adhoc - adhoc_5f58faf8.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: 304.2 s
total steps: 377

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 teddy bears and a yellow object in front of the left basket, two pens/markers in front of the right basket. Classes: plush toys vs. pens. Moving the left arm slightly right and forward to locate the yellow item and plushes in its wrist view.

move_to

left_x0.3500left_y-0.1000left_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]: [-0.0189, 0.7986, 0.6136, -0.3786, -0.0219, -0.0261, 0.9992, -0.0154, 0.7986, 0.6109, -0.374, -0.012, -0.0158, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2967 right_y=0.0011 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.6479, 9.5521, 1.7411, -0.0366, 0.0904, -0.1001, -0.8957, -1.6479, 10.1402, 1.7021, -0.105, 0.0024, -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": 0.35, "left_y": -0.1, "left_z": 0.15}, "note": "Scene: two teal baskets at the back, plush teddy bears and a yellow object in front of the left basket, two pens/markers in front of the right basket. Classes: plush toys vs. pens. Moving the left arm slightly right and forward to locate the yellow item and plushes in its wrist view."})

tool

executing move_to over 10 steps (1.0s)

step 10

assistant

agent noteLeft gripper now visible over the left side; the big teddy bears are to its right and nearer the base. Moving above the bears to view them in the wrist camera.

move_to

left_x0.2600left_y-0.2400left_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]: [-0.4778, 1.2057, 0.6415, -0.1127, -0.3901, -0.2855, 0.9991, -0.0193, 0.8017, 0.6086, -0.3843, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3406 left_y=-0.0967 left_z=0.1322 left_yaw=-0.012 left_pitch=-0.0547 left_roll=0.0186 left_gripper=0.9991 right_x=0.2953 right_y=0.0 right_z=0.1791 right_yaw=-0.0036 right_pitch=-0.0156 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.212, -4.0957, 9.4154, 1.6923, -0.3492, 0.0122, -0.022, 0.212, -1.1009, 7.2957, 1.7949, -0.0513, -0.0562, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.26, "left_y": -0.24, "left_z": 0.15}, "note": "Left gripper now visible over the left side; the big teddy bears are to its right and nearer the base. Moving above the bears to view them in the wrist camera."})

tool

executing move_to over 13 steps (1.3s)

step 23

assistant

agent noteThe big teddy bear is centred just ahead of the jaws in the left wrist view. Descending onto it (slightly forward) to grab its body.

move_to

left_x0.2800left_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]: [-1.1347, 1.4471, 0.9333, -0.5377, -0.8093, -0.878, 0.9991, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2566 left_y=-0.2395 left_z=0.1393 left_yaw=-0.0325 left_pitch=-0.0793 left_roll=0.0289 left_gripper=0.9991 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0044 right_pitch=-0.0179 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.2803, -5.7094, 8.5538, 0.8962, -0.6862, -0.0464, -0.0171, -0.2393, -1.4427, 7.0769, 1.7558, -0.0317, -0.0415, -0.0171] 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_x": 0.28, "left_z": 0.04}, "note": "The big teddy bear is centred just ahead of the jaws in the left wrist view. Descending onto it (slightly forward) to grab its body."})

tool

executing move_to over 7 steps (0.7s)

step 30

assistant

agent noteJaws are resting on the bear (descent stopped at 6 cm on its body). Closing to grip the bear.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.055, 1.6627, 0.7288, 0.02, -0.8051, -0.7933, 0.9991, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.2894 left_y=-0.2449 left_z=0.0613 left_yaw=-0.0065 left_pitch=-0.0174 left_roll=-0.0247 left_gripper=0.9991 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9997 state[joint_eff]: [-0.4718, -4.9162, 3.7949, 0.9548, 0.0073, 0.0513, -0.0122, -0.3077, -1.4017, 7.159, 1.7265, -0.0317, -0.0464, -0.0171] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are resting on the bear (descent stopped at 6 cm on its body). Closing to grip the bear."})

tool

executing move_to over 10 steps (1.0s)

step 40

assistant

agent noteGripper settled at 0.29, so it's holding plush. Lifting high to confirm the bear comes with it and to clear the basket wall.

move_to

left_z0.2500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.055, 1.6619, 0.7284, 0.046, -0.8165, -0.7956, 0.293, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.292 left_y=-0.2467 left_z=0.0657 left_yaw=0.0017 left_pitch=0.0034 left_roll=-0.045 left_gripper=0.293 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.1436, -6.7897, 5.4906, 1.033, -0.2222, -0.0073, 0.5934, -0.3214, -1.0051, 7.0359, 1.7216, -0.0317, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.25}, "note": "Gripper settled at 0.29, so it's holding plush. Lifting high to confirm the bear comes with it and to clear the basket wall."})

tool

executing move_to over 12 steps (1.2s)

step 52

assistant

agent noteBear lifted (gripper still reads 0.29). Wrist view shows the left basket ahead-left; carrying the plush over the left basket, which will hold the plush toys.

move_to

left_x0.4500left_y-0.1000

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]: [-1.055, 1.4654, 1.272, -0.7208, -0.8051, -0.8047, 0.2914, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2923 left_y=-0.2501 left_z=0.234 left_yaw=-0.0003 left_pitch=-0.0177 left_roll=-0.0339 left_gripper=0.2914 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.0205, -7.9385, 9.0462, 1.0476, -0.4567, 0.0757, -0.188, -0.1709, -1.265, 7.1453, 1.7216, -0.0269, -0.0806, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.1}, "note": "Bear lifted (gripper still reads 0.29). Wrist view shows the left basket ahead-left; carrying the plush over the left basket, which will hold the plush toys."})

tool

executing move_to over 14 steps (1.4s)

step 66

assistant

agent noteBear is dangling from the jaws near the front wall of the left basket. Moving a bit further forward so it's over the basket's interior.

move_to

left_x0.5000left_y-0.1200left_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]: [-0.3248, 1.5284, 1.2285, -0.3763, -0.2642, -0.2501, 0.2912, -0.02, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4408 left_y=-0.096 left_z=0.2103 left_yaw=0.0187 left_pitch=-0.0852 left_roll=-0.0256 left_gripper=0.2912 right_x=0.2953 right_y=-0.0002 right_z=0.1778 right_yaw=-0.0044 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9997 state[joint_eff]: [-0.1983, -7.5829, 9.7709, 1.9414, -0.1001, 0.1538, -0.0317, -0.1162, -1.4017, 7.0906, 1.7509, -0.0611, -0.0513, -0.0171] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": -0.12, "left_z": 0.2}, "note": "Bear is dangling from the jaws near the front wall of the left basket. Moving a bit further forward so it's over the basket's interior."})

tool

executing move_to over 5 steps (0.5s)

step 71

assistant

agent noteOverhead view shows the bear still hanging in front of the basket's near wall; the basket is farther out. Extending further forward to get the bear over the basket interior.

move_to

left_x0.5800left_y-0.1200left_z0.2200

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3313, 1.7805, 1.4208, -0.3771, -0.2687, -0.2619, 0.291, -0.02, 0.8082, 0.6083, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4926 left_y=-0.116 left_z=0.1788 left_yaw=0.0247 left_pitch=-0.1412 left_roll=-0.0112 left_gripper=0.291 right_x=0.2955 right_y=-0.0002 right_z=0.177 right_yaw=-0.0044 right_pitch=-0.0233 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5265, -10.1265, 9.4838, 1.7314, -0.1929, -0.0269, -0.0366, -0.3761, -1.0598, 7.1453, 1.6923, -0.022, -0.0806, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.58, "left_y": -0.12, "left_z": 0.22}, "note": "Overhead view shows the bear still hanging in front of the basket's near wall; the basket is farther out. Extending further forward to get the bear over the basket interior."})

tool

executing move_to over 7 steps (0.7s)

step 78

assistant

agent noteWrist view shows the basket mostly to the left of the jaws and the bear overhanging its right rim. Shifting left to centre the bear over the left basket.

move_to

left_y-0.0500left_z0.2200

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2813, 2.1201, 2.0102, -0.6395, -0.2386, -0.2554, 0.2909, -0.02, 0.8139, 0.6079, -0.3866, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.5746 left_y=-0.1189 left_z=0.2054 left_yaw=0.0467 left_pitch=-0.1599 left_roll=-0.0214 left_gripper=0.2909 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0044 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.2803, -12.6017, 8.6906, 1.3309, -0.1197, 0.188, -0.0269, -0.3624, -1.7299, 7.0906, 1.7118, -0.0464, -0.0073, -0.0171] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.05, "left_z": 0.22}, "note": "Wrist view shows the basket mostly to the left of the jaws and the bear overhanging its right rim. Shifting left to centre the bear over the left basket."})

tool

executing move_to over 7 steps (0.7s)

step 85

assistant

Jaws now over the basket interior. Releasing.

agent noteWrist view shows the jaws well inside the left basket's rim. Opening to drop the bear into the left (plush) basket.

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]: [-0.1455, 2.1281, 1.9797, -0.6624, -0.1486, -0.1852, 0.2909, -0.02, 0.8146, 0.6079, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.5777 left_y=-0.0546 left_z=0.1819 left_yaw=0.0713 left_pitch=-0.2358 left_roll=-0.0149 left_gripper=0.2909 right_x=0.2959 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0042 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.6906, -17.7162, 6.2974, 1.6777, 0.0122, 0.2173, -0.0171, -0.2803, -1.4154, 7.1726, 1.707, -0.0269, -0.0757, -0.0171] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

Jaws now over the basket interior. Releasing.

move_to({"targets": {"left_gripper": 1.0}, "note": "Wrist view shows the jaws well inside the left basket's rim. Opening to drop the bear into the left (plush) basket."})

tool

executing move_to over 8 steps (0.8s)

step 93

assistant

agent noteReleased; the overhead view is blocked by the arm and the bear may be resting on the basket's right rim. Pulling the arm back and up to check where the bear ended up.

move_to

left_x0.3000left_y-0.0500left_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]: [-0.1463, 2.1246, 1.9797, -0.667, -0.1413, -0.194, 0.996, -0.02, 0.8146, 0.6079, -0.3855, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.5765 left_y=-0.0562 left_z=0.1829 left_yaw=0.0692 left_pitch=-0.2381 left_roll=-0.0262 left_gripper=0.996 right_x=0.2959 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0044 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.2667, -12.0547, 6.7761, 1.5849, -0.149, 0.0562, -0.0464, -0.2393, -1.3607, 7.0906, 1.6874, -0.0269, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.25}, "note": "Released; the overhead view is blocked by the arm and the bear may be resting on the basket's right rim. Pulling the arm back and up to check where the bear ended up."})

tool

executing move_to over 22 steps (2.2s)

step 115

assistant

agent noteThe bear missed: it is sitting on the table leaning against the front-right of the left basket (the basket looks shifted further back-left). Moving back over the bear to regrasp it.

move_to

left_x0.4600left_y-0.0600left_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]: [-0.3241, 1.1294, 1.1965, -0.886, -0.2443, -0.3168, 0.9975, -0.02, 0.8185, 0.6048, -0.392, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3111 left_y=-0.0556 left_z=0.2508 left_yaw=0.0468 left_pitch=-0.2244 left_roll=-0.0388 left_gripper=0.9975 right_x=0.2948 right_y=-0.0002 right_z=0.1712 right_yaw=-0.0042 right_pitch=-0.0439 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2256, -3.8496, 6.3111, 1.6093, -0.2466, -0.1441, 0.1343, -0.0205, -1.306, 7.2957, 1.8437, 0.0317, -0.0415, -0.0171] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.46, "left_y": -0.06, "left_z": 0.15}, "note": "The bear missed: it is sitting on the table leaning against the front-right of the left basket (the basket looks shifted further back-left). Moving back over the bear to regrasp it."})

tool

executing move_to over 12 steps (1.2s)

step 127

assistant

agent noteThe wrist camera is filled by the bear right in front of the jaws. Descending onto it to regrasp.

move_to

left_x0.4700left_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]: [-0.202, 1.6405, 1.1988, -0.4049, -0.1555, -0.2501, 0.9977, -0.02, 0.8211, 0.6025, -0.3927, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4447 left_y=-0.0595 left_z=0.1418 left_yaw=0.0587 left_pitch=-0.2701 left_roll=-0.0469 left_gripper=0.9977 right_x=0.2945 right_y=-0.0002 right_z=0.1692 right_yaw=-0.0044 right_pitch=-0.0496 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.4034, -7.4325, 8.5949, 1.2576, -0.0855, 0.2808, 0.0024, -0.0342, -1.5932, 7.4051, 1.7021, -0.0415, -0.0415, -0.0171] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_z": 0.05}, "note": "The wrist camera is filled by the bear right in front of the jaws. Descending onto it to regrasp."})

tool

executing move_to over 6 steps (0.6s)

step 133

assistant

agent noteJaws pressed into the bear (stopped at 9 cm). Closing to grip it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.194, 1.8053, 1.1091, -0.038, -0.1356, -0.2626, 0.9977, -0.02, 0.8211, 0.6022, -0.3927, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.486 left_y=-0.0675 left_z=0.0936 left_yaw=0.0504 left_pitch=-0.1651 left_roll=-0.0989 left_gripper=0.9977 right_x=0.2945 right_y=-0.0002 right_z=0.1691 right_yaw=-0.0042 right_pitch=-0.05 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.5265, -5.7778, 3.3709, 0.5348, -0.2564, 0.2027, -0.0073, -0.3487, -1.4017, 7.0906, 1.6825, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws pressed into the bear (stopped at 9 cm). Closing to grip it."})

tool

executing move_to over 10 steps (1.0s)

step 143

assistant

agent noteGripper settled at 0.11, holding the bear. Lifting high so it clears the basket rim (the basket is up and to the left of the arm in the overhead view).

move_to

left_z0.3200left_x0.5000

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]: [-0.2005, 1.8118, 1.1046, 0.0231, -0.1265, -0.2771, 0.1093, -0.02, 0.8211, 0.6022, -0.3923, -0.0116, -0.0166, 0.9997] state[eef_state]: left_x=0.4936 left_y=-0.0739 left_z=0.0999 left_yaw=0.0422 left_pitch=-0.1188 left_roll=-0.128 left_gripper=0.1093 right_x=0.2945 right_y=-0.0003 right_z=0.1691 right_yaw=-0.0045 right_pitch=-0.0496 right_roll=-0.0001 right_gripper=0.9997 state[joint_eff]: [0.3487, -9.894, 6.9538, 1.033, -0.2027, 0.1001, 0.7106, -0.0615, -1.2239, 7.0632, 1.7314, -0.0024, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.32, "left_x": 0.5}, "note": "Gripper settled at 0.11, holding the bear. Lifting high so it clears the basket rim (the basket is up and to the left of the arm in the overhead view)."})

tool

executing move_to over 15 steps (1.5s)

step 158

assistant

agent noteBear held high near the left basket, appearing slightly right of it overhead. Shifting left and lowering toward the basket interior before releasing.

move_to

left_y-0.0200left_z0.2200

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1993, 1.8156, 1.9602, -0.8391, -0.1265, -0.2882, 0.1117, -0.02, 0.8249, 0.601, -0.3935, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.5015 left_y=-0.0749 left_z=0.306 left_yaw=0.0495 left_pitch=-0.1295 left_roll=-0.1341 left_gripper=0.1117 right_x=0.2944 right_y=-0.0002 right_z=0.1673 right_yaw=-0.0041 right_pitch=-0.0557 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.0068, -9.0325, 8.7179, 1.663, -0.0904, 0.0855, 0.4713, -0.2256, -1.5932, 7.1179, 1.7314, -0.0366, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.02, "left_z": 0.22}, "note": "Bear held high near the left basket, appearing slightly right of it overhead. Shifting left and lowering toward the basket interior before releasing."})

tool

executing move_to over 6 steps (0.6s)

step 164

assistant

agent noteOverhead the bear is still in front of and to the right of the basket, which sits in the far-left corner. Reaching further forward and left, near the workspace limits, to get over it.

move_to

left_x0.5800left_y0.0400left_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]: [-0.0597, 1.7638, 1.5043, -0.5705, -0.0368, -0.2214, 0.1135, -0.02, 0.8253, 0.601, -0.3927, -0.012, -0.0166, 0.9997] state[eef_state]: left_x=0.4891 left_y=-0.0191 left_z=0.1844 left_yaw=0.0809 left_pitch=-0.2702 left_roll=-0.1201 left_gripper=0.1135 right_x=0.2945 right_y=-0.0002 right_z=0.1674 right_yaw=-0.0041 right_pitch=-0.0553 right_roll=0.0002 right_gripper=0.9997 state[joint_eff]: [0.4171, -12.8752, 7.8838, 1.9805, 0.0855, 0.1245, 0.188, -0.0615, -1.0735, 7.0359, 1.7411, -0.0122, -0.0269, -0.0171] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.58, "left_y": 0.04, "left_z": 0.25}, "note": "Overhead the bear is still in front of and to the right of the basket, which sits in the far-left corner. Reaching further forward and left, near the workspace limits, to get over it."})

tool

executing move_to over 7 steps (0.7s)

step 171

assistant

agent noteOverhead the bear now overlaps the left basket's interior. Releasing it into the basket.

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]: [0.0719, 2.2414, 2.3924, -1.0443, 0.0437, -0.1555, 0.1165, -0.02, 0.8288, 0.6003, -0.3931, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.5707 left_y=0.037 left_z=0.2231 left_yaw=0.106 left_pitch=-0.3345 left_roll=-0.1332 left_gripper=0.1165 right_x=0.2946 right_y=-0.0002 right_z=0.166 right_yaw=-0.0043 right_pitch=-0.0599 right_roll=0.0006 right_gripper=0.9997 state[joint_eff]: [0.2803, -12.1504, 7.4325, 1.3114, 0.0611, 0.2808, 0.2955, -0.0615, -1.6205, 7.159, 1.6728, -0.0317, -0.0317, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Overhead the bear now overlaps the left basket's interior. Releasing it into the basket."})

tool

executing move_to over 9 steps (0.9s)

step 180

assistant

agent noteThe big bear is now inside the left basket (plush basket). Remaining: a small brown plush bear with a yellow pen beside it, and two white pens near the right basket. Moving the left arm over the small bear.

move_to

left_x0.2600left_y-0.1400left_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]: [0.0727, 2.2871, 2.3875, -1.0676, 0.0483, -0.1673, 0.995, -0.02, 0.8299, 0.5987, -0.3958, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.5699 left_y=0.0365 left_z=0.1925 left_yaw=0.1104 left_pitch=-0.4094 left_roll=-0.1418 left_gripper=0.995 right_x=0.294 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0043 right_pitch=-0.0652 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1299, -16.7316, 6.6256, 1.5067, -0.0659, 0.1392, -0.022, -0.0615, -1.3744, 7.1453, 1.7509, -0.0415, -0.022, -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_x": 0.26, "left_y": -0.14, "left_z": 0.18}, "note": "The big bear is now inside the left basket (plush basket). Remaining: a small brown plush bear with a yellow pen beside it, and two white pens near the right basket. Moving the left arm over the small bear."})

tool

executing move_to over 24 steps (2.4s)

step 204

assistant

agent noteSmall brown plush bear is just ahead and slightly left of the jaws in the wrist view, yellow pen to its left. Descending onto the bear with a small left/forward correction.

move_to

left_x0.2800left_y-0.1300left_z0.0300

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.709, 1.2381, 1.0969, -0.9215, -0.3389, -0.7944, 0.9962, -0.02, 0.8364, 0.5972, -0.4068, -0.0116, -0.0166, 0.9998] state[eef_state]: left_x=0.2682 left_y=-0.148 left_z=0.1798 left_yaw=0.0518 left_pitch=-0.4135 left_roll=-0.1532 left_gripper=0.9962 right_x=0.2925 right_y=-0.0002 right_z=0.1598 right_yaw=-0.0044 right_pitch=-0.0843 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0479, -5.1624, 5.7368, 1.2186, -0.3346, -0.0659, 0.1148, -0.335, -1.7026, 7.1179, 1.8339, -0.0464, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.28, "left_y": -0.13, "left_z": 0.03}, "note": "Small brown plush bear is just ahead and slightly left of the jaws in the wrist view, yellow pen to its left. Descending onto the bear with a small left/forward correction."})

tool

executing move_to over 10 steps (1.0s)

step 214

assistant

agent noteThe small bear fills the space between the jaws at table level. Closing to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6159, 1.3609, 0.5861, -0.3252, -0.2993, -0.7216, 0.9964, -0.02, 0.836, 0.5972, -0.4088, -0.012, -0.0166, 0.9997] state[eef_state]: left_x=0.2692 left_y=-0.1223 left_z=0.0289 left_yaw=0.0831 left_pitch=-0.46 left_roll=-0.1109 left_gripper=0.9964 right_x=0.2922 right_y=-0.0001 right_z=0.1596 right_yaw=-0.0041 right_pitch=-0.0858 right_roll=0.0007 right_gripper=0.9997 state[joint_eff]: [0.1983, -4.5333, 6.0376, 1.3748, -0.1978, 0.0562, 0.0024, -0.0205, -1.4701, 6.9949, 1.6728, -0.0317, -0.0317, -0.0171] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The small bear fills the space between the jaws at table level. Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 224

assistant

agent noteSmall bear grasped (gripper 0.13); the yellow item next to it is a Sharpie highlighter (pen class). Lifting and heading toward the plush basket in the back-left.

move_to

left_z0.2800left_x0.4000left_y-0.0300

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6125, 1.3792, 0.5705, -0.313, -0.2989, -0.7254, 0.126, -0.02, 0.8364, 0.5972, -0.4088, -0.012, -0.0166, 0.9997] state[eef_state]: left_x=0.2659 left_y=-0.1189 left_z=0.0203 left_yaw=0.0956 left_pitch=-0.477 left_roll=-0.0977 left_gripper=0.126 right_x=0.2922 right_y=-0.0001 right_z=0.1594 right_yaw=-0.0041 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9997 state[joint_eff]: [-0.3761, -6.0786, 6.8855, 0.906, -0.1734, -0.0024, 0.8132, -0.0068, -1.2923, 7.2274, 1.6386, -0.0269, -0.0415, -0.0073] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.28, "left_x": 0.4, "left_y": -0.03}, "note": "Small bear grasped (gripper 0.13); the yellow item next to it is a Sharpie highlighter (pen class). Lifting and heading toward the plush basket in the back-left."})

tool

executing move_to over 17 steps (1.7s)

step 241

assistant

agent noteCarrying the small bear high; the plush basket is in the far-left corner. Moving to the same drop pose that worked for the big bear.

move_to

left_x0.5700left_y0.0400left_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]: [-0.1165, 1.684, 1.8816, -1.2156, -0.0692, -0.313, 0.1276, -0.02, 0.8379, 0.5972, -0.4099, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.4067 left_y=-0.0317 left_z=0.2718 left_yaw=0.119 left_pitch=-0.4554 left_roll=-0.1143 left_gripper=0.1276 right_x=0.2921 right_y=-0.0001 right_z=0.1588 right_yaw=-0.0043 right_pitch=-0.0889 right_roll=0.0011 right_gripper=0.9997 state[joint_eff]: [0.1846, -7.7197, 7.1863, 0.7888, 0.022, 0.1099, 0.6716, -0.0615, -1.6068, 6.9949, 1.6435, -0.0513, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.57, "left_y": 0.04, "left_z": 0.25}, "note": "Carrying the small bear high; the plush basket is in the far-left corner. Moving to the same drop pose that worked for the big bear."})

tool

executing move_to over 13 steps (1.3s)

step 254

assistant

Small bear is over the basket interior (wrist view shows basket walls on both sides). Releasing.

agent noteSmall bear is over the plush basket, whose walls show on both sides in the wrist 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]: [0.0685, 2.5359, 3.023, -1.5448, 0.0124, -0.1818, 0.1302, -0.02, 0.8417, 0.5968, -0.4091, -0.012, -0.0162, 0.9997] state[eef_state]: left_x=0.5452 left_y=0.0388 left_z=0.2152 left_yaw=0.1513 left_pitch=-0.4987 left_roll=-0.1105 left_gripper=0.1302 right_x=0.2923 right_y=-0.0001 right_z=0.1578 right_yaw=-0.0043 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9997 state[joint_eff]: [0.2667, -14.0239, 7.4325, 1.2527, 0.1343, 0.2808, 0.5739, -0.2256, -1.812, 7.0769, 1.6874, -0.0415, -0.0366, -0.0073] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

Small bear is over the basket interior (wrist view shows basket walls on both sides). Releasing.

move_to({"targets": {"left_gripper": 1.0}, "note": "Small bear is over the plush basket, whose walls show on both sides in the wrist view. Releasing."})

tool

executing move_to over 9 steps (0.9s)

step 263

assistant

agent noteBoth plush bears are in the left basket. Now the pens go in the right basket: moving the right arm over the nearer white pen, which shows at the bottom-left of its wrist view.

move_to

right_x0.2700right_y0.0500right_z0.1000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0727, 2.4607, 2.7804, -1.4418, 0.0227, -0.1913, 0.995, -0.02, 0.8436, 0.5968, -0.4088, -0.012, -0.0166, 0.9997] state[eef_state]: left_x=0.5444 left_y=0.0392 left_z=0.19 left_yaw=0.1544 left_pitch=-0.5642 left_roll=-0.12 left_gripper=0.995 right_x=0.2925 right_y=-0.0001 right_z=0.1573 right_yaw=-0.0041 right_pitch=-0.0938 right_roll=0.0008 right_gripper=0.9997 state[joint_eff]: [-0.5265, -16.8684, 5.5453, 1.2918, -0.1148, 0.0464, -0.2125, -0.1983, -1.6342, 7.0085, 1.663, -0.0464, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.27, "right_y": 0.05, "right_z": 0.1}, "note": "Both plush bears are in the left basket. Now the pens go in the right basket: moving the right arm over the nearer white pen, which shows at the bottom-left of its wrist view."})

tool

executing move_to over 5 steps (0.5s)

step 268

assistant

agent noteThe white pen runs forward from the lower-left of the right wrist view, about 5 cm left of the jaw column. Shifting left to centre over it.

move_to

right_y0.1000right_x0.2800right_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]: [0.0727, 2.4626, 2.7747, -1.446, 0.0235, -0.1944, 0.9963, 0.3206, 0.8127, 0.3767, -0.2924, 0.1993, 0.1486, 0.9997] state[eef_state]: left_x=0.5431 left_y=0.039 left_z=0.1867 left_yaw=0.1561 left_pitch=-0.5763 left_roll=-0.1212 left_gripper=0.9963 right_x=0.2638 right_y=0.0545 right_z=0.0929 right_yaw=0.0672 right_pitch=-0.1493 right_roll=-0.0136 right_gripper=0.9997 state[joint_eff]: [-0.1846, -13.4906, 5.9009, 1.116, -0.0269, -0.0366, 0.1197, -0.1299, -0.8821, 7.3641, 1.8388, 0.2271, 0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.1, "right_x": 0.28, "right_z": 0.08}, "note": "The white pen runs forward from the lower-left of the right wrist view, about 5 cm left of the jaw column. Shifting left to centre over it."})

tool

executing move_to over 4 steps (0.4s)

step 272

assistant

agent noteThe white pen now runs up the jaw column, just slightly left. Descending to table level straddling it.

move_to

right_y0.1050right_x0.2900right_z0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0727, 2.463, 2.7739, -1.4475, 0.0238, -0.1947, 0.9964, 0.522, 1.0409, 0.3817, -0.1822, 0.3141, 0.26, 0.9997] state[eef_state]: left_x=0.5427 left_y=0.0389 left_z=0.1861 left_yaw=0.1561 left_pitch=-0.579 left_roll=-0.1215 left_gripper=0.9964 right_x=0.2644 right_y=0.0933 right_z=0.0598 right_yaw=0.105 right_pitch=-0.2273 right_roll=-0.0464 right_gripper=0.9997 state[joint_eff]: [-0.0615, -13.1897, 5.5316, 1.072, 0.0073, -0.0171, -0.0073, 0.335, -3.0291, 9.5521, 1.4921, 0.3394, 0.149, -0.0073] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.105, "right_x": 0.29, "right_z": 0.0}, "note": "The white pen now runs up the jaw column, just slightly left. Descending to table level straddling it."})

tool

executing move_to over 4 steps (0.4s)

step 276

assistant

agent noteThe descent stopped at 6 cm without contact (the step was clamped). Re-sending the descent to table level over the pen.

move_to

right_y0.1050right_x0.2900right_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]: [0.0727, 2.463, 2.7728, -1.4467, 0.0235, -0.1947, 0.9964, 0.5404, 1.0641, 0.3939, -0.152, 0.3401, 0.2897, 0.9997] state[eef_state]: left_x=0.5428 left_y=0.039 left_z=0.1858 left_yaw=0.1566 left_pitch=-0.5793 left_roll=-0.1211 left_gripper=0.9964 right_x=0.2705 right_y=0.0977 right_z=0.0644 right_yaw=0.0876 right_pitch=-0.2013 right_roll=-0.0343 right_gripper=0.9997 state[joint_eff]: [-0.1846, -13.3812, 5.5316, 1.0525, -0.0317, -0.0562, -0.022, 0.1026, -3.0291, 8.4855, 1.6386, 0.2906, 0.1343, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.105, "right_x": 0.29, "right_z": -0.01}, "note": "The descent stopped at 6 cm without contact (the step was clamped). Re-sending the descent to table level over the pen."})

tool

executing move_to over 5 steps (0.5s)

step 281

assistant

agent noteThe right arm is holding at 6 cm and not descending (likely an awkward IK pose). Re-targeting slightly further out with neutral pitch/yaw to get down to the pen.

move_to

right_x0.3000right_y0.1000right_z0.0200right_pitch0.0000right_yaw0.0000

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]: [0.0727, 2.463, 2.7728, -1.4467, 0.0235, -0.1944, 0.9964, 0.5404, 1.0641, 0.3939, -0.1516, 0.3401, 0.2897, 0.9997] state[eef_state]: left_x=0.5428 left_y=0.039 left_z=0.1858 left_yaw=0.1563 left_pitch=-0.5793 left_roll=-0.1209 left_gripper=0.9964 right_x=0.2706 right_y=0.0978 right_z=0.0645 right_yaw=0.0876 right_pitch=-0.2009 right_roll=-0.0341 right_gripper=0.9997 state[joint_eff]: [-0.1299, -13.3949, 5.4769, 1.0085, -0.022, -0.0269, -0.0171, 0.1026, -3.1385, 8.5128, 1.6386, 0.3443, 0.1245, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.1, "right_z": 0.02, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "The right arm is holding at 6 cm and not descending (likely an awkward IK pose). Re-targeting slightly further out with neutral pitch/yaw to get down to the pen."})

tool

executing move_to over 7 steps (0.7s)

step 288

assistant

agent noteThe white pen is centred between the jaws at 1.6 cm height. Dropping to table level so the fingertips straddle the pen.

move_to

right_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]: [0.0727, 2.463, 2.7708, -1.4502, 0.0238, -0.1947, 0.9964, 0.5766, 1.462, 0.2306, 0.5251, 0.4675, 0.3046, 0.9997] state[eef_state]: left_x=0.5419 left_y=0.0388 left_z=0.1849 left_yaw=0.1565 left_pitch=-0.5847 left_roll=-0.121 left_gripper=0.9964 right_x=0.2953 right_y=0.1014 right_z=0.0157 right_yaw=0.0209 right_pitch=-0.057 right_roll=-0.0441 right_gripper=0.9997 state[joint_eff]: [-0.1846, -13.3812, 5.6137, 1.0232, -0.0122, -0.0513, -0.0073, 0.4581, -3.412, 2.8786, 1.0134, 0.2515, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": -0.005}, "note": "The white pen is centred between the jaws at 1.6 cm height. Dropping to table level so the fingertips straddle the pen."})

tool

executing move_to over 2 steps (0.2s)

step 290

assistant

agent noteThe jaws are down around the pen (descent stopped at about 1.4 cm). Closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0727, 2.463, 2.7708, -1.4513, 0.0235, -0.1947, 0.9964, 0.5758, 1.5642, 0.2165, 0.7029, 0.482, 0.3096, 0.9997] state[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1848 left_yaw=0.1569 left_pitch=-0.5858 left_roll=-0.1204 left_gripper=0.9964 right_x=0.3045 right_y=0.1043 right_z=0.0143 right_yaw=0.0069 right_pitch=-0.0001 right_roll=-0.0149 right_gripper=0.9997 state[joint_eff]: [-0.1436, -13.3675, 5.6274, 1.0525, -0.0171, -0.0317, -0.022, -0.0615, -2.7692, 2.7829, 0.0464, -0.0024, -0.149, -0.0122] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The jaws are down around the pen (descent stopped at about 1.4 cm). Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 300

assistant

agent noteGripper settled at 0.15 (about 1.4 cm), so the pen is held. Lifting and carrying it toward the right basket (the pen basket), which is ahead and slightly left.

move_to

right_z0.2200right_x0.4500right_y0.1500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.5758, 1.6039, 0.2146, 0.7612, 0.4633, 0.3031, 0.1495] state[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.3066 right_y=0.1092 right_z=0.0118 right_yaw=0.0253 right_pitch=0.0082 right_roll=-0.0021 right_gripper=0.1495 state[joint_eff]: [-0.1162, -13.4222, 5.4906, 1.0427, -0.0073, -0.0611, -0.022, -0.1026, -3.535, 2.9333, 1.1551, 0.1148, -0.0513, 1.0037] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.22, "right_x": 0.45, "right_y": 0.15}, "note": "Gripper settled at 0.15 (about 1.4 cm), so the pen is held. Lifting and carrying it toward the right basket (the pen basket), which is ahead and slightly left."})

tool

executing move_to over 14 steps (1.4s)

step 314

assistant

agent noteThe right wrist view looks straight into the right basket and the pen hangs over it in the overhead view. Releasing the pen into the pen basket.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0727, 2.463, 2.7701, -1.4509, 0.0235, -0.1947, 0.9964, 0.4519, 1.5772, 1.1889, -0.2024, 0.3531, 0.2173, 0.1545] state[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5862 left_roll=-0.1204 left_gripper=0.9964 right_x=0.4454 right_y=0.1523 right_z=0.2076 right_yaw=0.0368 right_pitch=0.0118 right_roll=-0.002 right_gripper=0.1545 state[joint_eff]: [-0.0342, -13.135, 5.4769, 1.033, -0.0171, -0.0073, -0.022, -0.8137, -7.4188, 9.1556, 1.4188, 0.0757, 0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0}, "note": "The right wrist view looks straight into the right basket and the pen hangs over it in the overhead view. Releasing the pen into the pen basket."})

tool

executing move_to over 9 steps (0.9s)

step 323

assistant

agent noteThe first white pen went into the right basket. The second white pen lies about 9 cm left of where the first one was; moving the right arm straight down onto it.

move_to

right_x0.2900right_y0.1900right_z0.0100right_pitch0.0000right_yaw0.0000

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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1944, 0.9964, 0.4503, 1.5841, 1.1862, -0.2241, 0.347, 0.2092, 0.995] state[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1567 left_pitch=-0.5854 left_roll=-0.1203 left_gripper=0.9964 right_x=0.443 right_y=0.1514 right_z=0.1989 right_yaw=0.0445 right_pitch=-0.0183 right_roll=-0.0181 right_gripper=0.995 state[joint_eff]: [-0.253, -13.2581, 5.4769, 1.0427, -0.0073, -0.0122, -0.022, 0.0205, -8.335, 7.1863, 1.917, 0.105, 0.0562, -0.0122] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.29, "right_y": 0.19, "right_z": 0.01, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "The first white pen went into the right basket. The second white pen lies about 9 cm left of where the first one was; moving the right arm straight down onto it."})

tool

executing move_to over 13 steps (1.3s)

step 336

assistant

agent noteThe white marker (plus a blue pen) lies across the open jaws at table level. Closing to grab the pen(s).

