adhoc - adhoc_40938102.json

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: 331.4 s
total steps: 393

operator

scenes

trials

errored

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

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

user

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

step 0

assistant

agent noteScene: two teal baskets at the back; plush toys (teddy bear, gray plush) and writing tools (yellow highlighter, two pens) in front. Plan: plush → left basket, pens → right basket. Left wrist cam shows the highlighter just ahead of the jaws, so I lower the left arm to look closer.

move_to

left_x0.3200left_y0.0000left_z0.0800left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 0.8013, 0.617, -0.3782, -0.0216, -0.033, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2971 left_y=0.0005 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2971 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.1299, -1.8393, 9.4017, 1.7802, -0.0269, 0.1685, -0.0562, -0.8, -1.4838, 9.7709, 1.6874, -0.1099, -0.022, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.32, "left_y": 0.0, "left_z": 0.08, "left_gripper": 1.0}, "note": "Scene: two teal baskets at the back; plush toys (teddy bear, gray plush) and writing tools (yellow highlighter, two pens) in front. Plan: plush \u2192 left basket, pens \u2192 right basket. Left wrist cam shows the highlighter just ahead of the jaws, so I lower the left arm to look closer."})

tool

executing move_to over 7 steps (0.7s)

step 7

assistant

agent noteHighlighter sits right on the jaw column at the bottom of the left wrist view, lying radially so the jaws can close across it. Descending to table level with a small forward nudge.

move_to

left_x0.3300left_z-0.0100

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 1.0977, 0.2874, 0.2108, -0.0219, -0.0372, 0.9996, -0.0193, 0.8024, 0.6121, -0.384, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.316 left_y=0.0002 left_z=0.0718 left_yaw=0.0026 left_pitch=-0.037 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2958 right_y=0.0 right_z=0.1805 right_yaw=-0.0036 right_pitch=-0.0156 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1026, -3.1248, 6.147, 1.9707, -0.0269, -0.0122, -0.0562, 0.2393, -1.5521, 7.1453, 1.9316, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_z": -0.01}, "note": "Highlighter sits right on the jaw column at the bottom of the left wrist view, lying radially so the jaws can close across it. Descending to table level with a small forward nudge."})

tool

executing move_to over 6 steps (0.6s)

step 13

assistant

agent noteAt table level with the highlighter centred between the jaws in the wrist view; 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]: [-0.0223, 1.6989, 0.1909, 0.944, -0.0341, -0.0227, 0.9995, -0.02, 0.8055, 0.6121, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3377 left_y=0.0021 left_z=0.0014 left_yaw=0.0059 left_pitch=-0.0014 left_roll=0.0155 left_gripper=0.9995 right_x=0.2958 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0044 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.294, -3.8496, 2.6325, 1.0281, 0.0904, -0.1978, -0.0171, 0.0342, -0.9915, 7.0222, 1.7949, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "At table level with the highlighter centred between the jaws in the wrist view; closing."})

tool

executing move_to over 10 steps (1.0s)

step 23

assistant

agent noteGripper settled at 0.15 (~1.4 cm) — highlighter grasped. Lifting. Each arm seems to reach only its own basket, so I'll set the highlighter down at the centre line for the right arm to take to the pens basket.

move_to

left_z0.2000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0227, 1.7065, 0.1886, 0.9642, -0.0437, -0.0227, 0.1519, -0.02, 0.8097, 0.6083, -0.3859, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3386 left_y=0.0036 left_z=0.0026 left_yaw=0.0136 left_pitch=0.009 left_roll=0.0202 left_gripper=0.1519 right_x=0.2955 right_y=-0.0002 right_z=0.1764 right_yaw=-0.0044 right_pitch=-0.0286 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0205, -5.7504, 3.3846, 1.5507, 0.0708, -0.0415, 1.0134, -0.3077, -1.6889, 7.4735, 1.7314, -0.0757, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.15 (~1.4 cm) \u2014 highlighter grasped. Lifting. Each arm seems to reach only its own basket, so I'll set the highlighter down at the centre line for the right arm to take to the pens basket."})

tool

executing move_to over 13 steps (1.3s)

step 36

assistant

agent noteCarrying the highlighter toward the empty table area at the centre line, in front of the plush toys, to hand it off to the right arm.

move_to

left_x0.2000left_y-0.3000left_z0.1500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0231, 1.0115, 0.7097, -0.2703, -0.0444, -0.0265, 0.1519, -0.02, 0.8139, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3393 left_y=0.0036 left_z=0.1869 left_yaw=0.0159 left_pitch=-0.0092 left_roll=0.0181 left_gripper=0.1519 right_x=0.2959 right_y=-0.0002 right_z=0.1752 right_yaw=-0.0046 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1709, -4.1094, 9.265, 1.4579, -0.0366, -0.0073, 1.0281, -0.0889, -1.4974, 7.2, 1.7411, -0.0366, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.2, "left_y": -0.3, "left_z": 0.15}, "note": "Carrying the highlighter toward the empty table area at the centre line, in front of the plush toys, to hand it off to the right arm."})

tool

executing move_to over 27 steps (2.7s)

step 63

assistant

agent noteThe teddy's feet are just ahead of the jaws, so I pull back toward the base a bit and lower to set the highlighter down on clear table at the centre line.

move_to

left_x0.1500left_z0.0400

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]: [-1.4094, 1.6772, 1.1793, -0.868, -0.9634, -1.3212, 0.1586, -0.02, 0.8177, 0.6075, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.1992 left_y=-0.2984 left_z=0.1431 left_yaw=0.0073 left_pitch=-0.0307 left_roll=0.0174 left_gripper=0.1586 right_x=0.296 right_y=-0.0002 right_z=0.174 right_yaw=-0.0044 right_pitch=-0.0366 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.0769, 7.6239, 0.442, -0.6911, -0.0611, 1.0281, -0.1709, -1.388, 7.1316, 1.7118, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.15, "left_z": 0.04}, "note": "The teddy's feet are just ahead of the jaws, so I pull back toward the base a bit and lower to set the highlighter down on clear table at the centre line."})

tool

executing move_to over 7 steps (0.7s)

step 70

assistant

agent noteHighlighter is ~4 cm above clear table in front of the teddy; releasing it here for handoff.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.5684, 1.8915, 1.005, -0.712, -0.9653, -1.5787, 0.1586, -0.02, 0.8177, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.1495 left_y=-0.2993 left_z=0.0403 left_yaw=-0.005 left_pitch=-0.0434 left_roll=0.0371 left_gripper=0.1586 right_x=0.2961 right_y=-0.0002 right_z=0.1742 right_yaw=-0.0046 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1983, -8.1299, 4.6291, 0.2906, -0.6325, -0.0659, 1.0379, -0.0479, -1.388, 7.2137, 1.7118, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Highlighter is ~4 cm above clear table in front of the teddy; releasing it here for handoff."})

tool

executing move_to over 9 steps (0.9s)

step 79

assistant

agent noteHighlighter dropped on clear table at the centre line. Now the left arm will put the plush toys in the left basket; moving up and slightly forward over the teddy to find a grippable limb.

move_to

left_x0.2000left_z0.1000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.5711, 1.8965, 1.0, -0.712, -0.9642, -1.5856, 0.9954, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.1486 left_y=-0.2977 left_z=0.0377 left_yaw=-0.0035 left_pitch=-0.0444 left_roll=0.0414 left_gripper=0.9954 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0046 right_pitch=-0.0374 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [0.1299, -8.6496, 5.1077, 0.2369, -0.5201, 0.0659, -0.1587, -0.1983, -1.4701, 7.2274, 1.7363, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.2, "left_z": 0.1}, "note": "Highlighter dropped on clear table at the centre line. Now the left arm will put the plush toys in the left basket; moving up and slightly forward over the teddy to find a grippable limb."})

tool

executing move_to over 5 steps (0.5s)

step 84

assistant

agent noteThe teddy's foot is squarely between the jaws in the left wrist view; descending onto the leg to grab it.

move_to

left_z0.0300

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.3979, 1.7561, 1.0492, -0.709, -0.9428, -1.3228, 0.9967, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.1995 left_y=-0.2906 left_z=0.0864 left_yaw=0.0179 left_pitch=-0.0584 left_roll=0.0625 left_gripper=0.9967 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0044 right_pitch=-0.0374 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.3761, -9.6752, 7.4872, 0.5348, -0.5836, 0.2271, 0.1245, -0.0615, -1.388, 7.0359, 1.6923, -0.0317, -0.0659, -0.0171] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.03}, "note": "The teddy's foot is squarely between the jaws in the left wrist view; descending onto the leg to grab it."})

tool

executing move_to over 4 steps (0.4s)

step 88

assistant

agent noteJaws are straddling the teddy's leg near the table; closing to grab it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.3991, 1.8748, 0.9512, -0.5087, -0.9401, -1.3163, 0.9968, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.1985 left_y=-0.2888 left_z=0.0322 left_yaw=0.0139 left_pitch=-0.0638 left_roll=0.0835 left_gripper=0.9968 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0046 right_pitch=-0.0374 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0342, -7.6786, 4.4103, 0.6862, -0.5543, -0.0806, 0.0024, -0.0205, -1.388, 6.9949, 1.7509, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are straddling the teddy's leg near the table; closing to grab it."})

tool

executing move_to over 10 steps (1.0s)

step 98

assistant

agent noteClose was empty (0.01) — the jaws were just short of the teddy's foot. Opening and lifting slightly before advancing.

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]: [-1.3991, 1.8763, 0.9497, -0.5068, -0.9386, -1.3163, 0.0115, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.1983 left_y=-0.2886 left_z=0.0313 left_yaw=0.0138 left_pitch=-0.0655 left_roll=0.0844 left_gripper=0.0115 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0044 right_pitch=-0.0374 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1436, -8.2393, 4.8479, 0.4664, -0.569, -0.0317, 0.9402, -0.1299, -1.2513, 7.0359, 1.746, -0.022, -0.0659, -0.0171] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "left_z": 0.06}, "note": "Close was empty (0.01) \u2014 the jaws were just short of the teddy's foot. Opening and lifting slightly before advancing."})

tool

executing move_to over 10 steps (1.0s)

step 108

assistant

agent noteTeddy foot fills the view just ahead of the jaws; advancing ~3.5 cm and lowering so the jaws straddle the leg.

move_to

left_x0.2350left_z0.0150

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.3991, 1.837, 0.9783, -0.5972, -0.9348, -1.319, 0.9987, -0.02, 0.8185, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.1974 left_y=-0.2853 left_z=0.0468 left_yaw=0.0162 left_pitch=-0.0726 left_roll=0.104 left_gripper=0.9987 right_x=0.296 right_y=-0.0002 right_z=0.1737 right_yaw=-0.0046 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0205, -9.9897, 7.0222, 0.2808, -0.5495, -0.0122, -0.022, -0.1026, -1.3607, 7.0085, 1.7411, -0.0366, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.235, "left_z": 0.015}, "note": "Teddy foot fills the view just ahead of the jaws; advancing ~3.5 cm and lowering so the jaws straddle the leg."})

tool

executing move_to over 3 steps (0.3s)

step 111

assistant

agent noteTeddy's leg is now pressed into the open 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]: [-1.2789, 1.911, 0.9298, -0.3309, -0.9203, -1.1362, 0.9983, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2357 left_y=-0.2835 left_z=0.0196 left_yaw=0.0263 left_pitch=-0.0671 left_roll=0.1078 left_gripper=0.9983 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0044 right_pitch=-0.0381 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.212, -7.8564, 4.041, 0.8718, -0.4225, 0.022, -0.0513, -0.1026, -1.347, 7.1863, 1.7607, -0.022, -0.0659, -0.0122] 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_gripper": 0.0}, "note": "Teddy's leg is now pressed into the open jaws; closing."})

tool

executing move_to over 10 steps (1.0s)

step 121

assistant

agent noteSecond close also empty; the jaws seem to be under the raised teddy foot. Opening and raising to leg height to try closing on the leg higher up.

move_to

left_gripper1.0000left_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]: [-1.2793, 1.911, 0.9291, -0.3267, -0.9173, -1.137, 0.0113, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2355 left_y=-0.2843 left_z=0.0192 left_yaw=0.0253 left_pitch=-0.069 left_roll=0.103 left_gripper=0.0113 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1709, -8.5675, 4.9573, 0.6667, -0.5201, -0.0024, 0.9255, -0.0889, -1.306, 7.2137, 1.6923, -0.0269, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "left_z": 0.05}, "note": "Second close also empty; the jaws seem to be under the raised teddy foot. Opening and raising to leg height to try closing on the leg higher up."})

tool

executing move_to over 10 steps (1.0s)

step 131

assistant

agent noteThe fluffy foot sits just beyond the jaws at leg height; pushing 3 cm further in so the jaws wrap the leg.

move_to

left_x0.2650left_z0.0400

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]: [-1.2793, 1.8618, 0.9501, -0.4328, -0.9123, -1.1412, 0.9961, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.233 left_y=-0.2778 left_z=0.0345 left_yaw=0.0289 left_pitch=-0.0828 left_roll=0.1331 left_gripper=0.9961 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1299, -10.4684, 7.3094, 0.5201, -0.5397, -0.0317, -0.1978, -0.0889, -1.2376, 7.0769, 1.6825, -0.0269, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.265, "left_z": 0.04}, "note": "The fluffy foot sits just beyond the jaws at leg height; pushing 3 cm further in so the jaws wrap the leg."})

tool

executing move_to over 3 steps (0.3s)

step 134

assistant

agent notePlush fur fills the whole wrist view — the jaws are into the teddy's foot/leg. 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]: [-1.1831, 1.858, 0.9543, -0.3473, -0.8822, -1.0225, 0.9968, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2622 left_y=-0.2718 left_z=0.0369 left_yaw=0.0454 left_pitch=-0.0912 left_roll=0.1298 left_gripper=0.9968 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0044 right_pitch=-0.0385 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.2803, -7.3641, 6.4752, 0.8816, -0.5348, 0.1636, 0.0611, -0.0479, -1.4017, 7.2821, 1.7314, -0.022, -0.0513, -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

move_to({"targets": {"left_gripper": 0.0}, "note": "Plush fur fills the whole wrist view \u2014 the jaws are into the teddy's foot/leg. Closing."})

tool

executing move_to over 10 steps (1.0s)

step 144

assistant

agent noteReading 0.016 — may be just a pinch of fur. Lifting to check whether the teddy comes along.

move_to

left_z0.1200

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1805, 1.858, 0.9546, -0.342, -0.8822, -1.0012, 0.0158, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2633 left_y=-0.272 left_z=0.0373 left_yaw=0.0362 left_pitch=-0.0908 left_roll=0.1414 left_gripper=0.0158 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0044 right_pitch=-0.0381 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.4718, -7.9111, 6.2838, 0.8913, -0.5055, 0.0708, 0.6862, -0.1026, -1.1966, 7.0085, 1.746, -0.0415, -0.0611, -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_z": 0.12}, "note": "Reading 0.016 \u2014 may be just a pinch of fur. Lifting to check whether the teddy comes along."})

tool

executing move_to over 6 steps (0.6s)

step 150

assistant

agent noteFur still hangs in front of the wrist cam after lifting and z sags under load, so the teddy looks held. Raising high to clear the basket wall while heading toward the left basket.

move_to

left_z0.2500left_x0.3000left_y-0.1800

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1801, 1.7397, 1.1091, -0.6693, -0.8562, -1.0096, 0.0197, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2589 left_y=-0.2689 left_z=0.0973 left_yaw=0.0382 left_pitch=-0.1322 left_roll=0.1777 left_gripper=0.0197 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.3624, -10.865, 7.9385, 0.5836, -0.7497, 0.0269, 1.033, -0.1299, -1.347, 7.2957, 1.6874, -0.0464, -0.0464, -0.0171] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.25, "left_x": 0.3, "left_y": -0.18}, "note": "Fur still hangs in front of the wrist cam after lifting and z sags under load, so the teddy looks held. Raising high to clear the basket wall while heading toward the left basket."})

tool

executing move_to over 10 steps (1.0s)

step 160

assistant

agent noteTeddy is dangling from the left jaws. Moving forward over the centre of the left basket.

move_to

left_x0.4200left_y-0.1300left_z0.2500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8997, 1.4368, 1.3315, -0.9947, -0.717, -0.6571, 0.0197, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.297 left_y=-0.1815 left_z=0.2266 left_yaw=0.0414 left_pitch=-0.1897 left_roll=0.2051 left_gripper=0.0197 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0046 right_pitch=-0.0381 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1573, -8.0068, 9.0598, 1.1062, -0.6276, 0.1441, 1.0281, -0.1846, -1.1829, 7.0222, 1.707, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.13, "left_z": 0.25}, "note": "Teddy is dangling from the left jaws. Moving forward over the centre of the left basket."})

tool

executing move_to over 10 steps (1.0s)

step 170

assistant

agent noteGripper is over the left basket's right side; shifting a little toward its centre and lowering before release.

move_to

left_y-0.0900left_z0.1800

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4995, 1.6382, 1.5414, -0.8455, -0.4706, -0.2687, 0.0199, -0.02, 0.8211, 0.6075, -0.3851, -0.0116, -0.0162, 0.9997] state[eef_state]: left_x=0.4098 left_y=-0.1283 left_z=0.2275 left_yaw=0.043 left_pitch=-0.2615 left_roll=0.2189 left_gripper=0.0199 right_x=0.2963 right_y=-0.0003 right_z=0.173 right_yaw=-0.0049 right_pitch=-0.0401 right_roll=0.0004 right_gripper=0.9997 state[joint_eff]: [-0.1299, -8.212, 9.6068, 1.5897, -0.4469, 0.1245, 1.033, -0.0752, -1.4291, 7.0359, 1.7314, -0.0366, -0.0513, -0.0171] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.09, "left_z": 0.18}, "note": "Gripper is over the left basket's right side; shifting a little toward its centre and lowering before release."})

tool

executing move_to over 4 steps (0.4s)

step 174

assistant

agent noteTeddy is hanging at the basket's front-right rim, not inside. Lifting and shifting left/forward toward the basket's centre.

move_to

left_x0.4400left_y-0.0200left_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]: [-0.3977, 1.6005, 1.2789, -0.6952, -0.4168, -0.2081, 0.0229, -0.02, 0.8211, 0.6075, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3989 left_y=-0.0861 left_z=0.1585 left_yaw=0.081 left_pitch=-0.356 left_roll=0.2574 left_gripper=0.0229 right_x=0.2962 right_y=-0.0002 right_z=0.173 right_yaw=-0.0046 right_pitch=-0.0404 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.4855, -10.6188, 7.8017, 1.6093, -0.1392, 0.0757, 0.8376, -0.2256, -1.2239, 7.1316, 1.7216, -0.0366, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.02, "left_z": 0.24}, "note": "Teddy is hanging at the basket's front-right rim, not inside. Lifting and shifting left/forward toward the basket's centre."})

tool

executing move_to over 6 steps (0.6s)

step 180

assistant

agent noteTeddy now hangs 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]: [-0.1837, 1.6863, 1.6333, -0.9234, -0.3016, -0.0536, 0.0239, -0.02, 0.8246, 0.6075, -0.3855, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4349 left_y=-0.0238 left_z=0.2235 left_yaw=0.1067 left_pitch=-0.3757 left_roll=0.2453 left_gripper=0.0239 right_x=0.2964 right_y=-0.0003 right_z=0.172 right_yaw=-0.0049 right_pitch=-0.0439 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.2256, -8.1846, 8.8137, 1.2088, -0.149, 0.1636, 0.9499, -0.1573, -1.7026, 7.3641, 1.6923, -0.0171, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Teddy now hangs over the left basket; releasing it."})

tool

executing move_to over 10 steps (1.0s)

step 190

assistant

agent noteThe teddy dropped onto the table just to the right of/in front of the left basket, right under the gripper. Descending onto it to re-grab.

move_to

left_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]: [-0.1856, 1.6943, 1.6379, -0.9337, -0.2909, -0.0605, 0.9954, -0.02, 0.8249, 0.6075, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4344 left_y=-0.0264 left_z=0.2201 left_yaw=0.1009 left_pitch=-0.3905 left_roll=0.2359 left_gripper=0.9954 right_x=0.2965 right_y=-0.0002 right_z=0.172 right_yaw=-0.0044 right_pitch=-0.0439 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2393, -8.9641, 6.1333, 1.3895, -0.2515, 0.0171, -0.0513, -0.0615, -1.4564, 7.0769, 1.6825, -0.0317, -0.0806, -0.0171] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.07}, "note": "The teddy dropped onto the table just to the right of/in front of the left basket, right under the gripper. Descending onto it to re-grab."})

tool

executing move_to over 10 steps (1.0s)

step 200

assistant

agent noteJaws are buried in the teddy's body; closing to re-grab it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1856, 1.7458, 1.1229, -0.4095, -0.2897, -0.0605, 0.9968, -0.02, 0.8276, 0.6067, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4254 left_y=-0.0249 left_z=0.0724 left_yaw=0.1051 left_pitch=-0.4314 left_roll=0.2481 left_gripper=0.9968 right_x=0.2965 right_y=-0.0002 right_z=0.1708 right_yaw=-0.0046 right_pitch=-0.0477 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1846, -7.6923, 6.4068, 1.2967, -0.1783, -0.0171, 0.1294, -0.0752, -1.4974, 7.1179, 1.6923, -0.0317, -0.0366, -0.0171] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are buried in the teddy's body; closing to re-grab it."})

tool

executing move_to over 10 steps (1.0s)

step 210

assistant

agent noteClosed on the teddy (fur grip, reading low). Lifting high and moving further left/forward toward the left basket centre, which the overhead view shows is left of where I dropped it.

move_to

left_z0.2500left_x0.4700left_y0.0500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1864, 1.7588, 1.1122, -0.4023, -0.2913, -0.0608, 0.0114, -0.02, 0.828, 0.6067, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4231 left_y=-0.0245 left_z=0.0643 left_yaw=0.1082 left_pitch=-0.4467 left_roll=0.2545 left_gripper=0.0114 right_x=0.2965 right_y=-0.0002 right_z=0.1707 right_yaw=-0.0046 right_pitch=-0.0481 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [0.0479, -9.6615, 7.2137, 1.1013, -0.1392, -0.0171, 0.9206, -0.0342, -1.4564, 7.2547, 1.7411, -0.0317, -0.0269, -0.0171] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.25, "left_x": 0.47, "left_y": 0.05}, "note": "Closed on the teddy (fur grip, reading low). Lifting high and moving further left/forward toward the left basket centre, which the overhead view shows is left of where I dropped it."})

tool

executing move_to over 12 steps (1.2s)

step 222

assistant

agent noteTeddy is held and now hangs over the left basket in the overhead view; releasing.

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]: [0.025, 1.8984, 1.9732, -1.0904, -0.1886, 0.0986, 0.0117, -0.02, 0.8303, 0.6067, -0.3866, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4721 left_y=0.0485 left_z=0.2332 left_yaw=0.1304 left_pitch=-0.453 left_roll=0.2464 left_gripper=0.0117 right_x=0.2965 right_y=-0.0002 right_z=0.1698 right_yaw=-0.0046 right_pitch=-0.0515 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [0.335, -10.3453, 8.2667, 1.2088, -0.1832, 0.2564, 0.7985, -0.1436, -1.5521, 7.0085, 1.6874, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Teddy is held and now hangs over the left basket in the overhead view; releasing."})

tool

executing move_to over 10 steps (1.0s)

step 232

assistant

agent noteTeddy is in the left basket. To save calls I'm working both arms at once: left arm hovers over the small brown plush bear, right arm over the nearer pen (pens/highlighter go to the right basket).

move_to

left_x0.3400left_y-0.0800left_z0.1000right_x0.2900right_y0.2400right_z0.1000right_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]: [0.0277, 1.9087, 1.9766, -1.1053, -0.1833, 0.0921, 0.9943, -0.02, 0.8314, 0.6067, -0.3859, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4706 left_y=0.0488 left_z=0.2278 left_yaw=0.133 left_pitch=-0.4743 left_roll=0.24 left_gripper=0.9943 right_x=0.2967 right_y=-0.0002 right_z=0.1697 right_yaw=-0.0044 right_pitch=-0.0519 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4718, -10.7145, 6.0103, 1.3895, -0.2173, 0.0757, 0.2369, -0.2256, -1.388, 7.0085, 1.6679, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.34, "left_y": -0.08, "left_z": 0.1, "right_x": 0.29, "right_y": 0.24, "right_z": 0.1, "right_gripper": 1.0}, "note": "Teddy is in the left basket. To save calls I'm working both arms at once: left arm hovers over the small brown plush bear, right arm over the nearer pen (pens/highlighter go to the right basket)."})

tool

executing move_to over 21 steps (2.1s)

step 253

assistant

agent noteRight wrist view: pen lies on the jaw column, so descending to the table. Left wrist view: small bear at the bottom, slightly right; nudging right and descending onto it.

move_to

left_y-0.0900left_z0.0250right_z-0.0050

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4274, 1.5406, 1.0412, -0.693, -0.3737, -0.3058, 0.9965, 1.0, 1.544, 0.7914, -0.1989, 0.7322, 0.6975, 0.9998] state[eef_state]: left_x=0.3398 left_y=-0.08 left_z=0.0934 left_yaw=0.1117 left_pitch=-0.5148 left_roll=0.2553 left_gripper=0.9965 right_x=0.2853 right_y=0.2324 right_z=0.0883 right_yaw=0.0289 right_pitch=-0.0924 right_roll=-0.0376 right_gripper=0.9998 state[joint_eff]: [-0.1709, -8.5812, 6.2154, 1.1404, -0.3834, -0.0659, 0.2125, 0.4171, -6.612, 8.0205, 1.199, 0.6374, 0.149, -0.0366] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.09, "left_z": 0.025, "right_z": -0.005}, "note": "Right wrist view: pen lies on the jaw column, so descending to the table. Left wrist view: small bear at the bottom, slightly right; nudging right and descending onto it."})

tool

executing move_to over 7 steps (0.7s)

step 260

assistant

agent noteBear is at the bottom centre of the left wrist view and the pen is centred in the right one; closing both grippers (right pressing slightly lower to reach the thin pen).

move_to

left_gripper0.0000right_gripper0.0000right_z-0.0200

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]: [-0.4553, 1.652, 0.8963, -0.4667, -0.382, -0.3305, 0.9968, 1.0042, 1.7943, 0.6533, 0.2115, 0.7479, 0.704, 0.9997] state[eef_state]: left_x=0.3365 left_y=-0.0874 left_z=0.031 left_yaw=0.1146 left_pitch=-0.5328 left_roll=0.2677 left_gripper=0.9968 right_x=0.2886 right_y=0.2366 right_z=0.0119 right_yaw=0.0214 right_pitch=-0.0695 right_roll=-0.0211 right_gripper=0.9997 state[joint_eff]: [-0.3761, -6.2291, 4.9573, 1.0085, -0.2808, -0.0952, 0.0122, -0.3761, -4.8479, 2.9744, 0.4664, -0.0806, -0.1245, -0.0122] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0, "right_gripper": 0.0, "right_z": -0.02}, "note": "Bear is at the bottom centre of the left wrist view and the pen is centred in the right one; closing both grippers (right pressing slightly lower to reach the thin pen)."})

tool

executing move_to over 10 steps (1.0s)

step 270

assistant

agent noteRight gripper settled at 0.15 — pen held; carrying it up toward the right basket. Left close was empty (0.01), so opening, lifting a bit and advancing 2.5 cm for a retry on the small bear.

move_to

right_x0.4600right_y0.1900right_z0.2500left_gripper1.0000left_z0.0700left_x0.3600

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]: [-0.4549, 1.6646, 0.8871, -0.458, -0.3817, -0.3328, 0.0114, 1.0042, 1.8847, 0.646, 0.4099, 0.7856, 0.6994, 0.1491] state[eef_state]: left_x=0.3344 left_y=-0.0863 left_z=0.0249 left_yaw=0.1202 left_pitch=-0.5436 left_roll=0.2743 left_gripper=0.0114 right_x=0.3009 right_y=0.247 right_z=0.0075 right_yaw=0.0017 right_pitch=0.01 right_roll=0.0436 right_gripper=0.1491 state[joint_eff]: [-0.212, -7.9795, 6.2838, 0.7741, -0.2027, -0.0073, 0.8669, -0.1436, -4.4239, 2.6598, 0.7155, -0.1538, 0.0366, 0.9939] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.19, "right_z": 0.25, "left_gripper": 1.0, "left_z": 0.07, "left_x": 0.36}, "note": "Right gripper settled at 0.15 \u2014 pen held; carrying it up toward the right basket. Left close was empty (0.01), so opening, lifting a bit and advancing 2.5 cm for a retry on the small bear."})

tool

executing move_to over 16 steps (1.6s)

step 286

assistant

agent noteRight wrist view shows the pen directly over the right basket — releasing it. Overhead view shows the brown bear slightly behind the left gripper, so moving the left arm back to x 0.31 and straightening its wrist pitch.

move_to

right_gripper1.0000left_x0.3100left_y-0.0850left_z0.0600left_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]: [-0.4236, 1.6646, 1.0557, -0.6277, -0.374, -0.3065, 0.9973, 0.5446, 1.6752, 1.4212, -0.3454, 0.437, 0.3351, 0.1538] state[eef_state]: left_x=0.3533 left_y=-0.0846 left_z=0.0626 left_yaw=0.1299 left_pitch=-0.5523 left_roll=0.282 left_gripper=0.9973 right_x=0.4559 right_y=0.1929 right_z=0.2414 right_yaw=-0.002 right_pitch=0.0212 right_roll=0.0535 right_gripper=0.1538 state[joint_eff]: [0.4444, -6.9265, 8.4034, 0.9402, -0.1832, 0.0611, -0.022, -0.4855, -7.9658, 8.7863, 1.4188, 0.1538, -0.0464, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0, "left_x": 0.31, "left_y": -0.085, "left_z": 0.06, "left_pitch": 0.0}, "note": "Right wrist view shows the pen directly over the right basket \u2014 releasing it. Overhead view shows the brown bear slightly behind the left gripper, so moving the left arm back to x 0.31 and straightening its wrist pitch."})

tool

executing move_to over 19 steps (1.9s)

step 305

assistant

agent notePen is in the right basket. The brown bear is now centred under the left jaws, so the left arm descends; the right arm heads to hover over the second pen.

move_to

left_z0.0100right_x0.3000right_y0.1850right_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]: [-0.6807, 1.4296, 0.4377, 0.091, -0.7601, -0.3527, 0.9981, 0.5373, 1.6882, 1.4181, -0.3649, 0.4171, 0.3256, 0.9974] state[eef_state]: left_x=0.3043 left_y=-0.0853 left_z=0.046 left_yaw=0.1082 left_pitch=-0.0744 left_roll=0.313 left_gripper=0.9981 right_x=0.4554 right_y=0.1922 right_z=0.2294 right_yaw=0.012 right_pitch=-0.0149 right_roll=0.0372 right_gripper=0.9974 state[joint_eff]: [-0.3897, -6.2427, 5.2855, 1.5897, -0.5348, -0.0611, 0.0757, 0.4581, -9.6205, 7.3915, 1.8046, 0.2808, 0.0464, -0.0757] camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.01, "right_x": 0.3, "right_y": 0.185, "right_z": 0.08}, "note": "Pen is in the right basket. The brown bear is now centred under the left jaws, so the left arm descends; the right arm heads to hover over the second pen."})

tool

executing move_to over 12 steps (1.2s)

step 317

assistant

agent noteBear's head sits between the left jaws at table level — closing the left gripper. Right wrist view shows the second pen just right of the jaw column, so nudging right and descending onto it.

move_to

left_gripper0.0000right_y0.1780right_z-0.0200

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]: [-0.6842, 1.5887, 0.387, 0.305, -0.7597, -0.3523, 0.9982, 0.8375, 1.4395, 0.5713, 0.0662, 0.6144, 0.519, 0.9982] state[eef_state]: left_x=0.3061 left_y=-0.088 left_z=0.0144 left_yaw=0.1041 left_pitch=-0.0717 left_roll=0.3101 left_gripper=0.9982 right_x=0.2997 right_y=0.1859 right_z=0.0715 right_yaw=0.0513 right_pitch=-0.0692 right_roll=-0.0078 right_gripper=0.9982 state[joint_eff]: [0.1983, -4.1778, 3.494, 1.2576, -0.3541, -0.0464, -0.0073, 0.1983, -6.694, 6.0923, 1.6581, 0.4322, 0.1685, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0, "right_y": 0.178, "right_z": -0.02}, "note": "Bear's head sits between the left jaws at table level \u2014 closing the left gripper. Right wrist view shows the second pen just right of the jaw column, so nudging right and descending onto it."})

tool

executing move_to over 10 steps (1.0s)

step 327

assistant

agent noteLeft gripper settled at 0.41 — the bear is held; carrying it to the spot over the left basket that worked for the teddy. Right jaws are around the second pen; closing.

