknv7mW5ppM4+I9ZSujNfp6yEMk4PnTnEHTwhFSbzTJ+guTqkPhPwFFdEBNpO/+9SQcIf4Qgwubq5MoUjhqcdDfDb6Y65+M1+bX9rj2C9ISO6ZfwxXQ5j+Jw939f14PbePTJcCvN8v5hWLXoUcvKJYfIx2RYoCyAT+VpA28o/2K4TG4KzL62qjFy9k1lVo6sOwEHawDN7M/7ydItzqgPcvehjggS31jfOxdqkE2FoaV23USNVY00kkvPEitjqQxiORiwv398eF3AsoYLV0lqMf3n7BOlUILhei9J3Wbv9OePOQAgnceSCweAiZ1W08VSRPHsSwFoWt0uEf+GPtmzZZnpG1XB2MZIwuiUUAW7hzPKPAJ/wzdugJ5XKyPWhHSa1fJrUTmQ4czWfFANd42IFUWbZHFz171SnCSZo54nasxMUsr/g3CrqUlGFAG9Py9OZoWQiKmM9iPekabhO/HPAp17hL8d+VPLsCP2/oJ9vR5sLtgGCh6VF4OApUExhb5fxCgqjF1B9He+ZdC/T96Qzht5F+HHiD+8BMwOb3NJufq+qe379JmO5w1F7x5ch1JuYENYYnJRgsmisSggaAbtc33BwSfiKHDaVIDl9HDZvy029sC3DZ4Jcdv6iUw90NBl8yRjPtMtVzOJiK0oWIpIIES5xBcEWfLAntnqLxdlHCBzYoi0N4KIu85/x+nOlxfboHCMQu7i1c4MtwgOoghZkck7uHQ7R0VujLr+6LwhtjWJk6f5PwDD7lAQ1uAUlrsFfHdik5sxm3JPuGp9YMLGwyu5fgpY9kCD4TwRxmjTxrLVuw2brZxQLnVq2MCL7/UTvrqQG1P2GOyQG53QNQssj8A0K18wFerd1TBcIL+ZAMMPjcBBaK+/y4ff4z+GUID784nFo/051HNGd7D/V4XO86smfnh5/8O7U6U1Q99wtvXPY1mjxtmZYL9D35ot5+o0WMWiZLcOkv68FYpd9Zu3nkvlX8MaXMYpRADJ5bXoavKbWzIgflz1pd2uiQyaWtli8Xv9+ORX4tZFfl4eAWi9S3UGYNfor9OFRePxsEGkR2ZbVdjMDDFczJWqI6H2xemkyKh1rauJ+PgntMvRzUmlym3i6BJ+MUO9vxihJAQIQwZLDjZTPGv/et6ydQfMxjplA95dMuKDeuvDaRLTb4sViaZAA02IIuryLkCwGwAU2I0lBcDxIiOP1q0BkZTxXbNDiHLmNoR7YNVhA5yDx0sp1vdkTdVhEZBl8gMh+rdjmaP8iv5Ewr8jA1OOLJafGrZ05kOFlr7Tueyws8WJYxsGsFp5dYoNsAcbxqWVkf0BIiQ3W3Hs3X2tUFRgv6saWNbWYZhjT/lfOS8YKZUP2lTLC5YuqBerEgekwZrM/vqZcHft5PtyVadhcx8Uprt2a80kyYo9PVpudnz3xCS535pCArYIwKQjE/zDfKN0bfp+2S2NKQ+vEL302ylL9QlhVZVywNVS4uGsWFPVx2lRvgTVqzvZb5UkpQwjaS/d/dqlt3kKqCw2AmWOv3Ozv1uMxFmElL9Iz+hqDHYXbLLClnqUMaRwyoNNjzGvF7Uy09fmZ9V/QwWMgcN96bi4qzTsUg6PwpuF68+zUBpS9ATVdbBsvetl4qmpixSkd2FffpvRzAtAb+va2jCIZtmowjAiumi1O7bihGLxiC76dxpv8gEUxc6MDmE1Ci/YhTISdv8x6Fmrp0erO+WfwdVaIBtkA8/q5c4KTxRb0niMq3cRTWgKO/C2CMcMXUXhSC2tiVZfx9qnWY/6hLE0KSMSt8mo0l2EOuCFrHXOOOzcxN9/DRyrQffcq9gFH06uJUxOFeaw+utLoXWAvhVIVazNN5X+wgJEkIp7xPD+B5l2wPVC2t1OzN6XqYsUAu6+RZz3WEBdIRdpCnwQNDZ1PAsZCzpZFfvBaTTZfoydMJewRAKovxbUWTahqa5HcM5jc//OX9OXjHkcL7V8nLLefz9Out33kWzXcoqkhVi0mv6/UfIx8DiMPW3NqvVGdOzZBHluWMesGFpHAssoWHyyZMwtPOznBuct9qKBBkSFMohgsdGFl5k/P5dvMkf5sSTDHncvwPMWJ34mt53HYsJPKh75Jslc6wyEOXy5a7XWbUXgpAHbKr8tysnpPQk2cXE4GI9m1WCzL7fELi4c+PZYsNuC8TrbSgWvEM6v/EYft2WCMFSAKUBLN0vhyBhGO5vQTNLMYX2ak02QTXcREnENdsjxdA4PayBku1xgUBRvxlGSmHyPNT5fMSYkdVHQBDCqs7VzAChgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01923bcUBtfouLVctJY1Rjih",
      "input": {
        "note": "Both bears are in the left basket. Two markers remain in front of the right basket; the right wrist cam shows the nearer one just left of the jaws, so the right arm goes down onto it with jaws straddling it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.31,
          "right_y": 0.09,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01923bcUBtfouLVctJY1Rjih",
      "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]: [-0.3061, 1.7412, 1.4178, -0.3279, -0.4255, -0.1497, 0.9966, 0.4412, 1.4979, 0.276, 0.5213, 0.3073, 0.2501, 0.9998]\nstate[eef_state]: left_x=0.4998 left_y=-0.0777 left_z=0.2113 left_yaw=0.1214 left_pitch=-0.0295 left_roll=0.1305 left_gripper=0.9966 right_x=0.3136 right_y=0.093 right_z=0.012 right_yaw=0.0332 right_pitch=-0.0956 right_roll=0.0105 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -9.4974, 7.0085, 1.7118, -0.1783, -0.0171, 0.1148, 0.3077, -3.0974, 3.1795, 0.0659, 0.188, -0.1685, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b01c8d7ee3d7d509830da62a693bf8a7a0488b6b5a381398e73290f360e4c059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c8b13b5d27fdd51d78b9b10c7f08ab87ea1e87468cfee1d8805d0096ca54b98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f263ee31a5d7590e25efdf052f936d3ba9d231255065cc979187909e0df3b52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 10.66 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]: [-0.3061, 1.726, 1.4166, -0.3111, -0.4332, -0.1375, 0.1156, -0.0143, 0.8532, 0.5972, -0.4103, -0.0185, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5002 left_y=-0.0766 left_z=0.2216 left_yaw=0.121 left_pitch=-0.0004 left_roll=0.1321 left_gripper=0.1156 right_x=0.2927 right_y=0.0027 right_z=0.1546 right_yaw=0.003 right_pitch=-0.0999 right_roll=-0.0017 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -9.388, 