adhoc

completed
2026-09-22T23:01:17.986072+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
286.5 s
total steps
410
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: two teal baskets at the back; in front, a small teddy bear, a big teddy bear, a yellow marker and two pens. Plan: toys go in the left basket, pens in the right. The small bear sits just ahead of the left gripper and a bit to its left, so I'm moving over it.
move_to
left_x0.3200left_y0.0300left_z0.1200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0227, 0.7986, 0.6174, -0.3801, -0.0219, -0.0261, 0.9995, -0.0154, 0.7967, 0.6109, -0.3737, -0.0128, -0.0158, 0.9994] state[eef_state]: left_x=0.2967 left_y=0.0007 left_z=0.1848 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2966 right_y=0.0013 right_z=0.1837 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.5795, 9.2513, 1.7607, -0.0122, 0.0952, -0.0708, -0.8137, -1.3744, 10.0581, 1.707, -0.0855, -0.0171, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": 0.03, "left_z": 0.12}, "note": "Scene: two teal baskets at the back; in front, a small teddy bear, a big teddy bear, a yellow marker and two pens. Plan: toys go in the left basket, pens in the right. The small bear sits just ahead of the left gripper and a bit to its left, so I'm moving over it."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe left wrist cam shows a grey plush toy right under the jaws (the top cam shows it at the left edge next to the arm). Descending to grasp it.
move_to
left_z0.0300left_y0.0400
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]: [0.1493, 0.9951, 0.4259, -0.0288, 0.1112, 0.0532, 0.9995, -0.0154, 0.7986, 0.6086, -0.3744, -0.0124, -0.0162, 0.9994] state[eef_state]: left_x=0.317 left_y=0.0315 left_z=0.1138 left_yaw=0.0168 left_pitch=-0.0326 left_roll=-0.0085 left_gripper=0.9995 right_x=0.2964 right_y=0.0012 right_z=0.182 right_yaw=0.0002 right_pitch=-0.005 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [0.1162, -2.9333, 6.3932, 2.0098, 0.1245, 0.0904, -0.0122, -0.3624, -1.4017, 7.4188, 1.7265, -0.0611, -0.0415, -0.0122] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03, "left_y": 0.04}, "note": "The left wrist cam shows a grey plush toy right under the jaws (the top cam shows it at the left edge next to the arm). Descending to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteDescent stopped at z≈0.05, resting on the grey plush, which fills the view between the jaws. Closing to grab it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1944, 1.3411, 0.2245, 0.5739, 0.1291, 0.0914, 0.9995, -0.0151, 0.8028, 0.6086, -0.3775, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.3289 left_y=0.0452 left_z=0.0488 left_yaw=0.0264 left_pitch=0.0233 left_roll=0.0224 left_gripper=0.9995 right_x=0.2963 right_y=0.0012 right_z=0.1802 right_yaw=0.0003 right_pitch=-0.0122 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [0.4444, -2.3453, 3.0291, 0.9255, 0.2271, -0.105, -0.0122, -0.2393, -1.2103, 7.0632, 1.8584, -0.0171, -0.0757, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Descent stopped at z\u22480.05, resting on the grey plush, which fills the view between the jaws. Closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteGripper closed to 0.01, so it's probably empty. The plush sits just ahead of the jaws. Opening and lifting a bit so I can reposition forward.
move_to
left_gripper1.0000left_z0.0800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1944, 1.3388, 0.2199, 0.6369, 0.1204, 0.0933, 0.0099, -0.0154, 0.8032, 0.6083, -0.3786, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.335 left_y=0.048 left_z=0.0611 left_yaw=0.0323 left_pitch=0.0824 left_roll=0.0383 left_gripper=0.0099 right_x=0.2961 right_y=0.0011 right_z=0.1797 right_yaw=-0.0001 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.0615, -3.5897, 5.559, 1.1844, 0.0806, -0.0366, 1.0232, -0.3624, -1.3607, 7.2821, 1.7363, -0.0269, -0.0611, -0.0171] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.08}, "note": "Gripper closed to 0.01, so it's probably empty. The plush sits just ahead of the jaws. Opening and lifting a bit so I can reposition forward."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe grey plush sits centred a few cm ahead of the jaws. Moving 3 cm forward and down low so the jaws close around its body.
move_to
left_x0.3600left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1944, 1.243, 0.2409, 0.5072, 0.12, 0.0898, 0.9955, -0.0154, 0.8032, 0.6083, -0.3843, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.3308 left_y=0.0472 left_z=0.0714 left_yaw=0.0346 left_pitch=0.0696 left_roll=0.0333 left_gripper=0.9955 right_x=0.2953 right_y=0.0011 right_z=0.1785 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.0068, -4.4239, 7.9795, 1.6337, 0.0171, -0.022, -0.1783, -0.3624, -1.3197, 7.0085, 1.7851, -0.0317, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_z": 0.02}, "note": "The grey plush sits centred a few cm ahead of the jaws. Moving 3 cm forward and down low so the jaws close around its body."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe descent stopped at z≈0.056 on top of the plush, with the plush between the jaws. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1715, 1.6905, 0.2749, 1.0603, 0.075, 0.0971, 0.9967, -0.0147, 0.8082, 0.6079, -0.3855, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.3758 left_y=0.0553 left_z=0.0559 left_yaw=0.0436 left_pitch=0.2049 left_roll=0.0787 left_gripper=0.9967 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [-0.4171, -3.3573, 2.8376, 0.8913, 0.1929, -0.2564, 0.1001, -0.4034, -1.7162, 7.1863, 1.707, -0.0415, -0.0415, -0.0171] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The descent stopped at z\u22480.056 on top of the plush, with the plush between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteFur is visible pinched between the jaws, though the reading is low because the plush squashes. Lifting to check whether it comes up with the gripper.
move_to
left_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]: [0.1455, 1.6283, 0.3096, 0.9535, 0.0292, 0.0971, 0.0156, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.3811 left_y=0.0543 left_z=0.0654 left_yaw=0.0575 left_pitch=0.1933 left_roll=0.094 left_gripper=0.0156 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [-0.1573, -5.5726, 4.4786, 1.2381, 0.1783, -0.0611, 0.7106, -0.1846, -1.0598, 7.1043, 1.7509, -0.0317, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15}, "note": "Fur is visible pinched between the jaws, though the reading is low because the plush squashes. Lifting to check whether it comes up with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe grey plush came up with the gripper, so the grasp is good. Carrying it high over the left basket, which is ahead and to the right of the left arm.
move_to
left_x0.4500left_y-0.1500left_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]: [0.1276, 1.2633, 0.4507, 0.4973, 0.0105, 0.0891, 0.0197, -0.0147, 0.8116, 0.6079, -0.3859, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.3835 left_y=0.051 left_z=0.1507 left_yaw=0.0593 left_pitch=0.2431 left_roll=0.0967 left_gripper=0.0197 right_x=0.2956 right_y=0.0014 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [-0.4171, -4.7795, 8.8547, 1.956, 0.0562, 0.0024, 1.0281, -0.3761, -1.6205, 7.0496, 1.7411, -0.0464, -0.0757, -0.0171] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.15, "left_z": 0.22}, "note": "The grey plush came up with the gripper, so the grasp is good. Carrying it high over the left basket, which is ahead and to the right of the left arm."})
tool
executing move_to over 18 steps (1.8s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe gripper is over the near-left rim of the left basket; the wrist cam shows the basket interior ahead and to the right. Shifting right and a little forward to get over its centre.
move_to
left_x0.4700left_y-0.2200left_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]: [-0.5388, 1.5829, 0.9894, 0.1402, -0.6071, -0.1593, 0.0212, -0.0147, 0.8139, 0.6075, -0.3859, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.4428 left_y=-0.1431 left_z=0.1946 left_yaw=0.0483 left_pitch=0.1889 left_roll=0.1184 left_gripper=0.0212 right_x=0.2957 right_y=0.0014 right_z=0.1749 right_yaw=0.0007 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9994 state[joint_eff]: [-0.3487, -7.8291, 10.1265, 1.8144, -0.3004, 0.0415, 1.033, -0.3761, -1.3333, 7.0359, 1.7021, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.22, "left_z": 0.2}, "note": "The gripper is over the near-left rim of the left basket; the wrist cam shows the basket interior ahead and to the right. Shifting right and a little forward to get over its centre."})
tool
executing move_to over 7 steps (0.7s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe plush is now over the inside of the left basket (the wrist cam shows the basket floor under the jaws). Opening to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.6628, 1.8122, 1.2453, 0.0154, -0.7174, -0.247, 0.0212, -0.0147, 0.8146, 0.6075, -0.3859, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.464 left_y=-0.2104 left_z=0.1811 left_yaw=0.0507 left_pitch=0.1493 left_roll=0.1392 left_gripper=0.0212 right_x=0.2957 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9994 state[joint_eff]: [-0.4034, -9.6205, 9.4291, 1.7363, -0.2222, 0.1148, 1.0427, -0.2803, -1.1692, 7.2137, 1.6923, -0.0415, -0.022, -0.0171] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The plush is now over the inside of the left basket (the wrist cam shows the basket floor under the jaws). Opening to drop it in."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent notePlush released into the left basket. Next toy: the small brown bear near the front centre. Moving the left arm back over it for a look.
move_to
left_x0.2700left_y-0.2000left_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]: [-0.6624, 1.8252, 1.2488, 0.0113, -0.725, -0.2623, 0.9952, -0.0147, 0.8146, 0.6075, -0.3855, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.465 left_y=-0.2096 left_z=0.1761 left_yaw=0.0639 left_pitch=0.1428 left_roll=0.1374 left_gripper=0.9952 right_x=0.2958 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9994 state[joint_eff]: [-0.4034, -10.7692, 6.6393, 1.663, -0.1294, 0.1392, 0.0708, -0.1026, -1.388, 6.9949, 1.7021, -0.0806, -0.0366, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.2, "left_z": 0.15}, "note": "Plush released into the left basket. Next toy: the small brown bear near the front centre. Moving the left arm back over it for a look."})
tool
executing move_to over 15 steps (1.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe grey plush missed: it's sitting on the table leaning against the front of the left basket, so the basket is further forward than I estimated. The small brown bear is right under the jaws, so I'm descending to grab it first.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1122, 1.4319, 0.7925, -0.2848, -1.0206, -0.7082, 0.9966, -0.0147, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.2771 left_y=-0.2131 left_z=0.1459 left_yaw=0.0208 left_pitch=0.1248 left_roll=0.1376 left_gripper=0.9966 right_x=0.2961 right_y=0.0014 right_z=0.1738 right_yaw=0.0007 right_pitch=-0.0366 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.1162, -7.2274, 6.0239, 1.1551, -0.5983, -0.0464, 0.1245, -0.253, -1.5385, 7.159, 1.7216, -0.0464, -0.0611, -0.0171] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "The grey plush missed: it's sitting on the table leaning against the front of the left basket, so the basket is further forward than I estimated. The small brown bear is right under the jaws, so I'm descending to grab it first."})
tool
executing move_to over 8 steps (0.8s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteAt z≈0.03 with the small brown bear sitting between the jaws. Closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.111, 1.7599, 0.5755, 0.2047, -1.0176, -0.7139, 0.9967, -0.0147, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.2747 left_y=-0.208 left_z=0.0318 left_yaw=0.0176 left_pitch=0.0993 left_roll=0.1821 left_gripper=0.9967 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.1709, -6.5983, 3.6308, 1.2186, -0.5055, 0.0122, 0.0024, -0.3487, -1.4427, 7.0906, 1.7411, -0.0122, -0.0415, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "At z\u22480.03 with the small brown bear sitting between the jaws. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteGripper settled at 0.035, which is ambiguous for a soft toy. Lifting to see whether the brown bear comes with it.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.111, 1.7706, 0.5678, 0.2268, -1.0393, -0.7116, 0.0349, -0.0147, 0.8192, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994] state[eef_state]: left_x=0.2754 left_y=-0.205 left_z=0.0317 left_yaw=0.0281 left_pitch=0.117 left_roll=0.1884 left_gripper=0.0349 right_x=0.2961 right_y=0.0013 right_z=0.1736 right_yaw=0.0003 right_pitch=-0.0374 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.0205, -7.4188, 4.9709, 0.8278, -0.232, 0.0317, 1.0232, -0.1983, -1.4154, 7.0222, 1.7411, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.035, which is ambiguous for a soft toy. Lifting to see whether the brown bear comes with it."})
tool
executing move_to over 11 steps (1.1s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe brown bear is hanging from the jaws. Carrying it high and much further forward (x≈0.55) to get over the centre of the left basket this time.
move_to
left_x0.5500left_y-0.2200left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.111, 1.3937, 0.9321, -0.4999, -1.0248, -0.7189, 0.0361, -0.0147, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.277 left_y=-0.2112 left_z=0.1839 left_yaw=0.0258 left_pitch=0.113 left_roll=0.1635 left_gripper=0.0361 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.0205, -6.5709, 8.3761, 0.9304, -0.5934, 0.0073, 1.0281, -0.1983, -1.388, 7.0222, 1.6923, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.22, "left_z": 0.22}, "note": "The brown bear is hanging from the jaws. Carrying it high and much further forward (x\u22480.55) to get over the centre of the left basket this time."})
tool
executing move_to over 21 steps (2.1s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe wrist cam shows the brown bear hanging inside the left basket's rim. Releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5613, 2.0621, 1.726, -0.2676, -0.6418, -0.2203, 0.0361, -0.0147, 0.8211, 0.6075, -0.3859, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.5407 left_y=-0.2108 left_z=0.2007 left_yaw=0.0747 left_pitch=0.0806 left_roll=0.1639 left_gripper=0.0361 right_x=0.2961 right_y=0.0014 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0401 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [0.0615, -12.3556, 9.5385, 1.6874, 0.0757, 0.3443, 1.0281, -0.294, -1.5385, 7.3094, 1.6923, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The wrist cam shows the brown bear hanging inside the left basket's rim. Releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe brown bear is in the left basket. Next is the big tan bear in the front centre; moving the left arm above it.
move_to
left_x0.3500left_y-0.2700left_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]: [-0.5598, 2.0796, 1.7237, -0.2836, -0.6319, -0.2359, 0.9953, -0.0147, 0.8211, 0.6075, -0.3855, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.5402 left_y=-0.2112 left_z=0.1867 left_yaw=0.0753 left_pitch=0.0497 left_roll=0.1668 left_gripper=0.9953 right_x=0.2962 right_y=0.0014 right_z=0.173 right_yaw=0.0007 right_pitch=-0.0397 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [-0.335, -13.5179, 7.3094, 1.7851, -0.3736, 0.1538, 0.0122, -0.3897, -1.3197, 7.2684, 1.7118, -0.0806, -0.0415, -0.0171] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.27, "left_z": 0.2}, "note": "The brown bear is in the left basket. Next is the big tan bear in the front centre; moving the left arm above it."})
tool
executing move_to over 15 steps (1.5s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe big bear's head shows at the bottom of the wrist view, so it's slightly behind and right of the grasp point. Stepping back a little and descending onto it.
move_to
left_x0.3100left_y-0.2900left_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9813, 1.7844, 1.3964, -0.5453, -0.9005, -0.6247, 0.9966, -0.0147, 0.8249, 0.6075, -0.3851, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.3585 left_y=-0.2806 left_z=0.1885 left_yaw=0.0385 left_pitch=0.0286 left_roll=0.174 left_gripper=0.9966 right_x=0.2965 right_y=0.0014 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [-0.1436, -11.4803, 6.188, 1.1941, -0.696, -0.0855, 0.1294, -0.2393, -1.5521, 7.0496, 1.7118, -0.022, -0.0464, -0.0171] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.29, "left_z": 0.06}, "note": "The big bear's head shows at the bottom of the wrist view, so it's slightly behind and right of the grasp point. Stepping back a little and descending onto it."})
tool
executing move_to over 9 steps (0.9s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe big bear's head fills the space between the jaws and the descent stopped at z≈0.077 on it. Closing to grip the head.
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]: [-1.1049, 1.9049, 1.0889, -0.2314, -0.9672, -0.7876, 0.9967, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994] state[eef_state]: left_x=0.3143 left_y=-0.2934 left_z=0.0767 left_yaw=0.0328 left_pitch=0.0389 left_roll=0.1602 left_gripper=0.9967 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [-0.2803, -7.3094, 4.3829, 0.8425, -0.3492, -0.1538, 0.0024, -0.2803, -1.4154, 7.0359, 1.707, -0.0366, -0.0708, -0.0171] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The big bear's head fills the space between the jaws and the descent stopped at z\u22480.077 on it. Closing to grip the head."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe jaws are clamped on the big bear's snout (gripper reads 0.11). Lifting high so the bear hangs clear of the basket rim when I carry it over.
move_to
left_z0.3000
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]: [-1.1095, 1.9167, 1.0813, -0.2085, -0.9653, -0.7967, 0.112, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994] state[eef_state]: left_x=0.3132 left_y=-0.2957 left_z=0.0716 left_yaw=0.0322 left_pitch=0.0396 left_roll=0.1485 left_gripper=0.112 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [0.212, -10.2769, 6.1607, 0.7888, -0.4811, 0.0659, 0.9158, -0.3897, -1.4564, 7.0359, 1.6777, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3}, "note": "The jaws are clamped on the big bear's snout (gripper reads 0.11). Lifting high so the bear hangs clear of the basket rim when I carry it over."})
tool
executing move_to over 15 steps (1.5s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe big bear is lifted off the table by its snout. Carrying it forward over the left basket, to the same spot where the brown bear dropped in successfully.
move_to
left_x0.5300left_y-0.2100left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1095, 1.7931, 1.8076, -1.0554, -0.9386, -0.8276, 0.114, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994] state[eef_state]: left_x=0.3135 left_y=-0.3026 left_z=0.2827 left_yaw=0.0355 left_pitch=0.0221 left_roll=0.1095 left_gripper=0.114 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994 state[joint_eff]: [-0.1846, -8.5675, 8.5128, 1.0085, -0.7253, 0.2418, 1.033, -0.2256, -1.4564, 7.1316, 1.7314, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.21, "left_z": 0.28}, "note": "The big bear is lifted off the table by its snout. Carrying it forward over the left basket, to the same spot where the brown bear dropped in successfully."})
tool
executing move_to over 17 steps (1.7s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteIn the top cam the big bear hangs right over the left basket. Releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5537, 2.0418, 2.014, -0.7151, -0.5774, -0.3225, 0.1153, -0.0147, 0.8249, 0.6075, -0.3855, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.5179 left_y=-0.2026 left_z=0.253 left_yaw=0.0849 left_pitch=-0.0471 left_roll=0.1269 left_gripper=0.1153 right_x=0.2964 right_y=0.0014 right_z=0.1719 right_yaw=0.0007 right_pitch=-0.0435 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [0.0889, -11.535, 10.0855, 1.9267, -0.1538, 0.4469, 1.0281, -0.294, -1.4564, 7.0359, 1.6874, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "In the top cam the big bear hangs right over the left basket. Releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
right_cam
camera right_cam step 236
assistant
agent noteBoth bears are now in the left basket. The grey plush is still on the table in front of the basket (left of centre in the top cam), so I'm moving the left arm above it.
move_to
left_x0.3700left_y-0.0900left_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]: [-0.5518, 2.0602, 2.0136, -0.7319, -0.5682, -0.3405, 0.9952, -0.0147, 0.8249, 0.6075, -0.3851, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.518 left_y=-0.2031 left_z=0.2399 left_yaw=0.0906 left_pitch=-0.0781 left_roll=0.1285 left_gripper=0.9952 right_x=0.2965 right_y=0.0014 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [-0.1573, -13.1897, 6.8855, 1.619, -0.3736, 0.1587, 0.0073, -0.2667, -1.4291, 7.0359, 1.7216, -0.0562, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.09, "left_z": 0.15}, "note": "Both bears are now in the left basket. The grey plush is still on the table in front of the basket (left of centre in the top cam), so I'm moving the left arm above it."})
tool
executing move_to over 12 steps (1.2s)
step 248
top_cam
camera top_cam step 248
left_cam
camera left_cam step 248
right_cam
camera right_cam step 248
assistant
agent noteThe grey bunny plush is lying right under the jaws in the wrist view. Descending onto it.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.482, 1.388, 0.8639, -0.2836, -0.5217, -0.2974, 0.9967, -0.0147, 0.8307, 0.6075, -0.392, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.369 left_y=-0.0896 left_z=0.1397 left_yaw=0.1039 left_pitch=-0.1245 left_roll=0.1524 left_gripper=0.9967 right_x=0.2958 right_y=0.0014 right_z=0.169 right_yaw=0.0007 right_pitch=-0.0557 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [0.1846, -6.3248, 7.2274, 1.9072, -0.1685, 0.1294, 0.1343, -0.1846, -1.6752, 7.0632, 1.7656, -0.0415, -0.0366, -0.0122] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "The grey bunny plush is lying right under the jaws in the wrist view. Descending onto it."})
tool
executing move_to over 8 steps (0.8s)
step 256
top_cam
camera top_cam step 256
assistant
agent noteResting on the bunny at z≈0.04 with its body filling the space between the jaws. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4812, 1.6463, 0.6106, 0.2409, -0.5804, -0.2832, 0.9968, -0.0147, 0.8314, 0.6075, -0.3923, -0.012, -0.0162, 0.9994] state[eef_state]: left_x=0.3737 left_y=-0.0818 left_z=0.0398 left_yaw=0.1411 left_pitch=-0.0912 left_roll=0.1911 left_gripper=0.9968 right_x=0.2958 right_y=0.0014 right_z=0.1687 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9994 state[joint_eff]: [-0.4444, -4.4923, 3.5487, 0.9939, 0.5934, -0.2369, -0.0024, -0.3214, -1.5111, 7.0085, 1.707, -0.0269, -0.0171, -0.0122] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Resting on the bunny at z\u22480.04 with its body filling the space between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent noteThe gripper settled at 0.20, so the bunny is grasped. Lifting high before carrying it over the basket rim.
move_to
left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4789, 1.6436, 0.606, 0.2928, -0.6437, -0.2729, 0.1977, -0.0147, 0.8314, 0.6075, -0.392, -0.0116, -0.0162, 0.9994] state[eef_state]: left_x=0.3797 left_y=-0.0736 left_z=0.0517 left_yaw=0.1838 left_pitch=-0.0259 left_roll=0.2049 left_gripper=0.1977 right_x=0.2959 right_y=0.0013 right_z=0.1688 right_yaw=0.0003 right_pitch=-0.0565 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [-0.4034, -6.4479, 5.7231, 0.9695, 0.315, -0.1343, 0.7741, -0.335, -1.5111, 7.3915, 1.6972, -0.0415, -0.0806, -0.0171] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "The gripper settled at 0.20, so the bunny is grasped. Lifting high before carrying it over the basket rim."})
tool
executing move_to over 15 steps (1.5s)
step 281
assistant
agent noteBunny lifted clear; the left basket holds both bears. Carrying the bunny over the basket.
move_to
left_x0.5200left_y-0.2000left_z0.2800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4778, 1.3823, 1.2877, -0.6682, -0.6315, -0.2882, 0.2, -0.0147, 0.8314, 0.6075, -0.3923, -0.0116, -0.0166, 0.9994] state[eef_state]: left_x=0.3816 left_y=-0.0761 left_z=0.2611 left_yaw=0.1842 left_pitch=-0.0435 left_roll=0.1967 left_gripper=0.2 right_x=0.2958 right_y=0.0013 right_z=0.1687 right_yaw=0.0005 right_pitch=-0.0568 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.0889, -6.188, 9.1282, 1.58, -0.3883, 0.105, 0.2271, -0.1709, -1.4701, 7.0359, 1.7216, -0.022, -0.0757, -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": {"left_x": 0.52, "left_y": -0.2, "left_z": 0.28}, "note": "Bunny lifted clear; the left basket holds both bears. Carrying the bunny over the basket."})
tool
executing move_to over 12 steps (1.2s)
step 293
assistant
agent noteThe bunny is over the left basket, right above the bears. Releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5728, 2.1769, 2.3001, -0.9768, -0.6815, -0.4091, 0.2021, -0.0143, 0.8322, 0.6067, -0.3931, -0.0116, -0.0166, 0.9994] state[eef_state]: left_x=0.5181 left_y=-0.1975 left_z=0.2626 left_yaw=0.1922 left_pitch=-0.076 left_roll=0.185 left_gripper=0.2021 right_x=0.2957 right_y=0.0014 right_z=0.168 right_yaw=0.0009 right_pitch=-0.0591 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.7043, -13.1214, 8.0068, 1.0818, -0.5495, 0.2515, 0.1929, -0.1436, -1.5658, 7.2274, 1.6581, -0.0366, -0.0659, -0.0171] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The bunny is over the left basket, right above the bears. Releasing it."})
tool
executing move_to over 8 steps (0.8s)
step 301
assistant
agent noteAll three plush toys are in the left basket. Now the pens: the right wrist cam shows a white marker lying straight ahead along the jaw column, so I'm moving forward slightly and down to table level to grab it.
move_to
right_x0.3200right_y0.0050right_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]: [-0.5732, 2.204, 2.2978, -1.0012, -0.6769, -0.4259, 0.9952, -0.0147, 0.8326, 0.6067, -0.3927, -0.012, -0.0166, 0.9994] state[eef_state]: left_x=0.5178 left_y=-0.1982 left_z=0.244 left_yaw=0.201 left_pitch=-0.1153 left_roll=0.2066 left_gripper=0.9952 right_x=0.2957 right_y=0.0014 right_z=0.168 right_yaw=0.0009 right_pitch=-0.0591 right_roll=0.0001 right_gripper=0.9994 state[joint_eff]: [-0.2393, -14.5573, 6.6256, 1.6142, -0.3492, 0.1343, 0.0659, -0.335, -1.4291, 7.0359, 1.6728, -0.0513, -0.0757, -0.0171] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.005, "right_z": -0.01}, "note": "All three plush toys are in the left basket. Now the pens: the right wrist cam shows a white marker lying straight ahead along the jaw column, so I'm moving forward slightly and down to table level to grab it."})
tool
executing move_to over 12 steps (1.2s)
step 313
assistant
agent noteThe right gripper is at table level with the pen between the jaws. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5732, 2.204, 2.2978, -1.008, -0.6765, -0.4282, 0.9966, 0.0044, 1.594, 0.1822, 0.8459, -0.017, -0.0002, 0.9993] state[eef_state]: left_x=0.5168 left_y=-0.1977 left_z=0.243 left_yaw=0.2026 left_pitch=-0.1201 left_roll=0.2095 left_gripper=0.9966 right_x=0.3325 right_y=0.008 right_z=0.0114 right_yaw=0.0154 right_pitch=-0.0065 right_roll=0.0158 right_gripper=0.9993 state[joint_eff]: [-0.335, -12.4239, 6.2291, 1.326, -0.3443, -0.022, 0.1392, 0.2393, -2.5504, 1.2103, -0.1636, 0.1636, -0.0757, -0.0171] camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The right gripper is at table level with the pen between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 323
assistant
agent noteThe gripper settled at 0.155 (about 1.5 cm), so the pen is held. Lifting straight up to clear the right basket's rim.
move_to
right_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]: [-0.5728, 2.204, 2.2978, -1.0084, -0.6769, -0.4282, 0.9967, 0.0055, 1.5986, 0.1761, 0.8753, -0.02, -0.0017, 0.1554] state[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.243 left_yaw=0.2032 left_pitch=-0.1202 left_roll=0.21 left_gripper=0.9967 right_x=0.3336 right_y=0.009 right_z=0.0143 right_yaw=0.02 right_pitch=0.0122 right_roll=0.0158 right_gripper=0.1554 state[joint_eff]: [-0.3077, -12.4513, 6.2838, 1.2918, -0.3492, 0.0122, 0.0024, -0.253, -5.0393, 4.1915, 1.4383, -0.0024, -0.0171, 1.0427] approver: 1 step(s) modified (delta_clamped). 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_z": 0.25}, "note": "The gripper settled at 0.155 (about 1.5 cm), so the pen is held. Lifting straight up to clear the right basket's rim."})
tool
executing move_to over 16 steps (1.6s)
step 339
assistant
agent noteThe pen is lifted; the right wrist cam shows the right basket ahead and to the left. Carrying the pen over the basket's centre.
move_to
right_x0.4700right_y0.1300right_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]: [-0.5728, 2.2044, 2.2974, -1.0088, -0.6765, -0.4358, 0.9967, 0.0055, 0.9886, 0.8726, -0.4282, -0.02, -0.0048, 0.1561] state[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.2426 left_yaw=0.2071 left_pitch=-0.1203 left_roll=0.2046 left_gripper=0.9967 right_x=0.3363 right_y=0.009 right_z=0.2362 right_yaw=0.0216 right_pitch=0.0153 right_roll=0.0132 right_gripper=0.1561 state[joint_eff]: [-0.2803, -12.4786, 6.2427, 1.2723, -0.3394, 0.0562, -0.0122, -0.0342, -2.2222, 9.8667, 1.58, -0.0122, -0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.13, "right_z": 0.25}, "note": "The pen is lifted; the right wrist cam shows the right basket ahead and to the left. Carrying the pen over the basket's centre."})
tool
executing move_to over 11 steps (1.1s)
step 350
assistant
agent noteThe right gripper is centred over the right basket. Dropping the pen in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5728, 2.2044, 2.2971, -1.0084, -0.6765, -0.4431, 0.9967, 0.3569, 1.6028, 1.3342, -0.3519, 0.2539, 0.1585, 0.1561] state[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.2425 left_yaw=0.2109 left_pitch=-0.1196 left_roll=0.1989 left_gripper=0.9967 right_x=0.461 right_y=0.1284 right_z=0.2287 right_yaw=0.0548 right_pitch=-0.0384 right_roll=-0.0091 right_gripper=0.1561 state[joint_eff]: [-0.3214, -12.3282, 6.3385, 1.2772, -0.359, 0.022, -0.0122, 0.3077, -8.9641, 9.388, 1.5995, 0.2466, 0.1392, 1.0281] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The right gripper is centred over the right basket. Dropping the pen in."})
tool
executing move_to over 9 steps (0.9s)
step 359
assistant
agent noteThe first pen is in the right basket. The second, dark pen lies on the table just left of where the first one was; moving down onto it with the jaws open.