move_to

right_gripper0.0000left_x0.4700left_y0.0500left_z0.2500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6849, 1.5951, 0.3813, 0.3191, -0.7631, -0.3489, 0.4094, 0.8211, 1.7805, 0.4366, 0.6605, 0.6193, 0.5198, 0.9983] state[eef_state]: left_x=0.3057 left_y=-0.0874 left_z=0.0132 left_yaw=0.1038 left_pitch=-0.069 left_roll=0.3134 left_gripper=0.4094 right_x=0.314 right_y=0.1921 right_z=0.0101 right_yaw=0.033 right_pitch=0.017 right_roll=0.0745 right_gripper=0.9983 state[joint_eff]: [-0.1299, -5.7778, 4.7658, 1.1306, -0.2857, -0.0659, 1.0281, -0.759, -3.4393, 1.6068, 0.2271, -0.0611, -0.232, 0.0024] 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

move_to({"targets": {"right_gripper": 0.0, "left_x": 0.47, "left_y": 0.05, "left_z": 0.25}, "note": "Left gripper settled at 0.41 \u2014 the bear is held; carrying it to the spot over the left basket that worked for the teddy. Right jaws are around the second pen; closing."})

tool

executing move_to over 16 steps (1.6s)

step 343

assistant

agent noteLeft wrist view shows the bear hanging over the left basket next to the teddy — releasing. Right close was empty; the pen shows at the right edge of the right wrist view, so opening and shifting ~3 cm right.

move_to

left_gripper1.0000right_gripper1.0000right_z0.0400right_y0.1600

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]: [-0.0029, 1.5673, 1.3354, -0.3851, -0.2817, 0.1558, 0.4108, 0.8185, 1.7912, 0.4313, 0.6968, 0.6193, 0.5163, 0.0106] state[eef_state]: left_x=0.4671 left_y=0.0514 left_z=0.2395 left_yaw=0.1415 left_pitch=-0.0577 left_roll=0.3057 left_gripper=0.4108 right_x=0.3158 right_y=0.1926 right_z=0.0111 right_yaw=0.0318 right_pitch=0.0314 right_roll=0.0859 right_gripper=0.0106 state[joint_eff]: [0.1299, -7.5829, 8.6496, 1.2723, 0.1099, 0.105, 0.5885, -0.1299, -7.4051, 4.3009, 1.1893, 0.1734, -0.0122, 1.0134] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0, "right_gripper": 1.0, "right_z": 0.04, "right_y": 0.16}, "note": "Left wrist view shows the bear hanging over the left basket next to the teddy \u2014 releasing. Right close was empty; the pen shows at the right edge of the right wrist view, so opening and shifting ~3 cm right."})

tool

executing move_to over 10 steps (1.0s)

step 353

assistant

agent noteThe second pen now shows under the right jaw finger in the right wrist view; shifting ~1.5 cm further right and descending to table level to straddle it.

move_to

right_y0.1480right_z-0.0150

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0078, 1.5791, 1.3384, -0.4023, -0.2802, 0.1486, 0.9975, 0.7238, 1.589, 0.3698, 0.5961, 0.5373, 0.4492, 0.9948] state[eef_state]: left_x=0.4669 left_y=0.0488 left_z=0.2322 left_yaw=0.1392 left_pitch=-0.0824 left_roll=0.3027 left_gripper=0.9975 right_x=0.3166 right_y=0.164 right_z=0.0373 right_yaw=0.0363 right_pitch=0.031 right_roll=0.0912 right_gripper=0.9948 state[joint_eff]: [0.0342, -8.7043, 6.8991, 1.8388, -0.1978, 0.0122, -0.0073, -0.6632, -6.4068, 4.2051, 1.6044, 0.2125, 0.0171, -0.1294] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.148, "right_z": -0.015}, "note": "The second pen now shows under the right jaw finger in the right wrist view; shifting ~1.5 cm further right and descending to table level to straddle it."})

tool

executing move_to over 4 steps (0.4s)

step 357

assistant

Pen now between the jaws.

agent noteThe second pen is now centred between the right jaws in the wrist view; 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]: [-0.0078, 1.5822, 1.3384, -0.4065, -0.2798, 0.1455, 0.9981, 0.6788, 1.8442, 0.313, 0.9905, 0.5453, 0.4065, 0.9955] state[eef_state]: left_x=0.4667 left_y=0.0487 left_z=0.23 left_yaw=0.1405 left_pitch=-0.0891 left_roll=0.3011 left_gripper=0.9981 right_x=0.3282 right_y=0.1516 right_z=0.0101 right_yaw=0.004 right_pitch=0.1 right_roll=0.102 right_gripper=0.9955 state[joint_eff]: [-0.0752, -7.7744, 6.9675, 1.7216, -0.1245, -0.022, 0.0562, -0.9231, -3.2479, 0.9641, 0.0952, -0.6471, 0.2711, 0.0562] camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]

assistant

Pen now between the jaws.

move_to({"targets": {"right_gripper": 0.0}, "note": "The second pen is now centred between the right jaws in the wrist view; closing."})

tool

executing move_to over 10 steps (1.0s)

step 367

assistant

agent noteRight gripper settled at 0.15, so the second pen is held. Carrying it to the spot over the right basket that worked for the first pen.

move_to

right_x0.4600right_y0.1900right_z0.2500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0078, 1.5822, 1.3384, -0.4065, -0.2798, 0.1452, 0.9982, 0.6746, 1.8435, 0.313, 1.0027, 0.5411, 0.4038, 0.1519] state[eef_state]: left_x=0.4667 left_y=0.0487 left_z=0.23 left_yaw=0.1407 left_pitch=-0.089 left_roll=0.3008 left_gripper=0.9982 right_x=0.3298 right_y=0.1519 right_z=0.0125 right_yaw=0.0039 right_pitch=0.1089 right_roll=0.1094 right_gripper=0.1519 state[joint_eff]: [-0.1299, -7.8154, 7.1316, 1.6728, -0.1197, 0.0024, -0.0073, 0.1026, -7.0359, 3.3573, 1.2918, 0.1392, 0.022, 1.0085] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.19, "right_z": 0.25}, "note": "Right gripper settled at 0.15, so the second pen is held. Carrying it to the spot over the right basket that worked for the first pen."})

tool

executing move_to over 16 steps (1.6s)

step 383

assistant

agent noteThe second pen is directly over the right basket, where the first pen already sits; releasing it.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0078, 1.5822, 1.3384, -0.4076, -0.2802, 0.1417, 0.9982, 0.5362, 1.6245, 1.2671, -0.1253, 0.4072, 0.3244, 0.1519] state[eef_state]: left_x=0.4665 left_y=0.0488 left_z=0.2298 left_yaw=0.1428 left_pitch=-0.0896 left_roll=0.2985 left_gripper=0.9982 right_x=0.4557 right_y=0.1936 right_z=0.2385 right_yaw=0.0159 right_pitch=0.1144 right_roll=0.1168 right_gripper=0.1519 state[joint_eff]: [-0.0479, -7.8017, 7.0222, 1.6874, -0.1392, -0.0171, -0.0122, -0.9231, -8.0068, 9.6342, 1.4628, 0.149, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 383): [image omitted: streamed camera frame] camera 'left_cam' (step 383): [image omitted: streamed camera frame] camera 'right_cam' (step 383): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0}, "note": "The second pen is directly over the right basket, where the first pen already sits; releasing it."})

tool

executing move_to over 9 steps (0.9s)

step 392

assistant

agent noteI sorted the objects into two groups: plush toys go in the left basket, pens and markers go in the right one. The task is only partly done because I ran out of calls. - **Left basket:** the teddy bear is in it, though it took two tries and may be resting partly on the basket rim. - **Right basket:** I released one pen over it and saw it land inside. I released the second pen from the same spot, but the right wrist camera then showed only one pen in the basket, so I can't confirm the second one landed. - **Still on the table:** the small brown plush bear (it fell off during the carry), the gray plush toy near the left fence, and the yellow highlighter. I had set the highlighter down at the centre line so the right arm could pick it up, but never got to it.

done

hindsight- **Which arm reaches which basket:** each arm can effectively reach only its own basket. The left basket sits at the far left, about left x 0.47, y +0.05 (the edge of the left workspace box); the right basket is at about right x 0.46, y 0.19. Dropping from z ≈ 0.25 at those points works. My first drop at left y −0.03 to −0.09 missed the basket. If I'd known this at the start, I would have given writing tools to the right arm and plush to the left, with no handoff: in this scene the pens were at about right x 0.29–0.33, y 0.15–0.25, and the highlighter at about left x 0.33, y 0.0. - **Top-camera scale:** about 2.5–3 px/cm near the middle rows. The start pose (x 0.30, y 0) of each arm shows near the outer image edges, around image x ≈ 30 and ≈ 200. - **Plush grasps:** the settled gripper reading can be about 0.01–0.02 even when fur is pinched and the toy lifts. Check the wrist camera after lifting instead. Plush toys can also slip out during the carry. - **Saving calls:** move both arms in the same move_to call; it roughly halves the call count. Budget about 4–5 calls per object. The 40-call budget is too tight for 6 objects with single-arm moves. - **Wrist pitch drift:** the left arm drifted to about −0.5 pitch during long moves. Command pitch 0 explicitly. - **Pens:** lying lengthwise along x they grip well at z ≈ 0.01 after a centred approach. For fine alignment, image-right in the wrist camera is −y.

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]: [-0.0078, 1.5822, 1.3384, -0.4068, -0.2798, 0.1413, 0.9982, 0.5354, 1.631, 1.2675, -0.1455, 0.4061, 0.3141, 0.9955] state[eef_state]: left_x=0.4666 left_y=0.0487 left_z=0.23 left_yaw=0.1427 left_pitch=-0.0888 left_roll=0.2978 left_gripper=0.9982 right_x=0.4546 right_y=0.1927 right_z=0.2314 right_yaw=0.0229 right_pitch=0.0919 right_roll=0.0949 right_gripper=0.9955 state[joint_eff]: [-0.0342, -7.747, 6.9538, 1.6532, -0.1148, -0.0757, -0.0171, -0.1436, -8.6359, 7.0359, 1.9805, 0.1392, 0.0806, -0.1832] camera 'top_cam' (step 392): [image omitted: streamed camera frame] camera 'left_cam' (step 392): [image omitted: streamed camera frame] camera 'right_cam' (step 392): [image omitted: streamed camera frame]

assistant

done({"summary": "I sorted the objects into two groups: plush toys go in the left basket, pens and markers go in the right one. The task is only partly done because I ran out of calls.\n- **Left basket:** the teddy bear is in it, though it took two tries and may be resting partly on the basket rim.\n- **Right basket:** I released one pen over it and saw it land inside. I released the second pen from the same spot, but the right wrist camera then showed only one pen in the basket, so I can't confirm the second one landed.\n- **Still on the table:** the small brown plush bear (it fell off during the carry), the gray plush toy near the left fence, and the yellow highlighter. I had set the highlighter down at the centre line so the right arm could pick it up, but never got to it.", "hindsight": "- **Which arm reaches which basket:** each arm can effectively reach only its own basket. The left basket sits at the far left, about left x 0.47, y +0.05 (the edge of the left workspace box); the right basket is at about right x 0.46, y 0.19. Dropping from z \u2248 0.25 at those points works. My first drop at left y \u22120.03 to \u22120.09 missed the basket. If I'd known this at the start, I would have given writing tools to the right arm and plush to the left, with no handoff: in this scene the pens were at about right x 0.29\u20130.33, y 0.15\u20130.25, and the highlighter at about left x 0.33, y 0.0.\n- **Top-camera scale:** about 2.5\u20133 px/cm near the middle rows. The start pose (x 0.30, y 0) of each arm shows near the outer image edges, around image x \u2248 30 and \u2248 200.\n- **Plush grasps:** the settled gripper reading can be about 0.01\u20130.02 even when fur is pinched and the toy lifts. Check the wrist camera after lifting instead. Plush toys can also slip out during the carry.\n- **Saving calls:** move both arms in the same move_to call; it roughly halves the call count. Budget about 4\u20135 calls per object. The 40-call budget is too tight for 6 objects with single-arm moves.\n- **Wrist pitch drift:** the left arm drifted to about \u22120.5 pitch during long moves. Command pitch 0 explicitly.\n- **Pens:** lying lengthwise along x they grip well at z \u2248 0.01 after a centred approach. For fine alignment, image-right in the wrist camera is \u2212y."})

tool

done: I sorted the objects into two groups: plush toys go in the left basket, pens and markers go in the right one. The task is only partly done because I ran out of calls. - **Left basket:** the teddy bear is in it, though it took two tries and may be resting partly on the basket rim. - **Right basket:** I released one pen over it and saw it land inside. I released the second pen from the same spot, but the right wrist camera then showed only one pen in the basket, so I can't confirm the second one landed. - **Still on the table:** the small brown plush bear (it fell off during the carry), the gray plush toy near the left fence, and the yellow highlighter. I had set the highlighter down at the centre line so the right arm could pick it up, but never got to it.