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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.9016, 1.7031, 0.4686, 0.4263, 0.7097, 0.5446, 0.9962] state[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.2943 right_y=0.1923 right_z=0.0148 right_yaw=0.0337 right_pitch=-0.0193 right_roll=-0.0382 right_gripper=0.9962 state[joint_eff]: [-0.1299, -13.3538, 5.4632, 1.0183, -0.0171, -0.0415, -0.022, 0.5128, -4.6974, 3.3026, 0.8327, 0.022, 0.0171, 0.1099] camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The white marker (plus a blue pen) lies across the open jaws at table level. Closing to grab the pen(s)."})

tool

executing move_to over 10 steps (1.0s)

step 346

assistant

agent noteGripper settled at 0.09, so it's holding the blue pen; the white marker is still ahead of the jaws. Carrying the blue pen over the right (pen) basket.

move_to

right_x0.4500right_y0.1600right_z0.2200

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.0727, 2.463, 2.7701, -1.4506, 0.0235, -0.1947, 0.9964, 0.9031, 1.7126, 0.4591, 0.4473, 0.7071, 0.5385, 0.0878] state[eef_state]: left_x=0.5417 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5858 left_roll=-0.1204 left_gripper=0.9964 right_x=0.293 right_y=0.1921 right_z=0.0119 right_yaw=0.0404 right_pitch=-0.0197 right_roll=-0.0406 right_gripper=0.0878 state[joint_eff]: [-0.1983, -13.1624, 5.4906, 1.033, -0.0024, -0.0562, -0.022, -0.1299, -6.6803, 4.9162, 1.2137, 0.1636, -0.0269, 3.8168] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.16, "right_z": 0.22}, "note": "Gripper settled at 0.09, so it's holding the blue pen; the white marker is still ahead of the jaws. Carrying the blue pen over the right (pen) basket."})

tool

executing move_to over 14 steps (1.4s)

step 360

assistant

agent noteThe right wrist view shows the blue pen still in front of the basket's near wall. Moving further forward so the pen is over the basket's interior.

move_to

right_x0.5300right_y0.1600right_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]: [0.0727, 2.463, 2.7701, -1.4509, 0.0235, -0.1947, 0.9964, 0.4835, 1.6123, 1.2423, -0.2867, 0.3836, 0.2188, 0.1483] state[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5862 left_roll=-0.1204 left_gripper=0.9964 right_x=0.442 right_y=0.1615 right_z=0.2005 right_yaw=0.0422 right_pitch=-0.0408 right_roll=-0.0443 right_gripper=0.1483 state[joint_eff]: [-0.253, -13.2581, 5.4222, 1.0281, -0.0122, -0.0513, -0.022, -0.4855, -7.9658, 9.5795, 1.7118, 0.1978, 0.0024, 1.0281] camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.53, "right_y": 0.16, "right_z": 0.24}, "note": "The right wrist view shows the blue pen still in front of the basket's near wall. Moving further forward so the pen is over the basket's interior."})

tool

executing move_to over 7 steps (0.7s)

step 367

assistant

agent noteThe blue pen now hangs inside the right basket, past its near wall. 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]: [0.0727, 2.463, 2.7701, -1.4513, 0.0235, -0.1947, 0.9964, 0.392, 1.8938, 1.6817, -0.4671, 0.3016, 0.1558, 0.1547] state[eef_state]: left_x=0.5415 left_y=0.0389 left_z=0.1845 left_yaw=0.157 left_pitch=-0.5866 left_roll=-0.1203 left_gripper=0.9964 right_x=0.5194 right_y=0.1618 right_z=0.2196 right_yaw=0.051 right_pitch=-0.0828 right_roll=-0.0571 right_gripper=0.1547 state[joint_eff]: [-0.253, -13.4085, 5.4359, 1.0525, -0.0366, -0.0659, -0.022, -0.7726, -10.2359, 9.6342, 1.7118, 0.1538, -0.0171, 1.033] 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_gripper": 1.0}, "note": "The blue pen now hangs inside the right basket, past its near wall. Releasing it."})

tool

executing move_to over 9 steps (0.9s)

step 376

assistant

agent noteI only finished half the task. The objects were plush toys and pens/markers. Both plush bears (the big one and the small one) are in the left basket. The right basket, meant for the pens, looks empty in the last wrist-camera image, so neither pen drop worked; they probably landed on the table or the rim. The yellow highlighter is still on the table on the left. I also knocked the left basket back into the far-left corner at some point. I ran out of calls before I could re-check or retry.

done

hindsight- Baskets are at the very back, about x≈0.55–0.6. The left basket (after I pushed it) was reachable at about left_x=0.57, left_y=+0.04, z≈0.22. The right basket's interior was at about right_x≈0.52, right_y≈0.16, z≈0.22. At right_x≈0.44 the object is still in front of the basket's near wall. - The right wrist camera is a good drop check: a released object should show inside the basket. After a release, look at the wrist view straight away, before moving on. - Pens are only ~1 cm thick and may slip out while being carried. Close fully and confirm the settled reading stays above ~0.08 after lifting. - If a descent near x≈0.27 stalls at 6 cm, re-target to x≈0.30 with pitch=0 and yaw=0; that fixed it for me. - Budget: 40 calls is tight for 5 objects, so skip separate hover moves. Plan for objects far to one side, like the yellow highlighter at left_y≈-0.12 that the right arm can't reach; a handoff to the table centre costs extra calls. - The first drop over the left basket from x=0.58, y=-0.05 missed and the bear landed outside; the basket was further left (+y) than it looked.

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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.3912, 1.9095, 1.6798, -0.4812, 0.3008, 0.1493, 0.9951] state[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.5187 right_y=0.1612 right_z=0.208 right_yaw=0.0533 right_pitch=-0.113 right_roll=-0.0724 right_gripper=0.9951 state[joint_eff]: [-0.1162, -13.3949, 5.4496, 1.0574, -0.0122, -0.0464, -0.022, -0.0205, -11.9179, 7.1179, 1.6874, 0.0317, 0.0415, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]

assistant

done({"summary": "I only finished half the task. The objects were plush toys and pens/markers. Both plush bears (the big one and the small one) are in the left basket. The right basket, meant for the pens, looks empty in the last wrist-camera image, so neither pen drop worked; they probably landed on the table or the rim. The yellow highlighter is still on the table on the left. I also knocked the left basket back into the far-left corner at some point. I ran out of calls before I could re-check or retry.", "hindsight": "- Baskets are at the very back, about x\u22480.55\u20130.6. The left basket (after I pushed it) was reachable at about left_x=0.57, left_y=+0.04, z\u22480.22. The right basket's interior was at about right_x\u22480.52, right_y\u22480.16, z\u22480.22. At right_x\u22480.44 the object is still in front of the basket's near wall.\n- The right wrist camera is a good drop check: a released object should show inside the basket. After a release, look at the wrist view straight away, before moving on.\n- Pens are only ~1 cm thick and may slip out while being carried. Close fully and confirm the settled reading stays above ~0.08 after lifting.\n- If a descent near x\u22480.27 stalls at 6 cm, re-target to x\u22480.30 with pitch=0 and yaw=0; that fixed it for me.\n- Budget: 40 calls is tight for 5 objects, so skip separate hover moves. Plan for objects far to one side, like the yellow highlighter at left_y\u2248-0.12 that the right arm can't reach; a handoff to the table centre costs extra calls.\n- The first drop over the left basket from x=0.58, y=-0.05 missed and the bear landed outside; the basket was further left (+y) than it looked."})

tool

done: I only finished half the task. The objects were plush toys and pens/markers. Both plush bears (the big one and the small one) are in the left basket. The right basket, meant for the pens, looks empty in the last wrist-camera image, so neither pen drop worked; they probably landed on the table or the rim. The yellow highlighter is still on the table on the left. I also knocked the left basket back into the far-left corner at some point. I ran out of calls before I could re-check or retry.