move_to
right_x0.3100right_y0.1000right_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]: [-0.5728, 2.2044, 2.2967, -1.008, -0.6735, -0.4465, 0.9967, 0.3595, 1.6215, 1.3357, -0.3546, 0.2508, 0.1505, 0.9953] state[eef_state]: left_x=0.5168 left_y=-0.1979 left_z=0.2422 left_yaw=0.2106 left_pitch=-0.1209 left_roll=0.1945 left_gripper=0.9967 right_x=0.4624 right_y=0.1308 right_z=0.2202 right_yaw=0.064 right_pitch=-0.0579 right_roll=-0.0198 right_gripper=0.9953 state[joint_eff]: [-0.1436, -12.3282, 6.3521, 1.3065, -0.3639, -0.0171, -0.0122, -0.4581, -9.4974, 6.8718, 1.6777, 0.0317, -0.0024, -0.2076] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.1, "right_z": -0.01}, "note": "The first pen is in the right basket. The second, dark pen lies on the table just left of where the first one was; moving down onto it with the jaws open."})
tool
executing move_to over 15 steps (1.5s)
step 374
assistant
agent noteProblem: on the way down the right gripper caught the right basket and tipped it up onto its end, and the wrist cam is now looking into it. Backing straight out toward the base to free the gripper.
move_to
right_x0.2000right_z0.0600
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5728, 2.2044, 2.2959, -1.0084, -0.6735, -0.4541, 0.9967, 0.4839, 1.6371, 0.2714, 0.8246, 0.3401, 0.2344, 0.9959] state[eef_state]: left_x=0.5167 left_y=-0.1978 left_z=0.2418 left_yaw=0.2147 left_pitch=-0.1209 left_roll=0.1893 left_gripper=0.9967 right_x=0.3348 right_y=0.1134 right_z=0.0261 right_yaw=0.0695 right_pitch=0.0519 right_roll=0.039 right_gripper=0.9959 state[joint_eff]: [-0.2393, -12.4513, 6.3111, 1.2674, -0.2613, 0.0269, -0.0122, 0.253, -2.4137, 0.5949, -0.0806, 0.1587, -0.2369, 0.0513] camera 'top_cam' (step 374): [image omitted: streamed camera frame] camera 'left_cam' (step 374): [image omitted: streamed camera frame] camera 'right_cam' (step 374): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.2, "right_z": 0.06}, "note": "Problem: on the way down the right gripper caught the right basket and tipped it up onto its end, and the wrist cam is now looking into it. Backing straight out toward the base to free the gripper."})
tool
executing move_to over 11 steps (1.1s)
step 385
assistant
agent noteBacking out failed: the gripper is jammed inside the tipped basket and only moved about 2 cm. The basket seems to be tipped toward the robot, so I'm pushing forward to rock it back down flat.
move_to
right_x0.4200right_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]: [-0.5728, 2.2051, 2.2955, -1.0084, -0.6735, -0.4652, 0.9967, 0.5442, 1.5097, 0.2073, 0.7746, 0.3748, 0.2554, 0.996] state[eef_state]: left_x=0.5167 left_y=-0.1979 left_z=0.2413 left_yaw=0.2206 left_pitch=-0.1206 left_roll=0.1815 left_gripper=0.9967 right_x=0.3135 right_y=0.1183 right_z=0.0373 right_yaw=0.0894 right_pitch=0.071 right_roll=0.0471 right_gripper=0.996 state[joint_eff]: [-0.335, -12.5197, 6.2974, 1.2918, -0.359, 0.0317, -0.0122, 0.0889, -4.4923, 4.0547, 1.5409, 0.2222, 0.0659, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 385): [image omitted: streamed camera frame] camera 'left_cam' (step 385): [image omitted: streamed camera frame] camera 'right_cam' (step 385): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.03}, "note": "Backing out failed: the gripper is jammed inside the tipped basket and only moved about 2 cm. The basket seems to be tipped toward the robot, so I'm pushing forward to rock it back down flat."})
tool
executing move_to over 9 steps (0.9s)
step 394
assistant
agent notePushing forward didn't flatten the basket; it's still standing on end with the gripper inside it. Lifting straight up to try to free the gripper.
move_to
right_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]: [-0.5728, 2.207, 2.2913, -1.0122, -0.6735, -0.4725, 0.9967, 0.3561, 1.8515, 0.5461, 0.8055, 0.2253, 0.1677, 0.996] state[eef_state]: left_x=0.5161 left_y=-0.1975 left_z=0.2383 left_yaw=0.2253 left_pitch=-0.1268 left_roll=0.1829 left_gripper=0.9967 right_x=0.4137 right_y=0.1156 right_z=0.029 right_yaw=0.0726 right_pitch=0.0726 right_roll=0.0481 right_gripper=0.996 state[joint_eff]: [-0.0342, -12.6427, 6.5709, 1.3944, -0.3248, 0.0513, -0.0122, -0.3487, -7.241, 5.3812, 1.6923, 0.0415, 0.0171, -0.0073] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 394): [image omitted: streamed camera frame] camera 'left_cam' (step 394): [image omitted: streamed camera frame] camera 'right_cam' (step 394): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "Pushing forward didn't flatten the basket; it's still standing on end with the gripper inside it. Lifting straight up to try to free the gripper."})
tool
executing move_to over 15 steps (1.5s)
step 409
assistant
agent noteI'm out of call budget and the task is only partly done. The three plush toys (grey bunny, brown bear, big tan bear) are in the left basket. I dropped one white pen into the right basket, but when I reached down for the second pen, the right gripper came down into that basket and tipped it onto its end. Pushing and backing out didn't free it, and lifting the arm brought the basket up with it. The right basket is now hanging from the right gripper (at z≈0.23), so the pen that was in it may have spilled. The dark pen and the yellow marker are still on the table. Someone needs to free the right basket and set it back down by hand.
give_up
hindsight- Top cam: with both arms at home (x≈0.30, y=0), the left gripper shows up near image x≈35 and the right one near x≈195. That puts the left arm's reach (y≥−0.4) at about image x<135 and the right arm's reach (y≤0.4) at about image x>95, at roughly 2.5 px/cm in the working area. - Left basket drops worked with the left arm at x≈0.52–0.54, y≈−0.21, z≥0.2. My first drop at x=0.465 missed: the toy landed in front of the basket, because a raised gripper looks further forward in the top cam than it really is. - Right basket drop worked with the right arm at x≈0.46, y≈0.13, z≈0.23. - Baskets are about 12 cm tall with perforated walls, and the open gripper hooks into the holes easily. After a drop, lift straight up to z≥0.25 and move away in x/y before descending anywhere. Never make a diagonal descent that starts over a basket: the target x=0.31 fell short, and the gripper hooked and tipped the basket. - Plush toys: close fully. Settled readings of 0.01–0.04 can still be a real grasp on fur, so check with a lift. For big toys, grab the head or snout and lift to z≈0.3 before carrying. - Pens can be grasped at z≈−0.01 when they lie radially along the jaw column in the wrist cam; the settled reading was about 0.15. - Budget: 40 calls is tight for 6 objects plus 2 baskets. Plan roughly 5 calls per object, and combine the lift and the carry once the gripper is clear of obstacles. - The yellow marker sat at the left edge, so only the left arm could reach it, but it belongs in the right basket, which only the right arm can reach. That needs a handoff: set it down near the centre line, then pick it up with the other arm. Budget for this.
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]: [-0.5728, 2.207, 2.2913, -1.0088, -0.6735, -0.4801, 0.9967, 0.3531, 1.3777, 1.0458, -0.1833, 0.2081, 0.157, 0.996] state[eef_state]: left_x=0.5166 left_y=-0.1978 left_z=0.2387 left_yaw=0.229 left_pitch=-0.1237 left_roll=0.1745 left_gripper=0.9967 right_x=0.4168 right_y=0.1185 right_z=0.2285 right_yaw=0.09 right_pitch=0.0559 right_roll=0.0426 right_gripper=0.996 state[joint_eff]: [-0.1436, -12.3966, 6.2701, 1.2137, -0.3394, 0.0171, -0.0122, -0.0889, -7.7197, 9.7436, 1.7021, 0.1685, 0.0952, -0.0122] camera 'top_cam' (step 409): [image omitted: streamed camera frame] camera 'left_cam' (step 409): [image omitted: streamed camera frame] camera 'right_cam' (step 409): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I'm out of call budget and the task is only partly done. The three plush toys (grey bunny, brown bear, big tan bear) are in the left basket. I dropped one white pen into the right basket, but when I reached down for the second pen, the right gripper came down into that basket and tipped it onto its end. Pushing and backing out didn't free it, and lifting the arm brought the basket up with it. The right basket is now hanging from the right gripper (at z\u22480.23), so the pen that was in it may have spilled. The dark pen and the yellow marker are still on the table. Someone needs to free the right basket and set it back down by hand.", "hindsight": "- Top cam: with both arms at home (x\u22480.30, y=0), the left gripper shows up near image x\u224835 and the right one near x\u2248195. That puts the left arm's reach (y\u2265\u22120.4) at about image x<135 and the right arm's reach (y\u22640.4) at about image x>95, at roughly 2.5 px/cm in the working area.\n- Left basket drops worked with the left arm at x\u22480.52\u20130.54, y\u2248\u22120.21, z\u22650.2. My first drop at x=0.465 missed: the toy landed in front of the basket, because a raised gripper looks further forward in the top cam than it really is.\n- Right basket drop worked with the right arm at x\u22480.46, y\u22480.13, z\u22480.23.\n- Baskets are about 12 cm tall with perforated walls, and the open gripper hooks into the holes easily. After a drop, lift straight up to z\u22650.25 and move away in x/y before descending anywhere. Never make a diagonal descent that starts over a basket: the target x=0.31 fell short, and the gripper hooked and tipped the basket.\n- Plush toys: close fully. Settled readings of 0.01\u20130.04 can still be a real grasp on fur, so check with a lift. For big toys, grab the head or snout and lift to z\u22480.3 before carrying.\n- Pens can be grasped at z\u2248\u22120.01 when they lie radially along the jaw column in the wrist cam; the settled reading was about 0.15.\n- Budget: 40 calls is tight for 6 objects plus 2 baskets. Plan roughly 5 calls per object, and combine the lift and the carry once the gripper is clear of obstacles.\n- The yellow marker sat at the left edge, so only the left arm could reach it, but it belongs in the right basket, which only the right arm can reach. That needs a handoff: set it down near the centre line, then pick it up with the other arm. Budget for this."})
tool
give_up: I'm out of call budget and the task is only partly done. The three plush toys (grey bunny, brown bear, big tan bear) are in the left basket. I dropped one white pen into the right basket, but when I reached down for the second pen, the right gripper came down into that basket and tipped it onto its end. Pushing and backing out didn't free it, and lifting the arm brought the basket up with it. The right basket is now hanging from the right gripper (at z≈0.23), so the pen that was in it may have spilled. The dark pen and the yellow marker are still on the table. Someone needs to free the right basket and set it back down by hand.
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 · 27.14 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.7986, 0.6174, -0.3801, -0.0219, -0.0261, 0.9995, -0.0154, 0.7967, 0.6109, -0.3737, -0.0128, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2967 left_y=0.0007 left_z=0.1848 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2966 right_y=0.0013 right_z=0.1837 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.5795, 9.2513, 1.7607, -0.0122, 0.0952, -0.0708, -0.8137, -1.3744, 10.0581, 1.707, -0.0855, -0.0171, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4764c7b41e773ec770aba482ab044d04888eb6c66d7409a1c834752aac73d5ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ec3dc61f945c8e0b23ed9f63a7dd4a295d0a36196f731ae21610f41a27c6a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:041d2ca74ac6e033916fcdc4bc7ee20149dbbe0f4c7645e30409823b507eed7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.165 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.7986, 0.6174, -0.3801, -0.0219, -0.0261, 0.9995, -0.0154, 0.7967, 0.6109, -0.3737, -0.0128, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2967 left_y=0.0007 left_z=0.1848 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2966 right_y=0.0013 right_z=0.1837 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.5795, 9.2513, 1.7607, -0.0122, 0.0952, -0.0708, -0.8137, -1.3744, 10.0581, 1.707, -0.0855, -0.0171, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4764c7b41e773ec770aba482ab044d04888eb6c66d7409a1c834752aac73d5ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ec3dc61f945c8e0b23ed9f63a7dd4a295d0a36196f731ae21610f41a27c6a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:041d2ca74ac6e033916fcdc4bc7ee20149dbbe0f4c7645e30409823b507eed7e",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
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      "signature": 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uFGnuLe0HQlYqFu1bmakpeDT6E/HGpCwsEwc0tRfISquQjlKyqQUWyqhZlNq/Tpeb7EmiTrSr5Ei8pq8ISRwHx0ujVp1liDmDO9MT5Fji+EMssHn4tq8l8VO9kLGDjjKS5o0nKFWkx2nZpn8Bo8HxMag33mCA21YEqWZl9LW283ZNtgwXZjShbKZxitDqMn9aj2cYi1GOIwjOwhaO5BEHIZ1udGIRHiFA/6G6cZ0DeWtCZlNS4aVq2t2Le8vOcq2JnW1aBIVzvAyPMX+ZurtDWBqWAMVnyVnPrjgIE2KNmpZr14YzXdaH9Q4wC12A4E0Hs9H8+6Qp+ZsRYsaWki8qx8D+5bJDWSKgrLO8JRDX1cWvv+JFt63cwdp9QzEz7NIjC8UlIiaUGC1spZdVk+eFi7Y6wI+eGrAGklK9nUVq2i+hQydrhji8MaioVUbigEXcQ5wXmZ4yv6Y9zymtYszr04bvDV+v3svTTP7/iiEow/2MOeMDGIOE13+EcoCFMUfGBpb238cAoH+2PSeDdax7HLHjvi4ySBHg2tjMkHt+TwbcOtn6i16/FshInKx06Y/lPvrbIS8BLUVUbTTkqFa+F8Xoq+rbuGuKT51w9p+FvqiCv5bzbZDOa2hZV8A7QJUwa0nEfdsqM1CL6v6Owco1McIuTb2ZQK/8+ARHjEU35ZHfovkn/ce7bAiMkKbq0uUgLDVgslG0Xt/Qr/W5ry6vTPhINtndDijMprlRjM0dia88GGiDVbDX4e01RNosDmdLFhfRjQVgdAdbjZmR64Xsx/LheWSoKYFf1V3KWR1jD/0LihPYVV3zxzWB2jaXkL2BwrknbnS9Mc8Aejkh8ltwyo/mo6wgCb6KO0q27m/kSvItKjvuNGeYcLJ5htzTMAcLXw1E4bTI0h/C1JtL1aUVlKU5JBz4Vffa/dv6IcvgoZ617dAftWR0r8awL/TGJhyRT3uKLwwmJgt9f2wKRxht4zb0x0rDQfkqZJLhVBpH8Y/AsgiKtMOrEJj6LYjdKg6MCboP63LK+05l9rPV7J8Zw90OXsM/uOfu8JpU0eUSwD8w1lMul7rxOZRPQ4+YsnUU/Q5SDNeg7Axeaic779IDcbUXN8bHG3uCqBJ2Nduf/n/CXJiiZJE6RPvU8VGdjKpoyHnu0t37BrvXT5MSiCyb9B9Z8vzUZs13q0fhurd//6IswQy5DVGvhe2IwVOQjda0kRyxwdGmEeWAmlNHRtCAxiB3G27XQV9glGhD3awgchLvHT6l/jmclBUed9dh8tcp+6Dhn1v14RPm4K6v/vxcoyT75G+5moXaFZzlbZxJ6pczTVFyi4FMIagjeC46pUn9NDx1F7f1rRv6yXkFaGspXcr0ztPWe4dE6fWpVMctViPCAzipXXpo06rQetKsjqcceA1OUk7IXZmj0WFGwKoQ67DnU4DMRekeM2wWUfL+EcyTuqUrUswmowasbqschT8M48AuZInMGrvXUoSo6FysMECxfgn965qmm2YgZJbRsGj+oAJ0lcy+vuzXMrw5JV9UE+pK9dfarE8qbVIgsUJ6GFkGZi3rdd8h7rWUE4dF17w9qHFjaoBCtdKHfRAJPdTEQHvKwL7HIdRDCIff1P5h9DIR0pHVcTBswBrLiyuq+PetkwXZnIylP26KHsX1ZcWHFDAPm/m0VHDtEKAnKNgwaZ5gTQUq/45j+6Dz8VdJvoxwB9erBm+q/A/8HQHPdHmoj6v5gxIuXq0DOPJPeFPGVhM2Sl4lGyKI8Dm8G1YW6ySO+mo9U+5gUQz9yZSN/JV/BzEfrfWg1tTrnjypuYhDI4IDGffqi4zAzo/aNv3+wdCyuoeQlO2ufovaDAVXGCM9JCPmRQrnrzXI9BCH6TMpqUf2MKsqQldQlzF84qVUzHL1cdv2GNvlNMDb677YETn20j6GPdgSKwdBNbnQpq5dWLiFKm3C2SqNuHW5Qyi8DhnkwKnwaZEruyWZcrnoo4BdEYjVcyWXdNLqGcqYV9O6ZdZTllHyp7zYvDd4Rlt5LhyP7xEmxOuvpAqgKASEihBbwKEIMv/iqjkveER8kOAf6xLvwE3urxSqbrTxFJ5rjb7ZUiZ67J6M7tow//PF/ipgZz1RkDuxtzP/1AnNubvPpH0LR4CHPLSQyyta3e04vL/O8BhRAVqdWHLeyqpmMrcQI1IIlU/ohoklbmvCUDZs7JIPHxQPclKT6H1bUytK6w9rvAs3plGT38MbI4ReGGNtW00BORh375Guf8lqreQ9XbY33POpjkRsRDzP7dTOfa44n7hiuXOf929HVgHgYGzMRjPQPftqDcESU9Xna39VMT6znz+Cpu/FzPs264Bs6ckecldAE8GRf8YFqMXfOwIdn5sERsiTa+VPnVP9mudSoiak6luz5dzwxI0Z1HM8NDRkPK8Fn70zilE+cZ21zGxxUoTohAsbRuVKyTtgVyGgijxAjJyAJvPiW7XQw9givkzxsE9n9vsDPF1SuGy0GhkrJ1wO6qmr7OB2hXc5ImR6sp2rd8aoAOk489pS+8XLaV9o1u6uhDF4GSn+dUK1yROEf32KAZ3V5YG91abz1+nlWRLdNBqwOtuHfEyKeio+zzSYONXweuS+wxcodY3PSY21i1zHFgYqpWpIWpAQooBb2FG28MJbdxGxaCcAiPXJugkMm6A3evA6R5Y4FFe/VPF7Iv0ILwOw8RZZjdxB0H2tGP2+YPlIiV4iCW3yv5uirYfsByZ2XDJeR+2MFBkHcaoCDjvSFimerqCkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QDVTZ2fzorxGEjL8ZVpDXL",
      "input": {
        "note": "Scene: two teal baskets at the back; in front, a small teddy bear, a big teddy bear, a yellow marker and two pens. Plan: toys go in the left basket, pens in the right. The small bear sits just ahead of the left gripper and a bit to its left, so I'm moving over it.",
        "targets": {
          "left_x": 0.32,
          "left_y": 0.03,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QDVTZ2fzorxGEjL8ZVpDXL",
      "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]: [0.1493, 0.9951, 0.4259, -0.0288, 0.1112, 0.0532, 0.9995, -0.0154, 0.7986, 0.6086, -0.3744, -0.0124, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.317 left_y=0.0315 left_z=0.1138 left_yaw=0.0168 left_pitch=-0.0326 left_roll=-0.0085 left_gripper=0.9995 right_x=0.2964 right_y=0.0012 right_z=0.182 right_yaw=0.0002 right_pitch=-0.005 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -2.9333, 6.3932, 2.0098, 0.1245, 0.0904, -0.0122, -0.3624, -1.4017, 7.4188, 1.7265, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4a744873c756e7cdc721ca2e7c86b6be071e0b6e6331649ee66d3344f5a4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0395fbf4f1c0d64998f6b3aa5672cfe7f94918c23eefaaa5a86889f56e076c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:095da3532f4cc37e6c3463e40ae4a01176f2fab66607182e5938f9b1195cf535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.583 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.7986, 0.6174, -0.3801, -0.0219, -0.0261, 0.9995, -0.0154, 0.7967, 0.6109, -0.3737, -0.0128, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2967 left_y=0.0007 left_z=0.1848 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2966 right_y=0.0013 right_z=0.1837 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.5795, 9.2513, 1.7607, -0.0122, 0.0952, -0.0708, -0.8137, -1.3744, 10.0581, 1.707, -0.0855, -0.0171, -0.0757]",
      "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]: [0.1493, 0.9951, 0.4259, -0.0288, 0.1112, 0.0532, 0.9995, -0.0154, 0.7986, 0.6086, -0.3744, -0.0124, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.317 left_y=0.0315 left_z=0.1138 left_yaw=0.0168 left_pitch=-0.0326 left_roll=-0.0085 left_gripper=0.9995 right_x=0.2964 right_y=0.0012 right_z=0.182 right_yaw=0.0002 right_pitch=-0.005 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -2.9333, 6.3932, 2.0098, 0.1245, 0.0904, -0.0122, -0.3624, -1.4017, 7.4188, 1.7265, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4a744873c756e7cdc721ca2e7c86b6be071e0b6e6331649ee66d3344f5a4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0395fbf4f1c0d64998f6b3aa5672cfe7f94918c23eefaaa5a86889f56e076c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:095da3532f4cc37e6c3463e40ae4a01176f2fab66607182e5938f9b1195cf535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017kBgE1VByNaJPetnVSpEyo",
      "input": {
        "note": "The left wrist cam shows a grey plush toy right under the jaws (the top cam shows it at the left edge next to the arm). Descending to grasp it.",
        "targets": {
          "left_y": 0.04,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017kBgE1VByNaJPetnVSpEyo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1944, 1.3411, 0.2245, 0.5739, 0.1291, 0.0914, 0.9995, -0.0151, 0.8028, 0.6086, -0.3775, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3289 left_y=0.0452 left_z=0.0488 left_yaw=0.0264 left_pitch=0.0233 left_roll=0.0224 left_gripper=0.9995 right_x=0.2963 right_y=0.0012 right_z=0.1802 right_yaw=0.0003 right_pitch=-0.0122 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -2.3453, 3.0291, 0.9255, 0.2271, -0.105, -0.0122, -0.2393, -1.2103, 7.0632, 1.8584, -0.0171, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ad140a5056a04d66574a265682ea3e9c06980e074b52d80b33a994886f39402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39441b390eedc99d2071e855511b2c39bb378d26b1ea9838bd67194a3db104d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d28f99c972889eb52bd7b99768e096ce26955f5114e439ff4d4ec29253238af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.474 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0227, 0.7986, 0.6174, -0.3801, -0.0219, -0.0261, 0.9995, -0.0154, 0.7967, 0.6109, -0.3737, -0.0128, -0.0158, 0.9994]\nstate[eef_state]: left_x=0.2967 left_y=0.0007 left_z=0.1848 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2966 right_y=0.0013 right_z=0.1837 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.5795, 9.2513, 1.7607, -0.0122, 0.0952, -0.0708, -0.8137, -1.3744, 10.0581, 1.707, -0.0855, -0.0171, -0.0757]",
      "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]: [0.1493, 0.9951, 0.4259, -0.0288, 0.1112, 0.0532, 0.9995, -0.0154, 0.7986, 0.6086, -0.3744, -0.0124, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.317 left_y=0.0315 left_z=0.1138 left_yaw=0.0168 left_pitch=-0.0326 left_roll=-0.0085 left_gripper=0.9995 right_x=0.2964 right_y=0.0012 right_z=0.182 right_yaw=0.0002 right_pitch=-0.005 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -2.9333, 6.3932, 2.0098, 0.1245, 0.0904, -0.0122, -0.3624, -1.4017, 7.4188, 1.7265, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1944, 1.3411, 0.2245, 0.5739, 0.1291, 0.0914, 0.9995, -0.0151, 0.8028, 0.6086, -0.3775, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3289 left_y=0.0452 left_z=0.0488 left_yaw=0.0264 left_pitch=0.0233 left_roll=0.0224 left_gripper=0.9995 right_x=0.2963 right_y=0.0012 right_z=0.1802 right_yaw=0.0003 right_pitch=-0.0122 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -2.3453, 3.0291, 0.9255, 0.2271, -0.105, -0.0122, -0.2393, -1.2103, 7.0632, 1.8584, -0.0171, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ad140a5056a04d66574a265682ea3e9c06980e074b52d80b33a994886f39402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39441b390eedc99d2071e855511b2c39bb378d26b1ea9838bd67194a3db104d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d28f99c972889eb52bd7b99768e096ce26955f5114e439ff4d4ec29253238af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwYKEAgSGAI4AUIIdGhpbmtpbmcSDDdDusJ1SCk7yzHBPRoMUPrKZEMP+4P74dagIjCP/EH8i3zs+BxfKFMSZ1ySY3hnf50ZZrGHafkkoGoSrg82xwmve3qbom4Yq8kY3vMq7AVnXaBuNFA4WlXZ5olq2BctxcVHoDBVC3qg5rxadxfKlvPWHNlgwo3H8FJ4i4wMtQmMtSU8/17TfCIUgIQ/G3SFLkOoGAwqAfCL3SGXaoc4ppR7k5g4c7semr49V/o5ivzRTIqvA3bK3pqHdNiZY9fsvqVWCyHDYYJBKxZfZeN1NImT6iNT0D8ReCalzzHvWwjti0SGN+5ekRz5sGstNbCCJoV2xQZE5d3El1lgEEo8rhwD04ltgeIdUTkQqvO3qaLABZS1dqoMbuV4+dCyXYtxn5NZLKMg/0tY7XrIPVgvQySg0tXwlI3dngG0JAk+n1FMHR0eyuH65RHDG244l/bCr3CtsAba+m4oviKKL3Cxf1I7gWqfAYRv2Ws/9MR0fS9nvYits/EDF/YL7pJ/0Lsq3LBkDr2cyw+o6AD5oLXIlr9mL4IU6s5ll4IQlqQKvV01p4VKmenfDVCwXb1inyOv3FJf+7U8L3BPihAHFdAXkEsq+MLHqAVew5vcO09TqrTRxfRwhyJaqkf+vRZiY62k8cK5k6QNkMt2UiEoAHQRWCNlrCTYLKzEyh2vEK5vKu67r2YL4ciOL/l3sM29ueVFUpnVqlito5/Y1K2I2dYYYfWHHiithH+GraATfjqaBJHMTSI6Dd8jhEedc8xwVwumDmJ3JQzM8EDiXFaAePaRFBKj6v1MFcp05YwlBRzfUsSO7pwKqx0KqzY0jM0i4A95QdW19cAZmUqXyxZwIm+tPu8TCk+KyLeCB2a67K9ioiq//SvSv8cPzUShQKq3/4BWbuRl+ug2ZerLo1cOF/02Esbz19UB9/OERqOLBkkI+HeO4lpclndhDgwGk+raQcKfL5ww0HgGRke6MX/DZ78+kbZGXQz3YxYiVdQwv/rOxXBFRB1MG7eirm6DUYZCHSq8BZixTcVbbsjrSK1ota846z61d+JhSuq+MfwcUUDInDlH0v69vz61qmOInby5VfaHsY/KlqhNp3bVeznkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017DSmtWvb6AZxiksSHyZy3x",