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 · 17.31 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]: [-0.0231, 0.8013, 0.617, -0.3782, -0.0216, -0.033, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0005 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2971 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.8393, 9.4017, 1.7802, -0.0269, 0.1685, -0.0562, -0.8, -1.4838, 9.7709, 1.6874, -0.1099, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9618e99a67ba2b85e052bfce178ce9308d3db30c5d36db3612b37868c0aa6e76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70daf341049723990135da65cf9a761dcac53370670aaab0d8fa3aab6a80e2d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
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      "type": "image"
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  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 5.017 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]: [-0.0231, 0.8013, 0.617, -0.3782, -0.0216, -0.033, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0005 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2971 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.8393, 9.4017, 1.7802, -0.0269, 0.1685, -0.0562, -0.8, -1.4838, 9.7709, 1.6874, -0.1099, -0.022, -0.0366]",
      "type": "text"
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    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9618e99a67ba2b85e052bfce178ce9308d3db30c5d36db3612b37868c0aa6e76",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70daf341049723990135da65cf9a761dcac53370670aaab0d8fa3aab6a80e2d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5fc13936b32b06024d139b65d87489256bbd8940a5a9be752f74e89e2db1ecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MRQL7jV5qhTvauioYTya57",
      "input": {
        "note": "Scene: two teal baskets at the back; plush toys (teddy bear, gray plush) and writing tools (yellow highlighter, two pens) in front. Plan: plush → left basket, pens → right basket. Left wrist cam shows the highlighter just ahead of the jaws, so I lower the left arm to look closer.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.32,
          "left_y": 0.0,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MRQL7jV5qhTvauioYTya57",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 1.0977, 0.2874, 0.2108, -0.0219, -0.0372, 0.9996, -0.0193, 0.8024, 0.6121, -0.384, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.316 left_y=0.0002 left_z=0.0718 left_yaw=0.0026 left_pitch=-0.037 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2958 right_y=0.0 right_z=0.1805 right_yaw=-0.0036 right_pitch=-0.0156 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -3.1248, 6.147, 1.9707, -0.0269, -0.0122, -0.0562, 0.2393, -1.5521, 7.1453, 1.9316, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e031a2703e5129052cef2cf69218f18fe9a9b7b0fbeda26e7f252795839ec7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5250f81bdfbcc1bc5ed7e6bf52d99f96ec8441e0d91a2a7a87133bbe8dedf401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00c4cee2fee9ddfef19369bf1f556863307782aa986ceb91a2e4e8ec3a87b5d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 3.117 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]: [-0.0231, 0.8013, 0.617, -0.3782, -0.0216, -0.033, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0005 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2971 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.8393, 9.4017, 1.7802, -0.0269, 0.1685, -0.0562, -0.8, -1.4838, 9.7709, 1.6874, -0.1099, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 1.0977, 0.2874, 0.2108, -0.0219, -0.0372, 0.9996, -0.0193, 0.8024, 0.6121, -0.384, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.316 left_y=0.0002 left_z=0.0718 left_yaw=0.0026 left_pitch=-0.037 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2958 right_y=0.0 right_z=0.1805 right_yaw=-0.0036 right_pitch=-0.0156 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -3.1248, 6.147, 1.9707, -0.0269, -0.0122, -0.0562, 0.2393, -1.5521, 7.1453, 1.9316, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e031a2703e5129052cef2cf69218f18fe9a9b7b0fbeda26e7f252795839ec7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5250f81bdfbcc1bc5ed7e6bf52d99f96ec8441e0d91a2a7a87133bbe8dedf401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00c4cee2fee9ddfef19369bf1f556863307782aa986ceb91a2e4e8ec3a87b5d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvAgKEAgSGAI4AUIIdGhpbmtpbmcSDMicDzpVfyS2wsT0yxoM6dMamGQhFD9RhA5FIjBBca52AdBsq1oLUIeHxrs8Z0rVR3Z6p3NaXmYrIez5mZfTGSXfSyE+dEBeYvf71uEq2Qcwg+U4NZ32yL7dQwTDsOmm+O1cWQav5dAhjnHt/UIidc396No5MP+l5asEY1vkjNhNgSoOOUF3A64XGiDYz2dfPjyh6/jG0o6qttOnwoIMmnDxMq0tkjjzCJXXEe3oKsxzrjMSExyKy+35hJZzAGgr/HSQY7JArc79u0DFNUHrrrkDcCI0Jl+3LCo7PQoVz4sZQ53gDlywtNUjk+epsQz1S/dg5h1WsSFPE90b0eTj70XYDMlqjszHRpCjKH/LfuvMucuGzwcQxYcs4lJGGPpGmbOB0fwdyVvemKBMgL0PJSK/QyOSK4N4JVnwKj+CBjxIn9Rucbj94PkYuuQamp/Np2Z6fyUW17kNGCJ6h7HsRRsUbc9/3htajBumW9U5hKnu4VSQ9xRQm+SdpCY7m1ugoG3aVSZhuvhIztIj6BC8Zlbtl5jl7peo57tJL9qMev5C/vy3Hnju7CLGvV8PxB4BMhCuAESPs2CeU5Qp3rHtXIoBjnR6Ff4dRwa3PsajDU9NjpRh3bvIKp0zy9AQtCXMGc3eZYaVd7+jGV2W4CP3ztjpFzld6/DugyAmegmCQVP0nTvp5KCnX9BOmNxeTf5Te6mASutTPj01kx+xjnFLyqU/9dicCTgoLoS6GcG5U9gFIVU60H0iDYbQ2F53WfgeWTVoYWMytEQpL/6Jzn/gNnZT9yWpnyYk56n6XgeQ6DvcA9nMfciuvAMRAQ+z1Vh02jv0KqMAHiJ9CFDEHwpGFeOoVcqgoxpv2n/+FzMiVr2Ks+OKtM2DDLYqX3TN/GTdKQkXWMIzVIFzTto3TbsrOUdC9vAD96OQgOuIeZfDR7OcVih17pdijfYiFsikMnSOidxMflifqK7P6w4kfOLpOLVu5BzW49K5X1FaeVhzMKinU5g5qOpCCzhYaLi9icH+7xYenKQB/JD0/UtCQBaKHZXM8JUojgnG9udlsCkHeY2ka6dYjfRLsYWymHG1uuqrBG3LmRufAKuTrzdRWUBBc0BSbR0Pp6NlPHRu6DYZXbhUjW6MkPEpGCuqxYAcfD2TbXn2nmOulxVmdN/doOncP02VO300bdH6k9i5BZna6f19tkenrbF9NILGs1ZEJxjjLxRFRJE4+JDmVbJQH/IS3hBdWLloTo3SumaeUvJWu2lumG8NlJUUzxXq6YkxC1si0cjeqqDO7JVIdUkJsj7QXqlbPDT9PgrYgfsCiz1nOIFLBXYV2AotisG7AfO0suDOym+WGv/+VDD/LHncTh8BuZ1VeGkTpDYZrA8uq8oN4117I2ggY4+Pa40hdT8IaL1C335hi99cnHpFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019xR4byr7wsyjXfbQ2pNQbH",
      "input": {
        "note": "Highlighter sits right on the jaw column at the bottom of the left wrist view, lying radially so the jaws can close across it. Descending to table level with a small forward nudge.",
        "targets": {
          "left_x": 0.33,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019xR4byr7wsyjXfbQ2pNQbH",
      "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]: [-0.0223, 1.6989, 0.1909, 0.944, -0.0341, -0.0227, 0.9995, -0.02, 0.8055, 0.6121, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3377 left_y=0.0021 left_z=0.0014 left_yaw=0.0059 left_pitch=-0.0014 left_roll=0.0155 left_gripper=0.9995 right_x=0.2958 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0044 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.294, -3.8496, 2.6325, 1.0281, 0.0904, -0.1978, -0.0171, 0.0342, -0.9915, 7.0222, 1.7949, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a1f58a8ea59803fd780434176ef1b516eec3315a37bcf0dfb92cb1eeff7aec9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a40e698e92350cbcbc7b9552a601ada42b6c07e268f10c409cbdf4c08a2efb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5f8b0bd767ab9b1ce3be88d2bcd6e886a1b6955f884c71617bd6734d2157b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 16.88 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]: [-0.0231, 0.8013, 0.617, -0.3782, -0.0216, -0.033, 0.9996, -0.0154, 0.7986, 0.6109, -0.371, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0005 left_z=0.1843 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2971 right_y=0.0011 right_z=0.1838 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.8393, 9.4017, 1.7802, -0.0269, 0.1685, -0.0562, -0.8, -1.4838, 9.7709, 1.6874, -0.1099, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 1.0977, 0.2874, 0.2108, -0.0219, -0.0372, 0.9996, -0.0193, 0.8024, 0.6121, -0.384, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.316 left_y=0.0002 left_z=0.0718 left_yaw=0.0026 left_pitch=-0.037 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2958 right_y=0.0 right_z=0.1805 right_yaw=-0.0036 right_pitch=-0.0156 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -3.1248, 6.147, 1.9707, -0.0269, -0.0122, -0.0562, 0.2393, -1.5521, 7.1453, 1.9316, -0.0317, -0.0562, -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]: [-0.0223, 1.6989, 0.1909, 0.944, -0.0341, -0.0227, 0.9995, -0.02, 0.8055, 0.6121, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3377 left_y=0.0021 left_z=0.0014 left_yaw=0.0059 left_pitch=-0.0014 left_roll=0.0155 left_gripper=0.9995 right_x=0.2958 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0044 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.294, -3.8496, 2.6325, 1.0281, 0.0904, -0.1978, -0.0171, 0.0342, -0.9915, 7.0222, 1.7949, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a1f58a8ea59803fd780434176ef1b516eec3315a37bcf0dfb92cb1eeff7aec9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a40e698e92350cbcbc7b9552a601ada42b6c07e268f10c409cbdf4c08a2efb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f8b0bd767ab9b1ce3be88d2bcd6e886a1b6955f884c71617bd6734d2157b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxAYKEAgSGAI4AUIIdGhpbmtpbmcSDBaP8Yvc6H6XynxXuxoMWbkQmyyK8mXer1pkIjBc9I/73L/3bUtzsrD/VJBcmdtcscWnV8Il4IQ3h6u5eG55F1vj7iklQ3zIr3aTBDsq4QXecFzSP3t6dyVWkYrnsCyMasvB15OV7Nok1F9u+tGvMJ4ebiZuKjS4mW63ToJUs3tx3v7ruN7VaY4JiFxLSqiLZveFjqete2n0YkWNZH4FPyo8IeEPUSn48b/DRVtVa88l3M5B+4UcvzE066bTlElcmApkO2TKOsPY35LuEmGIYqqjl9g2HP/No9Cgt1g50uiAGejgeiajKyt5RRh1LLU/+wJjBJso/jKczXu5XZ2nRFMfLkIbGpvem4cSylkRj+2rqqzbR0ic0qa2hEOHnxu/Wz2MolBdmZZ1uAM7Og0O5vTATWpakUIwfVpGAP7dUYw3ZbgSuoNFbPsouR/a/t/CJaRdLwIt/tdhns/gegD1w6i5vwGYsdFpGmkyBLkPc3HyspzEnfBYk1bw7dIqNqyjkr7HPetI4qoRj/aZH34OKg4n4tedmCsnzPrmNuMvQwcrDyobz/o7b0WNSvpiH7SOu8AogTZEC39ZrwkgLqC2oSIPRgs6gqOVp0JCs8eDSzEHnD/kGas4bJP1NZ3W3JksZ0Jt93lzIdpg1qLFuf50gUglF1gUcT7fwqMy0aDH2MbnjwDzxHvWFsRLdDUg3glzqMPEA2jyfGwAi1BOauRFZvfa2rsKxqnShV2Ly4LTE68GNO8afOu8TcyRj2wEqkNuZ++kj0QxIv5VkYfxfCI7paW4AiTWiKwm28YyY3tO5DqAZy82RYppNNaQkk0Ewt6IndLonM6J7xv6k3b3rEBAzdaorda8SHrp6k9FdQyxqYE3OTieujoh1GFRQOPtJBl5X9qXQCv2DtOxzDnz0kmVUvOnuNQYqJnRVT+oFoDmHfJ4Bjxwqsr9pkmKc5tLFdUaVBN+kS3cSGE94a3QxlEqNohWSQmlwkGzLZpFovlbEacfTS1ESS8u/k7An+DHtelKu8x4BKhSBYSjFVozOMWxLSinqTy1OyvL/D/22AU5spHpkH5bSN77V8yMAQXSPuueOBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LE4q6QBvsSiuHx4ErwU1Va",
      "input": {
        "note": "At table level with the highlighter centred between the jaws in the wrist view; 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_01LE4q6QBvsSiuHx4ErwU1Va",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.7065, 0.1886, 0.9642, -0.0437, -0.0227, 0.1519, -0.02, 0.8097, 0.6083, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3386 left_y=0.0036 left_z=0.0026 left_yaw=0.0136 left_pitch=0.009 left_roll=0.0202 left_gripper=0.1519 right_x=0.2955 right_y=-0.0002 right_z=0.1764 right_yaw=-0.0044 right_pitch=-0.0286 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.7504, 3.3846, 1.5507, 0.0708, -0.0415, 1.0134, -0.3077, -1.6889, 7.4735, 1.7314, -0.0757, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02409bbffa499c07be0b85564a5c866239b24eb0a747d215f3a95ff7ea33323e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:745892aa9f6b4efdb1f569eb75374794ad9e1b69248aaf1a4b2d6efca5df3bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf284e36305ac9576df0fd102efd883ec1ff566a374d913c37034326c8f88b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 9.872 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 1.0977, 0.2874, 0.2108, -0.0219, -0.0372, 0.9996, -0.0193, 0.8024, 0.6121, -0.384, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.316 left_y=0.0002 left_z=0.0718 left_yaw=0.0026 left_pitch=-0.037 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2958 right_y=0.0 right_z=0.1805 right_yaw=-0.0036 right_pitch=-0.0156 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -3.1248, 6.147, 1.9707, -0.0269, -0.0122, -0.0562, 0.2393, -1.5521, 7.1453, 1.9316, -0.0317, -0.0562, -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]: [-0.0223, 1.6989, 0.1909, 0.944, -0.0341, -0.0227, 0.9995, -0.02, 0.8055, 0.6121, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3377 left_y=0.0021 left_z=0.0014 left_yaw=0.0059 left_pitch=-0.0014 left_roll=0.0155 left_gripper=0.9995 right_x=0.2958 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0044 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.294, -3.8496, 2.6325, 1.0281, 0.0904, -0.1978, -0.0171, 0.0342, -0.9915, 7.0222, 1.7949, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.7065, 0.1886, 0.9642, -0.0437, -0.0227, 0.1519, -0.02, 0.8097, 0.6083, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3386 left_y=0.0036 left_z=0.0026 left_yaw=0.0136 left_pitch=0.009 left_roll=0.0202 left_gripper=0.1519 right_x=0.2955 right_y=-0.0002 right_z=0.1764 right_yaw=-0.0044 right_pitch=-0.0286 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.7504, 3.3846, 1.5507, 0.0708, -0.0415, 1.0134, -0.3077, -1.6889, 7.4735, 1.7314, -0.0757, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02409bbffa499c07be0b85564a5c866239b24eb0a747d215f3a95ff7ea33323e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:745892aa9f6b4efdb1f569eb75374794ad9e1b69248aaf1a4b2d6efca5df3bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf284e36305ac9576df0fd102efd883ec1ff566a374d913c37034326c8f88b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014nFr4brwMaRTVfcg7eP2g3",
      "input": {
        "note": "Gripper settled at 0.15 (~1.4 cm) — highlighter grasped. Lifting. Each arm seems to reach only its own basket, so I'll set the highlighter down at the centre line for the right arm to take to the pens basket.",
        "targets": {
          "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_014nFr4brwMaRTVfcg7eP2g3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 1.0115, 0.7097, -0.2703, -0.0444, -0.0265, 0.1519, -0.02, 0.8139, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3393 left_y=0.0036 left_z=0.1869 left_yaw=0.0159 left_pitch=-0.0092 left_roll=0.0181 left_gripper=0.1519 right_x=0.2959 right_y=-0.0002 right_z=0.1752 right_yaw=-0.0046 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.1094, 9.265, 1.4579, -0.0366, -0.0073, 1.0281, -0.0889, -1.4974, 7.2, 1.7411, -0.0366, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb2713d2becc3a1e3e454622d91a4fbe60936eb155108025c17e0b833517886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9810b4d1209694fd31416eab27cc8e8c270ca4e171a2e2e84527ab1f58c467c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09c9a02bcfdeade65601e3d82f88c637d461d6c566d25f89a01fa37def8d2db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 5.857 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]: [-0.0223, 1.6989, 0.1909, 0.944, -0.0341, -0.0227, 0.9995, -0.02, 0.8055, 0.6121, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3377 left_y=0.0021 left_z=0.0014 left_yaw=0.0059 left_pitch=-0.0014 left_roll=0.0155 left_gripper=0.9995 right_x=0.2958 right_y=-0.0002 right_z=0.1794 right_yaw=-0.0044 right_pitch=-0.0198 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.294, -3.8496, 2.6325, 1.0281, 0.0904, -0.1978, -0.0171, 0.0342, -0.9915, 7.0222, 1.7949, -0.0317, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.7065, 0.1886, 0.9642, -0.0437, -0.0227, 0.1519, -0.02, 0.8097, 0.6083, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3386 left_y=0.0036 left_z=0.0026 left_yaw=0.0136 left_pitch=0.009 left_roll=0.0202 left_gripper=0.1519 right_x=0.2955 right_y=-0.0002 right_z=0.1764 right_yaw=-0.0044 right_pitch=-0.0286 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.7504, 3.3846, 1.5507, 0.0708, -0.0415, 1.0134, -0.3077, -1.6889, 7.4735, 1.7314, -0.0757, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 1.0115, 0.7097, -0.2703, -0.0444, -0.0265, 0.1519, -0.02, 0.8139, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3393 left_y=0.0036 left_z=0.1869 left_yaw=0.0159 left_pitch=-0.0092 left_roll=0.0181 left_gripper=0.1519 right_x=0.2959 right_y=-0.0002 right_z=0.1752 right_yaw=-0.0046 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.1094, 9.265, 1.4579, -0.0366, -0.0073, 1.0281, -0.0889, -1.4974, 7.2, 1.7411, -0.0366, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb2713d2becc3a1e3e454622d91a4fbe60936eb155108025c17e0b833517886",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9810b4d1209694fd31416eab27cc8e8c270ca4e171a2e2e84527ab1f58c467c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09c9a02bcfdeade65601e3d82f88c637d461d6c566d25f89a01fa37def8d2db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XVAbtRGjb5uTNwc1okPbMo",
      "input": {
        "note": "Carrying the highlighter toward the empty table area at the centre line, in front of the plush toys, to hand it off to the right arm.",
        "targets": {
          "left_x": 0.2,
          "left_y": -0.3,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01XVAbtRGjb5uTNwc1okPbMo",
      "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]: [-1.4094, 1.6772, 1.1793, -0.868, -0.9634, -1.3212, 0.1586, -0.02, 0.8177, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1992 left_y=-0.2984 left_z=0.1431 left_yaw=0.0073 left_pitch=-0.0307 left_roll=0.0174 left_gripper=0.1586 right_x=0.296 right_y=-0.0002 right_z=0.174 right_yaw=-0.0044 right_pitch=-0.0366 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.0769, 7.6239, 0.442, -0.6911, -0.0611, 1.0281, -0.1709, -1.388, 7.1316, 1.7118, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dc9ff2554510702c0a08260c31afa3c4134153fe19749bab7360cc50673df15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1843825aeaeba82f8f2c783cde4ed2a520e835523f73082f706ccc8c037ed9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b6936a0e4129c944ebbaeb0899b2d9e88ec9922df5ab732ebf955f44d385b84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 3.799 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 1.7065, 0.1886, 0.9642, -0.0437, -0.0227, 0.1519, -0.02, 0.8097, 0.6083, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3386 left_y=0.0036 left_z=0.0026 left_yaw=0.0136 left_pitch=0.009 left_roll=0.0202 left_gripper=0.1519 right_x=0.2955 right_y=-0.0002 right_z=0.1764 right_yaw=-0.0044 right_pitch=-0.0286 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -5.7504, 3.3846, 1.5507, 0.0708, -0.0415, 1.0134, -0.3077, -1.6889, 7.4735, 1.7314, -0.0757, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 1.0115, 0.7097, -0.2703, -0.0444, -0.0265, 0.1519, -0.02, 0.8139, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3393 left_y=0.0036 left_z=0.1869 left_yaw=0.0159 left_pitch=-0.0092 left_roll=0.0181 left_gripper=0.1519 right_x=0.2959 right_y=-0.0002 right_z=0.1752 right_yaw=-0.0046 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.1094, 9.265, 1.4579, -0.0366, -0.0073, 1.0281, -0.0889, -1.4974, 7.2, 1.7411, -0.0366, -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 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]: [-1.4094, 1.6772, 1.1793, -0.868, -0.9634, -1.3212, 0.1586, -0.02, 0.8177, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1992 left_y=-0.2984 left_z=0.1431 left_yaw=0.0073 left_pitch=-0.0307 left_roll=0.0174 left_gripper=0.1586 right_x=0.296 right_y=-0.0002 right_z=0.174 right_yaw=-0.0044 right_pitch=-0.0366 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.0769, 7.6239, 0.442, -0.6911, -0.0611, 1.0281, -0.1709, -1.388, 7.1316, 1.7118, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dc9ff2554510702c0a08260c31afa3c4134153fe19749bab7360cc50673df15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1843825aeaeba82f8f2c783cde4ed2a520e835523f73082f706ccc8c037ed9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b6936a0e4129c944ebbaeb0899b2d9e88ec9922df5ab732ebf955f44d385b84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0QoKEAgSGAI4AUIIdGhpbmtpbmcSDP3l/q2TYSZK+ufdchoMw9TtGFnMnpXb9m5EIjCX+0f1uNM3/ZwovcmCPvYlEG00GGRLjh+MiMDM91qjJnsbMRnjfM8jAFfCrfdaLMEq7gkgypsWJ2pRpZX9/KSKOgKveppj6QeaMPaOgF8eHTgN90u2MLgOxPH+dG1H48VrhoCjEjw/0LZmguJrbneUde0w8i9zB1DYpEsdFJiuCf5rGmwf8rciCUxzK1VQCKj2UDjqGOVYLTVdJqa28WO3FvacHhEk0uPGLqea5cyHQpGRPKdL/hOQOu3EOsFe0G+ltfwH5V1rGUrYOEfCL+apbCYSgta6DWaeJDmZul+e4WCxxB6+rg5g+MMBqMgIWuKQ+Zn0nX1RFEkoSkXMo7ZMTvowcUxqwrhrQlf4jHEYX6Wh4JUlsN0Sha5k4lbFZx5bkul1ZlgZxqqVf49mZAN4LH883QYWO1tILow3sz66S7gmOcNLwKmeMkZtDn+bUeQYyNW3gMNWX9vw6adtcJyP/Fz85svj+bu+Ed2sQoD1O/ylGJYE+Ht2ISarZBV5lHk937XbbVzV+4n6JkrlSU4yYjlWeBs1KEPBU5iBwTRQmpgrOUmmaBLq5o2Yv535aKjosZb1v5QkaYIWdSQlCaMWIhD7qpiRtIhMAWJ0SwGb6z0yUV7NtPWj2MvphBdZnTJXaYIs4zshrHUKVWZOFdxrSX+DLfAUi7Ubud8SA3kESmTbl7rGD2zN5+FuP/IP+Mj0ubqmnYSqr7zQWkKjGOB8p2ruAC5/mA0S/37v9bw157WxLbrksd3b66kNznzzEib+eI/yZWYNlH3iavIVFtf4bQAP02TPpYf6SOeu90J2iyLLIU6gyHaJ3yCcwhurBJGOJw5Ij5++uH3ilr+9tf10hHIKMY4T73Wl3Zd1TSmvt4NcSbpfbldFKr+1wsvbYRE1n1+gDI9msNW+SqlcL+rPT3d1rLm1504E1Ma8j7bfxUGaeEiBWwD0mBK9FtbLxwJIsayZEU636rck5glwFhH73oDml09I2tzmHLJtBW3Z+VJniLmVWgY+UdxJ+cloHHXzCpR8jgTfypkz3FVwI/XB9U6rAdqZDg70cSQc4Nusg0PWp0+bBb+4YulQ4k0AMM5o3WvCjG+HICN6FjwCXhB/DX8xqLQxhpuP8Z1+KwXdWYJlKti70eFz62kuNjPxUFvwPD2p6oyiVVOLlVC0BxsNCP+0dzAdSLVUZknYY8M2Q/eJpAhHEiSmXqjuKsU/O/bkoFcoHUuvqGr9uA2/TQ28bBIpdFwqbQBLI9qhc+KqMMxGtuv8If6M6YlcpsVpXYxYI+uv+/VUBWnylMv5itVZM7Xo2gvDQ8n5suBlpIdePTQd5TQESLNnZe+tS3rZOGNM2MF1eXY3F/ZbkSS/HUGKjzxHrjd/iptGd43nHyiJW9xbSZEUhZMSzbqRd9NPQKfw0pTOlNxj7JR0XhD2JaPmmArJq0BXNEtFw300qqDSgZsW5V6NoMr7tbXpxHuf33CrmWzxLEMwW8iMC1oCCSCI6Mop9lkKUlGDx31jRlTE3xpnTz7jyE8Uf9FUU/0nSuvg44SWw3ymtnIGR/2lqqk9NG1GZlnnlYIQ8EvVDF6UTPcGwJZjNe/un+sDIrFO9hkOJuCNOFPDh7gGl78pnIdNxdMMVd0ZkaXPMA8txGZY345CnvIVfkRNny0E8+RRhu3WkjIuq4WJA2DdZ5uOb9n4ugOhifXGc9UoqtIGZAmRVxJXBrm0LiwLYRJYAu8dmsarXiFVe+ljINBXNln2wvb+OBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018BvQzgCtP3ht2gTzBm3DvQ",
      "input": {
        "note": "The teddy's feet are just ahead of the jaws, so I pull back toward the base a bit and lower to set the highlighter down on clear table at the centre line.",
        "targets": {
          "left_x": 0.15,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018BvQzgCtP3ht2gTzBm3DvQ",
      "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]: [-1.5684, 1.8915, 1.005, -0.712, -0.9653, -1.5787, 0.1586, -0.02, 0.8177, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1495 left_y=-0.2993 left_z=0.0403 left_yaw=-0.005 left_pitch=-0.0434 left_roll=0.0371 left_gripper=0.1586 right_x=0.2961 right_y=-0.0002 right_z=0.1742 right_yaw=-0.0046 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.1299, 4.6291, 0.2906, -0.6325, -0.0659, 1.0379, -0.0479, -1.388, 7.2137, 1.7118, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d8759c77d64081b0ea4b4172ea5993e820404c4dfcf93b21890c1865e113e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c90a01963f7a937ec6e928c215ba1ecce7e336ecf5b442b655e4b6116091325",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d94197e4f5abdd694bccbc3baaa27494b36c6f61e20960f7082fa77b3eecbf84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 9.684 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0231, 1.0115, 0.7097, -0.2703, -0.0444, -0.0265, 0.1519, -0.02, 0.8139, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3393 left_y=0.0036 left_z=0.1869 left_yaw=0.0159 left_pitch=-0.0092 left_roll=0.0181 left_gripper=0.1519 right_x=0.2959 right_y=-0.0002 right_z=0.1752 right_yaw=-0.0046 right_pitch=-0.0324 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -4.1094, 9.265, 1.4579, -0.0366, -0.0073, 1.0281, -0.0889, -1.4974, 7.2, 1.7411, -0.0366, -0.0366, -0.0171]\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]: [-1.4094, 1.6772, 1.1793, -0.868, -0.9634, -1.3212, 0.1586, -0.02, 0.8177, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1992 left_y=-0.2984 left_z=0.1431 left_yaw=0.0073 left_pitch=-0.0307 left_roll=0.0174 left_gripper=0.1586 right_x=0.296 right_y=-0.0002 right_z=0.174 right_yaw=-0.0044 right_pitch=-0.0366 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.0769, 7.6239, 0.442, -0.6911, -0.0611, 1.0281, -0.1709, -1.388, 7.1316, 1.7118, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.5684, 1.8915, 1.005, -0.712, -0.9653, -1.5787, 0.1586, -0.02, 0.8177, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1495 left_y=-0.2993 left_z=0.0403 left_yaw=-0.005 left_pitch=-0.0434 left_roll=0.0371 left_gripper=0.1586 right_x=0.2961 right_y=-0.0002 right_z=0.1742 right_yaw=-0.0046 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.1299, 4.6291, 0.2906, -0.6325, -0.0659, 1.0379, -0.0479, -1.388, 7.2137, 1.7118, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d8759c77d64081b0ea4b4172ea5993e820404c4dfcf93b21890c1865e113e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c90a01963f7a937ec6e928c215ba1ecce7e336ecf5b442b655e4b6116091325",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d94197e4f5abdd694bccbc3baaa27494b36c6f61e20960f7082fa77b3eecbf84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgwcKEAgSGAI4AUIIdGhpbmtpbmcSDPuaR0v1CoyWRy/cIRoMKoa7Op/TBtLqNgSXIjDjcM1OYBVxAs3Qn3Y+hWUcOU2jC2llOvTwlz97JEVmZELXbOoEbeh8fCtounXlhxEqoAZ7TnM5sSqcQzFJWKJQNdHnFfiu8SAPlj0yobcZtGEazAKD3kTC0+Ar32ST3lmrqqMuR4hPYznXyD9XNwjSQFTlZLjxyKy+pyY++u/8aewpYs2loZpZRTFLbLQHdkjD6UUXNRAMWj095Uyfn55unVFa0dn4Lmyw2rxv5/qRfc9WYIErp4gBG8u5n1jYnyxi+TM1kByeYzjkDQOkA2X5eb3PIvUwJ3Rxgo0imHR//jYtfAziu8Mp+KUKjXwhIZotZH32LmgiNSymVYNNFcZZBIhnxwTW3vQbyUP8+WB52gIGKy1zUBjf+TmtYx950YgJSyJwGKiI5kuJiCpCJE/EnV41kwM9l9xnr8RVV+RTUS7Tn5NfSuFSwCuWxo8w58LVMfIbKVlAmE0ll0fRSI6ZYLoLSRviNqZwyMxU+MAiR+9Vo7BUhRDndHbTPoDXpKxOq+0QNWvF3xplJtcUHiDcEUuernzE84mQv5QPvTMR80J0dufpAr722/8nCv9xGi6/A5OlmHnLfvq5McQG20JtjPKcXJAbDUg32d7l+IL9pS05/kzmBM4zLhSjcSohfMtdrOAvyHrSkDvZXzi+ZtztDNtfJ8mAy/VE1hWkT9pwq3fHy+XTYdkaG+bgGANqXNTOxomDL3qY7KKpHI2paOE77oVWnU4xEj19NqF+jESSalEbOBaaKQU0EV342h4VkShIJe2Fn3XHPonT4/JsZYn7gO8rhiQ5O6MdRWENjf137xvo4xieRd3nMmKFDcujqlyMlXOCvdqirxoZN89xzj9ta2niGxdSm7DtBcDCwlDsdM2vwNrkFYOu3UY/KfPBI0Wrg8DTZllF4CMKUB2voD4/4+Qs7NURvFbik90xvwHdSLP/ePCfkz/BsrE8uSWhZm2e1KD5s/EzxoKfZU5FMFRvjLo4nVxRHxvfZeivfcRu7W1jGjbWR4iW2R1ZaxpSRTFwav9rFZ/6qc/9aVw0j0vZoQLw6S8pKiRfnkdgSRncK8ABt/4TYtYaVAej+hwt/FEz23IYPuHCKVAWOyeSVwh2vVqi8949lynaQEqWMA8rbRSQERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P6Qu3fzYTy64QQpyeqVbgm",
      "input": {
        "note": "Highlighter is ~4 cm above clear table in front of the teddy; releasing it here for handoff.",
        "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_01P6Qu3fzYTy64QQpyeqVbgm",
      "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]: [-1.5711, 1.8965, 1.0, -0.712, -0.9642, -1.5856, 0.9954, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1486 left_y=-0.2977 left_z=0.0377 left_yaw=-0.0035 left_pitch=-0.0444 left_roll=0.0414 left_gripper=0.9954 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0046 right_pitch=-0.0374 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.6496, 5.1077, 0.2369, -0.5201, 0.0659, -0.1587, -0.1983, -1.4701, 7.2274, 1.7363, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5127fa5f2438c20457ae604eba0b5c695c3bc535979f2de62aeb73484a9c5317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12cd5642c2fd3fc7cf2bb61de09029dacbfdbf77977ad37aa7fffbff4235317a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc1e114ba15e5a6fb7d651473336829df646e55797389914a8fd80b29efca777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 5.043 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]: [-1.4094, 1.6772, 1.1793, -0.868, -0.9634, -1.3212, 0.1586, -0.02, 0.8177, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1992 left_y=-0.2984 left_z=0.1431 left_yaw=0.0073 left_pitch=-0.0307 left_roll=0.0174 left_gripper=0.1586 right_x=0.296 right_y=-0.0002 right_z=0.174 right_yaw=-0.0044 right_pitch=-0.0366 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.0769, 7.6239, 0.442, -0.6911, -0.0611, 1.0281, -0.1709, -1.388, 7.1316, 1.7118, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.5684, 1.8915, 1.005, -0.712, -0.9653, -1.5787, 0.1586, -0.02, 0.8177, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1495 left_y=-0.2993 left_z=0.0403 left_yaw=-0.005 left_pitch=-0.0434 left_roll=0.0371 left_gripper=0.1586 right_x=0.2961 right_y=-0.0002 right_z=0.1742 right_yaw=-0.0046 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.1299, 4.6291, 0.2906, -0.6325, -0.0659, 1.0379, -0.0479, -1.388, 7.2137, 1.7118, -0.0464, -0.0366, -0.0122]",
      "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]: [-1.5711, 1.8965, 1.0, -0.712, -0.9642, -1.5856, 0.9954, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1486 left_y=-0.2977 left_z=0.0377 left_yaw=-0.0035 left_pitch=-0.0444 left_roll=0.0414 left_gripper=0.9954 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0046 right_pitch=-0.0374 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.6496, 5.1077, 0.2369, -0.5201, 0.0659, -0.1587, -0.1983, -1.4701, 7.2274, 1.7363, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5127fa5f2438c20457ae604eba0b5c695c3bc535979f2de62aeb73484a9c5317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12cd5642c2fd3fc7cf2bb61de09029dacbfdbf77977ad37aa7fffbff4235317a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc1e114ba15e5a6fb7d651473336829df646e55797389914a8fd80b29efca777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012YNAP2RaqSP8RUshh14BP2",
      "input": {
        "note": "Highlighter dropped on clear table at the centre line. Now the left arm will put the plush toys in the left basket; moving up and slightly forward over the teddy to find a grippable limb.",
        "targets": {
          "left_x": 0.2,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012YNAP2RaqSP8RUshh14BP2",
      "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]: [-1.3979, 1.7561, 1.0492, -0.709, -0.9428, -1.3228, 0.9967, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1995 left_y=-0.2906 left_z=0.0864 left_yaw=0.0179 left_pitch=-0.0584 left_roll=0.0625 left_gripper=0.9967 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0044 right_pitch=-0.0374 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.6752, 7.4872, 0.5348, -0.5836, 0.2271, 0.1245, -0.0615, -1.388, 7.0359, 1.6923, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9b58c5c2abd5f2136d2fb2d9a0d6a7b6f1678fab5354c6a5eb43fe689558991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c28985f21d35668245dd533e92cbfe533b0f96fbaf69533c0e9e2d19b63d0269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae9b4575758275fd8d5a8a9154c04d9813b05ef652cf555fa41c20a9133e8b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 3.26 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.5684, 1.8915, 1.005, -0.712, -0.9653, -1.5787, 0.1586, -0.02, 0.8177, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1495 left_y=-0.2993 left_z=0.0403 left_yaw=-0.005 left_pitch=-0.0434 left_roll=0.0371 left_gripper=0.1586 right_x=0.2961 right_y=-0.0002 right_z=0.1742 right_yaw=-0.0046 right_pitch=-0.0362 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.1299, 4.6291, 0.2906, -0.6325, -0.0659, 1.0379, -0.0479, -1.388, 7.2137, 1.7118, -0.0464, -0.0366, -0.0122]",