9.306, 1.7363, -0.022, 0.2173, 0.3004, -0.0342, -1.6752, 7.1179, 1.619, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7374, 1.4185, -0.3206, -0.4259, -0.1467, 0.9953, -0.0143, 0.8539, 0.5972, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5005 left_y=-0.0779 left_z=0.2148 left_yaw=0.12 left_pitch=-0.0188 left_roll=0.1284 left_gripper=0.9953 right_x=0.2928 right_y=0.0027 right_z=0.1545 right_yaw=0.0033 right_pitch=-0.1003 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.1128, 7.0632, 1.6972, -0.2808, 0.0317, -0.1587, -0.0479, -1.4564, 7.1316, 1.6484, -0.0464, -0.0562, -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 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]: [-0.3061, 1.7412, 1.4178, -0.3279, -0.4255, -0.1497, 0.9966, 0.4412, 1.4979, 0.276, 0.5213, 0.3073, 0.2501, 0.9998]\nstate[eef_state]: left_x=0.4998 left_y=-0.0777 left_z=0.2113 left_yaw=0.1214 left_pitch=-0.0295 left_roll=0.1305 left_gripper=0.9966 right_x=0.3136 right_y=0.093 right_z=0.012 right_yaw=0.0332 right_pitch=-0.0956 right_roll=0.0105 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -9.4974, 7.0085, 1.7118, -0.1783, -0.0171, 0.1148, 0.3077, -3.0974, 3.1795, 0.0659, 0.188, -0.1685, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b01c8d7ee3d7d509830da62a693bf8a7a0488b6b5a381398e73290f360e4c059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c8b13b5d27fdd51d78b9b10c7f08ab87ea1e87468cfee1d8805d0096ca54b98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f263ee31a5d7590e25efdf052f936d3ba9d231255065cc979187909e0df3b52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAgKEAgSGAI4AUIIdGhpbmtpbmcSDAoUiDgs5SQUmWOeRRoMFYmTmmKcQcAFjWR8IjCi/hBjoEOVfgUgElPTUoIvVWo/tK2x/D7PRZq8FDwlnkbBIiBp7dbSyG363gIZipoqpQdGLbefcyQBwW7zsH6l+27D2CWlwZ5LALiyt0to2qQv5J9d6JcWXjXe24siGzl4NbYmhx26B3pzIWs+KfqYOJcQ1OkLJAjkGgW3U+zh2Zc2dDo8x8VkShx+TNWo/aXcE36l2gAmUeBUg1YnH+pQ6dxemwGv52cC6WNv2eK691NGWekQsaBbKv0h0lxekfo8d5WeNq0qjqaox5Rx+t3Xn84axWTOEJt8VHOHs0QJuqc4v6AV1wS4JEAQJCDyWFfipnU/QUhefFvGxh6W7wmXUMnlkCwL6p+uQmJgtiXupff6yewdpZTHbzkmhPiP6jTWSTQQcVQxDdxzIqTthJCTt45xvDRgqjw21FGqSJk1fOoru7U7JPEdhBFs2zklZD3P/rhAJVsYiS1Vu5iJU9z6PUwPX3bQ5jwpnzAMQXAdqhl8xQRKbymoEDeT0FYu4ilWv1CXWBR5XbT56ZRwYDFuFb9dw1OWYZRnTqnKsbbA3HkFaEw/eUkNXysblhipnk9TN0fNO3rAW9lLhH/HzGJq7J8i5T2QQzldBMYpI8n17aAJnAGn0qivYTu9xADRfUie14waAKGyRBA8IxuQL0dH+vY1Jtse76/QdS1jDn6eaTKVPoCYTZTV43e6Wu1lciJm1lflRS9XNiZU+2ifndlZNIim99aDPu3HdSHkRAxx5sPuHYmW2HXN1b36QlBC1mUhipUQAW+sL+DQ5LeMZkNogOL2Jb4mdBRYIxoRST6smb3OMLlxQQZE5X/HMiMZLPlg5T6zRt1wJHiCKuvSpLl3dAwnE8mTZXit2QeYg4S14q97F7DmIbPqAUVHMrKxqdMRa7hXG6Iy9gz8QrezHLH6xu5Enoi7UHVOEeLj2SoXav1a98tr1r7qrCmi054n0lvxuW1TJSzBuObx9lD36iSCutQWJFxCQr8LCPxH60iAcmspxXRHr1GuB74J5NvU4LMk9ob0r3C85y03l4fGjKaiYVpyH+Gu0COpIKGwMvw+Qgf9QR57i3/LkaRfEPgCyJeyiM2grFCIPMYN57bj60uoazAuXwoblDQ66AWJ/mS0cXf65GSFWSg2snzjNbZlTy1vaXyu2scQimCwuThw0vCnChFWAkI9R/bJxAQAyYtRrIUKl3PJJSNhbfRl9anOsFyMrH90ubWwjjUKb8/2PxbozShtuiiHzLnBI6uiEAm1fxHU1y2ugjWo4Q267q18MnE0GXlH9rlEFpYN+IEsYCcVTpb/UiwnhuYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kr9zBbhfH51jHy8VgqmyfH",
      "input": {
        "note": "Right gripper is at table level over the right-hand marker; a dark stick shows between the jaws in the wrist view, so closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Kr9zBbhfH51jHy8VgqmyfH",
      "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]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1501, 0.9967, 0.4438, 1.507, 0.271, 0.5468, 0.3031, 0.2443, 0.1529]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0298 left_roll=0.1304 left_gripper=0.9967 right_x=0.3143 right_y=0.095 right_z=0.0122 right_yaw=0.0428 right_pitch=-0.0861 right_roll=0.0129 right_gripper=0.1529\nstate[joint_eff]: [-0.0752, -9.265, 6.9675, 1.5849, -0.1978, -0.0708, -0.0073, -0.4308, -5.3128, 4.8889, 1.37, 0.0806, 0.0317, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d90adc05b8fcc7c78fe40256a5773b4b2cbe2daebea930e3bfebd9ac64d69e30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e03bb4ee8d0ec20f11c9f8496d1f40a1f419e22bb0da29fecc1212f25bf5fee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0621e76df1b1211aa71c544461b698313db8e4aefd7b303b37059f4dc3c399ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 