      "input": {
        "note": "Descent stopped at z≈0.05, resting on the grey plush, which fills the view between the jaws. Closing to grab it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017DSmtWvb6AZxiksSHyZy3x",
      "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]: [0.1944, 1.3388, 0.2199, 0.6369, 0.1204, 0.0933, 0.0099, -0.0154, 0.8032, 0.6083, -0.3786, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.335 left_y=0.048 left_z=0.0611 left_yaw=0.0323 left_pitch=0.0824 left_roll=0.0383 left_gripper=0.0099 right_x=0.2961 right_y=0.0011 right_z=0.1797 right_yaw=-0.0001 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -3.5897, 5.559, 1.1844, 0.0806, -0.0366, 1.0232, -0.3624, -1.3607, 7.2821, 1.7363, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43e236d45e5ca622ecf4738b2b2281c9c197d8dae70d87d7cb1ce5f5fdb46aee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b8f4fd0aa39136f173b2ff79f77b3639d9c8da0070cdf8e1995bc1adbfbee7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:815e9fb9bbfbaea89823811a48f776ce6823ff40ba8354a249c836d59b0ca912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.921 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]: [0.1493, 0.9951, 0.4259, -0.0288, 0.1112, 0.0532, 0.9995, -0.0154, 0.7986, 0.6086, -0.3744, -0.0124, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.317 left_y=0.0315 left_z=0.1138 left_yaw=0.0168 left_pitch=-0.0326 left_roll=-0.0085 left_gripper=0.9995 right_x=0.2964 right_y=0.0012 right_z=0.182 right_yaw=0.0002 right_pitch=-0.005 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -2.9333, 6.3932, 2.0098, 0.1245, 0.0904, -0.0122, -0.3624, -1.4017, 7.4188, 1.7265, -0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1944, 1.3411, 0.2245, 0.5739, 0.1291, 0.0914, 0.9995, -0.0151, 0.8028, 0.6086, -0.3775, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3289 left_y=0.0452 left_z=0.0488 left_yaw=0.0264 left_pitch=0.0233 left_roll=0.0224 left_gripper=0.9995 right_x=0.2963 right_y=0.0012 right_z=0.1802 right_yaw=0.0003 right_pitch=-0.0122 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -2.3453, 3.0291, 0.9255, 0.2271, -0.105, -0.0122, -0.2393, -1.2103, 7.0632, 1.8584, -0.0171, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1944, 1.3388, 0.2199, 0.6369, 0.1204, 0.0933, 0.0099, -0.0154, 0.8032, 0.6083, -0.3786, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.335 left_y=0.048 left_z=0.0611 left_yaw=0.0323 left_pitch=0.0824 left_roll=0.0383 left_gripper=0.0099 right_x=0.2961 right_y=0.0011 right_z=0.1797 right_yaw=-0.0001 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -3.5897, 5.559, 1.1844, 0.0806, -0.0366, 1.0232, -0.3624, -1.3607, 7.2821, 1.7363, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43e236d45e5ca622ecf4738b2b2281c9c197d8dae70d87d7cb1ce5f5fdb46aee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b8f4fd0aa39136f173b2ff79f77b3639d9c8da0070cdf8e1995bc1adbfbee7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:815e9fb9bbfbaea89823811a48f776ce6823ff40ba8354a249c836d59b0ca912",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AcKEAgSGAI4AUIIdGhpbmtpbmcSDKd9GMxFORcFv2ivlRoMqksytewkjUqwCJNmIjDIqnjn9Z9XQbOrXVJnyyDwDhFwa2reUb0u4jg5pfMa+Hy3Ocdr67HBT8ddMXa9YUkq9QbNd9MDW1D5yuV9uzWg7zkkxJuzQuJLXPdcbuvytYTCUP8Hik6mt535cYmLv00RlH8xoJDJuUJ9gGf0G7xAFNMNinClESjLHExE+opzv6En9R6ISX0spZ5YlpnhxGik8dohXJnzJrYC1dvo9dTxCCjrdZW/OZsjFavcWiw7bBnGmG45Qam77WcksYrMq6VagDbHG/RgjudXOx/5MqhZgZxKX6qUp1bLn/2ZgYTtDNV74gYIUN5id38vCOvf7Xx8dimGzmnGr1r/rmcpa95qVu++vjJstHBlgDmFSJbNfD0/AesihVjDzGX5E1xaZFZeef5tUuJOGbH4l+3d/LM0XYS/sKd2LsJNoM2UOlKf5J65AjTFuYitlesYy4wE3opmfOa4LlNjsKjedMWnYSuWKrYqQKEtBnS6JhHcuU1oiL9pOMglVwM+TSG+QZeKWK/1JnVwgYvR7rIGRgOAQiGMIWgeDq5wI2lmsbCDQekp81vPrdGAB72I5shW6nzppz2sZNUSO8y1z3YKOkwHohNCZj4jCC2jghMdYyE2gmlQFbjwPS4AwK+h+ZdlzIUgFRGkKKVyFrJnRTspG56emP5K0BWG5jfT5EtwuBeuRIp93Kh/IULkULPVX76DFctDrvVQ4bcZ6Z6B0/oiLrKfAIPwFD4xlRVk5Qn/sFpDhLm6nBAcGj/Io4Xp8Jfqs0Lt2XCscKe6ROJHwQQDKnrBund2sY6N6tP7IIK4AcHLnARhcn5Fzo9xJuvyIxAr0qVYDkFXTUuv9zzufCXLDVO72qhA3Q8ZEWbcTht4Zt568sTV5tvLKSW9ChZkLac7G8y6eHAMnr1uPGlbSUXJeAXCFjD+Ld6EjnQfgM6jhvFRU3Jv+B4O57kpjYruQJj9X1ozW8XEeTgAGYlgbe5C//JeH8x8Mn9dw8MyjJLfc9oz972ahymnUpex4wA55PmIFPUjTHLx37/b/9LTOR7a68gm45s2eBELfCJV52UXyWeUAqk20N6YmuVEZCDv74WsfxNDJYU9tmNaDLXkEwxQPonQBNh4xMNkZ2Feh+X6/dJ68HG4rXA5CsXzzXDqF1X9tvf88mW3YkDqon8eBmkJW/R0YORtYoQI7hBqCEUksH11QI61EfRl8s8SE20vczUJZrmTWpSnJfomXuJywgX5Zos3uZjemAIDOUO7wHMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LkoHxFqRuquA4Xd2atbanJ",
      "input": {
        "note": "Gripper closed to 0.01, so it's probably empty. The plush sits just ahead of the jaws. Opening and lifting a bit so I can reposition forward.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LkoHxFqRuquA4Xd2atbanJ",
      "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]: [0.1944, 1.243, 0.2409, 0.5072, 0.12, 0.0898, 0.9955, -0.0154, 0.8032, 0.6083, -0.3843, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3308 left_y=0.0472 left_z=0.0714 left_yaw=0.0346 left_pitch=0.0696 left_roll=0.0333 left_gripper=0.9955 right_x=0.2953 right_y=0.0011 right_z=0.1785 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -4.4239, 7.9795, 1.6337, 0.0171, -0.022, -0.1783, -0.3624, -1.3197, 7.0085, 1.7851, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33615436df9155c0e0589d3b139d3d7eedeec65e8e2a50bc1c4d3a2903a07e87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f03042091acaa9849af696414283621a60874ed90cb5530853dfac91cd1922f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7438f6682fcff06faa1ebd5f5c7b1ea3bb4f4d158e0c981b628d500968ceca10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 3.336 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1944, 1.3411, 0.2245, 0.5739, 0.1291, 0.0914, 0.9995, -0.0151, 0.8028, 0.6086, -0.3775, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3289 left_y=0.0452 left_z=0.0488 left_yaw=0.0264 left_pitch=0.0233 left_roll=0.0224 left_gripper=0.9995 right_x=0.2963 right_y=0.0012 right_z=0.1802 right_yaw=0.0003 right_pitch=-0.0122 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -2.3453, 3.0291, 0.9255, 0.2271, -0.105, -0.0122, -0.2393, -1.2103, 7.0632, 1.8584, -0.0171, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1944, 1.3388, 0.2199, 0.6369, 0.1204, 0.0933, 0.0099, -0.0154, 0.8032, 0.6083, -0.3786, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.335 left_y=0.048 left_z=0.0611 left_yaw=0.0323 left_pitch=0.0824 left_roll=0.0383 left_gripper=0.0099 right_x=0.2961 right_y=0.0011 right_z=0.1797 right_yaw=-0.0001 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -3.5897, 5.559, 1.1844, 0.0806, -0.0366, 1.0232, -0.3624, -1.3607, 7.2821, 1.7363, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1944, 1.243, 0.2409, 0.5072, 0.12, 0.0898, 0.9955, -0.0154, 0.8032, 0.6083, -0.3843, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3308 left_y=0.0472 left_z=0.0714 left_yaw=0.0346 left_pitch=0.0696 left_roll=0.0333 left_gripper=0.9955 right_x=0.2953 right_y=0.0011 right_z=0.1785 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -4.4239, 7.9795, 1.6337, 0.0171, -0.022, -0.1783, -0.3624, -1.3197, 7.0085, 1.7851, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33615436df9155c0e0589d3b139d3d7eedeec65e8e2a50bc1c4d3a2903a07e87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f03042091acaa9849af696414283621a60874ed90cb5530853dfac91cd1922f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7438f6682fcff06faa1ebd5f5c7b1ea3bb4f4d158e0c981b628d500968ceca10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS5AYKEAgSGAI4AUIIdGhpbmtpbmcSDEMZ3xWSl5zP65abTRoMKMUriXcvl7sKJwtSIjCivcbJkvBC+XvUSgLxmbDbIwRvAB/D3RHSals+eOVZGdGt5A38rAMFZHHC2y7LfegqgQZK3V2meMsdOjGUTEYtIfBHfYRfiQS1Ioi27MJKUDEeRy63doGj3sIHxLUPS/0qLnAH76bOOyvmkbrNq8rtGr/MjcBJnEAU8KVspugPNtGUDHn5E0Khv+6WYieQDXCRO0VV+bfN5eO7j+raJjzj/JmWEQNcf4gZeM5El86vTNB3RhZbhdxtK3WVgZqPnJjvH/Db8fWMRnRBTeDwLsmqh+C6mp0UmCtmR52nL7hF7KFffu/WJ5m0hwAj0j4z/ruTwMs5THoY2HZ7vpXzbGuCz3H/7qPJWJqbGIdxsjMxlv61eJwe99KRlQ7TYhLa2UmdvhYVmZh3Xde3GkS59I8lEwfBYATOpbbGE7JWBXZj5Q1D5scooCzw5Y/T2MeuSxIgAQil9XWHCKITKsOOuKWyKtXJlueP4wEahfDmTvZfnbXSbnH7WtheQ+LPmO0Iw+2Tb5EaWWMNq3VkPK5SwLXNpO0y5/CF1drUdPnsM+59AlDD6G89Cxfz3T5Firq1SK83BP73rUBcyxJ8Za6wXaqzzBTTXOTVab4Lo3OqYcQOw3vbx9kgQ5iVfq7krNnsBBCpDNriaAFFFs+Z+eLWf6uz+b4/O8peezTwDpO7SSW2M16fY3llN319+Veyy5TlYe2Y6VnneocfIUUUSTgQuZ2xcKlQ/rLCQG3OTP2iwn41iU2YT27dkY20/2lCRN5D+6Fjc0+J/pNrwwC3kwT/somi7giLtrcQPvo3xCiVDaLjKLM6M+RNoSYrGLQfLkZ4dEipvKNc04wvtxD/ESBPBxG9I3kPQaWddorco5JLwklGpFgR709QChg3McswYUvAx/sZpKkXhcWnxs60jQw2nnY6aIwdokaK6cxvl7E/A7cAs4iIoz9Ch6dJ0p08BOoUocOPfBsM1C0EeJbqN9r2Rad9O/3njn5esAmXku/4v0mcjo2fCok/sf/MQrRMln+LdK8r9ftM6XxaFr2hoSftWRLo09DcMjgRfmEnJvn1g9A32ZR4qdm3ab9vjYlR+Ue2isCqxol7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UjWGiL6j11nrQpZvD2He9b",
      "input": {
        "note": "The grey plush sits centred a few cm ahead of the jaws. Moving 3 cm forward and down low so the jaws close around its body.",
        "targets": {
          "left_x": 0.36,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UjWGiL6j11nrQpZvD2He9b",
      "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]: [0.1715, 1.6905, 0.2749, 1.0603, 0.075, 0.0971, 0.9967, -0.0147, 0.8082, 0.6079, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3758 left_y=0.0553 left_z=0.0559 left_yaw=0.0436 left_pitch=0.2049 left_roll=0.0787 left_gripper=0.9967 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -3.3573, 2.8376, 0.8913, 0.1929, -0.2564, 0.1001, -0.4034, -1.7162, 7.1863, 1.707, -0.0415, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:990026feab345c08e08bb4fa197e36b56ce581904161e3d1ae7eded727801003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33aca2595064876cb3982b506e20d52f6eb9da1b211457a8dd6867317358dbf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c010ef12a313d21ca1b13957d834a6872bd38092a3e63be66f4807eff613d76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 3.623 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1944, 1.3388, 0.2199, 0.6369, 0.1204, 0.0933, 0.0099, -0.0154, 0.8032, 0.6083, -0.3786, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.335 left_y=0.048 left_z=0.0611 left_yaw=0.0323 left_pitch=0.0824 left_roll=0.0383 left_gripper=0.0099 right_x=0.2961 right_y=0.0011 right_z=0.1797 right_yaw=-0.0001 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.0615, -3.5897, 5.559, 1.1844, 0.0806, -0.0366, 1.0232, -0.3624, -1.3607, 7.2821, 1.7363, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1944, 1.243, 0.2409, 0.5072, 0.12, 0.0898, 0.9955, -0.0154, 0.8032, 0.6083, -0.3843, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3308 left_y=0.0472 left_z=0.0714 left_yaw=0.0346 left_pitch=0.0696 left_roll=0.0333 left_gripper=0.9955 right_x=0.2953 right_y=0.0011 right_z=0.1785 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -4.4239, 7.9795, 1.6337, 0.0171, -0.022, -0.1783, -0.3624, -1.3197, 7.0085, 1.7851, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1715, 1.6905, 0.2749, 1.0603, 0.075, 0.0971, 0.9967, -0.0147, 0.8082, 0.6079, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3758 left_y=0.0553 left_z=0.0559 left_yaw=0.0436 left_pitch=0.2049 left_roll=0.0787 left_gripper=0.9967 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -3.3573, 2.8376, 0.8913, 0.1929, -0.2564, 0.1001, -0.4034, -1.7162, 7.1863, 1.707, -0.0415, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:990026feab345c08e08bb4fa197e36b56ce581904161e3d1ae7eded727801003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33aca2595064876cb3982b506e20d52f6eb9da1b211457a8dd6867317358dbf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c010ef12a313d21ca1b13957d834a6872bd38092a3e63be66f4807eff613d76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiAcKEAgSGAI4AUIIdGhpbmtpbmcSDOQrp43m95RLIK9ASRoM8VHoKIEwlDqCB59VIjCpcY/Ev3sDWh+F3M+7dJzcbp/t90+d96+/hveLFDlT27lVGRzq2TpWDDAq3Z9AEk8qpQbmUC90X/ddTRO3Rrd0h0wPzVmKW9//NlzC7epIuOOfjfZusBr1xhWaAREAryjEHlIMdqe0DoZz/ywwobcLT0ptQirLGYfR0kGTEReWbJSVs3jHlvudhr7sidZ4hGoW4+eWFK5ChOMjqTo4XKfjdik/frBILjm4Bmt8EcCN9EZVwBx9XwVnXxwzwUKnKvDXOP6oLKFfZKJnFE2vOD5TCSnYfDpPnYcf5XuFkA3GTQBy8G6omYvuLKffP48n2zDQ3uO5Fta/oCeLEBE6D4hOF62tnZ7/SToSpDxkkDsUHDR9QSqOAO2b/kWVVcpeuEBHFxZgBqIwAlG5+K5KGJ8klQUUBSTlDBHbGWnx0ZaSDe1UDaPXKF/RQgGMPkyM2CkPcEQCdq0Na86jrIl1cbwX2cpQzhKWwNDkOsfurXBtQNUVkpyIvDnH6Ttee7MEzvfuxZAeNKQycU4FAb7Vcy+PKwCiOHkf/T8RUuBGXhqlmToForaUapsBH9IJoNpkTr/Nba/zFI1lW4cdaGSoQaEHU+PcyTK6roGRbm/oQ9ud96BprbnA18TAtnUwR1DxEe1uBEdWZWSicinpfbmTpOKgiazhm8WWKOIddck4dRyZIcxGDVXMg+Z/zmOVz0tyAyrWfddiDtxTJCEYrklw9X4z6v81zfNK0O5piMz+UnT40UXN9Q1beAAaNkMFDgMwgNnNGSB3OSwUL99MUjbxq5Wq7zSqE168xNLeG4GY9/dgeNzg6dTVCleBlzF4mSBAw6qmpeXohEJQE1CH0tD9AFNr9mANjcM7efmhv1Mn3Ie69vv+R0yaIY3am31ZlTcGIOU1T/YCO01vJu/07lnUycTBqzmskdsfgNTI0zJVNHGm+Ya/qI1mhyElYbOSUkcTNXrL/S70hW9/U2YbvF7ZuFlJlQaa7Sume3K3XuACyekPiD8TYEY3Fdi0uMI+SgNNFC1sNRVhj4uVdbIwN61wvet5dUnMqhg5UPt6i9CprVKxaKi8Su4NpJ4dGMMwgiyCuySQNLZ6SJihD7mXGd6/XnkjERbqZEDNdDzvfKSxZxHGcGua9dpd7UOIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WxnufnS26EhdktCfAUdcT8",
      "input": {
        "note": "The descent stopped at z≈0.056 on top of the plush, with the plush between the jaws. Closing.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WxnufnS26EhdktCfAUdcT8",
      "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, 1.6283, 0.3096, 0.9535, 0.0292, 0.0971, 0.0156, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3811 left_y=0.0543 left_z=0.0654 left_yaw=0.0575 left_pitch=0.1933 left_roll=0.094 left_gripper=0.0156 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -5.5726, 4.4786, 1.2381, 0.1783, -0.0611, 0.7106, -0.1846, -1.0598, 7.1043, 1.7509, -0.0317, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b21a3f3d3a27ceec3cb380c4c8e1784baaeeee47bee62577307553d4fb5efb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20283c72ecb26f724e55f9e339475bdc87654218c7638ed493f86b57c9042381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87bd404e0f303067abe5fe4afde6d3617b1acd68ae4028616583894ac5e46c12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 5.139 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1944, 1.243, 0.2409, 0.5072, 0.12, 0.0898, 0.9955, -0.0154, 0.8032, 0.6083, -0.3843, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3308 left_y=0.0472 left_z=0.0714 left_yaw=0.0346 left_pitch=0.0696 left_roll=0.0333 left_gripper=0.9955 right_x=0.2953 right_y=0.0011 right_z=0.1785 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -4.4239, 7.9795, 1.6337, 0.0171, -0.022, -0.1783, -0.3624, -1.3197, 7.0085, 1.7851, -0.0317, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1715, 1.6905, 0.2749, 1.0603, 0.075, 0.0971, 0.9967, -0.0147, 0.8082, 0.6079, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3758 left_y=0.0553 left_z=0.0559 left_yaw=0.0436 left_pitch=0.2049 left_roll=0.0787 left_gripper=0.9967 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -3.3573, 2.8376, 0.8913, 0.1929, -0.2564, 0.1001, -0.4034, -1.7162, 7.1863, 1.707, -0.0415, -0.0415, -0.0171]",
      "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]: [0.1455, 1.6283, 0.3096, 0.9535, 0.0292, 0.0971, 0.0156, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3811 left_y=0.0543 left_z=0.0654 left_yaw=0.0575 left_pitch=0.1933 left_roll=0.094 left_gripper=0.0156 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -5.5726, 4.4786, 1.2381, 0.1783, -0.0611, 0.7106, -0.1846, -1.0598, 7.1043, 1.7509, -0.0317, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b21a3f3d3a27ceec3cb380c4c8e1784baaeeee47bee62577307553d4fb5efb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20283c72ecb26f724e55f9e339475bdc87654218c7638ed493f86b57c9042381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87bd404e0f303067abe5fe4afde6d3617b1acd68ae4028616583894ac5e46c12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/wYKEAgSGAI4AUIIdGhpbmtpbmcSDGnpe9KNReq+MIkJlRoMTQ9kMl0+b+06eChFIjBmUFVjy6jiUOuvplXE97LIbJ/SQ7fxiI05VdW5rP8XSV3pby1Wv/+NqaFbbTrTXAcqnAYBO9L7P9enMcvJ0Vms/u5cUAraC0iVWaxkoFpBOpJ64gEi2hlRr7QRl77wziGruzeKzGEbl+jBHj9q52Y/Aw6yKjg5xbK3gdMzS9CARtBl1+iHyaaKfqwlkjHa2XwrK9dv1z5zwOr2YbzYhgNj39YpqbWPYbqph8skxT2Gg65myTq19Q5XbdxR2x1DMBllC076n0rRzxWjWaKjDwFK+xduPC7X9VNLEQUx1CBfowzIR9p8j1xXhntRpwlHpuH95McKd9CpBkI6yeRzNOxgxPqHS5/9/QZT/kTdKTiJV5lOpCQbpqWYKGUXayBjEGgyYsxXdHTa9GJyZpRt/5cqy7tqN1H4cjXUmAVZ8NavVvvUUiZV/r9Uyp4VcLZaY7KZarfCmf3YXN83OMMQsZ/9Vc5+JsLsQeycjgekIaGFmsBHSH+FHsvSh7PikMvEGhY8mBQMnF/YhKeIg19xCBUGKI7g9XrqI0ktaSRrvyHDqVslcPlP9ntSCPSidBUbCiGLa7qmqEJnqbz3/BwPxfou0Ms4vpFr/XUuzXE9kmXJc5kFYhi119fx84ZJ2fM7Y1yIKz5/yUO7d4fbrglJWkq1EGVOJ4qjBB1gV3BYv/JiKiL78Nz2YxOGqovlWKig93Az8h8xrOw2GXqSlSNbeTbPTArVI+UedS2Hh8HlA4Xd5VC8JhB4F8S3jqhNgpJ9/rIDqoj4EKV6YeqAcJKJ6l4HbPOKimxl0fF97PYJQ3X+wW0tldq28LO8Sx7DNmuMKWVwqeIJVjkVEhoHwNigupF6QEMiaBFp1nKRxheTzHAWOJMk6StHPhuadAq4J5stiCgMKE3ynUgWegCyGRlX8BFm6apOPtNWch0JEk4JyuHo68YcbPQcSz+Wg/Upo59ouMIte2ungK2R/dFC8vu4p7YgPkEGDWxCws7QfSPBb1QTmNeN7QjZx7XMFZsfrIgKT9f8Q6CO5x1fKoMuOvY7QFJ6hrGGy6n5QfSrgFCuOqcNFpuVLfY1cMNhjMwkVTtPy/hBjPyAv62JfYuy5j9QdV3LLVVBVuru7iGKdgJhRqiFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mn4ZD48gna56VYEXY2gd3u",
      "input": {
        "note": "Fur is visible pinched between the jaws, though the reading is low because the plush squashes. Lifting to check whether it comes up with the gripper.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Mn4ZD48gna56VYEXY2gd3u",
      "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]: [0.1276, 1.2633, 0.4507, 0.4973, 0.0105, 0.0891, 0.0197, -0.0147, 0.8116, 0.6079, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3835 left_y=0.051 left_z=0.1507 left_yaw=0.0593 left_pitch=0.2431 left_roll=0.0967 left_gripper=0.0197 right_x=0.2956 right_y=0.0014 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -4.7795, 8.8547, 1.956, 0.0562, 0.0024, 1.0281, -0.3761, -1.6205, 7.0496, 1.7411, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fefb59f0e9dee3b43a4a71342348ce2f82c3217d70ca6a5635a1cf2f5124ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df04b3a53251323135d3b4255c30d91657959c1d86ee67e69d6735a0775ec646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa176431b1145cc586c017a703c1923b5c59dfb6adc718de1e82c6ee15398fe2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 5.126 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1715, 1.6905, 0.2749, 1.0603, 0.075, 0.0971, 0.9967, -0.0147, 0.8082, 0.6079, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3758 left_y=0.0553 left_z=0.0559 left_yaw=0.0436 left_pitch=0.2049 left_roll=0.0787 left_gripper=0.9967 right_x=0.2954 right_y=0.0014 right_z=0.1767 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -3.3573, 2.8376, 0.8913, 0.1929, -0.2564, 0.1001, -0.4034, -1.7162, 7.1863, 1.707, -0.0415, -0.0415, -0.0171]",
      "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]: [0.1455, 1.6283, 0.3096, 0.9535, 0.0292, 0.0971, 0.0156, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3811 left_y=0.0543 left_z=0.0654 left_yaw=0.0575 left_pitch=0.1933 left_roll=0.094 left_gripper=0.0156 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -5.5726, 4.4786, 1.2381, 0.1783, -0.0611, 0.7106, -0.1846, -1.0598, 7.1043, 1.7509, -0.0317, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.1276, 1.2633, 0.4507, 0.4973, 0.0105, 0.0891, 0.0197, -0.0147, 0.8116, 0.6079, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3835 left_y=0.051 left_z=0.1507 left_yaw=0.0593 left_pitch=0.2431 left_roll=0.0967 left_gripper=0.0197 right_x=0.2956 right_y=0.0014 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -4.7795, 8.8547, 1.956, 0.0562, 0.0024, 1.0281, -0.3761, -1.6205, 7.0496, 1.7411, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fefb59f0e9dee3b43a4a71342348ce2f82c3217d70ca6a5635a1cf2f5124ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df04b3a53251323135d3b4255c30d91657959c1d86ee67e69d6735a0775ec646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa176431b1145cc586c017a703c1923b5c59dfb6adc718de1e82c6ee15398fe2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1QkKEAgSGAI4AUIIdGhpbmtpbmcSDPQouIha+dl2gwAltBoMz/8l9/fpdF/kdUmwIjCPdLan85RMDMaEFUGR4f1GOGL9iKB3vqmO2Um9aCUp/LRNyU/cQAqbGLStLUe1+xAq8ggLRkHLAfeViHz9hVf7HXU8LKkVeAdZtxRlyDWk6Re65YoGp3v7V8bvQ62To+ZtQ2BC9j94D63kJEWiracbt7c+YonfHNYvdJrNlWaaLk4Brft6YlyytDXkB5awHEsdg8MsbIiS/rorMl5YASQZkX0c4RcEzOVehI1e9DnTMkXvEBQYRJ7uZbozz+5curPQTZOVdVhJvfylhGOCpKzPj8nHgzQbWhh3/yJRTrvpKdeTfFoxC4jYOEI7gRLbi/N2n0sxHmPubQ+c7JmKSugGuzeTM6J0TtYlkiKb5oBxeS+qKGdwaLQkI6Ts82yhUzU4DpKEc/2CwM85DwZm5iOKO27CkOMrIDNA1WmpERMsoMjOQ51os3RWyXClbhy61HSL7Vm9F6/YesquGF1amrhGG3wOQgrfNiXsf4+/D63ELGZtkV1Hb1wjZWR7lw+6C2ysyfT7ROt3dQsye/SmDKLfGRI1gFV7Lj7OwmdA82RzeCrjhxp1ImPrX3LSes6bnB1Vo2MQ5A99lUhhHougKCmf0zzwUWgfOTBt1uRQaiRLZb62YPoEDzOEPfIz731F+FFDRGjqsogvaaoGt+JlfCBbKJisHFTLPh1kNJQAD58zxZlYceqTsR3MA8N+g3+AoOl5F69Fjuuw4GbCPwgGW7gjgZUCbqgscZ1dV6IFi+qgRNIHNNy2V2xIr0cGpvBLKQnXLuX7vQH4FJVmiiu1AU/whVMaiMJzzNpW2TsH2IDSSGkLS52ivD0cqLyR8/uWoPnY7iRF1MriRZY/Xdy+V4M/Hrx1b9BtVGOdcw8sOafvXiV9MWP3H5cLp4ns5pkqc7kZ5g6pNFpx6qjoPrYL0JuIh7Z7xZajUaFwXLQWDeLUTPxKiMQQEa9oXEAc55XsQ5lDISQ/1g4MQiaoLXg7yajKehPcccqWDpyIy7vo5HXIhrhl7MYeBW91s/TJsbPTMOOmgQBnnZzYf00B9W/fkASe8oCWq8S2dsYHcnWldAwUfBzoqJyDr2J+MoyW9dig7N+I8dwTyfcyD/jT3JBwsSm61qZHkGzaqrGMVRtda4J289ArUmN7sHDUrj8F2XDRiN8+ORKstnStoGCu/LoFI43GJQPQyyQ64hN6Qw+aqEFcO5Zz9n2wmhTCvmJnUzRP9ZIvkW/vK3X/FuH7r2S+EOwqXGnvGgb13zxxxEg77jf3CC/j1CHZSoO+soHWUxZpnNPsN3GD3Y/dnwcS7+p1gdJqxtT4N4A2+4wMLPTpmWuxdh454ZRn7IVDpyZS6KWjeZOP3RS4wOSGMkx/cutKCMjSnEO8hwWJMjLGcpP6GVswLUWNhADcVaYSD8EfTj3OPMPwoyG2q31sy9Qj6kIr2KFZeVde1NCEJTsg8O4y9NaA39cexE77rn5sk0PO2+dkAJUIJTi0BMLEbtXtzTrgMvXV0wAtzpr78C9xI/uYRQb89cdqj9mFptZn0HfmF/shPTh6o0igWD/MyvYfOJpQ7XXI4TjCDp6Nk36Ub5EYaD8TTNF953C/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MR9nLnvk5PYkqWaj8kgz1K",
      "input": {
        "note": "The grey plush came up with the gripper, so the grasp is good. Carrying it high over the left basket, which is ahead and to the right of the left arm.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.15,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01MR9nLnvk5PYkqWaj8kgz1K",