      "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]: [-1.5711, 1.8965, 1.0, -0.712, -0.9642, -1.5856, 0.9954, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1486 left_y=-0.2977 left_z=0.0377 left_yaw=-0.0035 left_pitch=-0.0444 left_roll=0.0414 left_gripper=0.9954 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0046 right_pitch=-0.0374 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.6496, 5.1077, 0.2369, -0.5201, 0.0659, -0.1587, -0.1983, -1.4701, 7.2274, 1.7363, -0.0513, -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]: [-1.3979, 1.7561, 1.0492, -0.709, -0.9428, -1.3228, 0.9967, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1995 left_y=-0.2906 left_z=0.0864 left_yaw=0.0179 left_pitch=-0.0584 left_roll=0.0625 left_gripper=0.9967 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0044 right_pitch=-0.0374 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.6752, 7.4872, 0.5348, -0.5836, 0.2271, 0.1245, -0.0615, -1.388, 7.0359, 1.6923, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9b58c5c2abd5f2136d2fb2d9a0d6a7b6f1678fab5354c6a5eb43fe689558991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c28985f21d35668245dd533e92cbfe533b0f96fbaf69533c0e9e2d19b63d0269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae9b4575758275fd8d5a8a9154c04d9813b05ef652cf555fa41c20a9133e8b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQgKEAgSGAI4AUIIdGhpbmtpbmcSDIm5KqP6vYr7d5+03hoMK9myoPBSKyNggeLOIjC8RuuoQeuMzeE59WFWn6ubsFSE/p3RtGdcCp53OyNfd16ASAld45JuByCE82BrJEAquge05uYQsyLPB7LLoU0Mgd1Zwc4TmVWOzbXTv2SrNdMXZUJtgpzdrAg+xktdWNkmGmRg5RSsGO1IVopkwZF2UkpP8zVtZxWNX3Y2Ie46UKlbn6XBunfcozEBea8rVGAfKDpoHFrAiyFK74EOgGWBL7wNqIxLTYE0XdDTsccnuAkTHUC64FmPpaCZTWv8t8HXSMyA9MdIcBiv4xuhVE6lMihBhWuZapsIPVT2A3Syt09EWJFkt2D39STr0sizdpb89WcP/sTMlBVNcBS71yrTtNm6pNIge9ojuNBhajPuycjRdllIOCsU1C5zA5Rdw03dwVnJa4qvH5iRTOMXGmOw4DEJfTF+Yrk15y3gOXIbXZjEy5T/RKR5xY0T223PpEklSI7aHMTQWNDKMqIBlQmzjdV8mqd8nfW3ozumf2P3+Kv4BIReBYAIf10+X4io/jh3VbopA0YvHL5F3XXCkZuiPrSKHRJ4TlSahV3aYNd0CyBTwvljEOlqrojUuXWda3aKMEqiQu03HYHkHJa1PZBH4XcjPvUnBSxuqDUKPICsfVSIhO2MRCCpFS18ebf1K4I6EsQH8lV2fXVsXjPqQwiDgQn2KmH2kv+HfSrJrKTrwaCiHTSO2creL6uC2VnczCwRxUdWzJsMZOZrl+rH/AA9+URjiMVI220CyqJ5WVz1+5Fs9gAkPyAw0gG/RkYV4QsrIGs5oedetTVOhEFZmpkqtfN7Pb6eWxBqTRkdAj8F2H9rHOypaCoKPtvgbzulJcJNwF/mwo/wc/gsLuZD+dztvVo7Kgpg2/8lLY6nPZxaAKmp/94y4h2jxWVbLwK2CWxf8oDMawglzqXQlGbSXq1gMFqQ7EksubTnMqH/RuxTJnxVBGIeD1Tu2WNGkuE3B+a+9nIDpRU/nMBQqYpDUkuZwrQtIidsmmEtLXHS7wq1LhGPh0BiPc9amWmF5Obj1t/2kRRTW6GatPr3BlUcRa9Q28JYrlmxexa/Dnu4tXayxzYs82qpdRTdfQ2A3hZKjxESC2FCVGK4QAE5dA8IW6wxiSs+JTRSXNDydmCcO+oRdpRmt4fgKaC5foBtTUndSfPs73dNYjwnMdtdQjz2fJomL5do0cWMUoBVX7s5QI3/+4EkWV/blJZrd/ajlaw3I0AIirguKhhWS5O30N0tHCroRbB4MqIE/w3W/82HgFAdGqSzPWHAV/AEa8POdN8HIIJYCvZUtdoZWHvyF2xqPiTdU1mgKggmrByUvzNJqKSUYEH28Ia68tkRlSTpaQUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019XgMiS4peFVxq7YVtkp2SB",
      "input": {
        "note": "The teddy's foot is squarely between the jaws in the left wrist view; descending onto the leg to grab it.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019XgMiS4peFVxq7YVtkp2SB",
      "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]: [-1.3991, 1.8748, 0.9512, -0.5087, -0.9401, -1.3163, 0.9968, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1985 left_y=-0.2888 left_z=0.0322 left_yaw=0.0139 left_pitch=-0.0638 left_roll=0.0835 left_gripper=0.9968 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0046 right_pitch=-0.0374 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -7.6786, 4.4103, 0.6862, -0.5543, -0.0806, 0.0024, -0.0205, -1.388, 6.9949, 1.7509, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f479e0956dfc517d78108ec4a803ba0ab41a93390f664debc6531f0a5a47091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1674137861cd1e07a44efad886adbdedd04440f360a8164f63fd7120cc9e4f9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0113ab9ccec77329ca5ad50085eb263d17737ea3f681d4486e8fb054e1b16107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 4.971 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]: [-1.5711, 1.8965, 1.0, -0.712, -0.9642, -1.5856, 0.9954, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1486 left_y=-0.2977 left_z=0.0377 left_yaw=-0.0035 left_pitch=-0.0444 left_roll=0.0414 left_gripper=0.9954 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0046 right_pitch=-0.0374 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -8.6496, 5.1077, 0.2369, -0.5201, 0.0659, -0.1587, -0.1983, -1.4701, 7.2274, 1.7363, -0.0513, -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]: [-1.3979, 1.7561, 1.0492, -0.709, -0.9428, -1.3228, 0.9967, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1995 left_y=-0.2906 left_z=0.0864 left_yaw=0.0179 left_pitch=-0.0584 left_roll=0.0625 left_gripper=0.9967 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0044 right_pitch=-0.0374 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.6752, 7.4872, 0.5348, -0.5836, 0.2271, 0.1245, -0.0615, -1.388, 7.0359, 1.6923, -0.0317, -0.0659, -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]: [-1.3991, 1.8748, 0.9512, -0.5087, -0.9401, -1.3163, 0.9968, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1985 left_y=-0.2888 left_z=0.0322 left_yaw=0.0139 left_pitch=-0.0638 left_roll=0.0835 left_gripper=0.9968 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0046 right_pitch=-0.0374 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -7.6786, 4.4103, 0.6862, -0.5543, -0.0806, 0.0024, -0.0205, -1.388, 6.9949, 1.7509, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f479e0956dfc517d78108ec4a803ba0ab41a93390f664debc6531f0a5a47091",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1674137861cd1e07a44efad886adbdedd04440f360a8164f63fd7120cc9e4f9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0113ab9ccec77329ca5ad50085eb263d17737ea3f681d4486e8fb054e1b16107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014nMw1B9Tabu6QXKVoQeBGr",
      "input": {
        "note": "Jaws are straddling the teddy's leg near the table; closing to grab it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014nMw1B9Tabu6QXKVoQeBGr",
      "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]: [-1.3991, 1.8763, 0.9497, -0.5068, -0.9386, -1.3163, 0.0115, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1983 left_y=-0.2886 left_z=0.0313 left_yaw=0.0138 left_pitch=-0.0655 left_roll=0.0844 left_gripper=0.0115 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0044 right_pitch=-0.0374 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.2393, 4.8479, 0.4664, -0.569, -0.0317, 0.9402, -0.1299, -1.2513, 7.0359, 1.746, -0.022, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ebd865b5dc95cf622f967d594d652cf9db9beecff1e5442a3bbd56b07d3167e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362f9d7cf50d2bbc1cee5db5a57a13394292670ef3f0c8d52e0a344553263206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:656359991c2945f64c181e87d474df72dc2e1aec0e0d052448827783c719e40d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 4.455 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]: [-1.3979, 1.7561, 1.0492, -0.709, -0.9428, -1.3228, 0.9967, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1995 left_y=-0.2906 left_z=0.0864 left_yaw=0.0179 left_pitch=-0.0584 left_roll=0.0625 left_gripper=0.9967 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0044 right_pitch=-0.0374 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -9.6752, 7.4872, 0.5348, -0.5836, 0.2271, 0.1245, -0.0615, -1.388, 7.0359, 1.6923, -0.0317, -0.0659, -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]: [-1.3991, 1.8748, 0.9512, -0.5087, -0.9401, -1.3163, 0.9968, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1985 left_y=-0.2888 left_z=0.0322 left_yaw=0.0139 left_pitch=-0.0638 left_roll=0.0835 left_gripper=0.9968 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0046 right_pitch=-0.0374 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -7.6786, 4.4103, 0.6862, -0.5543, -0.0806, 0.0024, -0.0205, -1.388, 6.9949, 1.7509, -0.0415, -0.0562, -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]: [-1.3991, 1.8763, 0.9497, -0.5068, -0.9386, -1.3163, 0.0115, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1983 left_y=-0.2886 left_z=0.0313 left_yaw=0.0138 left_pitch=-0.0655 left_roll=0.0844 left_gripper=0.0115 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0044 right_pitch=-0.0374 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.2393, 4.8479, 0.4664, -0.569, -0.0317, 0.9402, -0.1299, -1.2513, 7.0359, 1.746, -0.022, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ebd865b5dc95cf622f967d594d652cf9db9beecff1e5442a3bbd56b07d3167e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362f9d7cf50d2bbc1cee5db5a57a13394292670ef3f0c8d52e0a344553263206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:656359991c2945f64c181e87d474df72dc2e1aec0e0d052448827783c719e40d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSsAkKEAgSGAI4AUIIdGhpbmtpbmcSDLzasfVt7xhx1MPBphoMuTM9cSVCBBsdN2azIjDgW0q+MTN9rXsUzstc0CwkRiek4MiaaPY0rgbEwwEHrsrN1wbmH/qW554Zwq+nNfoqzQitKk7yf3cQ0mTUtbumGK0a2LpYcBzJTABP1StQFPargZa9M8Jk7y2vWjZxhPRE7+UnnG9q7I6B6QwbyWbZQSN4XWGk6gAIZA6oklUCpn9IP+XGonXCGi4Fw59cTFrT74EUEkm6fwxtUOATlpRy8EJ33RwSOHeHIsiZ49DBhDN157E0Wa6lW84S1VWOoj0EuLs8Yltc2MtQo77/lB/m7wubgxsmQtpBsyIM75/EagYdZfHfSGZmE+XcmCvMCvYpAcJz9F2CzywdhEE1dDFS132uBJNRR1WWjz96IXFNeXKWVXqbFPlhPbPMqIsykNvJrwRFanXkATN7i75MUNiJNLOLcf3Y+QFwyWBNKJEntCbXVeD+QOthtvqgawKjEgqohVltNUfXAi1KLDg51hWf4cE0NSoWB98OylPHcVsZGhbXGrd2CbWHODWappv5eV+nDIr8IFKVblm+N16XVhLFCzkV4fZBL3ykBLpTBbY19ZjOZAvRU+oLLvxFx8s/iJrtAIC5oeg7iyxt7njnIWeaHXyQgdJG9e+xSbfX/FqqHEAJ+qDIHIDtjxMrxpeFvuN2bYAQfIS5MGC5A7fp8lw/Inx7Q61FrcOG35JrIl/sWvYnmoed84d/CX/7ToeKOKs+e/rS8UPoyN/OgBWQbr27bzDEHRu8OVvk4yKpfGAfi9we3I/SgkPX8FDLPeR5y3HOvtukkuRVPZS8uOujRREJ86Nms1AY1lcQu/bQ9Z581rZERzNAjKIHniQXmAUqJF3FL4GHtpVl0Q7isT1p3/gzXvAbZGH4ySsEJ66fCjTVGfv9B+Sd9FLYoqtJwHkeo6QshrTle4dr10jP2L14E7ZOMSjuqKi8Q+nev4jZk9bBkHnRUaW2+qfM2Pl2x05OrN2uWrLxezLzMluJS3YPHEGJrbl66bSdExiIrZiJ4HTbZ5zInltMTbP1ega9iTrasyLwtAF2LNvUDB/mfhL/gPRGQbrVousNwZ17ZZ4QY+hvKQXNKShDJNpYwJmfw61ijVV29fBcThfhHHuQCZfhYPtTSTV9kQxZbRPtZEdnBfk3v3vGA+kAoRZ1zUdCae1paT8Jj1OGW3yTLA2R99tvaPn6A8rjLpH/jgZEkkBI5hCfxG6aGatU2OoYkY9vg1jwP7Xh9Q4II3I8wFxC7IKdikMsi/aKdkH9tyxjKI6ANDbz5z2ar4l5fZh9rn2fKmpYP0tEsrw9POARG23qeih0+PXb9PHaFNa03epPWq4z+lLw5u+fmB/KVeZiyYqrnTfDvDIua0ar2murLKCiGPoXyC9ER7rQGgJ0pwKZQ4NjWiAEDYDlLHFOHUzOVLXpvM6krpcndoR9kd4q7TvegfB5bAdBpmEqZ7NoYzsxoKg5pA5H/XO5wcbtP1Jl4t6X6bCNN9vjuf05OGsXC1SpLlOlQITkm9Uxo2cq56bXlHNZPEsaGZhW509cgpN2tvn65cVcS54YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PzyfCHeUJWHpiduR6xwyQQ",
      "input": {
        "note": "Close was empty (0.01) — the jaws were just short of the teddy's foot. Opening and lifting slightly before advancing.",
        "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_01PzyfCHeUJWHpiduR6xwyQQ",
      "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]: [-1.3991, 1.837, 0.9783, -0.5972, -0.9348, -1.319, 0.9987, -0.02, 0.8185, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1974 left_y=-0.2853 left_z=0.0468 left_yaw=0.0162 left_pitch=-0.0726 left_roll=0.104 left_gripper=0.9987 right_x=0.296 right_y=-0.0002 right_z=0.1737 right_yaw=-0.0046 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.9897, 7.0222, 0.2808, -0.5495, -0.0122, -0.022, -0.1026, -1.3607, 7.0085, 1.7411, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b981389df20f571905c0c6f378bbd3bf565b9c3b96833f8e267a91101f9b9ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9a95f93d4afe33b654f713831ab7c80c935e945b892b36d05d950adff33f44f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c0e923f4b8727a6abeb86321031e627673655bec313fb919a59ca0fa8a545ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 3.002 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]: [-1.3991, 1.8748, 0.9512, -0.5087, -0.9401, -1.3163, 0.9968, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1985 left_y=-0.2888 left_z=0.0322 left_yaw=0.0139 left_pitch=-0.0638 left_roll=0.0835 left_gripper=0.9968 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0046 right_pitch=-0.0374 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -7.6786, 4.4103, 0.6862, -0.5543, -0.0806, 0.0024, -0.0205, -1.388, 6.9949, 1.7509, -0.0415, -0.0562, -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]: [-1.3991, 1.8763, 0.9497, -0.5068, -0.9386, -1.3163, 0.0115, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1983 left_y=-0.2886 left_z=0.0313 left_yaw=0.0138 left_pitch=-0.0655 left_roll=0.0844 left_gripper=0.0115 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0044 right_pitch=-0.0374 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.2393, 4.8479, 0.4664, -0.569, -0.0317, 0.9402, -0.1299, -1.2513, 7.0359, 1.746, -0.022, -0.0659, -0.0171]",
      "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]: [-1.3991, 1.837, 0.9783, -0.5972, -0.9348, -1.319, 0.9987, -0.02, 0.8185, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1974 left_y=-0.2853 left_z=0.0468 left_yaw=0.0162 left_pitch=-0.0726 left_roll=0.104 left_gripper=0.9987 right_x=0.296 right_y=-0.0002 right_z=0.1737 right_yaw=-0.0046 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.9897, 7.0222, 0.2808, -0.5495, -0.0122, -0.022, -0.1026, -1.3607, 7.0085, 1.7411, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b981389df20f571905c0c6f378bbd3bf565b9c3b96833f8e267a91101f9b9ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9a95f93d4afe33b654f713831ab7c80c935e945b892b36d05d950adff33f44f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c0e923f4b8727a6abeb86321031e627673655bec313fb919a59ca0fa8a545ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSjAgKEAgSGAI4AUIIdGhpbmtpbmcSDJDfBmTTBm+zBticERoMzlfqbI43V5gKmDVgIjAD8sYNWV7IF6GvZBPjPS7Wm+023pr9XaqJI/M+uUzDAxg3ifykfGUvsVZIKX6NTRsqqQcAqy9qzlGMAhcLNOaHd/AgIIZOHDPaPjejgVK9EKCKBsZ4SS0xzP0Hm1JfuPmPlsHblc5BztTDE+nQFsIPiUAYP4qzh6zNQzjXU8sskWQHlUF5/5TT/CJt6j/eDoHmTKHg2DHaP55vheeKzl5uj62nlW1nFbvnypHO1DCabE1XaVRIZhSbjN4E5+RX8fy1FebhPDKw/dCZFVYMnJPc2UBo7NsVOTLYMkBsR30hCxqh71F+sgvVuzJsNNvol8WB0zcuUcxd6c+yNw+u1cRex1sZ0KmrxJKzyiKyNX1B6THzRhjVLroRjz3PWfOw32TOG/9gmTIzV5ynbc99/wFy/x6OegGkpVW4+kXR+DwPb3TR+D0V34NmxZSGJAdViBzeI1ejwf2u3/ATe7PTCvB+TGCNVvcfjTRnOfO/JYbaCLa5IYxpP2kKS+pVpFUN31Q97qDEjtpDKgXwoJLi5UHlQpU2KzValLbjBpsGXlAB/xbbisi0uWiFShZ4HmHlHRdjOmDSKz2585WSaJDLMVIZBLKlWMireOJZ/AyPe7lXwqMqFM+r0BTA3FI8meqGJ4IUAz+YYRwulno+B/rFnBaPh1RNCEJw+aX4BI5A43HREE7/sxIYASaJvY2H5hiMDKoTLHTpq8TEu5XJzxLIOYnwhJRyxqy9OpeCNi1jA3cpncT0qXMM1SOp0yM/Nc7WjU7a58X2/9TM0ULL59/Sw/swbSt15x/q7Cw9UxsAq2sxO0e9/jN5LcS00K2ejaGwbiBEYoHk7/oApd4NUH52jzaSbtNoNr9AUSwsX+j+euddEWHhzD8i8lrCl8bgG41DIUMPsB7XGeDQWdvNl+LQwele2jCVOG0l1qZSScV6kE2m0p5FIoLvu2BWmIdJiIBzniTsPouaSZLLDo3Ul3k6TE1DlC/6lBNC1n0+6fPJdn9XK6mjxb60qMSrLp6k811MdEapgimsKKhd7EGdrC9g+xvi17wOLpCD0siUa5zppR1ItXiIFqZcJAw5gcJGDJdVPEHeNWfMfIauyPbxUX8vjffJzQjF2eM/f0ZnbuHIEb+wjduefEe4+xBOiyoulvbLQEaSKhg3jF+mTxMaklXesTumh1JAxuUAB5m4fvrjP+XdfAKwBKNN1h6Ch3d/vKv96qSPZYeRxTbo/aeyiQheUxRO7Ncnx6zrBtCr9msmEdHpa6Gu5iIshW5P7AYhVRcFOQDwQ5Vd3UtJ6rf7bFHZ3OmK9uYXaKAKSnN9bAH4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01369KYHroCnJ8te2vFSvFLE",
      "input": {
        "note": "Teddy foot fills the view just ahead of the jaws; advancing ~3.5 cm and lowering so the jaws straddle the leg.",
        "targets": {
          "left_x": 0.235,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01369KYHroCnJ8te2vFSvFLE",
      "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]: [-1.2789, 1.911, 0.9298, -0.3309, -0.9203, -1.1362, 0.9983, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2357 left_y=-0.2835 left_z=0.0196 left_yaw=0.0263 left_pitch=-0.0671 left_roll=0.1078 left_gripper=0.9983 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0044 right_pitch=-0.0381 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.8564, 4.041, 0.8718, -0.4225, 0.022, -0.0513, -0.1026, -1.347, 7.1863, 1.7607, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab0ed5b800ebb5b94d3faf521d63cf5380de2a5d3f4edd07f1d9bdc0b78f52c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6070ca9c88708aef01ad9db3cec9558208c04369ae8238e49c3181695b1b8a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e466754b85547549b27aee7392ac8b24c3d7170ccdb267da96faf710adc0e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 6.984 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]: [-1.3991, 1.8763, 0.9497, -0.5068, -0.9386, -1.3163, 0.0115, -0.02, 0.8185, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.1983 left_y=-0.2886 left_z=0.0313 left_yaw=0.0138 left_pitch=-0.0655 left_roll=0.0844 left_gripper=0.0115 right_x=0.2961 right_y=-0.0002 right_z=0.1738 right_yaw=-0.0044 right_pitch=-0.0374 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.2393, 4.8479, 0.4664, -0.569, -0.0317, 0.9402, -0.1299, -1.2513, 7.0359, 1.746, -0.022, -0.0659, -0.0171]",
      "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]: [-1.3991, 1.837, 0.9783, -0.5972, -0.9348, -1.319, 0.9987, -0.02, 0.8185, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1974 left_y=-0.2853 left_z=0.0468 left_yaw=0.0162 left_pitch=-0.0726 left_roll=0.104 left_gripper=0.9987 right_x=0.296 right_y=-0.0002 right_z=0.1737 right_yaw=-0.0046 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.9897, 7.0222, 0.2808, -0.5495, -0.0122, -0.022, -0.1026, -1.3607, 7.0085, 1.7411, -0.0366, -0.0415, -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 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]: [-1.2789, 1.911, 0.9298, -0.3309, -0.9203, -1.1362, 0.9983, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2357 left_y=-0.2835 left_z=0.0196 left_yaw=0.0263 left_pitch=-0.0671 left_roll=0.1078 left_gripper=0.9983 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0044 right_pitch=-0.0381 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.8564, 4.041, 0.8718, -0.4225, 0.022, -0.0513, -0.1026, -1.347, 7.1863, 1.7607, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab0ed5b800ebb5b94d3faf521d63cf5380de2a5d3f4edd07f1d9bdc0b78f52c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6070ca9c88708aef01ad9db3cec9558208c04369ae8238e49c3181695b1b8a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e466754b85547549b27aee7392ac8b24c3d7170ccdb267da96faf710adc0e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BD6gadisrraWNRkUGW8zBD",
      "input": {
        "note": "Teddy's leg is now pressed into the open 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_01BD6gadisrraWNRkUGW8zBD",
      "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]: [-1.2793, 1.911, 0.9291, -0.3267, -0.9173, -1.137, 0.0113, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2355 left_y=-0.2843 left_z=0.0192 left_yaw=0.0253 left_pitch=-0.069 left_roll=0.103 left_gripper=0.0113 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5675, 4.9573, 0.6667, -0.5201, -0.0024, 0.9255, -0.0889, -1.306, 7.2137, 1.6923, -0.0269, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a02cb5e5df2cc50c479bba3566947ed07582d49eda7ffd5737a05d35a7588a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be13ca68bb40374fe52b217e96e91502dcf87aca4eeb331edc6cbbe777d75c0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:101a37d7746d4a5cbbaff1ab48128e9791d23a32ae9d8ef80250642fac0f1379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 4.195 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]: [-1.3991, 1.837, 0.9783, -0.5972, -0.9348, -1.319, 0.9987, -0.02, 0.8185, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.1974 left_y=-0.2853 left_z=0.0468 left_yaw=0.0162 left_pitch=-0.0726 left_roll=0.104 left_gripper=0.9987 right_x=0.296 right_y=-0.0002 right_z=0.1737 right_yaw=-0.0046 right_pitch=-0.0378 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.9897, 7.0222, 0.2808, -0.5495, -0.0122, -0.022, -0.1026, -1.3607, 7.0085, 1.7411, -0.0366, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-1.2789, 1.911, 0.9298, -0.3309, -0.9203, -1.1362, 0.9983, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2357 left_y=-0.2835 left_z=0.0196 left_yaw=0.0263 left_pitch=-0.0671 left_roll=0.1078 left_gripper=0.9983 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0044 right_pitch=-0.0381 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.8564, 4.041, 0.8718, -0.4225, 0.022, -0.0513, -0.1026, -1.347, 7.1863, 1.7607, -0.022, -0.0659, -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]: [-1.2793, 1.911, 0.9291, -0.3267, -0.9173, -1.137, 0.0113, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2355 left_y=-0.2843 left_z=0.0192 left_yaw=0.0253 left_pitch=-0.069 left_roll=0.103 left_gripper=0.0113 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5675, 4.9573, 0.6667, -0.5201, -0.0024, 0.9255, -0.0889, -1.306, 7.2137, 1.6923, -0.0269, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a02cb5e5df2cc50c479bba3566947ed07582d49eda7ffd5737a05d35a7588a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be13ca68bb40374fe52b217e96e91502dcf87aca4eeb331edc6cbbe777d75c0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:101a37d7746d4a5cbbaff1ab48128e9791d23a32ae9d8ef80250642fac0f1379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzgsKEAgSGAI4AUIIdGhpbmtpbmcSDLhG+uFTjtOxHZ4WGhoMEAyk7OJUgoSUvh5hIjBBmv79B8Pbm0dqBXfE6zwskvB0C3n/RprsUgihkbuPKGlAAlvsGV4NgVzUWCP6e60q6woy6HfILtJ7I0zs/yon/YO4SS3BxO1KC0FNFuz8e5TbAzzeem9fUSW9sSUZW1iMIXqtTNORbBQMxCeKlbr3aV4BsWOYsdZIJXkF9x+AaS9NicSmg8Unwdqk0vUsU/7giYE7oGAKs77FLNqWVjHZWlH/oDoY1n5KYf46zz9pOYt1MJ0x8HsoEyovbQVkUj+yor9slfuEPqLUAXahzkxG9jmnsctZorEIgpn7JEqMXLHHQpjUe4xAuU4EnvYkLwtFD5Kqhe0yZ4mhN0M0SDbtD3hDapUBTL99VAHpJExpKGYyxf72alSzYqnoRZRWaoGGB+N8sLuSzDoND5bz56tGZTGhxHYuVysWrqjEseP9UrmpkwycvvFJbcmcXnBBrFG9ufiu+phiULtLMoSNU1TIkaLlLJ0tm1bccpay36dY9uVDiK4aSplACKQsxsK74RdvMrn9HRqkjoixOPC6BmkX8B0mZLYFpNFcKeXYogazavrX4LGMtcp6rVWAHkEVrFRqVYz0FVpH1dNZR9P1kxecMrSd0uW6u/+oj2ye0qxlyIdrIQFo7X+eqj6iEKFPzEupKQJHsD6yw+ZFwu0ECe0llscTGAk6M7uZJ9820Aa5OIfP9tkvvYUIPoMgLJ9MFsiEdLtdgk1TcW29nOasdotSE/EfYdGj4j7pUfIWVzGvEN8bUFa1bU4mO2f3vyIdqD0MSawXPhekB7AHLSzUx/cT60kgJeS3qrMaGMRkHjiGLmNHPKF9N6i4w6v/F1Kb4nphEZBX8Sufjw6u9spuifkZzW4SlVnjr9XDH/o6CmyWZpR4d8R2fpi0DXk8mUgZRfL3Reu8zGuRoUzTttTWecqOPWfHriLPW+AJrhgFguZ455qwX/5uHSqiDAi8NCYXzMga9aZhxwm75BxYCEYRQXMPLGb18CFOvK5MtxTZo0sqVVin1dUOGZZM+qn6gD32Np6O0zzyrsDJweQ3XicbV+/CQ/e6euSBb9yaVwiTg0riseT2gX3Gy6vIuge+xvrdFc7l9LICtoGdFVVElC69PLg4LOcyZy+fwGPOljnvQ45UmSBI4+0RMfpFgrh5tk/k0jxv/5U1lt7WtqE+DWXtxGUgAmc9jAk59fAkh1nVIp8KnslU8+m4sMgW87RTrBRV1N1Q0k22LqM6b2oAHLsX6TByA1vGB/AOEKoFH6WHjQEbyXeJNH17jLu/JN1SMBa59vvw2FI0Gv9Zp/PMATOgIw6bXDCO93CXVze6/kZe7sDg57ilxO+JgE0YFzZhcsGpTzlE/vU3aBWVx03GnVPcYp0EOh4S+k8hqferRZDVSGIWxvUD6n7M9djA3HllgyYbl+Vo9mGZPoWovYLnLl46wbUX8Zz3UpW2HAsuYY5b98YI3MKBfZSQ66cOBkuznJv3nTghVZpd5aZD+S3EH7iE8HUEkzlyuQzAWFLu8RopGolXq1xem2ZE3nt9CS1EBrsJrz+suLHJMpHqLE8bKq2D/P2DKR+oGEmelFG08qhHlR9xrqeX0f2QdFRaH2TcME2G5U+Kku0MPX5GWKfhM+V3lZi1jV/2uUUe/cFwmfDiqlUb8jIhT5M8G2i9bVLRFhYs/n5NYs7mwvaWaK955AD5j1KZ5lMOcmxioEYc1WoclCbiKrN8mTNbg+8xMICQxcoBz4N/1sGLqMNiFKzIukDe0Fbv63+W0gTznybaPn+Z0E70Ck4kSMV3e8g8RMuH6CHCLN4UYqa60E4SPtP5PoarduajUCCBf6cOFHsM0qE67WIG//gdLE/lNYGW+ntWe4eaWO2O/1TD5ZDzMyYs1RdVd275JKDhq8vhpw/9n5NU0qcUn8zPDfdgvfuKFCtG9AVlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XVMJS9D2E34GAporiGmzZB",
      "input": {
        "note": "Second close also empty; the jaws seem to be under the raised teddy foot. Opening and raising to leg height to try closing on the leg higher up.",
        "targets": {
          "left_gripper": 1.0,
          "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_01XVMJS9D2E34GAporiGmzZB",
      "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]: [-1.2793, 1.8618, 0.9501, -0.4328, -0.9123, -1.1412, 0.9961, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.233 left_y=-0.2778 left_z=0.0345 left_yaw=0.0289 left_pitch=-0.0828 left_roll=0.1331 left_gripper=0.9961 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.4684, 7.3094, 0.5201, -0.5397, -0.0317, -0.1978, -0.0889, -1.2376, 7.0769, 1.6825, -0.0269, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:428ddc5affb48da0eb004890b0b9ca78cf66c816b858376490decfd4607d4c6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d2e4ebf25f4eef490933e08601681c7ba9ee7bca5c72645e79ffdcd0bc0762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbd48853feabb07f5ce1b1eb5d30dc6e3a5184b1065525b6143764a7893a551b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 3.058 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]: [-1.2789, 1.911, 0.9298, -0.3309, -0.9203, -1.1362, 0.9983, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2357 left_y=-0.2835 left_z=0.0196 left_yaw=0.0263 left_pitch=-0.0671 left_roll=0.1078 left_gripper=0.9983 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0044 right_pitch=-0.0381 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.8564, 4.041, 0.8718, -0.4225, 0.022, -0.0513, -0.1026, -1.347, 7.1863, 1.7607, -0.022, -0.0659, -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]: [-1.2793, 1.911, 0.9291, -0.3267, -0.9173, -1.137, 0.0113, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2355 left_y=-0.2843 left_z=0.0192 left_yaw=0.0253 left_pitch=-0.069 left_roll=0.103 left_gripper=0.0113 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5675, 4.9573, 0.6667, -0.5201, -0.0024, 0.9255, -0.0889, -1.306, 7.2137, 1.6923, -0.0269, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-1.2793, 1.8618, 0.9501, -0.4328, -0.9123, -1.1412, 0.9961, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.233 left_y=-0.2778 left_z=0.0345 left_yaw=0.0289 left_pitch=-0.0828 left_roll=0.1331 left_gripper=0.9961 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.4684, 7.3094, 0.5201, -0.5397, -0.0317, -0.1978, -0.0889, -1.2376, 7.0769, 1.6825, -0.0269, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:428ddc5affb48da0eb004890b0b9ca78cf66c816b858376490decfd4607d4c6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12d2e4ebf25f4eef490933e08601681c7ba9ee7bca5c72645e79ffdcd0bc0762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbd48853feabb07f5ce1b1eb5d30dc6e3a5184b1065525b6143764a7893a551b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrQcKEAgSGAI4AUIIdGhpbmtpbmcSDMuV7Ko4M/BIFYBZJRoMUQU8PWbLAocYigAgIjBNlnsts/O60QwgkJjYftcWB1ySHTF2Re5X8ORIKVbsrs3jfJxJKxszNeKqBbo7JUEqygZwwXgouItI3C0QwgBvQHd64rnsSXJeSsvAZc1qler+KRHSmVMNLx1k9+A6a8yvIA6rIJaMkKQBEZZL5ImOqrPd2TD5OOSmjyXtcKlNBkjJO01cqCYZFDzIdAn5jQSu9j8mklXvU+fxFBBreEdtqbZhrT81N6XsR+mVQehyMHtzR6jMSjV0T4VQ6a/gLwcN7VvSUHcWXFwcmROu01dscs1eMSK9HpQ/SoSzDs38lEejwFK0xt9z0o9wpHANEpYus4+xeDY58uarBLaMxvZYuI6zU6DCa6zWZEfL579H91kDENhYBJ2U7YHj3goigzmK9xgA2kht1WpIF/1OU+lSnXRsZSWY7RQBnqGvNUkLpsG7n9ifzBHxgzVpGYcEK/ElvHv1gYuXw1oklFJCw2YhhOTDrF0q51DSxpWIKcDDDm8dc2B/6dUr749fil8OwX3jy5ConT1OYzgQJCunsiK62PwIndwpwGUcqW/SPXIxBC5qiXsMEjTeJp4JurvG2nBxsBTNNeBf8bSG6m+J1Yo5tp7lN8CaWEtObcNVKfF3F2jRp8HoRzzz90L/BKMzh/xT8O/g9Vc9DM9uvmUkWwhZLElCoH9owc4goW2gohnQgL+giBg4VBzW2zq1FAQPy/niJ2OgDaul/p5YHVCkwY8FnhdwqfWoWkfPbcv+7zYgyncnNQ4VXbB83h9MBN8+lZcGtVs1BxXCPSfOSFZ/N1nzA7R4rS5Y5LitgKEMncV9JuYTS7iLFH3L6A7RR0V5sGccdcco1fviNBAvAE5SIVgCyVsW04S/NjhQaphS2oXbgQvd/jBXSq1Jb3NPzmoCapKQKp12QdUF/ArdkudWBtv2HthRaUjLnB1qfzb3ysEyHgzSLq+1k5K5VQ2ZPQJeycTBxMjZeJixmVN+Babs4KUUc3usiCZEfbWHta2xH7jlx88koG7agrYaIX+LbghpgJI06WfgjBqW5hi5hanBt9UukRkjYotjT7dsoK2NqQcHeR7/G9CVqfDiojtT+gEJUa8UG5VrAzcQnnpaWePBYahKHE4iwp+x5svCP6C/SwPB0o+9Aq3iwnU0nweoOfUIcPERRgizVvUcYLknTkZczONqBk4o3DX0OJF3FiJcGBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JcugRjtRgtLmxMjv7yMRnB",
      "input": {
        "note": "The fluffy foot sits just beyond the jaws at leg height; pushing 3 cm further in so the jaws wrap the leg.",
        "targets": {
          "left_x": 0.265,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JcugRjtRgtLmxMjv7yMRnB",
      "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]: [-1.1831, 1.858, 0.9543, -0.3473, -0.8822, -1.0225, 0.9968, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2622 left_y=-0.2718 left_z=0.0369 left_yaw=0.0454 left_pitch=-0.0912 left_roll=0.1298 left_gripper=0.9968 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0044 right_pitch=-0.0385 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -7.3641, 6.4752, 0.8816, -0.5348, 0.1636, 0.0611, -0.0479, -1.4017, 7.2821, 1.7314, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9335b089545db8b5e701ba8da771c2da7536c6c9db519b5c920ff9699b0b0d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bdf52994a4463b26dca3c5a7544dcfeeb5a44572bdfa6f1a025eddca148afe2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9917f5cf8bfcdbe3a8d74fe0605bfa40d26939decfd31b7d30fb7f18fb44a245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 6.097 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]: [-1.2793, 1.911, 0.9291, -0.3267, -0.9173, -1.137, 0.0113, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2355 left_y=-0.2843 left_z=0.0192 left_yaw=0.0253 left_pitch=-0.069 left_roll=0.103 left_gripper=0.0113 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5675, 4.9573, 0.6667, -0.5201, -0.0024, 0.9255, -0.0889, -1.306, 7.2137, 1.6923, -0.0269, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-1.2793, 1.8618, 0.9501, -0.4328, -0.9123, -1.1412, 0.9961, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.233 left_y=-0.2778 left_z=0.0345 left_yaw=0.0289 left_pitch=-0.0828 left_roll=0.1331 left_gripper=0.9961 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.4684, 7.3094, 0.5201, -0.5397, -0.0317, -0.1978, -0.0889, -1.2376, 7.0769, 1.6825, -0.0269, -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 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1831, 1.858, 0.9543, -0.3473, -0.8822, -1.0225, 0.9968, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2622 left_y=-0.2718 left_z=0.0369 left_yaw=0.0454 left_pitch=-0.0912 left_roll=0.1298 left_gripper=0.9968 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0044 right_pitch=-0.0385 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -7.3641, 6.4752, 0.8816, -0.5348, 0.1636, 0.0611, -0.0479, -1.4017, 7.2821, 1.7314, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9335b089545db8b5e701ba8da771c2da7536c6c9db519b5c920ff9699b0b0d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bdf52994a4463b26dca3c5a7544dcfeeb5a44572bdfa6f1a025eddca148afe2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9917f5cf8bfcdbe3a8d74fe0605bfa40d26939decfd31b7d30fb7f18fb44a245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NDPmmcNY9UT45jLdCNxeiM",
      "input": {
        "note": "Plush fur fills the whole wrist view — the jaws are into the teddy's foot/leg. 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_01NDPmmcNY9UT45jLdCNxeiM",
      "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]: [-1.1805, 1.858, 0.9546, -0.342, -0.8822, -1.0012, 0.0158, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2633 left_y=-0.272 left_z=0.0373 left_yaw=0.0362 left_pitch=-0.0908 left_roll=0.1414 left_gripper=0.0158 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0044 right_pitch=-0.0381 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -7.9111, 6.2838, 0.8913, -0.5055, 0.0708, 0.6862, -0.1026, -1.1966, 7.0085, 1.746, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afc3314858cb21c9030c94155ef14026ac2423e8efd33a6e0b890b1d01e12db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2af4762b6379bb98c253a52bf0a4d0393f7453a30da77d28132580e016870aef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec6c9bb261cf0167a3203e234bff58b05a0732340f44d0eeca2be5ed25184928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 6.155 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]: [-1.2793, 1.8618, 0.9501, -0.4328, -0.9123, -1.1412, 0.9961, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.233 left_y=-0.2778 left_z=0.0345 left_yaw=0.0289 left_pitch=-0.0828 left_roll=0.1331 left_gripper=0.9961 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -10.4684, 7.3094, 0.5201, -0.5397, -0.0317, -0.1978, -0.0889, -1.2376, 7.0769, 1.6825, -0.0269, -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 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1831, 1.858, 0.9543, -0.3473, -0.8822, -1.0225, 0.9968, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2622 left_y=-0.2718 left_z=0.0369 left_yaw=0.0454 left_pitch=-0.0912 left_roll=0.1298 left_gripper=0.9968 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0044 right_pitch=-0.0385 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -7.3641, 6.4752, 0.8816, -0.5348, 0.1636, 0.0611, -0.0479, -1.4017, 7.2821, 1.7314, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1805, 1.858, 0.9546, -0.342, -0.8822, -1.0012, 0.0158, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2633 left_y=-0.272 left_z=0.0373 left_yaw=0.0362 left_pitch=-0.0908 left_roll=0.1414 left_gripper=0.0158 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0044 right_pitch=-0.0381 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -7.9111, 6.2838, 0.8913, -0.5055, 0.0708, 0.6862, -0.1026, -1.1966, 7.0085, 1.746, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6afc3314858cb21c9030c94155ef14026ac2423e8efd33a6e0b890b1d01e12db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2af4762b6379bb98c253a52bf0a4d0393f7453a30da77d28132580e016870aef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec6c9bb261cf0167a3203e234bff58b05a0732340f44d0eeca2be5ed25184928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgQoKEAgSGAI4AUIIdGhpbmtpbmcSDEx3YdPHgHBgVGr1JxoMfSgbeaFOOjsZg5sCIjDfW41+C7DFP9r5+LuZiXQfy6xbN/6vgVWlfcYEEHK1LJ5vaxwoA+usHjPZntia8iYqngnXyKc3R5riPlxmJO5/SnU2YuDzzvMMai3ZXZgK1dlEBlY3HT7N+bs+FHfIcUVxJD0bC+qiRizF5ftVJqr03+mZUtncLN037emuq/GjeGm47kPYNODzBM32ATdaVA2d3jawi3vqYzNyKpGpNP+5VQNmQOe9Zr8lTzrW1HmdHICcZBBv+3wVv5M3HmvhKtaS5jIwHlkkLCgchpBUrLg4peoua10iEvKFhjp8qStCtDzozpKAw+K0JT+vatZt1Ud6iDrwO9lSMp9/mCItle0htFfbyEJdjK1StaHVYNpUZuPkcpPXK0b6EX+08l9Qv+gjs9dxHru0kGW+ACbqfvyG5Vb/b0djKiNMi5BfG8sh/Q/oiWNU+Dpn78jfbd2ZGNeiBAWdptjdqniljS+/nk1+C3Vl61fQyJtUxTJF6h9aodogcJyBn73+uEiw4Whh+PSAULleIRf4D5J6f5OUBHkXEnh1PLL0P/dXVgYI2u1OoaR+Hx8AOimVqhTY8XE9JVgea56br1oDT/pHLdp6e4JDHCbRItdiUdx8OU+CYGSMoDbVfrvhJ1UETBlweSJR/YRmbmg+DzvO+/WbALsYYs4KvwjMiOaFPBBpId3F6aRFZGKkEf/KHisiktcVofvzJnYQakhwozY1ibZ8LMU25dsn6XYKkD4Wivt22h8QvM4wFsZqnIoIIrzTy2Vr3zTWC1EzecaIK8aWgyPbc+7oMtijqC/grTJxSN4fSUoJBPwLXw/LXatT4EgIB+QxGO2CNILLiWQVCo5JzFaTU3dDP4cnlsHVOR2BuCgeryIZXPTSRhQqCPleTkh5oQkTdgX5u9mc130Qu5oERxT6UByMa+fmoftd/15kXc2vmbhHf05SzWrGSTJobxqZyJlUF50ysJD0DpqQ8IAhchvYG8NX7r3UHswV/52zzXjJktSUSv+Kc1W8mkhS8r0X2jNEhjDpprAbN0jFYKKXbQeswmXOVsQevNXu3CvFffXVqwj0NWIODw+PsFewHKLHUtnYqTAyFII+b491oDXLPORbeh18rZUkF+nCuH6/3+SRmE28F2edJoKOzznAnvRX/j5H79r28dU+FYbjyqE7lYwK/7Qij7tJfYrKVZq442Xvkpr/qa6pLvqz1JyTwOa/QbvOIhohrtCqKZKhyqNg21XGO3mLP/Ud6y5DUdF+MKETHWeyRXad1E58DLjuS3Zz/IjeS2EpHNDGFIy4KL3kZ30gM6g/J51dm2haPAx2rGxQ81HoYCCvk+6eiZh1tZLPFtS+VqXQpe8UcTuR4dYyRTlXqCUElaZPSsZbSfLGekB2hF3dy61cda7kK6RCnycEXMjjSr2I49IuXmKUsbt3rvxEuxTfQyXuPv276HjHEBxl4VBfGJBA8BbLaTiFTAAWgd6VdFri8eJbV8/VMlIh6QrIESrtNKLuHbyfVPk9FP5+HeHwbPh6N+SETWtPsc5u638sR+vu8rgjXdZNq2C8ztj0Gt9UuwIIc9pUKnHy30pxBYLvDgwZoRML8hqWu645QV4pWfrKEVGiq0JVBzPbLjoQ/drK46wMqMONDKKIqzPaoro5WRtRvOEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PyMn6iavpGJWbihRah2jmG",