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 · 26.73 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]: [-0.0189, 0.7986, 0.6136, -0.3786, -0.0219, -0.0261, 0.9992, -0.0154, 0.7986, 0.6109, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2967 right_y=0.0011 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.6479, 9.5521, 1.7411, -0.0366, 0.0904, -0.1001, -0.8957, -1.6479, 10.1402, 1.7021, -0.105, 0.0024, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43881030ae0655039903d13ca2a65c976386c7a4ee2ac142cd90b055c13cd03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c72d7c484f1c43d0d8930feb2005773f7e6455f78297436718f8c9e15261a41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:139a27c171820d3a9170d7273e19aba3ba83cce3c88414adf06667d04db42814",
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      "type": "image"
    }
  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 11.36 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]: [-0.0189, 0.7986, 0.6136, -0.3786, -0.0219, -0.0261, 0.9992, -0.0154, 0.7986, 0.6109, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2967 right_y=0.0011 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.6479, 9.5521, 1.7411, -0.0366, 0.0904, -0.1001, -0.8957, -1.6479, 10.1402, 1.7021, -0.105, 0.0024, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43881030ae0655039903d13ca2a65c976386c7a4ee2ac142cd90b055c13cd03e",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c72d7c484f1c43d0d8930feb2005773f7e6455f78297436718f8c9e15261a41",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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    },
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      "source": {
        "data": "$blob:139a27c171820d3a9170d7273e19aba3ba83cce3c88414adf06667d04db42814",
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ur5xVzu46jh7USkxkNUq4Q",
      "input": {
        "note": "Scene: two teal baskets at the back, plush teddy bears and a yellow object in front of the left basket, two pens/markers in front of the right basket. Classes: plush toys vs. pens. Moving the left arm slightly right and forward to locate the yellow item and plushes in its wrist view.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.1,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ur5xVzu46jh7USkxkNUq4Q",
      "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]: [-0.4778, 1.2057, 0.6415, -0.1127, -0.3901, -0.2855, 0.9991, -0.0193, 0.8017, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3406 left_y=-0.0967 left_z=0.1322 left_yaw=-0.012 left_pitch=-0.0547 left_roll=0.0186 left_gripper=0.9991 right_x=0.2953 right_y=0.0 right_z=0.1791 right_yaw=-0.0036 right_pitch=-0.0156 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -4.0957, 9.4154, 1.6923, -0.3492, 0.0122, -0.022, 0.212, -1.1009, 7.2957, 1.7949, -0.0513, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf912784a98f8b9b04a925d5601cf887503d7cf967c9770bdf49a5c1234a9975",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:354507e98d939008c802ea1b27a192fe6ca67af5dedabe3dab9c2f2ebd997241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8743d1c373d4bb039de364ee11ce3534f12e7540c987eb586d70eaf1bea05b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 4.237 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]: [-0.0189, 0.7986, 0.6136, -0.3786, -0.0219, -0.0261, 0.9992, -0.0154, 0.7986, 0.6109, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2967 right_y=0.0011 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.6479, 9.5521, 1.7411, -0.0366, 0.0904, -0.1001, -0.8957, -1.6479, 10.1402, 1.7021, -0.105, 0.0024, -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]: [-0.4778, 1.2057, 0.6415, -0.1127, -0.3901, -0.2855, 0.9991, -0.0193, 0.8017, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3406 left_y=-0.0967 left_z=0.1322 left_yaw=-0.012 left_pitch=-0.0547 left_roll=0.0186 left_gripper=0.9991 right_x=0.2953 right_y=0.0 right_z=0.1791 right_yaw=-0.0036 right_pitch=-0.0156 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -4.0957, 9.4154, 1.6923, -0.3492, 0.0122, -0.022, 0.212, -1.1009, 7.2957, 1.7949, -0.0513, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf912784a98f8b9b04a925d5601cf887503d7cf967c9770bdf49a5c1234a9975",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:354507e98d939008c802ea1b27a192fe6ca67af5dedabe3dab9c2f2ebd997241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8743d1c373d4bb039de364ee11ce3534f12e7540c987eb586d70eaf1bea05b2",
        "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_014Xf1r1eoATVTxLpkBd1LYY",
      "input": {
        "note": "Left gripper now visible over the left side; the big teddy bears are to its right and nearer the base. Moving above the bears to view them in the wrist camera.",
        "targets": {
          "left_x": 0.26,
          "left_y": -0.24,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_014Xf1r1eoATVTxLpkBd1LYY",
      "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]: [-1.1347, 1.4471, 0.9333, -0.5377, -0.8093, -0.878, 0.9991, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2566 left_y=-0.2395 left_z=0.1393 left_yaw=-0.0325 left_pitch=-0.0793 left_roll=0.0289 left_gripper=0.9991 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0044 right_pitch=-0.0179 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -5.7094, 8.5538, 0.8962, -0.6862, -0.0464, -0.0171, -0.2393, -1.4427, 7.0769, 1.7558, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2b1e487859658b91e71e13b2b4b9de32f4bdef88b18649093c2ad56e108feb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f8910526941ea7bd545287df1eaf395ccd0d670e7ccabc018249843ee1a2480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c1769dee7fc8eb056b9f85b1fd317db55d40aafb57ce7aebcca959d49971899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 3.437 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]: [-0.0189, 0.7986, 0.6136, -0.3786, -0.0219, -0.0261, 0.9992, -0.0154, 0.7986, 0.6109, -0.374, -0.012, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2967 right_y=0.0011 right_z=0.1831 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.6479, 9.5521, 1.7411, -0.0366, 0.0904, -0.1001, -0.8957, -1.6479, 10.1402, 1.7021, -0.105, 0.0024, -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]: [-0.4778, 1.2057, 0.6415, -0.1127, -0.3901, -0.2855, 0.9991, -0.0193, 0.8017, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3406 left_y=-0.0967 left_z=0.1322 left_yaw=-0.012 left_pitch=-0.0547 left_roll=0.0186 left_gripper=0.9991 right_x=0.2953 right_y=0.0 right_z=0.1791 right_yaw=-0.0036 right_pitch=-0.0156 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -4.0957, 9.4154, 1.6923, -0.3492, 0.0122, -0.022, 0.212, -1.1009, 7.2957, 1.7949, -0.0513, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1347, 1.4471, 0.9333, -0.5377, -0.8093, -0.878, 0.9991, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2566 left_y=-0.2395 left_z=0.1393 left_yaw=-0.0325 left_pitch=-0.0793 left_roll=0.0289 left_gripper=0.9991 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0044 right_pitch=-0.0179 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -5.7094, 8.5538, 0.8962, -0.6862, -0.0464, -0.0171, -0.2393, -1.4427, 7.0769, 1.7558, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2b1e487859658b91e71e13b2b4b9de32f4bdef88b18649093c2ad56e108feb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f8910526941ea7bd545287df1eaf395ccd0d670e7ccabc018249843ee1a2480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c1769dee7fc8eb056b9f85b1fd317db55d40aafb57ce7aebcca959d49971899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0AcKEAgSGAI4AUIIdGhpbmtpbmcSDMB2EmL5BCyI/qdInxoM6zR+6FYiasOeuP11IjBq3n+HVDUiZlrZuQYWKKp6y8QPAnTP/yu1zIvXfvOfe7+UIR4laX8jaxvqglKhzWcq7QYbYIlQd/K4vizDZx/EwxVkb6bEib6Q6Rg8yYCZ4Wiqe6NV4IxNdL525KL7z1HOZ5WtNwfjzZCChvxCx35PBmoZodRp/R7wB8m3fFASHagoYepp4k+F+u6AotVH1kmpGF1oy57Cah1+i/VRje4Lk7FtxgTvFIfXy2t4pmPmfh9Z9xpdeuxvWsPPRl8HFnkhIVoMyJwNhz7iUt+A+uYI7Vy3clFEECD8aOKKy21+8GE4rRV40qPt39jMZ/IY/0t7EHpYTc+zwBXppjGbtHt68T3iD1wQwuEW9W/0YrnVPOeG4XwtAOPI+nZsNND9c3fZvh6E/vHO/eR8w8xGxzgmJv5Zcuglzk0Utw0cgQ3kFLZGBth4KPqlN6aFApJKcTd/8MlLFVN5RhN7w0ByFrPfyac6UhKijsqRBMiekn/sfayQr5KWQ5/qiwYcCC4u++6fDx5Kg1seHnhcfYKT+45tpyfc/E0IXcagb7C7t1lbLv3d8qX8omaZr5+DOJKy1VcjNYiMFjOd46lPoItU2/vIc9cHOD4DctG0kMsYtObzYWhOWcR3vlCkbovZMDH/WZ6eNoB2li5x0wcWILQ918xoLx7Iy2GL2MOT+1kryGKngtwK8trX7Uj9Npu/FLsCdehEBdLs2FEqdZ1sAvfxJUpE2XPMwawAnoNtJErap2ocox9qHyMOBlpipi9nWAeTjjaft2+QBw9BhAphEHjWtoU9/rz+v6d/CsRvA0x+CfFevGfOuMwLcATPbYL0kIBEqogO25vc4YIIyFA/aaAotsuicqLpihXrFnD408/9+yUiuBGn3xvLinF3x+QDUXdeosbsfq/L9r0RZczX/KleoNVNeeCoe+9Nj20xZhFB0UIifBWR9edbte3ZKI/qQZ19my1gyoKk0S+M+oSggDMxuZt8tg/wSLVYT5NJ7nKZh2LAepRUMTd83rfjDB+50dR4kgFGu/EbLK7Qyv5Kpa3wiEKwzq2t589y7+LLHGcymfJ0fLBGhlJb5DnTUw4cthFD3SxQU2KaKFSYshI6N4t1SOH0UEqwAX72qdfYuPf9EUYLvp9sM9XbDIuLb4XIdCA5PdRdehxPO+46lZhA2hZz/WsC/vBIsTHKhknGv+3Tk6WIcYKEBpFUm4pDJPJ8mkZ/oN/vUaLTtT+HRE84sST4AadHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MxE4c4cpsKf54ctQ2tZHnH",
      "input": {
        "note": "The big teddy bear is centred just ahead of the jaws in the left wrist view. Descending onto it (slightly forward) to grab its body.",
        "targets": {
          "left_x": 0.28,
          "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_01MxE4c4cpsKf54ctQ2tZHnH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.055, 1.6627, 0.7288, 0.02, -0.8051, -0.7933, 0.9991, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.2894 left_y=-0.2449 left_z=0.0613 left_yaw=-0.0065 left_pitch=-0.0174 left_roll=-0.0247 left_gripper=0.9991 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -4.9162, 3.7949, 0.9548, 0.0073, 0.0513, -0.0122, -0.3077, -1.4017, 7.159, 1.7265, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec2cbb39a2c92d20fc427852fae3f613cec06c22be04752da783cb160b2af0cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbc611d8308f6efdaa88d6fa6ea477d7a97256d8907f5ed2fe340c744a80bd5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69f7268e51f58403f692c6ad954d9430f968fb229d17a754573d1dce38e2b789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 3.88 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]: [-0.4778, 1.2057, 0.6415, -0.1127, -0.3901, -0.2855, 0.9991, -0.0193, 0.8017, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3406 left_y=-0.0967 left_z=0.1322 left_yaw=-0.012 left_pitch=-0.0547 left_roll=0.0186 left_gripper=0.9991 right_x=0.2953 right_y=0.0 right_z=0.1791 right_yaw=-0.0036 right_pitch=-0.0156 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -4.0957, 9.4154, 1.6923, -0.3492, 0.0122, -0.022, 0.212, -1.1009, 7.2957, 1.7949, -0.0513, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1347, 1.4471, 0.9333, -0.5377, -0.8093, -0.878, 0.9991, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2566 left_y=-0.2395 left_z=0.1393 left_yaw=-0.0325 left_pitch=-0.0793 left_roll=0.0289 left_gripper=0.9991 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0044 right_pitch=-0.0179 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -5.7094, 8.5538, 0.8962, -0.6862, -0.0464, -0.0171, -0.2393, -1.4427, 7.0769, 1.7558, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.055, 1.6627, 0.7288, 0.02, -0.8051, -0.7933, 0.9991, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.2894 left_y=-0.2449 left_z=0.0613 left_yaw=-0.0065 left_pitch=-0.0174 left_roll=-0.0247 left_gripper=0.9991 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -4.9162, 3.7949, 0.9548, 0.0073, 0.0513, -0.0122, -0.3077, -1.4017, 7.159, 1.7265, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec2cbb39a2c92d20fc427852fae3f613cec06c22be04752da783cb160b2af0cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbc611d8308f6efdaa88d6fa6ea477d7a97256d8907f5ed2fe340c744a80bd5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f7268e51f58403f692c6ad954d9430f968fb229d17a754573d1dce38e2b789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStAYKEAgSGAI4AUIIdGhpbmtpbmcSDHOkp27iY5QH5vC0hxoM284e4zohkynZmML6IjC3U+eC8JKrgEha6lwYqWuuIeBj38CaQkui+Ch16mVVmEc+hAsVg2UOa75Y7jGBJm8q0QUT4l6Xxu9xfGHWEg+EXus6NA3LT84hGQIrNStE9oxRqdFbSQGkh53I99JSVrmDt09RDF+nEmIPNL7zLZlTXimp/q1TKotCJMBgz6J8juWCwqSaphjl/EJWOVyzYTGhh9ne5nbCEHbSNIzJxpXmlvC0IWbJYHLlOwk3hsNEQXIdrQ4DXb0JaPNlDFX/1AeBa5y3OGQNPOXIkqn8a+dwdDJib2YEEq4NuvooHVf6NZsoIsHL6S/iZ7/WsF1ct5iZtqLM5YwFBuCP02jTutKdjw1i9UFWcTKqRgRw5MUHrQoSmIRrT1IBBBYDaO9hchEdysQmbHvFDeT87i9akZE5Ev4F68y3KWIUkq5KK9kivGEDdv4LGIlqEsPn82fUkMuQi89uAS9SZAflJteIzeleb4/uSmMnnfoIhJluNMzd+LFLewFyWVrOdewheDTaT+ApIaTT3zrmVhvYZyTee2djms0/lotk8KY2bPlT84oNMTeyVjjypfVr8Iq2erdFqU1IKyOOKFN69Wb40rF9jLDuNWWPemUPXvlusTuYMBCNBsGtHgJtTfyppRT4sL/jxXcoNLjj9BAo2WVWW3tSXHnRd2G5EyX2/rIGY/glUVsSBbFNwcod4qxMyT+uyLp4mHHfoUNVA6nbF95kyuhNj0gBV+bI8Q1ANxsZHo076exZkiKYuC1oOiPegMWdqQoIHHb+fpo4H+oUwxdIzI6Ob3vBr8s/fvCUFTYTjces5EaEmJaI2fNpW8eMGE7GAhEpz97RivlmhkknJB16UYXjNRKuy+fBQwmbJBthhBnv/NcNQkPK7ZeTlqTZo+lNmhIyQstnOz2fmXRAM356hUjyTksSwdtQ8XBjYFPUufrgmUpWLRAAigKSaXk8FqO8Tn0r/a1KoydJtTezVy/fL9c47kzpnFbgqmXQxuhdgcH2RYqFLA7CJhdu/umB2Rjsc9xpxjTufOBqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015YBKgNK6baBvYR2bbu8ixM",
      "input": {
        "note": "Jaws are resting on the bear (descent stopped at 6 cm on its body). Closing to grip the bear.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015YBKgNK6baBvYR2bbu8ixM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.055, 1.6619, 0.7284, 0.046, -0.8165, -0.7956, 0.293, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.292 left_y=-0.2467 left_z=0.0657 left_yaw=0.0017 left_pitch=0.0034 left_roll=-0.045 left_gripper=0.293 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -6.7897, 5.4906, 1.033, -0.2222, -0.0073, 0.5934, -0.3214, -1.0051, 7.0359, 1.7216, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afb10c2a17181f9cca677c7d10cb7523a254e4f4f0b9ae040c61addcc27e7007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6048d57e440ec59cc2ab7ba163211b91c75c8aed63aa546cddc54c284beab4fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0c15a6479c8098ead39f866eda250723bc0b0450d3a8402ce2690bfbd8f892b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 5.032 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]: [-1.1347, 1.4471, 0.9333, -0.5377, -0.8093, -0.878, 0.9991, -0.02, 0.8032, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2566 left_y=-0.2395 left_z=0.1393 left_yaw=-0.0325 left_pitch=-0.0793 left_roll=0.0289 left_gripper=0.9991 right_x=0.2953 right_y=-0.0002 right_z=0.1785 right_yaw=-0.0044 right_pitch=-0.0179 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -5.7094, 8.5538, 0.8962, -0.6862, -0.0464, -0.0171, -0.2393, -1.4427, 7.0769, 1.7558, -0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.055, 1.6627, 0.7288, 0.02, -0.8051, -0.7933, 0.9991, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.2894 left_y=-0.2449 left_z=0.0613 left_yaw=-0.0065 left_pitch=-0.0174 left_roll=-0.0247 left_gripper=0.9991 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -4.9162, 3.7949, 0.9548, 0.0073, 0.0513, -0.0122, -0.3077, -1.4017, 7.159, 1.7265, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.055, 1.6619, 0.7284, 0.046, -0.8165, -0.7956, 0.293, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.292 left_y=-0.2467 left_z=0.0657 left_yaw=0.0017 left_pitch=0.0034 left_roll=-0.045 left_gripper=0.293 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -6.7897, 5.4906, 1.033, -0.2222, -0.0073, 0.5934, -0.3214, -1.0051, 7.0359, 1.7216, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afb10c2a17181f9cca677c7d10cb7523a254e4f4f0b9ae040c61addcc27e7007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6048d57e440ec59cc2ab7ba163211b91c75c8aed63aa546cddc54c284beab4fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0c15a6479c8098ead39f866eda250723bc0b0450d3a8402ce2690bfbd8f892b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzwYKEAgSGAI4AUIIdGhpbmtpbmcSDPmGeqhqrN0DZEtWJBoMN7KTewCMnnImPfAMIjC70pFSt4vXHV0ZH6tMGqqxX+YbQbqXsMvb5gjr1bwpgepiwZPoCxXJ9c5tN0T69yAq7AUM8T0Y1lZk7SHFegYDK+aA7/SCh8kCcGLbqTd1JuDYM+us5T0gKgR25vVpbRSheLjcDZfASPDA57xT3UVlUQyB9iHTDpL2YTVRK5J5arwwEkkd1/v1ZkRHbZWn1rI/xB1l5H3i1jkXC+wCeIGcSha4erXchepvPmO7IumSvaarA6sqRvNjhnnFcopGps9RsTbi7mJ0VRrz3xEiKiRAHRwbnYktM/0fKoKc0BI/MLHN4LH7voHMUJNGt28mbP1sIvDtBPRQfgBeo8c1Q9tjJTqVRkQK4SbcqrKlhXh22KZFAOnABzq3zmouie1b0T3tgOLJ4P31NpMt71rYT00UWtoowO1uBt7xuQdeb3HSz/TqXUe2PSxoYU9xVf+VHEbuOiGqgWf3oCQvCxSSa5xoUCzF4xxg1c3fhLaGwmnQ3A7/ZQSuM88VU7deLq+7KmjtW8C9Kn1FhVbvdQwTZZopqlAgzHp7SotPZ4Bawua+C65mIdmfy5nirsGjj0Jnt9K2qM2dqF1EdDpuD3jbupgIimV2VDmw7N/EwWkQ1Xn4hhXxmKJYg6lXnKc4hCvrmrglgmrkZXwu49op3PJbLzCAwaVUsBdiaKv/z2B7ZpQFUZ/4+CO9kB+33jm9e/tPQX5u9HK4SgVbQ7BfZUW/nCKG5DV6UpL0/MKwRHiZ4xnwLyLEd0yQXTXy46wmD+JrHyYoTusAgIUs5FXfzgwc72U4XicCruqsriBCmE3DMQoxLG6LxfVv9EWkb/pta+v4HpsCpXEwrkgaBIqQnaS2o19KIgyZYhyucNnlANnD05LyR1muWcg2mIoBx+AIOfMqQUPdYfOyUx8z542YPWJKT7l3rynTroEObFyhXj2uyIzEaz3HIeaJ8ny7bkmZbFry/ov05vrt+ekfNZmbimNjt9CWTy7Eeteh31BySdmOacUSUwDXoLUmuoxzgCSRL4emlANdvKyvik4++YFQsovydLY9EgJEtLMkHZMGyR012r3KGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01424g558Ui7WXCnMrAcbHsw",
      "input": {
        "note": "Gripper settled at 0.29, so it's holding plush. Lifting high to confirm the bear comes with it and to clear the basket wall.",
        "targets": {
          "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_01424g558Ui7WXCnMrAcbHsw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.055, 1.4654, 1.272, -0.7208, -0.8051, -0.8047, 0.2914, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2923 left_y=-0.2501 left_z=0.234 left_yaw=-0.0003 left_pitch=-0.0177 left_roll=-0.0339 left_gripper=0.2914 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.9385, 9.0462, 1.0476, -0.4567, 0.0757, -0.188, -0.1709, -1.265, 7.1453, 1.7216, -0.0269, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db9c6c72579d8527468ddad9b2bc489730b68c213541709fabcb3aabe3328f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66289c731327cc9711708e57cc03a44fedfda97360f96a141a4a7de01dcdcfc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d4e1095e0ccbbb2362fcc6f84568d6e768dfd890f60f601593a4632dfb716b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 4.252 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]: [-1.055, 1.6627, 0.7288, 0.02, -0.8051, -0.7933, 0.9991, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.2894 left_y=-0.2449 left_z=0.0613 left_yaw=-0.0065 left_pitch=-0.0174 left_roll=-0.0247 left_gripper=0.9991 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -4.9162, 3.7949, 0.9548, 0.0073, 0.0513, -0.0122, -0.3077, -1.4017, 7.159, 1.7265, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.055, 1.6619, 0.7284, 0.046, -0.8165, -0.7956, 0.293, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.292 left_y=-0.2467 left_z=0.0657 left_yaw=0.0017 left_pitch=0.0034 left_roll=-0.045 left_gripper=0.293 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -6.7897, 5.4906, 1.033, -0.2222, -0.0073, 0.5934, -0.3214, -1.0051, 7.0359, 1.7216, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-1.055, 1.4654, 1.272, -0.7208, -0.8051, -0.8047, 0.2914, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2923 left_y=-0.2501 left_z=0.234 left_yaw=-0.0003 left_pitch=-0.0177 left_roll=-0.0339 left_gripper=0.2914 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.9385, 9.0462, 1.0476, -0.4567, 0.0757, -0.188, -0.1709, -1.265, 7.1453, 1.7216, -0.0269, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2db9c6c72579d8527468ddad9b2bc489730b68c213541709fabcb3aabe3328f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66289c731327cc9711708e57cc03a44fedfda97360f96a141a4a7de01dcdcfc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d4e1095e0ccbbb2362fcc6f84568d6e768dfd890f60f601593a4632dfb716b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwQgKEAgSGAI4AUIIdGhpbmtpbmcSDN4ZnKJf7pu7NqwmHBoMMq4wdIsydMP5l5ykIjAwDhdi/0eXbzvV3rtBRt2ECOem2uGpuf1xmqA3cwPX+o+XwsHKG0tAPhSjrvAfQUkq3gcva+/FMnpgV9x5ml2kHppA7IOxwEBYsMmT6S0F+BaMSYne2+m0k2w6/VknP5RGjd/KEvO4QT4fHBeX4Ei4ICqqLT0Jnog7YFSnZbPr+FHfgKZ/b+WAdjl6/t8hqGI14G0RSaYOtoQwLzZVQVZTjc6LY/cDeqgK5d0K2J1DbTqmA5j5zgRkSIqwVnnncTl3zbeQ8TQlTKh5w1qtz3OFpFIui8eBG25T9v7GNS482N8mbhRvsqNcutcItfX/xjbVJyOR72Ygeqc36t8OMzdh8Kzuq+ZBRNUj1gcpxm2wBT37yRgBCqIqkUbQOnYOuy3ck2lEEnMDFE0bD9NET8QeB1PQtKM6ZC3WtRvLevLSKQmP1LvldyClwTHayQOprwuGbTU2y+lyHUK2Zw93o1llvNewMiznxHLOJrM/LxjLxKIrouWJT9sN7Xe42Y9Jnnrq7FXzYG4Tsu/AvMci8byokitktmpYAnSW/ca6Z1/IwTtlpB/HXsq16+FSyz95UvOuzTE6iofduh30H7gCxTARC4dgKuTP4Ni/FAT16Z1o6k9E46Rfjl5/ENFCDyvxWAJ6WIa6V+yudw1g+L/ozLTyiiFfW64+ZVbyteV1q/Pv4s9uEYbedaQykm3WX5haJBa1oE424AMIZAsp5bBwJJebdrXu9TFZalcDCla0Q4Gv/hOVONeO5W8VQyOF39pUREEk1mIroGMvmP02QE60h+l0O+BuF5RyzwHCHKFN7UjX0ZfC8fGKEXp5oPzjHA9yDqkEx+0F2kXA6tdz5g3tcVIfsEZd7Euk4gjBP/8RK3r/CsWEc4mgh3IV0LYCbc+QyFoRhsEfHlJmCtKNnjeGSKJJjyV9eZUKSdcLjdI/70LMLLA0iSLSnj8AV5q3Ysw5NRDuuGqvI0w2KHMKcscLottfY8JdHQNrmYATfip7qAWUidwOGTL6bVbWNIfvtdDQfwCTdFLqa70pQfrhljSQpalL5PTqFedaIkg88CUFEBWWYPkuri4ORLOYf+9AA850Lk4urmN3pRmXts1eY6pipIj1EePw1u6iQcYWMlPV0r9spCCE7x/OvmJ9SKHWfiz9r+bQ2X1xeZu+9U43w0q2lwNnWxT69cvd7zhKRa822Uz7Q25ZWdX0T7qB8VAVkG8liw/KagFSW5Amv/z+RFCN6FRVPhqI4PkOWu8miVAjuYb3IfWpR3L7kpkrFer6EYAfb6SrBDa0gwwIaLBaZsmpApvOVr36tbcQXuCaefAWBZ1RvIjKZ70d45K1i7OqnuNRryUmq6hinCSKCrTJsNIwpGPVVWtL6GAzBwUk4NvhQH1bbvAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0184TTpBUzWGwsM5sGzcqgp6",
      "input": {
        "note": "Bear lifted (gripper still reads 0.29). Wrist view shows the left basket ahead-left; carrying the plush over the left basket, which will hold the plush toys.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_0184TTpBUzWGwsM5sGzcqgp6",
      "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]: [-0.3248, 1.5284, 1.2285, -0.3763, -0.2642, -0.2501, 0.2912, -0.02, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4408 left_y=-0.096 left_z=0.2103 left_yaw=0.0187 left_pitch=-0.0852 left_roll=-0.0256 left_gripper=0.2912 right_x=0.2953 right_y=-0.0002 right_z=0.1778 right_yaw=-0.0044 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -7.5829, 9.7709, 1.9414, -0.1001, 0.1538, -0.0317, -0.1162, -1.4017, 7.0906, 1.7509, -0.0611, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b126bfad194cef5042cedba82091fb336dc9325ec9ef0fdad20b8ba9a7df57e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f020a585494e6ce3f5ba5fcfb217b4b402ec859f231666ea9f69dc4fbd74acd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f5136dc47e514a8ea61a99d59f243f2e031b7da4c2b2eff9fbe0d8a7d923a9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 6.482 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]: [-1.055, 1.6619, 0.7284, 0.046, -0.8165, -0.7956, 0.293, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.292 left_y=-0.2467 left_z=0.0657 left_yaw=0.0017 left_pitch=0.0034 left_roll=-0.045 left_gripper=0.293 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -6.7897, 5.4906, 1.033, -0.2222, -0.0073, 0.5934, -0.3214, -1.0051, 7.0359, 1.7216, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.055, 1.4654, 1.272, -0.7208, -0.8051, -0.8047, 0.2914, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2923 left_y=-0.2501 left_z=0.234 left_yaw=-0.0003 left_pitch=-0.0177 left_roll=-0.0339 left_gripper=0.2914 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.9385, 9.0462, 1.0476, -0.4567, 0.0757, -0.188, -0.1709, -1.265, 7.1453, 1.7216, -0.0269, -0.0806, -0.0171]\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 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3248, 1.5284, 1.2285, -0.3763, -0.2642, -0.2501, 0.2912, -0.02, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4408 left_y=-0.096 left_z=0.2103 left_yaw=0.0187 left_pitch=-0.0852 left_roll=-0.0256 left_gripper=0.2912 right_x=0.2953 right_y=-0.0002 right_z=0.1778 right_yaw=-0.0044 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -7.5829, 9.7709, 1.9414, -0.1001, 0.1538, -0.0317, -0.1162, -1.4017, 7.0906, 1.7509, -0.0611, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b126bfad194cef5042cedba82091fb336dc9325ec9ef0fdad20b8ba9a7df57e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f020a585494e6ce3f5ba5fcfb217b4b402ec859f231666ea9f69dc4fbd74acd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f5136dc47e514a8ea61a99d59f243f2e031b7da4c2b2eff9fbe0d8a7d923a9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSiQgKEAgSGAI4AUIIdGhpbmtpbmcSDGhEMPiCPyJQRuUhSBoMHzOWdgVNBsbSbatfIjBi97f0X1FoucE9Pm6Wi/x9b0whyK5fVOotk8naROvkMIbI1PUj1eZB47o2mGa7DHEqpgczEEPZdd7/w/rsJGqhxEjqzqVf4paU1tyyPrM5eLRoSZSt5WcQc75hXZBjnraOMFB/w0vAtS5AwCjwVbjJR/nYgq4NzMRkrCTohv0wHb4W6RQzXIqLoll/xcLvolPDcCsZFhvRWu5eb4dTEb5d6O7RGitIXmTuJpaeYKLMWBz/1wh/e6LSiS6A/1uoYH0d0Navd9Ih1q4ductjX4FMtf6M5aDHEJxEPYLjmhx0i+HYID1y/ffU5/kNGyYA/ME5dh+BC6wP2hBoZQtFBNNbNSEKkl+hsa/Fcf/5iYy3Ogd9XYuYOB6U8RzlZ8LfAuhpLkrcYHK7C1PyMmeHACB7ZLzRDX226XkqDIg6X/WkadBb2CD7XfqLtIl17Zmb25uBkT8Fqw8sVpe5w7lS677tHm1huIQePhyhRBBxqei9mjsPJTabhnq32GsykbaWoDw36jKEJuPG2Q/cwlq6p3UM3Vh9iV7W9qhnZrvOJ/RLSivhLWScxrVhjMj89GvW8tiXaqyY0ldPdxO3iFAfGN0/rT+lUA3fNfgzJss5PKzgxbZK4M0TxXLwNnl7yK/ed7yKMBS7WQqFVL+Sg6Xrmc0SiEy8O1VLPwKHTroS9HXZfNk845alrc4x4cu1r3Q6QxChG+8OPi8nJ9j/GrWA48wjX5U87xa9Hpg0s4K3iTySjbq4X5YUl8LgYCkFYOz3CgnAmHoJcC5n5srTcQWvnLvXQievaAwut5V27SN5tccec5CDqNW3m0exNdD8dl9Vvxy9lJSJNo0aeBhcHJw+7DeHsdGjG3iCJMazpzhhiYn+6X32iK9xRDRFYCH7OzUJFWrYm1Wjvt/LpWTSqLBMij/cM6CtFuJqzBnmdnyZISAsY3UV4PYtKxJPQ0RmpZh7GlP1JvW9vPYGe//JytRdtiT2XTebV2pMa+Wc0c2lImUZweFw6d7P14tk3Vlba9Rheks046onDHy/Ul3IiXlklNiqySbkJAwG1OWnffHppCRnnsYk6THvuqtKyYC1lLUTijIqO763I6EiXu2JsvP+QplQh5QzlKZYkwUvSuCIrLMPdy5WjVALz7XPFLAMO+FVm1N93c0yrS7nHUJoldFq/iG+lLK9Yq17+0jn1zEHv5Qj5YQeK9OWKyl+zc9vjH0pFC04gv4KNYTx4VT+ONMJikeN7v1hpnJ23OabTMuy4qVrG1MnQMk2DzYRNqPZm/N6H9ysrT1XQipEy/mfPaw8+15w5spxj5EVyD6WGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V3RhFbnsEXY99im2K6xxQm",
      "input": {
        "note": "Bear is dangling from the jaws near the front wall of the left basket. Moving a bit further forward so it's over the basket's interior.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.12,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01V3RhFbnsEXY99im2K6xxQm",