      "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]: [-0.5388, 1.5829, 0.9894, 0.1402, -0.6071, -0.1593, 0.0212, -0.0147, 0.8139, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4428 left_y=-0.1431 left_z=0.1946 left_yaw=0.0483 left_pitch=0.1889 left_roll=0.1184 left_gripper=0.0212 right_x=0.2957 right_y=0.0014 right_z=0.1749 right_yaw=0.0007 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -7.8291, 10.1265, 1.8144, -0.3004, 0.0415, 1.033, -0.3761, -1.3333, 7.0359, 1.7021, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3838dd23f266cf880d3610af823ee261bfde2e59938ea838a63e3c4335b175b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2b9c1f5511762294c9931d1c4d10a16ba083d12f112082d0809947793db2e97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19aed8824814442fcda2c71768dc8830bc159d3d32d321682b52c8c8277c1206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.82 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]: [0.1455, 1.6283, 0.3096, 0.9535, 0.0292, 0.0971, 0.0156, -0.0147, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3811 left_y=0.0543 left_z=0.0654 left_yaw=0.0575 left_pitch=0.1933 left_roll=0.094 left_gripper=0.0156 right_x=0.2955 right_y=0.0014 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -5.5726, 4.4786, 1.2381, 0.1783, -0.0611, 0.7106, -0.1846, -1.0598, 7.1043, 1.7509, -0.0317, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [0.1276, 1.2633, 0.4507, 0.4973, 0.0105, 0.0891, 0.0197, -0.0147, 0.8116, 0.6079, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3835 left_y=0.051 left_z=0.1507 left_yaw=0.0593 left_pitch=0.2431 left_roll=0.0967 left_gripper=0.0197 right_x=0.2956 right_y=0.0014 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -4.7795, 8.8547, 1.956, 0.0562, 0.0024, 1.0281, -0.3761, -1.6205, 7.0496, 1.7411, -0.0464, -0.0757, -0.0171]",
      "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]: [-0.5388, 1.5829, 0.9894, 0.1402, -0.6071, -0.1593, 0.0212, -0.0147, 0.8139, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4428 left_y=-0.1431 left_z=0.1946 left_yaw=0.0483 left_pitch=0.1889 left_roll=0.1184 left_gripper=0.0212 right_x=0.2957 right_y=0.0014 right_z=0.1749 right_yaw=0.0007 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -7.8291, 10.1265, 1.8144, -0.3004, 0.0415, 1.033, -0.3761, -1.3333, 7.0359, 1.7021, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3838dd23f266cf880d3610af823ee261bfde2e59938ea838a63e3c4335b175b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2b9c1f5511762294c9931d1c4d10a16ba083d12f112082d0809947793db2e97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19aed8824814442fcda2c71768dc8830bc159d3d32d321682b52c8c8277c1206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAgKEAgSGAI4AUIIdGhpbmtpbmcSDGxndt66+yyPAH+KlRoMhxqLWW7X6YYaBzI7IjAm3dSB1y3k2ZVwVXQigPszTWEjSDyACdR2usdvMkkNz/RRig3zWSpZAzEoQrPU2ocq2QeIr7UkaWqFfIlL6Dqan8xu6UEbaVy+eWxcqnIKWDa1tKCiWDsBKNx5tAm5/pFecWiPL7D3fa9sJ0NUmn+WedeMwKGcuteqwIvb6C3bgBC7fVXn0HeGqgglCZ2kyJ+n3JQdDZtpl0zp1Q8ELnV90HHCIUVyTb/V9rJnsw060Ng1tq4P9qmLh/i5LIe5hIBKUHNsq2onoiXJDY34hzySYQiTUo+zo2iuYzAeMBut71XW2fRE76X0UMJgS+dIwdsXWWmxFlFzdKKPmZYkIuyoU5/08fGKsH05hlRiLHB/kVwCdNY354NSHcJdrBtv49sLAxQEnZUrr+T3ie2PCaaeEuHeduEUQm1rItbG4mJFBgIDOZPCVxEsqCmUbLuBVYrQr7emDpncXXj/CZ6rKelw+iWYJaBqUWwTv/bkNAxg0bjDn3cHRUWN6DxXvheyUgZ0kAhDzE25dXRiDhOanecDIqrh7SfYNTAy/4RikqI3BEOpKIWwstU183lRrhouzTUomqHpsbbTJz7+dBMGpRB8q1HdKqzHQL9b43t/Qx8VGJ7Te3tcBL/svXU4nrshVu4YeGCdGtruVFY3nBpyhsHcmOZV8FcV36262pqqsH2saD2aQhrfWmPUiEYBEMR0kwrrO9jeHe7HHBK7ffi221SfBD6ouQcgmkMejRBaydyXqNnZfU5Npp0RMsk2u8plQ65NjN2Wcps9hQIS5Cf6XExYA5brFwI7AaZho5MP/yE/zTlyMvgCE0f6mmndNMJw6Je2069poROherAlmWAsHD9V+fdT1xMZ0q5Kiw3tKFAD0jBfPR7Hvx+rJADhY8PjyGiUV9gQ86FYkt1vb6Xw6OcMTG/M3teF0Pwh0x1whSQzZ9oRoIORMX1nPMIav08O00m3Fdm0jb3okCvahhlhD42V3yCciQQlPxhSH2li3JUi89JOn6liY2jGNQ3vw1zSjg+pM6fO+i6PiTN6WNpwc2d1OEWd4GHRAd/VBScuX+F0TZ/MbUEFxdY2zdnDDtbx93ITEgVkbhwuBS1kT+MSW90oR2g8GZ/l/XS9KRcXAqxT4qx4XDC2fpFDwZ/QAOVUJFD+c0lVxa/eTe5pxRjxIN27Zl/NbczQT91nQQztf90CW/5FHvGFgyx/3iPVKRWds2x6YwTYFQtKZd9rNSS8plHwlsKrrWQlD6DQ5jxPIMLN5vd7idSEGDYJaiK43DmuGMZTfmz5H4bvKnQkZefMFGDh9vlom7RwnWS+/mDRqzcBWBLk16FP2MGKpMYxMdUCrSEt+wGALtcnvhUnhvDPdz7vIaQHV6AGA/m8NgX6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KrQrppT4stkvWwtiHi3T31",
      "input": {
        "note": "The gripper is over the near-left rim of the left basket; the wrist cam shows the basket interior ahead and to the right. Shifting right and a little forward to get over its centre.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.22,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01KrQrppT4stkvWwtiHi3T31",
      "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]: [-0.6628, 1.8122, 1.2453, 0.0154, -0.7174, -0.247, 0.0212, -0.0147, 0.8146, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.464 left_y=-0.2104 left_z=0.1811 left_yaw=0.0507 left_pitch=0.1493 left_roll=0.1392 left_gripper=0.0212 right_x=0.2957 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -9.6205, 9.4291, 1.7363, -0.2222, 0.1148, 1.0427, -0.2803, -1.1692, 7.2137, 1.6923, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07eb77712813ca4d5b3b7cb7aa3228dfa0c942be43241ee4aa96a4ae86cb5321",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1fe338f873e9f027ced1fd6e4bcc90e7182828f2f4582ed26b318e4aed879a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44ed4d980bc453583a5f8e410e7f555595180646bc9a1b0e2a820acec39eb865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 8.486 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]: [0.1276, 1.2633, 0.4507, 0.4973, 0.0105, 0.0891, 0.0197, -0.0147, 0.8116, 0.6079, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3835 left_y=0.051 left_z=0.1507 left_yaw=0.0593 left_pitch=0.2431 left_roll=0.0967 left_gripper=0.0197 right_x=0.2956 right_y=0.0014 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4171, -4.7795, 8.8547, 1.956, 0.0562, 0.0024, 1.0281, -0.3761, -1.6205, 7.0496, 1.7411, -0.0464, -0.0757, -0.0171]",
      "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]: [-0.5388, 1.5829, 0.9894, 0.1402, -0.6071, -0.1593, 0.0212, -0.0147, 0.8139, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4428 left_y=-0.1431 left_z=0.1946 left_yaw=0.0483 left_pitch=0.1889 left_roll=0.1184 left_gripper=0.0212 right_x=0.2957 right_y=0.0014 right_z=0.1749 right_yaw=0.0007 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -7.8291, 10.1265, 1.8144, -0.3004, 0.0415, 1.033, -0.3761, -1.3333, 7.0359, 1.7021, -0.0611, -0.0464, -0.0122]",
      "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]: [-0.6628, 1.8122, 1.2453, 0.0154, -0.7174, -0.247, 0.0212, -0.0147, 0.8146, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.464 left_y=-0.2104 left_z=0.1811 left_yaw=0.0507 left_pitch=0.1493 left_roll=0.1392 left_gripper=0.0212 right_x=0.2957 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -9.6205, 9.4291, 1.7363, -0.2222, 0.1148, 1.0427, -0.2803, -1.1692, 7.2137, 1.6923, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07eb77712813ca4d5b3b7cb7aa3228dfa0c942be43241ee4aa96a4ae86cb5321",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1fe338f873e9f027ced1fd6e4bcc90e7182828f2f4582ed26b318e4aed879a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ed4d980bc453583a5f8e410e7f555595180646bc9a1b0e2a820acec39eb865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AYKEAgSGAI4AUIIdGhpbmtpbmcSDIDcCdA9/EB+2eK3axoM5jaLGcnVPB7jcSSMIjBR8AJVfDNLZepkQ1ZH+8TUU95q1JvA53+WTMtwlxvw/gmcMVHMxUn1rl4KiKCxApAqlQZhFgPbBFmN/X+JrnLiGJdw4cgkkIjb4z4NOORBmUCQdM8VhgTCDVY5VmnF1kf1Bp7shvbSz2WiYSbVotmYGaPdJYbex72EiuVInmHSNH3F87SVvy9sqQ4vog1khrLmK7PpcKWrZVl1sQpLrgnGtvmPEwexRurQm6jkOX57SPBUaX4bgn9jM2af4vNxQaua6lZ/y/kufpieP30tKju5NzxfF+T1XDIIsgYvU59seymU213xiWFlJzyZlNqmKQR0NraGG5UdxFjYlvuwddv5rKM5jazreThv3lION0KvQOm78nyUgoJvwq3UMmoDcyAvWkE6rl23rEQlXcEcpDe2O2nlXFCCqBQ488+E4TQFkZ+ywICJvA2u9UEWR0ZMjzkifNOcpohdDs8norE2IgsLpFLPCOGaRFvSJHyZzPFzLCNTqMdYutCqx0L+3sSs/i1uMLCrIZJdL+gzhWnGL2vELUNXpmAbwsPPcuYxA0g4tL0JN7oL2tnp/AQqg6MpAp2SV0Qnyyay0wrOfv9TTTSDpnv2SQU1oBW/qLSh3P5vO7HCFxJOupG5sbftxZToKtJywftsxG/9QoSTTEzLUnS8/WTgjUnLx53bj1QRKw86MYjwGUw4V9JdVjHYWdr0nR+vbgoL+t+ZidZK5WA3p6XyBqvaqm8UXyyKBa61fqGMasFHNNhAVEeEMLUx5/NNdUNBXalrDxX5aRT7ABQBh+tMwZS7WmNeaihgKgWdHsmakD0I7LEb2fXv9z3mfg4y5A7l//ZEwXbAdaqVe30+33RjZY/kZUxvgWvkyvGwqzY84TLYJ8fuP4Zil775baeq107Yt0O5gNQNAykSu8qM8dGajPmCwb1CJrXoBq+oLYaNY9+WcVm6AUMoGTFfFb1GVcH4ACbCGx14syIPRajn92hk9DkzrBmqHJ21E8lAjT0FuqPxRNzZwVb2wpwlryZvGpA/ZBBoVf5lehQRSzBEzpFIA9WqEYbC4m4J6cjmQLzwjvVXA5UghBqBc6ezveL0I9nTVZUHgBr8uvAcKz3bzspg20X4QFqOMnAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KQ3DGVGx4AbjoYU8TUzw6L",
      "input": {
        "note": "The plush is now over the inside of the left basket (the wrist cam shows the basket floor under the jaws). Opening to drop it in.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KQ3DGVGx4AbjoYU8TUzw6L",
      "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]: [-0.6624, 1.8252, 1.2488, 0.0113, -0.725, -0.2623, 0.9952, -0.0147, 0.8146, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.465 left_y=-0.2096 left_z=0.1761 left_yaw=0.0639 left_pitch=0.1428 left_roll=0.1374 left_gripper=0.9952 right_x=0.2958 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -10.7692, 6.6393, 1.663, -0.1294, 0.1392, 0.0708, -0.1026, -1.388, 6.9949, 1.7021, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25cc7f8915998e6e5da0293fcaeb8301b6dbaeb3c6249fd451a69c2bf1f74d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3b233e5edbc8963901cebd11d1916684cb08846f49d8ccd6e374bb37e519140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ddbb5020203ecb6d0f4b5045b3352e55db31de03aaebd46e384d7d77f3683c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 7.575 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]: [-0.5388, 1.5829, 0.9894, 0.1402, -0.6071, -0.1593, 0.0212, -0.0147, 0.8139, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.4428 left_y=-0.1431 left_z=0.1946 left_yaw=0.0483 left_pitch=0.1889 left_roll=0.1184 left_gripper=0.0212 right_x=0.2957 right_y=0.0014 right_z=0.1749 right_yaw=0.0007 right_pitch=-0.0328 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3487, -7.8291, 10.1265, 1.8144, -0.3004, 0.0415, 1.033, -0.3761, -1.3333, 7.0359, 1.7021, -0.0611, -0.0464, -0.0122]",
      "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]: [-0.6628, 1.8122, 1.2453, 0.0154, -0.7174, -0.247, 0.0212, -0.0147, 0.8146, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.464 left_y=-0.2104 left_z=0.1811 left_yaw=0.0507 left_pitch=0.1493 left_roll=0.1392 left_gripper=0.0212 right_x=0.2957 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -9.6205, 9.4291, 1.7363, -0.2222, 0.1148, 1.0427, -0.2803, -1.1692, 7.2137, 1.6923, -0.0415, -0.022, -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]: [-0.6624, 1.8252, 1.2488, 0.0113, -0.725, -0.2623, 0.9952, -0.0147, 0.8146, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.465 left_y=-0.2096 left_z=0.1761 left_yaw=0.0639 left_pitch=0.1428 left_roll=0.1374 left_gripper=0.9952 right_x=0.2958 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -10.7692, 6.6393, 1.663, -0.1294, 0.1392, 0.0708, -0.1026, -1.388, 6.9949, 1.7021, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25cc7f8915998e6e5da0293fcaeb8301b6dbaeb3c6249fd451a69c2bf1f74d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3b233e5edbc8963901cebd11d1916684cb08846f49d8ccd6e374bb37e519140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ddbb5020203ecb6d0f4b5045b3352e55db31de03aaebd46e384d7d77f3683c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LcZP79oCggcnj3ihn5keRS",
      "input": {
        "note": "Plush released into the left basket. Next toy: the small brown bear near the front centre. Moving the left arm back over it for a look.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.2,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01LcZP79oCggcnj3ihn5keRS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1122, 1.4319, 0.7925, -0.2848, -1.0206, -0.7082, 0.9966, -0.0147, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2771 left_y=-0.2131 left_z=0.1459 left_yaw=0.0208 left_pitch=0.1248 left_roll=0.1376 left_gripper=0.9966 right_x=0.2961 right_y=0.0014 right_z=0.1738 right_yaw=0.0007 right_pitch=-0.0366 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -7.2274, 6.0239, 1.1551, -0.5983, -0.0464, 0.1245, -0.253, -1.5385, 7.159, 1.7216, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad85c97711d9a7ece9a5460dec2a49914c166b0380d3219dfb09a596595b3b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04bc6597d0a21bb9b0ab693812badf0bf73a353fb5816a4097d227209aed468c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0ba92a3014c82e7272ab57424fee2d0d71e5f2407596d8a0538b2e350ef1f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.304 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]: [-0.6628, 1.8122, 1.2453, 0.0154, -0.7174, -0.247, 0.0212, -0.0147, 0.8146, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.464 left_y=-0.2104 left_z=0.1811 left_yaw=0.0507 left_pitch=0.1493 left_roll=0.1392 left_gripper=0.0212 right_x=0.2957 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0336 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -9.6205, 9.4291, 1.7363, -0.2222, 0.1148, 1.0427, -0.2803, -1.1692, 7.2137, 1.6923, -0.0415, -0.022, -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]: [-0.6624, 1.8252, 1.2488, 0.0113, -0.725, -0.2623, 0.9952, -0.0147, 0.8146, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.465 left_y=-0.2096 left_z=0.1761 left_yaw=0.0639 left_pitch=0.1428 left_roll=0.1374 left_gripper=0.9952 right_x=0.2958 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -10.7692, 6.6393, 1.663, -0.1294, 0.1392, 0.0708, -0.1026, -1.388, 6.9949, 1.7021, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1122, 1.4319, 0.7925, -0.2848, -1.0206, -0.7082, 0.9966, -0.0147, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2771 left_y=-0.2131 left_z=0.1459 left_yaw=0.0208 left_pitch=0.1248 left_roll=0.1376 left_gripper=0.9966 right_x=0.2961 right_y=0.0014 right_z=0.1738 right_yaw=0.0007 right_pitch=-0.0366 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -7.2274, 6.0239, 1.1551, -0.5983, -0.0464, 0.1245, -0.253, -1.5385, 7.159, 1.7216, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad85c97711d9a7ece9a5460dec2a49914c166b0380d3219dfb09a596595b3b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04bc6597d0a21bb9b0ab693812badf0bf73a353fb5816a4097d227209aed468c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0ba92a3014c82e7272ab57424fee2d0d71e5f2407596d8a0538b2e350ef1f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NtPrnUoocEexZzjQsbEMBr",
      "input": {
        "note": "The grey plush missed: it's sitting on the table leaning against the front of the left basket, so the basket is further forward than I estimated. The small brown bear is right under the jaws, so I'm descending to grab it first.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01NtPrnUoocEexZzjQsbEMBr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.111, 1.7599, 0.5755, 0.2047, -1.0176, -0.7139, 0.9967, -0.0147, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2747 left_y=-0.208 left_z=0.0318 left_yaw=0.0176 left_pitch=0.0993 left_roll=0.1821 left_gripper=0.9967 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -6.5983, 3.6308, 1.2186, -0.5055, 0.0122, 0.0024, -0.3487, -1.4427, 7.0906, 1.7411, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae6b0dcd2d66d3ea40c91459352811f34e2e691871483af6a65126300ae03e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57b04f14f8519aaf9b7999a48b541fed9fae0da6b085e2a66efacd37e6005aac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba8e8b7a9a27f59f4e836acaf4fbf629541b5bc7b43e7967d06314bbaa48c5e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.733 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]: [-0.6624, 1.8252, 1.2488, 0.0113, -0.725, -0.2623, 0.9952, -0.0147, 0.8146, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.465 left_y=-0.2096 left_z=0.1761 left_yaw=0.0639 left_pitch=0.1428 left_roll=0.1374 left_gripper=0.9952 right_x=0.2958 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -10.7692, 6.6393, 1.663, -0.1294, 0.1392, 0.0708, -0.1026, -1.388, 6.9949, 1.7021, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1122, 1.4319, 0.7925, -0.2848, -1.0206, -0.7082, 0.9966, -0.0147, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2771 left_y=-0.2131 left_z=0.1459 left_yaw=0.0208 left_pitch=0.1248 left_roll=0.1376 left_gripper=0.9966 right_x=0.2961 right_y=0.0014 right_z=0.1738 right_yaw=0.0007 right_pitch=-0.0366 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -7.2274, 6.0239, 1.1551, -0.5983, -0.0464, 0.1245, -0.253, -1.5385, 7.159, 1.7216, -0.0464, -0.0611, -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]: [-1.111, 1.7599, 0.5755, 0.2047, -1.0176, -0.7139, 0.9967, -0.0147, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2747 left_y=-0.208 left_z=0.0318 left_yaw=0.0176 left_pitch=0.0993 left_roll=0.1821 left_gripper=0.9967 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -6.5983, 3.6308, 1.2186, -0.5055, 0.0122, 0.0024, -0.3487, -1.4427, 7.0906, 1.7411, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae6b0dcd2d66d3ea40c91459352811f34e2e691871483af6a65126300ae03e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57b04f14f8519aaf9b7999a48b541fed9fae0da6b085e2a66efacd37e6005aac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba8e8b7a9a27f59f4e836acaf4fbf629541b5bc7b43e7967d06314bbaa48c5e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QYKEAgSGAI4AUIIdGhpbmtpbmcSDNT0JCVgQQLp1T2S6xoMvMTiO8mfH29qJqP8IjASpqks6xb5bBBm0qq4arK67TSR8b5DDtHi23jtmArdFnqfhJIhQuLNt0wGXEweVboqjgaYbt0F+Ddy8lHtTYW0BNTK7iDhvrmPWOwUUdfqIMrK2qpaNq0jR87KlxErtrZbrglJAbiGmaLVZD5RZlDPRDkwsSa439XEwVAehZu/1Ua5CRkcyZUtDlotGnQPVYl70/LC2vv6lpj0ndYXowgsbztNuik5wCVtSD/bjtwEUcFQGsfliqffJ82HAN3ovuk5DEOUpKX99t5AR5sJFjMGRZmVQtY21fLwxu9iHX+x7JIs8RNT2Qjt8anuQz+bEjxM4mTmOplxFfhTRD5BvSgVTXdJemEWI89+YNqzOJdQPTJ+1/U98zzmPTVGEC+yfZbyr7fCyAzUNP/FqkmH6uExodEUZW/Y3jrd0tU4j0lFEM5j4qOfaeNNMFOKQow+q31DxLQjvbSg/ccaLnY5yT8q/vkSkVXh2IzjxKo2Juw3LBz2bCrYHe2pYPNAlXQlGFUev5vbsVXIZpNvRytgr+8beRJfPKH576wVUHfRyU11fvcNaM7haphSDiEDWXalk1gxaDzy5L3mOQ9mpbqrSaSgqjBCcFAWBekW4L9jqFvOHK+TLEbeHLHCvtD5WWrNC4Z/wDBX7i2U0+IvJUygonDIP7vjG5cm3kNBYCY+GntwqtTXDWMMWd4jlcD0lw1ZzoNrq3payMTwa5342UEB2zm1i9+iucXodku6u5KsTReiQJ2DbiDVZh95KZFNnt2W1sovohGqdgknLzDgNe14gQGq27q2vpBsF8CAbUa3s15irAB7PuiS8sy45xv1Y6wHSVTf2XrV//lsyYJB6lljLi01HFZMvSkjApXmjGv9Kf0clm/npbgx6YQdiuVfGFDd6R9ulDv/jN1aa1FvQGAoGbVM9ErHYSTppzhNVjeedI/3LvVUsPHISU8muzgH4B1AyNmqSXR6ysa8zk2kRdDtpwIUnlkdIBTp+BUObyxOg6YrMwwhCxUBqknS+HlOe0icujrYulXgwidU4ul/yWP4IYRlsVdWcEbYdfzXcaBPAvDtUgsY40mH+NHNQZlxqEHQxHrKU6hZdzH1NmHb4X68PNsaUxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MvcC88sdJPBG8HQQLM3JYs",
      "input": {
        "note": "At z≈0.03 with the small brown bear sitting between the jaws. Closing on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MvcC88sdJPBG8HQQLM3JYs",
      "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]: [-1.111, 1.7706, 0.5678, 0.2268, -1.0393, -0.7116, 0.0349, -0.0147, 0.8192, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2754 left_y=-0.205 left_z=0.0317 left_yaw=0.0281 left_pitch=0.117 left_roll=0.1884 left_gripper=0.0349 right_x=0.2961 right_y=0.0013 right_z=0.1736 right_yaw=0.0003 right_pitch=-0.0374 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -7.4188, 4.9709, 0.8278, -0.232, 0.0317, 1.0232, -0.1983, -1.4154, 7.0222, 1.7411, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06d1df16ea81654bc494c487c25b9a7a872b1dd44f37dd6b595758a829da13a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dfbad315aa385e57f3d566bfb6631ddef095505b512032a2bbe78fc1890e63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b81febd5d077b927894af5456ff81879a478c11e91817860d34a7066b9ef80dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.274 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1122, 1.4319, 0.7925, -0.2848, -1.0206, -0.7082, 0.9966, -0.0147, 0.8185, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2771 left_y=-0.2131 left_z=0.1459 left_yaw=0.0208 left_pitch=0.1248 left_roll=0.1376 left_gripper=0.9966 right_x=0.2961 right_y=0.0014 right_z=0.1738 right_yaw=0.0007 right_pitch=-0.0366 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -7.2274, 6.0239, 1.1551, -0.5983, -0.0464, 0.1245, -0.253, -1.5385, 7.159, 1.7216, -0.0464, -0.0611, -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]: [-1.111, 1.7599, 0.5755, 0.2047, -1.0176, -0.7139, 0.9967, -0.0147, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2747 left_y=-0.208 left_z=0.0318 left_yaw=0.0176 left_pitch=0.0993 left_roll=0.1821 left_gripper=0.9967 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -6.5983, 3.6308, 1.2186, -0.5055, 0.0122, 0.0024, -0.3487, -1.4427, 7.0906, 1.7411, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.111, 1.7706, 0.5678, 0.2268, -1.0393, -0.7116, 0.0349, -0.0147, 0.8192, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2754 left_y=-0.205 left_z=0.0317 left_yaw=0.0281 left_pitch=0.117 left_roll=0.1884 left_gripper=0.0349 right_x=0.2961 right_y=0.0013 right_z=0.1736 right_yaw=0.0003 right_pitch=-0.0374 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -7.4188, 4.9709, 0.8278, -0.232, 0.0317, 1.0232, -0.1983, -1.4154, 7.0222, 1.7411, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06d1df16ea81654bc494c487c25b9a7a872b1dd44f37dd6b595758a829da13a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dfbad315aa385e57f3d566bfb6631ddef095505b512032a2bbe78fc1890e63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81febd5d077b927894af5456ff81879a478c11e91817860d34a7066b9ef80dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQcKEAgSGAI4AUIIdGhpbmtpbmcSDH0kuXptGu8gT4qGEBoMVz/cd+3SreObYYYPIjABQhSUPOp6ctK9Li3v55Mn8FtDEmaw4+gBC2HMnmQ080S7AmW98Xbj6nmLAVM6glIqwgYQ8swV0efJYu91/ejmimmfFNBRgYJvkIKcOHv/hVrrR0AgwUuLF56+ssTuNeUjQnhYfsgSigX4PLnP+38C3iXe6H+elGABf/g8eJ4fyo2a0FhhuijQ8oDaDLaRwJjU5wSqjusV6jHfmy3bUX+MWp6w9431i/jJlZFiNq6HkXjNs/4p+Hq36Dsi1dguJo7XdWldJElPCukfakxzyINVGS1eZ3RwYgKbZ1Ni0KKhDNBioARvgX4rDyKnHbIjmEf+sbHv+v1WB/RbWfpqVbTF3cCz1M1bUfhWwCHOpka8NJXIV2f1UO98C6+UybOddK/IRABSdiIuQs7ynuEw2XW8/cc/+ylRvmHe+7LFm+OY+fVVldR3mIVxSAcNrn9vqSPKHE9Lf9NiuPjUegIDKuF7W+qu7rJh+nG2NS2ZTO7IqjdDgAyHC3o5QoAVeq8NPlLSqdkd+9fPdA0EKsbHZ0+je8nXActJrwAt/RIyPLOlLEhHmmW+UMi1j6wf3R1Jb8TkEaHpqAQpl4i4FkpulufKJ2J/x9y6QHSpsb9lKqSAQ1wTOns2zHRID4fohXEh6GT5zIvH7pVVk74IS8G6HyecJ8IyKJFBrnTCtGpVbnqZe4bhIiRgzMc/0EYVJ3HqDE9Owu3IPwPeR80G64f4e5sMWEiMHV2Itq1X+n4FQL+dS622GXnHFmLOWs2SLv0h8OtQWLdYoX9JyH+6NAwXotz8uYol1pr5R8PXSPgCzwnvUoGeq3w/SogbU0xfKmXchZfBqBN94XX8AFawcTdGPWCB2j2Y4WtzCcOgyqQ1o5K/mqYnIJzjCRU4x0e8mxpbLDQ0Xz1PoO3iOX8V8DCBumjfAJRbTlgxS8pd0nOK5oB/VmnH0cgFySWJlrqh7ae+pNKKoigBGeqPTnrAysmYqy/ZV2y5VK7goQfPkhoQMHB3voWzxvh62qkfYfYivrjzGsabIUav6KY/tWd5XDcGBVSpSTEnA4BhFEi1J5mfU+P57tG9aOMF3hWN9RUW+LE2b7ckYGUBe+nJFFZk2RLVpLWFTclX95eySLHbyQZvSdpQkcCDWb49b8Bpho4DDUWKJbzW86VpphcBEe+qSppUabq3p/VTrWUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BSYHcShnrseWXiDaT36Hjm",
      "input": {
        "note": "Gripper settled at 0.035, which is ambiguous for a soft toy. Lifting to see whether the brown bear comes with it.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01BSYHcShnrseWXiDaT36Hjm",