      "input": {
        "note": "Reading 0.016 — may be just a pinch of fur. Lifting to check whether the teddy comes along.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PyMn6iavpGJWbihRah2jmG",
      "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]: [-1.1801, 1.7397, 1.1091, -0.6693, -0.8562, -1.0096, 0.0197, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2589 left_y=-0.2689 left_z=0.0973 left_yaw=0.0382 left_pitch=-0.1322 left_roll=0.1777 left_gripper=0.0197 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -10.865, 7.9385, 0.5836, -0.7497, 0.0269, 1.033, -0.1299, -1.347, 7.2957, 1.6874, -0.0464, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29129be1bd42e6f26864534bc96c162e24207d00bd4cffe370419dfb15133648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b79a955b251fade5746eb754715387d2db475678b0b95b00ede11a616f46d106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e90eb45e2fc4e6c607816b10e4bda3fe528c5eae4633529051e7ecd644621b0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 4 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1831, 1.858, 0.9543, -0.3473, -0.8822, -1.0225, 0.9968, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2622 left_y=-0.2718 left_z=0.0369 left_yaw=0.0454 left_pitch=-0.0912 left_roll=0.1298 left_gripper=0.9968 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0044 right_pitch=-0.0385 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -7.3641, 6.4752, 0.8816, -0.5348, 0.1636, 0.0611, -0.0479, -1.4017, 7.2821, 1.7314, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1805, 1.858, 0.9546, -0.342, -0.8822, -1.0012, 0.0158, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2633 left_y=-0.272 left_z=0.0373 left_yaw=0.0362 left_pitch=-0.0908 left_roll=0.1414 left_gripper=0.0158 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0044 right_pitch=-0.0381 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -7.9111, 6.2838, 0.8913, -0.5055, 0.0708, 0.6862, -0.1026, -1.1966, 7.0085, 1.746, -0.0415, -0.0611, -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]: [-1.1801, 1.7397, 1.1091, -0.6693, -0.8562, -1.0096, 0.0197, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2589 left_y=-0.2689 left_z=0.0973 left_yaw=0.0382 left_pitch=-0.1322 left_roll=0.1777 left_gripper=0.0197 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -10.865, 7.9385, 0.5836, -0.7497, 0.0269, 1.033, -0.1299, -1.347, 7.2957, 1.6874, -0.0464, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29129be1bd42e6f26864534bc96c162e24207d00bd4cffe370419dfb15133648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b79a955b251fade5746eb754715387d2db475678b0b95b00ede11a616f46d106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e90eb45e2fc4e6c607816b10e4bda3fe528c5eae4633529051e7ecd644621b0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxgoKEAgSGAI4AUIIdGhpbmtpbmcSDDA5tEYvO8x5bDJ0eBoMGgsGL8qmMNyp9WzjIjD0+XEIFg3+85N6ed7oGRV7T5lcFKqmwob0/Gmas43lE9QqS+BQANv3n4v7yGIqNZUq4wlLnNVHhapMDsZICyYp3Ktpol5x63S+10hRmx8gDFbd2V+MgVbtaKONanbmwOPcRr5sjN49ERgJW2fZhjQ5SMnOnayZUma3bHTWk0rIlONn36lsB4CkW09QCTGtNy3aeuHt/ch4598QABfNV2gb9E4sww2PqmjTI1AgABTxEiukbHMW0pe4l9AlD2w3WZORKYv2k44MYr7YdEG9wtInDK4wf0eCnd20KYlza/44yFystSHEwEm8q7Dred6AgwdhlbtsndoI0WM6nZAnDHC8R3eCVfMBSJLog8jdOzZ4vvDxvpibchhRe+bmutlQ0KtqpnV+iy7ePoQFkL/qOucxud1xu5mc7cfxyqcGig1CwVNpSCfSAWXxLeLphbBUXR4TCaJg0UuGXWHa7yV9dJGv68wpddh206g5nXFeVaZGHbH34kDxGcXU5ccRVs7EoYMuPEp/zZuHA3FwboW3HX/8P3SDrUfUDam1T9cf/woPD9FY6rX/AZ8p2KPBbujOuQBkaLeOFNRgTTMPET19GnBeAYACmf2MkQYuKg0+h6ZCdrxUE7X0SC1iycIEyZZHBxkHiCqeHXXBvlteEMF8pbyo77T1pXBD19tMDdRDg4d1pRWf+DOKzO1gXJHjeV3KW9iWU2jEQx21cyd6D7VSGJGbHPbFALKNev4E+QJudhDusFxo3njORYUgGUueKUNZU1nLsQuVADtUb2C1+OEwAqptiIR1M2zfjCwwtJDWH+aLRTymLFfIrozs0WEJDVMeZk0y1378U+h/3qsslyMsI9NiiT7Prc/eImPn2BUwYwY9C3D1GlkL8BD9nuq3LMxud0Sn2msB8LqGDwlK9g5YweopXFaQU4g9oC6QEsJaZjRhOU17HdDQJepzQlNKfI0pDvtbigb6sS1QGFiQQctXSRJXHMwKH6EoSmry9YGCBg6H3OPXwVhQnGnwmHsHzlD5sbsuf/kkzNr2S+KVEYic5cvxgretUuRj2vE66cn9g+x1lnR4SdNxuySe5bfwYrrXnA06zcRP6ucY4RNiHkDkauyeFhuwh3kyPUsYZaEog/9ooXBDiVQDfqffx+6M+98v2QcljAze2TKfuhSvtYS4TUduOZuwvj2uMaoekV70frA7YucCaRyoR+5hvb6yKnWKKEIf3/mUwQm/T286Hi3l70EMalq0+b/UBbvr7tqNjBrhxhb4PyEEsmFbNPc9fcWIqYEDxxHAW2KvVTBs7ZsELSam0KCNheACPcBgpdlNF5p239dTOs/R5E+dIeZeOnYHhsrwidMMQ0g/zk4ZwX/9bHOnXHwBOO0OF4u7AHJdwrd7SHHVfkxfr3yIe1BfQmMFEMXLgmvobkiMWlHF4JHsfEDOt6jBF6f4GXbrgIyMPultt+PaJ/9Htx82m6IcM+UooIy3h6gv9yh53tt1k23s5pgX9y8tHlvBeDBy0hP5i8tAW9aH2Wv6ubCUQLp5t3AtIde8AKvO3rizMIqHd0lssp+0aTcqelpjsWtt0x3KLoG4xdsCbAIIm33BbvgoPO0C/DRHR9QT1dZG40ozxsvoPmBNzZSSGMTSAY/vc3wKzUHXLaxDAwpBB55dofjWFc9bJ1u7RwlG9d1n8LppaaNJpeEQcvsuwC68sDKjbTS91lwI+jfYeabiesv0dopTODRr/Gaf8wQCZw8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JQmn7DnBLKryKBxdFr6EY1",
      "input": {
        "note": "Fur still hangs in front of the wrist cam after lifting and z sags under load, so the teddy looks held. Raising high to clear the basket wall while heading toward the left basket.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.18,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JQmn7DnBLKryKBxdFr6EY1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8997, 1.4368, 1.3315, -0.9947, -0.717, -0.6571, 0.0197, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=-0.1815 left_z=0.2266 left_yaw=0.0414 left_pitch=-0.1897 left_roll=0.2051 left_gripper=0.0197 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0046 right_pitch=-0.0381 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -8.0068, 9.0598, 1.1062, -0.6276, 0.1441, 1.0281, -0.1846, -1.1829, 7.0222, 1.707, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2946924e3cc64c7c50697c8d45a121babc8ad9512860b9fa0f4662f5a6c9de8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312e0176afe4db2baa4e4aa52d5b123cdae7675a90d87630bfdda25e9080f064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b63e55b77eb714f4549ae36c7f54c8480271e014895519e7447ec9f8306951e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 5.461 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1805, 1.858, 0.9546, -0.342, -0.8822, -1.0012, 0.0158, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2633 left_y=-0.272 left_z=0.0373 left_yaw=0.0362 left_pitch=-0.0908 left_roll=0.1414 left_gripper=0.0158 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0044 right_pitch=-0.0381 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -7.9111, 6.2838, 0.8913, -0.5055, 0.0708, 0.6862, -0.1026, -1.1966, 7.0085, 1.746, -0.0415, -0.0611, -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]: [-1.1801, 1.7397, 1.1091, -0.6693, -0.8562, -1.0096, 0.0197, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2589 left_y=-0.2689 left_z=0.0973 left_yaw=0.0382 left_pitch=-0.1322 left_roll=0.1777 left_gripper=0.0197 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -10.865, 7.9385, 0.5836, -0.7497, 0.0269, 1.033, -0.1299, -1.347, 7.2957, 1.6874, -0.0464, -0.0464, -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]: [-0.8997, 1.4368, 1.3315, -0.9947, -0.717, -0.6571, 0.0197, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=-0.1815 left_z=0.2266 left_yaw=0.0414 left_pitch=-0.1897 left_roll=0.2051 left_gripper=0.0197 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0046 right_pitch=-0.0381 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -8.0068, 9.0598, 1.1062, -0.6276, 0.1441, 1.0281, -0.1846, -1.1829, 7.0222, 1.707, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2946924e3cc64c7c50697c8d45a121babc8ad9512860b9fa0f4662f5a6c9de8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312e0176afe4db2baa4e4aa52d5b123cdae7675a90d87630bfdda25e9080f064",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b63e55b77eb714f4549ae36c7f54c8480271e014895519e7447ec9f8306951e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqAcKEAgSGAI4AUIIdGhpbmtpbmcSDAHjq3wgoTAC2Nq3hhoMwNqrWDEI2GSkybQqIjB2FpTgaCtX0CHrXSMBYbm7A7U5PcTSO8OPu8uxw9f0xhQFirPd1RTb1j7gwRmAlacqxQZ6MqiEPSqyCaPPxwpUW7Ni51IOZho7X2BpTMEjzylzg3+wiG0zmvcXTKEgYRhR87MLw965EPdf4+xNwwvdgo/f42R8djTtUSocTbQMBu6t51NPR3L9K3SnCzKh9xkf/fnqtD/QbYQyAJOD6pYX4ZQ0NqvguLPjBEKc1vDqb6Z+MIV7Vasoud8pb37KBrGAAlKxDTvg9W33HwUnNQa876cVtfPEIbJKyNtImGnjYdXeBhqJMIO64shlcJ8UEjN4lNgQP5S10DFDGrv9QSmp3ai84lUW/ygJFJo9DglIkpLucrvggtc1fSweD1JREFdqwZGpqchSkj78RUMfe0B1jkZ9ccF4w4RiPdmddLb5v3ddKz4JTdhx/2ZPefCTy2zESQBJ26Jx1QIb3ijd8BM8SSNJEYnJq2vcSwCbRaKuHt5q35rLY47S2uwk0PG61Bbp1mFfhcjQScr7uID0vPUwzBse415FskLwrj1Lo02viHvOKRhZmd3Li6yVKGv0z2Wgcus5UiXnAP8BetVTB6nNSr8Dg1GF7edNZ4xhtik2xybiI8LKA6V7BkX1auVHsiyU7hVcEWEtGe0HUW3lS9rmeSaYyZDa6vWIvQmK3NXSRX70XbUYSRCGncIAc97Ss3sRbcEhSLeEGveceQhTrczkkNuuHUCoW1r37oIiU5qLY+IeopRSfmrYUp3ulYdmXABXYrkV5/9OEhpjMW4TqHZW2cwfHamGuruwayy8mwCWP9U7olV8ZJPhU1iBBjF/xP262q2CWR+BnJ7M0ibvHf9178LUFBkATmoWX7SVUU10/T7I72QDHNSqBq09liwKwNHRYTdYakpPTTlos6SWqACGwhctch/5SW3VoGyrzCv1QkcuapKZS2BrCa9ICHSnX9PBoLmPoZVDh6Y3x/gcL0eQKm8Zd0G4vWahI0VZ5xxkXMnEEONgF3CAjHBgec+nclu9TGGVW6sLLLI5z8WsVF/+vz4TACIsmLYQThM9U+NXebjy5XuJVsbnu3diark7UXe2tuQNO1q1ik87pxObuIA1ui6Ep+M8api9bsTlTjm3tAO6GWon4t4+IDsq4qdz9EcY/p3IdUHw25sK+BhMAuQeiCTJytJqY4oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XB4YjwPqh6qsW34A6BFaYJ",
      "input": {
        "note": "Teddy is dangling from the left jaws. Moving forward over the centre of the left basket.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.13,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XB4YjwPqh6qsW34A6BFaYJ",
      "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]: [-0.4995, 1.6382, 1.5414, -0.8455, -0.4706, -0.2687, 0.0199, -0.02, 0.8211, 0.6075, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4098 left_y=-0.1283 left_z=0.2275 left_yaw=0.043 left_pitch=-0.2615 left_roll=0.2189 left_gripper=0.0199 right_x=0.2963 right_y=-0.0003 right_z=0.173 right_yaw=-0.0049 right_pitch=-0.0401 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -8.212, 9.6068, 1.5897, -0.4469, 0.1245, 1.033, -0.0752, -1.4291, 7.0359, 1.7314, -0.0366, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb8500e004540760e66d5b5c44db9a471f289594cd973bd9b05e08c01eb1309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90096fb3b54d01f2ededb37cf5e64645044e5b2aefae38324ec702e4b5b603fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:596cf46416e5346464334989b899d7327261ffa0bd69d41b45fa458c2f6b889a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 5.203 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1801, 1.7397, 1.1091, -0.6693, -0.8562, -1.0096, 0.0197, -0.02, 0.8192, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2589 left_y=-0.2689 left_z=0.0973 left_yaw=0.0382 left_pitch=-0.1322 left_roll=0.1777 left_gripper=0.0197 right_x=0.2961 right_y=-0.0002 right_z=0.1735 right_yaw=-0.0046 right_pitch=-0.0385 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -10.865, 7.9385, 0.5836, -0.7497, 0.0269, 1.033, -0.1299, -1.347, 7.2957, 1.6874, -0.0464, -0.0464, -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]: [-0.8997, 1.4368, 1.3315, -0.9947, -0.717, -0.6571, 0.0197, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=-0.1815 left_z=0.2266 left_yaw=0.0414 left_pitch=-0.1897 left_roll=0.2051 left_gripper=0.0197 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0046 right_pitch=-0.0381 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -8.0068, 9.0598, 1.1062, -0.6276, 0.1441, 1.0281, -0.1846, -1.1829, 7.0222, 1.707, -0.0513, -0.0513, -0.0122]",
      "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]: [-0.4995, 1.6382, 1.5414, -0.8455, -0.4706, -0.2687, 0.0199, -0.02, 0.8211, 0.6075, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4098 left_y=-0.1283 left_z=0.2275 left_yaw=0.043 left_pitch=-0.2615 left_roll=0.2189 left_gripper=0.0199 right_x=0.2963 right_y=-0.0003 right_z=0.173 right_yaw=-0.0049 right_pitch=-0.0401 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -8.212, 9.6068, 1.5897, -0.4469, 0.1245, 1.033, -0.0752, -1.4291, 7.0359, 1.7314, -0.0366, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb8500e004540760e66d5b5c44db9a471f289594cd973bd9b05e08c01eb1309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90096fb3b54d01f2ededb37cf5e64645044e5b2aefae38324ec702e4b5b603fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:596cf46416e5346464334989b899d7327261ffa0bd69d41b45fa458c2f6b889a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSiQgKEAgSGAI4AUIIdGhpbmtpbmcSDFYXSygP84AoSSlNqhoMmJ2Rd6siQgkDrFPjIjAjRe2w2wxf0E8Gaf8Yv3GODCVggx6mXtwfXrOotvtPQpv0TphYwCz62V51cGrNWVIqpgd39eyGKzLIeKkUnYxea1IjCHueWrLj9vws8ckP+BMnzlDOqokDKufJuR3sc+etl2bkGU+sD5a/RNdVMOb/CwryGJKeaHwxIsm3m6XUvvbkAhEsfqLbYCA0aSjPBsrhLVka3M/9aIFyX67V93HtAXUMNs54njLyZNKO0nRDoUu5oQl/Jq8tVx3/DtuuTuc+z4YaMxX1WyYxw40fuEFJiR36P4B0u5eb+xG6DNRUWbL18d6OGEDw6tgRHt25gSf6gCMcQLHJQQ8o4g6OgpyeaHkX2pLB6eJTZcMfGCyOfW7rR3yBgrPbSAKGW/nsisML1HQ73LDns8e2t2R2CJV007mCgSqiW3c4k5OFR8uRvhoJF1TbObBwum3KlcuFraCaGoRBjwfE+7K9T2Y/9PCSJv3LRXGX2s9/moADwYwWYFkJ8FdyzrE1nJA1BHLZYSv6UGqQvsOGHu6d3Cu2yoigqeLTD95sO2ArX/CUtpt+fSZhznLTZhXieOEclKrIothMbZ9S4H7Ne94C+GWfzl4qAPENMgfMg/lEbKuxgAXJ2XU2B/hkTnteLw+TuJCdtvrLSArTP491hUH3cYA9C5kIF8uJPTh78uqLy2O5I5k5XmFu+asY0E+p89yNziz5+h9drKm7cP1PDInEfQT1lypwvjIZSQ21BKjNG4fhlqvkbUg6yvIk0pHv+fWNgd3TxATiadMi7iZvuNYomGU1LPGgotCfiCO9foEy0eDg5VKfpcfiHRZeygyu4Km++upOsHYDpgXY8zj1j9LAwsXwrSFq0OhnmK+mn0Ss6pJvbjFlyoOrijY8RExa5cjD76BnNpwf5fDqlFcwr92r/hn/CGIQkvW3TmhY2yCyvdsSkSB5s0s0ggMV4ILIml93JXUb8D/G37RvmVuxOCsnd5nqIg+w7M3q7tRnRtZyMgUnpOv+xdka+XdFbTBWu4zvwRrK431+w/Rj5fxxpfrC0bbyHKwrBGISlMNSqN0BOXVJrgt74g6leeMk0WbwFOyGWG8Ck68CLeCVdFF+gEmcmdqHRQiXSPv2dnjlSD4pIZdsKBkc9mkQ0e/6MiNnsxGE9wcU8WuQVu4rgaJqmUb3WVvX60BTQ8LzC4D4EVkigVQiOR1sis4lLJLdu1LYlusb5Hr5Fg0IX8Go25KlkkNMxj1ipsohbZn4KnbUuiZTckWR+0EU9VRg3M+cjdHFcTJB46G7bWw+25WsNJcL9LsQtr1ojz9VbvHN3GTHpc+sGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RVkXZC53gUYGtFr3V7d63N",
      "input": {
        "note": "Gripper is over the left basket's right side; shifting a little toward its centre and lowering before release.",
        "targets": {
          "left_y": -0.09,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RVkXZC53gUYGtFr3V7d63N",
      "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]: [-0.3977, 1.6005, 1.2789, -0.6952, -0.4168, -0.2081, 0.0229, -0.02, 0.8211, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.0861 left_z=0.1585 left_yaw=0.081 left_pitch=-0.356 left_roll=0.2574 left_gripper=0.0229 right_x=0.2962 right_y=-0.0002 right_z=0.173 right_yaw=-0.0046 right_pitch=-0.0404 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.6188, 7.8017, 1.6093, -0.1392, 0.0757, 0.8376, -0.2256, -1.2239, 7.1316, 1.7216, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1813da8276ec561dfd0fc960f8e712511187f0b37ae7ff4fede0dfb85afd3aac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f4e7600280c2d4589fce5ce54a125b2b4731729e553cf409aeddb05d283b89c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d03b1be9ddcd90336b2ca72a41bf7c6c43ebc11c75a8eb647e114f00c4b48bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 3.488 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]: [-0.8997, 1.4368, 1.3315, -0.9947, -0.717, -0.6571, 0.0197, -0.02, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=-0.1815 left_z=0.2266 left_yaw=0.0414 left_pitch=-0.1897 left_roll=0.2051 left_gripper=0.0197 right_x=0.2961 right_y=-0.0002 right_z=0.1736 right_yaw=-0.0046 right_pitch=-0.0381 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -8.0068, 9.0598, 1.1062, -0.6276, 0.1441, 1.0281, -0.1846, -1.1829, 7.0222, 1.707, -0.0513, -0.0513, -0.0122]",
      "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]: [-0.4995, 1.6382, 1.5414, -0.8455, -0.4706, -0.2687, 0.0199, -0.02, 0.8211, 0.6075, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4098 left_y=-0.1283 left_z=0.2275 left_yaw=0.043 left_pitch=-0.2615 left_roll=0.2189 left_gripper=0.0199 right_x=0.2963 right_y=-0.0003 right_z=0.173 right_yaw=-0.0049 right_pitch=-0.0401 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -8.212, 9.6068, 1.5897, -0.4469, 0.1245, 1.033, -0.0752, -1.4291, 7.0359, 1.7314, -0.0366, -0.0513, -0.0171]",
      "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]: [-0.3977, 1.6005, 1.2789, -0.6952, -0.4168, -0.2081, 0.0229, -0.02, 0.8211, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.0861 left_z=0.1585 left_yaw=0.081 left_pitch=-0.356 left_roll=0.2574 left_gripper=0.0229 right_x=0.2962 right_y=-0.0002 right_z=0.173 right_yaw=-0.0046 right_pitch=-0.0404 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.6188, 7.8017, 1.6093, -0.1392, 0.0757, 0.8376, -0.2256, -1.2239, 7.1316, 1.7216, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1813da8276ec561dfd0fc960f8e712511187f0b37ae7ff4fede0dfb85afd3aac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f4e7600280c2d4589fce5ce54a125b2b4731729e553cf409aeddb05d283b89c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d03b1be9ddcd90336b2ca72a41bf7c6c43ebc11c75a8eb647e114f00c4b48bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQoKEAgSGAI4AUIIdGhpbmtpbmcSDOwst4ousldIiLZWihoMPPvaFO6Cvzxe8gxLIjCL1+e0nN4QzdxbSkAJ2Fvo/viY2yua6phOXRfQRW1snwsi0hbVbfCMM8Zra1Sz5ewqugni7yR1Pb1My7RQLqXld9/k7ltTn7JaUgSziU70DSYMiUmOMaDK2x0+ytnnnPzTafQOGiYbMkSZr3jyyXFWhVTWSsm0WpVbvToaJPyO6Y7OPQxtOVQXzrVcW4OLTpO2Be6W8SOuhNPdYOLD5icC0q6o8/IlPs3L4Uctz+mZQH7cSOsr62ccR2zSSKlZeT477NzahJrGWi+bwSVllZX2qbC6+mgPvrCi7X8qvXJ0zqS2LYsUTC5rLHvjD37qZpVEMnf2upm+hbAQhD3dU5pU2StL5XFGe1DdGP9we4SGjUI1ilthxng8dmnM/60EyzGIezTkk7HCTHntoZJTCVoXavvOIz4DJ/cG6++I2Q+Zu/LhXfQs0mwzw3fsZbCfuoNm/JAmbCoklCZ0wU4Ypq7yqDnSPcxZ9o8BgM0xWU94ey2acXZakp/QUlS53tABqgU1urSS0/efpi+cfamYcbl5trgzsiXok7FsftbD7TyCAfkHZRYgX8eu2/nQo2Oe+80N+LVXAfQ9/p1M49Px2BQBw9uX0RhMvhNWSfssP6JF+AKSdR6ODAaeaiRrFpPQ5ExIYT3E/4ZoC8pen+YvM2zxzd7asMa7JFtxv0iuT8Zlxn+M2lqJ7InCemaMx2j8uyovuUfHcJ/ombc3jpPcsLm3qf6a3X9lxDZXt7arItnqxuQ5jQ/Fejxn/pZOixSDTlceWjhFi4DTqEAAQFGr8phJe04lES06Z3zuvGo4U/8sr50UWplZ7tP6sa2Xg8YV2BDxcamWeulYtsxr22DrHtdXX9p6t2wbFWQwlSHkQ10nMbQOZIMy2Tod4AI/sOaAIc6uc46Tlq2MesG4ovFR7DBOoo0H1ftp+Ry36e86nCOQrsIY/Pr4Ff7LxQceP3D33FYcwfvVlQE0gtL5U7RB8nEI+GuMeeXELaLIp78Hz6GnBZ+g1yO+tWZE6VrSVmLS95r/E9G8I41X2MA0k1EZVx6M1/2DeEc4TEm7kUNe+mQQatrrf5PxKvZInIdzOVkW4DxUOO2iU+BtWl9662K6wZK6+QlpGAfGa0lzX9TicDA5YEy2pUloIjoq8G/TDmWCJnaK934EV9rRyQ2XY2fPCVyhaZvADyeyOAUPUHc3E0tBYmj/Xii9P8VFBnxZMDwbnlUWgiQlrVMmy2MYZ/Ry0ByfpAPA/cTfNB3ikeoa0zK5KZYLoHxZByBcX0+GYXXuRDiN+YpppIyNM370uBukcmLRu0aJsKMBLXFBJxPh/SjGs7yHLf8EA0+F3eNVeU5GJTySXmMuZ0h0wD+TylwBzS3ufGGM0ZlIB7DnT4NnZyPQMbx+ao4MZ6YsY4tPNyyI3oEMWAFujfLHNmRW6BNYiN590/tDE3m5NsAydHB+kNjKdeRBWvCdhi8iWqHXoMZyTVEXWFB5sFJulbw5davmBnNUc8Ykyu6uf+BSSVAahHcjU5ilYCT8WiXdMOHciG8eVCde7Pp7ltT8Y7ngkLVTt5gnJXcMYQl6RCU1ly5o/vaMyFntW0mwIG4cGf+U5zhlCrqeMM0X3VxOIXsW2e8CnSBDuhy8GXHY8TQCVco7Ul5miGD5nXQqCAUzr7KgkgrNOBahSW9eMfHgPWRLR2yJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KYrRUR4to7jSXPLdUvG9e7",
      "input": {
        "note": "Teddy is hanging at the basket's front-right rim, not inside. Lifting and shifting left/forward toward the basket's centre.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.02,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KYrRUR4to7jSXPLdUvG9e7",
      "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]: [-0.1837, 1.6863, 1.6333, -0.9234, -0.3016, -0.0536, 0.0239, -0.02, 0.8246, 0.6075, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4349 left_y=-0.0238 left_z=0.2235 left_yaw=0.1067 left_pitch=-0.3757 left_roll=0.2453 left_gripper=0.0239 right_x=0.2964 right_y=-0.0003 right_z=0.172 right_yaw=-0.0049 right_pitch=-0.0439 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1846, 8.8137, 1.2088, -0.149, 0.1636, 0.9499, -0.1573, -1.7026, 7.3641, 1.6923, -0.0171, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0291906f4dc5ccdc4b9ca0db9e49c6ffe05442c625c7e7e44fdbc6233f8ec68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2b1267f2b6eaac0f523c3cf95b2c8b61d4471d34d97c699acefb7252bd7f86e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb8ac411e01b9dd2cd2d9014c236c189cc3e38ef9935afdd4a2f3fc9461d2fa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 7.166 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]: [-0.4995, 1.6382, 1.5414, -0.8455, -0.4706, -0.2687, 0.0199, -0.02, 0.8211, 0.6075, -0.3851, -0.0116, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4098 left_y=-0.1283 left_z=0.2275 left_yaw=0.043 left_pitch=-0.2615 left_roll=0.2189 left_gripper=0.0199 right_x=0.2963 right_y=-0.0003 right_z=0.173 right_yaw=-0.0049 right_pitch=-0.0401 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -8.212, 9.6068, 1.5897, -0.4469, 0.1245, 1.033, -0.0752, -1.4291, 7.0359, 1.7314, -0.0366, -0.0513, -0.0171]",
      "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]: [-0.3977, 1.6005, 1.2789, -0.6952, -0.4168, -0.2081, 0.0229, -0.02, 0.8211, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.0861 left_z=0.1585 left_yaw=0.081 left_pitch=-0.356 left_roll=0.2574 left_gripper=0.0229 right_x=0.2962 right_y=-0.0002 right_z=0.173 right_yaw=-0.0046 right_pitch=-0.0404 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.6188, 7.8017, 1.6093, -0.1392, 0.0757, 0.8376, -0.2256, -1.2239, 7.1316, 1.7216, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1837, 1.6863, 1.6333, -0.9234, -0.3016, -0.0536, 0.0239, -0.02, 0.8246, 0.6075, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4349 left_y=-0.0238 left_z=0.2235 left_yaw=0.1067 left_pitch=-0.3757 left_roll=0.2453 left_gripper=0.0239 right_x=0.2964 right_y=-0.0003 right_z=0.172 right_yaw=-0.0049 right_pitch=-0.0439 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1846, 8.8137, 1.2088, -0.149, 0.1636, 0.9499, -0.1573, -1.7026, 7.3641, 1.6923, -0.0171, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0291906f4dc5ccdc4b9ca0db9e49c6ffe05442c625c7e7e44fdbc6233f8ec68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2b1267f2b6eaac0f523c3cf95b2c8b61d4471d34d97c699acefb7252bd7f86e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb8ac411e01b9dd2cd2d9014c236c189cc3e38ef9935afdd4a2f3fc9461d2fa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrAcKEAgSGAI4AUIIdGhpbmtpbmcSDBDiAOFYp7P/PClOkhoMnw+ahk5+iLdlipw0IjBPjJCtqHq5RTSXjUBudIUfZUhYTR7LWGpPsD5x40gcBMdMOp+JGXt4uIfQYa0J0jEqyQZrdtm+Pjz3P13lLk5hToEUW+ehukHDdwvQAw2R0j71DTqAaCDqEoqkDRrmPfDCoos4HekM7IjJtrksSjQrCePkHiOawycHAPRrswm18u9jIK9Q1xStUa/EnDWdh278uvCNSjmOaDOnIq7g5dZkNF5hp6gJRtYAogk+CCWKTJAg/gmfUKVzgEBi1Y+Naq8Ba7Rc334vPU25Dqq3RpDJ9QmSLvEbcCrVX9A8TQEqZYgrIEyuQ/nF7wt1ur/nLK60bzq9U9hhBCUm6p4mo28dFrOK8DFqNC3Udmztg+CtXEzBm2LGBDTO7hDbeG3BGvtaq31kO6U/KJZgMwiUwf9y9r8Rp49WCa1Z4/BM3Lmjjljur2Cf/Ib0AXKpFVN2LNKBf6wS9Bd5KRsEJKMB/wbkiPwB4jiRAoUpGP1n94CC64hfy5V0vFvq1SDGSkqJhpfRV/8oSmoCW0rB6JuDPBExMnOhogUDdRgcZwHeppaSq7zXLhm4JAn5nCdwM9XhSI+PDHZRp7Lw/z1cV1SLtDhSJ72YO+dLd9cTAKahpn9NQeAoqJQi/babIeC538czUkQ1ey9iYjzBJcGwzvfsiu6T+3VTM0VGqW2M4Utd7yPWuopCkcnFC/boFopxisIAx21MHF6HlZM2mdRHOzDtkEcdYxlm2dAtiXittjcn8Y5j9C506jyQMj312/D0y3kCGIZGFrIgV0i0yH+goFEuoFWs9OLRKCU/9ik10RGzEX1poPneNNV6ThiZZSpA/tT1onptGv5LiAZeW74+UbztG6BfnsqEJnI/d8NgPZIDDIVRtwIwfKovBFW9rn7d5K0HgVqoZ4CvavVblHjWZe7vFvB4YYpfwopCH91aBOD4fRGhpWwmHbKmRmasQYxJON10PokxyU/lGqLwveDobI+o/ocGeTncxtjhw2k8MOgeWkl3PwUEIYD9AMzVmfmk0fL5MXXIMl+Iot+P3IP1B5ev5mu0reIZRZV2GOrnVUprJZ5VrjgBMQdxtgIeCnHrHP7QE8RJJS3poS4m+7QXFi0DV+m5b5fVdJ+7hTi+BUQMN0hNS5cvL4jt7Lj/ccZOQG6kJQsxLhXTqhe90YorBWf6l+KfFJP0fIDdz3IwB76oGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wv6hyB5UphSQfxV8Pspd2P",
      "input": {
        "note": "Teddy now hangs 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 10 steps (1.0s)",
      "tool_use_id": "toolu_01Wv6hyB5UphSQfxV8Pspd2P",
      "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]: [-0.1856, 1.6943, 1.6379, -0.9337, -0.2909, -0.0605, 0.9954, -0.02, 0.8249, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.0264 left_z=0.2201 left_yaw=0.1009 left_pitch=-0.3905 left_roll=0.2359 left_gripper=0.9954 right_x=0.2965 right_y=-0.0002 right_z=0.172 right_yaw=-0.0044 right_pitch=-0.0439 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.9641, 6.1333, 1.3895, -0.2515, 0.0171, -0.0513, -0.0615, -1.4564, 7.0769, 1.6825, -0.0317, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ae0cd8e26647eba8579a752c0633058e0458a170cb1610c6508bc807c300e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1d18554fe79ea980fc0b616ba0c77f0eacbb886b6dcf5fbdb2da26b42a958be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:645f32226490f5439620d78062f4704b7c65b3dbe85598d944d0419c7942b5a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 3.308 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]: [-0.3977, 1.6005, 1.2789, -0.6952, -0.4168, -0.2081, 0.0229, -0.02, 0.8211, 0.6075, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.0861 left_z=0.1585 left_yaw=0.081 left_pitch=-0.356 left_roll=0.2574 left_gripper=0.0229 right_x=0.2962 right_y=-0.0002 right_z=0.173 right_yaw=-0.0046 right_pitch=-0.0404 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -10.6188, 7.8017, 1.6093, -0.1392, 0.0757, 0.8376, -0.2256, -1.2239, 7.1316, 1.7216, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1837, 1.6863, 1.6333, -0.9234, -0.3016, -0.0536, 0.0239, -0.02, 0.8246, 0.6075, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4349 left_y=-0.0238 left_z=0.2235 left_yaw=0.1067 left_pitch=-0.3757 left_roll=0.2453 left_gripper=0.0239 right_x=0.2964 right_y=-0.0003 right_z=0.172 right_yaw=-0.0049 right_pitch=-0.0439 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1846, 8.8137, 1.2088, -0.149, 0.1636, 0.9499, -0.1573, -1.7026, 7.3641, 1.6923, -0.0171, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1856, 1.6943, 1.6379, -0.9337, -0.2909, -0.0605, 0.9954, -0.02, 0.8249, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.0264 left_z=0.2201 left_yaw=0.1009 left_pitch=-0.3905 left_roll=0.2359 left_gripper=0.9954 right_x=0.2965 right_y=-0.0002 right_z=0.172 right_yaw=-0.0044 right_pitch=-0.0439 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.9641, 6.1333, 1.3895, -0.2515, 0.0171, -0.0513, -0.0615, -1.4564, 7.0769, 1.6825, -0.0317, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ae0cd8e26647eba8579a752c0633058e0458a170cb1610c6508bc807c300e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1d18554fe79ea980fc0b616ba0c77f0eacbb886b6dcf5fbdb2da26b42a958be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:645f32226490f5439620d78062f4704b7c65b3dbe85598d944d0419c7942b5a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FnLZsYypvQQuxtGweiwsfX",
      "input": {
        "note": "The teddy dropped onto the table just to the right of/in front of the left basket, right under the gripper. Descending onto it to re-grab.",
        "targets": {
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FnLZsYypvQQuxtGweiwsfX",
      "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]: [-0.1856, 1.7458, 1.1229, -0.4095, -0.2897, -0.0605, 0.9968, -0.02, 0.8276, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4254 left_y=-0.0249 left_z=0.0724 left_yaw=0.1051 left_pitch=-0.4314 left_roll=0.2481 left_gripper=0.9968 right_x=0.2965 right_y=-0.0002 right_z=0.1708 right_yaw=-0.0046 right_pitch=-0.0477 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.6923, 6.4068, 1.2967, -0.1783, -0.0171, 0.1294, -0.0752, -1.4974, 7.1179, 1.6923, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f6fc1153495ae865f2a1e3229c5abf0075d773d662ef7db68473db215e7680f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7471f55ea89b36130e172f02726c72da938d7f052a084fc7c6dde73c39a01aeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a35d2d4bf34598712424df295d34cbeeab3ccef1b3f23a6eba28c43dcde746e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 4.698 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]: [-0.1837, 1.6863, 1.6333, -0.9234, -0.3016, -0.0536, 0.0239, -0.02, 0.8246, 0.6075, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4349 left_y=-0.0238 left_z=0.2235 left_yaw=0.1067 left_pitch=-0.3757 left_roll=0.2453 left_gripper=0.0239 right_x=0.2964 right_y=-0.0003 right_z=0.172 right_yaw=-0.0049 right_pitch=-0.0439 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -8.1846, 8.8137, 1.2088, -0.149, 0.1636, 0.9499, -0.1573, -1.7026, 7.3641, 1.6923, -0.0171, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1856, 1.6943, 1.6379, -0.9337, -0.2909, -0.0605, 0.9954, -0.02, 0.8249, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.0264 left_z=0.2201 left_yaw=0.1009 left_pitch=-0.3905 left_roll=0.2359 left_gripper=0.9954 right_x=0.2965 right_y=-0.0002 right_z=0.172 right_yaw=-0.0044 right_pitch=-0.0439 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.9641, 6.1333, 1.3895, -0.2515, 0.0171, -0.0513, -0.0615, -1.4564, 7.0769, 1.6825, -0.0317, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1856, 1.7458, 1.1229, -0.4095, -0.2897, -0.0605, 0.9968, -0.02, 0.8276, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4254 left_y=-0.0249 left_z=0.0724 left_yaw=0.1051 left_pitch=-0.4314 left_roll=0.2481 left_gripper=0.9968 right_x=0.2965 right_y=-0.0002 right_z=0.1708 right_yaw=-0.0046 right_pitch=-0.0477 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.6923, 6.4068, 1.2967, -0.1783, -0.0171, 0.1294, -0.0752, -1.4974, 7.1179, 1.6923, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f6fc1153495ae865f2a1e3229c5abf0075d773d662ef7db68473db215e7680f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7471f55ea89b36130e172f02726c72da938d7f052a084fc7c6dde73c39a01aeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a35d2d4bf34598712424df295d34cbeeab3ccef1b3f23a6eba28c43dcde746e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4wcKEAgSGAI4AUIIdGhpbmtpbmcSDI3Je6I6qDcNlXp6yBoMbmUiMN6cHYk7chB5IjAfUmIOTHy/mEJHRVfkPMo3kmP/3EUFEDOrLj4Rqs1bEzqfScXsdLUfy1k/ASs76OUqgAdjGH/eQn9QayfR2sDXQN46if/EebGg3rOWB1I3mHQpZK+9swyv9DPZUzsBhn7R1ZfMC1toqh5Uiogg0beWul3/MfC9EXdwbZHZhWiRZwcHDic8K9Qp/MiQt+U8R6/sezoE1S3x+RZLIdQdWAOD37l7Z1YM8pSN/T0d/MNEGwLb2y4+cfwPq3uttDwzLSYasyZAMQ110O+R5qV0pTN/1bBmTr2XcMSDbMMWAItwwpP8bXILCSTWsMNPabrEexFFwt09Oq5qXv64ENIMypAM3KTfCnaB1sPcmW6KkWR+d76VipGywj1fIL01OHQMTmqOwqRdvh6vSuG6kM4djb0gAnfoUKHgFYYN0M/CTX8pbILCFusyck4CQXZfWjpP++AnAyO9M39LpXDrAFTW7uT+bDfM6oi8k3c24mpVq+iD0PWKOLSyUT2VigADT14CJACjhl/BwdUo3Jwe6TSHa74wDe63snSSwe+1IGhTADumtcVT/QP6tM7HP/DYOrqXniQEt64OMdqi4g91dxcs0DZ7futhZK7BfEKDTzWwdMwEj8zYmFiRGaUGKCPqx4FrWdku/Wtcm0QeiZRH2KRd1Cs82WaEg/0BZ2OtpdfhJN33QtUseJl6ThRDW22UGvOUVOQfdv1kKSJmMJOvdd9PfNCaWuk/cvjNvSTuQgklvfZ4BHFe3DLX+iFN3z/5SruM5bzDC6cJu37Gl9qRMYgWZPqPxNSeHeioC9Hd0hJhcjlfyN81nhsZCT2I8Us1Vve14aQ2+ptZND7URFtyLsgc2FX812xtPchiZFM8oBovQSHQoRiYlcDPQSDSWcqAi6hp6a8913A7Kxai4Yb2OEKegLMcR/kzgqmjHXIat69Y80/YNKl+oYBzulweIoT6V1zwQOIuQiXNMuu24B3VgnFZz2aiw19b/vqYSVWsXXe0CPF/ru86tCCZng//4JTNMW3MLUTK8TnFKnZ8Ps/pYH35AlP7O6lljvzuu0f/xUNxd2SFTi92orKJXkLKRc+jUkgvc+U99SbW9xISOcu0iLHV7Eq6FqGZqobZsR0RNrj+75bghFdjJJxklQhZ+dL0D8xgmrjtY/ktxfguqlrcvOZjroTSYyLebubWKNqWk+XElUlfzD3ZqzbT0EWpI+1EStrF2yNdcyCU7nkQzimzSloxObt40X8H4KxaNFQpBhK4QRdl9Y1O5xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DMWgo95B88MPQyb4DTF6k6",