3.032 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]: [-0.3061, 1.7374, 1.4185, -0.3206, -0.4259, -0.1467, 0.9953, -0.0143, 0.8539, 0.5972, -0.4099, -0.0189, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5005 left_y=-0.0779 left_z=0.2148 left_yaw=0.12 left_pitch=-0.0188 left_roll=0.1284 left_gripper=0.9953 right_x=0.2928 right_y=0.0027 right_z=0.1545 right_yaw=0.0033 right_pitch=-0.1003 right_roll=-0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.1128, 7.0632, 1.6972, -0.2808, 0.0317, -0.1587, -0.0479, -1.4564, 7.1316, 1.6484, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3061, 1.7412, 1.4178, -0.3279, -0.4255, -0.1497, 0.9966, 0.4412, 1.4979, 0.276, 0.5213, 0.3073, 0.2501, 0.9998]\nstate[eef_state]: left_x=0.4998 left_y=-0.0777 left_z=0.2113 left_yaw=0.1214 left_pitch=-0.0295 left_roll=0.1305 left_gripper=0.9966 right_x=0.3136 right_y=0.093 right_z=0.012 right_yaw=0.0332 right_pitch=-0.0956 right_roll=0.0105 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -9.4974, 7.0085, 1.7118, -0.1783, -0.0171, 0.1148, 0.3077, -3.0974, 3.1795, 0.0659, 0.188, -0.1685, -0.0366]",
      "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]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1501, 0.9967, 0.4438, 1.507, 0.271, 0.5468, 0.3031, 0.2443, 0.1529]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0298 left_roll=0.1304 left_gripper=0.9967 right_x=0.3143 right_y=0.095 right_z=0.0122 right_yaw=0.0428 right_pitch=-0.0861 right_roll=0.0129 right_gripper=0.1529\nstate[joint_eff]: [-0.0752, -9.265, 6.9675, 1.5849, -0.1978, -0.0708, -0.0073, -0.4308, -5.3128, 4.8889, 1.37, 0.0806, 0.0317, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d90adc05b8fcc7c78fe40256a5773b4b2cbe2daebea930e3bfebd9ac64d69e30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e03bb4ee8d0ec20f11c9f8496d1f40a1f419e22bb0da29fecc1212f25bf5fee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0621e76df1b1211aa71c544461b698313db8e4aefd7b303b37059f4dc3c399ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyxIKEAgSGAI4AUIIdGhpbmtpbmcSDJQqMaWqGP6mot5kRRoMqbxa9t5zhXu1InvxIjCtH1Mjt+WbtSxX8CoU09PsbFJakyRDRNTVrXyI+o57jYSpxZCi2jp9+67OhYDYgDUq6BEBo5AzOwlzKWGXvPg7aYLbSH9onANeJA2WMyTBubLgQgyM4cgY5UGrJKBIIYcoFF25riEJLOjqjD2UVWRy/tXMpxehdJ0QTLKSgloaJV0zUUAgm0PN8TX4nvW6Lbmx6sUuNDFEvO6Q5aTUGEJ/8A6KRXcN6G5IY0P+oMhJQAkXPqvHYtrjdikeNUTqh/X+A2IF4u5NEE7trgSro2dH8ZtiCcv3kMDO3OsI9SEoJYvUiEBQAOG9vloRrjfLZ30y5gIFXO+7pba9IfTffpJR/pftQ2Gt/QzHEHV8oSTb/IzhJHVxgRHFPwdBWYuo58H5UlG4LPEQuki8E15znkIR8Skb9Q3P1kBuga3a68QISaiZBptaBsq9h5Nv7/9Rw6B2d2rJ1d20bb7L0ltx3qZD+Z9mnetUQPL1ffqdCP4lS0CqClHUmwHU5v8m6s7XgMsxLwtU053UZ7soL3xDLAoiInAvCoAND79/Lk9wDB2yhU+JshVjacQZa+Gt7vpIFH/+jjCyM5j1KxPP7eeKc/6Q+QxCdXBdAZMt6d+soTf9C48B3NFYvlWyB2+Zmp1ijhlykZA2vKF5EtgH0fOfWTRvng/fJTJ2pH232+gw+byjnYH1JjwEHOWs0a3W5OqTb9BAtdJsjyaBCGtpa+T8RutZNzDPN9kk8jjykxj01VPZOZ08xcOdcI8SMddfMzt5xWDkuNed8mCfOb5eM8utmGE/IAeiMo61thZoMU/CsoN7JR4aDqyRd+74KutE3aQc8kRyHB14m/WH6IsrIrX8XOtFWDDE75sqTEEK2OCPMUJRbL6gcr1lr/aVw+zAxaoFIhb5GpYkvh72y9kL3wn28Fez+36YZmoR3X4pi+t/+GRJOM25cy4v+c96lXDdYDgvPpcAPHoEQ5kNqigRrgYUfAdj3+ZWfzzYpdtoed9/+5fg4MUTeMtQhobmVrbSRKXo4cOR9SMOnjxCXR1Jnen1pnPwLDAk8tgZn/5LbZ8Q6sksWyTvWSZD8+iQB1xFL4hb1rkZzY8PUTU2/Q8mWjD+QBEXXSV/BAvU5Y82mbutyqgRQuxoXqNsNe2h1LrYiIKwU7h4QkB7s+RhHm/EpfPMPS8xM1BrA8+wdfUW/Tlh3Xp9CC/nnvGuvnaPUogqLDc7AvO1N854EjPYZiFjxZRc9SKWcWTjEf08xgq67LRG++GRwKorZnyRVw6JjzdYJtb7bXQkw1FvJexhxQXq+Xt4K16Xhi6WWPmnlc5Sby2OXDuFihrahb8HgRt4bpzkWkTky5ZOQRWwpaUHDxyqxexN0hpjg+lk+2GTgQOGueHZB7EseGyDHPQrPqvnko2qks4Mfodthr8c1nq9rxiyo0p7SsuGNnuqB3SNe6DSUKiZeaVjSHuABscUb6f0MWSm5pO+9EwACHmHnKo/uROpwOtHVJeBy0Y84AGwEjGDncUeH255U+HObELcUYLpyT+DHvp4Q6vZzTq5Jb0S/BkxqzhUmth9wHKYOVZgO8YoE6UN0rWCALaI2pw7MyuO43dElZYChwBGFpWr+tDPp9Rflj36rreRZJhuRBZQsTu9GY6pWSOdZGBElZhIwr9plQeoMI01uHZPw1JDso3ergHu+DA+OIieNwNuI3pTMhGc8Jqqv05aIkLh7M95XwZxKx2G4ichL+q2GOJRrM7jr6zeUVj+t8rLuevoHsTZCmprS5o82/q4lpcx7NaZquAtpt8y8YI4XYFUYqlaAkGtOrwKS2buoy34p3Uht2XVVmIzgghVREE53sPgJ6x3WOqFqp+ik9KkzZfryzeNrIZP+A0D944ejKYrGx1QTIFk/UsvKAIOFQ6x2ODV2D1V7rpMlgINA/X7BTvWOL5k0y+gbJ9kNirvWmWRPQOKO0bBpMum+cyO5FuU8vB7kkUuQWdvOysNktKGCS8aoWpGJiMpGbysd5pZ5KmtveCS2R/K3gsDGDvyqB5uu461EmVgF+j+45yZ/xhG7AUUTGr5FbsR4XQXyakbl1A9g43pU02