      "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]: [-1.111, 1.3937, 0.9321, -0.4999, -1.0248, -0.7189, 0.0361, -0.0147, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.277 left_y=-0.2112 left_z=0.1839 left_yaw=0.0258 left_pitch=0.113 left_roll=0.1635 left_gripper=0.0361 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -6.5709, 8.3761, 0.9304, -0.5934, 0.0073, 1.0281, -0.1983, -1.388, 7.0222, 1.6923, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7154e54934fdfe443de4d3a6722367d91a18623aff75f99a8064804c9b1ee4be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38eced4b9bc7e0af47c2801b99804d0d4dcff32892c93aeb445cd841989b5a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:132979a79f210121375d622a77166592f68f55f45b93a88e7c135ad27c6ce8a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.852 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.111, 1.7599, 0.5755, 0.2047, -1.0176, -0.7139, 0.9967, -0.0147, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2747 left_y=-0.208 left_z=0.0318 left_yaw=0.0176 left_pitch=0.0993 left_roll=0.1821 left_gripper=0.9967 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -6.5983, 3.6308, 1.2186, -0.5055, 0.0122, 0.0024, -0.3487, -1.4427, 7.0906, 1.7411, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.111, 1.7706, 0.5678, 0.2268, -1.0393, -0.7116, 0.0349, -0.0147, 0.8192, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2754 left_y=-0.205 left_z=0.0317 left_yaw=0.0281 left_pitch=0.117 left_roll=0.1884 left_gripper=0.0349 right_x=0.2961 right_y=0.0013 right_z=0.1736 right_yaw=0.0003 right_pitch=-0.0374 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -7.4188, 4.9709, 0.8278, -0.232, 0.0317, 1.0232, -0.1983, -1.4154, 7.0222, 1.7411, -0.0269, -0.0513, -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]: [-1.111, 1.3937, 0.9321, -0.4999, -1.0248, -0.7189, 0.0361, -0.0147, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.277 left_y=-0.2112 left_z=0.1839 left_yaw=0.0258 left_pitch=0.113 left_roll=0.1635 left_gripper=0.0361 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -6.5709, 8.3761, 0.9304, -0.5934, 0.0073, 1.0281, -0.1983, -1.388, 7.0222, 1.6923, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7154e54934fdfe443de4d3a6722367d91a18623aff75f99a8064804c9b1ee4be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38eced4b9bc7e0af47c2801b99804d0d4dcff32892c93aeb445cd841989b5a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:132979a79f210121375d622a77166592f68f55f45b93a88e7c135ad27c6ce8a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQkKEAgSGAI4AUIIdGhpbmtpbmcSDJq0pSbf8Y8cQbfB0hoMbDRdwMKHnJ9tNGsTIjCkmNgufF98fKMPGRL8ooT6qGGUh9g+tft6ycj9xrpvNVDBnUnyQ1vyzXN+F546/2AqzghZST4jVc+cGxSggy81Wt501CPrgOssutVDIb+eFez5r7rDzLX8CxroO3U0Yvk53tb1J8ymOphZW7GD0VM3Nw802f5rFStezdsCsJTbECMM8u2yhryk873qDQ+pwcYDPovUfDBDTHL7nx2ow8dDhq9gH3Ww3yjGjE68xhmkV/KdoXuay0X8SQ6z4AykKHo4OmHb4ceaFVY4EBMDSXklsvE3QqMIckIqYm3M3i2RIUIKzu7nJ3+YUZjJ6XRNxFBjlktQgEBl1F0W7o5310KmfOxeyEzV4til0c1AiT9PzSc48QJw3ZX/GM/ArkwnPr8ruQU2Yr8/t1dmujPqO9U+O6Yhu7RlPWcgfejA74MwnmW/FZBgskbmO82NQkuxzPiK+9C6wWu1g6a2+eBcOsvG4RqlxKhMpRPDQjdS3JikCD+EclHJpR/jx0ci9er+/vJHNsz6OSYpPqvqjXBjB+XPwD+BVn5YaRNmSyjMMdsPOwreHOScV0vm6PIEAgmVTFWzv9S20wOfJHX+qGcy8IIxM45U7Fd07E/q1hNrJyVVXHVLopW54E5rbGrtw5ySfwSFcIoLi1YL/Rg5yjD4Eq2GjVNM1CCQYigI450wr/uqtEYGPFhHr1n+iRBQevjQeNxfshhLvsKPFedyGnR5nbYwDiskseZbyfdEtSJSRctf6oAeCKcK6QTZQpE2RWZOYqNAGft7YoDxpXWTGINQabYWGcV8p6X8od76IaCU/GNE6+K0/OWuh6FcwoejDOI+v62wUcqZJSoqewTciSfGT17joC/wql2UVAer1q4nR0g3TcAOAjpHY/kgYp03X0ssIwE6/b7z1QwCKFXjLudvBWxpskGyI0FHhaRXbNfj+U3KAfNd72OGzNViUGoyPuyui2gFLy3D+X+3mPg8Eib1t6VY0ID7+qIcor7rOYANnswaXpWWhBKHRZWouLnHqF6qE28s3c095WsYJQ/RCyXQ32p5EiEw4f3UKpRarIqfcYsxcvVPveY3UG9u4+mL1yhSBE5dCnVK+ZAeL0CWeeb91fbjBJH39Z03ipxRcutggo3tEYVG3GA08Vd3UEmblwFTtyrqgXFGudek9EdXUxCWQWCqt4ZUDaOwJ/UdbUzOyOko1Q/2Dm7ay3dqi9EDK0PXU7OtIH0+DoysNTv8uFcZeSRMzcX0PHtBO8XG8OlSS6IuJsh7Jq+QN/ByviN6x41G4MfUL+zhbxN1Wva5dXRnzhdFGcA2CTzj9fgTET8NGQH7rI+1cp93FPQnI1GuuZnxF580Jr571pvxmKHQbFR0oFV1C5qMqFiJbkBhQF+QFBmLOA5NQgIR3eJnWfMt6CMCjPiQ/PCZ/eqX1MKih4ZAOqwxYjcVVD3QNL/+1r5/akTLd/+H+dirCJI/mzBHnd1lmGcLY9cNg9aRxDoqiNpFjEB8rvs5/f/yWUpdGt+TNZVh2povHK30rWjiavpeEBi9aQtWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jzcmb3A8r8n4m4FVK7k9hD",
      "input": {
        "note": "The brown bear is hanging from the jaws. Carrying it high and much further forward (x≈0.55) to get over the centre of the left basket this time.",
        "targets": {
          "left_x": 0.55,
          "left_y": -0.22,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01Jzcmb3A8r8n4m4FVK7k9hD",
      "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]: [-0.5613, 2.0621, 1.726, -0.2676, -0.6418, -0.2203, 0.0361, -0.0147, 0.8211, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5407 left_y=-0.2108 left_z=0.2007 left_yaw=0.0747 left_pitch=0.0806 left_roll=0.1639 left_gripper=0.0361 right_x=0.2961 right_y=0.0014 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0401 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -12.3556, 9.5385, 1.6874, 0.0757, 0.3443, 1.0281, -0.294, -1.5385, 7.3094, 1.6923, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04fabd8c31e58f538abe0d16bee3ea6aa60c6909f34474786ad21791554624eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8451e14caf15abe1f1443fa6e61a6802444006fe720ae66f73356f81712e20e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39bb21538df97cae6d1e0ddce153cc9da409d4658489494198a5ed6e08334cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 7.209 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.111, 1.7706, 0.5678, 0.2268, -1.0393, -0.7116, 0.0349, -0.0147, 0.8192, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.2754 left_y=-0.205 left_z=0.0317 left_yaw=0.0281 left_pitch=0.117 left_roll=0.1884 left_gripper=0.0349 right_x=0.2961 right_y=0.0013 right_z=0.1736 right_yaw=0.0003 right_pitch=-0.0374 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -7.4188, 4.9709, 0.8278, -0.232, 0.0317, 1.0232, -0.1983, -1.4154, 7.0222, 1.7411, -0.0269, -0.0513, -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]: [-1.111, 1.3937, 0.9321, -0.4999, -1.0248, -0.7189, 0.0361, -0.0147, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.277 left_y=-0.2112 left_z=0.1839 left_yaw=0.0258 left_pitch=0.113 left_roll=0.1635 left_gripper=0.0361 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -6.5709, 8.3761, 0.9304, -0.5934, 0.0073, 1.0281, -0.1983, -1.388, 7.0222, 1.6923, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.5613, 2.0621, 1.726, -0.2676, -0.6418, -0.2203, 0.0361, -0.0147, 0.8211, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5407 left_y=-0.2108 left_z=0.2007 left_yaw=0.0747 left_pitch=0.0806 left_roll=0.1639 left_gripper=0.0361 right_x=0.2961 right_y=0.0014 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0401 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -12.3556, 9.5385, 1.6874, 0.0757, 0.3443, 1.0281, -0.294, -1.5385, 7.3094, 1.6923, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04fabd8c31e58f538abe0d16bee3ea6aa60c6909f34474786ad21791554624eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8451e14caf15abe1f1443fa6e61a6802444006fe720ae66f73356f81712e20e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39bb21538df97cae6d1e0ddce153cc9da409d4658489494198a5ed6e08334cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwcKEAgSGAI4AUIIdGhpbmtpbmcSDMRzK8TtMbFwY+g2ZhoMdZVkxrjZChWPzX8XIjDtELfaOxPo19sU2WdNIu1/xyNKtrQUL2utxvG87qfe8S82/eQepSHOemC8lKzZdTEqtAbGIeGjD4h/8u8CIwS6Zq3zOR7XZ6TA9MteHiV+v37Mvy8eOxrMF3l/5Z9wE9WKXZhlhhareHmnHI2lotE8nd5sGLgNux7dOP0xKsTuTJ/TmgUACUHKrs+U0JwJe8at2JUxlX9C1jBd+/q1T0f28JgJlvBSUdKAesdZcKjU42O1WJPYJKjQo9/j2ILS2K7GBgdQaMuCTtrPU1KLaQZ7p6x9V3ZemAyjIrm8eSrpPVAGXyICyhiIar4/he4NOPUqbNISqCpZkT97PXuZJgy00+hNzm9CyGwBV53SpLfOql84xDPAlATbc2BTfNnnjsq75HeqoPFfsOi9Pjr3dVwYC0Bmydn5gRsb98qbRKfqMvl1sXD0k2uWRC7oVwMCfU/SJKTXapqeD1XdIXgxv02z0eLwBhv6nla+dLR9sgqqhSG7NRb3tYHVDa8khI1JmPy/1bgqEVTGVFxg/qhrLz3BDuDHssTpul3inV67i5Z4GPudxKUjvTaB39Yi1EgHJcpNT58ja3f2xDYGyKe0aLbnsisUQO0aEjUW9jRUNIjVwkvrrbl9sJmFAJi3NnTZB8ZOZKDV1mA68OVb2tvoYofJE+KU09A6kfkcYsC9vkCl6U06L4IGxK0oUodxwXDMyaiVCD4bjA3bGyV2WklgWphFmPLaH9E7Tm/z3vbuutHEJrrcP9DiWVs5oLDDELxzOBweBUgXL/1xcuXBgsXXpJVYvnvj0mX7RCcVNiSRdWEaMBFaJLhfDcKEFgSYv93cj+uyZX3ZiXBLOOM0F3cbVCAEde+lD3XDepIiB57TQOudpQQr/Z6tqSEc3WjJQLPeM2FHahYjq7l9k9Jj7bfiIj0BdgA5a9f3nPbciQqeM8pbZ01vKU/2Jwb91u7DBFAMZeLJ7Lc/8ftwr2UUh9HxezRW9IH9Xjxp+pE63TwtwQKVjPbjFi49hmTW7CswLyQgKTtqho4Dwxp6ZOonXf4Vt2foQx9eAFHXul2/CrAdVj5MJ95FINKTANX9M6DFQXdycpGyfU6S5FXEE/pVKGzbOZkRpo4e+T66nMRXZ1AOwcPZdceN6OioQE70J8iumy1nWz482ojguOYVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EU6shzrAqTfQYivRKdx54K",
      "input": {
        "note": "The wrist cam shows the brown bear hanging inside the left basket's rim. Releasing it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EU6shzrAqTfQYivRKdx54K",
      "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]: [-0.5598, 2.0796, 1.7237, -0.2836, -0.6319, -0.2359, 0.9953, -0.0147, 0.8211, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5402 left_y=-0.2112 left_z=0.1867 left_yaw=0.0753 left_pitch=0.0497 left_roll=0.1668 left_gripper=0.9953 right_x=0.2962 right_y=0.0014 right_z=0.173 right_yaw=0.0007 right_pitch=-0.0397 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -13.5179, 7.3094, 1.7851, -0.3736, 0.1538, 0.0122, -0.3897, -1.3197, 7.2684, 1.7118, -0.0806, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a038283089e93289eaa2fb893de42dbe8fa7e66cca4f1ae1cd7aae9670e1fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16daa4db2beb169d6b9cdd9f6c3967d645fc5a3898a757887aeb3238a3aee48a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91b898ce334c5f24e286f4a3c1a2c0879c61e055c01c065838764f9dd5a8e4f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 4.968 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.111, 1.3937, 0.9321, -0.4999, -1.0248, -0.7189, 0.0361, -0.0147, 0.8192, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.277 left_y=-0.2112 left_z=0.1839 left_yaw=0.0258 left_pitch=0.113 left_roll=0.1635 left_gripper=0.0361 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.0007 right_pitch=-0.0374 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -6.5709, 8.3761, 0.9304, -0.5934, 0.0073, 1.0281, -0.1983, -1.388, 7.0222, 1.6923, -0.0366, -0.0562, -0.0122]",
      "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]: [-0.5613, 2.0621, 1.726, -0.2676, -0.6418, -0.2203, 0.0361, -0.0147, 0.8211, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5407 left_y=-0.2108 left_z=0.2007 left_yaw=0.0747 left_pitch=0.0806 left_roll=0.1639 left_gripper=0.0361 right_x=0.2961 right_y=0.0014 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0401 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -12.3556, 9.5385, 1.6874, 0.0757, 0.3443, 1.0281, -0.294, -1.5385, 7.3094, 1.6923, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5598, 2.0796, 1.7237, -0.2836, -0.6319, -0.2359, 0.9953, -0.0147, 0.8211, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5402 left_y=-0.2112 left_z=0.1867 left_yaw=0.0753 left_pitch=0.0497 left_roll=0.1668 left_gripper=0.9953 right_x=0.2962 right_y=0.0014 right_z=0.173 right_yaw=0.0007 right_pitch=-0.0397 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -13.5179, 7.3094, 1.7851, -0.3736, 0.1538, 0.0122, -0.3897, -1.3197, 7.2684, 1.7118, -0.0806, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a038283089e93289eaa2fb893de42dbe8fa7e66cca4f1ae1cd7aae9670e1fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16daa4db2beb169d6b9cdd9f6c3967d645fc5a3898a757887aeb3238a3aee48a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91b898ce334c5f24e286f4a3c1a2c0879c61e055c01c065838764f9dd5a8e4f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VwBseFUm5dkRRJuG3WuarH",
      "input": {
        "note": "The brown bear is in the left basket. Next is the big tan bear in the front centre; moving the left arm above it.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.27,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01VwBseFUm5dkRRJuG3WuarH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9813, 1.7844, 1.3964, -0.5453, -0.9005, -0.6247, 0.9966, -0.0147, 0.8249, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3585 left_y=-0.2806 left_z=0.1885 left_yaw=0.0385 left_pitch=0.0286 left_roll=0.174 left_gripper=0.9966 right_x=0.2965 right_y=0.0014 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -11.4803, 6.188, 1.1941, -0.696, -0.0855, 0.1294, -0.2393, -1.5521, 7.0496, 1.7118, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abd66f33fd17f39534bf82b9e8a4ef85f8e3f9d642c3ffa1580c06194d31e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a9ac543b33a8d39742628a40940042b66e648f0d5e5c9359bfb9fd377b2afd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1dc0cb8e756229053b06c6bc2a99865dfb2d3afb74ea86d7f550a8db8eab689b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.481 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]: [-0.5613, 2.0621, 1.726, -0.2676, -0.6418, -0.2203, 0.0361, -0.0147, 0.8211, 0.6075, -0.3859, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5407 left_y=-0.2108 left_z=0.2007 left_yaw=0.0747 left_pitch=0.0806 left_roll=0.1639 left_gripper=0.0361 right_x=0.2961 right_y=0.0014 right_z=0.1729 right_yaw=0.0007 right_pitch=-0.0401 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.0615, -12.3556, 9.5385, 1.6874, 0.0757, 0.3443, 1.0281, -0.294, -1.5385, 7.3094, 1.6923, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5598, 2.0796, 1.7237, -0.2836, -0.6319, -0.2359, 0.9953, -0.0147, 0.8211, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5402 left_y=-0.2112 left_z=0.1867 left_yaw=0.0753 left_pitch=0.0497 left_roll=0.1668 left_gripper=0.9953 right_x=0.2962 right_y=0.0014 right_z=0.173 right_yaw=0.0007 right_pitch=-0.0397 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -13.5179, 7.3094, 1.7851, -0.3736, 0.1538, 0.0122, -0.3897, -1.3197, 7.2684, 1.7118, -0.0806, -0.0415, -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]: [-0.9813, 1.7844, 1.3964, -0.5453, -0.9005, -0.6247, 0.9966, -0.0147, 0.8249, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3585 left_y=-0.2806 left_z=0.1885 left_yaw=0.0385 left_pitch=0.0286 left_roll=0.174 left_gripper=0.9966 right_x=0.2965 right_y=0.0014 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -11.4803, 6.188, 1.1941, -0.696, -0.0855, 0.1294, -0.2393, -1.5521, 7.0496, 1.7118, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abd66f33fd17f39534bf82b9e8a4ef85f8e3f9d642c3ffa1580c06194d31e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a9ac543b33a8d39742628a40940042b66e648f0d5e5c9359bfb9fd377b2afd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc0cb8e756229053b06c6bc2a99865dfb2d3afb74ea86d7f550a8db8eab689b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQgKEAgSGAI4AUIIdGhpbmtpbmcSDAkCw0HDvo0as/zIvhoMlaV3qkg+8SE6LMCWIjDVjnGl30pYUTlVqDmnhLRmfB2a8AJo7Gq9T1IfZEE8LgHhsoh6bpSm7rOxSPeiZZUq5gdnbRQ495GBiMVBuNqmL9yyY5IwO26bV1sULerwc+bYxNj0kdirn5i9OL8iwbPUda2eSC21sYQ199OCI8Sl+XzqAL7U1EvJoxEKThokwnKWnjV19YlEyZnFgqJUBzGTKLhqFa+/8FZnEbSmUgiSvO1UgwqXAxS1EzdVjmbBkmCtwahwrVZ1E4srXVowxwSP+6GvVoMtygoQ4JWiPHTGYsNTUQdRstrRJKIgiST93U79F8GjTlXGn/YbJ8ezXCNSsBLI45hQkk7UcVptFnvsMCkpuN4fmfjsgRE14evJ/LbE09R18PFStk68P0s6rAeGRq3ZdGjxjcHKWnSTt3/uEvwcus5p9r/2LCP+OtvHv6QKvp9q6P5NZ6P3LIMZWaKltnulwc3LEQ/9J1gNtl6//xLsB6JTJPuIHulrQXZkUiqIusLQuZMdfbraPXEUOCFnBLZbzJsy1ptnSEPqhk8hSFRxmf+Bs3WArbdCX95aEsaP3WB9yv+HfiX0HKsKvmm5gBTQBH1uZgcPBW32c+ZuEvbQsJgSXhN+D9IQN+R8egIiTonSGb+EIJpwiP9zZsk7pgrW3HgJMO/Jmd1i7ZS/xEVW558LPdwPXJvw9Tv8k/zB+ZWZkYI+cyGz/iNgb1jW9xdGrgC6C4Uu5RCRzDhgqgFX4QvVcsuovzKH+2E/Khg3N9mU8KAohsN1qzp2KS6MPFxrYFMVxw2sh83SlQsPwlPjPeoid69OqRRT0brf7cjG/8NF6txwk93wWHpkbPfbiY4yImo3u/rvzjLb0hNE+6wq7N1giLdsWkBoN9+njdh0uhPYG94yjYLCEo+NyJ9FYw5ZUnMbkiybvHYZ35xINF6n2svxLx5a+9catD9ipVLfrvz2WDEmvinyCtqB0CgmrKRe+W2l+m+CYxl/RCdq0aSDeUstKW3rmD/SgH0tNBfpDRVDRLsPtRWlvE8ly0o+EjbzYqMyPTxhRjUFGHzipirYcppAT3IvshTxgN4g84cwsqOn8tm/DQftZUfKyBc0Abo+KoXE6qCXOAkhlIvQUW5iPegOoLbFXQ571oLZcACLcDGw7sMJkCWqDxLM1CZyO/Ks6FmUPCo3LLlsZNiK5OiJKpbhTVdwjHIJ8su5Bk09Z5Al4zPhAM9vZVzz0q3urspkgrS/C20bjIhAsMY1SPzDQdvN1tVnGf7wAu3w004F3T7rtaxbUW5kEg08rL73lb0WA1zvml+/XcVJFL80ySeKmsdu80RsS9O3F3i5If8IUhGJVAehcoIofWXYACfg+yMdwVdwqReelfgrQC89dFETzvst9ZIFODytBKe64zHGZqdG+KVRZRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UULHQoVGb4MCN5GSLNinQe",
      "input": {
        "note": "The big bear's head shows at the bottom of the wrist view, so it's slightly behind and right of the grasp point. Stepping back a little and descending onto it.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.29,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UULHQoVGb4MCN5GSLNinQe",
      "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]: [-1.1049, 1.9049, 1.0889, -0.2314, -0.9672, -0.7876, 0.9967, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3143 left_y=-0.2934 left_z=0.0767 left_yaw=0.0328 left_pitch=0.0389 left_roll=0.1602 left_gripper=0.9967 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -7.3094, 4.3829, 0.8425, -0.3492, -0.1538, 0.0024, -0.2803, -1.4154, 7.0359, 1.707, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32ac0edfa148f05801f6a6688098d62816e7fa99a8a93e46daa7016cac8bffce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef8946d742d0d5bfab2f3dd9454b725fdcbf1d433543eafb0c97426ae9f7bd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f996e60478221f0ff02bf4352e3c53c050fb2010220385d704d14e7cd6d4faae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.348 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]: [-0.5598, 2.0796, 1.7237, -0.2836, -0.6319, -0.2359, 0.9953, -0.0147, 0.8211, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5402 left_y=-0.2112 left_z=0.1867 left_yaw=0.0753 left_pitch=0.0497 left_roll=0.1668 left_gripper=0.9953 right_x=0.2962 right_y=0.0014 right_z=0.173 right_yaw=0.0007 right_pitch=-0.0397 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -13.5179, 7.3094, 1.7851, -0.3736, 0.1538, 0.0122, -0.3897, -1.3197, 7.2684, 1.7118, -0.0806, -0.0415, -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]: [-0.9813, 1.7844, 1.3964, -0.5453, -0.9005, -0.6247, 0.9966, -0.0147, 0.8249, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3585 left_y=-0.2806 left_z=0.1885 left_yaw=0.0385 left_pitch=0.0286 left_roll=0.174 left_gripper=0.9966 right_x=0.2965 right_y=0.0014 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -11.4803, 6.188, 1.1941, -0.696, -0.0855, 0.1294, -0.2393, -1.5521, 7.0496, 1.7118, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1049, 1.9049, 1.0889, -0.2314, -0.9672, -0.7876, 0.9967, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3143 left_y=-0.2934 left_z=0.0767 left_yaw=0.0328 left_pitch=0.0389 left_roll=0.1602 left_gripper=0.9967 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -7.3094, 4.3829, 0.8425, -0.3492, -0.1538, 0.0024, -0.2803, -1.4154, 7.0359, 1.707, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32ac0edfa148f05801f6a6688098d62816e7fa99a8a93e46daa7016cac8bffce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef8946d742d0d5bfab2f3dd9454b725fdcbf1d433543eafb0c97426ae9f7bd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f996e60478221f0ff02bf4352e3c53c050fb2010220385d704d14e7cd6d4faae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wYKEAgSGAI4AUIIdGhpbmtpbmcSDJcV0ySfsqMkBwuuXxoMDFjvw/ebhL6X+w3KIjByaozqYuiuMflgJcBZTndfwdNo2VvX2jEkh5+nDQ5gbMY41xbAmlekqS/br1/edb8qiAbollv3hsZ5y5iIqlk5z1QaIaaTAftu3KFlPm8hQMUfnJp2OSLwAo5VFVeMYeSXcnunmI0TauNDkh1Bxbdkr4i8vmJdx4qdgzT+lkLHzMHe6LLWfhWAlkaOF45lb25SvDiMLxoXs9TUzWphROXPVKryHqe5gnsOHvcJlvdoBmDQ7e+L+CaD9Sm83vdnW2DwddI4G2Zq0tPOK0H7Zd500LsdvT1aYOITEtsw8KN+3C0H8drqiFXkfR0e5aBeMJxg5KIzB6SgDM8ieqK3kbNUt++ie0piZwvC79hD/1/1R1j6nTSy2tFAVLBtOKFHl8dR5kzYoy6zC4dnr3ZhD0zgDPj5G5fuLoWoC+PtmhybQGRDgThfO2U7uOmpJP7zOVUru/GhnFzxDQkKPCazN3vfMouOEChnvj4vqXNymomGG1HZkJtAdqtcH6VqJMeBtG0+LGkeg4EkP5yFb6Wxisbs+DCPHdlgfyEZfA/yRHDypFdlSehLzEzxwQw5tJjgFJ8DVHsAcCs3K6bxJHiTNZfj5hqhvzJE/euCzlV6f6rA4vQq0EKhpsa7GjWvZVZZz96skFdlhNvF5Wb7zLH4VKnYH0NTdJacAhBTWD30uFnhfEcJ1QId2+WXPRLUzmKXfO5d/LHfdKrWaSuSzkCer7X6v68OEKNCMCu/myOtGXh97leTdwauPZvqrlvq7P9Z3+tOqbf8irnhdsVrT3jqDwYjxChoOzjlOduVcgrTHnPVG0y1eTxusrDFRcp3KooXZp8ftfgLN3T6F/UMo4INSwh5qjvbDqBETi7oftCUM+OjXrCrMG9+IVJBxzOD4e150SqtGUaKQwtEshYZCKvFK3GehwGApevPi2htsoWYYbNuTPCSszsmFYGikPrRSEUyWAmTUJjbtCv4Vm8+hpmXkhA/9vPjDXqDeenRDiLu31xHDTzsBSPxUcilSNCKhk6d6d8JLbZzNyIWXx9Cfg8autY+jaiMXO2FgP5tOGBTnx95P2mDQ1zXkGxBS4M6RTMeVGKgfrPOpGldQjPYGRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dc5yNtUJTu7aPCCT3w3HBu",
      "input": {
        "note": "The big bear's head fills the space between the jaws and the descent stopped at z≈0.077 on it. Closing to grip the head.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Dc5yNtUJTu7aPCCT3w3HBu",
      "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]: [-1.1095, 1.9167, 1.0813, -0.2085, -0.9653, -0.7967, 0.112, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3132 left_y=-0.2957 left_z=0.0716 left_yaw=0.0322 left_pitch=0.0396 left_roll=0.1485 left_gripper=0.112 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.212, -10.2769, 6.1607, 0.7888, -0.4811, 0.0659, 0.9158, -0.3897, -1.4564, 7.0359, 1.6777, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0527420df909e477bef5645bbb8ddcabb293d508e07f0a21b97e292b3df2c633",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63f8f71d84b6202289c42481e87884d316157f7c8b9887d6874c98df89e4aaa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ba951a389d9651e3319d055aa2444906229f19884619159c86e345a1599ebe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.385 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]: [-0.9813, 1.7844, 1.3964, -0.5453, -0.9005, -0.6247, 0.9966, -0.0147, 0.8249, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3585 left_y=-0.2806 left_z=0.1885 left_yaw=0.0385 left_pitch=0.0286 left_roll=0.174 left_gripper=0.9966 right_x=0.2965 right_y=0.0014 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -11.4803, 6.188, 1.1941, -0.696, -0.0855, 0.1294, -0.2393, -1.5521, 7.0496, 1.7118, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1049, 1.9049, 1.0889, -0.2314, -0.9672, -0.7876, 0.9967, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3143 left_y=-0.2934 left_z=0.0767 left_yaw=0.0328 left_pitch=0.0389 left_roll=0.1602 left_gripper=0.9967 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -7.3094, 4.3829, 0.8425, -0.3492, -0.1538, 0.0024, -0.2803, -1.4154, 7.0359, 1.707, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1095, 1.9167, 1.0813, -0.2085, -0.9653, -0.7967, 0.112, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3132 left_y=-0.2957 left_z=0.0716 left_yaw=0.0322 left_pitch=0.0396 left_roll=0.1485 left_gripper=0.112 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.212, -10.2769, 6.1607, 0.7888, -0.4811, 0.0659, 0.9158, -0.3897, -1.4564, 7.0359, 1.6777, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0527420df909e477bef5645bbb8ddcabb293d508e07f0a21b97e292b3df2c633",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63f8f71d84b6202289c42481e87884d316157f7c8b9887d6874c98df89e4aaa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ba951a389d9651e3319d055aa2444906229f19884619159c86e345a1599ebe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AgKEAgSGAI4AUIIdGhpbmtpbmcSDCRgkP9Ow4vmvbx/GRoMGYz48hWNO1rn+7SwIjCCR4oWyhvVdrVgG+uiwwgxmWT+oadbl62qUu+n+EUbf3XdqoSrs93gsKYGQIh4E74q9Qe3lDc5BbivxZX4zOMoetRNVIwOaCFJEhvSRKXhnz+f1k2DNMF0D1luAlHTSOq8eruJesYU1PruLIWNRlpwq7D2CYe/4l6debm7ZzsdRJ66ELX5JcHMqJ5UqH2G088D6c68QL9JJOGjh4j98cudIXyIqUcsNRqsrYPkBeLsfGi4ewSwa57NDnhuX3MToCuuqNg5XoXu1MmIr9l6bcwLDAD4lXk7pOD/L3Wgjnkb0F4tUqhQXy/OIxIFV/xWYgd9q8P2rNLnpcBAYGluwp7Y9EoJA7fbCMm5sGuBree/71j34nU2TW+GX25wuKaN0ljoMlgJCtcBrQcCo01ybWruggsofPFhCF5+3HpdWGh9X2A8lM7oiGGkyx+AZXCzs5o7E1+O3ymbEMuYwrGC8aaNsaNyvzuae7Atj7/7QHQ1CZhhBRlHogiT51MShWTxvirZyZEte/evPtcoRvYzty/XATC3vslsyxuD80F1rGgiTZBBDrViWqDoTBpw2HKnspp4jtRI+N8pIgpT/kTsrlTyb2/sY9Uv/a78uIX3ALCnqZIGUaw9ive0pTagDM9p6XTlisPUGhe+7yFCiYgXB4hKNrH+8p1XGT3ZY5hgHkqAcRfAtOC/8kVaAckZ+/UHZYC3xPeIZ8TlVv6XXATABXkozAYCJ6uPu6vuQh8OmTDUo8TKTxingpi9Jkopzlx4bHN9yYXbPuuByh9vYwmc9bBoZbAgcA89yD/uRHh+IneNozYzdqowMTS35knkVjHYvhCeMT7OBNHPVRcibNWKLuRZGqaJBoRfiQpe6t5FU95afELcqJXiugZ0dqAmS/ZhXVqqYv8O33Hi7Nvpfr+8DsWwy3nRRkjVJ6u7xTlh13kxH9+jDyvyrExLcPxKQ5D64kh9nkNLFmVA9T4hIGRxAMigUGEEHxUUyvDDgcxcWp81ReQVZ9fKvIcgScFcofJFVQztPcSjPQl3xwNdYtvBaPlKvCcf4mgY9PVRrF79EaN1G/JIJtv7jCOAxAA5qLwkcyTiHNfm/XtHngOyS0EK/4itx7oHPKYRuxucRxTiJAwHWEKmeWuMkKK1H32vS7LoTN5RV+t8R1cvAeVdqyk3CFqK0mooOwTK3xwB4ZnDCk5AzWrohl8VRchtEWOmjmwxU4slC77s14Ff7Lgq79Lc4Pud1S5wRO3qNDGinVTBs1H8SNVNs2MUV5GLY+mJGSj52HaO1H7wDYqB4mZh8KRqBNUWYTPQ1QprgmM83DtXjZQfKAjaufB3n38QDycfgV504G+Dkg5WT8/A4/8zKk05HVKt++vBqTeEAIX33kkuYaGRPlVXTaVjgWAh1I76iqE0YxJE7o+LvT3BERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015WFxutTv2JEjKSqUZddE3Z",