      "input": {
        "note": "Jaws are buried in the teddy's body; closing to re-grab it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DMWgo95B88MPQyb4DTF6k6",
      "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]: [-0.1864, 1.7588, 1.1122, -0.4023, -0.2913, -0.0608, 0.0114, -0.02, 0.828, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4231 left_y=-0.0245 left_z=0.0643 left_yaw=0.1082 left_pitch=-0.4467 left_roll=0.2545 left_gripper=0.0114 right_x=0.2965 right_y=-0.0002 right_z=0.1707 right_yaw=-0.0046 right_pitch=-0.0481 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.6615, 7.2137, 1.1013, -0.1392, -0.0171, 0.9206, -0.0342, -1.4564, 7.2547, 1.7411, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:356d50c59996de7153d70c100ed0937f1cd518f1216058e2af71e9644e880928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c438612f9ad15ddc0fc5456467f0141bc75b8591e04d4ad618148294849407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c2016313a527ae270c1da8d32767860ba332697d127b354bca275cb4a86d540",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 3.841 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]: [-0.1856, 1.6943, 1.6379, -0.9337, -0.2909, -0.0605, 0.9954, -0.02, 0.8249, 0.6075, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4344 left_y=-0.0264 left_z=0.2201 left_yaw=0.1009 left_pitch=-0.3905 left_roll=0.2359 left_gripper=0.9954 right_x=0.2965 right_y=-0.0002 right_z=0.172 right_yaw=-0.0044 right_pitch=-0.0439 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -8.9641, 6.1333, 1.3895, -0.2515, 0.0171, -0.0513, -0.0615, -1.4564, 7.0769, 1.6825, -0.0317, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1856, 1.7458, 1.1229, -0.4095, -0.2897, -0.0605, 0.9968, -0.02, 0.8276, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4254 left_y=-0.0249 left_z=0.0724 left_yaw=0.1051 left_pitch=-0.4314 left_roll=0.2481 left_gripper=0.9968 right_x=0.2965 right_y=-0.0002 right_z=0.1708 right_yaw=-0.0046 right_pitch=-0.0477 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.6923, 6.4068, 1.2967, -0.1783, -0.0171, 0.1294, -0.0752, -1.4974, 7.1179, 1.6923, -0.0317, -0.0366, -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]: [-0.1864, 1.7588, 1.1122, -0.4023, -0.2913, -0.0608, 0.0114, -0.02, 0.828, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4231 left_y=-0.0245 left_z=0.0643 left_yaw=0.1082 left_pitch=-0.4467 left_roll=0.2545 left_gripper=0.0114 right_x=0.2965 right_y=-0.0002 right_z=0.1707 right_yaw=-0.0046 right_pitch=-0.0481 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.6615, 7.2137, 1.1013, -0.1392, -0.0171, 0.9206, -0.0342, -1.4564, 7.2547, 1.7411, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:356d50c59996de7153d70c100ed0937f1cd518f1216058e2af71e9644e880928",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c438612f9ad15ddc0fc5456467f0141bc75b8591e04d4ad618148294849407",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c2016313a527ae270c1da8d32767860ba332697d127b354bca275cb4a86d540",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqwgKEAgSGAI4AUIIdGhpbmtpbmcSDDwvM3NaabOnZCcsAhoM/P6uvr4igyf7VnfNIjBTlOCyZZlXx9fyFdYwZntzOpuRzPtWSBS6rO3HQfeWPzkUwcXGK9QpeE6u6NCSpJoqyAcUydQBc8+vk7tLc5xrmd7HTIuT8eX5CxutJNQ0s8i//e98wWYRXKG6LbB62s2k0rd9V89DEztV75FIfVtF+M8VfAg/vODhj7TptzU0e7XGgwZ9lUE0g+KxMf+wStIHIq6LcyuCfCODq6QaXoIoufWIeRqtcAY+HJ2IPjl4GM6r+qr4IGRLWe9SVKoe3VhU5AyEK6rv1pR52yqQUGGFBig2P3KtNSwxUGImuZJB5yiD/q/BzHJioNXmR0KMOsyYmTGBAO59XHZ/RX+ky0mq/rWMFX5RRAPxjjRb1sYJCgEl6c98j44QbFKCR4YIddsJ5Cb/yN/I+mBfizMRJiQwltalDk8hNpVSF97pgaNDK82k++Fqa0pYuEwLPsELSfm6cVYK2AGC9gHa3W2rsYoZQUAyzz8BFvcD08LZ0ZYAnZoQO6+vE3dinH1gWxPnWS8PpQFR0lFzD0X4R7WvTfr0746NjO7Ur5fiTK+eCcS2+BSq5tQySas/q8U94MZHsEro3tTtLxDT2GtVBhwu5ZEkUwev5RrFYGT0Mn8gME0Ehm3MNS+H6erFeAWjICefrtw0h88HgprqN9jK5glOMiTzZxoL6a4GQR4J9/IFDuXoHaGg/UiBdNXMma9I53Z5wyMeJFO7im/BGh9dvgl3Xed6PX5MdUEuXnLHyOxpXh7y+jlMcWCG/cZuUDx2ORrZ6/rLLmf2ZOVkFTj6gergbC5sAUL3/8Y/fwr/xIiPUqLgAwOufKj2Yki9csc5WNzlWs3wK+4xOMGhUxRahCopy4L7xlVhSmN3WvaA5VF4079KEk5zMcAxulFATYkK/jL8mMo4kEgJ4n30N/cVSLrV73x0pKf7P83/+84RY9KsdGfxKs4BK7qRPsJ7VF3q5Ve8hE6LHZo/jykZSuMIz3AR3TTqnzrEZ0lX5FsKXFfSASB9669imnhBDkEbtzDKTLUsu7lYu/ZoOfBpUibnTX2Rr0IqPjpeIsw0EBe/VDEvEyiY0bF/ePJNH5n9leRVCyW0hVidKesq+noV9j5lxW3OD8fbSlcznlFUlsx85qR6+kPaJt29tX/5CUcKyZ+iIIchP180B2fTpt0AKl1RUT7asIONpgHex2BbUkF8thsG0IdWqyObXykqyolKIzXLarxdMhV3omfztoCkHFaok029VgLPRkLGMnXx793tHU2kOa1KR6f5EfE+3sM9Yxhre4ooQ4mXGvmtHA7veS8pQ6KWDQPdKhi3g2hjDBNWelr+5oHJX7HLvIBSz5tVq1sYaWKO+f0djPatG1QjeGQcQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019MzP3w74g9GnwtWgzAqXoM",
      "input": {
        "note": "Closed on the teddy (fur grip, reading low). Lifting high and moving further left/forward toward the left basket centre, which the overhead view shows is left of where I dropped it.",
        "targets": {
          "left_x": 0.47,
          "left_y": 0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_019MzP3w74g9GnwtWgzAqXoM",
      "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]: [0.025, 1.8984, 1.9732, -1.0904, -0.1886, 0.0986, 0.0117, -0.02, 0.8303, 0.6067, -0.3866, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4721 left_y=0.0485 left_z=0.2332 left_yaw=0.1304 left_pitch=-0.453 left_roll=0.2464 left_gripper=0.0117 right_x=0.2965 right_y=-0.0002 right_z=0.1698 right_yaw=-0.0046 right_pitch=-0.0515 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.335, -10.3453, 8.2667, 1.2088, -0.1832, 0.2564, 0.7985, -0.1436, -1.5521, 7.0085, 1.6874, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18abb3369637780c3475d153a5efcf6e126708b807da519c5486d26e2552553f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dcf9fd16661465b46eb183fbe138f06d134cdb588b8f29ef1012c7a1dfd7219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9039cfdfe50a60643faf4fa4d92cfd6164a0b9b829b8a4a2fadbc81c92f4e31d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 21.57 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]: [-0.1856, 1.7458, 1.1229, -0.4095, -0.2897, -0.0605, 0.9968, -0.02, 0.8276, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4254 left_y=-0.0249 left_z=0.0724 left_yaw=0.1051 left_pitch=-0.4314 left_roll=0.2481 left_gripper=0.9968 right_x=0.2965 right_y=-0.0002 right_z=0.1708 right_yaw=-0.0046 right_pitch=-0.0477 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -7.6923, 6.4068, 1.2967, -0.1783, -0.0171, 0.1294, -0.0752, -1.4974, 7.1179, 1.6923, -0.0317, -0.0366, -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]: [-0.1864, 1.7588, 1.1122, -0.4023, -0.2913, -0.0608, 0.0114, -0.02, 0.828, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4231 left_y=-0.0245 left_z=0.0643 left_yaw=0.1082 left_pitch=-0.4467 left_roll=0.2545 left_gripper=0.0114 right_x=0.2965 right_y=-0.0002 right_z=0.1707 right_yaw=-0.0046 right_pitch=-0.0481 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.6615, 7.2137, 1.1013, -0.1392, -0.0171, 0.9206, -0.0342, -1.4564, 7.2547, 1.7411, -0.0317, -0.0269, -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]: [0.025, 1.8984, 1.9732, -1.0904, -0.1886, 0.0986, 0.0117, -0.02, 0.8303, 0.6067, -0.3866, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4721 left_y=0.0485 left_z=0.2332 left_yaw=0.1304 left_pitch=-0.453 left_roll=0.2464 left_gripper=0.0117 right_x=0.2965 right_y=-0.0002 right_z=0.1698 right_yaw=-0.0046 right_pitch=-0.0515 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.335, -10.3453, 8.2667, 1.2088, -0.1832, 0.2564, 0.7985, -0.1436, -1.5521, 7.0085, 1.6874, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18abb3369637780c3475d153a5efcf6e126708b807da519c5486d26e2552553f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dcf9fd16661465b46eb183fbe138f06d134cdb588b8f29ef1012c7a1dfd7219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9039cfdfe50a60643faf4fa4d92cfd6164a0b9b829b8a4a2fadbc81c92f4e31d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkAcKEAgSGAI4AUIIdGhpbmtpbmcSDM9hAgKhUnxG+1WUWBoMNr/QyKXrBHhdaGZeIjCkmpeg/jNCBkV3F9Z+i8LM9S+KuQ+JzMBxLTNwme/A15+TOtqDDSWgXRKv4F/WRowqrQYAUa1cCTrRc2v30u2/hCKm+KkkpH6teHvFxkXCt5fTaJo/Seq9xdpcUQf6GLkV38eKv0KoWbUgXOQBZdDuGFQefQwNaoCTqSy7XyLBNt+isH8CEnSopgVephVoMKT36lttvl+gguldSs6h7QY9asyTILyh+zu0ECRudnnwkEd3D7oz7O+j4kBQWOgv7d3WgaiC4HaINW5H1xen4dooxFn0wL4k6OsdhS+CsMrLyVYgg1ERqTTtJR457rQE00nTabHhuObaiadtDivLREHXbnHlRp/HraFThsJK4bw7aCd47KXItYQh7WAE3ZByX4ywGvA1VfDECFIePwLveK7QMN6UY7LeSuNLK/LwcVoVlkm5PDt/Ze0mjAkGPjFn86KrfQXWLqkj6NDqS7Kjy/XsFgSlrd5T0Gq7u3e6DKWZW4JGasGP3v0aM8zgXtm8h452SYYEF0Sixxqt2gBxe7gdvtyGLEJDgU1aQKshmvLT5UmXZiVGiSgjNvu2DnBULUTHCfHYXdqUK1Efp7NVnlAnFtc92Gof590Jr48CUfQ214NxhDmIYAoBNeLeM4eUq0jD46jUdciVwwoIClYzFmEoYfiBMWZke/CUqVMppBa8sZxx6KJMUp/GxfBboS2OI5GUT16Rc1Hp+VVlXjK/6wHzGX/APfKY3c4tC1oM7HeSM5I3UYiTKGp/He2WvE0p8je9/U5Ck9TJxxnWuBqN5Q1zOKVhfJkfPEFmjpQhVcmI8rJz78rtsR/tqFcyOG1tPFt5zug2hCFZTWbOtGFCp1ZXP8vIYExagXhJoVcvYl8zhcnpCBbKC5dN3RK1mrd/Uf+p0P+WZYbvjABSAnGYsiFMDpzwehY7K154NH+eKdB0VOQAGRSq01OfSyJrrUQigAKPD64eAPvrPYCBzEMFu9/8RasSKN5qpohEAPJulFdBFkKkUa3kNEDrNxsP+oRnil4CdwKlPMcVN0I8uJpBeKRsA09xjRGgDRLDkDNXzBEqpvXfkaMoEaoBjIB8llD298XGlQ8RBopZfY7LjPQrmy4k2+QrJEJ/Ge5aizfKHP2as9+zmAlnVeEW8E0FwPif7iEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XbCqn6JRdn7kkBWZn9yzm9",
      "input": {
        "note": "Teddy is held and now hangs over the left basket in the overhead view; releasing.",
        "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_01XbCqn6JRdn7kkBWZn9yzm9",
      "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]: [0.0277, 1.9087, 1.9766, -1.1053, -0.1833, 0.0921, 0.9943, -0.02, 0.8314, 0.6067, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4706 left_y=0.0488 left_z=0.2278 left_yaw=0.133 left_pitch=-0.4743 left_roll=0.24 left_gripper=0.9943 right_x=0.2967 right_y=-0.0002 right_z=0.1697 right_yaw=-0.0044 right_pitch=-0.0519 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.7145, 6.0103, 1.3895, -0.2173, 0.0757, 0.2369, -0.2256, -1.388, 7.0085, 1.6679, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44188def3abf3d0e9a8cb63a32db15fde67cfed7865fb860cd807cec755fa419",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f558a938a77386309edf5ca0a50e6b7ec494088210fbac54d52790a8007e7423",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:865baee8d5f89f3199b7443741701c49fc75788fa97690909d038273b86ee2e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 5.095 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]: [-0.1864, 1.7588, 1.1122, -0.4023, -0.2913, -0.0608, 0.0114, -0.02, 0.828, 0.6067, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4231 left_y=-0.0245 left_z=0.0643 left_yaw=0.1082 left_pitch=-0.4467 left_roll=0.2545 left_gripper=0.0114 right_x=0.2965 right_y=-0.0002 right_z=0.1707 right_yaw=-0.0046 right_pitch=-0.0481 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -9.6615, 7.2137, 1.1013, -0.1392, -0.0171, 0.9206, -0.0342, -1.4564, 7.2547, 1.7411, -0.0317, -0.0269, -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]: [0.025, 1.8984, 1.9732, -1.0904, -0.1886, 0.0986, 0.0117, -0.02, 0.8303, 0.6067, -0.3866, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4721 left_y=0.0485 left_z=0.2332 left_yaw=0.1304 left_pitch=-0.453 left_roll=0.2464 left_gripper=0.0117 right_x=0.2965 right_y=-0.0002 right_z=0.1698 right_yaw=-0.0046 right_pitch=-0.0515 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.335, -10.3453, 8.2667, 1.2088, -0.1832, 0.2564, 0.7985, -0.1436, -1.5521, 7.0085, 1.6874, -0.0317, -0.0464, -0.0122]",
      "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]: [0.0277, 1.9087, 1.9766, -1.1053, -0.1833, 0.0921, 0.9943, -0.02, 0.8314, 0.6067, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4706 left_y=0.0488 left_z=0.2278 left_yaw=0.133 left_pitch=-0.4743 left_roll=0.24 left_gripper=0.9943 right_x=0.2967 right_y=-0.0002 right_z=0.1697 right_yaw=-0.0044 right_pitch=-0.0519 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.7145, 6.0103, 1.3895, -0.2173, 0.0757, 0.2369, -0.2256, -1.388, 7.0085, 1.6679, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44188def3abf3d0e9a8cb63a32db15fde67cfed7865fb860cd807cec755fa419",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f558a938a77386309edf5ca0a50e6b7ec494088210fbac54d52790a8007e7423",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:865baee8d5f89f3199b7443741701c49fc75788fa97690909d038273b86ee2e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BKV13ExgZnEko9DPEBLJaP",
      "input": {
        "note": "Teddy is in the left basket. To save calls I'm working both arms at once: left arm hovers over the small brown plush bear, right arm over the nearer pen (pens/highlighter go to the right basket).",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.08,
          "left_z": 0.1,
          "right_gripper": 1.0,
          "right_x": 0.29,
          "right_y": 0.24,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01BKV13ExgZnEko9DPEBLJaP",
      "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]: [-0.4274, 1.5406, 1.0412, -0.693, -0.3737, -0.3058, 0.9965, 1.0, 1.544, 0.7914, -0.1989, 0.7322, 0.6975, 0.9998]\nstate[eef_state]: left_x=0.3398 left_y=-0.08 left_z=0.0934 left_yaw=0.1117 left_pitch=-0.5148 left_roll=0.2553 left_gripper=0.9965 right_x=0.2853 right_y=0.2324 right_z=0.0883 right_yaw=0.0289 right_pitch=-0.0924 right_roll=-0.0376 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5812, 6.2154, 1.1404, -0.3834, -0.0659, 0.2125, 0.4171, -6.612, 8.0205, 1.199, 0.6374, 0.149, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38167585b0edf93fa33f0c9bce52f9795902e411318f83f436fb61809d426e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c02099cc1242b4d57f9cc658b7e03a07ce624825e9e4a39edd5cb9fb3905d774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab210c9d592821225229120de6c618b289958f400df656d4f7ff2906e3164e31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 5.162 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]: [0.025, 1.8984, 1.9732, -1.0904, -0.1886, 0.0986, 0.0117, -0.02, 0.8303, 0.6067, -0.3866, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4721 left_y=0.0485 left_z=0.2332 left_yaw=0.1304 left_pitch=-0.453 left_roll=0.2464 left_gripper=0.0117 right_x=0.2965 right_y=-0.0002 right_z=0.1698 right_yaw=-0.0046 right_pitch=-0.0515 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.335, -10.3453, 8.2667, 1.2088, -0.1832, 0.2564, 0.7985, -0.1436, -1.5521, 7.0085, 1.6874, -0.0317, -0.0464, -0.0122]",
      "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]: [0.0277, 1.9087, 1.9766, -1.1053, -0.1833, 0.0921, 0.9943, -0.02, 0.8314, 0.6067, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4706 left_y=0.0488 left_z=0.2278 left_yaw=0.133 left_pitch=-0.4743 left_roll=0.24 left_gripper=0.9943 right_x=0.2967 right_y=-0.0002 right_z=0.1697 right_yaw=-0.0044 right_pitch=-0.0519 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.7145, 6.0103, 1.3895, -0.2173, 0.0757, 0.2369, -0.2256, -1.388, 7.0085, 1.6679, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4274, 1.5406, 1.0412, -0.693, -0.3737, -0.3058, 0.9965, 1.0, 1.544, 0.7914, -0.1989, 0.7322, 0.6975, 0.9998]\nstate[eef_state]: left_x=0.3398 left_y=-0.08 left_z=0.0934 left_yaw=0.1117 left_pitch=-0.5148 left_roll=0.2553 left_gripper=0.9965 right_x=0.2853 right_y=0.2324 right_z=0.0883 right_yaw=0.0289 right_pitch=-0.0924 right_roll=-0.0376 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5812, 6.2154, 1.1404, -0.3834, -0.0659, 0.2125, 0.4171, -6.612, 8.0205, 1.199, 0.6374, 0.149, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38167585b0edf93fa33f0c9bce52f9795902e411318f83f436fb61809d426e01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c02099cc1242b4d57f9cc658b7e03a07ce624825e9e4a39edd5cb9fb3905d774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab210c9d592821225229120de6c618b289958f400df656d4f7ff2906e3164e31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3AgKEAgSGAI4AUIIdGhpbmtpbmcSDJuQjsJuSVE83MZWYRoMTBiPaubYzj5NyqOZIjBNz+gGPv2Z1J1t+Ym5eWAcAgx63cu1WvKFEOijPfJcNyPo882vCtryL+4nvKxHbNQq+QfmWQhZsoEBBshEokMVVdVKwg1WBCswYqaLJCYQOp3mdHDRnuXX+iwLjcRabyDrST+NCTrIfcaN9L1QV/BP5aFpV/RN6UMuVXQ2XOaD6vuFR8mpcUTjX+o6xThb44yoTIWphkhJ1o5aboADt9uomOjw3h4AyVnkceTFLr1ZtL60u65QaF02CHFvj9yoW1nYfsptK8T67GzaICUWB2lv+d12jskcOiax7vxMJ0M9YV1Nnuo54y6fqwgSg5lLEECMqDDtVVP+0oPW60Z7b48RiOeMtF95CZmRyTqkp5xNoz6gDTuHls8tacISd11HFKJOrIywfrr8o2YX4HzSDBcQLtGulOqXFDSdqsYZnjtqdcE8PPQF03TjFyX70Bd7abjb6hcr86u1djECUxRBt9I5nDT0XI0ALzmnCuNgkT06Eo7UJksYEN/Ps61QkPbb5HkbMiMRN3kXJl3/j0DFNv5inEkG55xZaTeyp6U3w0esPwFhCPXuKTjehXsCGJIil09QwpZt35wpgu39V1Bh3S+EpjUa6YHsK2CKB5U95a6s6Y5uHAIx967YWWqEGR3yzwBTMQLVUsmnnGZBX69LZ+Y5l8FuOlKx26N/Fds0tDxn4tfNmmqR2i8NIpDLaq6EEAuaJtYlsiLT0FPYl+ZTtVYtRlnnA4X75QqZKe2QMoYWhRPrCvpFtG2zrMscDxZ8snBDAo3UbpO6Ic7+3nJBE4ymMehHJfM/venMDwyEtchpGtU5+wn1OSAD680lLISB7qLObTJzFyOWU1M1J85gss/yutFx+zP7xK5CDCI0tgGzQD1pc4ohsfMddWeg7ay60LDQL27Opemxw/7i5gqBPQweIWQTqlIwCCAw08HrXh52JyjmUsmq62y1qbeBFHw1cF88BjVcKWPvylpc7lOCNEh6ROqdS7R4f0eRwAU1KkH9cOLOmtMSl00K8VEznGtWQFPYZtf1wMnMviWqkNW95G2NZvPzfgowk3pNZzbBv6K6so/2leu9c3bdA57wr7eOwrD94sks4p3cVAW+YEig5zYsds34r7Ko3zu+vivOXYQx/P68S1swi4MIYqpm/LD/W7SHt7gUdn6ErdIdrG6NOfeZX7YNwMiWCbz1xQXvJ1+lH3BpA/tYPfNfMt167tL4BbnGh0GYvi8w+F3v41x2C4G0myCM+nV/MGZam+IzOwdz7FAquiYEZn2Se71dMoeWn5HnJOT2SRsgnimw7WvPtpviMIXeaQWaosw7WqPnNSP1MHiWo9lN7M4ZyzSghKD8NrQFk8yN8opSQ1lN+tZWUlOt+fe93thQBoEJlURaSpJWi1KsfR1R8vp5BeiseOEBGG2ArgVIrf6H621Fp0AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P8yVZSWBEDbGwaqvocwUPn",
      "input": {
        "note": "Right wrist view: pen lies on the jaw column, so descending to the table. Left wrist view: small bear at the bottom, slightly right; nudging right and descending onto it.",
        "targets": {
          "left_y": -0.09,
          "left_z": 0.025,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01P8yVZSWBEDbGwaqvocwUPn",
      "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]: [-0.4553, 1.652, 0.8963, -0.4667, -0.382, -0.3305, 0.9968, 1.0042, 1.7943, 0.6533, 0.2115, 0.7479, 0.704, 0.9997]\nstate[eef_state]: left_x=0.3365 left_y=-0.0874 left_z=0.031 left_yaw=0.1146 left_pitch=-0.5328 left_roll=0.2677 left_gripper=0.9968 right_x=0.2886 right_y=0.2366 right_z=0.0119 right_yaw=0.0214 right_pitch=-0.0695 right_roll=-0.0211 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -6.2291, 4.9573, 1.0085, -0.2808, -0.0952, 0.0122, -0.3761, -4.8479, 2.9744, 0.4664, -0.0806, -0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c2be771dcbe74560206ab4bf72b5e9461cec3f8c5429d89ecad04958605326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddbeef1d5285932d9c6110bd0af0191bb6f174a5061b8f5b105940e2dd6a831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e1823071c5175bba9b25008e98b766ae0c43ef36341416ba2cade1fd39718b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 7.916 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]: [0.0277, 1.9087, 1.9766, -1.1053, -0.1833, 0.0921, 0.9943, -0.02, 0.8314, 0.6067, -0.3859, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4706 left_y=0.0488 left_z=0.2278 left_yaw=0.133 left_pitch=-0.4743 left_roll=0.24 left_gripper=0.9943 right_x=0.2967 right_y=-0.0002 right_z=0.1697 right_yaw=-0.0044 right_pitch=-0.0519 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.7145, 6.0103, 1.3895, -0.2173, 0.0757, 0.2369, -0.2256, -1.388, 7.0085, 1.6679, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4274, 1.5406, 1.0412, -0.693, -0.3737, -0.3058, 0.9965, 1.0, 1.544, 0.7914, -0.1989, 0.7322, 0.6975, 0.9998]\nstate[eef_state]: left_x=0.3398 left_y=-0.08 left_z=0.0934 left_yaw=0.1117 left_pitch=-0.5148 left_roll=0.2553 left_gripper=0.9965 right_x=0.2853 right_y=0.2324 right_z=0.0883 right_yaw=0.0289 right_pitch=-0.0924 right_roll=-0.0376 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5812, 6.2154, 1.1404, -0.3834, -0.0659, 0.2125, 0.4171, -6.612, 8.0205, 1.199, 0.6374, 0.149, -0.0366]",
      "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]: [-0.4553, 1.652, 0.8963, -0.4667, -0.382, -0.3305, 0.9968, 1.0042, 1.7943, 0.6533, 0.2115, 0.7479, 0.704, 0.9997]\nstate[eef_state]: left_x=0.3365 left_y=-0.0874 left_z=0.031 left_yaw=0.1146 left_pitch=-0.5328 left_roll=0.2677 left_gripper=0.9968 right_x=0.2886 right_y=0.2366 right_z=0.0119 right_yaw=0.0214 right_pitch=-0.0695 right_roll=-0.0211 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -6.2291, 4.9573, 1.0085, -0.2808, -0.0952, 0.0122, -0.3761, -4.8479, 2.9744, 0.4664, -0.0806, -0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c2be771dcbe74560206ab4bf72b5e9461cec3f8c5429d89ecad04958605326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddbeef1d5285932d9c6110bd0af0191bb6f174a5061b8f5b105940e2dd6a831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e1823071c5175bba9b25008e98b766ae0c43ef36341416ba2cade1fd39718b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuAkKEAgSGAI4AUIIdGhpbmtpbmcSDDdcDvK4W8pKWpMuaRoM34tLBGlTyEzDP9liIjBPJJnEKmSEp3p6QJKAGmlyJu+QRcIBt2OPsZc/jDXQJv93Uh7xN+DmcJYLr14IgCoq1QjFoeB3LlTL2JqvOM/qMlNU+zvqP8UDEv6/XYCTc6WARX26ekJYFF3O7CX7Yd1ygLEszRqMTR9/hOlM/lenj+YS5fJc9JZZtzdhbnXZ0Sch83/R3rZcMq/cYe1ujSsIqZu1i9XV8XQPeJiMyXA6OT63qlyPfwogRMZLJd6mppBgmnuN83rsXRDJ3wIZGju9oW/9ZkPdZk1ffQTopKPi93nFeV+xu43Yys5qbF7JGSJerCOsSXHFSbE1p4b35BNZlfxpmp0Nc5KqnSoPqJni1baxWTbPcedVxBtZ2/WF8SH5I4XlkdbtuFsHc1KuoHGv/VkKTpnMrKrZvHkofX1OgJBFS/d1/BUmIAcesCPYQ3HYSUd5gUqde99X8Z8o7coWXRjNOr5eYKYFLRy6zq/CzDOx42MromeWV3VLONWWpyJnS8IF6X+ag8tcErSoXWpVPoQGMzQCBHjZrfTkrCajHgONoXQxHjaoBYXoyu+zTPFABxQYt9VzZUdlEsaloCggWLVYlMuwgAMeI2IA2GXwlHSLr8GLmo5iknq37L777ZroCJGs2PENjKrku+kmbiI5qdUTwV6jt+AjK5Hc215ku49zxFcoGeuqSfaQ/n+A2ojqOsaqF44FFvoHohYJsSED20rl2jI7e/cCQc9JvYfuUorUmM57FxPrl9xpGA1EBxis9VC06FVkxbYofVae1hFaq05LGNznT6w5PVU1YEkM1dY6FKMZ4rkVbunJlOZwRjX2JQmhmhC4U52RvsP2s8TV4h1XqaibA9NzOO4DnM0d9pcp1t6eOh8S/msUMYMy5tXZnXU8ZrqiAHtCCNPyKYfZ0k6gkC54p8lFVauiAslfrhbIsNbqr93+Lv6M3aeKkwtN2exi+dTA1rVIN/TO87oGXau1NQrIsvVAbXzZDnO+kq+ETjB4RermtbOo/PPaChkKHszVCXMxssow4CqGngmxULp1p8GlmW20cvXhY6L0q2siMhEqmpNvH6J0wLO/0N3a3BRRlJPTkhxbvHodBabNGmcmeMMXrjh/8GLKBCe8dPWO46mkIoBVwgFj1RaDbaieu1+rJ1SlXww7JSIaA5JZvjzKPI2v/6/uWOXI4Y6V2glLg+IljCB8fUbP5TA4FFhmwdccqv0hQEy7Xk1BJ5XH1FxYCmJFNOnvoUw0pm8behS1I1t4ITrtNekbHfDcoGWtUvxu1XMN4ONZt6hd95Vd8nNXjBxTPeKqHQBJVHSsuevpI0giTNYje+IInvW1a3cntUuOJG5BdMrXwzoDRY5dBNxOBGuNFVdPdaLerAacg13pNBfXgf2Qdsj2Eyifb8MdlqOwlVkhVC8I7x1QcmlmNDrA5gvNWGDf2TSQUhy8o4kWufiEwWpY/peJznvNbOs/3mQ3KQvhQwskXlsu0GF3iwiO++/cvDMrPDe5L45cE5pVkN8EbHkwnnsZvVjbmgE2HSJyT+onOoJ1XhS1XPHt94dKvCsmEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HB28pyJvx2nGv8YwSuUbnD",
      "input": {
        "note": "Bear is at the bottom centre of the left wrist view and the pen is centred in the right one; closing both grippers (right pressing slightly lower to reach the thin pen).",
        "targets": {
          "left_gripper": 0.0,
          "right_gripper": 0.0,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HB28pyJvx2nGv8YwSuUbnD",
      "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]: [-0.4549, 1.6646, 0.8871, -0.458, -0.3817, -0.3328, 0.0114, 1.0042, 1.8847, 0.646, 0.4099, 0.7856, 0.6994, 0.1491]\nstate[eef_state]: left_x=0.3344 left_y=-0.0863 left_z=0.0249 left_yaw=0.1202 left_pitch=-0.5436 left_roll=0.2743 left_gripper=0.0114 right_x=0.3009 right_y=0.247 right_z=0.0075 right_yaw=0.0017 right_pitch=0.01 right_roll=0.0436 right_gripper=0.1491\nstate[joint_eff]: [-0.212, -7.9795, 6.2838, 0.7741, -0.2027, -0.0073, 0.8669, -0.1436, -4.4239, 2.6598, 0.7155, -0.1538, 0.0366, 0.9939]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09856ebe59635ed61c6f20da075eee4a3ee35718a6e41414f21b7627e8d8aa60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8dd599c0137f41bdb6f09a8ca517f768845bce57dd3a70e461d8153a29108b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c54c12aa201162ba89ff61d259df8c7a829c4132b762fe01c31b120e24617e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 8.17 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]: [-0.4274, 1.5406, 1.0412, -0.693, -0.3737, -0.3058, 0.9965, 1.0, 1.544, 0.7914, -0.1989, 0.7322, 0.6975, 0.9998]\nstate[eef_state]: left_x=0.3398 left_y=-0.08 left_z=0.0934 left_yaw=0.1117 left_pitch=-0.5148 left_roll=0.2553 left_gripper=0.9965 right_x=0.2853 right_y=0.2324 right_z=0.0883 right_yaw=0.0289 right_pitch=-0.0924 right_roll=-0.0376 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.5812, 6.2154, 1.1404, -0.3834, -0.0659, 0.2125, 0.4171, -6.612, 8.0205, 1.199, 0.6374, 0.149, -0.0366]",
      "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]: [-0.4553, 1.652, 0.8963, -0.4667, -0.382, -0.3305, 0.9968, 1.0042, 1.7943, 0.6533, 0.2115, 0.7479, 0.704, 0.9997]\nstate[eef_state]: left_x=0.3365 left_y=-0.0874 left_z=0.031 left_yaw=0.1146 left_pitch=-0.5328 left_roll=0.2677 left_gripper=0.9968 right_x=0.2886 right_y=0.2366 right_z=0.0119 right_yaw=0.0214 right_pitch=-0.0695 right_roll=-0.0211 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -6.2291, 4.9573, 1.0085, -0.2808, -0.0952, 0.0122, -0.3761, -4.8479, 2.9744, 0.4664, -0.0806, -0.1245, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4549, 1.6646, 0.8871, -0.458, -0.3817, -0.3328, 0.0114, 1.0042, 1.8847, 0.646, 0.4099, 0.7856, 0.6994, 0.1491]\nstate[eef_state]: left_x=0.3344 left_y=-0.0863 left_z=0.0249 left_yaw=0.1202 left_pitch=-0.5436 left_roll=0.2743 left_gripper=0.0114 right_x=0.3009 right_y=0.247 right_z=0.0075 right_yaw=0.0017 right_pitch=0.01 right_roll=0.0436 right_gripper=0.1491\nstate[joint_eff]: [-0.212, -7.9795, 6.2838, 0.7741, -0.2027, -0.0073, 0.8669, -0.1436, -4.4239, 2.6598, 0.7155, -0.1538, 0.0366, 0.9939]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09856ebe59635ed61c6f20da075eee4a3ee35718a6e41414f21b7627e8d8aa60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8dd599c0137f41bdb6f09a8ca517f768845bce57dd3a70e461d8153a29108b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54c12aa201162ba89ff61d259df8c7a829c4132b762fe01c31b120e24617e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NnohgwDKQhLPPHYyyXvRnp",
      "input": {
        "note": "Right gripper settled at 0.15 — pen held; carrying it up toward the right basket. Left close was empty (0.01), so opening, lifting a bit and advancing 2.5 cm for a retry on the small bear.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.36,
          "left_z": 0.07,
          "right_x": 0.46,
          "right_y": 0.19,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01NnohgwDKQhLPPHYyyXvRnp",
      "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]: [-0.4236, 1.6646, 1.0557, -0.6277, -0.374, -0.3065, 0.9973, 0.5446, 1.6752, 1.4212, -0.3454, 0.437, 0.3351, 0.1538]\nstate[eef_state]: left_x=0.3533 left_y=-0.0846 left_z=0.0626 left_yaw=0.1299 left_pitch=-0.5523 left_roll=0.282 left_gripper=0.9973 right_x=0.4559 right_y=0.1929 right_z=0.2414 right_yaw=-0.002 right_pitch=0.0212 right_roll=0.0535 right_gripper=0.1538\nstate[joint_eff]: [0.4444, -6.9265, 8.4034, 0.9402, -0.1832, 0.0611, -0.022, -0.4855, -7.9658, 8.7863, 1.4188, 0.1538, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd101492f89e2f784d8008e782c9b4f7adc0eceb58b06a824338d027c33c3d96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75184c507e08c5e38d46b592c4d717fbcf7bde752d30f66e74e689632e4441be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c44a8d7cae61e63a00cbe1ffa99d4baea6b8a34d9cc4e33071d988dc149d44f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 5.444 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]: [-0.4553, 1.652, 0.8963, -0.4667, -0.382, -0.3305, 0.9968, 1.0042, 1.7943, 0.6533, 0.2115, 0.7479, 0.704, 0.9997]\nstate[eef_state]: left_x=0.3365 left_y=-0.0874 left_z=0.031 left_yaw=0.1146 left_pitch=-0.5328 left_roll=0.2677 left_gripper=0.9968 right_x=0.2886 right_y=0.2366 right_z=0.0119 right_yaw=0.0214 right_pitch=-0.0695 right_roll=-0.0211 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -6.2291, 4.9573, 1.0085, -0.2808, -0.0952, 0.0122, -0.3761, -4.8479, 2.9744, 0.4664, -0.0806, -0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4549, 1.6646, 0.8871, -0.458, -0.3817, -0.3328, 0.0114, 1.0042, 1.8847, 0.646, 0.4099, 0.7856, 0.6994, 0.1491]\nstate[eef_state]: left_x=0.3344 left_y=-0.0863 left_z=0.0249 left_yaw=0.1202 left_pitch=-0.5436 left_roll=0.2743 left_gripper=0.0114 right_x=0.3009 right_y=0.247 right_z=0.0075 right_yaw=0.0017 right_pitch=0.01 right_roll=0.0436 right_gripper=0.1491\nstate[joint_eff]: [-0.212, -7.9795, 6.2838, 0.7741, -0.2027, -0.0073, 0.8669, -0.1436, -4.4239, 2.6598, 0.7155, -0.1538, 0.0366, 0.9939]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.4236, 1.6646, 1.0557, -0.6277, -0.374, -0.3065, 0.9973, 0.5446, 1.6752, 1.4212, -0.3454, 0.437, 0.3351, 0.1538]\nstate[eef_state]: left_x=0.3533 left_y=-0.0846 left_z=0.0626 left_yaw=0.1299 left_pitch=-0.5523 left_roll=0.282 left_gripper=0.9973 right_x=0.4559 right_y=0.1929 right_z=0.2414 right_yaw=-0.002 right_pitch=0.0212 right_roll=0.0535 right_gripper=0.1538\nstate[joint_eff]: [0.4444, -6.9265, 8.4034, 0.9402, -0.1832, 0.0611, -0.022, -0.4855, -7.9658, 8.7863, 1.4188, 0.1538, -0.0464, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd101492f89e2f784d8008e782c9b4f7adc0eceb58b06a824338d027c33c3d96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75184c507e08c5e38d46b592c4d717fbcf7bde752d30f66e74e689632e4441be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c44a8d7cae61e63a00cbe1ffa99d4baea6b8a34d9cc4e33071d988dc149d44f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xa87TcBoLXQtzq4ucBxjoV",
      "input": {
        "note": "Right wrist view shows the pen directly over the right basket — releasing it. Overhead view shows the brown bear slightly behind the left gripper, so moving the left arm back to x 0.31 and straightening its wrist pitch.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.31,
          "left_y": -0.085,
          "left_z": 0.06,
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Xa87TcBoLXQtzq4ucBxjoV",