jWa2hOYYINaHW7bBL1Lb7rFii43+EK0Ce52+1eIYI/KR+iNlWwCBg2XLHPHrQ0KxuSa0bphxCk//4mAy226155ihYyECI+dJnB9he9a0YSz/mDB8T42Iq3qs0wqagIvh549efb108g957NMcsfWSkUzlFVFLZ3QLfQbf+R4JfHLj1JNlDjTYeWD7FP4/LP8tmUEjITuG7H6aBeD21jQb8yPKziuZV3YnKoYQl0iVB79nz/NwmsYf5Gd6eBdxVjxRZzS6ipgf2H4863Zew7UGl+Katzl6d2XaBgYPq5asax7f6fz7zRz90fY1EUyiL8VoMxB/C5Onu0lAUv0o+3D6+Ual8srnO2mfelzKwfAOdMRpfetSXhQRJNSqBfMc2aV2WW/jKBn3+cWnAKkRtyBUOAP8hFgISKMqgfjiXSGPxdixuBbuFD1tRJRcqXvtc4TDyPbNUtyW3HEcIlfzkV+ahaAsvmhmnc0TYQORGrKFJp6bwWT/GukimDlH5vedYIlZQzgvIzi31lv6y+47WBh796hIo9r1RgmqtfGUzPe/V3s3nAG+bFOCrfMApCEqf/g82hO3jtwlxeU74/79VdJJAAmKvyjPB7gaymuw6Nnub5/qOeNciYaDwmbrVWxMYOyA6ILIWf098ZCe8lL8IUQl7le4VE87AEY29LM55c1Vtqu/QWJ0kwPR6u/SF9x4zKXjp6OV+RUepM4q2Z7VRrl17n8f8sEaAxxqSAxVSOvHOLtmCqzYlWhJJF/mneMF7O35axq6ZW1SoNLCKy0uEXItoGG8lVBxusc0aVtbX6qcwYPVwUme92aa4eX2xh2WrMnAqdrq8686kUYhrofQAZQ6/LUo45eyjt4w2jNSKS8b7Mn0KAreTn1mApUxi69IFPZdIAV7blR+Go+EC5fd0tjgcEup9Koj6cIdnQfJMB7OQ1iRj7qx+iHYIN5A+pt6lhbFuD2WSv8cb8x0LUcmKoRRdHkJA79BMshWkoqA3fE5gmu+IFbvIaZj7WSupDzjyERAt555TXlIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015corHC53eCRiKzs3i45gYJ",
      "input": {
        "note": "Gripper settled at 0.15, so the marker is held. Lifting steeply while moving over the near half of the right basket (the markers basket).",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.17,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_015corHC53eCRiKzs3i45gYJ",
      "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]: [-0.3061, 1.7412, 1.4174, -0.3283, -0.4255, -0.1501, 0.9967, 0.4786, 1.6382, 1.5711, -0.6174, 0.3138, 0.2489, 0.1585]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0301 left_roll=0.1305 left_gripper=0.9967 right_x=0.4414 right_y=0.1716 right_z=0.2684 right_yaw=0.0664 right_pitch=-0.0793 right_roll=0.0122 right_gripper=0.1585\nstate[joint_eff]: [-0.3077, -9.1145, 6.9675, 1.5751, -0.2173, -0.0464, -0.0073, 0.1162, -8.1436, 8.8, 1.2039, 0.2759, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f62b0ebb542c6ae982311e5a246eef16465da200ce8eaad512d3286e9309366d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b9728e4b9220cdd0155dbc3d2818547dd47ad1b4f51e1ce9829ddcd9d7be69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d68eea58a57302fa1d2a0d1c25a431f96eed6ade07d1563f9d3cab802018b4f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 6.714 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4178, -0.3279, -0.4255, -0.1497, 0.9966, 0.4412, 1.4979, 0.276, 0.5213, 0.3073, 0.2501, 0.9998]\nstate[eef_state]: left_x=0.4998 left_y=-0.0777 left_z=0.2113 left_yaw=0.1214 left_pitch=-0.0295 left_roll=0.1305 left_gripper=0.9966 right_x=0.3136 right_y=0.093 right_z=0.012 right_yaw=0.0332 right_pitch=-0.0956 right_roll=0.0105 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -9.4974, 7.0085, 1.7118, -0.1783, -0.0171, 0.1148, 0.3077, -3.0974, 3.1795, 0.0659, 0.188, -0.1685, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1501, 0.9967, 0.4438, 1.507, 0.271, 0.5468, 0.3031, 0.2443, 0.1529]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0298 left_roll=0.1304 left_gripper=0.9967 right_x=0.3143 right_y=0.095 right_z=0.0122 right_yaw=0.0428 right_pitch=-0.0861 right_roll=0.0129 right_gripper=0.1529\nstate[joint_eff]: [-0.0752, -9.265, 6.9675, 1.5849, -0.1978, -0.0708, -0.0073, -0.4308, -5.3128, 4.8889, 1.37, 0.0806, 0.0317, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3283, -0.4255, -0.1501, 0.9967, 0.4786, 1.6382, 1.5711, -0.6174, 0.3138, 0.2489, 0.1585]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0301 left_roll=0.1305 left_gripper=0.9967 right_x=0.4414 right_y=0.1716 right_z=0.2684 right_yaw=0.0664 right_pitch=-0.0793 right_roll=0.0122 right_gripper=0.1585\nstate[joint_eff]: [-0.3077, -9.1145, 6.9675, 1.5751, -0.2173, -0.0464, -0.0073, 0.1162, -8.1436, 8.8, 1.2039, 0.2759, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f62b0ebb542c6ae982311e5a246eef16465da200ce8eaad512d3286e9309366d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b9728e4b9220cdd0155dbc3d2818547dd47ad1b4f51e1ce9829ddcd9d7be69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d68eea58a57302fa1d2a0d1c25a431f96eed6ade07d1563f9d3cab802018b4f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Right gripper is over the right basket interior (yellow marker visible inside). Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011LDGW2hrpQra2WrqtLFFHd",