      "input": {
        "note": "The jaws are clamped on the big bear's snout (gripper reads 0.11). Lifting high so the bear hangs clear of the basket rim when I carry it over.",
        "targets": {
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_015WFxutTv2JEjKSqUZddE3Z",
      "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]: [-1.1095, 1.7931, 1.8076, -1.0554, -0.9386, -0.8276, 0.114, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3135 left_y=-0.3026 left_z=0.2827 left_yaw=0.0355 left_pitch=0.0221 left_roll=0.1095 left_gripper=0.114 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -8.5675, 8.5128, 1.0085, -0.7253, 0.2418, 1.033, -0.2256, -1.4564, 7.1316, 1.7314, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6624ddd5057194d81e7201c99db676e98fe9d6af8ff42b60e22ba52f0ac425ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ffbddb686a404525f8c1eaec9d12b87f0d98567c383b4a9ce537d893e2ef919",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e54e50fee8b4b25c7ba1ee7f2677102544e3039c7b1193bc97883ae22b9c06bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 3.358 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1049, 1.9049, 1.0889, -0.2314, -0.9672, -0.7876, 0.9967, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3143 left_y=-0.2934 left_z=0.0767 left_yaw=0.0328 left_pitch=0.0389 left_roll=0.1602 left_gripper=0.9967 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -7.3094, 4.3829, 0.8425, -0.3492, -0.1538, 0.0024, -0.2803, -1.4154, 7.0359, 1.707, -0.0366, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1095, 1.9167, 1.0813, -0.2085, -0.9653, -0.7967, 0.112, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3132 left_y=-0.2957 left_z=0.0716 left_yaw=0.0322 left_pitch=0.0396 left_roll=0.1485 left_gripper=0.112 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.212, -10.2769, 6.1607, 0.7888, -0.4811, 0.0659, 0.9158, -0.3897, -1.4564, 7.0359, 1.6777, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1095, 1.7931, 1.8076, -1.0554, -0.9386, -0.8276, 0.114, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3135 left_y=-0.3026 left_z=0.2827 left_yaw=0.0355 left_pitch=0.0221 left_roll=0.1095 left_gripper=0.114 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -8.5675, 8.5128, 1.0085, -0.7253, 0.2418, 1.033, -0.2256, -1.4564, 7.1316, 1.7314, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6624ddd5057194d81e7201c99db676e98fe9d6af8ff42b60e22ba52f0ac425ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ffbddb686a404525f8c1eaec9d12b87f0d98567c383b4a9ce537d893e2ef919",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e54e50fee8b4b25c7ba1ee7f2677102544e3039c7b1193bc97883ae22b9c06bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PBdEDAnFBGJJGR5HvUne64",
      "input": {
        "note": "The big bear is lifted off the table by its snout. Carrying it forward over the left basket, to the same spot where the brown bear dropped in successfully.",
        "targets": {
          "left_x": 0.53,
          "left_y": -0.21,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01PBdEDAnFBGJJGR5HvUne64",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5537, 2.0418, 2.014, -0.7151, -0.5774, -0.3225, 0.1153, -0.0147, 0.8249, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5179 left_y=-0.2026 left_z=0.253 left_yaw=0.0849 left_pitch=-0.0471 left_roll=0.1269 left_gripper=0.1153 right_x=0.2964 right_y=0.0014 right_z=0.1719 right_yaw=0.0007 right_pitch=-0.0435 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -11.535, 10.0855, 1.9267, -0.1538, 0.4469, 1.0281, -0.294, -1.4564, 7.0359, 1.6874, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d600650e6532575ca85b581cc27ef3459d382daecc2b880e1d50acb339a401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b712e477320803e2555427b69472cee626bdb834d28f0cf9722ee13d4a3bba97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a254d577a8d4fa3c0319dbdb002a8c903f66a21d246d479738e4ca8fcf1384e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 6.236 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1095, 1.9167, 1.0813, -0.2085, -0.9653, -0.7967, 0.112, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3132 left_y=-0.2957 left_z=0.0716 left_yaw=0.0322 left_pitch=0.0396 left_roll=0.1485 left_gripper=0.112 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.212, -10.2769, 6.1607, 0.7888, -0.4811, 0.0659, 0.9158, -0.3897, -1.4564, 7.0359, 1.6777, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1095, 1.7931, 1.8076, -1.0554, -0.9386, -0.8276, 0.114, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3135 left_y=-0.3026 left_z=0.2827 left_yaw=0.0355 left_pitch=0.0221 left_roll=0.1095 left_gripper=0.114 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -8.5675, 8.5128, 1.0085, -0.7253, 0.2418, 1.033, -0.2256, -1.4564, 7.1316, 1.7314, -0.0317, -0.0562, -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 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]: [-0.5537, 2.0418, 2.014, -0.7151, -0.5774, -0.3225, 0.1153, -0.0147, 0.8249, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5179 left_y=-0.2026 left_z=0.253 left_yaw=0.0849 left_pitch=-0.0471 left_roll=0.1269 left_gripper=0.1153 right_x=0.2964 right_y=0.0014 right_z=0.1719 right_yaw=0.0007 right_pitch=-0.0435 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -11.535, 10.0855, 1.9267, -0.1538, 0.4469, 1.0281, -0.294, -1.4564, 7.0359, 1.6874, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d600650e6532575ca85b581cc27ef3459d382daecc2b880e1d50acb339a401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b712e477320803e2555427b69472cee626bdb834d28f0cf9722ee13d4a3bba97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a254d577a8d4fa3c0319dbdb002a8c903f66a21d246d479738e4ca8fcf1384e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowcKEAgSGAI4AUIIdGhpbmtpbmcSDOEL1QnwF90sLoT/4hoMb7PtoT1CFQ28MQYuIjAv2Ju+UlMx4v2vySBX1EN9MMdiB/NpB5PDXwspLpzSjaCwSEt97a3Ugc7OsR1bm2sqwAbW3RvAix+kG4LP7fwOhYPmJ4esAiB/tD5OxQB/6S3x2d0wU1Na79ZttSf/hfe8FI8wmHtQZqtws7uY3vP09keHoGe3FQ9DK+gPhmS9XJUftwUYmxmez+FA2l59efDLyTsfIvsUeO3+xDRJUzjurb+Kb3bQJ1X8CmYVcMFIF9I5uE2N5PxRTQpxUg65fej5KmQjqsxvVewAvPt1R70WTB17+p8eLN/t3t9BVPMeVkO04Go+yWi/vG1cYUFd83SZIvQarY80zMUtjlPtpI85f15qmCun0y6Sh8MveH6e9/UW9yHHrhrrjrYKkVgchekjmgQxdJ6ZWSF+v7g7KR00E9eyvzUqhGXNYXOn2s3iv/3F1XL1/4++g3/7/1uSOes4g5nEKwRLIvcmdRrjgcmLCv2pEuIe/4eywgPCJ+2qcNwuZYd8LyfZhiPPA9eW6pNYn+oKBtXtAGE5/rQ0StdHhbGjEmr/UL3h/aLyDjvxyNfkjJzOLS5FtGOHFtF7YuDx/6ATLNM4nsUI2MC35qJCbHY44PjhuJn9Art+OnACl6yKDdtZd5e2uxZdYDTJfDN6bKzA33QnFUc0QEHHIQmkOfsdX4mjYKokBIIUu/yvErE/8D7T7qXo5q3rMb8QdSwCDVuQobHEMO+2/2BbQ0FBZyaT0CghKQXG0d+aqRh1GFvcGgJ9Bwtve66WEncP37TOoWiQM6rQ0CjUMFsW7IFC8fKwcgrm2WAeRDQXKnbtBoWoPRV18c9FFd6SXWh1QIet/d33Y55qMEiddMrxd4iGdbgtVuJq3cMn5ykRpyZoUqo0mZw8p1PtBIpq33CJFDm5LiXGyBWyZWoupv3kEBXuikPh/r4uGDay+T20x2IafzQAsSqLCu3JkMGvtqhZTQWXtpaZi6oHTiRfH4PYK/XT+Ic8oemARMZhrUMiQwfbE9CN2sn3CfALH0wJ9gv+tLmlYqXUpxYJjE7cSiganm5/oyq/6xXPE6oVoJt44m0mPl+TuQwIhbLCWasyny3+DIUiEgeItbv0eFCAQSZ2LFfky6V2uCZTr1BMHKnoX49dUc/hBR3N82JmRDffi/oPYYuFpvx9AAw/MMjL89ZOBLnkhWnQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013GdqJLW2QkyZhANuoEiX7Q",
      "input": {
        "note": "In the top cam the big bear hangs right over the left basket. Releasing it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013GdqJLW2QkyZhANuoEiX7Q",
      "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]: [-0.5518, 2.0602, 2.0136, -0.7319, -0.5682, -0.3405, 0.9952, -0.0147, 0.8249, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.518 left_y=-0.2031 left_z=0.2399 left_yaw=0.0906 left_pitch=-0.0781 left_roll=0.1285 left_gripper=0.9952 right_x=0.2965 right_y=0.0014 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -13.1897, 6.8855, 1.619, -0.3736, 0.1587, 0.0073, -0.2667, -1.4291, 7.0359, 1.7216, -0.0562, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce418bd7d6ba188a96e195347dcc0938f91a133609bc5484ded7e62e0aac71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78ee9e9a54173e7307a5c245c9a785fdf87fa7015577f2e0c571885e5aeaefa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c614c1108ae28f342096a9b688cb9d42473c8a5d4077c50339ccc06359f5625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.842 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1095, 1.7931, 1.8076, -1.0554, -0.9386, -0.8276, 0.114, -0.0147, 0.8249, 0.6075, -0.3851, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3135 left_y=-0.3026 left_z=0.2827 left_yaw=0.0355 left_pitch=0.0221 left_roll=0.1095 left_gripper=0.114 right_x=0.2965 right_y=0.0013 right_z=0.172 right_yaw=0.0003 right_pitch=-0.0431 right_roll=-0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -8.5675, 8.5128, 1.0085, -0.7253, 0.2418, 1.033, -0.2256, -1.4564, 7.1316, 1.7314, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5537, 2.0418, 2.014, -0.7151, -0.5774, -0.3225, 0.1153, -0.0147, 0.8249, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5179 left_y=-0.2026 left_z=0.253 left_yaw=0.0849 left_pitch=-0.0471 left_roll=0.1269 left_gripper=0.1153 right_x=0.2964 right_y=0.0014 right_z=0.1719 right_yaw=0.0007 right_pitch=-0.0435 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -11.535, 10.0855, 1.9267, -0.1538, 0.4469, 1.0281, -0.294, -1.4564, 7.0359, 1.6874, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5518, 2.0602, 2.0136, -0.7319, -0.5682, -0.3405, 0.9952, -0.0147, 0.8249, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.518 left_y=-0.2031 left_z=0.2399 left_yaw=0.0906 left_pitch=-0.0781 left_roll=0.1285 left_gripper=0.9952 right_x=0.2965 right_y=0.0014 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -13.1897, 6.8855, 1.619, -0.3736, 0.1587, 0.0073, -0.2667, -1.4291, 7.0359, 1.7216, -0.0562, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce418bd7d6ba188a96e195347dcc0938f91a133609bc5484ded7e62e0aac71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78ee9e9a54173e7307a5c245c9a785fdf87fa7015577f2e0c571885e5aeaefa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c614c1108ae28f342096a9b688cb9d42473c8a5d4077c50339ccc06359f5625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAoKEAgSGAI4AUIIdGhpbmtpbmcSDENRnlSX0K6K2fiHdBoMD2KH+OMI5sXL00ErIjDS/Uzoj/bI6+7G3QeJYguZmOf/9YPM6xSr59UTzqTopiRZL11nxgRMRTnA2DN3aOMq5QlRiHV9rOR2MMU/e09vRmXi+ZVPUORKT7urdRbATuWnyHvlC0u+bXWMXjQ18ii4LxkVE5jKIw9h7Gb3hnosXuVt8HxzEIAvkW66EVvy2tJemnjZZ/FhTBMPOWc0Qe/FDHBbIh5ARp7L/LtEJl6vPhZD5r7DGMjsMJuKENdHAVDtytHnld/v6tgwt6Ny1ib5LsY97SEN7n9/kC+3R0JEnHiQBz1QIa7R3MoP+ugHK86YyGfeHkTJyluOQhffPZFu52giUEU9KtOp3U9JQ5oTjyO0YIoyu/q3lH/9sEoSMKOiy7974pT1ukp8YFNJt+ilKrrE51oUhXhs91aJyljaPJcEvFK4dPVjsn5l8RB/6bD68QJejn8z9zTjANiW2GTvOtH90jcgf6I1/30ohpPVrMxaGM9+MOUt0oMBI5x4HSQGGuOFfpaEHpmYlGqGf3hKw6K4Bpy6Y2HRxpsgiarGNwlH79HxKoEg0UGAJbFjx3gVv3J24NcPEBj68IPeeMSj6YdniEFE1EfXyYGXVcJd//X8x6k3QcctUx/oVNU5Jh3NDLnBZQSbtr85cOrWjhr7RQ711YjIvKN+k5cR3VQiqKf3ymEtpGTzkmTB3A7sznnOupFlcLCfld9CCuwDasvfTYNTj5yJIy5gqrLSiCs/kzuxJXYJ4KjrvxD9h4aO3YLHsvG8dGLUi1mMQMFO7uB8oEuN0FT3ZPpgo4MbgW9+Dm8yMo66XDkmKkRv+TgK2KxlDewRsANtDnMp3m0dxjFsOj81435kzA3BX4BiAMBlFLqsPUjMbXGls6l7HHk6sfksdYP10/Z6lmeu96ymwpR7+EUcMkZL0a1fgO9Jmn0JOiTZH/d0+G0X7rvd+qFRX3mRTL8xhE59JvIb2csfCwIWgLbDywKV+XsO0k7CHxpk2SZoMmpvUIFrhThCitR3IdC/2izUmKb5ZSbnsVnbgQw1TBzmK+B4QQs/iBQXbQQ1FuKNmsW9HZcL1tfjfBuV7d8u1kYRlqlwK17Qt2JzbnevyQVg1tnMeZPKngV/fu7X+Mat5ApGMGAWntdXM5d0m0FOFJBhqdITfoxSnX8FSRI2+dw06nTP14qywQBh3jiVasBuW8BeqjwzOTyk1uYMJbzroFJXUw2r1qbeqGYMdlW1UVGpbFBAbSJwYplsMnaZrNM/7JBktO94kRBbBdCWiVJGwrWQLrWIb0isj5fMPwWTiIJO2UyeHD3ffcxMcgATGBLL1C2HP7NjjplFuWe0ChLReffUP+9BR+0FFZEfc6HODPTGsb7TDVrDjAImSqxz+y4YMpfEjvEQppc4oroggIqEHf1MDxJEkg5bCfwgoRcgQaB26ggMvIkiHqeCoCWZi/puKhg+vcNuxvmoniU2rJdZLavlGKZS82DzZ3WDhIlYdBrVp1sRVt5OJRfiAwRFcYLC0F4v+GAU7uPQ1o81iNe//518a6w0JoXXKvQSzNZ6Rc2GiLAtw2Zs/AjqFsSMHUK0q+yxFv69loLUvSZWzoHcQ5ac79VjWMcMX5iEqNEbt6cbSu74GGh5vBdNE671dkp3Ert5mibX8itjkyjjy4wN0qEO8BM5MP4o3B0egx4gwWRaDTP/kpIM3U7OnLwp8vb9MaXkRweo1boi2H2354qRzvPcv9X50ZM/fkFpLmsu5ljATh65ohgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NMyZDK9KztJAopctkKF1XQ",
      "input": {
        "note": "Both bears are now in the left basket. The grey plush is still on the table in front of the basket (left of centre in the top cam), so I'm moving the left arm above it.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.09,
          "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_01NMyZDK9KztJAopctkKF1XQ",
      "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]: [-0.482, 1.388, 0.8639, -0.2836, -0.5217, -0.2974, 0.9967, -0.0147, 0.8307, 0.6075, -0.392, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.369 left_y=-0.0896 left_z=0.1397 left_yaw=0.1039 left_pitch=-0.1245 left_roll=0.1524 left_gripper=0.9967 right_x=0.2958 right_y=0.0014 right_z=0.169 right_yaw=0.0007 right_pitch=-0.0557 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -6.3248, 7.2274, 1.9072, -0.1685, 0.1294, 0.1343, -0.1846, -1.6752, 7.0632, 1.7656, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed3aca34161d57cd17f94578f61f515f6e20e9f9d116b07e6b05875cd9b50db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:450df362bc25ccce03febf2ea5df98c36ad47f575a908f7f65f7e1592d5a92d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3863a15d8815b5cbc6a8155c212e11dc9bcce5d405a3a80a18a6d0522d93513b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.11 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]: [-0.5537, 2.0418, 2.014, -0.7151, -0.5774, -0.3225, 0.1153, -0.0147, 0.8249, 0.6075, -0.3855, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.5179 left_y=-0.2026 left_z=0.253 left_yaw=0.0849 left_pitch=-0.0471 left_roll=0.1269 left_gripper=0.1153 right_x=0.2964 right_y=0.0014 right_z=0.1719 right_yaw=0.0007 right_pitch=-0.0435 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -11.535, 10.0855, 1.9267, -0.1538, 0.4469, 1.0281, -0.294, -1.4564, 7.0359, 1.6874, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5518, 2.0602, 2.0136, -0.7319, -0.5682, -0.3405, 0.9952, -0.0147, 0.8249, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.518 left_y=-0.2031 left_z=0.2399 left_yaw=0.0906 left_pitch=-0.0781 left_roll=0.1285 left_gripper=0.9952 right_x=0.2965 right_y=0.0014 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -13.1897, 6.8855, 1.619, -0.3736, 0.1587, 0.0073, -0.2667, -1.4291, 7.0359, 1.7216, -0.0562, -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 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]: [-0.482, 1.388, 0.8639, -0.2836, -0.5217, -0.2974, 0.9967, -0.0147, 0.8307, 0.6075, -0.392, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.369 left_y=-0.0896 left_z=0.1397 left_yaw=0.1039 left_pitch=-0.1245 left_roll=0.1524 left_gripper=0.9967 right_x=0.2958 right_y=0.0014 right_z=0.169 right_yaw=0.0007 right_pitch=-0.0557 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -6.3248, 7.2274, 1.9072, -0.1685, 0.1294, 0.1343, -0.1846, -1.6752, 7.0632, 1.7656, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed3aca34161d57cd17f94578f61f515f6e20e9f9d116b07e6b05875cd9b50db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:450df362bc25ccce03febf2ea5df98c36ad47f575a908f7f65f7e1592d5a92d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3863a15d8815b5cbc6a8155c212e11dc9bcce5d405a3a80a18a6d0522d93513b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAcKEAgSGAI4AUIIdGhpbmtpbmcSDKwTp5gIgbeUfbCKpBoM7p5ha8OHeoQnKkALIjA+D4xkPcNttTKc76wj8cOKeT5hp9T04Fz3x3Jy62lHYzlJSZzhpyZptO2Up+3Hv+AqqQY5HDdddKDo3mbMyLuimGTbEdZsdBWXM0B4El1XTwRABo3Gi5g4G9esyRUSTyqDi1o5bm/7WfGVXAqUtkES2qBrJpzNCoymkmUceWfP9Gtbr5YAdg+sYpOHBVeEHBtIKozoVM7MQa2T7SLl0xwGCiXueSS5qTr3UC2YI2k/Q+dZAFqTJoONX7tHUTeVx6sLMgvfdp2dnY3Lhl7WkO0jrv94o9vw9SgsvSALnME7zM/EwOTKfDprNftGAApVGBacLkjBuHyDBMifAJl0lZ5FpVZ05tRJBbQcltb+AK+pV1hp1YSi6HAF7hYaxqCnKlizL2iDjAAfDVeOy7lYWO8PMe4/hmapLHAwhpiwP3yfb7c5VvcC0RVF3LXF2wk8382BkIeOZDR31xIJcvDQeLfyUB7segLb4RWKC0bvihsEcJ07b8OUpCPHUpmiQn2fcvmQBduKb6k44PP4p0rnRmsUoEP7P23cU/C2WDevFYmWJHWxaDFB20jngN25oNMhF/85t9k1YzaOEsAI/m7AYFQHUVLd63xvuiW6b4wB7jmvHF6A/lGYggdW/oAL8aLLYGqUr/gLOb1zZ0taL4YoHiSxeUQy6DeOSpXsFZRQnWSCu369vuaLLvfiE+fULG52m3ybTrqYI01HnXzLhYJMQN5JpwNvNM5oEhyc6fPByszf56V7cNEeBnai9htsDsQlQU8XTZhflsDSi/HUKsMvb+J/mkGTdf7pw7uD09htPP0jlw+YtLgMDCDKI6F12KDHgYFC6TeewbKO9m7QVCtj9OTgZbqLBybwdLmrpaKaP6jUMrnvd7YNRqIaG9arm08LG72upqweKBFEHDuFuGeP2Z1LawgXczPBzsL/J0UDOjcuPVbyIV/NsUbzs0IxSuBLJcwA/MsZXKjLgwbiVHpUYMqAumQbgkjFtkwx0Z7Gnxb/tTmrVJAdzAxIMTBX9bqQs8SQ3GvnOTOFVnRf3fHJE7+sK2Bp7bGKvvXAa2K3IO9+pfKVnRqlG3r9K6s20qhZlnfbJ6pT5T4lzNTpGZ0uWLRg8mFanAXBpgBjRmUfeBzN89PN96gyHtGs3gwmHhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ntkLTPT7wFhfFUkNt9uV8",
      "input": {
        "note": "The grey bunny plush is lying right under the jaws in the wrist view. Descending onto it.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013ntkLTPT7wFhfFUkNt9uV8",
      "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]: [-0.4812, 1.6463, 0.6106, 0.2409, -0.5804, -0.2832, 0.9968, -0.0147, 0.8314, 0.6075, -0.3923, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3737 left_y=-0.0818 left_z=0.0398 left_yaw=0.1411 left_pitch=-0.0912 left_roll=0.1911 left_gripper=0.9968 right_x=0.2958 right_y=0.0014 right_z=0.1687 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -4.4923, 3.5487, 0.9939, 0.5934, -0.2369, -0.0024, -0.3214, -1.5111, 7.0085, 1.707, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:418029121b5be5f108ad35fdf322f3fa1ca464c71280673b190cbd6c3292b84d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:175d5d59a889503b746074b072bbcc3ea9095e60d8f08c31491868796ce03276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e574ccb5eed777851cae571437eeb33d3c1402a98fa6dfc0473783d5a8e2311c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.586 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]: [-0.5518, 2.0602, 2.0136, -0.7319, -0.5682, -0.3405, 0.9952, -0.0147, 0.8249, 0.6075, -0.3851, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.518 left_y=-0.2031 left_z=0.2399 left_yaw=0.0906 left_pitch=-0.0781 left_roll=0.1285 left_gripper=0.9952 right_x=0.2965 right_y=0.0014 right_z=0.172 right_yaw=0.0007 right_pitch=-0.0431 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -13.1897, 6.8855, 1.619, -0.3736, 0.1587, 0.0073, -0.2667, -1.4291, 7.0359, 1.7216, -0.0562, -0.0562, -0.0171]\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]: [-0.482, 1.388, 0.8639, -0.2836, -0.5217, -0.2974, 0.9967, -0.0147, 0.8307, 0.6075, -0.392, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.369 left_y=-0.0896 left_z=0.1397 left_yaw=0.1039 left_pitch=-0.1245 left_roll=0.1524 left_gripper=0.9967 right_x=0.2958 right_y=0.0014 right_z=0.169 right_yaw=0.0007 right_pitch=-0.0557 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -6.3248, 7.2274, 1.9072, -0.1685, 0.1294, 0.1343, -0.1846, -1.6752, 7.0632, 1.7656, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4812, 1.6463, 0.6106, 0.2409, -0.5804, -0.2832, 0.9968, -0.0147, 0.8314, 0.6075, -0.3923, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3737 left_y=-0.0818 left_z=0.0398 left_yaw=0.1411 left_pitch=-0.0912 left_roll=0.1911 left_gripper=0.9968 right_x=0.2958 right_y=0.0014 right_z=0.1687 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -4.4923, 3.5487, 0.9939, 0.5934, -0.2369, -0.0024, -0.3214, -1.5111, 7.0085, 1.707, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:418029121b5be5f108ad35fdf322f3fa1ca464c71280673b190cbd6c3292b84d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:175d5d59a889503b746074b072bbcc3ea9095e60d8f08c31491868796ce03276",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e574ccb5eed777851cae571437eeb33d3c1402a98fa6dfc0473783d5a8e2311c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014F8sT9U3xi9U23bvRVDkkG",
      "input": {