      "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]: [-0.3313, 1.7805, 1.4208, -0.3771, -0.2687, -0.2619, 0.291, -0.02, 0.8082, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4926 left_y=-0.116 left_z=0.1788 left_yaw=0.0247 left_pitch=-0.1412 left_roll=-0.0112 left_gripper=0.291 right_x=0.2955 right_y=-0.0002 right_z=0.177 right_yaw=-0.0044 right_pitch=-0.0233 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -10.1265, 9.4838, 1.7314, -0.1929, -0.0269, -0.0366, -0.3761, -1.0598, 7.1453, 1.6923, -0.022, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e92862eed7f6b3f550ee8951a8119271954778cb705631263f578bec3b99898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd23bd5154397b5af92fbd35218cd327f4d8408a1d657f07b559368a3b76f596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64e3ba86aa2054a388c0218da8e94aab5525d5d82f6b91d6a2527fcf82425ead",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 4.943 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]: [-1.055, 1.4654, 1.272, -0.7208, -0.8051, -0.8047, 0.2914, -0.02, 0.8043, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2923 left_y=-0.2501 left_z=0.234 left_yaw=-0.0003 left_pitch=-0.0177 left_roll=-0.0339 left_gripper=0.2914 right_x=0.2953 right_y=-0.0002 right_z=0.1782 right_yaw=-0.0044 right_pitch=-0.0191 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.9385, 9.0462, 1.0476, -0.4567, 0.0757, -0.188, -0.1709, -1.265, 7.1453, 1.7216, -0.0269, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3248, 1.5284, 1.2285, -0.3763, -0.2642, -0.2501, 0.2912, -0.02, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4408 left_y=-0.096 left_z=0.2103 left_yaw=0.0187 left_pitch=-0.0852 left_roll=-0.0256 left_gripper=0.2912 right_x=0.2953 right_y=-0.0002 right_z=0.1778 right_yaw=-0.0044 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -7.5829, 9.7709, 1.9414, -0.1001, 0.1538, -0.0317, -0.1162, -1.4017, 7.0906, 1.7509, -0.0611, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3313, 1.7805, 1.4208, -0.3771, -0.2687, -0.2619, 0.291, -0.02, 0.8082, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4926 left_y=-0.116 left_z=0.1788 left_yaw=0.0247 left_pitch=-0.1412 left_roll=-0.0112 left_gripper=0.291 right_x=0.2955 right_y=-0.0002 right_z=0.177 right_yaw=-0.0044 right_pitch=-0.0233 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -10.1265, 9.4838, 1.7314, -0.1929, -0.0269, -0.0366, -0.3761, -1.0598, 7.1453, 1.6923, -0.022, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e92862eed7f6b3f550ee8951a8119271954778cb705631263f578bec3b99898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd23bd5154397b5af92fbd35218cd327f4d8408a1d657f07b559368a3b76f596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64e3ba86aa2054a388c0218da8e94aab5525d5d82f6b91d6a2527fcf82425ead",
        "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_01CeWZJmJswM91J9MeZfED3A",
      "input": {
        "note": "Overhead view shows the bear still hanging in front of the basket's near wall; the basket is farther out. Extending further forward to get the bear over the basket interior.",
        "targets": {
          "left_x": 0.58,
          "left_y": -0.12,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CeWZJmJswM91J9MeZfED3A",
      "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]: [-0.2813, 2.1201, 2.0102, -0.6395, -0.2386, -0.2554, 0.2909, -0.02, 0.8139, 0.6079, -0.3866, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5746 left_y=-0.1189 left_z=0.2054 left_yaw=0.0467 left_pitch=-0.1599 left_roll=-0.0214 left_gripper=0.2909 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0044 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -12.6017, 8.6906, 1.3309, -0.1197, 0.188, -0.0269, -0.3624, -1.7299, 7.0906, 1.7118, -0.0464, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8173219f2c1d20040d5512895d4f3c30a010f4dea15c20ab68379c2a2f7af04a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5b5285d8e94b8f28c742e843e7d60375c974f1fc3fbf648acdf840f352cc404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0bde6bae8f022c2a5d5f0315d04662f76d3953d4ccbdfb6ba7f33f4b6a32f3ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 3.056 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3248, 1.5284, 1.2285, -0.3763, -0.2642, -0.2501, 0.2912, -0.02, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4408 left_y=-0.096 left_z=0.2103 left_yaw=0.0187 left_pitch=-0.0852 left_roll=-0.0256 left_gripper=0.2912 right_x=0.2953 right_y=-0.0002 right_z=0.1778 right_yaw=-0.0044 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -7.5829, 9.7709, 1.9414, -0.1001, 0.1538, -0.0317, -0.1162, -1.4017, 7.0906, 1.7509, -0.0611, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3313, 1.7805, 1.4208, -0.3771, -0.2687, -0.2619, 0.291, -0.02, 0.8082, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4926 left_y=-0.116 left_z=0.1788 left_yaw=0.0247 left_pitch=-0.1412 left_roll=-0.0112 left_gripper=0.291 right_x=0.2955 right_y=-0.0002 right_z=0.177 right_yaw=-0.0044 right_pitch=-0.0233 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -10.1265, 9.4838, 1.7314, -0.1929, -0.0269, -0.0366, -0.3761, -1.0598, 7.1453, 1.6923, -0.022, -0.0806, -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 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2813, 2.1201, 2.0102, -0.6395, -0.2386, -0.2554, 0.2909, -0.02, 0.8139, 0.6079, -0.3866, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5746 left_y=-0.1189 left_z=0.2054 left_yaw=0.0467 left_pitch=-0.1599 left_roll=-0.0214 left_gripper=0.2909 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0044 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -12.6017, 8.6906, 1.3309, -0.1197, 0.188, -0.0269, -0.3624, -1.7299, 7.0906, 1.7118, -0.0464, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8173219f2c1d20040d5512895d4f3c30a010f4dea15c20ab68379c2a2f7af04a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5b5285d8e94b8f28c742e843e7d60375c974f1fc3fbf648acdf840f352cc404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bde6bae8f022c2a5d5f0315d04662f76d3953d4ccbdfb6ba7f33f4b6a32f3ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkQkKEAgSGAI4AUIIdGhpbmtpbmcSDDF6ucVq6Ngb/vXqNBoMPt6lsGRPr/ovKSJ8IjC0NP8nG3miO27L2J5Dou/IblnLPBuC2Hb1/GAsHI5Y94WAUBlppu0f3MCsvlBcY84qrgg2Rs3MboNcQtJLwVGAIKN46JWmDn2bpNgyVUOEqQtXiNAqsRNBHpoeGH7II4fGwrWh1wIwlr7PCL5icIRJnL/sDdG4dy7X9AsQvU3I7GEew6SDgctMrnqst7VEbus7nO9UZdIyYJfGUkX30v2JnsWOkw1KkOMW364FBKjy3WkJGl4BiuN/mzsX4VvaCHuZDvGwXzATHstO4L+LXYuDPR+OgaZGPJqyQnjjxSq9DULMAFjISfV1l5qtC8tozlopOBOhwFMOhwRDhBODfX8W0YmAMQsYxWvG/hn8vWThWmS2juZCZDaIApvwc0iZ/fvD63l5M9UJfbz58ghdiOREIevQiSV3j+Gm2P/tffNZjOaPWwXBSCdYwdadv+bijnkGYRLsNlI+Vmoep/m+Y5o3VSod9m0Z90TzSegfijFzy3+AIrso+lTJtRSw7aPA4M5P3CkO5/CKVbwaZg9GoarmzHUi/Tmd160HxgcDleH5dCzRITK5RcNknKEIySyqcSfh6/sgOdM3HrKz/UpH7ea18R4ihBXtsQ40o2zSy1N6Wo9ELFshJ0aN7YI91ui/+kCeq+70/xxLPET+pnTEOKXae4MgHfA9MCOvwD3MTLWpjkLrQI9qp4ydaIgzJUrLs/FR7JDYpybxqFsDqCcz2sYRJBMrLdp7c1uf6biz3bnc44c1NnBo9YT0y/uTaMpm5ppjMmaUdLlz5rxHx0nQaDm2AI5g9Ncp8KA+Afr6qYdCv0qElhHZms/dvJ0TUHm69N59phunIP/g75LIcIGXJ5J6bJ+fhspyAuHKUb6M1zL0DywwfKiNegsOny9k1m3VP3HV36/z3CcXjrVr8R7zlATBQFyXhvUueoybslvbVCeOBORfyipSd4JefX8dhmN1yI/SUINvgLpgSDEhk4GTxwd/wvyRL2xAoKxY/9VYijNVV8LNhSUULHeqAH2iauocZh02uCzPJDYEokHWOmIr0R3qjr+KWCOhNGkEeOrICGWSkeICICkcAsagl+bnPnSYfSa/r+srpYiHt47NNtS0ZBHhXNsUh4A8ptaDe2jqO/Ns8sIMymLgl8lDt85fDRY2C0yCKzY+55C3mM8bOGsdHncmO5fOe2ZIsVe6VVR9oEArG227TAE4/JeglucJ/SRw5ma1qsgi3xX404LOGSzgpLWzNhCSz0Cdtq6TCc/n+R/DR1Q/nXC5+Vpuv91pHs6ZXvAeCEbFI6CMzGTSX/ulTp5LND8oxP+eAeuqdtWJbUrvQi6p02u37rWtFk/FqxsR3KLHB5uePLurrLQBZWz7Wv7s1bkvLuD0dEgBRunoiQ2ki4oG5PV6NrGVhVfMwENSlVrakajdq1CB6A19lb50GVvJ/5XXw2nzFY/omBWHwJ9fJzRiAE8Y/Ds2oI3RbBIiQqW4xGnaV1kqTshoEaQHxK4C3hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018scv53MTZECfVDCYiN5DCx",
      "input": {
        "note": "Wrist view shows the basket mostly to the left of the jaws and the bear overhanging its right rim. Shifting left to centre the bear over the left basket.",
        "targets": {
          "left_y": -0.05,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018scv53MTZECfVDCYiN5DCx",
      "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]: [-0.1455, 2.1281, 1.9797, -0.6624, -0.1486, -0.1852, 0.2909, -0.02, 0.8146, 0.6079, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5777 left_y=-0.0546 left_z=0.1819 left_yaw=0.0713 left_pitch=-0.2358 left_roll=-0.0149 left_gripper=0.2909 right_x=0.2959 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0042 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -17.7162, 6.2974, 1.6777, 0.0122, 0.2173, -0.0171, -0.2803, -1.4154, 7.1726, 1.707, -0.0269, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e4c880f335ca3499285e958ea263346a21b9c2accf729f3a3bcf11129c60620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36e9918c4a392499c26c18887638efa611a099186a5333a965c5014f685716a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee2f91eebc41977bc9a1a78af2ee980ab3ce8defd475fe7bc2a813ebeb1bb207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 7.125 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3313, 1.7805, 1.4208, -0.3771, -0.2687, -0.2619, 0.291, -0.02, 0.8082, 0.6083, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4926 left_y=-0.116 left_z=0.1788 left_yaw=0.0247 left_pitch=-0.1412 left_roll=-0.0112 left_gripper=0.291 right_x=0.2955 right_y=-0.0002 right_z=0.177 right_yaw=-0.0044 right_pitch=-0.0233 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -10.1265, 9.4838, 1.7314, -0.1929, -0.0269, -0.0366, -0.3761, -1.0598, 7.1453, 1.6923, -0.022, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2813, 2.1201, 2.0102, -0.6395, -0.2386, -0.2554, 0.2909, -0.02, 0.8139, 0.6079, -0.3866, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5746 left_y=-0.1189 left_z=0.2054 left_yaw=0.0467 left_pitch=-0.1599 left_roll=-0.0214 left_gripper=0.2909 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0044 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -12.6017, 8.6906, 1.3309, -0.1197, 0.188, -0.0269, -0.3624, -1.7299, 7.0906, 1.7118, -0.0464, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1455, 2.1281, 1.9797, -0.6624, -0.1486, -0.1852, 0.2909, -0.02, 0.8146, 0.6079, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5777 left_y=-0.0546 left_z=0.1819 left_yaw=0.0713 left_pitch=-0.2358 left_roll=-0.0149 left_gripper=0.2909 right_x=0.2959 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0042 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -17.7162, 6.2974, 1.6777, 0.0122, 0.2173, -0.0171, -0.2803, -1.4154, 7.1726, 1.707, -0.0269, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e4c880f335ca3499285e958ea263346a21b9c2accf729f3a3bcf11129c60620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36e9918c4a392499c26c18887638efa611a099186a5333a965c5014f685716a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee2f91eebc41977bc9a1a78af2ee980ab3ce8defd475fe7bc2a813ebeb1bb207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Jaws now over the basket interior. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DhiF5pCd6hPuvy7TfkQ4p1",
      "input": {
        "note": "Wrist view shows the jaws well inside the left basket's rim. Opening to drop the bear into the left (plush) basket.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DhiF5pCd6hPuvy7TfkQ4p1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 2.1246, 1.9797, -0.667, -0.1413, -0.194, 0.996, -0.02, 0.8146, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5765 left_y=-0.0562 left_z=0.1829 left_yaw=0.0692 left_pitch=-0.2381 left_roll=-0.0262 left_gripper=0.996 right_x=0.2959 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0044 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.0547, 6.7761, 1.5849, -0.149, 0.0562, -0.0464, -0.2393, -1.3607, 7.0906, 1.6874, -0.0269, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0f2cb263bed2887932de2f55e10fdffe46f20dfcbb517c36d55d20d72928237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a569d9ea983d321f393c4e7845f097e3d7381c31838848fbbfa9e3f7087dc388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33a679127bc47152aa551f7c2a4430d7f69865972cd22de077d7a4f81987fa47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 11.49 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2813, 2.1201, 2.0102, -0.6395, -0.2386, -0.2554, 0.2909, -0.02, 0.8139, 0.6079, -0.3866, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5746 left_y=-0.1189 left_z=0.2054 left_yaw=0.0467 left_pitch=-0.1599 left_roll=-0.0214 left_gripper=0.2909 right_x=0.2956 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0044 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -12.6017, 8.6906, 1.3309, -0.1197, 0.188, -0.0269, -0.3624, -1.7299, 7.0906, 1.7118, -0.0464, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1455, 2.1281, 1.9797, -0.6624, -0.1486, -0.1852, 0.2909, -0.02, 0.8146, 0.6079, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5777 left_y=-0.0546 left_z=0.1819 left_yaw=0.0713 left_pitch=-0.2358 left_roll=-0.0149 left_gripper=0.2909 right_x=0.2959 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0042 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -17.7162, 6.2974, 1.6777, 0.0122, 0.2173, -0.0171, -0.2803, -1.4154, 7.1726, 1.707, -0.0269, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 2.1246, 1.9797, -0.667, -0.1413, -0.194, 0.996, -0.02, 0.8146, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5765 left_y=-0.0562 left_z=0.1829 left_yaw=0.0692 left_pitch=-0.2381 left_roll=-0.0262 left_gripper=0.996 right_x=0.2959 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0044 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.0547, 6.7761, 1.5849, -0.149, 0.0562, -0.0464, -0.2393, -1.3607, 7.0906, 1.6874, -0.0269, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0f2cb263bed2887932de2f55e10fdffe46f20dfcbb517c36d55d20d72928237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a569d9ea983d321f393c4e7845f097e3d7381c31838848fbbfa9e3f7087dc388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33a679127bc47152aa551f7c2a4430d7f69865972cd22de077d7a4f81987fa47",
        "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_017r3WqwgEcGKfQAtanZHbom",
      "input": {
        "note": "Released; the overhead view is blocked by the arm and the bear may be resting on the basket's right rim. Pulling the arm back and up to check where the bear ended up.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_017r3WqwgEcGKfQAtanZHbom",
      "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]: [-0.3241, 1.1294, 1.1965, -0.886, -0.2443, -0.3168, 0.9975, -0.02, 0.8185, 0.6048, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3111 left_y=-0.0556 left_z=0.2508 left_yaw=0.0468 left_pitch=-0.2244 left_roll=-0.0388 left_gripper=0.9975 right_x=0.2948 right_y=-0.0002 right_z=0.1712 right_yaw=-0.0042 right_pitch=-0.0439 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.8496, 6.3111, 1.6093, -0.2466, -0.1441, 0.1343, -0.0205, -1.306, 7.2957, 1.8437, 0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e81e1f37c8063443186cd985726a9845b882832a9e342f1474e2dd89796ad4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8bf8fd66b809a8fe86c2d011d638fcaff45b11b6e0fb80bb6a9454f6bdac5d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5745263e7d207ad68d6bc874bb0c99614092c03141f61b3746d95af603262a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 3.497 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1455, 2.1281, 1.9797, -0.6624, -0.1486, -0.1852, 0.2909, -0.02, 0.8146, 0.6079, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5777 left_y=-0.0546 left_z=0.1819 left_yaw=0.0713 left_pitch=-0.2358 left_roll=-0.0149 left_gripper=0.2909 right_x=0.2959 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0042 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.6906, -17.7162, 6.2974, 1.6777, 0.0122, 0.2173, -0.0171, -0.2803, -1.4154, 7.1726, 1.707, -0.0269, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 2.1246, 1.9797, -0.667, -0.1413, -0.194, 0.996, -0.02, 0.8146, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5765 left_y=-0.0562 left_z=0.1829 left_yaw=0.0692 left_pitch=-0.2381 left_roll=-0.0262 left_gripper=0.996 right_x=0.2959 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0044 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.0547, 6.7761, 1.5849, -0.149, 0.0562, -0.0464, -0.2393, -1.3607, 7.0906, 1.6874, -0.0269, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3241, 1.1294, 1.1965, -0.886, -0.2443, -0.3168, 0.9975, -0.02, 0.8185, 0.6048, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3111 left_y=-0.0556 left_z=0.2508 left_yaw=0.0468 left_pitch=-0.2244 left_roll=-0.0388 left_gripper=0.9975 right_x=0.2948 right_y=-0.0002 right_z=0.1712 right_yaw=-0.0042 right_pitch=-0.0439 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.8496, 6.3111, 1.6093, -0.2466, -0.1441, 0.1343, -0.0205, -1.306, 7.2957, 1.8437, 0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e81e1f37c8063443186cd985726a9845b882832a9e342f1474e2dd89796ad4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8bf8fd66b809a8fe86c2d011d638fcaff45b11b6e0fb80bb6a9454f6bdac5d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5745263e7d207ad68d6bc874bb0c99614092c03141f61b3746d95af603262a5",
        "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_01E2VHHm6vkMQVVxVfKCXRDo",
      "input": {
        "note": "The bear missed: it is sitting on the table leaning against the front-right of the left basket (the basket looks shifted further back-left). Moving back over the bear to regrasp it.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.06,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01E2VHHm6vkMQVVxVfKCXRDo",
      "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]: [-0.202, 1.6405, 1.1988, -0.4049, -0.1555, -0.2501, 0.9977, -0.02, 0.8211, 0.6025, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0595 left_z=0.1418 left_yaw=0.0587 left_pitch=-0.2701 left_roll=-0.0469 left_gripper=0.9977 right_x=0.2945 right_y=-0.0002 right_z=0.1692 right_yaw=-0.0044 right_pitch=-0.0496 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -7.4325, 8.5949, 1.2576, -0.0855, 0.2808, 0.0024, -0.0342, -1.5932, 7.4051, 1.7021, -0.0415, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a6ef29b1448f7d72e5f52140a099f787e46e7f4cb36449e4c8f06c01e0b0552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:359fefe5b2486ceccec831829cfd6848e9d5e1facf737683301f0b0dd1dc6d56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61d0a700c4ba59328c4fb46457cec794b0862772aea462b07193062782b66237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 3.226 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1463, 2.1246, 1.9797, -0.667, -0.1413, -0.194, 0.996, -0.02, 0.8146, 0.6079, -0.3855, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5765 left_y=-0.0562 left_z=0.1829 left_yaw=0.0692 left_pitch=-0.2381 left_roll=-0.0262 left_gripper=0.996 right_x=0.2959 right_y=-0.0002 right_z=0.1749 right_yaw=-0.0044 right_pitch=-0.0305 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.0547, 6.7761, 1.5849, -0.149, 0.0562, -0.0464, -0.2393, -1.3607, 7.0906, 1.6874, -0.0269, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3241, 1.1294, 1.1965, -0.886, -0.2443, -0.3168, 0.9975, -0.02, 0.8185, 0.6048, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3111 left_y=-0.0556 left_z=0.2508 left_yaw=0.0468 left_pitch=-0.2244 left_roll=-0.0388 left_gripper=0.9975 right_x=0.2948 right_y=-0.0002 right_z=0.1712 right_yaw=-0.0042 right_pitch=-0.0439 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.8496, 6.3111, 1.6093, -0.2466, -0.1441, 0.1343, -0.0205, -1.306, 7.2957, 1.8437, 0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.202, 1.6405, 1.1988, -0.4049, -0.1555, -0.2501, 0.9977, -0.02, 0.8211, 0.6025, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0595 left_z=0.1418 left_yaw=0.0587 left_pitch=-0.2701 left_roll=-0.0469 left_gripper=0.9977 right_x=0.2945 right_y=-0.0002 right_z=0.1692 right_yaw=-0.0044 right_pitch=-0.0496 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -7.4325, 8.5949, 1.2576, -0.0855, 0.2808, 0.0024, -0.0342, -1.5932, 7.4051, 1.7021, -0.0415, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a6ef29b1448f7d72e5f52140a099f787e46e7f4cb36449e4c8f06c01e0b0552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:359fefe5b2486ceccec831829cfd6848e9d5e1facf737683301f0b0dd1dc6d56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d0a700c4ba59328c4fb46457cec794b0862772aea462b07193062782b66237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSoAcKEAgSGAI4AUIIdGhpbmtpbmcSDB+8qxE2b/9q8/v08hoMZB08irgJsvyQXXZAIjCu0Edz+vK3/HHTgPtW2tHHExlcP1iIF6TtvX3ZQJFm1oJGA+jh+ZLa6TUW58CLLIkqvQY4tcuNLsxprSj5t4mlLK/7yxPwrP4TL43a/HL1RobqMC3I7lrFZCclasOECcWImJUagqQvOnbZqzvNtu7k9VPPliAVxSup4WxvH0XPo9vX1jkn5OTwj+ThQ8p+3LfXriqffold1RJ+9UYvUqYvMa3NdnkckCuGfAxPWimGUFfScDEuQnNFj8CufWg5SARIQ7S131e8fhbj+qRP26f6LzVcvE0owY6vw90tRvbUGYydRepKtN2VKcRmK3+CMD0/wBFP/nsNkAkFK4+h8+qdtN01nruS0cHU2HrXFHyJqrL0+OCZbHpZTHBv0D38DUinNapM9bjX7bCOczCvSpJGcVE3PMJertLYWjNjrjDN7+acYliE/ezSdQoZlchoWCzkZdqJHdlK+jOqMh/rR+r0OpYK2GjDRJ8uXwbPCWVG3Nd0IrEa1wYlDomGgbITPJAvPuoCJgnKGKzXu/Rb/mrLY4mMdTMgdYTmbjYfW7eVBsYKVI2NOSkP1sboZBSc8JgS5PKb0x4g5687P7bYcNQ899FvuiO8d/gbjkt16BbC/fxxVNQgml7Z/CStRi7ytgJ2jw9byEKoZCJ8V/fA4vFgzph6MPPWk44zzR5lda5OvwaIwpxbxp98lnTelK9ehS7X4tUTb9uT+ywb9YCB9WfxqyCxET281OLMzI9Gu0ZIOs+RgoF83onlTo2mBxalzjJicZ79RTz9kjh1zJU6JkEJxXA94WUZuN6wprQ3egg7I7Lxcv1tJmdSWZ6YhntegDK5hbZwln9bDR/b1zbR4qVETHRahqlATCiOJereAMf/q58ed4pIZotw4w+Z4YyVh3Jr1KXJ4VMZINCDTPTuUBbqA+72psjQHnRkmX49Ge8zoJQAo3/iojBw2Hg11s7+KD8i9DGZcHSqYScZMJXaijVrbTwXRYmoxTOLubB7//o0Kbypx43aXBPKa5HltP1snO7K79oMrDz9Gkbug1q0bS2vIi1VVG9w7p4el84D8vSyS27QZtdX0nrTJTiOrZwN0FhCQkKzeu1d7+9eysRS9R8LPw73+tfD8LObWB7JFy5uF3OB7qUxzeWbFVKHe6+hJNpA4cJZo7OCAJ+N/RJobaIIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QpoYTR5EfqRHiQughCdwRj",
      "input": {
        "note": "The wrist camera is filled by the bear right in front of the jaws. Descending onto it to regrasp.",
        "targets": {
          "left_x": 0.47,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QpoYTR5EfqRHiQughCdwRj",
      "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]: [-0.194, 1.8053, 1.1091, -0.038, -0.1356, -0.2626, 0.9977, -0.02, 0.8211, 0.6022, -0.3927, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.486 left_y=-0.0675 left_z=0.0936 left_yaw=0.0504 left_pitch=-0.1651 left_roll=-0.0989 left_gripper=0.9977 right_x=0.2945 right_y=-0.0002 right_z=0.1691 right_yaw=-0.0042 right_pitch=-0.05 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.7778, 3.3709, 0.5348, -0.2564, 0.2027, -0.0073, -0.3487, -1.4017, 7.0906, 1.6825, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7693215396e7c734586b0e829d2c2a6cf1e54b0ffe4e2e3cf63680e934cb069b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b5955140ec813b2c3aea1435fd504f47fa9d71a75083ae90dab6c69bed81935",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:badd800e918e0d7c7c32565f37e84a435bd7b68ecc38896b53a0411360d87f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 5.097 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3241, 1.1294, 1.1965, -0.886, -0.2443, -0.3168, 0.9975, -0.02, 0.8185, 0.6048, -0.392, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3111 left_y=-0.0556 left_z=0.2508 left_yaw=0.0468 left_pitch=-0.2244 left_roll=-0.0388 left_gripper=0.9975 right_x=0.2948 right_y=-0.0002 right_z=0.1712 right_yaw=-0.0042 right_pitch=-0.0439 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -3.8496, 6.3111, 1.6093, -0.2466, -0.1441, 0.1343, -0.0205, -1.306, 7.2957, 1.8437, 0.0317, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.202, 1.6405, 1.1988, -0.4049, -0.1555, -0.2501, 0.9977, -0.02, 0.8211, 0.6025, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0595 left_z=0.1418 left_yaw=0.0587 left_pitch=-0.2701 left_roll=-0.0469 left_gripper=0.9977 right_x=0.2945 right_y=-0.0002 right_z=0.1692 right_yaw=-0.0044 right_pitch=-0.0496 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -7.4325, 8.5949, 1.2576, -0.0855, 0.2808, 0.0024, -0.0342, -1.5932, 7.4051, 1.7021, -0.0415, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.194, 1.8053, 1.1091, -0.038, -0.1356, -0.2626, 0.9977, -0.02, 0.8211, 0.6022, -0.3927, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.486 left_y=-0.0675 left_z=0.0936 left_yaw=0.0504 left_pitch=-0.1651 left_roll=-0.0989 left_gripper=0.9977 right_x=0.2945 right_y=-0.0002 right_z=0.1691 right_yaw=-0.0042 right_pitch=-0.05 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.7778, 3.3709, 0.5348, -0.2564, 0.2027, -0.0073, -0.3487, -1.4017, 7.0906, 1.6825, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7693215396e7c734586b0e829d2c2a6cf1e54b0ffe4e2e3cf63680e934cb069b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b5955140ec813b2c3aea1435fd504f47fa9d71a75083ae90dab6c69bed81935",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:badd800e918e0d7c7c32565f37e84a435bd7b68ecc38896b53a0411360d87f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cgsq9rjJAwfrrin29s2X71",
      "input": {
        "note": "Jaws pressed into the bear (stopped at 9 cm). Closing to grip 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_01Cgsq9rjJAwfrrin29s2X71",