      "input": {
        "note": "Right wrist cam shows the basket interior (with the yellow marker) directly below; dropping the held marker in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011LDGW2hrpQra2WrqtLFFHd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4252, -0.1501, 0.9967, 0.4786, 1.6485, 1.5677, -0.635, 0.3054, 0.2405, 0.9952]\nstate[eef_state]: left_x=0.4997 left_y=-0.0778 left_z=0.2111 left_yaw=0.1213 left_pitch=-0.0299 left_roll=0.1302 left_gripper=0.9967 right_x=0.4397 right_y=0.1723 right_z=0.2588 right_yaw=0.0767 right_pitch=-0.1101 right_roll=-0.0019 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -9.1829, 6.9402, 1.5897, -0.1294, -0.0708, -0.022, -0.1846, -9.0598, 7.1316, 1.7753, 0.149, -0.0122, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:571f20f6f23c6d4bbb5df1c381ab0c71cedff3af6922c5a6ea9762aabd90af85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96150bb4fff1aa971a3fec9b708f4d381f487e2094a59e52ea94a10550d1f9c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dd90a02fca58f46d102c9ffca9d69cf2729dac7bfad387765fed24dfde7091c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 4.481 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1501, 0.9967, 0.4438, 1.507, 0.271, 0.5468, 0.3031, 0.2443, 0.1529]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0298 left_roll=0.1304 left_gripper=0.9967 right_x=0.3143 right_y=0.095 right_z=0.0122 right_yaw=0.0428 right_pitch=-0.0861 right_roll=0.0129 right_gripper=0.1529\nstate[joint_eff]: [-0.0752, -9.265, 6.9675, 1.5849, -0.1978, -0.0708, -0.0073, -0.4308, -5.3128, 4.8889, 1.37, 0.0806, 0.0317, 1.0134]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3283, -0.4255, -0.1501, 0.9967, 0.4786, 1.6382, 1.5711, -0.6174, 0.3138, 0.2489, 0.1585]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0301 left_roll=0.1305 left_gripper=0.9967 right_x=0.4414 right_y=0.1716 right_z=0.2684 right_yaw=0.0664 right_pitch=-0.0793 right_roll=0.0122 right_gripper=0.1585\nstate[joint_eff]: [-0.3077, -9.1145, 6.9675, 1.5751, -0.2173, -0.0464, -0.0073, 0.1162, -8.1436, 8.8, 1.2039, 0.2759, 0.1685, 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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4252, -0.1501, 0.9967, 0.4786, 1.6485, 1.5677, -0.635, 0.3054, 0.2405, 0.9952]\nstate[eef_state]: left_x=0.4997 left_y=-0.0778 left_z=0.2111 left_yaw=0.1213 left_pitch=-0.0299 left_roll=0.1302 left_gripper=0.9967 right_x=0.4397 right_y=0.1723 right_z=0.2588 right_yaw=0.0767 right_pitch=-0.1101 right_roll=-0.0019 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -9.1829, 6.9402, 1.5897, -0.1294, -0.0708, -0.022, -0.1846, -9.0598, 7.1316, 1.7753, 0.149, -0.0122, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:571f20f6f23c6d4bbb5df1c381ab0c71cedff3af6922c5a6ea9762aabd90af85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96150bb4fff1aa971a3fec9b708f4d381f487e2094a59e52ea94a10550d1f9c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dd90a02fca58f46d102c9ffca9d69cf2729dac7bfad387765fed24dfde7091c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TUZ1zFchBB8mSZVJKE3Udz",
      "input": {
        "note": "Two markers are now in the right basket. The last item, a thin black pen, lies radially in front of the right basket; bringing the open right gripper down to straddle it.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.19,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01TUZ1zFchBB8mSZVJKE3Udz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1497, 0.9967, 0.8005, 1.7126, 0.4984, 0.4511, 0.5457, 0.4828, 0.9963]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1214 left_pitch=-0.0298 left_roll=0.1307 left_gripper=0.9967 right_x=0.3131 right_y=0.1963 right_z=0.012 right_yaw=0.0756 right_pitch=-0.0663 right_roll=0.0284 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -9.2239, 6.9675, 1.5849, -0.1978, -0.0659, -0.022, 0.6906, -3.535, 2.4684, 