        "note": "Resting on the bunny at z≈0.04 with its body filling the space between the jaws. Closing.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014F8sT9U3xi9U23bvRVDkkG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4789, 1.6436, 0.606, 0.2928, -0.6437, -0.2729, 0.1977, -0.0147, 0.8314, 0.6075, -0.392, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3797 left_y=-0.0736 left_z=0.0517 left_yaw=0.1838 left_pitch=-0.0259 left_roll=0.2049 left_gripper=0.1977 right_x=0.2959 right_y=0.0013 right_z=0.1688 right_yaw=0.0003 right_pitch=-0.0565 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -6.4479, 5.7231, 0.9695, 0.315, -0.1343, 0.7741, -0.335, -1.5111, 7.3915, 1.6972, -0.0415, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d129d71923b393cc414040e75f02ea4955f9107902dd1c4fd1807ee6676ed9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:450ec98f00e9946454b5baeb91ff63f736d316f6ea1908246a232fd96557ad8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b6c44f24ac4485e6da940eb734dbed7e3eca632f90ab848255ffe451ef742ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.193 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]: [-0.482, 1.388, 0.8639, -0.2836, -0.5217, -0.2974, 0.9967, -0.0147, 0.8307, 0.6075, -0.392, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.369 left_y=-0.0896 left_z=0.1397 left_yaw=0.1039 left_pitch=-0.1245 left_roll=0.1524 left_gripper=0.9967 right_x=0.2958 right_y=0.0014 right_z=0.169 right_yaw=0.0007 right_pitch=-0.0557 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -6.3248, 7.2274, 1.9072, -0.1685, 0.1294, 0.1343, -0.1846, -1.6752, 7.0632, 1.7656, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4812, 1.6463, 0.6106, 0.2409, -0.5804, -0.2832, 0.9968, -0.0147, 0.8314, 0.6075, -0.3923, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3737 left_y=-0.0818 left_z=0.0398 left_yaw=0.1411 left_pitch=-0.0912 left_roll=0.1911 left_gripper=0.9968 right_x=0.2958 right_y=0.0014 right_z=0.1687 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -4.4923, 3.5487, 0.9939, 0.5934, -0.2369, -0.0024, -0.3214, -1.5111, 7.0085, 1.707, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4789, 1.6436, 0.606, 0.2928, -0.6437, -0.2729, 0.1977, -0.0147, 0.8314, 0.6075, -0.392, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3797 left_y=-0.0736 left_z=0.0517 left_yaw=0.1838 left_pitch=-0.0259 left_roll=0.2049 left_gripper=0.1977 right_x=0.2959 right_y=0.0013 right_z=0.1688 right_yaw=0.0003 right_pitch=-0.0565 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -6.4479, 5.7231, 0.9695, 0.315, -0.1343, 0.7741, -0.335, -1.5111, 7.3915, 1.6972, -0.0415, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d129d71923b393cc414040e75f02ea4955f9107902dd1c4fd1807ee6676ed9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:450ec98f00e9946454b5baeb91ff63f736d316f6ea1908246a232fd96557ad8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b6c44f24ac4485e6da940eb734dbed7e3eca632f90ab848255ffe451ef742ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQgKEAgSGAI4AUIIdGhpbmtpbmcSDOovvjq9ddDymnzTphoMf2i4Gl66Iwld8q2XIjAQ/O1+3CwX5WP6O2FGXEjhhxLrCrQf7+KTcn4DUY0aKmezKK6mR67Afnp/mb95sGcq1gdvnar1rOtsz+nIJGBfjupBQ3xRXcII6F7RztCFfbMUc7YepLEUG8ZTDUTnS9CZO3C4VxzfIijDDn2uFLDTUklBWugGR+iVa1WYfqxe0BIam5VHSf/7ZoHlXYgU295jf/zWKZFI6DkDFIldmwPj9nO0CHb6FWRBcs5x3M6xqnYgGBZa53hPeOAeRU2yjj5wgtx+H9QrnkwWueazsziZv0YrZ9G6GyB1u2H1OJvMv/3LRF2+cS/bkl9v9EexQ7o2V448Tv/LBJAD+PE6FadHIbcKx2PJ+qXt/CLwP8EY9vJGr/OIaZxPb4vMvVtfy2nfL285cPeAWTL9eJJPUKMKzsvariFUgaUBKE3dVQWV+ocJ3hzWiSWae7VwxxUkEKCho1xLf47AL5anAmzagYQv9dvko2+CLArIUKckzkxyoeAwRBmmcWgLqsxEvIozxC7irr2vDlkuMhTYGCLtRPe8xlAA9EMtWG3JqpcGV/N+G4MShlNKuQSzsJnLg52ENgvS/My43hmVq//+DSczFYG3q5baupfUTZM9h6FueGLEvihMcXI4HczRxv7mfjbElHJLR+bumInRVI8Y+3nO/RZtcNm3ideN1Er5hH92YFlIljieh8ct+w7HCRMdVSd/SheTBOEcda4IAeGqIqNl7/R69T69cLk84sMCV8eNDdyb76rFuHjlkmPrMcj/XXeNXwwJqm+wY1thSpg8JyWTLKdhmsoj/GEuFYR6B62JiWQcvBvtcTAgTVTWtJIUDIRRhlVAnIj4XZENXCMkG1uDBYRDgadNit8/HZZL1TznX1pFfIM1vz3A/SiWnGcZ4R+fqbUQT+kB7unJNebWuD1A1C9EQfpA/bcr9fOTpqF6GrWXr0fi3FSgohIkc6pbFreanXxr2IpOiUsflHOMxl7jcHWpxkbLFg2+JwFhDyUyzDDZQH261E8NBlFOIC3XUJsefnP0Poa4QQC6D3Wfx7Q4CI4puRtVSy3K45lu3olE124EmX+TsHRn6d0x62oV+Sk1T1u+9eSXl1svo/BY7+DsjooN8lGPCLP9Uo+Zm6eAE9+O5h4XnxvTaLcfsPlHsYqRuSnRRmJTvpLJ45SqkPvEZweii4rnO+YU/NyCEW3eIQNRGKEBuiQ+VXdOzDhdnFF5zX7PNo9etODunj21VPZ6beKhj0MF9iKAlw6lY7WZ7UawaoKa10xDmQSx6X/exn7ETnq72JECcYa3CfExLMaWswuj7ttLp07rmeAwWTnyaKfvLaOlWIKJV4pyZhRk0JE45IeD85iJqxp1pgIax6/fnuIdOkiKTxdSYBTaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014dBq8rhbBJejk5hiQEJd4C",
      "input": {
        "note": "The gripper settled at 0.20, so the bunny is grasped. Lifting high before carrying it over the basket rim.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_014dBq8rhbBJejk5hiQEJd4C",
      "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, 1.3823, 1.2877, -0.6682, -0.6315, -0.2882, 0.2, -0.0147, 0.8314, 0.6075, -0.3923, -0.0116, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.3816 left_y=-0.0761 left_z=0.2611 left_yaw=0.1842 left_pitch=-0.0435 left_roll=0.1967 left_gripper=0.2 right_x=0.2958 right_y=0.0013 right_z=0.1687 right_yaw=0.0005 right_pitch=-0.0568 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -6.188, 9.1282, 1.58, -0.3883, 0.105, 0.2271, -0.1709, -1.4701, 7.0359, 1.7216, -0.022, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e839fe7c0b438400d4b08ba15521e39bf14badefc32c65bb79eaea7685d607d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35ce4ccb2afc9765b70e0a57cfa1513a729d0b8a0396828584dcc357d1a227e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7d73c62a705c59af426840679d12b1d1cd81e352c5b71c4801096b401eb85f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.256 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]: [-0.4812, 1.6463, 0.6106, 0.2409, -0.5804, -0.2832, 0.9968, -0.0147, 0.8314, 0.6075, -0.3923, -0.012, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3737 left_y=-0.0818 left_z=0.0398 left_yaw=0.1411 left_pitch=-0.0912 left_roll=0.1911 left_gripper=0.9968 right_x=0.2958 right_y=0.0014 right_z=0.1687 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4444, -4.4923, 3.5487, 0.9939, 0.5934, -0.2369, -0.0024, -0.3214, -1.5111, 7.0085, 1.707, -0.0269, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4789, 1.6436, 0.606, 0.2928, -0.6437, -0.2729, 0.1977, -0.0147, 0.8314, 0.6075, -0.392, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3797 left_y=-0.0736 left_z=0.0517 left_yaw=0.1838 left_pitch=-0.0259 left_roll=0.2049 left_gripper=0.1977 right_x=0.2959 right_y=0.0013 right_z=0.1688 right_yaw=0.0003 right_pitch=-0.0565 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -6.4479, 5.7231, 0.9695, 0.315, -0.1343, 0.7741, -0.335, -1.5111, 7.3915, 1.6972, -0.0415, -0.0806, -0.0171]",
      "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]: [-0.4778, 1.3823, 1.2877, -0.6682, -0.6315, -0.2882, 0.2, -0.0147, 0.8314, 0.6075, -0.3923, -0.0116, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.3816 left_y=-0.0761 left_z=0.2611 left_yaw=0.1842 left_pitch=-0.0435 left_roll=0.1967 left_gripper=0.2 right_x=0.2958 right_y=0.0013 right_z=0.1687 right_yaw=0.0005 right_pitch=-0.0568 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -6.188, 9.1282, 1.58, -0.3883, 0.105, 0.2271, -0.1709, -1.4701, 7.0359, 1.7216, -0.022, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e839fe7c0b438400d4b08ba15521e39bf14badefc32c65bb79eaea7685d607d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35ce4ccb2afc9765b70e0a57cfa1513a729d0b8a0396828584dcc357d1a227e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7d73c62a705c59af426840679d12b1d1cd81e352c5b71c4801096b401eb85f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAcKEAgSGAI4AUIIdGhpbmtpbmcSDKPn1kM1jAeCB2XfWhoMMTwIqVI6ee/fMO14IjAgM9Fu/bvZlhCmKdEswV/8ESCcrKpVqymv6mSUZvrtVYFuQetD98rGoKPvQvu/9pQqsQb7l8p6GrdrD98jZGX4BknhiOURjPJXuc8TI3dFjnYrGhD0YJOjPGkQ8ezxlcgjemwWIDmFq+uGByKVe5RuXZGdtMf5cH0fB3UWp+T2FV98oIpWU2n+4AuYESfWp0PxO7SmJiKXenlqw0nt9+41JgsIdSGnjp6NSKwBvbYg+DpkWQUJnE7YKpNdZFU1KE+KGrl1G9KTIM9jCLdIo1JROGsRrPXYI79+ZkSSC7gRfFmktXj05JKEL9aXkoaMtaGc+Dz9kzlVWFHQfr6odrMNLWDXnQ9un5eGZ/48+I6wJeAEySDcDDKs6ZWjBFb28GpQuxc4otfBVZ8ortX/DFMnXjp8NG8+vD3E2/E6KPnSBka5A/mVCb81IHy0IY0v76UP84gmMn6HTZPcvQRHRmaA3o7l5hXJqicmvg8Jnv5p8eePbHoH+Q7DWPqSlRzxGs60CkXveTHP5nWu2rTuYVCMGIy3Hn9fJpmpiR4bS2H+5mOZ+y8nFoTDjzisWrH3EM7b8mvwPojlGAMg0zBnk6ZKogWcLYqwNCDMw3CvKDTi49fHZ1OJRVSmg+ZB21yOoS3e8TUp/epUbt2lJ8o4ge717XBiTP91QNHxhP6mF+KE85ep2cGVOBAvRzuYwDrU6yVBU4ewSg0eTjUW8ygsPwxeTSsSpmOdRomA+q5q8HD7taLm93SJvMCUi6U7HaDN0tM/mkJCXLJaNRmM0I1+tOTFgNQpPUBMYJYxJtIqQt4SGoDFHtE9XuXyPkTV6ePXxtQqGlbM3B9yy/RXzdSWi4imeGW2um171nfQNBLAOaqVVX8R96u2qGEQIoDqMQF3nCOSBMvSCkGXxQMBrCzjR66B9cbLectAT+qKPZmUGg27t60lBZn4U9L2aW3O/dRYvoTMdYkEIYYM0PyWi54iatMT2tZ8V5I0QgdNMtOwN/hUFassBc/Iv8HpvGSy3x7l2ffEpLmrm+42J2r7PjIs2tN107SLUfFotw1w9wSd4lBGUjq2Ojv2OvJcuJ5OGJvy44YBXWdzaAjpizV1VhJnW9JLq18J3SmS8K3UobHXgOmCD6ENzJIJXNGWe1l2kEaZUSFC7zA2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cc432adXpNi4bstaJE2voG",
      "input": {
        "note": "Bunny lifted clear; the left basket holds both bears. Carrying the bunny over the basket.",
        "targets": {
          "left_x": 0.52,
          "left_y": -0.2,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Cc432adXpNi4bstaJE2voG",
      "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]: [-0.5728, 2.1769, 2.3001, -0.9768, -0.6815, -0.4091, 0.2021, -0.0143, 0.8322, 0.6067, -0.3931, -0.0116, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.5181 left_y=-0.1975 left_z=0.2626 left_yaw=0.1922 left_pitch=-0.076 left_roll=0.185 left_gripper=0.2021 right_x=0.2957 right_y=0.0014 right_z=0.168 right_yaw=0.0009 right_pitch=-0.0591 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -13.1214, 8.0068, 1.0818, -0.5495, 0.2515, 0.1929, -0.1436, -1.5658, 7.2274, 1.6581, -0.0366, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30a8bb357ad8567f8a33016b918c36dd2a0f0d91c762866c75c0ca7eb6ca2e61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b82db356eae3c1570fec54660d5f1c1cf3045e471eb8acde0e02b722fb57e49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08edbb761382f8376da8c1144796bc852762de231de0cf7f02e5d60ccddb218b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 6.735 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]: [-0.4789, 1.6436, 0.606, 0.2928, -0.6437, -0.2729, 0.1977, -0.0147, 0.8314, 0.6075, -0.392, -0.0116, -0.0162, 0.9994]\nstate[eef_state]: left_x=0.3797 left_y=-0.0736 left_z=0.0517 left_yaw=0.1838 left_pitch=-0.0259 left_roll=0.2049 left_gripper=0.1977 right_x=0.2959 right_y=0.0013 right_z=0.1688 right_yaw=0.0003 right_pitch=-0.0565 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.4034, -6.4479, 5.7231, 0.9695, 0.315, -0.1343, 0.7741, -0.335, -1.5111, 7.3915, 1.6972, -0.0415, -0.0806, -0.0171]",
      "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]: [-0.4778, 1.3823, 1.2877, -0.6682, -0.6315, -0.2882, 0.2, -0.0147, 0.8314, 0.6075, -0.3923, -0.0116, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.3816 left_y=-0.0761 left_z=0.2611 left_yaw=0.1842 left_pitch=-0.0435 left_roll=0.1967 left_gripper=0.2 right_x=0.2958 right_y=0.0013 right_z=0.1687 right_yaw=0.0005 right_pitch=-0.0568 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -6.188, 9.1282, 1.58, -0.3883, 0.105, 0.2271, -0.1709, -1.4701, 7.0359, 1.7216, -0.022, -0.0757, -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 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]: [-0.5728, 2.1769, 2.3001, -0.9768, -0.6815, -0.4091, 0.2021, -0.0143, 0.8322, 0.6067, -0.3931, -0.0116, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.5181 left_y=-0.1975 left_z=0.2626 left_yaw=0.1922 left_pitch=-0.076 left_roll=0.185 left_gripper=0.2021 right_x=0.2957 right_y=0.0014 right_z=0.168 right_yaw=0.0009 right_pitch=-0.0591 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -13.1214, 8.0068, 1.0818, -0.5495, 0.2515, 0.1929, -0.1436, -1.5658, 7.2274, 1.6581, -0.0366, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30a8bb357ad8567f8a33016b918c36dd2a0f0d91c762866c75c0ca7eb6ca2e61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b82db356eae3c1570fec54660d5f1c1cf3045e471eb8acde0e02b722fb57e49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08edbb761382f8376da8c1144796bc852762de231de0cf7f02e5d60ccddb218b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015x57CRDTntyQwV6PEQac5p",
      "input": {
        "note": "The bunny is over the left basket, right above the bears. Releasing it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015x57CRDTntyQwV6PEQac5p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5732, 2.204, 2.2978, -1.0012, -0.6769, -0.4259, 0.9952, -0.0147, 0.8326, 0.6067, -0.3927, -0.012, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.5178 left_y=-0.1982 left_z=0.244 left_yaw=0.201 left_pitch=-0.1153 left_roll=0.2066 left_gripper=0.9952 right_x=0.2957 right_y=0.0014 right_z=0.168 right_yaw=0.0009 right_pitch=-0.0591 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -14.5573, 6.6256, 1.6142, -0.3492, 0.1343, 0.0659, -0.335, -1.4291, 7.0359, 1.6728, -0.0513, -0.0757, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b5d4bff74b769c4824cf449b6520eb93110b4c130797b3e017df37a9e1e0a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e51bd04ae6b5376f3ca0cce8a1b69c444c4452ac0b492384bbc9c0f53ed4e7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97889d38545deb1ccde723f9328b5a0adb52c6eab8f94f785d2c1e16b495d030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 3.184 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]: [-0.4778, 1.3823, 1.2877, -0.6682, -0.6315, -0.2882, 0.2, -0.0147, 0.8314, 0.6075, -0.3923, -0.0116, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.3816 left_y=-0.0761 left_z=0.2611 left_yaw=0.1842 left_pitch=-0.0435 left_roll=0.1967 left_gripper=0.2 right_x=0.2958 right_y=0.0013 right_z=0.1687 right_yaw=0.0005 right_pitch=-0.0568 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -6.188, 9.1282, 1.58, -0.3883, 0.105, 0.2271, -0.1709, -1.4701, 7.0359, 1.7216, -0.022, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5728, 2.1769, 2.3001, -0.9768, -0.6815, -0.4091, 0.2021, -0.0143, 0.8322, 0.6067, -0.3931, -0.0116, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.5181 left_y=-0.1975 left_z=0.2626 left_yaw=0.1922 left_pitch=-0.076 left_roll=0.185 left_gripper=0.2021 right_x=0.2957 right_y=0.0014 right_z=0.168 right_yaw=0.0009 right_pitch=-0.0591 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -13.1214, 8.0068, 1.0818, -0.5495, 0.2515, 0.1929, -0.1436, -1.5658, 7.2274, 1.6581, -0.0366, -0.0659, -0.0171]",
      "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]: [-0.5732, 2.204, 2.2978, -1.0012, -0.6769, -0.4259, 0.9952, -0.0147, 0.8326, 0.6067, -0.3927, -0.012, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.5178 left_y=-0.1982 left_z=0.244 left_yaw=0.201 left_pitch=-0.1153 left_roll=0.2066 left_gripper=0.9952 right_x=0.2957 right_y=0.0014 right_z=0.168 right_yaw=0.0009 right_pitch=-0.0591 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -14.5573, 6.6256, 1.6142, -0.3492, 0.1343, 0.0659, -0.335, -1.4291, 7.0359, 1.6728, -0.0513, -0.0757, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b5d4bff74b769c4824cf449b6520eb93110b4c130797b3e017df37a9e1e0a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e51bd04ae6b5376f3ca0cce8a1b69c444c4452ac0b492384bbc9c0f53ed4e7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97889d38545deb1ccde723f9328b5a0adb52c6eab8f94f785d2c1e16b495d030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N9VY8dFbdUUz1Lnt9R82yQ",
      "input": {
        "note": "All three plush toys are in the left basket. Now the pens: the right wrist cam shows a white marker lying straight ahead along the jaw column, so I'm moving forward slightly and down to table level to grab it.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.005,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01N9VY8dFbdUUz1Lnt9R82yQ",
      "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]: [-0.5732, 2.204, 2.2978, -1.008, -0.6765, -0.4282, 0.9966, 0.0044, 1.594, 0.1822, 0.8459, -0.017, -0.0002, 0.9993]\nstate[eef_state]: left_x=0.5168 left_y=-0.1977 left_z=0.243 left_yaw=0.2026 left_pitch=-0.1201 left_roll=0.2095 left_gripper=0.9966 right_x=0.3325 right_y=0.008 right_z=0.0114 right_yaw=0.0154 right_pitch=-0.0065 right_roll=0.0158 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -12.4239, 6.2291, 1.326, -0.3443, -0.022, 0.1392, 0.2393, -2.5504, 1.2103, -0.1636, 0.1636, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62f0208c86a340e0502748250e5ac9b9e8093082d2d4ea294ca4cae03c4f3d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4732acd2d073f0e0cbadad54886751763bdcbe792b16838c737e24e237c8d59d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cee5d18fbb8c530f6cc0edbfc45b74c91cd07dfa9aaa1781966e59f13eedc7bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 4.912 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]: [-0.5728, 2.1769, 2.3001, -0.9768, -0.6815, -0.4091, 0.2021, -0.0143, 0.8322, 0.6067, -0.3931, -0.0116, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.5181 left_y=-0.1975 left_z=0.2626 left_yaw=0.1922 left_pitch=-0.076 left_roll=0.185 left_gripper=0.2021 right_x=0.2957 right_y=0.0014 right_z=0.168 right_yaw=0.0009 right_pitch=-0.0591 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.7043, -13.1214, 8.0068, 1.0818, -0.5495, 0.2515, 0.1929, -0.1436, -1.5658, 7.2274, 1.6581, -0.0366, -0.0659, -0.0171]",
      "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]: [-0.5732, 2.204, 2.2978, -1.0012, -0.6769, -0.4259, 0.9952, -0.0147, 0.8326, 0.6067, -0.3927, -0.012, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.5178 left_y=-0.1982 left_z=0.244 left_yaw=0.201 left_pitch=-0.1153 left_roll=0.2066 left_gripper=0.9952 right_x=0.2957 right_y=0.0014 right_z=0.168 right_yaw=0.0009 right_pitch=-0.0591 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -14.5573, 6.6256, 1.6142, -0.3492, 0.1343, 0.0659, -0.335, -1.4291, 7.0359, 1.6728, -0.0513, -0.0757, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.5732, 2.204, 2.2978, -1.008, -0.6765, -0.4282, 0.9966, 0.0044, 1.594, 0.1822, 0.8459, -0.017, -0.0002, 0.9993]\nstate[eef_state]: left_x=0.5168 left_y=-0.1977 left_z=0.243 left_yaw=0.2026 left_pitch=-0.1201 left_roll=0.2095 left_gripper=0.9966 right_x=0.3325 right_y=0.008 right_z=0.0114 right_yaw=0.0154 right_pitch=-0.0065 right_roll=0.0158 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -12.4239, 6.2291, 1.326, -0.3443, -0.022, 0.1392, 0.2393, -2.5504, 1.2103, -0.1636, 0.1636, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62f0208c86a340e0502748250e5ac9b9e8093082d2d4ea294ca4cae03c4f3d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4732acd2d073f0e0cbadad54886751763bdcbe792b16838c737e24e237c8d59d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cee5d18fbb8c530f6cc0edbfc45b74c91cd07dfa9aaa1781966e59f13eedc7bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDBsHDgy2SUBM7GvzexoMd0H5k7JzgBZGCyWNIjCMvUCt5fP0hXMvfWPnJK+2jdiw9YudlTsThb1mMZdN3ckWNgWnuwMMljGA79sSN+8qhQYOOi0D9VmXp//qkbviFLEjcluLsY+H9Yob1Tw+0/XtogQILrFwBCxpSfMMSQj2W/wbEMi8sJd5MAJBU2VrMFz7CIEq/rH05YyGZ7E/LWeNL6/8WfKIeOuTtliTTZiHhp4uYHH++ORk0jH0HQ7e0mbS8spOG7wjqlQd8xOSM1mfHAi8Dx4rWbJCFY6ojtg8BXe06gI8yKg7Oyt0Ql1ghUAnsAmFyu53B6lthlEm1iTsCBiZk/X1lYrgbOanSde3Uu8heXLRQ2OCKbom0ABJvVd7mhpIvSgWfvwSXxt6bNe2yCyK1ju/xlsk/zteO6j25mE+MVq/0Jkm0bl0i8CSU/wJTDfSwQ+2IMeXD14gKTevlngY1i9tc5I99X1LJ9GkcwJMVT2grRF2ZIuuITEPGmZ4mBwaW+7Y3U0xSx6v6EMC0JaqizCFJvsvx3CiyDyJjQ0VRKk9Fblp5TY5OAwP+BvbGsb5UYh3/5kHVj09I7QqMs3z7kiEuOGr6Msu1Td6+0pabO5ZHS0dIixc9gANyd9qX8Geq8Et3XFI/i/c9xxErHCQHlIce5M6ACZrl3iLn3PVEozHcvY3Ol1isrvv5uYhdHJlz/pYHIaPdFi5qhDNlZc933oqkDfPmm3j15dehLVW7z58ZyirDHEXszFwXJ+O/cAKorIgkKxBTL5hE8P910mrcG6Us6je41zYcX3lI+DgU+vH4LTlRHQWYlvGDzaqkoKpKLCcYfsP60GB1ZVjZSools9gsPA0CXsByeRn8BAvctsWQ6N5ZWj7bOeMylSoWavXK04xwZA0Vup0o5e/GFrKYVHJ8acI30hpHNtLdNNouOXsjAZDdD+x+aowHIjkADtjDMy/JjtTWU6hk3fBVkbxI+zpnACGGGmiMzT89uZcwMXEBNg+wBulvN5d8vrBsfVM5SgyAaXaHi36RwMpc79IltN7OvdlSV4gygOnhManQUN+OJ5fTNT61Sf++ZhNGTK3qY2WWigY8PTkmDG927/feL5T3bCNJos6aacm9Iw2SaKelRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BFxpQ7AKLpp8sSGxjqtLFr",
      "input": {
        "note": "The right gripper is at table level with the pen between the jaws. Closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BFxpQ7AKLpp8sSGxjqtLFr",
      "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]: [-0.5728, 2.204, 2.2978, -1.0084, -0.6769, -0.4282, 0.9967, 0.0055, 1.5986, 0.1761, 0.8753, -0.02, -0.0017, 0.1554]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.243 left_yaw=0.2032 left_pitch=-0.1202 left_roll=0.21 left_gripper=0.9967 right_x=0.3336 right_y=0.009 right_z=0.0143 right_yaw=0.02 right_pitch=0.0122 right_roll=0.0158 right_gripper=0.1554\nstate[joint_eff]: [-0.3077, -12.4513, 6.2838, 1.2918, -0.3492, 0.0122, 0.0024, -0.253, -5.0393, 4.1915, 1.4383, -0.0024, -0.0171, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbdd2c1d8b84680d962f5fd7b2ce339390832f5e2725f0931365cb2887839358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:548d97e29fafcbe65565a9afbc4a548af6bdeeb798d70b4577198d2b431adfa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:150868a86e50e41d3a0890b249e63f240ae18bd06b10228f27ab3d4841269b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.45 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]: [-0.5732, 2.204, 2.2978, -1.0012, -0.6769, -0.4259, 0.9952, -0.0147, 0.8326, 0.6067, -0.3927, -0.012, -0.0166, 0.9994]\nstate[eef_state]: left_x=0.5178 left_y=-0.1982 left_z=0.244 left_yaw=0.201 left_pitch=-0.1153 left_roll=0.2066 left_gripper=0.9952 right_x=0.2957 right_y=0.0014 right_z=0.168 right_yaw=0.0009 right_pitch=-0.0591 right_roll=0.0001 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -14.5573, 6.6256, 1.6142, -0.3492, 0.1343, 0.0659, -0.335, -1.4291, 7.0359, 1.6728, -0.0513, -0.0757, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.5732, 2.204, 2.2978, -1.008, -0.6765, -0.4282, 0.9966, 0.0044, 1.594, 0.1822, 0.8459, -0.017, -0.0002, 0.9993]\nstate[eef_state]: left_x=0.5168 left_y=-0.1977 left_z=0.243 left_yaw=0.2026 left_pitch=-0.1201 left_roll=0.2095 left_gripper=0.9966 right_x=0.3325 right_y=0.008 right_z=0.0114 right_yaw=0.0154 right_pitch=-0.0065 right_roll=0.0158 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -12.4239, 6.2291, 1.326, -0.3443, -0.022, 0.1392, 0.2393, -2.5504, 1.2103, -0.1636, 0.1636, -0.0757, -0.0171]",
      "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]: [-0.5728, 2.204, 2.2978, -1.0084, -0.6769, -0.4282, 0.9967, 0.0055, 1.5986, 0.1761, 0.8753, -0.02, -0.0017, 0.1554]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.243 left_yaw=0.2032 left_pitch=-0.1202 left_roll=0.21 left_gripper=0.9967 right_x=0.3336 right_y=0.009 right_z=0.0143 right_yaw=0.02 right_pitch=0.0122 right_roll=0.0158 right_gripper=0.1554\nstate[joint_eff]: [-0.3077, -12.4513, 6.2838, 1.2918, -0.3492, 0.0122, 0.0024, -0.253, -5.0393, 4.1915, 1.4383, -0.0024, -0.0171, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbdd2c1d8b84680d962f5fd7b2ce339390832f5e2725f0931365cb2887839358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:548d97e29fafcbe65565a9afbc4a548af6bdeeb798d70b4577198d2b431adfa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:150868a86e50e41d3a0890b249e63f240ae18bd06b10228f27ab3d4841269b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgkKEAgSGAI4AUIIdGhpbmtpbmcSDH3E4T2R7FE5ZfBCkxoMOUlmjLmW1edP90igIjDIcsyTu9yZnEzhKx1ABlVK/ruV9HrGO+IbtyVU6My/MM4BuDnSnBjLwBnjP7DfsVYqqwgSgYzi772vzQhlNT7ovkfhP2yw05xqREaFwNkR/fv7mo1iUCUJcyCqdmS8mNEWQBSTfj7wsW8ol4UC+IW6pRfPHiUstY/BNKlC/ip/4vTdOnuXEtG7H5KRIJ7F/xeDNY1Mh/maXN10JHNLXyus+4E7bRoFiVF9SRNNqzcEX2McwERdnfbIbpS+HPEKGo6Cewh1lu8zFIHN77dtLYAhi/dvG/Rv12GXocohrEY8zYN1VQC1qs+PQ681c/OXLPMdz64bgtAY3kSDmkKzvi/SloLDJimjGeGNqr+tPUboM1NfO4tv67tTtBv1pOoyWXQueEa/YlMeU3k0TvlgEb3IiOZXbP9PFaJCGiNNRMepmz+EW/CvHlZlOtiwcgsqk4qN6rzJY4HrxRrlMuD7jziz2zPRMmg/g0hOmZtjS4YbgDVfegfiNEkPPjKM1I+Z9ksQ9F2rT9ykS1Id7aJ4W2MxLAEVb4wj5UIF1Sf6q8g1HGX80wFp7Cym1Dnv6dLx0K3XkN/8yJJOOwf1jMJYOsZ7ZRDMdePI89v6u0uNOIQkdHk1d3awRuqwR2yXiE3yFM18O3exLf9Dk+UVVOpC3xvLPzdMcPSTip7ibMZmh9TtkGpv28qxdsnoMhY8xSy31o1wcpAFvXbalISaH4QvDg7HKSdRsJCcA0dZBf62luPZD1cDy5VAIT5DUIRynLVqmvPM7iGB0LiEd7K2irDhTKbCuaRy4RWK4jkhGeSJpxqyXNDzgjaWLaHdJyE19y+Om8Xo7iaSQ+iZI7+wBWu9Fr9I43oOZnmM0wlDIQnL9ccVM2Ah07SXdv5a09/yHhuHQf3E2kGtnKExf+8Akrs81gDh5N7Tw37x+O5gCY6pPeaVVA6KtrJy15J2FduvR4pWlrEPdgE7sSVmMwMeGZChcEQGh5MTL+7vv0h46aYiKJlIf1TEx7w6SohQmoOQlh/poF5kIo4KcRBG3coFqt/Gpa0jOEYzJSgVU8IgZ5ET/j+vuiSFKtJVTH3IKsjdb5ZuefTblQ1b3bUxpZrlUPOP6/TsduAQNYYHCUjpS8X6YryQMAFK0dqV8Qfq+aRsaqXR53chLDP2HI2qPqSOIb/jMzie39y9c5YQIolQn9rCdS4NlRRRomyTMIhejG4FAuBi087OBTPNOHadpt17uAGM9iR9fcilWpymbWV/W9Vz4d8nPwZIppiIZ9IjycqIlorB8IcDy4t6IhKGIPucakbKwK3S5G+yinSUpUPbUAFye1q51rX0DCkXq/Dnkz2ge+5AB/lUc7p630hNalGXCJvhCbLvIzQzaa0bIxVvvOh0/NcO1tkwzSNV0J/rHKdXWUGGIEWFNHlpzbEZAwwr5v8GzGbypVg4CppPD/KOiRphTGH/NJyCa+mJMkZKm8YSkd+52G9zE/QVIZ3a8/Ig8CMgOBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PKeQqeYt6NSm6dYHo1uiv4",