      "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]: [-0.2005, 1.8118, 1.1046, 0.0231, -0.1265, -0.2771, 0.1093, -0.02, 0.8211, 0.6022, -0.3923, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4936 left_y=-0.0739 left_z=0.0999 left_yaw=0.0422 left_pitch=-0.1188 left_roll=-0.128 left_gripper=0.1093 right_x=0.2945 right_y=-0.0003 right_z=0.1691 right_yaw=-0.0045 right_pitch=-0.0496 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -9.894, 6.9538, 1.033, -0.2027, 0.1001, 0.7106, -0.0615, -1.2239, 7.0632, 1.7314, -0.0024, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:712f8d5077d46c55cb851bb5441389e6e5b37ece4f1f361cec45812f75de07ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d059b517edd9e9d7ba1de38e65d4354e56935581b01ec4b234b1468fced37d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:394a34a52ff44d48d0a8aeedfe54d660f6b0bf34768d7867a8c2ef7d2401a2bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 5.389 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.202, 1.6405, 1.1988, -0.4049, -0.1555, -0.2501, 0.9977, -0.02, 0.8211, 0.6025, -0.3927, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4447 left_y=-0.0595 left_z=0.1418 left_yaw=0.0587 left_pitch=-0.2701 left_roll=-0.0469 left_gripper=0.9977 right_x=0.2945 right_y=-0.0002 right_z=0.1692 right_yaw=-0.0044 right_pitch=-0.0496 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -7.4325, 8.5949, 1.2576, -0.0855, 0.2808, 0.0024, -0.0342, -1.5932, 7.4051, 1.7021, -0.0415, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.194, 1.8053, 1.1091, -0.038, -0.1356, -0.2626, 0.9977, -0.02, 0.8211, 0.6022, -0.3927, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.486 left_y=-0.0675 left_z=0.0936 left_yaw=0.0504 left_pitch=-0.1651 left_roll=-0.0989 left_gripper=0.9977 right_x=0.2945 right_y=-0.0002 right_z=0.1691 right_yaw=-0.0042 right_pitch=-0.05 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.7778, 3.3709, 0.5348, -0.2564, 0.2027, -0.0073, -0.3487, -1.4017, 7.0906, 1.6825, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2005, 1.8118, 1.1046, 0.0231, -0.1265, -0.2771, 0.1093, -0.02, 0.8211, 0.6022, -0.3923, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4936 left_y=-0.0739 left_z=0.0999 left_yaw=0.0422 left_pitch=-0.1188 left_roll=-0.128 left_gripper=0.1093 right_x=0.2945 right_y=-0.0003 right_z=0.1691 right_yaw=-0.0045 right_pitch=-0.0496 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -9.894, 6.9538, 1.033, -0.2027, 0.1001, 0.7106, -0.0615, -1.2239, 7.0632, 1.7314, -0.0024, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:712f8d5077d46c55cb851bb5441389e6e5b37ece4f1f361cec45812f75de07ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d059b517edd9e9d7ba1de38e65d4354e56935581b01ec4b234b1468fced37d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:394a34a52ff44d48d0a8aeedfe54d660f6b0bf34768d7867a8c2ef7d2401a2bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkgkKEAgSGAI4AUIIdGhpbmtpbmcSDNvRd9nDhQSp+NTdfxoMUyzR0QhpOghO3hOHIjB34I2LctqsK2ZbS1eRuLDLCTLAwTkV3kqRP4uFoM5IPPhWPEkhdPsHtbFvxzu2EkAqrwgouBNlRNLVYxFIfFQuyXCYaQL/uuijll+dz/YnwxK9mZDBesqSKQ+wTosT7gXFG45qwaY/KPjnuQnFm0x0RPaYXFp9SEqvT90/sb6hWKR5o9fF2abE9Nvs9pz3TImd4MQnic8xLT6RVO+PdYzgWkkaBI+X5Is96l56snSjyB0OyTQPKauoMpwSgWF5mhrFiUrWxDhs6uSPOsjXfkXIXda0qQbK/t7mCXlX0BjYgYIIOkoY+M3Bef0wuYhyMLcaq0syvHpznkotnpywoKPsZOYIY+zhU0Mz8WceIBl3EQ2pledx4KP1w8o4xHlRafuqVAdBQengPpsvLZoQBJ9v9Q8yG0KBxDee42EpbJtcyRSxWsue7IGqfZ1GrrAk+FXKRLPEwwBDPfI6hstirbny8s/ZyOKEYfJtsbKq502Rd9O5pAenQRHFmi/rkv14PFHZN1im2t0JB/vrzWh9KLWclJJkDiy7p/ea6JTU89mSncMyghGV427xrc+WnY5Ki1xE3ajar1yY8SMOVkkRPbuG2piQHs9PfyZupk1TSODF4tNn5i2+pUkeRuhaIP22xCJnsxm+B0OnxB9fYWbXf7G5y0npX7NDSorjtCzwzgCgLxVZBQWKER86SGAkVUh0om5x4LXXeI6crxMwcyXbxTHEipEc0c3r8HwiuKYwsEgIfl8s4nOf3FURG/CepW0VRBsTRzjF0sI5Ue/+KCissum2JG0/VbXrRVKAp9+AXSABrdQL93e6PHXhq8qrxOG90jhMMM21MrG3eh6N7oZV7cfM7WqJ0ggqN7YDzY3bJJZB+8ZzEFXfOIL4MG32VeBX1KbmOFAi6QRusTAVqu9dIrWmUTpRA0R5lDmPzGBKowT/eU2FUkyC/KZinDUMWNKzzWMthW4OqvOW2/HrXYTYA7e6X7koPXVUHPZOI0KcwKmkaHyS2CZOVX1aA02uYRvQ0t4aEm7nT/a8en/JK/TBs8cjR3HbIdus3qCsTPLL6lxSH4is3sWPt2Zuv/tuFNNJ2vfq7i+/N5byWrWAcfueklxSkp+QmjKOHnvdvGDflCQQOUdmEJb5LqS6Ls89Rh5zhA+RnMwkofpwu/XYRv5souDtLj/38biMxEQ0KSqBaBPSOO/kRbWQAn3a1IlH9LcTrmspcpQcE3LGrrkkbMtnu/hkPWRNbmNyry4uiLiZ5D/++vjq3evNWBZFWsOWe5GlpAZ0k7PHuFbvh138WaVY+pPVZR4HVLrwNhqj2ExczABWPSPvfbiZE7qOtaI8PAQ/zO+kLIsuX6d/1iZRVo6YBhXxXnxIJiKLHRbPnCnwFGHc7YRksHmOBjqJkWQ2B5I38kJGPC30+C+zB+INp9SGg6opnMOAMzeZiESYDltxLl1AHtaYDmkZlEf7XvDqK+6G29xSM9PzlnjIKzMO6LCzSY0iy1MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DxWUSUnL7r7y1pTWFfLVoW",
      "input": {
        "note": "Gripper settled at 0.11, holding the bear. Lifting high so it clears the basket rim (the basket is up and to the left of the arm in the overhead view).",
        "targets": {
          "left_x": 0.5,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01DxWUSUnL7r7y1pTWFfLVoW",
      "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]: [-0.1993, 1.8156, 1.9602, -0.8391, -0.1265, -0.2882, 0.1117, -0.02, 0.8249, 0.601, -0.3935, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5015 left_y=-0.0749 left_z=0.306 left_yaw=0.0495 left_pitch=-0.1295 left_roll=-0.1341 left_gripper=0.1117 right_x=0.2944 right_y=-0.0002 right_z=0.1673 right_yaw=-0.0041 right_pitch=-0.0557 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -9.0325, 8.7179, 1.663, -0.0904, 0.0855, 0.4713, -0.2256, -1.5932, 7.1179, 1.7314, -0.0366, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62d0201e8341ab6514001a97904ef7b7a73a90247615db9ae76a767ce40678b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b67c5535833de2dd28778e8968c71e18a8eb70f6c3911c5b013c4a7e71f2d6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c30b283acfdcc66681483093543ba53883300551d43d90cbe1ea1cd215224f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 4.553 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.194, 1.8053, 1.1091, -0.038, -0.1356, -0.2626, 0.9977, -0.02, 0.8211, 0.6022, -0.3927, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.486 left_y=-0.0675 left_z=0.0936 left_yaw=0.0504 left_pitch=-0.1651 left_roll=-0.0989 left_gripper=0.9977 right_x=0.2945 right_y=-0.0002 right_z=0.1691 right_yaw=-0.0042 right_pitch=-0.05 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.5265, -5.7778, 3.3709, 0.5348, -0.2564, 0.2027, -0.0073, -0.3487, -1.4017, 7.0906, 1.6825, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2005, 1.8118, 1.1046, 0.0231, -0.1265, -0.2771, 0.1093, -0.02, 0.8211, 0.6022, -0.3923, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4936 left_y=-0.0739 left_z=0.0999 left_yaw=0.0422 left_pitch=-0.1188 left_roll=-0.128 left_gripper=0.1093 right_x=0.2945 right_y=-0.0003 right_z=0.1691 right_yaw=-0.0045 right_pitch=-0.0496 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -9.894, 6.9538, 1.033, -0.2027, 0.1001, 0.7106, -0.0615, -1.2239, 7.0632, 1.7314, -0.0024, -0.0757, -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 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1993, 1.8156, 1.9602, -0.8391, -0.1265, -0.2882, 0.1117, -0.02, 0.8249, 0.601, -0.3935, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5015 left_y=-0.0749 left_z=0.306 left_yaw=0.0495 left_pitch=-0.1295 left_roll=-0.1341 left_gripper=0.1117 right_x=0.2944 right_y=-0.0002 right_z=0.1673 right_yaw=-0.0041 right_pitch=-0.0557 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -9.0325, 8.7179, 1.663, -0.0904, 0.0855, 0.4713, -0.2256, -1.5932, 7.1179, 1.7314, -0.0366, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62d0201e8341ab6514001a97904ef7b7a73a90247615db9ae76a767ce40678b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b67c5535833de2dd28778e8968c71e18a8eb70f6c3911c5b013c4a7e71f2d6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c30b283acfdcc66681483093543ba53883300551d43d90cbe1ea1cd215224f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7wkKEAgSGAI4AUIIdGhpbmtpbmcSDKdrspang7i167tNhxoMhVIPX8xrE9XwufdEIjC+JEnFUjCDOOodTUaXnCEqJvRN8GymC4XuSuaDz8RfivpHFIAg/tvJ4qRvnGm6XS8qjAmRR7z22WzZlCJHENX6v/6LTIIasMAQW22KS8yzEiN9SZtGwQyY0GYOqDJ6/qvlUYtEjncnzquqOfF8PAWkhBKILOZyXI4aaprM+2iQPv7aieGdirrZYvuG041inuVhhguvUbuHCIjvcjrmwlc2ODMX2YA08lPmYF9llqPnSavr0hcCOxC72W3cnrIJ0Hf/I7UIjhxOXmM6o3ZLceZGgJYhudc2HCfw0fsUmUS3uHZDdclC+Ium+CpTBgIeS6OKBbDvJ8JblHXRayfT2BYGn1SNGjbtXdKjAtsy7rmUOuhY+NMus98LV5fL8Jy2eXPXRj6yDSFveFWNQkwseQ3Zw7FHWyv/S8t8c2IGal5KuUnCDK++XE2LkqT7lvm/0L8tC6oElcnFLKZ2gK8aHWloaFBBm5nlIaMHr9vm2cAsQXFcPz1osNtFATC9uxtnjxBplk5hfY9FBcUXr7xEIzyTmT+wNTTbPa7M5GFkyCOgexinCr3uRnn9+dFs2EWt34QTJTtAcVZ4LAHiprE8ssIswAniZCHkzB9S+MrMhyXC3K9NePmhrR94+gy/r+pSVvLQ3LFrHn4r5cMgGYNWL5hKgCMLkW2KRK28N7sHAKSZacIT3dKkalOuLb4fJ79o+awfPPynWcXS763lqCrqBV2HfMjZ4UUwhPEqc7zKpBwrhPi9tzIU9+ZJ/oSEcczx0+5wwLtbFDF+jz9aWnyOL9t5Y65NLEB+bFljH0EmV32wXcRtTHI3r7ljOUGbvoCHpiThoO8T5m9SrIjvu9dqdkXVEx9MUf9lPiu3I1aJdRmVAdp8DqVDJc/Y+Hds+ZWg6b6gpv9Sk/WygtwmEf4+/u1gO0Bn1zuBuxc2dGVrIPTtx5RbA+gbuCLkpHwwA2siUSegHX/2rBqlWnRaSDVtt3FnUrsvxHgSWqwILr0ItWZCtnLSiG7/TRKVl6cCI7RYp+bOcoBnhaZEm2uX/GjZSIwL5+RzvyEpw3zaUtEbXqC7knWwVkLuT8cLQR23Raj41nux+GNtBvUGqJVf2k6dELSWLOl7c5TiTOZ+9ZSPQiWoab4YsmGPc5U0/OGvBRCCUW+3jT9ONWjj/9DNNtE8ssNH0tXaTolD3fX0dmrifbW/yD1ZXMlrdPUZtTfQonBxFu89+OkdXVfE3Gh51479KrRT+jp3D/TrNT/z2351vKYEazjz6zOWDwZUbizwAKCMcHULelKpJQhJ39DPvCTWc5HIqjDJMBU88QFEzw9pocY2f4QFf+NW2AsvRKNztjtgNVE3tRGnBw4TcMf0uY7p70oZZ47t3/Ee25HZrTQVDFemnSAAjrQH5QRUCEY9v71Fxjr6zpCoYB6/Osh0v06dMoZoSkpnc/z0cDcBiUvCIje8nYty25o10k0nH3xkicNr6Jon8cYWb3MSYQRWUdWAQEoLZkfQI5eiFSziEvQdvmomoWZ/Sqz0lqUgoqdgAticZWlI3yL2nnvotnYZLpkaZVgN38t24MCUw5QpMj63UILd6npAh2klkHTIdVz39Un0EH0kLsA/3fR+TIlxRjHYQXYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GJJrpN9RUoju3GiwS5EM5C",
      "input": {
        "note": "Bear held high near the left basket, appearing slightly right of it overhead. Shifting left and lowering toward the basket interior before releasing.",
        "targets": {
          "left_y": -0.02,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GJJrpN9RUoju3GiwS5EM5C",
      "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]: [-0.0597, 1.7638, 1.5043, -0.5705, -0.0368, -0.2214, 0.1135, -0.02, 0.8253, 0.601, -0.3927, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4891 left_y=-0.0191 left_z=0.1844 left_yaw=0.0809 left_pitch=-0.2702 left_roll=-0.1201 left_gripper=0.1135 right_x=0.2945 right_y=-0.0002 right_z=0.1674 right_yaw=-0.0041 right_pitch=-0.0553 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4171, -12.8752, 7.8838, 1.9805, 0.0855, 0.1245, 0.188, -0.0615, -1.0735, 7.0359, 1.7411, -0.0122, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9635a5444e0c994c32e33e99f8b583c5cead91580272aada8b612f5e6c0245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f027acd3cea1e1c58188db163e37dc4cf51d9510e6679630b5d95b5538f451c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4eb640f4de57768b853947bf9987e677d4790b93db9ce7f4512e575003a88255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 4.032 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2005, 1.8118, 1.1046, 0.0231, -0.1265, -0.2771, 0.1093, -0.02, 0.8211, 0.6022, -0.3923, -0.0116, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4936 left_y=-0.0739 left_z=0.0999 left_yaw=0.0422 left_pitch=-0.1188 left_roll=-0.128 left_gripper=0.1093 right_x=0.2945 right_y=-0.0003 right_z=0.1691 right_yaw=-0.0045 right_pitch=-0.0496 right_roll=-0.0001 right_gripper=0.9997\nstate[joint_eff]: [0.3487, -9.894, 6.9538, 1.033, -0.2027, 0.1001, 0.7106, -0.0615, -1.2239, 7.0632, 1.7314, -0.0024, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1993, 1.8156, 1.9602, -0.8391, -0.1265, -0.2882, 0.1117, -0.02, 0.8249, 0.601, -0.3935, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5015 left_y=-0.0749 left_z=0.306 left_yaw=0.0495 left_pitch=-0.1295 left_roll=-0.1341 left_gripper=0.1117 right_x=0.2944 right_y=-0.0002 right_z=0.1673 right_yaw=-0.0041 right_pitch=-0.0557 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -9.0325, 8.7179, 1.663, -0.0904, 0.0855, 0.4713, -0.2256, -1.5932, 7.1179, 1.7314, -0.0366, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0597, 1.7638, 1.5043, -0.5705, -0.0368, -0.2214, 0.1135, -0.02, 0.8253, 0.601, -0.3927, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4891 left_y=-0.0191 left_z=0.1844 left_yaw=0.0809 left_pitch=-0.2702 left_roll=-0.1201 left_gripper=0.1135 right_x=0.2945 right_y=-0.0002 right_z=0.1674 right_yaw=-0.0041 right_pitch=-0.0553 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4171, -12.8752, 7.8838, 1.9805, 0.0855, 0.1245, 0.188, -0.0615, -1.0735, 7.0359, 1.7411, -0.0122, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d9635a5444e0c994c32e33e99f8b583c5cead91580272aada8b612f5e6c0245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f027acd3cea1e1c58188db163e37dc4cf51d9510e6679630b5d95b5538f451c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eb640f4de57768b853947bf9987e677d4790b93db9ce7f4512e575003a88255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSiwgKEAgSGAI4AUIIdGhpbmtpbmcSDCc6kM7o7OPeplZTVxoMAfJtrOjeU2i8NyL0IjCCIJdEn9fLX2KfMIQp+ngNuSND6nsn7EmcoBH8uCxu4pWN9YRQl1qzgwuueWL3N/AqqAeI4sUDfwxaboquiOcAaE2ZZx2Z5vI1UkmOhZF+dEiBuiFda5+Z5qQQMjry+51FV6tG711+fzG/ZNYv0qH9Tc5p822/pC3eq3/gPeNaYZFFvMIYljXLEwKfffMbelH9AROfqdSP0ry9WnHFGFjiPq6Gqm/a+jOP0A079S6A0xAlHabOxLlodAUlUObb5AbyuO9P4XyvKeaihEcW4PodymqCx0xH8IagWuQmdsgyQOeQfr1/QnE26DOr8RkGB/P2gS2Iw2qXf5AWB5t6KaNwDIPE0wcPiA9Uiz1cnn+8empmygTuoqhJIp6yQprbqRLFmRu4rxga3z79zcjYK5t/SX89BOpf2ZiRJbWSssjN2E01jU4gPzWwUqCCeGJM45xv0v1dh3rcybGrcqq9aF7nalxysfKmjNgWQNJNOlY7MDcUtDPUYJPlAgpMJGLu+9a1rxO9EyTQ+ebbt3sd+nXkEq7hJDwouzuVSpRRF6BbVIerIPGjSaug+Bl5dovTUQHTlTAeC5IrGwzA75ktL2xKGoL8dwlVQvGHuc37avLhMJVQhl4B4tsvEm3+c+7uhyzmdBlLK4N4CvycKSfVUXAd+o87BszID+DgSztx5pGj7wf6hUcMFhx/cIRVE2RXEIoQe+AGqQQkYMHwCanu8Bt7xRfsMIphbZ+3jGz3JQpvg2DEvwO/71rrCA49/h2N/nIlnH85pHhkilZCR0BgiYFRI8sssrjFXaOT+hAHiZrN9IPjyt+tVTVO+In3d3693d5ym6Toq86/yrOsa0DBpYEkcTiUozq5rKJe7IPxtBayEHXcSyv9JtLAsh8iUGv1cy/ahEtUfL/U3josGzbgm3cpwy4ZT2OrydZdO5Lfe8yDHHv1HVxs+eb40bBXMGceMtdWEGwqVZ4lwEfufeRENVtw8/kYntUU0TylQC1g+Yc+hKVQM0OdZUI/vKbRz1nJvfPhC580WqWdLJP4akvfDKN1lykncVSPiy4EC8XnBRezitkJTA4ptDg9lwu0JnQQVjrRzeV0kGnwmRAM4Bpm845lYPLg8fr94qmNMvhAZ75w9UQoNqiVglzng8hOvRhQ0LGoidkvsoWhUQHJ5iU/926gHmVYBKwVV6w6OUWWQwze7GykU1jaRJXF8OBAz8m2VeTxe8Maa7bPLQxdW77ywLCogm6+SxVVqV0UKPY0roj/DshSLbwZXg/pla43tO/mOah/ghH50PdoJgU7TUhCSQhku8D6JRQ9OgluD6QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0157csJP2ef2KFyy9djtsQGU",
      "input": {
        "note": "Overhead the bear is still in front of and to the right of the basket, which sits in the far-left corner. Reaching further forward and left, near the workspace limits, to get over it.",
        "targets": {
          "left_x": 0.58,
          "left_y": 0.04,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0157csJP2ef2KFyy9djtsQGU",
      "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]: [0.0719, 2.2414, 2.3924, -1.0443, 0.0437, -0.1555, 0.1165, -0.02, 0.8288, 0.6003, -0.3931, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.5707 left_y=0.037 left_z=0.2231 left_yaw=0.106 left_pitch=-0.3345 left_roll=-0.1332 left_gripper=0.1165 right_x=0.2946 right_y=-0.0002 right_z=0.166 right_yaw=-0.0043 right_pitch=-0.0599 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -12.1504, 7.4325, 1.3114, 0.0611, 0.2808, 0.2955, -0.0615, -1.6205, 7.159, 1.6728, -0.0317, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b12441de5686a34e8ee3a204d29278074191c97b3994037662332ea5f1ba5d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00ceedeabcb49c3739e9b3809dee3a6245071389ee00b31d2b8456361a403fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70c51f579b8788044a4e922684f88bdf674bc17ef906e60848a761ae9f4a5e16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 11.44 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1993, 1.8156, 1.9602, -0.8391, -0.1265, -0.2882, 0.1117, -0.02, 0.8249, 0.601, -0.3935, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.5015 left_y=-0.0749 left_z=0.306 left_yaw=0.0495 left_pitch=-0.1295 left_roll=-0.1341 left_gripper=0.1117 right_x=0.2944 right_y=-0.0002 right_z=0.1673 right_yaw=-0.0041 right_pitch=-0.0557 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -9.0325, 8.7179, 1.663, -0.0904, 0.0855, 0.4713, -0.2256, -1.5932, 7.1179, 1.7314, -0.0366, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0597, 1.7638, 1.5043, -0.5705, -0.0368, -0.2214, 0.1135, -0.02, 0.8253, 0.601, -0.3927, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4891 left_y=-0.0191 left_z=0.1844 left_yaw=0.0809 left_pitch=-0.2702 left_roll=-0.1201 left_gripper=0.1135 right_x=0.2945 right_y=-0.0002 right_z=0.1674 right_yaw=-0.0041 right_pitch=-0.0553 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4171, -12.8752, 7.8838, 1.9805, 0.0855, 0.1245, 0.188, -0.0615, -1.0735, 7.0359, 1.7411, -0.0122, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0719, 2.2414, 2.3924, -1.0443, 0.0437, -0.1555, 0.1165, -0.02, 0.8288, 0.6003, -0.3931, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.5707 left_y=0.037 left_z=0.2231 left_yaw=0.106 left_pitch=-0.3345 left_roll=-0.1332 left_gripper=0.1165 right_x=0.2946 right_y=-0.0002 right_z=0.166 right_yaw=-0.0043 right_pitch=-0.0599 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -12.1504, 7.4325, 1.3114, 0.0611, 0.2808, 0.2955, -0.0615, -1.6205, 7.159, 1.6728, -0.0317, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b12441de5686a34e8ee3a204d29278074191c97b3994037662332ea5f1ba5d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00ceedeabcb49c3739e9b3809dee3a6245071389ee00b31d2b8456361a403fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70c51f579b8788044a4e922684f88bdf674bc17ef906e60848a761ae9f4a5e16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSywcKEAgSGAI4AUIIdGhpbmtpbmcSDP83/9KCtVDjmUrEKxoMkQHq0rl6JXNlJXxaIjDkqH9jxQ4KJAyw2yKJLD8QZWjRnEgK84pVhYn83yQ8HvBKzvP5cF1Cs28/kXvr57Eq6AbqYQfTNA3VXIY40Kzn0mTk9wIh8vGgxOBlPf73d+OcOePK0DDErC6fHAa+YieChKguIL8LHk1uAeFOR60ipIbRVYgXKTvRS97i/wkxLgGAJOfa3nqQ4bvNQCvKZX25HZcwvJvb7BWdLumH+ozoi4YycKcxVd3PokVbwJ8tY2LVfvT3TtB3k0pc8Ntox90MGXD316nJ8bdZ9lwFK1wLqHYpy2eh1Kb8QsFaZYBE2lnehhv7Zh9mgHGVaGQZcIRv4udPuUqZmXo8rxaMyiV5+RrYfTwNWiqxsIphsjzDO5BlS6I5XuN/J5TLz8L87Dfh7ussSCPirrxz4wWEEuYePbQlaljP52oRGTz4HPXeu7OLeGVH2f/6DZn0RzUmttoLogpYQMmBmYE3/fdydMbGEQLUjtWpWKFaao6XRibqjFeyWf2LoZDbQgIieXMtOTWNGoivfZ19onGBtVt2WTifkm7Xu5gHLM+H3OAXbX8bf9ByEEZwgrte4IkDm0gF4lCaGZ//5Loadm592vX2ZkecZ0a7XYUUAa3d8Z/2mmH4wfF7ulG2QRptTii5Iir3or2TL6xAoyAG1Og518x1ZyQfOu8iwo0vrO8DAguB1cSOfRuUH7Ln2cZsoJfy1ahqey5pQg5trRJYe4UAEf0mgfUxyeUFh3KuAkez2l1OfqSdBbAxZ58r00iMM2NYii5/bhRd+rfm0HemuZjmxi5KVWEPwXCQDYTb2Jp/5wPqdrV7HcNdHgK5mwka6fTnJkxs+8waW69nS8ZhVV+m/BEeUdxp3kD2xJ74HN1xI81y35j6zWVr5EObe7Rhmp12Ef24ffu/3rQi5SgXvjZy+eLUk5hB25BZ1nXFXtWuy7HkTMSefSdN995xRTBXlqt2WMoRJ834LmOrWq7R2TGyjUbUof2TNGWac9AVpCOjGsEynwTOJwaqP/rOlzuMxUDKvu7lPCwcuxotAy3Iri4ddbTfa0vgxcTBTlbIPiEkEH9Au/o16eVxHpD9/+lnIGhROiQHWOl9u6yrDc3N/45gLsi/Xsr9gBYCuRQvmXWFjqFQPZH6N92lNeB0xoUMbsbCK0JHI2+dTtvMkjaWSvHu02Nt/+W6GKryHNGxZp7wZqjKX5I9+Y7+eBjR7T0SapSAYsYzjc5L/8PUK33JC+v55RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U3UFo1pNr1eBa77KGZpPz3",
      "input": {
        "note": "Overhead the bear now overlaps the left basket's interior. Releasing it into the basket.",
        "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_01U3UFo1pNr1eBa77KGZpPz3",
      "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]: [0.0727, 2.2871, 2.3875, -1.0676, 0.0483, -0.1673, 0.995, -0.02, 0.8299, 0.5987, -0.3958, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5699 left_y=0.0365 left_z=0.1925 left_yaw=0.1104 left_pitch=-0.4094 left_roll=-0.1418 left_gripper=0.995 right_x=0.294 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0043 right_pitch=-0.0652 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -16.7316, 6.6256, 1.5067, -0.0659, 0.1392, -0.022, -0.0615, -1.3744, 7.1453, 1.7509, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:673398033214b6c87d8b3e881e4892086684dcb9fb7c701109ce81ec3a82d29b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685ee3e1e789d6d11bb2effda497fbd9361ef3f539cfe5cd5c9481e1dacf8bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a0734a5dd83aeac02a723f84460341dd5ecfc482be9fc660917a7aaf09f7f28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 5.221 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0597, 1.7638, 1.5043, -0.5705, -0.0368, -0.2214, 0.1135, -0.02, 0.8253, 0.601, -0.3927, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.4891 left_y=-0.0191 left_z=0.1844 left_yaw=0.0809 left_pitch=-0.2702 left_roll=-0.1201 left_gripper=0.1135 right_x=0.2945 right_y=-0.0002 right_z=0.1674 right_yaw=-0.0041 right_pitch=-0.0553 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4171, -12.8752, 7.8838, 1.9805, 0.0855, 0.1245, 0.188, -0.0615, -1.0735, 7.0359, 1.7411, -0.0122, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0719, 2.2414, 2.3924, -1.0443, 0.0437, -0.1555, 0.1165, -0.02, 0.8288, 0.6003, -0.3931, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.5707 left_y=0.037 left_z=0.2231 left_yaw=0.106 left_pitch=-0.3345 left_roll=-0.1332 left_gripper=0.1165 right_x=0.2946 right_y=-0.0002 right_z=0.166 right_yaw=-0.0043 right_pitch=-0.0599 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -12.1504, 7.4325, 1.3114, 0.0611, 0.2808, 0.2955, -0.0615, -1.6205, 7.159, 1.6728, -0.0317, -0.0317, -0.0073]\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 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]: [0.0727, 2.2871, 2.3875, -1.0676, 0.0483, -0.1673, 0.995, -0.02, 0.8299, 0.5987, -0.3958, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5699 left_y=0.0365 left_z=0.1925 left_yaw=0.1104 left_pitch=-0.4094 left_roll=-0.1418 left_gripper=0.995 right_x=0.294 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0043 right_pitch=-0.0652 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -16.7316, 6.6256, 1.5067, -0.0659, 0.1392, -0.022, -0.0615, -1.3744, 7.1453, 1.7509, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:673398033214b6c87d8b3e881e4892086684dcb9fb7c701109ce81ec3a82d29b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685ee3e1e789d6d11bb2effda497fbd9361ef3f539cfe5cd5c9481e1dacf8bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a0734a5dd83aeac02a723f84460341dd5ecfc482be9fc660917a7aaf09f7f28",
        "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_01YLLWEgwtcJui6XUaz2ixM8",
      "input": {
        "note": "The big bear is now inside the left basket (plush basket). Remaining: a small brown plush bear with a yellow pen beside it, and two white pens near the right basket. Moving the left arm over the small bear.",
        "targets": {
          "left_x": 0.26,
          "left_y": -0.14,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01YLLWEgwtcJui6XUaz2ixM8",
      "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]: [-0.709, 1.2381, 1.0969, -0.9215, -0.3389, -0.7944, 0.9962, -0.02, 0.8364, 0.5972, -0.4068, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2682 left_y=-0.148 left_z=0.1798 left_yaw=0.0518 left_pitch=-0.4135 left_roll=-0.1532 left_gripper=0.9962 right_x=0.2925 right_y=-0.0002 right_z=0.1598 right_yaw=-0.0044 right_pitch=-0.0843 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -5.1624, 5.7368, 1.2186, -0.3346, -0.0659, 0.1148, -0.335, -1.7026, 7.1179, 1.8339, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d00144418c5a563842977b1d8be6cb642b3293d521c33fbe768948a00c8539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3e9e7e8cf28108287f1f05c1317df28fab1e31228db0082205dce93d5afc1ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:696db561c3126c448149d7feda4903c1a9be43a0c212d03eddff523d0e235f10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 4.156 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0719, 2.2414, 2.3924, -1.0443, 0.0437, -0.1555, 0.1165, -0.02, 0.8288, 0.6003, -0.3931, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.5707 left_y=0.037 left_z=0.2231 left_yaw=0.106 left_pitch=-0.3345 left_roll=-0.1332 left_gripper=0.1165 right_x=0.2946 right_y=-0.0002 right_z=0.166 right_yaw=-0.0043 right_pitch=-0.0599 right_roll=0.0006 right_gripper=0.9997\nstate[joint_eff]: [0.2803, -12.1504, 7.4325, 1.3114, 0.0611, 0.2808, 0.2955, -0.0615, -1.6205, 7.159, 1.6728, -0.0317, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [0.0727, 2.2871, 2.3875, -1.0676, 0.0483, -0.1673, 0.995, -0.02, 0.8299, 0.5987, -0.3958, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5699 left_y=0.0365 left_z=0.1925 left_yaw=0.1104 left_pitch=-0.4094 left_roll=-0.1418 left_gripper=0.995 right_x=0.294 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0043 right_pitch=-0.0652 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -16.7316, 6.6256, 1.5067, -0.0659, 0.1392, -0.022, -0.0615, -1.3744, 7.1453, 1.7509, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.709, 1.2381, 1.0969, -0.9215, -0.3389, -0.7944, 0.9962, -0.02, 0.8364, 0.5972, -0.4068, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2682 left_y=-0.148 left_z=0.1798 left_yaw=0.0518 left_pitch=-0.4135 left_roll=-0.1532 left_gripper=0.9962 right_x=0.2925 right_y=-0.0002 right_z=0.1598 right_yaw=-0.0044 right_pitch=-0.0843 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -5.1624, 5.7368, 1.2186, -0.3346, -0.0659, 0.1148, -0.335, -1.7026, 7.1179, 1.8339, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d00144418c5a563842977b1d8be6cb642b3293d521c33fbe768948a00c8539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3e9e7e8cf28108287f1f05c1317df28fab1e31228db0082205dce93d5afc1ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:696db561c3126c448149d7feda4903c1a9be43a0c212d03eddff523d0e235f10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3ggKEAgSGAI4AUIIdGhpbmtpbmcSDFNuww7q6L3TslTnABoM6OJTabQcn49CcGu/IjBaH+8j1CxP+LjUUZhNDH1kCt4EqLg0ipfVeEWDkmt2Y7ykgKuCvfXP+6RT6DoFkmMq+weOV5DVvgkHZgY5gi6qnSfgsqfdKLlcrnv59YOCC+gifG6LgI1LZ9SDhqneWRUWkJeGOpce6GNRrH4MNcvOPEykojyNIRo6NYDRUu0Y7Ce7q1DBtkKVi6ud6Qs5uKpBpjq0U8KxkrhHctibajQR4h9bREz0j97kxqWcILvEMwih72KDy8JWx27I5ZfctfBqn9Wv4p3nqCg0y4vjNw9bDqbtn5nvjAWxuIuPs20QrkZZ9ufUTLSDAURujHVrfGQ+kPNLo4zUNOs5U6TbNu2dGs91Ju4hJiIR97EgOnjWqRXgyVc3VK/1vERmFpPkot0ZC8LSqs9uWHm17yI1E7KZ+gdD+UL0MBatPpMpxhkeQalrLioylk+eNM1jEw+5ep+J0P1GxatYQcS5dcydztp7al304zWF6jJLRzlXPgS24Ux+l0VrE4GWa1FqQXSZFuoPC07dJfJFq9mRE3Zhw7MWASasQ3UcQgvVO8RyGimRulMbAdX/UQiQOAjtY4ZmR1SjsVs64zbc0iyL7TZOIrhLHkdQEFpJzbgR50shsghXn415qNnpBqBWd+bCfr6JqDBVrQ/Op6UiBlGyoSVwu93vMkolGEOAYoKfBmwW0UPjtmpJLNQeDlk/+vbluG+9/Y0NaZpav7Zn6RzWy/KEcdvBPL4IovKJBIM0HPXj99BeM4q/qoH86iu1WKEzZhp+9Mf6F63Nqh5cZVkQgHORqpTkpy29DnByaSEHzWygc3pvSZoK9GdtmccIA39KhTF4f+qkucoa0oJkyHyU3nNBnjd5E4iO3O8ku36hthWqO8V8tr4X/vpYn2NWqr0GPL4igrjjQFZvUlLgKJAL8RWxnTR2SsvaqZnXhw6NlbSicQZtd0L4ScD27jkXE/3GvPbrNbNp647fM+KHW1MTaTyKUG+8ekATJ76YeeYVQxOwMKhbYezJtRH0yxKmJn3lSOT05UN7PW3+j69zM+I6WjUH5nmN/d53TshKOXUbq7/EyTlnPf18gVsYcg/99zh1OBW74T0QjRffkopvGk/KEm+cR61gXO+M/9zkBPEb++3MiSz7Hl6T2gsMqxw2QgYi6whlXxtBYjv3OfqdifdWkjE4WIrY/gp4AXVYf6x44WoD9QSVDt/UZmvEyvfUVp49RBXinU/wIplEaemH3zwkd1GhHor5Laqtt77q34tb7DbeebbEDS1dFCPLfGBbimED2MEv3NLCjMds5ZqI4jsoVVWBandIYHn/gOytY0jcJ6KYj6qitIauvoGo24x98toFFOtOEc8A/VKqCPRVT4Ufh/K/hqRHODH7X3iFF24ntM4uC/YqQwVbvv5oYCQV4F8qXPJh0J0T6IO245m2UYNT8RkBTxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EF4LPuBBbCMAzksDxH61AN",
      "input": {
        "note": "Small brown plush bear is just ahead and slightly left of the jaws in the wrist view, yellow pen to its left. Descending onto the bear with a small left/forward correction.",
        "targets": {
          "left_x": 0.28,
          "left_y": -0.13,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EF4LPuBBbCMAzksDxH61AN",