0.4713, -0.1978, -0.1148, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d44d47f90d6c659c7bb73afc402c2b2b0e0301aad26555cabe422c20f46e0472",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c54abef90615918d1db22a4498632088dc1dd42580e19a8353dc9f9890ca734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff5724b9c08e91552e1ac5e72705a26f3f80357bc95b22b386c17523946113d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 3.707 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3283, -0.4255, -0.1501, 0.9967, 0.4786, 1.6382, 1.5711, -0.6174, 0.3138, 0.2489, 0.1585]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0301 left_roll=0.1305 left_gripper=0.9967 right_x=0.4414 right_y=0.1716 right_z=0.2684 right_yaw=0.0664 right_pitch=-0.0793 right_roll=0.0122 right_gripper=0.1585\nstate[joint_eff]: [-0.3077, -9.1145, 6.9675, 1.5751, -0.2173, -0.0464, -0.0073, 0.1162, -8.1436, 8.8, 1.2039, 0.2759, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4252, -0.1501, 0.9967, 0.4786, 1.6485, 1.5677, -0.635, 0.3054, 0.2405, 0.9952]\nstate[eef_state]: left_x=0.4997 left_y=-0.0778 left_z=0.2111 left_yaw=0.1213 left_pitch=-0.0299 left_roll=0.1302 left_gripper=0.9967 right_x=0.4397 right_y=0.1723 right_z=0.2588 right_yaw=0.0767 right_pitch=-0.1101 right_roll=-0.0019 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -9.1829, 6.9402, 1.5897, -0.1294, -0.0708, -0.022, -0.1846, -9.0598, 7.1316, 1.7753, 0.149, -0.0122, -0.1832]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1497, 0.9967, 0.8005, 1.7126, 0.4984, 0.4511, 0.5457, 0.4828, 0.9963]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1214 left_pitch=-0.0298 left_roll=0.1307 left_gripper=0.9967 right_x=0.3131 right_y=0.1963 right_z=0.012 right_yaw=0.0756 right_pitch=-0.0663 right_roll=0.0284 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -9.2239, 6.9675, 1.5849, -0.1978, -0.0659, -0.022, 0.6906, -3.535, 2.4684, 0.4713, -0.1978, -0.1148, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d44d47f90d6c659c7bb73afc402c2b2b0e0301aad26555cabe422c20f46e0472",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c54abef90615918d1db22a4498632088dc1dd42580e19a8353dc9f9890ca734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff5724b9c08e91552e1ac5e72705a26f3f80357bc95b22b386c17523946113d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wgKEAgSGAI4AUIIdGhpbmtpbmcSDDiP44mDs29qKSoXLhoMGYtP/Q5eswrbAqlgIjB83veysuI0SvpN/hkngqitKEDohrgR1gM4o7SzMH6y9B4fZjL7UWr+oehzegXdASQqgAiib9Zw96cpi5o9wzczutm9Sxxqq3iN2XfFgMG3FOcuj4bMrJYKhF4gZRwymJBFBurTivbe7tTGzzsRgODNxTCxSEOy7ckKszx5cUIAG1OXV1ZfMn7APFxsSkKUAda4xOWneaCTAuC4pMyQoyYk+Q/BFGSQraBEAXDg4gN8LZR478pr+vtV6o/Qs1f885OJjMIO5T7XX1ktU2iQW8jKrtBBvvsgz4TSrO2mZLiQni8IWpGcYPdVNu2NalAFabC+gEzZJVlcubP5NTfljWnfd2hIRzLVJnAMDj3/aIFjhkPaF4chGQrqI8zWLZ/ojRIEkvomy4VCOhxgy9uDXcoYA1hJbZ/nV0cLhE1r98OxlZfxdK3HsNVxBu9zrSIvR0ZQqXjEB7tg+OjobneHd5dXKkw9txI1mYaZXCD6twqHIoUtfpH73Mr0fugScgjeBxz1MpSM8d8TwNF79amsoR/mc/nkkSxXtSLAsm1/ewxSxDy7mQjXUzqcFIj1IgOyblT0yx2wDasiwqau+B3y0eCoYwVe2djxSribRmMvoyl4cEazvzxyY26xDRCOOGJjfvJ2z6JOGVLpgb+sTDEM3DKyTFis0ntsqGephW9FxYz/97plct99yqPrWvzo2ypt6V02I2wR1tDTrFpcl7oIttiV39K7/Zo1aQUFsl1Me9OBiLH8VtJMDEd+m7TBw6uVNqbERvtCwZq7nrmJFMc8lR2Wy3kuWdnBHV5A/5sRFmeWdwF6dBVgV9RlW+gfGA7ZykEqnYYR+HjMNuLVdSK6X3nxtfvx7YeO9iaqJ18eDpMqwAF8FSBNx8Vzt40lMYp7sLyOoVjkjeL7/e6oOHzPpGxfpemKmbhqHpTaBTJtFO7H37zbx/7ssqDjAXRWLrMNU6uzp04dxIQX2DXKtCUYyQhx5xXRMrPg+NaY6t+yQAS9qej0nNnIrDBeWDzupEIZQrKcpHDeQBwq56KQdKQpsD7Qqs7UqimgJO0HMrPT+FoHHBb0K7Vwgku+zEhKdyHjJS4FDWrC24C7ON0OJcT7Uieu2SpXcLG+bHCU5RYHhSQZn3yjbExsxY3TWgQpkJzhbk2dKRHReIKXM4+MEji05UE1XH11Y1EsEoAXu+lvK3tM8BF31fv4BA3qh9J+NgDVCQhKtZRMrHV7mAs0jb+JCJ1RklYxklGzVqlhl1FVWQoxYcdW0shFDfdhf0dY6SKBuG0r6YhAX/zWR2zsDDvHIDxfzRZ+a4sWG2ljJPeyJlllWTZB/ble+A6SU1lk8qIZUNwdLcSuJafJADNO7ZY8RpfJsWzGYWQ2vj5iHX7WkFs0SZeA14wW3AVQ0wqnfV2y/MnCfDUwCu0KuXKEnLaFV9PORFhvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0156XwfLufkCSu4hWvDB6V57",
      "input": {
        "note": "The pen lies between the open jaws (slightly left of centre) at table level; pressing to the table and closing.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0156XwfLufkCSu4hWvDB6V57",