      "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]: [-0.6807, 1.4296, 0.4377, 0.091, -0.7601, -0.3527, 0.9981, 0.5373, 1.6882, 1.4181, -0.3649, 0.4171, 0.3256, 0.9974]\nstate[eef_state]: left_x=0.3043 left_y=-0.0853 left_z=0.046 left_yaw=0.1082 left_pitch=-0.0744 left_roll=0.313 left_gripper=0.9981 right_x=0.4554 right_y=0.1922 right_z=0.2294 right_yaw=0.012 right_pitch=-0.0149 right_roll=0.0372 right_gripper=0.9974\nstate[joint_eff]: [-0.3897, -6.2427, 5.2855, 1.5897, -0.5348, -0.0611, 0.0757, 0.4581, -9.6205, 7.3915, 1.8046, 0.2808, 0.0464, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfd354e4bc242b9d47053e87b0f0744dd2ea0fd182417a29037a8514b1f99f77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e0c9a0178b210748ddc1e825166237f07d41a1d8a6168411e4ca5492a5f831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4071669c6fc799e2f98626832769713d37a9bcf5a853750142c91a95af02847a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 4.776 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]: [-0.4549, 1.6646, 0.8871, -0.458, -0.3817, -0.3328, 0.0114, 1.0042, 1.8847, 0.646, 0.4099, 0.7856, 0.6994, 0.1491]\nstate[eef_state]: left_x=0.3344 left_y=-0.0863 left_z=0.0249 left_yaw=0.1202 left_pitch=-0.5436 left_roll=0.2743 left_gripper=0.0114 right_x=0.3009 right_y=0.247 right_z=0.0075 right_yaw=0.0017 right_pitch=0.01 right_roll=0.0436 right_gripper=0.1491\nstate[joint_eff]: [-0.212, -7.9795, 6.2838, 0.7741, -0.2027, -0.0073, 0.8669, -0.1436, -4.4239, 2.6598, 0.7155, -0.1538, 0.0366, 0.9939]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4236, 1.6646, 1.0557, -0.6277, -0.374, -0.3065, 0.9973, 0.5446, 1.6752, 1.4212, -0.3454, 0.437, 0.3351, 0.1538]\nstate[eef_state]: left_x=0.3533 left_y=-0.0846 left_z=0.0626 left_yaw=0.1299 left_pitch=-0.5523 left_roll=0.282 left_gripper=0.9973 right_x=0.4559 right_y=0.1929 right_z=0.2414 right_yaw=-0.002 right_pitch=0.0212 right_roll=0.0535 right_gripper=0.1538\nstate[joint_eff]: [0.4444, -6.9265, 8.4034, 0.9402, -0.1832, 0.0611, -0.022, -0.4855, -7.9658, 8.7863, 1.4188, 0.1538, -0.0464, 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 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]: [-0.6807, 1.4296, 0.4377, 0.091, -0.7601, -0.3527, 0.9981, 0.5373, 1.6882, 1.4181, -0.3649, 0.4171, 0.3256, 0.9974]\nstate[eef_state]: left_x=0.3043 left_y=-0.0853 left_z=0.046 left_yaw=0.1082 left_pitch=-0.0744 left_roll=0.313 left_gripper=0.9981 right_x=0.4554 right_y=0.1922 right_z=0.2294 right_yaw=0.012 right_pitch=-0.0149 right_roll=0.0372 right_gripper=0.9974\nstate[joint_eff]: [-0.3897, -6.2427, 5.2855, 1.5897, -0.5348, -0.0611, 0.0757, 0.4581, -9.6205, 7.3915, 1.8046, 0.2808, 0.0464, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfd354e4bc242b9d47053e87b0f0744dd2ea0fd182417a29037a8514b1f99f77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1e0c9a0178b210748ddc1e825166237f07d41a1d8a6168411e4ca5492a5f831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4071669c6fc799e2f98626832769713d37a9bcf5a853750142c91a95af02847a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwkKEAgSGAI4AUIIdGhpbmtpbmcSDNH0hMrvciS79i6EUxoMMKSMFYre8gPJK9G0IjAvqpec8yokqz8DGQWgH7spSzt5b/vHpeGZ3PaOTpWdmEUTeBrpqFq7JAw9PemJiDMqzAilfSUU+UOQWJRibW6Ev5mPVDl7nv2BdSoXYc7JerZd/lkFPrOcFJD+6++Os5vjbXH06jaeIksWHAcMnsRU6lPecwcwW6MjnVyu4bEVv1CK1vIzqSzKA1+JK1gnR8WpGEZKGr+3psa1O8KaFz8Kw3SPis53MQf8RJK/JeCRUOeed0QF0Ggm08RrH8CsKle82QzMsz4MHQTl/hr3yqEO3otGnMi2yTCZZb9FBaS17M0Gcm/t4u+0exaZfOucZyXASjMGxuRMtBn6T0KAsONFNiRR1MiqTBcUpgTfc6fg8NuiVnV+tywc09zX+IkUR8zfTVscCXhH5/mevl/FTc7DEdL7QCX1Y4vsKm7JgPcPbpIv7Og+gla8bBwhnKOxcEPXkvRNLJk9ouFfMpyXpTC2HPpuTj/tShAwT0ENCmZs06S2RTm/iLdZMevhytbzec8rAFNeEbWZI/m62weT0f8/01KYPZLX4Nfm9roKuytkEjJvKBf4gcIhpOO9TjDUu1qUteh7synToq2uZGLBaw0IbywRjyc+UIsvNsilUXxosJfEcBMTlq95blzat3oCE0pJuXOjI0lrThGlLepfCJQW1uAddrWA4k+k7igaGxBTROmgRWapeOc870aOA8cJoHQUCkjBpoDxpUGfWP6GAQIFgO+e9KgsMJn5adP/s6Ilj8iXZxAOQOk3PV09WFnzhj85N5vvLCItsgv4qOwLkyEUWnkvYmqULFS+NuedQEuxwarJKGYhLb8Mrsk/doXY28B7z9gSfsC8bNxm/9ym3c+3FXXiUi3u7IzMQ+FgH4iLAwpL+fkzKfKayIv2WlccM/BxLHj+GISlwSIJhY635BKfAv+VcdQmygqORs84R/xhs15Xjm+l71urfAi2az9uJznpkeBM9HzrLXXw8HzruRy+ggE+33/5ANcgL2eWVJL4Np1XTgYe9nrwsnJZ0A9K4nwErYtSHP0itSX8EGPNHv89h/6IB794DLVHN6Ap87vY7o8pIO0RubwbKgpzsHxAZ9b9btX+V8JCtuArHZDucbg1hZUZTzMPJUEjrPeapspE6P345Qe5S82SyLKNn7L+76d8ziIYhLX/hH6nsnKzGPzjumDizMsCV/j0ABGZk7LvogODCBHWyzGHeB83RyTVcGW4N61SUtwRihaseQFYBzCJHAcZOun4DRUC8X+FYXm+VMog1v9MhkKyDRles+KP+3QwEtV5GvEHIJg2GKMiaL4DJRGjXteGyBHLmfNkoLGgEjxbeSu5f/qiOPWeJ4AZk4UkNzRGyRbCht/2Nap8OfLCqt+chhpaXVEgmQxvoawgcd/GDuOK1nVgefwLZiQ4SV+ezc/+bRII304q8BJ5qOJ535GMmgp2QDlqFl6S4r86nWyDtl084lG34wEbr2dQZncfPI0fI1RCou+lUorcoq2LgRHp5e9UO211YRk9gKsb244Xfn9RO2JoFre6XQDLbhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NckGJBPomzNzE7BKHDCKrh",
      "input": {
        "note": "Pen is in the right basket. The brown bear is now centred under the left jaws, so the left arm descends; the right arm heads to hover over the second pen.",
        "targets": {
          "left_z": 0.01,
          "right_x": 0.3,
          "right_y": 0.185,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01NckGJBPomzNzE7BKHDCKrh",
      "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]: [-0.6842, 1.5887, 0.387, 0.305, -0.7597, -0.3523, 0.9982, 0.8375, 1.4395, 0.5713, 0.0662, 0.6144, 0.519, 0.9982]\nstate[eef_state]: left_x=0.3061 left_y=-0.088 left_z=0.0144 left_yaw=0.1041 left_pitch=-0.0717 left_roll=0.3101 left_gripper=0.9982 right_x=0.2997 right_y=0.1859 right_z=0.0715 right_yaw=0.0513 right_pitch=-0.0692 right_roll=-0.0078 right_gripper=0.9982\nstate[joint_eff]: [0.1983, -4.1778, 3.494, 1.2576, -0.3541, -0.0464, -0.0073, 0.1983, -6.694, 6.0923, 1.6581, 0.4322, 0.1685, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:433c73c3784ef0374761b8568aa096bb79f3d8671a57f8ab591d1cd79607f4d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b7bc8f9f61e97c33fc636b2e523a2c2232f8e1b9e23d26765591eeed29fb8e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0588e2007f60eca26e3e199994acb2f91ac168032cf105a6b7134d76183e2cfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 4.968 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]: [-0.4236, 1.6646, 1.0557, -0.6277, -0.374, -0.3065, 0.9973, 0.5446, 1.6752, 1.4212, -0.3454, 0.437, 0.3351, 0.1538]\nstate[eef_state]: left_x=0.3533 left_y=-0.0846 left_z=0.0626 left_yaw=0.1299 left_pitch=-0.5523 left_roll=0.282 left_gripper=0.9973 right_x=0.4559 right_y=0.1929 right_z=0.2414 right_yaw=-0.002 right_pitch=0.0212 right_roll=0.0535 right_gripper=0.1538\nstate[joint_eff]: [0.4444, -6.9265, 8.4034, 0.9402, -0.1832, 0.0611, -0.022, -0.4855, -7.9658, 8.7863, 1.4188, 0.1538, -0.0464, 1.033]\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]: [-0.6807, 1.4296, 0.4377, 0.091, -0.7601, -0.3527, 0.9981, 0.5373, 1.6882, 1.4181, -0.3649, 0.4171, 0.3256, 0.9974]\nstate[eef_state]: left_x=0.3043 left_y=-0.0853 left_z=0.046 left_yaw=0.1082 left_pitch=-0.0744 left_roll=0.313 left_gripper=0.9981 right_x=0.4554 right_y=0.1922 right_z=0.2294 right_yaw=0.012 right_pitch=-0.0149 right_roll=0.0372 right_gripper=0.9974\nstate[joint_eff]: [-0.3897, -6.2427, 5.2855, 1.5897, -0.5348, -0.0611, 0.0757, 0.4581, -9.6205, 7.3915, 1.8046, 0.2808, 0.0464, -0.0757]",
      "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]: [-0.6842, 1.5887, 0.387, 0.305, -0.7597, -0.3523, 0.9982, 0.8375, 1.4395, 0.5713, 0.0662, 0.6144, 0.519, 0.9982]\nstate[eef_state]: left_x=0.3061 left_y=-0.088 left_z=0.0144 left_yaw=0.1041 left_pitch=-0.0717 left_roll=0.3101 left_gripper=0.9982 right_x=0.2997 right_y=0.1859 right_z=0.0715 right_yaw=0.0513 right_pitch=-0.0692 right_roll=-0.0078 right_gripper=0.9982\nstate[joint_eff]: [0.1983, -4.1778, 3.494, 1.2576, -0.3541, -0.0464, -0.0073, 0.1983, -6.694, 6.0923, 1.6581, 0.4322, 0.1685, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:433c73c3784ef0374761b8568aa096bb79f3d8671a57f8ab591d1cd79607f4d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b7bc8f9f61e97c33fc636b2e523a2c2232f8e1b9e23d26765591eeed29fb8e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0588e2007f60eca26e3e199994acb2f91ac168032cf105a6b7134d76183e2cfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgQkKEAgSGAI4AUIIdGhpbmtpbmcSDI4kCsV0vOiI2zs6JBoMsQaASC+mJeabXBWuIjDkEheuGVXU4PVAX4ms2TS1Shv//CFvIqFOYBSZBbg/NMGg1uX3F3Mp+rf7CMHHWYIqnghoHRe1dLZO7I4XAosThrjTFlaODppk6sQHfZ2Z8On4SB2nbjJvN2Y/nMHZCCATGxAb9ircGcMafk2kKqfplaoboImhMnEmFaYkcMGzrdCN7q2iOSR98cv7SO+pn8H6br+cGPvsTpKyc32ahiMd6I7r1U4G4E4/K7lpzBVcxi2P1RwLkuCFv+xUIUfBQ/odGF9yxV1IFmDpGcOOYc3RtfYuwxkMJqRCfPfKfdebrkvw/gLsRQYcvb5dshv2f5g85t5S46vMfxnrq/MQzSuT63g8AMOlBCfR+ELW4ezhu9xN4aWksHO4lW3wb+a/160OC1FwAgfIrKMWG7tvZnYyAO6qK7eKACO9Rz7bObgTygS/SRtbAnEIsyFv6b1y/TVIQoSHX9DZpnPqOzpb3/M4PORYrOg0yNy5p4VE/P5h0mfSSYeD88mAPkdtIeFokUPG1WVpXlWC14Qqemj8JBbmmD6a12ttXqiZIDqmnek/V/uisbfQrMfCzM9F0Rq36/vEEKSA5KvksyZW2mvNV81HvsqIpvzEErgSagPzMJoKyhn0+2/Wf8oGaO4licFbyqjrpYt+E3xCbB2F3UMvomvvt+vWZmqm2jcdGE6T8DtpKi+OW3DVKLmhNyMo3kzSlDe+56048/ZObva3wDbny23aK77az+Wd8lDIi2Wrw3y8ujV8U4/u+SY1nLt2hbspH8lV9x1cTB+YFG6JmG9mi0/hKZfkAQd48kDUN7TPSo5vb4zB5A6zOapv5jxWQj0kQJaUTI2AvSKSmC0lVapw6JuN9LeyDXHwXQd348XSyB//oM+AVYyR1Lf7ZiIJEEEZF0VVxYqAR3POfYvTs7gZ8WZf7TS4JlM1GWfL+0WG7gGgvML5lT8449NpRTa4FomAN/bpMmHCV4/PO3dY6oMfIthI34vsK4k5Bgm2ki68CVoQD5k+iSrS6jRfpBcq1Z0ltFbH6/7J45ovOIrD2+KULsyaf9kKjTY7715o/3gCN5LHLoHjahz+LXYBr6FwEc+vqdytOL34MBu40Ai0Zzt8ggDFtynSqLxNcuCVyh6uG/klv3iqv012zzaghg2MdsZB9AgNORixpxIo3smrWS8g8ZYLd7lsIXGAq3ZnGUHigXc7HinG18PHe1WCKrw/S6cZTH+MZHAsPbRiJiQ/Lz+BCwOFKDMZsqwC0MY3rlRkwXBjt6fgWfysrqq2eF8HG0jS8lVyniaxou+RhG9eBoZ07N8fB97DnaISXvjOyTFIgoTfLLfZjiuTQJdlGDjB6x7KYOLCP0mTC06y41UPTPWXpm56C8gHbpq5ZvWRW1N5BYsLsNv2JdcU6hGsNcUk94ScjB2wZcHzQEOAJ6aUAnER9smiVlsAyTYoVYeAXEW5B24U9Kaf1RgBFFbvh4L3KGPm4SdeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019JfE9v5VqGZC88ymk9d1gG",
      "input": {
        "note": "Bear's head sits between the left jaws at table level — closing the left gripper. Right wrist view shows the second pen just right of the jaw column, so nudging right and descending onto it.",
        "targets": {
          "left_gripper": 0.0,
          "right_y": 0.178,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019JfE9v5VqGZC88ymk9d1gG",
      "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]: [-0.6849, 1.5951, 0.3813, 0.3191, -0.7631, -0.3489, 0.4094, 0.8211, 1.7805, 0.4366, 0.6605, 0.6193, 0.5198, 0.9983]\nstate[eef_state]: left_x=0.3057 left_y=-0.0874 left_z=0.0132 left_yaw=0.1038 left_pitch=-0.069 left_roll=0.3134 left_gripper=0.4094 right_x=0.314 right_y=0.1921 right_z=0.0101 right_yaw=0.033 right_pitch=0.017 right_roll=0.0745 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -5.7778, 4.7658, 1.1306, -0.2857, -0.0659, 1.0281, -0.759, -3.4393, 1.6068, 0.2271, -0.0611, -0.232, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fbdb7b845c9fc2072baa98f505617f18908d23c0e5a537182bcdce73f589b12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49c8d8a1c19fb7bbf7508f23a5864b43632b8a8e4a3e05cd7d40043b8e45fcc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e7f665b23c7c0ed7c44c533a160d0ac6c35fcca315bc560287bc784832abb3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 6.71 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]: [-0.6807, 1.4296, 0.4377, 0.091, -0.7601, -0.3527, 0.9981, 0.5373, 1.6882, 1.4181, -0.3649, 0.4171, 0.3256, 0.9974]\nstate[eef_state]: left_x=0.3043 left_y=-0.0853 left_z=0.046 left_yaw=0.1082 left_pitch=-0.0744 left_roll=0.313 left_gripper=0.9981 right_x=0.4554 right_y=0.1922 right_z=0.2294 right_yaw=0.012 right_pitch=-0.0149 right_roll=0.0372 right_gripper=0.9974\nstate[joint_eff]: [-0.3897, -6.2427, 5.2855, 1.5897, -0.5348, -0.0611, 0.0757, 0.4581, -9.6205, 7.3915, 1.8046, 0.2808, 0.0464, -0.0757]",
      "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]: [-0.6842, 1.5887, 0.387, 0.305, -0.7597, -0.3523, 0.9982, 0.8375, 1.4395, 0.5713, 0.0662, 0.6144, 0.519, 0.9982]\nstate[eef_state]: left_x=0.3061 left_y=-0.088 left_z=0.0144 left_yaw=0.1041 left_pitch=-0.0717 left_roll=0.3101 left_gripper=0.9982 right_x=0.2997 right_y=0.1859 right_z=0.0715 right_yaw=0.0513 right_pitch=-0.0692 right_roll=-0.0078 right_gripper=0.9982\nstate[joint_eff]: [0.1983, -4.1778, 3.494, 1.2576, -0.3541, -0.0464, -0.0073, 0.1983, -6.694, 6.0923, 1.6581, 0.4322, 0.1685, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6849, 1.5951, 0.3813, 0.3191, -0.7631, -0.3489, 0.4094, 0.8211, 1.7805, 0.4366, 0.6605, 0.6193, 0.5198, 0.9983]\nstate[eef_state]: left_x=0.3057 left_y=-0.0874 left_z=0.0132 left_yaw=0.1038 left_pitch=-0.069 left_roll=0.3134 left_gripper=0.4094 right_x=0.314 right_y=0.1921 right_z=0.0101 right_yaw=0.033 right_pitch=0.017 right_roll=0.0745 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -5.7778, 4.7658, 1.1306, -0.2857, -0.0659, 1.0281, -0.759, -3.4393, 1.6068, 0.2271, -0.0611, -0.232, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fbdb7b845c9fc2072baa98f505617f18908d23c0e5a537182bcdce73f589b12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49c8d8a1c19fb7bbf7508f23a5864b43632b8a8e4a3e05cd7d40043b8e45fcc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e7f665b23c7c0ed7c44c533a160d0ac6c35fcca315bc560287bc784832abb3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShAkKEAgSGAI4AUIIdGhpbmtpbmcSDIGqGEJjhpMu5LWgtBoM3iZL8UD4i8TVQUhVIjBNValPwUd5nLZXyX/gXU4nFlgBW2KBYZdTgLFCMjHzk7rRTPsDA9QEyzP0NoFigXkqoQhZlIainYCMNc7+39NPChzTzW9axlNGKrJ6WgIkzL+OBWX54U8aB5y1osxkL/vRiu7wn+0nc85trncI7dJ8Pj+tYsTSoEas9f5Lf1TIg/ne3lijAYBhw7wB/FMmx6mxLdog/sRpsJk29yy2YHf7glaYfmhaQ9ik+rlJoZqN9ZnedGBqU1hfCS8hpfq5otf8tZMj26wKr1FPMsrDAQ9DXidxmFsIO5+wBCcZd0zVW7gEgYEN+zwSJauYnaocCJnjE2SX9taA1SIV1aLUcTkCCf3V671J9XO8pCFcDm9JFlvOln9EoIXNPS+iK1Li8+HnCOtmuUi1ceEYHGyAcISsiTIduwyiKIpOS4Cfbije8aVfUgN+uiMIhMJwtwiQDjq0UjLFcAV4H2clI/f46ufk/kTBwmVDzM9ZawsCo7dVQj4mLgQthsZoV13rVyV3f8j4cgJcIGxTWmpfZ8YQvJ1tOzuDVWTzOtwnbXmKobu3daAeCb58QGviXvN7rCa/zBquT7C/zLlcjFayeDzOxTUasUYmmZUVBmWeJSjMYsfLOycPT246ZZ/rYkT5U4JUss3ZzpzNMyy5LrKNVLDBMT08o3xx0uG2FT0RqP77S1auu1PuQeEE12P4Ng9JYJhmE45Q/vWR2E4RKZRYRoo+5R7LdqgYXPs8A+pb5iMoY/K2NHCunxaTNWIbE0DP6RIOeyxRbz6nP08UzsiNsZ/um1XxaTfHfqWv4XdGrkQlqNAD9tUlRrE+VSTMk1CgtKnrP2qhUo2zVq6rX0wYBUYgBdnNDo/WRvfoTseq9BATjqM8oJFDm0FAbDzov8LYu5+WanNmAcsF87S6p7DXvngz6HtiSEmxN2A73oC2ldvkUY1IFxuMNffuyKLde/+saTVa1Bcj1O++iAJ9hoBEael91fUKfcnVI3UKiPZ1WYt/SqK87Q8atmNfu9F1CVKFJVHUaVKE+B8Jm542edO+eFrRLOFcHntqwf/t4dukFOIB7P/doVYdFfgFlR9zUEtKa+u4wjbHQq4jNRv5Pgxm//Y8ShhaRV62BVHevLwItpgKVCCZp2KDZPJxMfeuf94cyp4pJI5JNWMiaEzkyVowGNF+V/bIctnJ60ZyCZFVFpauZ2aKMvHbtFjDhdCOLqzL3ywAxUZ0nkt0UdqEtbV68mGDhywDx4iJwlipZfOlOM62wdKK8Ga5zFg3Tg8Q2WD72imEjrtrI7ndBZGWv3Bd3UwiPScT26Dx6lm/0vN2SaBVrUI2soyKFjxgNBDDzZubTkNtERo98WQjrd2+dANs7a9SPzezqkpQ/eoKBQExb8db3N7ZBK0xChazq7yzrynaoNltVV9KH93iFcS3Xo3dADjzqUC5gXZ4LGp3Ml4xsJN6TebainBoK6T2FcPzrkExzXZPbfGCTqVRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016vgw8YxCQoyJGKjDKzArwu",
      "input": {
        "note": "Left gripper settled at 0.41 — the bear is held; carrying it to the spot over the left basket that worked for the teddy. Right jaws are around the second pen; closing.",
        "targets": {
          "left_x": 0.47,
          "left_y": 0.05,
          "left_z": 0.25,
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_016vgw8YxCQoyJGKjDKzArwu",
      "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]: [-0.0029, 1.5673, 1.3354, -0.3851, -0.2817, 0.1558, 0.4108, 0.8185, 1.7912, 0.4313, 0.6968, 0.6193, 0.5163, 0.0106]\nstate[eef_state]: left_x=0.4671 left_y=0.0514 left_z=0.2395 left_yaw=0.1415 left_pitch=-0.0577 left_roll=0.3057 left_gripper=0.4108 right_x=0.3158 right_y=0.1926 right_z=0.0111 right_yaw=0.0318 right_pitch=0.0314 right_roll=0.0859 right_gripper=0.0106\nstate[joint_eff]: [0.1299, -7.5829, 8.6496, 1.2723, 0.1099, 0.105, 0.5885, -0.1299, -7.4051, 4.3009, 1.1893, 0.1734, -0.0122, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0e673b1749dddb210117d74fd0c9ad8734546a6fa3b866c1cc5db9e39fa8d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de37ca292635deb1b84998a7c0030328e92a943e084cfc93d123ceb144d232fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:009f8cddfde261ae83c5ad1c914d3bb94c9e3a1f5aebe5855345cab00461d409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 8.398 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]: [-0.6842, 1.5887, 0.387, 0.305, -0.7597, -0.3523, 0.9982, 0.8375, 1.4395, 0.5713, 0.0662, 0.6144, 0.519, 0.9982]\nstate[eef_state]: left_x=0.3061 left_y=-0.088 left_z=0.0144 left_yaw=0.1041 left_pitch=-0.0717 left_roll=0.3101 left_gripper=0.9982 right_x=0.2997 right_y=0.1859 right_z=0.0715 right_yaw=0.0513 right_pitch=-0.0692 right_roll=-0.0078 right_gripper=0.9982\nstate[joint_eff]: [0.1983, -4.1778, 3.494, 1.2576, -0.3541, -0.0464, -0.0073, 0.1983, -6.694, 6.0923, 1.6581, 0.4322, 0.1685, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6849, 1.5951, 0.3813, 0.3191, -0.7631, -0.3489, 0.4094, 0.8211, 1.7805, 0.4366, 0.6605, 0.6193, 0.5198, 0.9983]\nstate[eef_state]: left_x=0.3057 left_y=-0.0874 left_z=0.0132 left_yaw=0.1038 left_pitch=-0.069 left_roll=0.3134 left_gripper=0.4094 right_x=0.314 right_y=0.1921 right_z=0.0101 right_yaw=0.033 right_pitch=0.017 right_roll=0.0745 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -5.7778, 4.7658, 1.1306, -0.2857, -0.0659, 1.0281, -0.759, -3.4393, 1.6068, 0.2271, -0.0611, -0.232, 0.0024]",
      "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]: [-0.0029, 1.5673, 1.3354, -0.3851, -0.2817, 0.1558, 0.4108, 0.8185, 1.7912, 0.4313, 0.6968, 0.6193, 0.5163, 0.0106]\nstate[eef_state]: left_x=0.4671 left_y=0.0514 left_z=0.2395 left_yaw=0.1415 left_pitch=-0.0577 left_roll=0.3057 left_gripper=0.4108 right_x=0.3158 right_y=0.1926 right_z=0.0111 right_yaw=0.0318 right_pitch=0.0314 right_roll=0.0859 right_gripper=0.0106\nstate[joint_eff]: [0.1299, -7.5829, 8.6496, 1.2723, 0.1099, 0.105, 0.5885, -0.1299, -7.4051, 4.3009, 1.1893, 0.1734, -0.0122, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0e673b1749dddb210117d74fd0c9ad8734546a6fa3b866c1cc5db9e39fa8d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de37ca292635deb1b84998a7c0030328e92a943e084cfc93d123ceb144d232fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:009f8cddfde261ae83c5ad1c914d3bb94c9e3a1f5aebe5855345cab00461d409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSiwoKEAgSGAI4AUIIdGhpbmtpbmcSDKyAXTD0i00GQMAWgxoMdfgNLoaReH0akNn2IjCS9R+HRkh7b0o2XZHjqiDEfJ2x6jvhsALiodj09LQj8g03WN2QaystPtl51FBs9nEqqAmWZj6q1Gr4SzzPISbXr8Gv4NJpjpq0YO05Ac2I2N5VuYT3BUOe5r8lYqbRPxi9j1pPGvchrQI00Wue4LeM/dJ2Ix+PFcq6x/CSOyvKJfNM+huOzxD8g3nkyu3R0PikyVT1TcRr/d8cqdUjp9vs45qiaY4hX1jlY6BTCZ2wmwdpCNjIzA9IxOVAujnH4RowQQid8TRqmvCg5pyCLWXO04O9j7QF2ekaJXNvZi7KyLNqRyGTY+TOconpNzmKMVJ3bYKE6EHz4MoOfu1ivGofQ4m+N3dFK3zJN+pUf88vruflDl4HEfgFofIH/BOneh6jslZx96PuAGndrpxxguzmOAxqJtU9CVIAx6+bJXCtWAC1MIwqj1YphrUvaMVaFnv36PhckL3Bks9D2Jv6rpevt5SicRemAOh/79hc7yhOULDWKVf+ozf+HDwySPhZVIcsRO88xr9VrBMaHey84/cSOBAJKGHR34DPhwHW9gBHyBuBQ3cQF5WzwEhTzqlxfXqsSYLUyvawXyUKCRUVY6JkKHjjCbT3Pnf8QoIcpf8sUvuIGMvRv8kR4mqPSducj5Rlmy2WVsr+9rhRwP68dgnJgIEQxAgmVBrH2Ij+SaPcxc8mAlkXZo/b8MSG8g0ePm3ercSE6y2tPrXAodUFuOLn9ELg9G8XGwnZ/Xq/bF/7CEdXcBeAlC77Ac+Yp2jtEbUEEv4ankx+0xw4OuVR3GN+8abdGvFstxjwfIiQSSFyIhdzNQG010rtkwN6xTAH/+ddsaFYdv6R0qODRCt/pm/5kb7TxKaBdwymWADT3eVHZpr6c7nZ8axyj1NTiwejVMX34w6CDr+vBhXfPdTr5uvMXbuV4O8LmPZygRh+aq8V697Uzxj4q0rO8OT2ZeWNWlNseyyYB8KIrs57pls7U9pZXsMRx6tX8plm1CaK/mLvzGUk+Tq87AKAHMEoQeIN01rRFc7igmdPiaBUPII1dKCkWlgVKUz94f55inprgksgHntGCZJFf32/F8lQjb+mH8M/fmRToZcSlFIfCQXfWELRRbfgSgcltZ/Rli3BUwiTOuTt5wp3W1aoUM6cCdVN9Evn7NbVwukHj3cJW/pp7HkdmskBbLhYlXFxt4T5kYirUyI0/Jk1vMGD+yydGtMJkntynfQkzQ2600DVNvGnfK6/a1glpNaBrhrbY7n55JHzUp4gW7WPu5t35LFli+a/b82KwhkYZmsZqjet5uAmey9w2/GACbuJ5qBHWJBl79gwc84uX0b+RZMEnFPfyXCSHS7eKoZpcFZOnIU0Ip5mP0EgAcg7dCBQSEhuYa4hv46+LIBuBiwaaiROeAVA4nk7eNZGi0G3b6LrbEo3vBpplrVnZ9mXwmYWL92wE2kfBIjp/xydLZP2zEUzw6/pSO3edhbIeLr6yRx8L0z9FXtenwtJzNeMwjXcbpbe8XEPwGGyNke2YJgd7vMCaGjZJU5967Zma9dAKDQDbgp7qSLx2m9csJyBqcvbmz69cTuuM0zEy5N8f+0LMbzWZJLnhNOOCr+nboKujlh7VxRRP5Eb3h84KPlAkOCuea4We0bk9H23bHy4YrqO6GWUU0mDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011NtF6nHarv5DDUoCgvrvHy",
      "input": {
        "note": "Left wrist view shows the bear hanging over the left basket next to the teddy — releasing. Right close was empty; the pen shows at the right edge of the right wrist view, so opening and shifting ~3 cm right.",
        "targets": {
          "left_gripper": 1.0,
          "right_gripper": 1.0,
          "right_y": 0.16,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011NtF6nHarv5DDUoCgvrvHy",
      "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]: [-0.0078, 1.5791, 1.3384, -0.4023, -0.2802, 0.1486, 0.9975, 0.7238, 1.589, 0.3698, 0.5961, 0.5373, 0.4492, 0.9948]\nstate[eef_state]: left_x=0.4669 left_y=0.0488 left_z=0.2322 left_yaw=0.1392 left_pitch=-0.0824 left_roll=0.3027 left_gripper=0.9975 right_x=0.3166 right_y=0.164 right_z=0.0373 right_yaw=0.0363 right_pitch=0.031 right_roll=0.0912 right_gripper=0.9948\nstate[joint_eff]: [0.0342, -8.7043, 6.8991, 1.8388, -0.1978, 0.0122, -0.0073, -0.6632, -6.4068, 4.2051, 1.6044, 0.2125, 0.0171, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d27162c4d7649390d81b6e74efc36ce3dac096295c74ad7e42f86baa5da54770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:680ccd3bc6dda7556c443908352a1d7c01389d584300efdb68598949d904b696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5476f3118f8fefa0cdb361e7fb393059bb408628b3b31333b33c30d9f3d0cbc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 3.209 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]: [-0.6849, 1.5951, 0.3813, 0.3191, -0.7631, -0.3489, 0.4094, 0.8211, 1.7805, 0.4366, 0.6605, 0.6193, 0.5198, 0.9983]\nstate[eef_state]: left_x=0.3057 left_y=-0.0874 left_z=0.0132 left_yaw=0.1038 left_pitch=-0.069 left_roll=0.3134 left_gripper=0.4094 right_x=0.314 right_y=0.1921 right_z=0.0101 right_yaw=0.033 right_pitch=0.017 right_roll=0.0745 right_gripper=0.9983\nstate[joint_eff]: [-0.1299, -5.7778, 4.7658, 1.1306, -0.2857, -0.0659, 1.0281, -0.759, -3.4393, 1.6068, 0.2271, -0.0611, -0.232, 0.0024]",
      "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]: [-0.0029, 1.5673, 1.3354, -0.3851, -0.2817, 0.1558, 0.4108, 0.8185, 1.7912, 0.4313, 0.6968, 0.6193, 0.5163, 0.0106]\nstate[eef_state]: left_x=0.4671 left_y=0.0514 left_z=0.2395 left_yaw=0.1415 left_pitch=-0.0577 left_roll=0.3057 left_gripper=0.4108 right_x=0.3158 right_y=0.1926 right_z=0.0111 right_yaw=0.0318 right_pitch=0.0314 right_roll=0.0859 right_gripper=0.0106\nstate[joint_eff]: [0.1299, -7.5829, 8.6496, 1.2723, 0.1099, 0.105, 0.5885, -0.1299, -7.4051, 4.3009, 1.1893, 0.1734, -0.0122, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0078, 1.5791, 1.3384, -0.4023, -0.2802, 0.1486, 0.9975, 0.7238, 1.589, 0.3698, 0.5961, 0.5373, 0.4492, 0.9948]\nstate[eef_state]: left_x=0.4669 left_y=0.0488 left_z=0.2322 left_yaw=0.1392 left_pitch=-0.0824 left_roll=0.3027 left_gripper=0.9975 right_x=0.3166 right_y=0.164 right_z=0.0373 right_yaw=0.0363 right_pitch=0.031 right_roll=0.0912 right_gripper=0.9948\nstate[joint_eff]: [0.0342, -8.7043, 6.8991, 1.8388, -0.1978, 0.0122, -0.0073, -0.6632, -6.4068, 4.2051, 1.6044, 0.2125, 0.0171, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d27162c4d7649390d81b6e74efc36ce3dac096295c74ad7e42f86baa5da54770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:680ccd3bc6dda7556c443908352a1d7c01389d584300efdb68598949d904b696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5476f3118f8fefa0cdb361e7fb393059bb408628b3b31333b33c30d9f3d0cbc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tm1fn97rLWPaba6V4WmWSg",
      "input": {
        "note": "The second pen now shows under the right jaw finger in the right wrist view; shifting ~1.5 cm further right and descending to table level to straddle it.",
        "targets": {
          "right_y": 0.148,
          "right_z": -0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Tm1fn97rLWPaba6V4WmWSg",
      "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]: [-0.0078, 1.5822, 1.3384, -0.4065, -0.2798, 0.1455, 0.9981, 0.6788, 1.8442, 0.313, 0.9905, 0.5453, 0.4065, 0.9955]\nstate[eef_state]: left_x=0.4667 left_y=0.0487 left_z=0.23 left_yaw=0.1405 left_pitch=-0.0891 left_roll=0.3011 left_gripper=0.9981 right_x=0.3282 right_y=0.1516 right_z=0.0101 right_yaw=0.004 right_pitch=0.1 right_roll=0.102 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -7.7744, 6.9675, 1.7216, -0.1245, -0.022, 0.0562, -0.9231, -3.2479, 0.9641, 0.0952, -0.6471, 0.2711, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5b6993fe46cbe88d27524720f1d67a260911f92ae084e701c1e05fc1d01923",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f88798791c1583ec063d288321570c7da7a6816f95540ee801beb3eebd2d6ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:312b095cf5297fcc04ea2d00010b50b0536d4f7656f9d5c69ed171925e9f5939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 3.669 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]: [-0.0029, 1.5673, 1.3354, -0.3851, -0.2817, 0.1558, 0.4108, 0.8185, 1.7912, 0.4313, 0.6968, 0.6193, 0.5163, 0.0106]\nstate[eef_state]: left_x=0.4671 left_y=0.0514 left_z=0.2395 left_yaw=0.1415 left_pitch=-0.0577 left_roll=0.3057 left_gripper=0.4108 right_x=0.3158 right_y=0.1926 right_z=0.0111 right_yaw=0.0318 right_pitch=0.0314 right_roll=0.0859 right_gripper=0.0106\nstate[joint_eff]: [0.1299, -7.5829, 8.6496, 1.2723, 0.1099, 0.105, 0.5885, -0.1299, -7.4051, 4.3009, 1.1893, 0.1734, -0.0122, 1.0134]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0078, 1.5791, 1.3384, -0.4023, -0.2802, 0.1486, 0.9975, 0.7238, 1.589, 0.3698, 0.5961, 0.5373, 0.4492, 0.9948]\nstate[eef_state]: left_x=0.4669 left_y=0.0488 left_z=0.2322 left_yaw=0.1392 left_pitch=-0.0824 left_roll=0.3027 left_gripper=0.9975 right_x=0.3166 right_y=0.164 right_z=0.0373 right_yaw=0.0363 right_pitch=0.031 right_roll=0.0912 right_gripper=0.9948\nstate[joint_eff]: [0.0342, -8.7043, 6.8991, 1.8388, -0.1978, 0.0122, -0.0073, -0.6632, -6.4068, 4.2051, 1.6044, 0.2125, 0.0171, -0.1294]\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 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]: [-0.0078, 1.5822, 1.3384, -0.4065, -0.2798, 0.1455, 0.9981, 0.6788, 1.8442, 0.313, 0.9905, 0.5453, 0.4065, 0.9955]\nstate[eef_state]: left_x=0.4667 left_y=0.0487 left_z=0.23 left_yaw=0.1405 left_pitch=-0.0891 left_roll=0.3011 left_gripper=0.9981 right_x=0.3282 right_y=0.1516 right_z=0.0101 right_yaw=0.004 right_pitch=0.1 right_roll=0.102 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -7.7744, 6.9675, 1.7216, -0.1245, -0.022, 0.0562, -0.9231, -3.2479, 0.9641, 0.0952, -0.6471, 0.2711, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d5b6993fe46cbe88d27524720f1d67a260911f92ae084e701c1e05fc1d01923",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f88798791c1583ec063d288321570c7da7a6816f95540ee801beb3eebd2d6ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312b095cf5297fcc04ea2d00010b50b0536d4f7656f9d5c69ed171925e9f5939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Pen now between the jaws.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lo27Vuy5ZGTjVSrcz4Gmex",
      "input": {
        "note": "The second pen is now centred between the right jaws in the wrist view; 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_01Lo27Vuy5ZGTjVSrcz4Gmex",
      "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]: [-0.0078, 1.5822, 1.3384, -0.4065, -0.2798, 0.1452, 0.9982, 0.6746, 1.8435, 0.313, 1.0027, 0.5411, 0.4038, 0.1519]\nstate[eef_state]: left_x=0.4667 left_y=0.0487 left_z=0.23 left_yaw=0.1407 left_pitch=-0.089 left_roll=0.3008 left_gripper=0.9982 right_x=0.3298 right_y=0.1519 right_z=0.0125 right_yaw=0.0039 right_pitch=0.1089 right_roll=0.1094 right_gripper=0.1519\nstate[joint_eff]: [-0.1299, -7.8154, 7.1316, 1.6728, -0.1197, 0.0024, -0.0073, 0.1026, -7.0359, 3.3573, 1.2918, 0.1392, 0.022, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ba2fc2314a2b67d5b4127876dd27b8cabc1ac4b1dff1fe08442bc6bc2c450ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:521ab2af7fa228d8704b67a833cb1f4d92ea10e43b292e8bcd9f5ebf42d69a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdf73f51448405c5478ce1593e59cdeea39acb8ebac6012370579f40765e10b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 3.158 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]: [-0.0078, 1.5791, 1.3384, -0.4023, -0.2802, 0.1486, 0.9975, 0.7238, 1.589, 0.3698, 0.5961, 0.5373, 0.4492, 0.9948]\nstate[eef_state]: left_x=0.4669 left_y=0.0488 left_z=0.2322 left_yaw=0.1392 left_pitch=-0.0824 left_roll=0.3027 left_gripper=0.9975 right_x=0.3166 right_y=0.164 right_z=0.0373 right_yaw=0.0363 right_pitch=0.031 right_roll=0.0912 right_gripper=0.9948\nstate[joint_eff]: [0.0342, -8.7043, 6.8991, 1.8388, -0.1978, 0.0122, -0.0073, -0.6632, -6.4068, 4.2051, 1.6044, 0.2125, 0.0171, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0078, 1.5822, 1.3384, -0.4065, -0.2798, 0.1455, 0.9981, 0.6788, 1.8442, 0.313, 0.9905, 0.5453, 0.4065, 0.9955]\nstate[eef_state]: left_x=0.4667 left_y=0.0487 left_z=0.23 left_yaw=0.1405 left_pitch=-0.0891 left_roll=0.3011 left_gripper=0.9981 right_x=0.3282 right_y=0.1516 right_z=0.0101 right_yaw=0.004 right_pitch=0.1 right_roll=0.102 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -7.7744, 6.9675, 1.7216, -0.1245, -0.022, 0.0562, -0.9231, -3.2479, 0.9641, 0.0952, -0.6471, 0.2711, 0.0562]",
      "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]: [-0.0078, 1.5822, 1.3384, -0.4065, -0.2798, 0.1452, 0.9982, 0.6746, 1.8435, 0.313, 1.0027, 0.5411, 0.4038, 0.1519]\nstate[eef_state]: left_x=0.4667 left_y=0.0487 left_z=0.23 left_yaw=0.1407 left_pitch=-0.089 left_roll=0.3008 left_gripper=0.9982 right_x=0.3298 right_y=0.1519 right_z=0.0125 right_yaw=0.0039 right_pitch=0.1089 right_roll=0.1094 right_gripper=0.1519\nstate[joint_eff]: [-0.1299, -7.8154, 7.1316, 1.6728, -0.1197, 0.0024, -0.0073, 0.1026, -7.0359, 3.3573, 1.2918, 0.1392, 0.022, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ba2fc2314a2b67d5b4127876dd27b8cabc1ac4b1dff1fe08442bc6bc2c450ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:521ab2af7fa228d8704b67a833cb1f4d92ea10e43b292e8bcd9f5ebf42d69a00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf73f51448405c5478ce1593e59cdeea39acb8ebac6012370579f40765e10b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3QcKEAgSGAI4AUIIdGhpbmtpbmcSDDGLt15M1WN3PAm5/hoMSog5rThr2eJrFRnlIjBJhfn981Y8i8UzSutCqEfUNA3XR3ZWsFxdOrb7pCIUtjKcGYgHQfmjjxNaVn0VzoQq+gboHO2m4NGtOyivq9TazBWn13PHym0KVFZGHQ2AFZiR7UyYpyEgCZU4yEtEiRhq+H8+ZNx4nndXbH/zQ++vo1+12FS0DF7fxxZ3sXNGXxagbPnbOapxO2a48fdVD9RBt0dZpZYyVkNyi/iXemdq5htQJogD+Mkk9ezgkMXc8bhereYWaIgTzgYXEbHDbnX93J2yxCZ6gNJahsCbq1mFykQjOqDrf20ofxjxGOIDh3psfHV7Ehfh5y+NmI+vQHs1SQUkVd4ySPdCWKEOMZYKTLiVu3T9ERpcJZW+a5iupXJnJxH+F7MCWMpIZThd0/IAZhWSVs8fu3lyqYE+ZU6UAc6Ib3EtOvpd97naAY4tsmZruTixYrR5RCl5+mjdZDeALFSAw8CmheQqJcCAgMe04N0BpPXDslot4fn2df79GbvJRXnIcd/+G3zh4WzU32NVSBETJH3F831bfkNnHUVh3bO1H5kwNgIPxjSRpGEwc4KI688q+DWb9zYc1Z0TTku1efzDon/fZOWic2+m3gnQSCS1C31ViWx1+hPsxiRhwmHvWYnInkAwfYuXJzuiTeHpwPHceQCaJDYHOG46DfqCYy/zWIXhiOjvOYUwVXrLRP/RDBatqkxRM8Ywuek4OM+PYp31qjPpRkCulxbMI211Gj/ugIYoET7b+4xBTLGbXiYqBsrndt6Sv6mQiDYHGmToLc1kLZsouJgpQKkLMX65zJsn10ggKhA+l1vqoA82Sb1uIFXxj+kAOcUuLYlpkAdlC0wbGoqwuIJTR4/pSjTK2GtH4NOQECjI7fKK8IYEMpuLcBWPl80Si1UCfy8UZVipC7tj0aa1h/ON2G/BlPqRAAGJNSqhqQnJFD9Ed437wrJOuDsXRtfb2VjkazGUWkSVMHTNltLfCulu5sZJBFE6TtNqaCxq1gy7UBR49Lw/mrNlFxIW+aq5oljMVu7SA2cvDqikAPjOTyUupHX6OkQe96bDSmkC5mfOVSfmQqFDKNIZuQIZhqFQ0qeK39jjnLFlhMFj01dr1KPAvfH43XaLWk9cG8pZbq9ZhW0efKlNh73sKKFIRWKcGPRBGYjokE0vw/qaNzdQg3PxeFkRm+R8lk9x0mZhyVDnw6uzyPl99jw0gIZfp7kiu2bTy3uXgNjZ2oWe0oeCzun85MKdAOad3gW4pM3Q7Qi3ledDkRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QGHkULmHC1fZSLDrxVDwQT",
      "input": {
        "note": "Right gripper settled at 0.15, so the second pen is held. Carrying it to the spot over the right basket that worked for the first pen.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.19,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01QGHkULmHC1fZSLDrxVDwQT",
      "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]: [-0.0078, 1.5822, 1.3384, -0.4076, -0.2802, 0.1417, 0.9982, 0.5362, 1.6245, 1.2671, -0.1253, 0.4072, 0.3244, 0.1519]\nstate[eef_state]: left_x=0.4665 left_y=0.0488 left_z=0.2298 left_yaw=0.1428 left_pitch=-0.0896 left_roll=0.2985 left_gripper=0.9982 right_x=0.4557 right_y=0.1936 right_z=0.2385 right_yaw=0.0159 right_pitch=0.1144 right_roll=0.1168 right_gripper=0.1519\nstate[joint_eff]: [-0.0479, -7.8017, 7.0222, 1.6874, -0.1392, -0.0171, -0.0122, -0.9231, -8.0068, 9.6342, 1.4628, 0.149, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f216a12c9f7c5823c3bb481d6c265c9612db89e664cc3d65b808001d005bbdc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4bc1469a8e1b2e212c017e3a324d06a6db1d4fb1547b22d33f759de6d0bcdd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b65662032bd026c352695c6155c022f091509e6c1345df92eea3e9f7e877a09e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /messages · status 200 · 11.68 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