      "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]: [-0.6159, 1.3609, 0.5861, -0.3252, -0.2993, -0.7216, 0.9964, -0.02, 0.836, 0.5972, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2692 left_y=-0.1223 left_z=0.0289 left_yaw=0.0831 left_pitch=-0.46 left_roll=-0.1109 left_gripper=0.9964 right_x=0.2922 right_y=-0.0001 right_z=0.1596 right_yaw=-0.0041 right_pitch=-0.0858 right_roll=0.0007 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -4.5333, 6.0376, 1.3748, -0.1978, 0.0562, 0.0024, -0.0205, -1.4701, 6.9949, 1.6728, -0.0317, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f937e6da4ee74a4f8279e6befd01beffef8cecc580445662c6f7c273c17b87de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9a93eda72717e235fef7fa8ba024441788f8220cf6008652d00d129cd04fb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efc40a6fc2615b9fe3e90889378afb755699976a6267babe5498b81e3fef978f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 5.363 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]: [0.0727, 2.2871, 2.3875, -1.0676, 0.0483, -0.1673, 0.995, -0.02, 0.8299, 0.5987, -0.3958, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.5699 left_y=0.0365 left_z=0.1925 left_yaw=0.1104 left_pitch=-0.4094 left_roll=-0.1418 left_gripper=0.995 right_x=0.294 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0043 right_pitch=-0.0652 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -16.7316, 6.6256, 1.5067, -0.0659, 0.1392, -0.022, -0.0615, -1.3744, 7.1453, 1.7509, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.709, 1.2381, 1.0969, -0.9215, -0.3389, -0.7944, 0.9962, -0.02, 0.8364, 0.5972, -0.4068, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2682 left_y=-0.148 left_z=0.1798 left_yaw=0.0518 left_pitch=-0.4135 left_roll=-0.1532 left_gripper=0.9962 right_x=0.2925 right_y=-0.0002 right_z=0.1598 right_yaw=-0.0044 right_pitch=-0.0843 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -5.1624, 5.7368, 1.2186, -0.3346, -0.0659, 0.1148, -0.335, -1.7026, 7.1179, 1.8339, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6159, 1.3609, 0.5861, -0.3252, -0.2993, -0.7216, 0.9964, -0.02, 0.836, 0.5972, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2692 left_y=-0.1223 left_z=0.0289 left_yaw=0.0831 left_pitch=-0.46 left_roll=-0.1109 left_gripper=0.9964 right_x=0.2922 right_y=-0.0001 right_z=0.1596 right_yaw=-0.0041 right_pitch=-0.0858 right_roll=0.0007 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -4.5333, 6.0376, 1.3748, -0.1978, 0.0562, 0.0024, -0.0205, -1.4701, 6.9949, 1.6728, -0.0317, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f937e6da4ee74a4f8279e6befd01beffef8cecc580445662c6f7c273c17b87de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9a93eda72717e235fef7fa8ba024441788f8220cf6008652d00d129cd04fb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efc40a6fc2615b9fe3e90889378afb755699976a6267babe5498b81e3fef978f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStAgKEAgSGAI4AUIIdGhpbmtpbmcSDBWiXT0oIbrq7cHjZhoMc292Xj5zJo0d03uGIjBj/FADxrV2ilEBmaLYRAbdKjp1BYRQiIsVohR2tN6ClTzxq/8KssatDHakgyz4TFEq0Qc7xM+Uu7HdVxwcU9kElY5Nw9O4A9jumlAvMsR8ET2cHkgD1vAaTpvk2CMPkOTxUAYb+GM/m6lNGCtPwc9efBKu9MhGImMWYoTHZTyb/feaF5qknMxpnWjzXrzZ47CfGVuNtrASUG5lxgR1aOZKpbnhvi/dika6oDbWexz9dtXrjoYSJJ4oF6VXtMsfMYhKpptsBN7ECjUvGG88XVv11rKecDoCFl0mhrmqjHlmE4DQkwGtHRX4XvpdpBE2ERx8URhGZtUt68jmXznDBfB1CBZ9vExevW8pLHYsWnvPRNhuxD6N8OqlG2By0rleOmKL8GVWywlzYARnpI5Z2eN5fyOtIYIWOXr7zy5DzAm8aCBbut5DrPUSV96uYj3kCP++My4DCMopPwwe8D2L1d9pxvZOI9eXbu66ptTK7WEXG4aXzLjQPYWsUw48Qx+sIIHpYv4K+5qafHJ+EYMMBJkv5LLyQeiAOfgaiBGmSRZxY+bbJ+hyvU0/+LEGd23yQq8z3+n0s6P/fdhgX8CrP8vdIgO6/z4zf2mCXWu9OJhOC3LlAc1nt399dnAyoceeUZnpDVFdmNsG+JqFAqENIRPucO9uXI80V7TnpIHgOC9c5eWyWZTvlpD9xBfOBGllJY6jgus+njVH0ecr8uoKuDHsasn4W+6fTC4wu6Z80YcvNlU4LLGGipksb5eoWyrO6Th1JFpvI5/YzFEi3OpxTcKbjyheDx6EgNY3wNxcGVO63I7fC0v4j1kJlWZD8TPPdX++2AlO51PMPJO4NO/Qk4rJbshm/cqOKM2HOb0JJ3SHW1VBgo9fKuLbaKhAp+FcbcKQq3Tz0TVu5LKlDLzkV8/l9m2XFzTkS+EPIBpN5iJ1tXK7vR+OKISACbNiUIuFgLpvQT0TA2Jfx0dIlu6rFpJiBl551OEsYTmKb1G40nZ5fkjQ95PmOgH/jeqSpzSmwAG7qPlJxsd9y4jb8xgvRecgsYlJrjpj5nGaj3MyesKzbuhNMzgENqX/3OW5YCaXu3yUcHLBZg12HH/RPF8T7JIjFNPbnl8LwJkc1MbTkQwenmvq7xSMvSs3n2oq0PIpTmtEGAbcUnivBZcMvT4YsvSqdGhxlLRSir8lBLtQjKda6yDmu+x3Ryd+yPAbf/OB+xItJ6dWQuj3GymsCTZd0V8SMwNYlPH4G8miIUbSThjQ9xHvPAfMtfS56s7y8UmmHBXzo4wNY/1zEG8wPv9E2HEAlSbL/9BAELgMPM/5gomt/NxuoAiqdqL7xi2AsKg56Nt8vjkkZhyU3ogu9bAUaNOMkWBVfBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ak99ms6vWPfucKSxCax4fv",
      "input": {
        "note": "The small bear fills the space between the jaws at table level. Closing to grasp 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_01Ak99ms6vWPfucKSxCax4fv",
      "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]: [-0.6125, 1.3792, 0.5705, -0.313, -0.2989, -0.7254, 0.126, -0.02, 0.8364, 0.5972, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2659 left_y=-0.1189 left_z=0.0203 left_yaw=0.0956 left_pitch=-0.477 left_roll=-0.0977 left_gripper=0.126 right_x=0.2922 right_y=-0.0001 right_z=0.1594 right_yaw=-0.0041 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -6.0786, 6.8855, 0.906, -0.1734, -0.0024, 0.8132, -0.0068, -1.2923, 7.2274, 1.6386, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91281d3f155671a927f04e859a25c7487c2ff4dc91f741d50aae7dff62a87002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7a70c2958786210a4e56d5786317f1dd000dbc64393c48aa6b2bd33d7bd966e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87252d1b6569f6574ea1d0d0131ee3d5605df3adfe77b5eb9d601624e4e33163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 3.192 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]: [-0.709, 1.2381, 1.0969, -0.9215, -0.3389, -0.7944, 0.9962, -0.02, 0.8364, 0.5972, -0.4068, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2682 left_y=-0.148 left_z=0.1798 left_yaw=0.0518 left_pitch=-0.4135 left_roll=-0.1532 left_gripper=0.9962 right_x=0.2925 right_y=-0.0002 right_z=0.1598 right_yaw=-0.0044 right_pitch=-0.0843 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -5.1624, 5.7368, 1.2186, -0.3346, -0.0659, 0.1148, -0.335, -1.7026, 7.1179, 1.8339, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.6159, 1.3609, 0.5861, -0.3252, -0.2993, -0.7216, 0.9964, -0.02, 0.836, 0.5972, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2692 left_y=-0.1223 left_z=0.0289 left_yaw=0.0831 left_pitch=-0.46 left_roll=-0.1109 left_gripper=0.9964 right_x=0.2922 right_y=-0.0001 right_z=0.1596 right_yaw=-0.0041 right_pitch=-0.0858 right_roll=0.0007 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -4.5333, 6.0376, 1.3748, -0.1978, 0.0562, 0.0024, -0.0205, -1.4701, 6.9949, 1.6728, -0.0317, -0.0317, -0.0171]",
      "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]: [-0.6125, 1.3792, 0.5705, -0.313, -0.2989, -0.7254, 0.126, -0.02, 0.8364, 0.5972, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2659 left_y=-0.1189 left_z=0.0203 left_yaw=0.0956 left_pitch=-0.477 left_roll=-0.0977 left_gripper=0.126 right_x=0.2922 right_y=-0.0001 right_z=0.1594 right_yaw=-0.0041 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -6.0786, 6.8855, 0.906, -0.1734, -0.0024, 0.8132, -0.0068, -1.2923, 7.2274, 1.6386, -0.0269, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91281d3f155671a927f04e859a25c7487c2ff4dc91f741d50aae7dff62a87002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7a70c2958786210a4e56d5786317f1dd000dbc64393c48aa6b2bd33d7bd966e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87252d1b6569f6574ea1d0d0131ee3d5605df3adfe77b5eb9d601624e4e33163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuAkKEAgSGAI4AUIIdGhpbmtpbmcSDL5DLrj7kMhNRffo7hoMECIuynukW7gqG3gOIjBmEgBGe8UFM2nOY8jTBLvhHF75YGXqDQe5tQYgx5ocDkaMlf+89AfTB6HikAn/3igq1QhebKviRVtsehme0rzc4XSbyRbniSu+6f1mD6x1ae1bD508yZZf4j6a35Wtiv2OaOh5j/v4lxtI1bQ03rxC3ZXLCFZhVZm8oh2CVZw0oUqk430wZQdgJ8qrzq9TrjLMR8azJKTxhBIYImZ0lYWRbJaJsuCrVqB59LVbpPnweLJAsuY4NDhVieRrJkGryPQOfCWbQGCK27XWBGdyp82ROkrKB5sXx6pWxhO6Mo20pMbesZSPsfIl7/tz9EaL7iFX8P41BiUBh3GiZ48ROTm8ed6DoiZABbLvlrNd9APEeqWmZFXP21My8z6wR6P2hijoxjzxFZ1AWi3m4rlS32ki1U3LegBFyqwx6h/o+835EVC3R/t/Sug8OaLue4XF9tpHGuYzu7ZIKKPa4Ixiu1gTP2KKNwv0r4uoK5WPkcjnnOjiSENKQzKJn4oboZE2qwcbGCDONCIFVUs7uJmkppi2GPvq8frRYJIUmaV22nQUdgap4HJ/UAaSEM+Fl/JWo5pEsha/eGTXXt2cmwdNhoPpJ4defLZ2xkoTdXwvuGqNN8CIOsVAFKPSAF+4mYpZol3zI1uZEfp3hiloZb7sSS5z+xgwC9oYjLwPcxIEYBDg15sgktBCETlcDLeMKZhl3XWzkxGd+Yl0GFfaFOUrD+r0+CwrV1KF+t4NuIgxqHgXA5ctpe2yYXovPxbRVZotVWTpJl6tF0nwj3UEcwFWFR0aLY+AIOoXXHwru+4na+X0OHvRmQKAmT0FQs44fT6eRgTxI9p6/1ZiaLBLWRczoF32cX/Ny3svr9E35ulHVRDiEP+kpL6xPX1cdTvVkM0YpGC3SdC6uVMov0MqPyJEDqvLhSzYuGLpK3cJgmWvspeRF41ODzWJbK7p3Jo6S6j1hHVyZSOIUlVkWBKVyEneKA1EFaUVnxv8Dr0cDTl/t15sHqv4qXlVpY2eDrjmdEsOtmt+QHx+tw5FZ2A3+NcqSyzPD84BHeUh7VONgv8ZPL0oIZqS4S+y31eZY5s8ZNSdpwtstqPjvhnOrs6EagwKFpRlIyPdUtgOWvZPrsqqYWYisSakTiRoMgIq8+RToAniO9lyonSxZwNASjxb3/b9wWxOnekRDSOOnft6hRcfSwoRIKcKygNsEjqNBwzx3E87BuQS9F3Ms74iRTuyNvKmkPYo8SurltaORId+SCbrPZsWVc7a2t8y7VAz7a6SuEAwa3R3bZkwfnTRcMaZMIfQAxgs/NGhLJCqRsy58n813q0XepyzxHMJX7UFQ6gCsny+AQ5TUf4h6jbGub2NKzfqaVO/gNdd2brvRiuRbwBbkcxhnYefUkZZCnugfHIsHlvJDMemnF/e7kpBTcpIw0f7CRTVLeqMLyPHrkhns2kt3zunvHHaEMygc4nZRG3DU03mJvkLKu9BCUyymN+ljKn9EyDfAr7tqCDlv1DhEdt2NzH8LTwHbjIDMIQT/w5d9wOu939bu4KXu5ToHhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TDiPK7AMzt6ULei12tCFWa",
      "input": {
        "note": "Small bear grasped (gripper 0.13); the yellow item next to it is a Sharpie highlighter (pen class). Lifting and heading toward the plush basket in the back-left.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.03,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01TDiPK7AMzt6ULei12tCFWa",
      "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]: [-0.1165, 1.684, 1.8816, -1.2156, -0.0692, -0.313, 0.1276, -0.02, 0.8379, 0.5972, -0.4099, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4067 left_y=-0.0317 left_z=0.2718 left_yaw=0.119 left_pitch=-0.4554 left_roll=-0.1143 left_gripper=0.1276 right_x=0.2921 right_y=-0.0001 right_z=0.1588 right_yaw=-0.0043 right_pitch=-0.0889 right_roll=0.0011 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -7.7197, 7.1863, 0.7888, 0.022, 0.1099, 0.6716, -0.0615, -1.6068, 6.9949, 1.6435, -0.0513, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ced7695329de99ead53a2a1d89fce24094aa0084612be0fee5bf6c863e0b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b06c4fd947647642b4bffe94abd60a664bb0e41e1b2dc293daf31810a8a66f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cfec10558c2b453383cc8f93de601badf40d9ecea4a82d23a0b97a6a4a02764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 3.653 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]: [-0.6159, 1.3609, 0.5861, -0.3252, -0.2993, -0.7216, 0.9964, -0.02, 0.836, 0.5972, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2692 left_y=-0.1223 left_z=0.0289 left_yaw=0.0831 left_pitch=-0.46 left_roll=-0.1109 left_gripper=0.9964 right_x=0.2922 right_y=-0.0001 right_z=0.1596 right_yaw=-0.0041 right_pitch=-0.0858 right_roll=0.0007 right_gripper=0.9997\nstate[joint_eff]: [0.1983, -4.5333, 6.0376, 1.3748, -0.1978, 0.0562, 0.0024, -0.0205, -1.4701, 6.9949, 1.6728, -0.0317, -0.0317, -0.0171]",
      "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]: [-0.6125, 1.3792, 0.5705, -0.313, -0.2989, -0.7254, 0.126, -0.02, 0.8364, 0.5972, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2659 left_y=-0.1189 left_z=0.0203 left_yaw=0.0956 left_pitch=-0.477 left_roll=-0.0977 left_gripper=0.126 right_x=0.2922 right_y=-0.0001 right_z=0.1594 right_yaw=-0.0041 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -6.0786, 6.8855, 0.906, -0.1734, -0.0024, 0.8132, -0.0068, -1.2923, 7.2274, 1.6386, -0.0269, -0.0415, -0.0073]",
      "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]: [-0.1165, 1.684, 1.8816, -1.2156, -0.0692, -0.313, 0.1276, -0.02, 0.8379, 0.5972, -0.4099, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4067 left_y=-0.0317 left_z=0.2718 left_yaw=0.119 left_pitch=-0.4554 left_roll=-0.1143 left_gripper=0.1276 right_x=0.2921 right_y=-0.0001 right_z=0.1588 right_yaw=-0.0043 right_pitch=-0.0889 right_roll=0.0011 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -7.7197, 7.1863, 0.7888, 0.022, 0.1099, 0.6716, -0.0615, -1.6068, 6.9949, 1.6435, -0.0513, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ced7695329de99ead53a2a1d89fce24094aa0084612be0fee5bf6c863e0b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b06c4fd947647642b4bffe94abd60a664bb0e41e1b2dc293daf31810a8a66f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cfec10558c2b453383cc8f93de601badf40d9ecea4a82d23a0b97a6a4a02764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01He1EYoLCrTbMqBhoymiRGG",
      "input": {
        "note": "Carrying the small bear high; the plush basket is in the far-left corner. Moving to the same drop pose that worked for the big bear.",
        "targets": {
          "left_x": 0.57,
          "left_y": 0.04,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01He1EYoLCrTbMqBhoymiRGG",
      "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]: [0.0685, 2.5359, 3.023, -1.5448, 0.0124, -0.1818, 0.1302, -0.02, 0.8417, 0.5968, -0.4091, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.5452 left_y=0.0388 left_z=0.2152 left_yaw=0.1513 left_pitch=-0.4987 left_roll=-0.1105 left_gripper=0.1302 right_x=0.2923 right_y=-0.0001 right_z=0.1578 right_yaw=-0.0043 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -14.0239, 7.4325, 1.2527, 0.1343, 0.2808, 0.5739, -0.2256, -1.812, 7.0769, 1.6874, -0.0415, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a86da10f1074ae18b9bd1744c39d2d508f5421b943c7f2dc6a562594e7b6da63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:466b4878c3f6b85004b8e02e755ccdf50c8503e4a556d223e2ce34e704ea9709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e37fca99f22b10481d46b2b1c5fe2913579e078b7cb6bddd022883b89851e04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 9.145 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]: [-0.6125, 1.3792, 0.5705, -0.313, -0.2989, -0.7254, 0.126, -0.02, 0.8364, 0.5972, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.2659 left_y=-0.1189 left_z=0.0203 left_yaw=0.0956 left_pitch=-0.477 left_roll=-0.0977 left_gripper=0.126 right_x=0.2922 right_y=-0.0001 right_z=0.1594 right_yaw=-0.0041 right_pitch=-0.0862 right_roll=0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -6.0786, 6.8855, 0.906, -0.1734, -0.0024, 0.8132, -0.0068, -1.2923, 7.2274, 1.6386, -0.0269, -0.0415, -0.0073]",
      "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]: [-0.1165, 1.684, 1.8816, -1.2156, -0.0692, -0.313, 0.1276, -0.02, 0.8379, 0.5972, -0.4099, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4067 left_y=-0.0317 left_z=0.2718 left_yaw=0.119 left_pitch=-0.4554 left_roll=-0.1143 left_gripper=0.1276 right_x=0.2921 right_y=-0.0001 right_z=0.1588 right_yaw=-0.0043 right_pitch=-0.0889 right_roll=0.0011 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -7.7197, 7.1863, 0.7888, 0.022, 0.1099, 0.6716, -0.0615, -1.6068, 6.9949, 1.6435, -0.0513, -0.022, -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 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]: [0.0685, 2.5359, 3.023, -1.5448, 0.0124, -0.1818, 0.1302, -0.02, 0.8417, 0.5968, -0.4091, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.5452 left_y=0.0388 left_z=0.2152 left_yaw=0.1513 left_pitch=-0.4987 left_roll=-0.1105 left_gripper=0.1302 right_x=0.2923 right_y=-0.0001 right_z=0.1578 right_yaw=-0.0043 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -14.0239, 7.4325, 1.2527, 0.1343, 0.2808, 0.5739, -0.2256, -1.812, 7.0769, 1.6874, -0.0415, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a86da10f1074ae18b9bd1744c39d2d508f5421b943c7f2dc6a562594e7b6da63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:466b4878c3f6b85004b8e02e755ccdf50c8503e4a556d223e2ce34e704ea9709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e37fca99f22b10481d46b2b1c5fe2913579e078b7cb6bddd022883b89851e04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Small bear is over the basket interior (wrist view shows basket walls on both sides). Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019HwEuz2LKx5YcaEF2GJCee",
      "input": {
        "note": "Small bear is over the plush basket, whose walls show on both sides in the wrist view. Releasing.",
        "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_019HwEuz2LKx5YcaEF2GJCee",
      "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]: [0.0727, 2.4607, 2.7804, -1.4418, 0.0227, -0.1913, 0.995, -0.02, 0.8436, 0.5968, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.5444 left_y=0.0392 left_z=0.19 left_yaw=0.1544 left_pitch=-0.5642 left_roll=-0.12 left_gripper=0.995 right_x=0.2925 right_y=-0.0001 right_z=0.1573 right_yaw=-0.0041 right_pitch=-0.0938 right_roll=0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.5265, -16.8684, 5.5453, 1.2918, -0.1148, 0.0464, -0.2125, -0.1983, -1.6342, 7.0085, 1.663, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704f638f98e1d6ad4a5ad6b2969a682ca540e781fc07d8ba288b75489e13893c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be717c48690166578c67162d23724fe813a8c216e9e2f69df467f37b46c9d17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e7d854ab1a9a945880ea281933d764ce108852cfeaffd20551da0c294b8f135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 6.565 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]: [-0.1165, 1.684, 1.8816, -1.2156, -0.0692, -0.313, 0.1276, -0.02, 0.8379, 0.5972, -0.4099, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.4067 left_y=-0.0317 left_z=0.2718 left_yaw=0.119 left_pitch=-0.4554 left_roll=-0.1143 left_gripper=0.1276 right_x=0.2921 right_y=-0.0001 right_z=0.1588 right_yaw=-0.0043 right_pitch=-0.0889 right_roll=0.0011 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -7.7197, 7.1863, 0.7888, 0.022, 0.1099, 0.6716, -0.0615, -1.6068, 6.9949, 1.6435, -0.0513, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0685, 2.5359, 3.023, -1.5448, 0.0124, -0.1818, 0.1302, -0.02, 0.8417, 0.5968, -0.4091, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.5452 left_y=0.0388 left_z=0.2152 left_yaw=0.1513 left_pitch=-0.4987 left_roll=-0.1105 left_gripper=0.1302 right_x=0.2923 right_y=-0.0001 right_z=0.1578 right_yaw=-0.0043 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -14.0239, 7.4325, 1.2527, 0.1343, 0.2808, 0.5739, -0.2256, -1.812, 7.0769, 1.6874, -0.0415, -0.0366, -0.0073]",
      "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]: [0.0727, 2.4607, 2.7804, -1.4418, 0.0227, -0.1913, 0.995, -0.02, 0.8436, 0.5968, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.5444 left_y=0.0392 left_z=0.19 left_yaw=0.1544 left_pitch=-0.5642 left_roll=-0.12 left_gripper=0.995 right_x=0.2925 right_y=-0.0001 right_z=0.1573 right_yaw=-0.0041 right_pitch=-0.0938 right_roll=0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.5265, -16.8684, 5.5453, 1.2918, -0.1148, 0.0464, -0.2125, -0.1983, -1.6342, 7.0085, 1.663, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704f638f98e1d6ad4a5ad6b2969a682ca540e781fc07d8ba288b75489e13893c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be717c48690166578c67162d23724fe813a8c216e9e2f69df467f37b46c9d17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e7d854ab1a9a945880ea281933d764ce108852cfeaffd20551da0c294b8f135",
        "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_014PVrhmktaxUxRHHcjXx5yZ",
      "input": {
        "note": "Both plush bears are in the left basket. Now the pens go in the right basket: moving the right arm over the nearer white pen, which shows at the bottom-left of its wrist view.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.05,
          "right_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_014PVrhmktaxUxRHHcjXx5yZ",
      "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]: [0.0727, 2.4626, 2.7747, -1.446, 0.0235, -0.1944, 0.9963, 0.3206, 0.8127, 0.3767, -0.2924, 0.1993, 0.1486, 0.9997]\nstate[eef_state]: left_x=0.5431 left_y=0.039 left_z=0.1867 left_yaw=0.1561 left_pitch=-0.5763 left_roll=-0.1212 left_gripper=0.9963 right_x=0.2638 right_y=0.0545 right_z=0.0929 right_yaw=0.0672 right_pitch=-0.1493 right_roll=-0.0136 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.4906, 5.9009, 1.116, -0.0269, -0.0366, 0.1197, -0.1299, -0.8821, 7.3641, 1.8388, 0.2271, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65bed0dfe33a94d2662ba5065fda36e5f0f3eaaa1d2ea710b497c0679ce72e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad89e24c729f9c25493ed48a9a24ce372e76ed8394e2b9375c3c6090f8adf8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7bd568533b7b7928b0393f97c0d8f336f71c1372d3ea0e8db51113dd6d8ee158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 3.789 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]: [0.0685, 2.5359, 3.023, -1.5448, 0.0124, -0.1818, 0.1302, -0.02, 0.8417, 0.5968, -0.4091, -0.012, -0.0162, 0.9997]\nstate[eef_state]: left_x=0.5452 left_y=0.0388 left_z=0.2152 left_yaw=0.1513 left_pitch=-0.4987 left_roll=-0.1105 left_gripper=0.1302 right_x=0.2923 right_y=-0.0001 right_z=0.1578 right_yaw=-0.0043 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9997\nstate[joint_eff]: [0.2667, -14.0239, 7.4325, 1.2527, 0.1343, 0.2808, 0.5739, -0.2256, -1.812, 7.0769, 1.6874, -0.0415, -0.0366, -0.0073]",
      "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]: [0.0727, 2.4607, 2.7804, -1.4418, 0.0227, -0.1913, 0.995, -0.02, 0.8436, 0.5968, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.5444 left_y=0.0392 left_z=0.19 left_yaw=0.1544 left_pitch=-0.5642 left_roll=-0.12 left_gripper=0.995 right_x=0.2925 right_y=-0.0001 right_z=0.1573 right_yaw=-0.0041 right_pitch=-0.0938 right_roll=0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.5265, -16.8684, 5.5453, 1.2918, -0.1148, 0.0464, -0.2125, -0.1983, -1.6342, 7.0085, 1.663, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [0.0727, 2.4626, 2.7747, -1.446, 0.0235, -0.1944, 0.9963, 0.3206, 0.8127, 0.3767, -0.2924, 0.1993, 0.1486, 0.9997]\nstate[eef_state]: left_x=0.5431 left_y=0.039 left_z=0.1867 left_yaw=0.1561 left_pitch=-0.5763 left_roll=-0.1212 left_gripper=0.9963 right_x=0.2638 right_y=0.0545 right_z=0.0929 right_yaw=0.0672 right_pitch=-0.1493 right_roll=-0.0136 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.4906, 5.9009, 1.116, -0.0269, -0.0366, 0.1197, -0.1299, -0.8821, 7.3641, 1.8388, 0.2271, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65bed0dfe33a94d2662ba5065fda36e5f0f3eaaa1d2ea710b497c0679ce72e1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad89e24c729f9c25493ed48a9a24ce372e76ed8394e2b9375c3c6090f8adf8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd568533b7b7928b0393f97c0d8f336f71c1372d3ea0e8db51113dd6d8ee158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSigoKEAgSGAI4AUIIdGhpbmtpbmcSDOCc4J8s4NrNKulxQRoMu89WC3gwalnvgTqGIjDCyglp2gLGv17tvmVebmo9zr/L5U439wn0O5pVp9l1b4QZm41WXugsSazNkMYSpbAqpwnC+TCDUlUNkZNhexOPmnio7aTSAPK4egcD1ryBDLPeUhGv3MsSlXthTgD3zYy13B7oUx8136k3u/qEuVae92cu51FZJeys+63boTFZqoghemPT2E+zU1031SQSYmZUoRLmrX2ZUTYfdT4TVfIDom1TyN7Ly4bO1A7L3GB1Pe99V4GyXOKb0AVnkzYmufp4DTTktL+FoxqBi5nG4fe8aXM1qWktEaXckVDSc6osZ+pfo6KP0Qu05zFqdFGPc/wBwPGtPy8ZwjTuxRvQegeJ6ZjR2A2X8LCldIq2CCJdoEuYQyjDpctVRjMwAyDODFrnfjzHXECmtk5cuptQ6cuscLMixG2xOB7PjwnTqhLC1p22BaiJ+zzPDAFXCAHsLfJFk52uJzGW1qg96TWdX+z2XRoMo0AEbR+IIvap+98BDZjpLoh0TXjCZLshILCcD94vTDKEbgllIszXiEBvzaD0Ba95Oa7IjHkwNcSywhmXYzGUOGVs9B3zYu9Ig5FWoVMGtrGcHpEvX0+xgPHTUablbNQxnAzoAq8s/K4P6veX0nC/RoWZKelWtDxIgaXB8AcbRBgT4O3YHjHrtBYsabQVIX23IZ1cwGrnZ6Np+3G5bNcG3taYX7G9V043Ydo2JZkQzp9VCamICPFTz64RiTLZR6yme+/38nHYz46CR/Addpdy0eQqefrHBTBWEkvYlqQYRaTfPkEnIbt1Dlprg0tjRIOI9uH1vbQR6DWKd3KkKsUkrv/IimsBvxhHjIme3Y6AqsaId6ti35hA8rxcBXsBkZ76/hoozf7NVCE7nbjilVfPbp6E6I7+aPWd7V6t6ecyiHdj16OlKlYs60dH+ZoDvHkYBEJXY5RCBCrQQFMd9ibEMgdPfxlgxOfjGD45V2Li92NJfMnJMp31Dp+rn1sZ3rxXqfa9/DLyxJBF2NNbqY93pUKEo26BuaO+z4g8GWFMA8oS/CVzP+IkdNxvG9G4jpiKPzF5n7Ot8h3p9pt/OjJOj8GeTwWFQu8IrcyO3aKZphPTPUmgbV8dDEORC+Yc1+ZZUW3IfZMLbYK6fq1MpJZ25lOuWdpdFqun3ZR7NcALLKbJZ5IsZBMjc+mAZuwAlad+jM64KRUYScCRXpw/oqaKCpJhSiBKGYAHCRcecBWgGithP0M4YAlGNasVa5eCAQgmfwJoqL8ijzGXOrT6bf1xtyoWiSv805S88RJebe542j0xqg79Z6Ur5hqzqeVFyUpJzSvq30HSiHo+jZZ1U3C7idMqDDSlYBleXVorkEzAm+qWDGfL61ZZ8yRiEJy5uDN9w7oYntPzi2izjxHouNxnpzFPNEW4TfqO0Ez5vpy4kgP7J4Hazm08CnyWbUeLESHdcYWiE/1vbs0fSbkzx0RQ+16UrtC2zzyeWFB/pu+UwPcUM9a5Aj9YzNFGHYFft6Jy63+gMBHZPoQf4k009oZpdiVDbHTAQBT8Hq11DEYuF/WzTI2mAq7a8AXH47PQKjLBUkM90gVT5bl7/0fMjWZQyP472Np3mMEwpKPDqR4agVZM9Xvg/AfGAOHbEiszzsUjlFYj0Wsw93huYgedIXE2B2Y2os3wj5cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XKHyehcfhudujBoeDNVCsp",
      "input": {
        "note": "The white pen runs forward from the lower-left of the right wrist view, about 5 cm left of the jaw column. Shifting left to centre over it.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.1,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XKHyehcfhudujBoeDNVCsp",
      "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]: [0.0727, 2.463, 2.7739, -1.4475, 0.0238, -0.1947, 0.9964, 0.522, 1.0409, 0.3817, -0.1822, 0.3141, 0.26, 0.9997]\nstate[eef_state]: left_x=0.5427 left_y=0.0389 left_z=0.1861 left_yaw=0.1561 left_pitch=-0.579 left_roll=-0.1215 left_gripper=0.9964 right_x=0.2644 right_y=0.0933 right_z=0.0598 right_yaw=0.105 right_pitch=-0.2273 right_roll=-0.0464 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.1897, 5.5316, 1.072, 0.0073, -0.0171, -0.0073, 0.335, -3.0291, 9.5521, 1.4921, 0.3394, 0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58625679748dfefceec6713ff33d924b1587dc33d84357a8f39fe0cc93827a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a26c541bf4518b14bfc003f89519e305f4c0b3ac2c6a48b107a1b3fed4230a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8205784da67ba9f9c7bcdd2642965650f2485c5c001e600ff0ff073c1f47cb1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 3.633 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]: [0.0727, 2.4607, 2.7804, -1.4418, 0.0227, -0.1913, 0.995, -0.02, 0.8436, 0.5968, -0.4088, -0.012, -0.0166, 0.9997]\nstate[eef_state]: left_x=0.5444 left_y=0.0392 left_z=0.19 left_yaw=0.1544 left_pitch=-0.5642 left_roll=-0.12 left_gripper=0.995 right_x=0.2925 right_y=-0.0001 right_z=0.1573 right_yaw=-0.0041 right_pitch=-0.0938 right_roll=0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.5265, -16.8684, 5.5453, 1.2918, -0.1148, 0.0464, -0.2125, -0.1983, -1.6342, 7.0085, 1.663, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.0727, 2.4626, 2.7747, -1.446, 0.0235, -0.1944, 0.9963, 0.3206, 0.8127, 0.3767, -0.2924, 0.1993, 0.1486, 0.9997]\nstate[eef_state]: left_x=0.5431 left_y=0.039 left_z=0.1867 left_yaw=0.1561 left_pitch=-0.5763 left_roll=-0.1212 left_gripper=0.9963 right_x=0.2638 right_y=0.0545 right_z=0.0929 right_yaw=0.0672 right_pitch=-0.1493 right_roll=-0.0136 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.4906, 5.9009, 1.116, -0.0269, -0.0366, 0.1197, -0.1299, -0.8821, 7.3641, 1.8388, 0.2271, 0.149, -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 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]: [0.0727, 2.463, 2.7739, -1.4475, 0.0238, -0.1947, 0.9964, 0.522, 1.0409, 0.3817, -0.1822, 0.3141, 0.26, 0.9997]\nstate[eef_state]: left_x=0.5427 left_y=0.0389 left_z=0.1861 left_yaw=0.1561 left_pitch=-0.579 left_roll=-0.1215 left_gripper=0.9964 right_x=0.2644 right_y=0.0933 right_z=0.0598 right_yaw=0.105 right_pitch=-0.2273 right_roll=-0.0464 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.1897, 5.5316, 1.072, 0.0073, -0.0171, -0.0073, 0.335, -3.0291, 9.5521, 1.4921, 0.3394, 0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58625679748dfefceec6713ff33d924b1587dc33d84357a8f39fe0cc93827a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a26c541bf4518b14bfc003f89519e305f4c0b3ac2c6a48b107a1b3fed4230a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8205784da67ba9f9c7bcdd2642965650f2485c5c001e600ff0ff073c1f47cb1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrQcKEAgSGAI4AUIIdGhpbmtpbmcSDMZGeoSFkt2AZeOQcRoMudagq5EJlR5B58GKIjAh5pgnquQ7T6Q6+r1i5yCyf6eP2utcaIc++XlRJF79IxGjN1rhOSuhnv5KZ5zfA94qygZ3yQolomxmUxnBzIvyAIhGPrQQFKeStYy8JVSCwdD4snpOhYwThypz2FVcqtju5qSKY831vPcOwRM8l4+bLU7Am3uTaq2B6FjR7uu8tQXGuDdOqLvySmT7vIyBP3GrrRo8xOoPPqt6vGVPfg7l4yWru+pHRoTPYVIoVQNh3hZ1DsBQzjcAa9uSO6yHarw94TEjFGeIwm1xD9UTxPcCrY+rhi9ce8v4DQu5pbMONHXwWk6KlHVjR+dKwzwRlgVq/Mj3I66536v+KCY/PAAYVnxwZOMYeF7EDaOk1R+g9uvy9i/GEe19yn+K4pMMpkPg5ddd4RzweFMRt2hzou7pFq4JayL2lP7BIG+vWUMKkRgcDv+0YOy+/v8GNX5tycwmEOf8EgfcLzKdbTvOL/suONbHtw1mnBfIZ+nHnQ9yY+aLkVijvl1enPuPXUF5iOCQM2ltnD7ixB0oYava2/NGjuaGF6kWbZiJyW+JD/cwOmS5NF76bTWr/cu7kYu0T/nOtX9UKh/eZMCcTUayFzkBky6X068ahuXsNxpfkwnC5uee9CyMcGSnKPXUW7XPqRRkqUliNtiUaARjkBrmExMp7HtgxCSyo44V6oNka8TN2uLXgAgIKMjIN5h1ysvJmQPk4ZkSFK30RRTOfHNUrHbxXU7ZNUggmySPm6oCiSOFSzp8LCsWVaZxgBA1vK/0c+V3YigKgO1RzY9J41dgyJCj51nqpST6s1XzCjJY+pNXmys5IgrcwgNeBl7dG1AAfKK2MncJaI1fGHj7f7ZRuLqTH5M642zwmNnlSigsY+aU2iz50yyVYOV9iVBNbM/d8mRCvKvpdZwDbWid3KjhGHJ5L2LPU/w6JFOKtZnQqA7DuieKJAbQOZpuRPLFuuSTQluTrb4lEhG3kFvdQjFzh8WSulz+gBgDZEXZvW+xiETwioOGatwRE6+vJCnY6rYHikTwNXVcXsYCcxwvxwPFElOJq5/KVdF1nJRnGi1ilYPTX2makp55oy0rwtx7k/SAX19vmX/nUuW6cTqwgWYwbFELtzRM3n04S0a+7nExotLxCq9jLb3XrVcGmOeIL2gjfT3O+RIad/NW8Ea33HKMlGeFVK7I/nZwlgczslptCRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FF5xX5Gt7VLNHbDXKDnA6U",