      "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]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1501, 0.9967, 0.804, 1.7908, 0.485, 0.6266, 0.5545, 0.4789, 0.1598]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0298 left_roll=0.1304 left_gripper=0.9967 right_x=0.3219 right_y=0.2053 right_z=0.0107 right_yaw=0.0762 right_pitch=0.0004 right_roll=0.0767 right_gripper=0.1598\nstate[joint_eff]: [-0.0752, -9.2376, 6.9675, 1.6435, -0.1978, -0.0415, -0.022, -0.4034, -4.1915, 3.5761, 0.9109, 0.0513, -0.0073, 1.0623]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f455b2a01dcb67d02b09b1b7bd4905827959d87afa868c85f239e660fe35e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe4204b6ffd7f4e3b301cd33c4d9ca25d02a55966670c00c7f3b5802c555267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83a408f701fd6483f796b699e7052b53b9b7c4551e37c2b00e4a9ca9c10f32b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 2.606 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4252, -0.1501, 0.9967, 0.4786, 1.6485, 1.5677, -0.635, 0.3054, 0.2405, 0.9952]\nstate[eef_state]: left_x=0.4997 left_y=-0.0778 left_z=0.2111 left_yaw=0.1213 left_pitch=-0.0299 left_roll=0.1302 left_gripper=0.9967 right_x=0.4397 right_y=0.1723 right_z=0.2588 right_yaw=0.0767 right_pitch=-0.1101 right_roll=-0.0019 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -9.1829, 6.9402, 1.5897, -0.1294, -0.0708, -0.022, -0.1846, -9.0598, 7.1316, 1.7753, 0.149, -0.0122, -0.1832]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1497, 0.9967, 0.8005, 1.7126, 0.4984, 0.4511, 0.5457, 0.4828, 0.9963]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1214 left_pitch=-0.0298 left_roll=0.1307 left_gripper=0.9967 right_x=0.3131 right_y=0.1963 right_z=0.012 right_yaw=0.0756 right_pitch=-0.0663 right_roll=0.0284 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -9.2239, 6.9675, 1.5849, -0.1978, -0.0659, -0.022, 0.6906, -3.535, 2.4684, 0.4713, -0.1978, -0.1148, 0.0904]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1501, 0.9967, 0.804, 1.7908, 0.485, 0.6266, 0.5545, 0.4789, 0.1598]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0298 left_roll=0.1304 left_gripper=0.9967 right_x=0.3219 right_y=0.2053 right_z=0.0107 right_yaw=0.0762 right_pitch=0.0004 right_roll=0.0767 right_gripper=0.1598\nstate[joint_eff]: [-0.0752, -9.2376, 6.9675, 1.6435, -0.1978, -0.0415, -0.022, -0.4034, -4.1915, 3.5761, 0.9109, 0.0513, -0.0073, 1.0623]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f455b2a01dcb67d02b09b1b7bd4905827959d87afa868c85f239e660fe35e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe4204b6ffd7f4e3b301cd33c4d9ca25d02a55966670c00c7f3b5802c555267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83a408f701fd6483f796b699e7052b53b9b7c4551e37c2b00e4a9ca9c10f32b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwgKEAgSGAI4AUIIdGhpbmtpbmcSDLbfA8G7df5a+POehRoMPOMFMfMZuF4Rab5TIjDLliauOPsOEq53HhfvMyPOVIp1zXjyz+aXEC0kQtM11RxBuXYDJlanYjusndHLu8UqoAeJaPHyaKyVDUQZOceeaQU/eWRi55/zFVEYuKaJgsgg8fr9y94WPKEk6bbobinH4w6xao6yJU9dkELX7NW7az5XgEwax4aCsShC57M/BMeE8/3JEzTAaR2ghrWVSgSz6zqO5zb1RbVuu/Ctkc0N0kesr0beQI0jhGzUWCeXGBZvpxlUucyPuW9/p015CuG/a43Rr46LlYG/ysBle2iZLxojMi9GOjTQgTNadEA+u77ogF3foNeGgRfzywTi0wTpaTZBMQs/MyCfCt4pAizcdnhtAz2et4ME7NSzBrAdUoPLIComaOitpJKOCqBVYJSr4XyNF6N8RvUqEpBBsP5EIz3tyHVr+9MpMwKbaW8U+6wFV1v6Coi5Reex+gi0Z0Bx0pGx7GCWoj8U1phq7CITNkrQAeEb9BokyjFQ0DQgqvwKRKOSjXM59Qu/mDbOgGP3+scI2ALiarONAwLRLjUkN8YWhMU/j4loMozzQj9wSegZpkmGbmLXwWTSefUicDBk8P9UJhNwIUHnVyHGvEZlpCbsuAQXqVFpDpl+C7JwGB8PzR8asqCxdDDS9pC0NEBh6PhsdxlmdU+MJeRKziDCT5vVTJ1JlzRxTWZJs1YKkEmdDLcpBiLUqjmIrTM4LtYhTITg6WTQGv9ovxmSJAzq2ED82WQEwBd0zk2fC7hMqm5vr4P2x31+YRGihiLj5DmSWABEC7YLpPDYdTscJrtPvHdXPehEIMFn4bGk/KistCy/fcD6VzetyvIH54rEAiQ2inPFMVpErgk5JXgwjyGduse0/m2RSr8lXhHIMPFBySwW2poxD0J0S9qDoXLA5QzJrqb7k8taHG0rMDv/lybZea0ORUJSLiWKJeD3LNhBP6DTS3vAZJ4cd4mUNdn9iRnAiAaajbwIh0h2iAQH0SAWknrr6lPWuiZj5rULxcrzvFBoqFV0w1DugAXemUVed14OI2zKYMfxjmwg74QERRfJ10ziq8VPdtefruFhZOCItxCxKQ7nwzckumqPlYMGhaip5DxGCSwEh6QmJ0gI6PVmeCjdiXsX2yqQ8r9CTRQ8FT0zbBWThuumGOvJzGg6+GqjrrDnMYzDWiSl/myIjDANF9i6XmNp+7WorpfsnYEOd9lJACYkhr/WEQ72ZV9OfIuvh6HtzWblAhMVeARoK4jh6L0qjRBjeSc4zghjb3oUJyfam0xNYwA/ontbB2+mnSXZ1EOums5LyFhDOtJUwUmmjBsuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0119gREbz4HAekSPLpjVrpcS",
      "input": {