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]: [-0.0078, 1.5822, 1.3384, -0.4065, -0.2798, 0.1455, 0.9981, 0.6788, 1.8442, 0.313, 0.9905, 0.5453, 0.4065, 0.9955]\nstate[eef_state]: left_x=0.4667 left_y=0.0487 left_z=0.23 left_yaw=0.1405 left_pitch=-0.0891 left_roll=0.3011 left_gripper=0.9981 right_x=0.3282 right_y=0.1516 right_z=0.0101 right_yaw=0.004 right_pitch=0.1 right_roll=0.102 right_gripper=0.9955\nstate[joint_eff]: [-0.0752, -7.7744, 6.9675, 1.7216, -0.1245, -0.022, 0.0562, -0.9231, -3.2479, 0.9641, 0.0952, -0.6471, 0.2711, 0.0562]",
      "type": "text"
    },
    {
      "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]: [-0.0078, 1.5822, 1.3384, -0.4065, -0.2798, 0.1452, 0.9982, 0.6746, 1.8435, 0.313, 1.0027, 0.5411, 0.4038, 0.1519]\nstate[eef_state]: left_x=0.4667 left_y=0.0487 left_z=0.23 left_yaw=0.1407 left_pitch=-0.089 left_roll=0.3008 left_gripper=0.9982 right_x=0.3298 right_y=0.1519 right_z=0.0125 right_yaw=0.0039 right_pitch=0.1089 right_roll=0.1094 right_gripper=0.1519\nstate[joint_eff]: [-0.1299, -7.8154, 7.1316, 1.6728, -0.1197, 0.0024, -0.0073, 0.1026, -7.0359, 3.3573, 1.2918, 0.1392, 0.022, 1.0085]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0078, 1.5822, 1.3384, -0.4076, -0.2802, 0.1417, 0.9982, 0.5362, 1.6245, 1.2671, -0.1253, 0.4072, 0.3244, 0.1519]\nstate[eef_state]: left_x=0.4665 left_y=0.0488 left_z=0.2298 left_yaw=0.1428 left_pitch=-0.0896 left_roll=0.2985 left_gripper=0.9982 right_x=0.4557 right_y=0.1936 right_z=0.2385 right_yaw=0.0159 right_pitch=0.1144 right_roll=0.1168 right_gripper=0.1519\nstate[joint_eff]: [-0.0479, -7.8017, 7.0222, 1.6874, -0.1392, -0.0171, -0.0122, -0.9231, -8.0068, 9.6342, 1.4628, 0.149, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f216a12c9f7c5823c3bb481d6c265c9612db89e664cc3d65b808001d005bbdc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4bc1469a8e1b2e212c017e3a324d06a6db1d4fb1547b22d33f759de6d0bcdd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 383):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b65662032bd026c352695c6155c022f091509e6c1345df92eea3e9f7e877a09e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019JBne2tcQic1JEqGF65wVZ",
      "input": {
        "note": "The second pen is directly over the right basket, where the first pen already sits; releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019JBne2tcQic1JEqGF65wVZ",
      "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]: [-0.0078, 1.5822, 1.3384, -0.4068, -0.2798, 0.1413, 0.9982, 0.5354, 1.631, 1.2675, -0.1455, 0.4061, 0.3141, 0.9955]\nstate[eef_state]: left_x=0.4666 left_y=0.0487 left_z=0.23 left_yaw=0.1427 left_pitch=-0.0888 left_roll=0.2978 left_gripper=0.9982 right_x=0.4546 right_y=0.1927 right_z=0.2314 right_yaw=0.0229 right_pitch=0.0919 right_roll=0.0949 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -7.747, 6.9538, 1.6532, -0.1148, -0.0757, -0.0171, -0.1436, -8.6359, 7.0359, 1.9805, 0.1392, 0.0806, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6872493fcc3d698dd048ace541454246c593f910caa1d7ab2946e12571502e68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 392):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a883c0b3a79985858b7c7165bc34b4bcd5b7f071585716fda6daccd9810731f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 392):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0084bfb16727f66c0a1f7cb723be5570b04543da9a87e553e4e41c4ead3c302a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]