      "input": {
        "note": "The white pen now runs up the jaw column, just slightly left. Descending to table level straddling it.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.105,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FF5xX5Gt7VLNHbDXKDnA6U",
      "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]: [0.0727, 2.463, 2.7728, -1.4467, 0.0235, -0.1947, 0.9964, 0.5404, 1.0641, 0.3939, -0.152, 0.3401, 0.2897, 0.9997]\nstate[eef_state]: left_x=0.5428 left_y=0.039 left_z=0.1858 left_yaw=0.1566 left_pitch=-0.5793 left_roll=-0.1211 left_gripper=0.9964 right_x=0.2705 right_y=0.0977 right_z=0.0644 right_yaw=0.0876 right_pitch=-0.2013 right_roll=-0.0343 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.3812, 5.5316, 1.0525, -0.0317, -0.0562, -0.022, 0.1026, -3.0291, 8.4855, 1.6386, 0.2906, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c720ce8ab24780de9bdfe2df311b87274467175afa70797b0fa5c7b34ecd08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f4ce43b617f2cb3268fa264fecfc04cd49126e0f2f92db180687ef02e41f1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08725a07bb6ddf2755efb8857d4518edacc1c0e29740d35f53e0e2a950033c50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 5.206 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]: [0.0727, 2.4626, 2.7747, -1.446, 0.0235, -0.1944, 0.9963, 0.3206, 0.8127, 0.3767, -0.2924, 0.1993, 0.1486, 0.9997]\nstate[eef_state]: left_x=0.5431 left_y=0.039 left_z=0.1867 left_yaw=0.1561 left_pitch=-0.5763 left_roll=-0.1212 left_gripper=0.9963 right_x=0.2638 right_y=0.0545 right_z=0.0929 right_yaw=0.0672 right_pitch=-0.1493 right_roll=-0.0136 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.4906, 5.9009, 1.116, -0.0269, -0.0366, 0.1197, -0.1299, -0.8821, 7.3641, 1.8388, 0.2271, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 2.463, 2.7739, -1.4475, 0.0238, -0.1947, 0.9964, 0.522, 1.0409, 0.3817, -0.1822, 0.3141, 0.26, 0.9997]\nstate[eef_state]: left_x=0.5427 left_y=0.0389 left_z=0.1861 left_yaw=0.1561 left_pitch=-0.579 left_roll=-0.1215 left_gripper=0.9964 right_x=0.2644 right_y=0.0933 right_z=0.0598 right_yaw=0.105 right_pitch=-0.2273 right_roll=-0.0464 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.1897, 5.5316, 1.072, 0.0073, -0.0171, -0.0073, 0.335, -3.0291, 9.5521, 1.4921, 0.3394, 0.149, -0.0073]",
      "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]: [0.0727, 2.463, 2.7728, -1.4467, 0.0235, -0.1947, 0.9964, 0.5404, 1.0641, 0.3939, -0.152, 0.3401, 0.2897, 0.9997]\nstate[eef_state]: left_x=0.5428 left_y=0.039 left_z=0.1858 left_yaw=0.1566 left_pitch=-0.5793 left_roll=-0.1211 left_gripper=0.9964 right_x=0.2705 right_y=0.0977 right_z=0.0644 right_yaw=0.0876 right_pitch=-0.2013 right_roll=-0.0343 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.3812, 5.5316, 1.0525, -0.0317, -0.0562, -0.022, 0.1026, -3.0291, 8.4855, 1.6386, 0.2906, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25c720ce8ab24780de9bdfe2df311b87274467175afa70797b0fa5c7b34ecd08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f4ce43b617f2cb3268fa264fecfc04cd49126e0f2f92db180687ef02e41f1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08725a07bb6ddf2755efb8857d4518edacc1c0e29740d35f53e0e2a950033c50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8AYKEAgSGAI4AUIIdGhpbmtpbmcSDKye531ju9Rb5npCzRoMWdOQQ37+Nbn1lk3AIjCfX/jsIP16u/PBeYAJAaA/dxIL1bL5ZRkQofdGyjnQxG06BCjwn7qlvl+RJNhFcVMqjQZtGrrMzNOj7ABn0NZGZP9l1aZTa/LDx8fYsopjUWlBolzrsptg4BVsYzX3BKNt8y48GWLxpaUHAVu5GE5/tGfqldIAExZWHviLj0tr739LX2mHpffiumS2WsNWVYa+UbgWPkcJokVvOUdJ0WqPIi/4lbEG0dGgo//7uHj0WIeAX8MPGVasAqGoCnYs+IHRgJH2mJtj+ktv0SYQli2S64JU/4UEoyIYInJd8co0L+vWN/MUvyS1+NJT3jiCYmykgAaN9XUU2dK+xhgxor6pe4DMnZhjFRa/uNrcaiG0kltWx5mWVbrvu7ZYfgOGf30ZQUNCroJStWMBWKCR9gEvWXPi1o0T3jg1UUsxWKCFGDktsxib5rLSliKc1E0jwGunDitWnEVlwzNZIkS+EJdBB5gNs5Gj9ukosWin5w47Z8mWRTVWpQP97TZEXb+vXMv71Gmz0PWfu9vaeTdIeqACOenI4LppF/7dtoA2Cb4Y6NrkfNNudVKGJqAvhMtPVXjm2KZWlyd7YDiX/OjoMnVQ2sMyLPN4Eyq0a3iWTU5IJWyIvgumvPsK1xCSo+pdFcSvlvt2jjhXOju3/XW50aOqqfrWaM+TbY0P/DoP+xFjuA1Qzx6dGO7IVjgfr7L7bXVBS7aLfW6PuXcfJZA98V1NPi6I83iDfjrF5MVXjbKCsbB0wcdX2GtTqSTrYTIkEmM8w0EvZBiEwpG11TxBVb39N+9RRWMESR8aO/MJ9PkqO2CbBKhXh9IKcdEuAVI8dgZjZSNL+na1ATJ0LaeHKrPaDR04+BhHXVFl6WaVGpCVV/TN7CtfW+2Yws1ObTbNH4vK5RAnOMAO1X7Iz/5gUQKj4xYgDBcD7LPzoQ+UpHaOkNhcz1wL0CC2EdIcuBzIHZU0EAIo2Ar4Iyjqc4naRwoVPsSQNODhJlXVIDS2rQPOitw3JBGXpZ3pd9k/P0eplbOwbR71Hzsxne8DDITu7oRPWWmOA8Okz5w/XA+O6DRv7jfogiTI/9FcbK318U6MI0UHwO/Eokc5N0Vo1XkK3eoeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A7pWtqnCpuSe8waTdu9vWs",
      "input": {
        "note": "The descent stopped at 6 cm without contact (the step was clamped). Re-sending the descent to table level over the pen.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.105,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01A7pWtqnCpuSe8waTdu9vWs",
      "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]: [0.0727, 2.463, 2.7728, -1.4467, 0.0235, -0.1944, 0.9964, 0.5404, 1.0641, 0.3939, -0.1516, 0.3401, 0.2897, 0.9997]\nstate[eef_state]: left_x=0.5428 left_y=0.039 left_z=0.1858 left_yaw=0.1563 left_pitch=-0.5793 left_roll=-0.1209 left_gripper=0.9964 right_x=0.2706 right_y=0.0978 right_z=0.0645 right_yaw=0.0876 right_pitch=-0.2009 right_roll=-0.0341 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -13.3949, 5.4769, 1.0085, -0.022, -0.0269, -0.0171, 0.1026, -3.1385, 8.5128, 1.6386, 0.3443, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edc3fa14a5304f7600abebdb1116a0ed7a0f60f3b0d1e686d8b9919e460c1fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5631184013de523de15eeec9fdd1f96ff313ad66bdd2f28e6c8a4c5bdf3abb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fa4c6922fc33a0fb894a2a61d37be78cdc715fd5e13eab586df28f4c2cb430c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 4.848 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]: [0.0727, 2.463, 2.7739, -1.4475, 0.0238, -0.1947, 0.9964, 0.522, 1.0409, 0.3817, -0.1822, 0.3141, 0.26, 0.9997]\nstate[eef_state]: left_x=0.5427 left_y=0.0389 left_z=0.1861 left_yaw=0.1561 left_pitch=-0.579 left_roll=-0.1215 left_gripper=0.9964 right_x=0.2644 right_y=0.0933 right_z=0.0598 right_yaw=0.105 right_pitch=-0.2273 right_roll=-0.0464 right_gripper=0.9997\nstate[joint_eff]: [-0.0615, -13.1897, 5.5316, 1.072, 0.0073, -0.0171, -0.0073, 0.335, -3.0291, 9.5521, 1.4921, 0.3394, 0.149, -0.0073]",
      "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]: [0.0727, 2.463, 2.7728, -1.4467, 0.0235, -0.1947, 0.9964, 0.5404, 1.0641, 0.3939, -0.152, 0.3401, 0.2897, 0.9997]\nstate[eef_state]: left_x=0.5428 left_y=0.039 left_z=0.1858 left_yaw=0.1566 left_pitch=-0.5793 left_roll=-0.1211 left_gripper=0.9964 right_x=0.2705 right_y=0.0977 right_z=0.0644 right_yaw=0.0876 right_pitch=-0.2013 right_roll=-0.0343 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.3812, 5.5316, 1.0525, -0.0317, -0.0562, -0.022, 0.1026, -3.0291, 8.4855, 1.6386, 0.2906, 0.1343, -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 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]: [0.0727, 2.463, 2.7728, -1.4467, 0.0235, -0.1944, 0.9964, 0.5404, 1.0641, 0.3939, -0.1516, 0.3401, 0.2897, 0.9997]\nstate[eef_state]: left_x=0.5428 left_y=0.039 left_z=0.1858 left_yaw=0.1563 left_pitch=-0.5793 left_roll=-0.1209 left_gripper=0.9964 right_x=0.2706 right_y=0.0978 right_z=0.0645 right_yaw=0.0876 right_pitch=-0.2009 right_roll=-0.0341 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -13.3949, 5.4769, 1.0085, -0.022, -0.0269, -0.0171, 0.1026, -3.1385, 8.5128, 1.6386, 0.3443, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edc3fa14a5304f7600abebdb1116a0ed7a0f60f3b0d1e686d8b9919e460c1fa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5631184013de523de15eeec9fdd1f96ff313ad66bdd2f28e6c8a4c5bdf3abb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fa4c6922fc33a0fb894a2a61d37be78cdc715fd5e13eab586df28f4c2cb430c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxQgKEAgSGAI4AUIIdGhpbmtpbmcSDBeJiqYcSEnuKiVxixoMO+pCExyvlvdTRypnIjC16qxMWSvAZDDjnBYpt7Lg4p9MmHaB+7giqbctU9vKBdhwaMQ+x1JxWkJ130wJnmcq4gf7JiaaCPwt/z7s0VvNknhv6sbVnbwTd7IMtUPOZTDvZ5/32MvZZevGJZ7tT4pznaUOD5EPXVtc/+FeCFNrAS/IuDwQPcyMR/puE36xpf8PthHoqiKxIzkL0e83PAxRfBV5N8lLF2f+e+hdE/iK6RyqRKlElv2wr9gpuIShprd3cfA+BpeP9qsnQzScBPrP16EDnXQMDF+Qo2m3ZqPPc8gXlz1FnOAhPsuiR/SNj/WNlBCAiWGdRlvUIVywGiMpFuktjJRn6zC3q+jsL5HWITLInB9yQEGJjeIWX5AtGWI/8fuZ0LyHzNfE9N8VGMIBNZLEjbTSWgLb9lv3tELa+5WtZCtg+fKzJI3Tye6/ExNSDZTY7DqklcuDvhV84SYynHBU/j51/jUxx6rJd278+pDK36An4SvVS+sgeS5Wa38Odu0BcyCUmJ3mKi+vvfhIvD2hMIqGiiciMYt7tPC0+sPGxMGJFDyPxAzH9S+H61vQjSEdZRW7Wy19nBzMp5ErAaRV6X1i4cXYN0AhzIh2SpYsIxaBt4MK50uzymg8maXtYs02pO0UsFEPPmhL/ID4s9/baeB5qSKtAmY7bs27ttqFNQUGmhz/VgOmNRI6sdhfhgFPpYgKOCegDlAm7iNYW+kPnbxFOZIJ2li8Rrs00ypQtsbsk0qI2CtGnFngTAH2R1HjNyPe61QRXwDB2tXjZr28LvnQwQTLJvCy7CWYcixhtCLskTwZxxzUhIr5Rtr1ZUHAByfuIx2KV5kEdPGhawxRMLu4/aXPzSCBTSfM29k6+AxkX1ObBs7wsjlcOmRKuLNfsnd731La+d6jAOXd1jky21XqlQ+xNEQX77uOvvfz6P5uhzJOVgFUvOr52fDs2MbeXiE++d+DwDzROrA45gpk5ubNtRlNQSJ12cyIYL49ZERjhIwlzVtu0RlPGFkR2Ve9n4YldR0a73E5we2pqITgY2uvplzlTBLz70JcsQqj6MJxegnRYxDrpxV/W/PPr0znRSzny0M/8rzJaJj6SlVWrPMbOqfozyoq43pcZ+yNE2YQaNj0CRiq9Cr9zuWwr0SeRmlzgF2aKu0Gmls5DVZjbk+kc1iDJxaKM+ptE3c+NBd1dGkTuFbbqXiogHtQTr5vHta/IVqF7CZjhmxwn8R8IaLO7uaZXB1EJS8J1s9qwSjnGE52p1SM604HHlo7IKIvtJ7xnqiyTlqqlR1u7KE6oznyArmdKZmEvyXVE17MMJpsXuH3aSXekRT0qCj33Vlsb8t/BU0UvSD2j/y5ByPl28byCX0VY4Ev/NP8ucA9u8FOSU2mIAQke0i1nmYwG91wGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016qt31E1zPVErTxpfQayu7j",
      "input": {
        "note": "The right arm is holding at 6 cm and not descending (likely an awkward IK pose). Re-targeting slightly further out with neutral pitch/yaw to get down to the pen.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016qt31E1zPVErTxpfQayu7j",
      "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]: [0.0727, 2.463, 2.7708, -1.4502, 0.0238, -0.1947, 0.9964, 0.5766, 1.462, 0.2306, 0.5251, 0.4675, 0.3046, 0.9997]\nstate[eef_state]: left_x=0.5419 left_y=0.0388 left_z=0.1849 left_yaw=0.1565 left_pitch=-0.5847 left_roll=-0.121 left_gripper=0.9964 right_x=0.2953 right_y=0.1014 right_z=0.0157 right_yaw=0.0209 right_pitch=-0.057 right_roll=-0.0441 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.3812, 5.6137, 1.0232, -0.0122, -0.0513, -0.0073, 0.4581, -3.412, 2.8786, 1.0134, 0.2515, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9da64bc48bc0620454621d8760522e7403f43c7212596829a7c7d1602d016aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b3331761818e5688f1be0d6b7d7836b383e279f9d98e5df6adc86fe02af2478",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fb2b9d5971d979e2602bcb961c7f2f5c77552b6d3dc89bdd6360f46b872a6ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 3.932 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]: [0.0727, 2.463, 2.7728, -1.4467, 0.0235, -0.1947, 0.9964, 0.5404, 1.0641, 0.3939, -0.152, 0.3401, 0.2897, 0.9997]\nstate[eef_state]: left_x=0.5428 left_y=0.039 left_z=0.1858 left_yaw=0.1566 left_pitch=-0.5793 left_roll=-0.1211 left_gripper=0.9964 right_x=0.2705 right_y=0.0977 right_z=0.0644 right_yaw=0.0876 right_pitch=-0.2013 right_roll=-0.0343 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.3812, 5.5316, 1.0525, -0.0317, -0.0562, -0.022, 0.1026, -3.0291, 8.4855, 1.6386, 0.2906, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.0727, 2.463, 2.7728, -1.4467, 0.0235, -0.1944, 0.9964, 0.5404, 1.0641, 0.3939, -0.1516, 0.3401, 0.2897, 0.9997]\nstate[eef_state]: left_x=0.5428 left_y=0.039 left_z=0.1858 left_yaw=0.1563 left_pitch=-0.5793 left_roll=-0.1209 left_gripper=0.9964 right_x=0.2706 right_y=0.0978 right_z=0.0645 right_yaw=0.0876 right_pitch=-0.2009 right_roll=-0.0341 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -13.3949, 5.4769, 1.0085, -0.022, -0.0269, -0.0171, 0.1026, -3.1385, 8.5128, 1.6386, 0.3443, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 2.463, 2.7708, -1.4502, 0.0238, -0.1947, 0.9964, 0.5766, 1.462, 0.2306, 0.5251, 0.4675, 0.3046, 0.9997]\nstate[eef_state]: left_x=0.5419 left_y=0.0388 left_z=0.1849 left_yaw=0.1565 left_pitch=-0.5847 left_roll=-0.121 left_gripper=0.9964 right_x=0.2953 right_y=0.1014 right_z=0.0157 right_yaw=0.0209 right_pitch=-0.057 right_roll=-0.0441 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.3812, 5.6137, 1.0232, -0.0122, -0.0513, -0.0073, 0.4581, -3.412, 2.8786, 1.0134, 0.2515, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9da64bc48bc0620454621d8760522e7403f43c7212596829a7c7d1602d016aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b3331761818e5688f1be0d6b7d7836b383e279f9d98e5df6adc86fe02af2478",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fb2b9d5971d979e2602bcb961c7f2f5c77552b6d3dc89bdd6360f46b872a6ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6AcKEAgSGAI4AUIIdGhpbmtpbmcSDMivvUZsY/42qIF4SxoM/0l+GSGuh9DgH5JcIjDmGfXJbzi5z/dVLs308CuHjQ8uqnWx9c2hjXu0GCNsWeUcgoNYMXhwoFwwJYk8m4kqhQedZeIxxzBPEXE6UQOvQ2gFSZI3hg65jtRnTIzKDLE9upnIsCySaC9WfPQv5LGBgzKbAOseo8Cb0i9ZPVi6fnPn8xMkf0Rr2jRCp9523eEjyjO0ux+Q5V2gEsQrSdTvoQQzNHzDRn1w0D7wZiHqU+dSqYA1B3hAPImi5yjbWFkQywi9YQ0+cw7HhPvA0fDatyWBHP7xjoDx27Dns8e7gp2YELq5cn+LgVSuaWECtHYkAiAxLCBtDJH1E/ZyGVfiDXZIT6HY+y5MUJC8DC90fvQCGvpshMBoLiwPfP7e8o9z3qiVx2jM3p8drmqO2pRtBOyuRq6MrPC/5thJ+MuDl7TIdtPVy9J5faexUMZn2q/mSQZryOVQnPaAD/zM6aCMzoeRe3t7eTYaElXfjcBog2Zzi/7f9A0paxiuzX/nKSEz6QZxrCAWGiN65fOanDHKzhuKf5nME2ICgMQ9To1JUjspaTn/8vj3DdthMv8cI61yhKm3vOzcE4GmYTm9Yie737qdRG/fFIUwSoUlEe5ylDmY1TCmFEmuzdEKEnMqWCbubxQeosUpGOycogKCb/s29RtEJpB3AWkCos/adIJr2JavrTHiZvKexVddim/yi4Pn3rYlXjbsAs0mB8A9yUM4padrvbkCNfiTBxCZ+00vEuxyscW7IRjpJFvL8ADOzu/AlvdY2ZXl83BK/4sQn9rA5s0543N7jc6H1CLZOKPHuYOaF2YQL5L/spWXEx69CukLg1Es6XLWprRngNeXbmqLjhn7ptIwdsQ/cHds+ZXFqiReYc8zqTb+b5rW3h9z5j46RkTunNZi6y0eO3X9vJqBUvgdKl3qDfJomjGouaWygHeMmbYmrb9M9pgpv8rI60ap8dnfPNXAfQ0HWdFYdimwhyK9B3TXMgaxdPN6mNQH4aTgvFkuc2IbsGrdx062j2phAmrF89w1D55I9VjFMVezQYh0PhO4MOYMNbadBen6T2N6nuzCPIe9qenfYTZKSlvaN1jF66aTfILsL7qQ5h1ZreaDtQHtGqsHUNqk/5sKaEq9QuDwxAqIWVTTHWwtx0iJU3hchwc8HopPXmVnc4PAv+oQ+7oamkCF60YwizH27eYoKmHv21WjcC7/k73IEhoSWXl/xxm/tVtbbDCn2aQwj0t3xZYf89I6LMutar9lkXDahckRkL74z2KU/WgWJoNZgAUHZM6WGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J83NN5XZUWyfXe36Bb8NMK",
      "input": {
        "note": "The white pen is centred between the jaws at 1.6 cm height. Dropping to table level so the fingertips straddle the pen.",
        "targets": {
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01J83NN5XZUWyfXe36Bb8NMK",
      "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]: [0.0727, 2.463, 2.7708, -1.4513, 0.0235, -0.1947, 0.9964, 0.5758, 1.5642, 0.2165, 0.7029, 0.482, 0.3096, 0.9997]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1848 left_yaw=0.1569 left_pitch=-0.5858 left_roll=-0.1204 left_gripper=0.9964 right_x=0.3045 right_y=0.1043 right_z=0.0143 right_yaw=0.0069 right_pitch=-0.0001 right_roll=-0.0149 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -13.3675, 5.6274, 1.0525, -0.0171, -0.0317, -0.022, -0.0615, -2.7692, 2.7829, 0.0464, -0.0024, -0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34a8590f95e1644f306fae627669c0a049e66061b412d2166115049872f0674e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f12d064ac17a3e325b2021c717b6530d5beeccc1bc6eb8562b7fa65445415c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80394274f41d5602b4b221d815ed5c5a33a804a459571c4fa5351524eefb00ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 5.64 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]: [0.0727, 2.463, 2.7728, -1.4467, 0.0235, -0.1944, 0.9964, 0.5404, 1.0641, 0.3939, -0.1516, 0.3401, 0.2897, 0.9997]\nstate[eef_state]: left_x=0.5428 left_y=0.039 left_z=0.1858 left_yaw=0.1563 left_pitch=-0.5793 left_roll=-0.1209 left_gripper=0.9964 right_x=0.2706 right_y=0.0978 right_z=0.0645 right_yaw=0.0876 right_pitch=-0.2009 right_roll=-0.0341 right_gripper=0.9997\nstate[joint_eff]: [-0.1299, -13.3949, 5.4769, 1.0085, -0.022, -0.0269, -0.0171, 0.1026, -3.1385, 8.5128, 1.6386, 0.3443, 0.1245, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 2.463, 2.7708, -1.4502, 0.0238, -0.1947, 0.9964, 0.5766, 1.462, 0.2306, 0.5251, 0.4675, 0.3046, 0.9997]\nstate[eef_state]: left_x=0.5419 left_y=0.0388 left_z=0.1849 left_yaw=0.1565 left_pitch=-0.5847 left_roll=-0.121 left_gripper=0.9964 right_x=0.2953 right_y=0.1014 right_z=0.0157 right_yaw=0.0209 right_pitch=-0.057 right_roll=-0.0441 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.3812, 5.6137, 1.0232, -0.0122, -0.0513, -0.0073, 0.4581, -3.412, 2.8786, 1.0134, 0.2515, -0.0171, -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 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]: [0.0727, 2.463, 2.7708, -1.4513, 0.0235, -0.1947, 0.9964, 0.5758, 1.5642, 0.2165, 0.7029, 0.482, 0.3096, 0.9997]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1848 left_yaw=0.1569 left_pitch=-0.5858 left_roll=-0.1204 left_gripper=0.9964 right_x=0.3045 right_y=0.1043 right_z=0.0143 right_yaw=0.0069 right_pitch=-0.0001 right_roll=-0.0149 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -13.3675, 5.6274, 1.0525, -0.0171, -0.0317, -0.022, -0.0615, -2.7692, 2.7829, 0.0464, -0.0024, -0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34a8590f95e1644f306fae627669c0a049e66061b412d2166115049872f0674e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f12d064ac17a3e325b2021c717b6530d5beeccc1bc6eb8562b7fa65445415c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80394274f41d5602b4b221d815ed5c5a33a804a459571c4fa5351524eefb00ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7AYKEAgSGAI4AUIIdGhpbmtpbmcSDLvu5gPm8zS0OVg0MBoMMO6LfF1ZQX5N3aSjIjBABQ1SDcrHldH1L6Qxnw47jdiH6100Ct8WQIJp1rkIlCkky7xefl4c8MxGMGH+IaEqiQZMcuRnBNIceB3fMiquGWU8Ael32Vob7wFlzp/r6dBQH/j4iXaJW/UU9b7mviwJ54mSe40JiNC3mrCB6QS3bEeSnbjK5HaI8YHLSHTDtnkp3KnMBWIbhdJOZgY9JIYq3FlN9vlM+hXbqd1tBXcnu4YccPJTKYTpVWL61FdBhWiLWK8apNtP2JcZNp9frtslfic03T/CzxTxk5NT1JZHSmAaCN4EmNp0NBEjYzoFaCj7ufdfK5PpP0KpkTnbgUPgqY+OIjSVgE9Ga8iIndn90nPQa1O5Y8FCcmN2jtbYc6SFamKhdd4k0B7RRZocV5LY3B2L/uyBR3W8oPnJsUgsN2Xlss+jbC3lb0f0eQfgnPNObbViOvT8154ZUXmu8A11RRPEP9ED4UJD3cKOOmjFTUE/R0qGxZxR60IrIk3EeAPsUq1MX2Eoa+58xCzsbjsG0QbvuuSZkKqAOWSsm67p1+64yXQFGCkOVnXwGihhWVZpqxKbwclTeymUQNAIStPmbl0f2nxjfk7b8+ryTx0gLAbLJ7YR8LYQudoRJNAxT1k4vCy+3IFLMOHCbM/AG7f4U2PJ88NR97yUw0D4XWsXb22/XqvBXBrBpF1dCJMEWoVo1fK0tImoQGomVrn7dX9+UWJTlmzT0dh78PcAUmpaAYYH4Ttl4JfkE5RWXHbEafMcLo3l7rob7YxN7uDgeLBEaD2U9Qx7R70xhj1TB+HGQ6moa5pMkPHrbAn9oBpArUgZZpKy0pzIe629XAL8yCgEEaNk/sTADRJyJ734rRes1oPSblmbrh0lQxvoYOmdn+kw8CgkboDUYl+MUBPmWIDptO4bx2CVcmqah1asyewS2HkwOaxOXOG5dKuHGAp1UjEuFa8rcM8Fsp7gk4nUKJ2ChSW30f4Vj6F9ch/PzNlgXkftClA64Q6/6AL99NNv9DvOGToNwEIdDT53rNghbFFI+juUOYlUe8BEgPFUXgh2Hv9chrDOZalOogwommGEwLzHyjNTvl83etgm1QSxQfgriU3Fvkxl+4ewBUwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZkbZctTHtKNNW4xc5e5ae",
      "input": {
        "note": "The jaws are down around the pen (descent stopped at about 1.4 cm). Closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XZkbZctTHtKNNW4xc5e5ae",
      "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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.5758, 1.6039, 0.2146, 0.7612, 0.4633, 0.3031, 0.1495]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.3066 right_y=0.1092 right_z=0.0118 right_yaw=0.0253 right_pitch=0.0082 right_roll=-0.0021 right_gripper=0.1495\nstate[joint_eff]: [-0.1162, -13.4222, 5.4906, 1.0427, -0.0073, -0.0611, -0.022, -0.1026, -3.535, 2.9333, 1.1551, 0.1148, -0.0513, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1b5c579c70333ad22837528d60d534b6b1fc93a930cb4cda80d9cc79be6887b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03a440d13d194daf5ed7b1e906c5f82c7547ad19b59bf3cd2b1281dea899cecd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:898548779215536af7a2beae02b4b3a14f0fa0ff511f38180eac1738f180f61a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 3.702 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]: [0.0727, 2.463, 2.7708, -1.4502, 0.0238, -0.1947, 0.9964, 0.5766, 1.462, 0.2306, 0.5251, 0.4675, 0.3046, 0.9997]\nstate[eef_state]: left_x=0.5419 left_y=0.0388 left_z=0.1849 left_yaw=0.1565 left_pitch=-0.5847 left_roll=-0.121 left_gripper=0.9964 right_x=0.2953 right_y=0.1014 right_z=0.0157 right_yaw=0.0209 right_pitch=-0.057 right_roll=-0.0441 right_gripper=0.9997\nstate[joint_eff]: [-0.1846, -13.3812, 5.6137, 1.0232, -0.0122, -0.0513, -0.0073, 0.4581, -3.412, 2.8786, 1.0134, 0.2515, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.0727, 2.463, 2.7708, -1.4513, 0.0235, -0.1947, 0.9964, 0.5758, 1.5642, 0.2165, 0.7029, 0.482, 0.3096, 0.9997]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1848 left_yaw=0.1569 left_pitch=-0.5858 left_roll=-0.1204 left_gripper=0.9964 right_x=0.3045 right_y=0.1043 right_z=0.0143 right_yaw=0.0069 right_pitch=-0.0001 right_roll=-0.0149 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -13.3675, 5.6274, 1.0525, -0.0171, -0.0317, -0.022, -0.0615, -2.7692, 2.7829, 0.0464, -0.0024, -0.149, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.5758, 1.6039, 0.2146, 0.7612, 0.4633, 0.3031, 0.1495]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.3066 right_y=0.1092 right_z=0.0118 right_yaw=0.0253 right_pitch=0.0082 right_roll=-0.0021 right_gripper=0.1495\nstate[joint_eff]: [-0.1162, -13.4222, 5.4906, 1.0427, -0.0073, -0.0611, -0.022, -0.1026, -3.535, 2.9333, 1.1551, 0.1148, -0.0513, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1b5c579c70333ad22837528d60d534b6b1fc93a930cb4cda80d9cc79be6887b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03a440d13d194daf5ed7b1e906c5f82c7547ad19b59bf3cd2b1281dea899cecd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:898548779215536af7a2beae02b4b3a14f0fa0ff511f38180eac1738f180f61a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSjwoKEAgSGAI4AUIIdGhpbmtpbmcSDH07JzMt1Vs/vxgoAxoM5L3WGA3kHplSP+zHIjCG8VcPQFbyE1pNz34C1nSM/4X9l0dRrL9yCwu4C3bdBOUXxbsYv84BXeshCAm6fooqrAkcMBk8f77CVxrHEk97baMGDg7fMhawj/aT4h1QoSBnkgubOucRiDr7b/UKNUnu/XxOnZECo2HyEYfUV19Y278XLGfJ3l2u2N6d8Ti4vZ9xeIlfyTJjWXl+9UspmHSCg2qctwOXhCXhUaGMYIF2/D3HFsCVCY8t95dpy+1nT/7tde/4tf9Xqq2N8+UqE47hobDAo39qk6dytHiP6BCJdfos4cjX8GTmQd/vJI4repGhZhUojp4te6QUx3TfNbsCaOlGSBqA5qATBorY9+9val+Rch4gxvqlwbLhrxp4qC9PN+8FiZ+41t7KjXoA5wthCgzq4rQM6oHCBDrRRI9LZn2xFO/OaeijB7zulu4Ctk0LNRzlP42/y2Jbisb0eJNCVZ4eI5E/wbHpEuIoaaWthmuqguyww/oTCjpAkAEReGBJf/VdEXQ21YcEB2fv8XwX5L2bLkQlIpqEgd6Vn+YuJc3Rwv60ImatTVRbkim9jLIIBV8RCwVA84goDyWW0V3c4IBxmk85RDn2ASOLYsi8IGOyloPcrJYxx8DLNbuZvV4sB+SzUmJxMX7u+jwT1aJxB6gMY/JqufGwvgB6A0Igg2iFzMHUFp8Op9WfYiLlJWbRQTHJ9uc3JBLxg0UHjX7CddPc331AhDMxgeEw87GdXatpboYEJlKThVxZSR8xT4wjRU8jTvelbvJUea+v/Z3O88Mla6nT7F+lLl25PyvlPJv3qBES07RwUHnPcSXgajB1lATYBSQAtzJtin0JSRSUq+SHVMG1eFNCL3UEN9ygJzp/VQulWR4n3WYgZjDBy6dM/93gp6MflZA8wwU92tzKGCsgo+dWFXUiSqG5Mm4sLLL5SloyD9nYU/8poxekPgXRH4w3+aI5fku3o6P2xwrfkicsylsGlolyK2VASHuPhaxY3PyFxbm9R6/K3vompMiEXjhkDzGlgIKwgU+pG93DrvvlZkquHaKT5AVxnmfSofAR0zUBUppIjIKwNezderjiOi9bHmsCaDRQHBw7HfYMi1hoeB1cm93XnIxTNyTjYzHIFjJzLBLICHFbeLP9ZR846FZD1qfWo6XAoKWLnyhoblmtmg8dfqhYEugSt+y+RUoGq3kaZv33SmA3BKhHBcvhYizb7iBdHJDfpmvVuJMQQu4JhI6Ep0c96zWqEj7bvPUO6jVbazWOp8G8SZgY7wRZ8+qIJJKMeNgR0ds2AAYTJNYXyY78v+x02k6RBr0Km8e4iNkdKLCGjMnt4g7d8fUgDczqbBJAc4C6Me4rKBIlUgkxIraJ9NdpUIaYmOChOf6hG2eGn6GU8SmBZoLgk3yB2ciKYzG2PHNrmNbP4JQTghYnWwBZI+LpYLR6kLIuSpwSHN+zp26iQzAfbcOazUp+5LCDt9vC8fDAB/1e+fnEAuMzbDSr5XOMeMBgz4+vXAhbmRyXZFSTobvafwk3kP7H2XIgTviPsNH3eKWCm+WScNczIGrQZaZWqZ8VN+Y/h6vHrUU82vJam5JHzGPtVQY0uozMlRm8ukTlfILlNakUNHqzR2uAO9OYfkBMJiEYGl7ykNj7UEDS8s8OXYfhRUGVkVC95lErkyK35meJXBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F86w36PzdCXYpM6BdQeguU",
      "input": {
        "note": "Gripper settled at 0.15 (about 1.4 cm), so the pen is held. Lifting and carrying it toward the right basket (the pen basket), which is ahead and slightly left.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.15,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01F86w36PzdCXYpM6BdQeguU",
      "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]: [0.0727, 2.463, 2.7701, -1.4509, 0.0235, -0.1947, 0.9964, 0.4519, 1.5772, 1.1889, -0.2024, 0.3531, 0.2173, 0.1545]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5862 left_roll=-0.1204 left_gripper=0.9964 right_x=0.4454 right_y=0.1523 right_z=0.2076 right_yaw=0.0368 right_pitch=0.0118 right_roll=-0.002 right_gripper=0.1545\nstate[joint_eff]: [-0.0342, -13.135, 5.4769, 1.033, -0.0171, -0.0073, -0.022, -0.8137, -7.4188, 9.1556, 1.4188, 0.0757, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ad17443b3d12a95acb0bb9c28b02ed699febdde20f43a910707696bbd5d885a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94eee6df0478df89abab3a71636b41696b99d0577265d887373f5ca126691404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0df432470ea2194ef83cdb0f289adbb437623e49b437622c6632941a7d296b67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 10.51 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]: [0.0727, 2.463, 2.7708, -1.4513, 0.0235, -0.1947, 0.9964, 0.5758, 1.5642, 0.2165, 0.7029, 0.482, 0.3096, 0.9997]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1848 left_yaw=0.1569 left_pitch=-0.5858 left_roll=-0.1204 left_gripper=0.9964 right_x=0.3045 right_y=0.1043 right_z=0.0143 right_yaw=0.0069 right_pitch=-0.0001 right_roll=-0.0149 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -13.3675, 5.6274, 1.0525, -0.0171, -0.0317, -0.022, -0.0615, -2.7692, 2.7829, 0.0464, -0.0024, -0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.5758, 1.6039, 0.2146, 0.7612, 0.4633, 0.3031, 0.1495]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.3066 right_y=0.1092 right_z=0.0118 right_yaw=0.0253 right_pitch=0.0082 right_roll=-0.0021 right_gripper=0.1495\nstate[joint_eff]: [-0.1162, -13.4222, 5.4906, 1.0427, -0.0073, -0.0611, -0.022, -0.1026, -3.535, 2.9333, 1.1551, 0.1148, -0.0513, 1.0037]",