        "note": "The pen is centred between the closed jaws (reading 0.16). Lifting it steeply over the near half of the right basket.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.17,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_0119gREbz4HAekSPLpjVrpcS",
      "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]: [-0.3061, 1.7412, 1.4174, -0.3283, -0.4255, -0.1501, 0.9967, 0.4751, 1.562, 1.417, -0.4389, 0.2878, 0.2649, 0.1609]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0301 left_roll=0.1305 left_gripper=0.9967 right_x=0.4381 right_y=0.173 right_z=0.2681 right_yaw=0.0773 right_pitch=0.0068 right_roll=0.0792 right_gripper=0.1609\nstate[joint_eff]: [-0.0342, -9.265, 6.9402, 1.6093, -0.1587, -0.0464, -0.022, -0.7863, -7.0632, 9.6342, 1.453, 0.0659, -0.0464, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d889378bf1cfe9c284e0e880cdd4d6f251e6810e195746d3554c89f9749c6af2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3468d4730721de100b1b4f33502840935935ea7ee15625e03c7f608999b6a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee19e091f23e25aec76cc5d3b4a6c49c483d0c5a4c6f900ec5a9e4988b05f13e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 9.332 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1497, 0.9967, 0.8005, 1.7126, 0.4984, 0.4511, 0.5457, 0.4828, 0.9963]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1214 left_pitch=-0.0298 left_roll=0.1307 left_gripper=0.9967 right_x=0.3131 right_y=0.1963 right_z=0.012 right_yaw=0.0756 right_pitch=-0.0663 right_roll=0.0284 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -9.2239, 6.9675, 1.5849, -0.1978, -0.0659, -0.022, 0.6906, -3.535, 2.4684, 0.4713, -0.1978, -0.1148, 0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1501, 0.9967, 0.804, 1.7908, 0.485, 0.6266, 0.5545, 0.4789, 0.1598]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0298 left_roll=0.1304 left_gripper=0.9967 right_x=0.3219 right_y=0.2053 right_z=0.0107 right_yaw=0.0762 right_pitch=0.0004 right_roll=0.0767 right_gripper=0.1598\nstate[joint_eff]: [-0.0752, -9.2376, 6.9675, 1.6435, -0.1978, -0.0415, -0.022, -0.4034, -4.1915, 3.5761, 0.9109, 0.0513, -0.0073, 1.0623]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3283, -0.4255, -0.1501, 0.9967, 0.4751, 1.562, 1.417, -0.4389, 0.2878, 0.2649, 0.1609]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1216 left_pitch=-0.0301 left_roll=0.1305 left_gripper=0.9967 right_x=0.4381 right_y=0.173 right_z=0.2681 right_yaw=0.0773 right_pitch=0.0068 right_roll=0.0792 right_gripper=0.1609\nstate[joint_eff]: [-0.0342, -9.265, 6.9402, 1.6093, -0.1587, -0.0464, -0.022, -0.7863, -7.0632, 9.6342, 1.453, 0.0659, -0.0464, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d889378bf1cfe9c284e0e880cdd4d6f251e6810e195746d3554c89f9749c6af2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3468d4730721de100b1b4f33502840935935ea7ee15625e03c7f608999b6a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee19e091f23e25aec76cc5d3b4a6c49c483d0c5a4c6f900ec5a9e4988b05f13e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019gbuiCcYbxATVaegw588Qu",
      "input": {
        "note": "Pen is held over the right basket, which already has the other two markers in it; releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019gbuiCcYbxATVaegw588Qu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3061, 1.7412, 1.4174, -0.3279, -0.4255, -0.1497, 0.9967, 0.4717, 1.5711, 1.4143, -0.4587, 0.2783, 0.2562, 0.9952]\nstate[eef_state]: left_x=0.4997 left_y=-0.0777 left_z=0.2111 left_yaw=0.1214 left_pitch=-0.0298 left_roll=0.1307 left_gripper=0.9967 right_x=0.4369 right_y=0.1724 right_z=0.2586 right_yaw=0.0863 right_pitch=-0.0242 right_roll=0.0647 right_gripper=0.9952\nstate[joint_eff]: [-0.1299, -9.1692, 6.9402, 1.663, -0.188, -0.0122, -0.022, 0.1846, -8.4308, 7.1726, 1.8877, 0.1099, 0.1001, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e75a760523dcceee32984cd5f01e7ff237a35c03793e3923aae28f356e92c985",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df079f3dbe58bd53754ec7ad740e883c9779a8efb8538246a69e24fa98b862f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba384250875324917103bd2811d71a0e578f2a19240a2eb5539ae26e671d5674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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