      "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]: [0.0727, 2.463, 2.7701, -1.4509, 0.0235, -0.1947, 0.9964, 0.4519, 1.5772, 1.1889, -0.2024, 0.3531, 0.2173, 0.1545]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5862 left_roll=-0.1204 left_gripper=0.9964 right_x=0.4454 right_y=0.1523 right_z=0.2076 right_yaw=0.0368 right_pitch=0.0118 right_roll=-0.002 right_gripper=0.1545\nstate[joint_eff]: [-0.0342, -13.135, 5.4769, 1.033, -0.0171, -0.0073, -0.022, -0.8137, -7.4188, 9.1556, 1.4188, 0.0757, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ad17443b3d12a95acb0bb9c28b02ed699febdde20f43a910707696bbd5d885a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94eee6df0478df89abab3a71636b41696b99d0577265d887373f5ca126691404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0df432470ea2194ef83cdb0f289adbb437623e49b437622c6632941a7d296b67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqwcKEAgSGAI4AUIIdGhpbmtpbmcSDCRkW5F/f3x6w6Oy4hoMLeZBSnbNMMpVpzEtIjCqvq0sEpd2ZdXkZjNBb6yyYpXFmiUMtHOU7LOrmkxOLYW9P6i+uTJwNlSd3IK9Mu0qyAbF4PZUpqOMzX2zqiu5ucMGMqVVku0yM/2XknfRr3W58/aK1l0gu0VxURDXa7RdxR3shUTNVKxXy5yPQMFjTIHubkbkWFyPDd/5+wVtdjgyvwR+zQHwP5bRrYswz39k+xkYEFDRYaI5lP3lC8X2BgUaQ1YLfXycN9JvzXBDblxoViBDLxEP/vVvFgo58ZEvs/wf8iHsxEZ/eHE9+skv6Es743GlgXmaSgsW4tZj9cxDDGg4k99mabipOwpw63LU9oFwtQI5UQocm/KPQK+f2Ax2OY1Ec4A9+LJcB6rzIjOYjlyBRD3pTUz+NyXGl0RP6ppj6X6LnNrioO+ogfnetO3w1bHJylnzuUYN4YBxwL+p548PwX9T0DlC9eMVc4aiLzwCeUovIxRYx+GJLjWwYqK4qo8O4bmVYpFxiJj5NoC0AIhJUf9AjSWXN44g+0BsbhS5xybGhSng3YMzGbOHQyt3Ry8+IVWLVce/pSMCEgMsYrtAUN9+alnhACSq4Qu0jyttW4X/vFljfZrYgoG03r8VqHgj3IkR9MfZUIZsbyJuvEltX8eBPwg7uK/Zlg0CdmfBgdhqtrWsWR1USgu1gIGFtuVJthaDSHKQOWkkEdcs5aojce4//QmeQoJ1hhmtf58QXJGIq/U6Tjpmg+nVYu4ta6m/3NzyZ+D5Mn5d9VuUJMwhePhMhHwjZGVP3WeybGMdeTQcUa09F+hAenTuIxvo5IgPr9OuvY4wAcpPmZMCy3CTSB9UhLLSNfv08QE3L3iMhWXTK0Z6jljQ8yYX97jrhmNWNADuH2YaxI3xAbXupCHrObIWo/iaKNNDl+CfYQimMUnQthcqrz2fWt/Cd1xytT6JO+Wxv8LxZsct8YToHcv5r6ycZjZTChyO68xPLORb7w2ELKx42srkB00SxMN02BmoaxI6sukFrX6SQC7CwPvE1K3/Hh3ODjrn2q4uxW7NTPOmHdRha+s8soN01UkPLentjCAnp7oD1xBv6c1pHK0od2WhdqL25Ed+mgEbz++yNJKiK2CTIvW//ssQB0gXv9Dmy4xZAMM1lwUmnFGgxBktv1AvIEHwd7qiU3sZ36z843yNv+ss4IJRxb6siDv13ML5kXqv8lsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FQqX39AqGztJbsGpoSigzX",
      "input": {
        "note": "The right wrist view looks straight into the right basket and the pen hangs over it in the overhead view. Releasing the pen into the pen basket.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01FQqX39AqGztJbsGpoSigzX",
      "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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1944, 0.9964, 0.4503, 1.5841, 1.1862, -0.2241, 0.347, 0.2092, 0.995]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1567 left_pitch=-0.5854 left_roll=-0.1203 left_gripper=0.9964 right_x=0.443 right_y=0.1514 right_z=0.1989 right_yaw=0.0445 right_pitch=-0.0183 right_roll=-0.0181 right_gripper=0.995\nstate[joint_eff]: [-0.253, -13.2581, 5.4769, 1.0427, -0.0073, -0.0122, -0.022, 0.0205, -8.335, 7.1863, 1.917, 0.105, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f76faca8cb718573281a80c4dd096a51e4a564a487ff16ec60a685b402d371e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddd2a1fb0a7daaf34013c29f61a00a4eaccebec78131f58a6666f1551a7e4e88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71b7f6d2033ada28ffda9fb3c638b452f7641cac758cf44c7e422b0818dfd1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 5.996 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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.5758, 1.6039, 0.2146, 0.7612, 0.4633, 0.3031, 0.1495]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.3066 right_y=0.1092 right_z=0.0118 right_yaw=0.0253 right_pitch=0.0082 right_roll=-0.0021 right_gripper=0.1495\nstate[joint_eff]: [-0.1162, -13.4222, 5.4906, 1.0427, -0.0073, -0.0611, -0.022, -0.1026, -3.535, 2.9333, 1.1551, 0.1148, -0.0513, 1.0037]",
      "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]: [0.0727, 2.463, 2.7701, -1.4509, 0.0235, -0.1947, 0.9964, 0.4519, 1.5772, 1.1889, -0.2024, 0.3531, 0.2173, 0.1545]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5862 left_roll=-0.1204 left_gripper=0.9964 right_x=0.4454 right_y=0.1523 right_z=0.2076 right_yaw=0.0368 right_pitch=0.0118 right_roll=-0.002 right_gripper=0.1545\nstate[joint_eff]: [-0.0342, -13.135, 5.4769, 1.033, -0.0171, -0.0073, -0.022, -0.8137, -7.4188, 9.1556, 1.4188, 0.0757, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1944, 0.9964, 0.4503, 1.5841, 1.1862, -0.2241, 0.347, 0.2092, 0.995]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1567 left_pitch=-0.5854 left_roll=-0.1203 left_gripper=0.9964 right_x=0.443 right_y=0.1514 right_z=0.1989 right_yaw=0.0445 right_pitch=-0.0183 right_roll=-0.0181 right_gripper=0.995\nstate[joint_eff]: [-0.253, -13.2581, 5.4769, 1.0427, -0.0073, -0.0122, -0.022, 0.0205, -8.335, 7.1863, 1.917, 0.105, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f76faca8cb718573281a80c4dd096a51e4a564a487ff16ec60a685b402d371e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddd2a1fb0a7daaf34013c29f61a00a4eaccebec78131f58a6666f1551a7e4e88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71b7f6d2033ada28ffda9fb3c638b452f7641cac758cf44c7e422b0818dfd1b8",
        "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_013PKFCiCshfDF7CA7MKwN2y",
      "input": {
        "note": "The first white pen went into the right basket. The second white pen lies about 9 cm left of where the first one was; moving the right arm straight down onto it.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.29,
          "right_y": 0.19,
          "right_yaw": 0.0,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_013PKFCiCshfDF7CA7MKwN2y",
      "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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.9016, 1.7031, 0.4686, 0.4263, 0.7097, 0.5446, 0.9962]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.2943 right_y=0.1923 right_z=0.0148 right_yaw=0.0337 right_pitch=-0.0193 right_roll=-0.0382 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -13.3538, 5.4632, 1.0183, -0.0171, -0.0415, -0.022, 0.5128, -4.6974, 3.3026, 0.8327, 0.022, 0.0171, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61c9077f14ece26d93a2e80952a678c42f64c61698a6d1dfc534938bb1c6b4fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4da380c4d7d3f43a0319e62132a5651116cb0f3ac27a1947815cdec5c36d1e1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18b9506f300c8094b1bfee516e9c6876888509dcffc4f81245ea4238a87ad9b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 4.504 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]: [0.0727, 2.463, 2.7701, -1.4509, 0.0235, -0.1947, 0.9964, 0.4519, 1.5772, 1.1889, -0.2024, 0.3531, 0.2173, 0.1545]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5862 left_roll=-0.1204 left_gripper=0.9964 right_x=0.4454 right_y=0.1523 right_z=0.2076 right_yaw=0.0368 right_pitch=0.0118 right_roll=-0.002 right_gripper=0.1545\nstate[joint_eff]: [-0.0342, -13.135, 5.4769, 1.033, -0.0171, -0.0073, -0.022, -0.8137, -7.4188, 9.1556, 1.4188, 0.0757, 0.0171, 1.0281]\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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1944, 0.9964, 0.4503, 1.5841, 1.1862, -0.2241, 0.347, 0.2092, 0.995]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1567 left_pitch=-0.5854 left_roll=-0.1203 left_gripper=0.9964 right_x=0.443 right_y=0.1514 right_z=0.1989 right_yaw=0.0445 right_pitch=-0.0183 right_roll=-0.0181 right_gripper=0.995\nstate[joint_eff]: [-0.253, -13.2581, 5.4769, 1.0427, -0.0073, -0.0122, -0.022, 0.0205, -8.335, 7.1863, 1.917, 0.105, 0.0562, -0.0122]",
      "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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.9016, 1.7031, 0.4686, 0.4263, 0.7097, 0.5446, 0.9962]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.2943 right_y=0.1923 right_z=0.0148 right_yaw=0.0337 right_pitch=-0.0193 right_roll=-0.0382 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -13.3538, 5.4632, 1.0183, -0.0171, -0.0415, -0.022, 0.5128, -4.6974, 3.3026, 0.8327, 0.022, 0.0171, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61c9077f14ece26d93a2e80952a678c42f64c61698a6d1dfc534938bb1c6b4fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4da380c4d7d3f43a0319e62132a5651116cb0f3ac27a1947815cdec5c36d1e1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18b9506f300c8094b1bfee516e9c6876888509dcffc4f81245ea4238a87ad9b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0QoKEAgSGAI4AUIIdGhpbmtpbmcSDBrxtbkQB3lQgAc+OxoMfxxlAynh1+a1B+6TIjAbzV8eENQel76jbjUewpTK/MS6TIpxmTwdMcCkTqHfQJADxOZz49HL2ZiuGsC/jSkq7gltwhhRZjeGoLY9pR8DJ/6VgtGoYpDdhHNzBm+jkDvpWssKGyMY9MEpa5r1zqa6P4HcfqiNfZhuN0aveXMbxr1W3qg9ymntdsHKktdm2CwJ+IxjXA1V/pTBecO0jdl97r+OVWtcevcfbkbeS1zLMXtb57AUpJZ6sEGOKCGu2n1n5suBjVAiPSFA8tylXsiMO0JTZAmuJgbuF1ZEW/8yG7Bj3NhWikukf+6yugu+zTfk3yfkGuvA1n+cKISAHpcxpCfAeInwiqFPfrNqnnYF1iQ4AzcYfHh+W3rvrU12gT3PDI4IX5IZJwtrcpD9ptXm9UbK+N6DMhb+8ZM5vzqFoRu58AnDr3iuozi9SzUPb5sc1RiF03nhRdQlNeuC666iYqlVEMtBa2pTU6fBesi4IG2Ct8Ir5usDIW5nwfJ6pJE0CGe0Dok01iuTNiRiF4iljkt9+MGl0brlEzE3z3LVW5nM9/Gt5hXD+om1pSqOFxUzlFyfwt5zQG6nFBbaaodoXA+xBCiwKdwU6L4vTJ4eEBtqwvmtb/BHQ1sngDHl4TNrMgR5/XtLRzrp3umbHm9YcxNvDjlK0D7KI5GjjQwOMFZRsScRyw74LBTZiiKvnXVha3eKmM8xJr7NhRmarjcvOomNauFr605hKd8a0V+PMIX+ZxLpiaiuhgDNpjEEoS1gEjXB2bJz+p4L9KXXXFHCsfodhejDKjaINu5Vhz1nEBbKREU/48QEPDcPiTU0eluOEuTzmfhaPss0L8e6kJ2hEIh3mdzhkcZbIcfoeHM/xys+7WDovMTtMzR9h3w3COTttSa7gyWQWklIJlq1S2pHPnU53DQdx3P7n55tJSIefKNjY7NyiizJ0uYNq4bkq5YXxxDyuyEHZoosS8ftBl/fKu16i5fRxiZJrudfa3/Xp0Zb31U9/Ah+inSaYZNW+9IOgw8cde1HT58yRMi5vZJcahgYs2S+Hj5qT0wD+NpQLIqbJJ8PiBq8+ntGUsmc1t27gmR85G7vg9m25i5WbUfl/lmvPm6iyrbZRp9fyf06jt4PJdQSePl48o15k5gimK1591ho0ARGuwGWpEd34oEFoYfIwveFOKl/RO/rgO4YEf26yi+rwGtokkj3LrxB26dmIv1t2RLhYc1iNlnZPL8+cNaxXKtaZyAms23O/uDtTiMNEYLPalynTp1GPb+bB6GWQ0nEBujqxLveexGpAfA7ouhKxEmvSoZZKf1NkMOPIK6nGdsPhH2+IG4QR85UkllmvbZG7ijIe0jXw6SCB3UjmTBmGGdh/b3mRvCcZuH33le4517ZsH9xMtNqoJWaaymCnliLpl4XkiwgMqHo4UhB4CunWQ5HO767GVLqIqLdr7ywMJCYZu8KPrZQmpI1enk2huHhouWHN0LbvCTsR6NHoiczRcoZEYMM+kdQoHex5kkkUq/S6XmLHnKhg0Q3+ldQj0jFvVCi/kfX+L7vFJF1gi0Qs/yviZePZRsccJYC60Zx17XGgWQJnGqCgtqRUAnQos/WBZZ7Id4OnEzeOyMtcy7unIbP1JgDx0dVGxBZtZWahmk2bkIkenv9i8Ma6lM/e6YF1zJ2v8cfMrRAPkKAplBILG6y+7U8M1EZn7+PkQ+xHqIS3Z1+jXWjPR2BWd56h7DqdDI8iq4pYW1TcLgLWzzXrV9Vw+E+b4IiNa7OVBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CC2b3kx4ohiN3mCumRvAUA",
      "input": {
        "note": "The white marker (plus a blue pen) lies across the open jaws at table level. Closing to grab the pen(s).",
        "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_01CC2b3kx4ohiN3mCumRvAUA",
      "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]: [0.0727, 2.463, 2.7701, -1.4506, 0.0235, -0.1947, 0.9964, 0.9031, 1.7126, 0.4591, 0.4473, 0.7071, 0.5385, 0.0878]\nstate[eef_state]: left_x=0.5417 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5858 left_roll=-0.1204 left_gripper=0.9964 right_x=0.293 right_y=0.1921 right_z=0.0119 right_yaw=0.0404 right_pitch=-0.0197 right_roll=-0.0406 right_gripper=0.0878\nstate[joint_eff]: [-0.1983, -13.1624, 5.4906, 1.033, -0.0024, -0.0562, -0.022, -0.1299, -6.6803, 4.9162, 1.2137, 0.1636, -0.0269, 3.8168]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6954ceb1a2bd947f416e60355251c23d31bafed5cd60689e8f18fc4c10b08866",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a485ab172c64abf0eefeb6c2c63ccb1570c9fca42bc60415b03ea7785585f66b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a9b704f0ea11e1f0030a75878b8d6299219b842d1119445edbe9ca6f0b6a8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 4.985 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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1944, 0.9964, 0.4503, 1.5841, 1.1862, -0.2241, 0.347, 0.2092, 0.995]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1567 left_pitch=-0.5854 left_roll=-0.1203 left_gripper=0.9964 right_x=0.443 right_y=0.1514 right_z=0.1989 right_yaw=0.0445 right_pitch=-0.0183 right_roll=-0.0181 right_gripper=0.995\nstate[joint_eff]: [-0.253, -13.2581, 5.4769, 1.0427, -0.0073, -0.0122, -0.022, 0.0205, -8.335, 7.1863, 1.917, 0.105, 0.0562, -0.0122]",
      "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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.9016, 1.7031, 0.4686, 0.4263, 0.7097, 0.5446, 0.9962]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.2943 right_y=0.1923 right_z=0.0148 right_yaw=0.0337 right_pitch=-0.0193 right_roll=-0.0382 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -13.3538, 5.4632, 1.0183, -0.0171, -0.0415, -0.022, 0.5128, -4.6974, 3.3026, 0.8327, 0.022, 0.0171, 0.1099]",
      "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]: [0.0727, 2.463, 2.7701, -1.4506, 0.0235, -0.1947, 0.9964, 0.9031, 1.7126, 0.4591, 0.4473, 0.7071, 0.5385, 0.0878]\nstate[eef_state]: left_x=0.5417 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5858 left_roll=-0.1204 left_gripper=0.9964 right_x=0.293 right_y=0.1921 right_z=0.0119 right_yaw=0.0404 right_pitch=-0.0197 right_roll=-0.0406 right_gripper=0.0878\nstate[joint_eff]: [-0.1983, -13.1624, 5.4906, 1.033, -0.0024, -0.0562, -0.022, -0.1299, -6.6803, 4.9162, 1.2137, 0.1636, -0.0269, 3.8168]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6954ceb1a2bd947f416e60355251c23d31bafed5cd60689e8f18fc4c10b08866",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a485ab172c64abf0eefeb6c2c63ccb1570c9fca42bc60415b03ea7785585f66b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a9b704f0ea11e1f0030a75878b8d6299219b842d1119445edbe9ca6f0b6a8c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2QgKEAgSGAI4AUIIdGhpbmtpbmcSDP90N6MEA15dwTQ+lhoMEPOGoCc5Eu8O0ZVzIjBDQ+OCWXCPmgEarwmypJC3mzDKlJqyivjksYdWK9ZIdWIQJXtc5hlNoBwZtXdovBgq9gcl3sil9hIM/xvKzB4MaNuP5tPNhLJkiv+s0OvqFrde9af/bub6xHXFXpO/8iGFiKz/haFwdfdhUj6m+4CZaX7CnL6Opyzlv25Enm91DrJx+jo9fde04D18an2lCx6NgzrBgGvuHXL7UO8pzst9gRhUZsv9mKzx7VTPWvWJjq2xnh3b/dyGsOlwGBmB10dHJkmAaJRwrC26g+DmXnJoNRXOp5Qc640yZpEL/BPVGGVo+/1zWbOSLKWVqotE4NOmlfhgYM0oBaUEiD/iGN8MaWrioqNThg4cezuleG9dVisQHL0jwYxgqqpmS/n/Y/9ckBy3WBwZqQE+IxQdf0xkRSimbY65HZ7sskls4IPoTqu5AuAvDYNVdTSSpObYALy1IGDoyjD6exx8XoXRVg9wLi4GQ+TjtfH5OCgZGuieOfwTy74iiehVbwHurYBUcPtfO7MaGEK3HRQ1zWW9lvPorebQdBgc39l/+rlQ6mAfW/sDtQCa9d51KNhoFqZdSsnFzFvHMFP4WI8uiMOZdPytRcMusLCG6rBrb1bhowbeTnK+fEC6GBeFkF9Nz96mPALoaqWL5vfeJ6gf1LF4s4z7zVrhDqRRl/POt3FhddjSBvFrl53hBIX0aFjkfeTkIWSFHQW+zVgMxMzk4/wL5/GGdGXa9eAsyEXJU2Mz9RmZdLc8n1SuFU+5SuL1KspFRUSBCczw0QhWxNMPnE0hhhmDIUgnE2rdi1yYntsIseIcDs4diRnNWz0YLmCo226yDnzMmWwpl6i5WQ4X6o0A9gCeqZBdv1vF+atBJZ6x8vWRXcCrrREYXRbNE79VPxxVguehANO23rnchCyPYCczwSGzQGbyER7aiqlsaKLdfNjxIqcWr1h8pGmEPdY+1q4HE3wbTl2C2ZHhJU5u0mA3p6ccBH03w9OqhWB9IX3MfblaA1ZmJLuDXzkakc6BAsg8E6fS46pUJCie/CIKhXDGz5ODM0qgV5bb9WZyP/LuPNxnzruaT/4BagOSSoE9KQMpi5kgb4SGTcS0VU9w1Nx0dw17UZGwg/AwGu3KRdcDjOQGUDlIDyfmP0zFVff1a7qcscmh6EgBq3Bkpy6Zo8aWJZaJFBVnD9MjwScdzLN0+1G0lRDLkhhqaCyMJx7Ny5SygU/tLwrxBw4ZSn7uSFF6665/JoPLg6nsdZl62pPJovrdfKdB/XwhhmWa+ugQ6fDY89PJU/Clpu4Ex512fxzO4rQWApvHv40864EUhvFAFbcxMwHITVloIxvgWCWB9Pr5a1qm/UXw+bzEPLOHsUDnkC9OvAZ3F/70YZzuHLkNo0UsF1SfhvED82cdWPjh+IIASoUlMWLbdamhaT8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fua5toa3miHzaPnopmtypb",
      "input": {
        "note": "Gripper settled at 0.09, so it's holding the blue pen; the white marker is still ahead of the jaws. Carrying the blue pen over the right (pen) basket.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.16,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Fua5toa3miHzaPnopmtypb",
      "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]: [0.0727, 2.463, 2.7701, -1.4509, 0.0235, -0.1947, 0.9964, 0.4835, 1.6123, 1.2423, -0.2867, 0.3836, 0.2188, 0.1483]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5862 left_roll=-0.1204 left_gripper=0.9964 right_x=0.442 right_y=0.1615 right_z=0.2005 right_yaw=0.0422 right_pitch=-0.0408 right_roll=-0.0443 right_gripper=0.1483\nstate[joint_eff]: [-0.253, -13.2581, 5.4222, 1.0281, -0.0122, -0.0513, -0.022, -0.4855, -7.9658, 9.5795, 1.7118, 0.1978, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5bcec1e267a3dbf81b89acaa88f7241ba9f5c21dece5aa2ea518b0b685106fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6eaf4a71f1e53ff15db696fe128c245fd0f51a042618ca3f99f3e9833cd90cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf018874a0b35e5aeabff0daa2c53195785d3ba9b94ce2a0a51492a8f289b26c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 3.943 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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.9016, 1.7031, 0.4686, 0.4263, 0.7097, 0.5446, 0.9962]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.2943 right_y=0.1923 right_z=0.0148 right_yaw=0.0337 right_pitch=-0.0193 right_roll=-0.0382 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -13.3538, 5.4632, 1.0183, -0.0171, -0.0415, -0.022, 0.5128, -4.6974, 3.3026, 0.8327, 0.022, 0.0171, 0.1099]",
      "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]: [0.0727, 2.463, 2.7701, -1.4506, 0.0235, -0.1947, 0.9964, 0.9031, 1.7126, 0.4591, 0.4473, 0.7071, 0.5385, 0.0878]\nstate[eef_state]: left_x=0.5417 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5858 left_roll=-0.1204 left_gripper=0.9964 right_x=0.293 right_y=0.1921 right_z=0.0119 right_yaw=0.0404 right_pitch=-0.0197 right_roll=-0.0406 right_gripper=0.0878\nstate[joint_eff]: [-0.1983, -13.1624, 5.4906, 1.033, -0.0024, -0.0562, -0.022, -0.1299, -6.6803, 4.9162, 1.2137, 0.1636, -0.0269, 3.8168]",
      "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]: [0.0727, 2.463, 2.7701, -1.4509, 0.0235, -0.1947, 0.9964, 0.4835, 1.6123, 1.2423, -0.2867, 0.3836, 0.2188, 0.1483]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5862 left_roll=-0.1204 left_gripper=0.9964 right_x=0.442 right_y=0.1615 right_z=0.2005 right_yaw=0.0422 right_pitch=-0.0408 right_roll=-0.0443 right_gripper=0.1483\nstate[joint_eff]: [-0.253, -13.2581, 5.4222, 1.0281, -0.0122, -0.0513, -0.022, -0.4855, -7.9658, 9.5795, 1.7118, 0.1978, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5bcec1e267a3dbf81b89acaa88f7241ba9f5c21dece5aa2ea518b0b685106fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6eaf4a71f1e53ff15db696fe128c245fd0f51a042618ca3f99f3e9833cd90cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf018874a0b35e5aeabff0daa2c53195785d3ba9b94ce2a0a51492a8f289b26c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSsQkKEAgSGAI4AUIIdGhpbmtpbmcSDPQkuS9mOIWbwjhYRhoMD+fa1wiuPT27P21HIjAuZcCV6Q/gdstiYDm9aHLUagGJEXk4GkC6daxatmpfzSpslY06opZIxZVmQ/U77kkqzghFW5nV2EhRW07DCUOu2YA3DgtL+MrlFK/dM0D9G+NYrndJsvC6EOMbudZN1IBwQymdRbyBemrK1Sk3eH2/hHrcy9OpSQgR8YMd97A82kBysN032xAnPbTNghXhX7/lxqLmUSSZJPA1nxA311Xcxle/RRFVJBYVcTu+EI3eRsQrI8z0X5GHRIXxPlOZhjBqL73taBSY0USkQIznoZIZod8XsadK6mjxizZVzex7D1BEryBLI2CJW3+7In9cd61V1yDGbyRn3az+SyE8kEIJ1luF1UE6NIXrO8A8ozPVmypYBEr0Isknaa/0vQ9rgcjkkeRszW9xwYWx4wMaVRW3JgGS7gslQCid7rzfc8x9QouDd/uZ34CLooJE5oirPZvgQnVu4lUdmZGuioBZdn988Tqr7Uu1OQKlpBVpyPYfFHcBVxaEWlapBC9BcVYZDRMXKAzdC584X/qH8Cozv82iG3zb4wz//cbSsimy+D8Hpm09Onfyi+QbSS49JhJvnUzq8NP5l2IlYqCSUi6X0NShQtqVTqNk/ywN7WSgjk2JumXfbQRcLIBiMQsWK4Mh//j8EyYCSD/FaVQlSBJKp0YSrpbKDXhdnSKE57+cAIaPSqPgNdZFHVKMA9zWuu4DGyGdrDevwspGAX1KabTmGqXJOGExzuhfnXb+hXD9MvVztEO26Jv2nZAPpIa0dZ32ErcYArNk3vkmrBc6kGjG10TkYTEitmhwCUmssMpzoxEVF0eI9gtMnhjPBHOvb6oad0IUcJRqyzj1YuqiF4714YjMwzr6a7AD68zMVzGnSt6Ids62MJc4av6IKVAA0V6P0TA2FBPD8bXmxrTPD25PYL1yRAAxELZ6M7j50Icjnj9lIFJNlTzjgJkGD4WB+3L7VWsBcRXzoZhzb+UGoPlgYWcX1+tdei/IluwSCxOzgj2Pz0oF30ENqQriUm6PUbFkT6kGGgT4bDFfYP78GJRUHmns0EgnNK+QS7WkgMWp8Bm7Qy/Qne0NpjIElQR4nQK3CsSHUIPYJ2JdhAh2hv7OxXnIIVotqLyhzJbLUzMCGr0Jaq2Px0JFB+rrELVlrFnEJoDUpEb+LlW3E5gEky61+UOVqRqvtdz6lC9eosDl9VHHGIlDHVJMsyZb83uAI1yoN7TEkn4eCBBE+Bczddta5qi1P/NeWJV7wsrKN47kQMj72ZcVFDLeAz/YPxCiM0l6tBCHy3gBTNvJvrXdUgPZHiTVClcj9hUGNVAZ8cNnQaw5S94UKbROiuzqwkUKAo3EztSd51dcM9R2Lnqq5WzIN+aTCrfXxlrt1w0+/9fcJHYvldS5gjwWm/gtkfIiBDNoLzVeEqMcCPe9Jcn0ywwN8MDcdwIEL1CPo7nEoH3pVKYGiXmEt6s4ArldmDAL4MoGahEdwjfpQ/2uQdfp5qv8RHKr5dIFIP/GWiTPpjtLXbZig1P0s06caw9zdXAHyqs2SMRgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HYjXNDQuFEy1mxAL7XHJpB",
      "input": {
        "note": "The right wrist view shows the blue pen still in front of the basket's near wall. Moving further forward so the pen is over the basket's interior.",
        "targets": {
          "right_x": 0.53,
          "right_y": 0.16,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HYjXNDQuFEy1mxAL7XHJpB",
      "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]: [0.0727, 2.463, 2.7701, -1.4513, 0.0235, -0.1947, 0.9964, 0.392, 1.8938, 1.6817, -0.4671, 0.3016, 0.1558, 0.1547]\nstate[eef_state]: left_x=0.5415 left_y=0.0389 left_z=0.1845 left_yaw=0.157 left_pitch=-0.5866 left_roll=-0.1203 left_gripper=0.9964 right_x=0.5194 right_y=0.1618 right_z=0.2196 right_yaw=0.051 right_pitch=-0.0828 right_roll=-0.0571 right_gripper=0.1547\nstate[joint_eff]: [-0.253, -13.4085, 5.4359, 1.0525, -0.0366, -0.0659, -0.022, -0.7726, -10.2359, 9.6342, 1.7118, 0.1538, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6450007cc7d4e85fa5b444c8442bc2e63cdd225a421f8b3c2f7d90a1198b554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8382c9f796570f2ce643d80fc1befecc5aa0dac7fef566756cc0a49d969b9d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93dabe5cee0894b78e8a9ee7c39a6eaae6a1747f33986c07ba0e3cc20b12493e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 10.67 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]: [0.0727, 2.463, 2.7701, -1.4506, 0.0235, -0.1947, 0.9964, 0.9031, 1.7126, 0.4591, 0.4473, 0.7071, 0.5385, 0.0878]\nstate[eef_state]: left_x=0.5417 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5858 left_roll=-0.1204 left_gripper=0.9964 right_x=0.293 right_y=0.1921 right_z=0.0119 right_yaw=0.0404 right_pitch=-0.0197 right_roll=-0.0406 right_gripper=0.0878\nstate[joint_eff]: [-0.1983, -13.1624, 5.4906, 1.033, -0.0024, -0.0562, -0.022, -0.1299, -6.6803, 4.9162, 1.2137, 0.1636, -0.0269, 3.8168]",
      "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]: [0.0727, 2.463, 2.7701, -1.4509, 0.0235, -0.1947, 0.9964, 0.4835, 1.6123, 1.2423, -0.2867, 0.3836, 0.2188, 0.1483]\nstate[eef_state]: left_x=0.5416 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5862 left_roll=-0.1204 left_gripper=0.9964 right_x=0.442 right_y=0.1615 right_z=0.2005 right_yaw=0.0422 right_pitch=-0.0408 right_roll=-0.0443 right_gripper=0.1483\nstate[joint_eff]: [-0.253, -13.2581, 5.4222, 1.0281, -0.0122, -0.0513, -0.022, -0.4855, -7.9658, 9.5795, 1.7118, 0.1978, 0.0024, 1.0281]",
      "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]: [0.0727, 2.463, 2.7701, -1.4513, 0.0235, -0.1947, 0.9964, 0.392, 1.8938, 1.6817, -0.4671, 0.3016, 0.1558, 0.1547]\nstate[eef_state]: left_x=0.5415 left_y=0.0389 left_z=0.1845 left_yaw=0.157 left_pitch=-0.5866 left_roll=-0.1203 left_gripper=0.9964 right_x=0.5194 right_y=0.1618 right_z=0.2196 right_yaw=0.051 right_pitch=-0.0828 right_roll=-0.0571 right_gripper=0.1547\nstate[joint_eff]: [-0.253, -13.4085, 5.4359, 1.0525, -0.0366, -0.0659, -0.022, -0.7726, -10.2359, 9.6342, 1.7118, 0.1538, -0.0171, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6450007cc7d4e85fa5b444c8442bc2e63cdd225a421f8b3c2f7d90a1198b554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8382c9f796570f2ce643d80fc1befecc5aa0dac7fef566756cc0a49d969b9d6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93dabe5cee0894b78e8a9ee7c39a6eaae6a1747f33986c07ba0e3cc20b12493e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7AYKEAgSGAI4AUIIdGhpbmtpbmcSDJUHUObnbUDPoPsQnRoMDkc0Vn8XS05XzWxgIjAInyxYmQNCOFwhEl3F9hYvhUIDGlnPYp6B2TMuQzlCTiEgw8MPbDEJcIufGd/4DeYqiQaq8MBqI09N8OmijYNy3H/yh97xkswSsfdG3m1qbLSz1zz9hNvG8ppGpsKzcL9Lh7IudyDM35SXVlNeLJQhKewfwyKbJBQqU3YzcdITk5tM73htlzyNr2X6leoVWBRKCjelLOVek1HpDdirzfRQS0hZ+UOEyRPwpC9/qGP+dKgXVJ3LXxkomNFG2e3qp78hPaBVU5XS26s1r2jtC3HkZoOl9yd2lWfxJJKS2d1N7BsIt8Y8Qcy3JqcXR3lBj83/Pd+nvT39MCiLezFZuRHlFGHMu12GWmcOf8RD2JM7sk6A0DJb4ibgRmtx9et2jEt4p9FG7jH49Oox2tGR3z/zbo/5fL4WBW7ALb7fxYcZ41Zd+fWZy8cfuBaDJY3p01+KLbFROFYcf6p/eGbccONACv39rLS3GtVxtccl7BWUHhO2bwIZJvEhqugon/bsKbXqBxR7UL6EnGvvZ3yneG3alR13ZggZA2mgFpIKLOfrrWP4B1Gf0AyOuG6juT4ETLZSL3D9U9247yx9ztBfGdD2R+I0jpSCEenvedfOOJF9EzGdIRFrxLlUWUulvsj7gGI71VqaNnCDM6quQZPmgSsrqJ5s9Al/zURNi1uoAw9YKXITKAQVcObPCDynyW1lpf17c9eTWlMQhN/nwl7a/QF6dmOExwh8zGa7Fdns86kiLqyuyMn1H8qk0AJ6Bir0/9u3SAQaXtwjg/K6WKS3aU2IjND6U04OZFRLJ++8cu4UeuAt713kK4evO7WuseAhdaiDhGIEcQTbsBA6+s6fSmRAy6Ecrq3IofSuxHjCRBHAI85H8j14rpsXgbtckEqr7EOUf3WgvaLEjL2udSdXEqUThjBscGsvyyE/lejwVNgP3ivMg28GCJDMoWJNcM5esfoBz7p1iU/eEQ2Lroi42+7lPIzEe/NVXhqeIXYPkTEc3/Ea6Eq+SnM5905Hn8+VJN/nTB6+eyhwzLcfizO24DinfCeYaAGuD/qArvo5os7I5uNkGsIKayJCVWEtG3sSlUkHcoLtiGSoon3dbAcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GLDv8s25JNzxefMKQZUGRZ",
      "input": {
        "note": "The blue pen now hangs inside the right basket, past its near wall. 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_01GLDv8s25JNzxefMKQZUGRZ",
      "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]: [0.0727, 2.463, 2.7701, -1.4502, 0.0235, -0.1947, 0.9964, 0.3912, 1.9095, 1.6798, -0.4812, 0.3008, 0.1493, 0.9951]\nstate[eef_state]: left_x=0.5418 left_y=0.0389 left_z=0.1846 left_yaw=0.1569 left_pitch=-0.5854 left_roll=-0.1205 left_gripper=0.9964 right_x=0.5187 right_y=0.1612 right_z=0.208 right_yaw=0.0533 right_pitch=-0.113 right_roll=-0.0724 right_gripper=0.9951\nstate[joint_eff]: [-0.1162, -13.3949, 5.4496, 1.0574, -0.0122, -0.0464, -0.022, -0.0205, -11.9179, 7.1179, 1.6874, 0.0317, 0.0415, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edc28b3a566575801f8fbc96e0032397e1ff7d15554f8310a06aee7ad0418ada",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d723ab32e87c24e6c420f1ae4bebaaad87046eb408fd8b2a71b918f46bfce9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c46ba2773fd7a34aff117549aac4b2b8cab4c065967c68466a8f60089ed9142",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]