      "input": {
        "note": "The gripper settled at 0.155 (about 1.5 cm), so the pen is held. Lifting straight up to clear the right basket's rim.",
        "targets": {
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01PKeQqeYt6NSm6dYHo1uiv4",
      "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]: [-0.5728, 2.2044, 2.2974, -1.0088, -0.6765, -0.4358, 0.9967, 0.0055, 0.9886, 0.8726, -0.4282, -0.02, -0.0048, 0.1561]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.2426 left_yaw=0.2071 left_pitch=-0.1203 left_roll=0.2046 left_gripper=0.9967 right_x=0.3363 right_y=0.009 right_z=0.2362 right_yaw=0.0216 right_pitch=0.0153 right_roll=0.0132 right_gripper=0.1561\nstate[joint_eff]: [-0.2803, -12.4786, 6.2427, 1.2723, -0.3394, 0.0562, -0.0122, -0.0342, -2.2222, 9.8667, 1.58, -0.0122, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77d1f6643b8827bf8eb716b91605bbd6fd757e1c0e60713266d3d5acefdde53f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d65a22a093c8986548c559c01f256ec1c5bed3a242a32402562018a13e94d248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7884e06c0fb82245e4d9d94991febe8022f11c26e9ea40e04759a2bdd7916c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 4.548 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]: [-0.5732, 2.204, 2.2978, -1.008, -0.6765, -0.4282, 0.9966, 0.0044, 1.594, 0.1822, 0.8459, -0.017, -0.0002, 0.9993]\nstate[eef_state]: left_x=0.5168 left_y=-0.1977 left_z=0.243 left_yaw=0.2026 left_pitch=-0.1201 left_roll=0.2095 left_gripper=0.9966 right_x=0.3325 right_y=0.008 right_z=0.0114 right_yaw=0.0154 right_pitch=-0.0065 right_roll=0.0158 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -12.4239, 6.2291, 1.326, -0.3443, -0.022, 0.1392, 0.2393, -2.5504, 1.2103, -0.1636, 0.1636, -0.0757, -0.0171]",
      "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]: [-0.5728, 2.204, 2.2978, -1.0084, -0.6769, -0.4282, 0.9967, 0.0055, 1.5986, 0.1761, 0.8753, -0.02, -0.0017, 0.1554]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.243 left_yaw=0.2032 left_pitch=-0.1202 left_roll=0.21 left_gripper=0.9967 right_x=0.3336 right_y=0.009 right_z=0.0143 right_yaw=0.02 right_pitch=0.0122 right_roll=0.0158 right_gripper=0.1554\nstate[joint_eff]: [-0.3077, -12.4513, 6.2838, 1.2918, -0.3492, 0.0122, 0.0024, -0.253, -5.0393, 4.1915, 1.4383, -0.0024, -0.0171, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5728, 2.2044, 2.2974, -1.0088, -0.6765, -0.4358, 0.9967, 0.0055, 0.9886, 0.8726, -0.4282, -0.02, -0.0048, 0.1561]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.2426 left_yaw=0.2071 left_pitch=-0.1203 left_roll=0.2046 left_gripper=0.9967 right_x=0.3363 right_y=0.009 right_z=0.2362 right_yaw=0.0216 right_pitch=0.0153 right_roll=0.0132 right_gripper=0.1561\nstate[joint_eff]: [-0.2803, -12.4786, 6.2427, 1.2723, -0.3394, 0.0562, -0.0122, -0.0342, -2.2222, 9.8667, 1.58, -0.0122, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77d1f6643b8827bf8eb716b91605bbd6fd757e1c0e60713266d3d5acefdde53f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d65a22a093c8986548c559c01f256ec1c5bed3a242a32402562018a13e94d248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7884e06c0fb82245e4d9d94991febe8022f11c26e9ea40e04759a2bdd7916c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQgKEAgSGAI4AUIIdGhpbmtpbmcSDC43R5wK7ZO9k4CgDxoMwC2cQT6IWIGZVxneIjDVPZKYkw0uYR6GOgQxbwbEgg+AEnqapcZcRblW+yani+g24G5nx88E/nrvFLIoizUqrgfLF0M5tU2Ej3UDD9sSo69ZIAjjk6ioE00M81VBkisHfxDdzlRn4SY8CxbG+2uzqVJf6put5eyjyQ+9UVnk5ClLHNuwlH5Er+UFMaBY5Td2jDBx8fGmGUXecelpFZhHi6A0fN5LfnyqPsvN65BX5/zoXol+7456X8qhCzLQETsy/JfioGBgRw480V+ekmE8oD1vmiFB+3GaSlrKlIQGcZnI8A0exSTgBWBg9bNIaj+u6wHsEGuxseKdpnqmtki6JlkGrDhTXE/Jm460Jh3Wu8O5V9JRjstVkq6V53Gr4adRD4AYvP3NXhZ/H86PtekVQRzUGV8SG5TLQ5ublxOh2FvzjKPrFUVsfmhiUW7wcy4VvA4+q29byjHw+wejsD8cEsUP28zNwMjsFiZ15ftC8f209jn46zAyBRglZGZH6As8BWf1FrUZPWAM/czht/NkRYBcJtP9rlQhUyXf6lvXjtSf5HUV1GYqPS3qUCn2upPlL2fppWfBQHgBs56MPsIuFUuUyAfhXB8ssBdWspLGKiKdYSS6HUhXZHou09SVxbdkwZYRrwp5Z86ObNF098HQq5OTzG2Cxx+YBytLY8TitexhlHHGZ1tXo31rpUvTuhJl/cpVwfFf1axPAUAhTtEuKN4TCsBCBhUTv7ySEhC5n/6yJTLQajTHqchDim19CyjHMbUSXeloi3dAteGexJ8nMavPw52xXB+hIM3DsQ77SYWtBX7oHuApseDPDvEM3iUXoR1Vt7Tcy+UGxgUSf28fcv7yovW4BZqHoRBnEScOci/rYS1tNyVbd6HBDy+zMD373NI+1uj+TXTDkxuq7v2fxpQqKe/bXRqYyatzziT7fTcbavqf+1+YU4TmSRIfzt6rK40lSlKENf6VeIb07dv62hXZtyrbHaTD0uAuZsCMFo4uOFJIxNt+IF+trDDgJjuGZDOWyFq8psm8i+tGHk9f3K6PuUUzn9icrcm6VVgVLFt0lprH6q6EOclkBiSliPMqTtXYSkuxe6dUtPKigjsoAjy7m3uSAvNnMwVQ5ps86B+XHiAxpryD83EY8dycfTWaJMFXNu2QVxJH20BGdeODs77SsIrjqH36XF/YD8nzu15jKOtBK44fqRktHANzqekn6LF5YMCKKFS5flC7gG1/VlJXqHGZrdmNVqxQdCd7YK/P2ikXHWZed5HkOHg+XSy1JEmrycAq5sEpW6rGl8BlNShW+ZSmZOQNoG1/69987Tqoon6yFckjDd0KuxIaBbYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CZankae9eJHuLQ3fkz4Hmq",
      "input": {
        "note": "The pen is lifted; the right wrist cam shows the right basket ahead and to the left. Carrying the pen over the basket's centre.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.13,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01CZankae9eJHuLQ3fkz4Hmq",
      "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]: [-0.5728, 2.2044, 2.2971, -1.0084, -0.6765, -0.4431, 0.9967, 0.3569, 1.6028, 1.3342, -0.3519, 0.2539, 0.1585, 0.1561]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.2425 left_yaw=0.2109 left_pitch=-0.1196 left_roll=0.1989 left_gripper=0.9967 right_x=0.461 right_y=0.1284 right_z=0.2287 right_yaw=0.0548 right_pitch=-0.0384 right_roll=-0.0091 right_gripper=0.1561\nstate[joint_eff]: [-0.3214, -12.3282, 6.3385, 1.2772, -0.359, 0.022, -0.0122, 0.3077, -8.9641, 9.388, 1.5995, 0.2466, 0.1392, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013dfa7e031cc29d2c0062a85ec8e3a39d3e9ab7522df752805cd58e92486bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f01fdcdf944e9072205931721ef1336a9707ba2959187cc068ba62231313a59e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0defc164b5490ce665c6a8a9894221127f313993f1e79b51daf80793f1246bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 8.99 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]: [-0.5728, 2.204, 2.2978, -1.0084, -0.6769, -0.4282, 0.9967, 0.0055, 1.5986, 0.1761, 0.8753, -0.02, -0.0017, 0.1554]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.243 left_yaw=0.2032 left_pitch=-0.1202 left_roll=0.21 left_gripper=0.9967 right_x=0.3336 right_y=0.009 right_z=0.0143 right_yaw=0.02 right_pitch=0.0122 right_roll=0.0158 right_gripper=0.1554\nstate[joint_eff]: [-0.3077, -12.4513, 6.2838, 1.2918, -0.3492, 0.0122, 0.0024, -0.253, -5.0393, 4.1915, 1.4383, -0.0024, -0.0171, 1.0427]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5728, 2.2044, 2.2974, -1.0088, -0.6765, -0.4358, 0.9967, 0.0055, 0.9886, 0.8726, -0.4282, -0.02, -0.0048, 0.1561]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.2426 left_yaw=0.2071 left_pitch=-0.1203 left_roll=0.2046 left_gripper=0.9967 right_x=0.3363 right_y=0.009 right_z=0.2362 right_yaw=0.0216 right_pitch=0.0153 right_roll=0.0132 right_gripper=0.1561\nstate[joint_eff]: [-0.2803, -12.4786, 6.2427, 1.2723, -0.3394, 0.0562, -0.0122, -0.0342, -2.2222, 9.8667, 1.58, -0.0122, -0.0024, 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 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]: [-0.5728, 2.2044, 2.2971, -1.0084, -0.6765, -0.4431, 0.9967, 0.3569, 1.6028, 1.3342, -0.3519, 0.2539, 0.1585, 0.1561]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.2425 left_yaw=0.2109 left_pitch=-0.1196 left_roll=0.1989 left_gripper=0.9967 right_x=0.461 right_y=0.1284 right_z=0.2287 right_yaw=0.0548 right_pitch=-0.0384 right_roll=-0.0091 right_gripper=0.1561\nstate[joint_eff]: [-0.3214, -12.3282, 6.3385, 1.2772, -0.359, 0.022, -0.0122, 0.3077, -8.9641, 9.388, 1.5995, 0.2466, 0.1392, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013dfa7e031cc29d2c0062a85ec8e3a39d3e9ab7522df752805cd58e92486bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f01fdcdf944e9072205931721ef1336a9707ba2959187cc068ba62231313a59e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0defc164b5490ce665c6a8a9894221127f313993f1e79b51daf80793f1246bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3ggKEAgSGAI4AUIIdGhpbmtpbmcSDLCzNS7+Nrue8dSmPRoM+SIT09+253CWStjzIjBOyWl8qdTCacaqI6l3jw7zbF+MvCtfMmHrKSuUX8VuNXEnTqhEiJ1ptd74Gk+tu+0q+wckETmQUaMw90Ncnt8wGfg+LwPll1ZLgpjJ0FOhomlM3iAx7URKJ78g1c0sW2cgm6yl97MPCzUxR1gk80AlbzNib1NE7FkezJPwrBF6o6xe9qnOEO9HsYsx0AbEPLVM/isht93hWbbhTXZO6lmFdLa9so8ZKNZ79X6xw2B3XmImoWwH0pSYlcPFQnhydG4ah8GilZ7qhpTsQXcf63Yw5MSBMkWT7opphouJ8B5UpfWAHsakKAU+Y03U5RdODrzNwej0QNMUnignQiwvum4WV+HvaOWP9yFAZ4AUabtATf/qOhTqFm2gh/MHeMgcBHphl9b2/MQPgoHAPlNemu8IdNYIOUVqfrj4bVE+6TGhmtoEDRn4d9dPQFacYh1F2+bjJqu0Sr45VLryPuh2r0JdSwAkLTBAyhvuwQ3Q+oX2fSOjmPhiiTuJxEJVCq13SRpVIBtM1Ou9nhEKhfxZQn1suF+CXgs86n+IRG+AC1XJQ/4Qus/fM8Rx1GAG/PGzaMZyh6UlK0dx5pSCUGp0VQg8iYiAl3Fjp3kf1JoULROANleFszsqIzKGu8WDHvHlTHritYjNCrmVFVUZz000KxI38gaL0oyNZ88CZyY5TP3uj5bWAt9inR7BFRwcdEilaaOZMuENKYvDHv9fAr/BkI1zXa73Dg913i6yJ4qtXi0FMe/Tk6DSQ/OVVnms17vO4DAgKshbzN4zOkNCkBOPydaYSBoAIv8mESGq6L/vXMloxEHE3TJm4GYQ398U9aTWFGUwwg/l0iDIYRI6embYji6pAmOv5JJogEhGLqYlxtgSvYNLdVbMG5+eQE6j3dzB60yc5BgnRZUPQ7VwDuz5R2zC5A9On9qlkismiZJjKMPgNFwBOIByWOQ9PfTxGBhFbGh7IYth/14KrmM+L65N3BkPXORcBj5FcQe0I2InoXhektQpiCGM12tWUyWt7LSD3x2gCvuY4b1YnOHqkp1s+NsLLSWSsAVvaLI6sgM7M8BErHBWA26bT0b6qGUrfwB9mwkPxoTwIKkVEX0l9RfZLjESYVq7tvKmJNecx+9/2a2lcPmXRPInhldXs+lxBdMoHUIM6fKcLgOVwpQ/40td9JKU4Yv9cbjlFPqKRRRsM6oIlT6zS3nMnTHerSDAce2pG4EulpN7Zb1a66M320k2lTK4oUwF07/+DoiH3NQ6AIOW7jsmxJKlylo4zdaBNP3XY4g9txw5t0kMOCiFzcYjeQVvmkjcMKrsDbQk9pY6ZFdLbVd1WXw1a+95D3aHks23cCZnybygRzJqqBuGJaFsRAMSW7/5CiH/Bm2fTALyEwntiBLoFD1sCP3MjaqMLEPP1amjHVYkSD/Q5T6paNUmQhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TdjP1udAGijzdfTfSz9oP4",
      "input": {
        "note": "The right gripper is centred over the right basket. Dropping the pen in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01TdjP1udAGijzdfTfSz9oP4",
      "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]: [-0.5728, 2.2044, 2.2967, -1.008, -0.6735, -0.4465, 0.9967, 0.3595, 1.6215, 1.3357, -0.3546, 0.2508, 0.1505, 0.9953]\nstate[eef_state]: left_x=0.5168 left_y=-0.1979 left_z=0.2422 left_yaw=0.2106 left_pitch=-0.1209 left_roll=0.1945 left_gripper=0.9967 right_x=0.4624 right_y=0.1308 right_z=0.2202 right_yaw=0.064 right_pitch=-0.0579 right_roll=-0.0198 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -12.3282, 6.3521, 1.3065, -0.3639, -0.0171, -0.0122, -0.4581, -9.4974, 6.8718, 1.6777, 0.0317, -0.0024, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b5fd2658348147b5b5b54fce7a67e4f033a0f0174919a508ea6ce7e276c15f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d043bdde681f2828a4a030ba7a6337507c099a3fe642dc367c1ed7e1b90c117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09a930fb3b087bb5ab9e47170ac0befea2e6628584c010661013b4f738e867d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 7.872 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]: [-0.5728, 2.2044, 2.2974, -1.0088, -0.6765, -0.4358, 0.9967, 0.0055, 0.9886, 0.8726, -0.4282, -0.02, -0.0048, 0.1561]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.2426 left_yaw=0.2071 left_pitch=-0.1203 left_roll=0.2046 left_gripper=0.9967 right_x=0.3363 right_y=0.009 right_z=0.2362 right_yaw=0.0216 right_pitch=0.0153 right_roll=0.0132 right_gripper=0.1561\nstate[joint_eff]: [-0.2803, -12.4786, 6.2427, 1.2723, -0.3394, 0.0562, -0.0122, -0.0342, -2.2222, 9.8667, 1.58, -0.0122, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5728, 2.2044, 2.2971, -1.0084, -0.6765, -0.4431, 0.9967, 0.3569, 1.6028, 1.3342, -0.3519, 0.2539, 0.1585, 0.1561]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.2425 left_yaw=0.2109 left_pitch=-0.1196 left_roll=0.1989 left_gripper=0.9967 right_x=0.461 right_y=0.1284 right_z=0.2287 right_yaw=0.0548 right_pitch=-0.0384 right_roll=-0.0091 right_gripper=0.1561\nstate[joint_eff]: [-0.3214, -12.3282, 6.3385, 1.2772, -0.359, 0.022, -0.0122, 0.3077, -8.9641, 9.388, 1.5995, 0.2466, 0.1392, 1.0281]",
      "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]: [-0.5728, 2.2044, 2.2967, -1.008, -0.6735, -0.4465, 0.9967, 0.3595, 1.6215, 1.3357, -0.3546, 0.2508, 0.1505, 0.9953]\nstate[eef_state]: left_x=0.5168 left_y=-0.1979 left_z=0.2422 left_yaw=0.2106 left_pitch=-0.1209 left_roll=0.1945 left_gripper=0.9967 right_x=0.4624 right_y=0.1308 right_z=0.2202 right_yaw=0.064 right_pitch=-0.0579 right_roll=-0.0198 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -12.3282, 6.3521, 1.3065, -0.3639, -0.0171, -0.0122, -0.4581, -9.4974, 6.8718, 1.6777, 0.0317, -0.0024, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b5fd2658348147b5b5b54fce7a67e4f033a0f0174919a508ea6ce7e276c15f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d043bdde681f2828a4a030ba7a6337507c099a3fe642dc367c1ed7e1b90c117",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09a930fb3b087bb5ab9e47170ac0befea2e6628584c010661013b4f738e867d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017kF7rmMwLVyeMWPnfwBQVy",
      "input": {
        "note": "The first pen is in the right basket. The second, dark pen lies on the table just left of where the first one was; moving down onto it with the jaws open.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.1,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_017kF7rmMwLVyeMWPnfwBQVy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5728, 2.2044, 2.2959, -1.0084, -0.6735, -0.4541, 0.9967, 0.4839, 1.6371, 0.2714, 0.8246, 0.3401, 0.2344, 0.9959]\nstate[eef_state]: left_x=0.5167 left_y=-0.1978 left_z=0.2418 left_yaw=0.2147 left_pitch=-0.1209 left_roll=0.1893 left_gripper=0.9967 right_x=0.3348 right_y=0.1134 right_z=0.0261 right_yaw=0.0695 right_pitch=0.0519 right_roll=0.039 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -12.4513, 6.3111, 1.2674, -0.2613, 0.0269, -0.0122, 0.253, -2.4137, 0.5949, -0.0806, 0.1587, -0.2369, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd27c4edb55be9b288b6dbcc97de8e67346ed7f74fd421e483e0a0b54727e45c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c082376d3e297a7d73182b76019c8194d44e205becff9f1ee5d4da0e4b4f5a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c146f66169a9ecb9f3394f3281ae1f683769c7f74bc0da1f9802773cdd155fb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 6.987 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]: [-0.5728, 2.2044, 2.2971, -1.0084, -0.6765, -0.4431, 0.9967, 0.3569, 1.6028, 1.3342, -0.3519, 0.2539, 0.1585, 0.1561]\nstate[eef_state]: left_x=0.5168 left_y=-0.1974 left_z=0.2425 left_yaw=0.2109 left_pitch=-0.1196 left_roll=0.1989 left_gripper=0.9967 right_x=0.461 right_y=0.1284 right_z=0.2287 right_yaw=0.0548 right_pitch=-0.0384 right_roll=-0.0091 right_gripper=0.1561\nstate[joint_eff]: [-0.3214, -12.3282, 6.3385, 1.2772, -0.359, 0.022, -0.0122, 0.3077, -8.9641, 9.388, 1.5995, 0.2466, 0.1392, 1.0281]",
      "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]: [-0.5728, 2.2044, 2.2967, -1.008, -0.6735, -0.4465, 0.9967, 0.3595, 1.6215, 1.3357, -0.3546, 0.2508, 0.1505, 0.9953]\nstate[eef_state]: left_x=0.5168 left_y=-0.1979 left_z=0.2422 left_yaw=0.2106 left_pitch=-0.1209 left_roll=0.1945 left_gripper=0.9967 right_x=0.4624 right_y=0.1308 right_z=0.2202 right_yaw=0.064 right_pitch=-0.0579 right_roll=-0.0198 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -12.3282, 6.3521, 1.3065, -0.3639, -0.0171, -0.0122, -0.4581, -9.4974, 6.8718, 1.6777, 0.0317, -0.0024, -0.2076]",
      "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]: [-0.5728, 2.2044, 2.2959, -1.0084, -0.6735, -0.4541, 0.9967, 0.4839, 1.6371, 0.2714, 0.8246, 0.3401, 0.2344, 0.9959]\nstate[eef_state]: left_x=0.5167 left_y=-0.1978 left_z=0.2418 left_yaw=0.2147 left_pitch=-0.1209 left_roll=0.1893 left_gripper=0.9967 right_x=0.3348 right_y=0.1134 right_z=0.0261 right_yaw=0.0695 right_pitch=0.0519 right_roll=0.039 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -12.4513, 6.3111, 1.2674, -0.2613, 0.0269, -0.0122, 0.253, -2.4137, 0.5949, -0.0806, 0.1587, -0.2369, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 374):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd27c4edb55be9b288b6dbcc97de8e67346ed7f74fd421e483e0a0b54727e45c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 374):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c082376d3e297a7d73182b76019c8194d44e205becff9f1ee5d4da0e4b4f5a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 374):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c146f66169a9ecb9f3394f3281ae1f683769c7f74bc0da1f9802773cdd155fb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HxTEZv3KyBVvzzYmHTWX3",
      "input": {
        "note": "Problem: on the way down the right gripper caught the right basket and tipped it up onto its end, and the wrist cam is now looking into it. Backing straight out toward the base to free the gripper.",
        "targets": {
          "right_x": 0.2,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_016HxTEZv3KyBVvzzYmHTWX3",
      "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]: [-0.5728, 2.2051, 2.2955, -1.0084, -0.6735, -0.4652, 0.9967, 0.5442, 1.5097, 0.2073, 0.7746, 0.3748, 0.2554, 0.996]\nstate[eef_state]: left_x=0.5167 left_y=-0.1979 left_z=0.2413 left_yaw=0.2206 left_pitch=-0.1206 left_roll=0.1815 left_gripper=0.9967 right_x=0.3135 right_y=0.1183 right_z=0.0373 right_yaw=0.0894 right_pitch=0.071 right_roll=0.0471 right_gripper=0.996\nstate[joint_eff]: [-0.335, -12.5197, 6.2974, 1.2918, -0.359, 0.0317, -0.0122, 0.0889, -4.4923, 4.0547, 1.5409, 0.2222, 0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62aec67266282cdd62ece283812f47cb2bb216ce2a2c2b0c5dc1f2d928728e2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f8a533d1f95da4d08700f14f82a30bebd9ac4421ef84d86cffdee0edab7d61f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6744eaacb2548eb9a0b4f4eb90808c74141aa51d623cd93dd83f20a10661b63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 5.307 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]: [-0.5728, 2.2044, 2.2967, -1.008, -0.6735, -0.4465, 0.9967, 0.3595, 1.6215, 1.3357, -0.3546, 0.2508, 0.1505, 0.9953]\nstate[eef_state]: left_x=0.5168 left_y=-0.1979 left_z=0.2422 left_yaw=0.2106 left_pitch=-0.1209 left_roll=0.1945 left_gripper=0.9967 right_x=0.4624 right_y=0.1308 right_z=0.2202 right_yaw=0.064 right_pitch=-0.0579 right_roll=-0.0198 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -12.3282, 6.3521, 1.3065, -0.3639, -0.0171, -0.0122, -0.4581, -9.4974, 6.8718, 1.6777, 0.0317, -0.0024, -0.2076]",
      "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]: [-0.5728, 2.2044, 2.2959, -1.0084, -0.6735, -0.4541, 0.9967, 0.4839, 1.6371, 0.2714, 0.8246, 0.3401, 0.2344, 0.9959]\nstate[eef_state]: left_x=0.5167 left_y=-0.1978 left_z=0.2418 left_yaw=0.2147 left_pitch=-0.1209 left_roll=0.1893 left_gripper=0.9967 right_x=0.3348 right_y=0.1134 right_z=0.0261 right_yaw=0.0695 right_pitch=0.0519 right_roll=0.039 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -12.4513, 6.3111, 1.2674, -0.2613, 0.0269, -0.0122, 0.253, -2.4137, 0.5949, -0.0806, 0.1587, -0.2369, 0.0513]",
      "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]: [-0.5728, 2.2051, 2.2955, -1.0084, -0.6735, -0.4652, 0.9967, 0.5442, 1.5097, 0.2073, 0.7746, 0.3748, 0.2554, 0.996]\nstate[eef_state]: left_x=0.5167 left_y=-0.1979 left_z=0.2413 left_yaw=0.2206 left_pitch=-0.1206 left_roll=0.1815 left_gripper=0.9967 right_x=0.3135 right_y=0.1183 right_z=0.0373 right_yaw=0.0894 right_pitch=0.071 right_roll=0.0471 right_gripper=0.996\nstate[joint_eff]: [-0.335, -12.5197, 6.2974, 1.2918, -0.359, 0.0317, -0.0122, 0.0889, -4.4923, 4.0547, 1.5409, 0.2222, 0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62aec67266282cdd62ece283812f47cb2bb216ce2a2c2b0c5dc1f2d928728e2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f8a533d1f95da4d08700f14f82a30bebd9ac4421ef84d86cffdee0edab7d61f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 385):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6744eaacb2548eb9a0b4f4eb90808c74141aa51d623cd93dd83f20a10661b63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016cX2Q8PWACC82wwtjhGrFx",
      "input": {
        "note": "Backing out failed: the gripper is jammed inside the tipped basket and only moved about 2 cm. The basket seems to be tipped toward the robot, so I'm pushing forward to rock it back down flat.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016cX2Q8PWACC82wwtjhGrFx",
      "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]: [-0.5728, 2.207, 2.2913, -1.0122, -0.6735, -0.4725, 0.9967, 0.3561, 1.8515, 0.5461, 0.8055, 0.2253, 0.1677, 0.996]\nstate[eef_state]: left_x=0.5161 left_y=-0.1975 left_z=0.2383 left_yaw=0.2253 left_pitch=-0.1268 left_roll=0.1829 left_gripper=0.9967 right_x=0.4137 right_y=0.1156 right_z=0.029 right_yaw=0.0726 right_pitch=0.0726 right_roll=0.0481 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -12.6427, 6.5709, 1.3944, -0.3248, 0.0513, -0.0122, -0.3487, -7.241, 5.3812, 1.6923, 0.0415, 0.0171, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93b11e8ad0e5b2b9b486ad9905875e851e3f0b5532359b636ecb82666fa0627d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a715ccfab45902c4c0cbb89a053a032e6f601c1e4d3621db5abb56732cc37b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3daab6e34194316ec6eaf29c8aba8b8ca084e8305ecc62f2382c4466e71a6092",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
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call 37 attempt 0 · /messages · status 200 · 12.73 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]: [-0.5728, 2.2044, 2.2959, -1.0084, -0.6735, -0.4541, 0.9967, 0.4839, 1.6371, 0.2714, 0.8246, 0.3401, 0.2344, 0.9959]\nstate[eef_state]: left_x=0.5167 left_y=-0.1978 left_z=0.2418 left_yaw=0.2147 left_pitch=-0.1209 left_roll=0.1893 left_gripper=0.9967 right_x=0.3348 right_y=0.1134 right_z=0.0261 right_yaw=0.0695 right_pitch=0.0519 right_roll=0.039 right_gripper=0.9959\nstate[joint_eff]: [-0.2393, -12.4513, 6.3111, 1.2674, -0.2613, 0.0269, -0.0122, 0.253, -2.4137, 0.5949, -0.0806, 0.1587, -0.2369, 0.0513]",
      "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]: [-0.5728, 2.2051, 2.2955, -1.0084, -0.6735, -0.4652, 0.9967, 0.5442, 1.5097, 0.2073, 0.7746, 0.3748, 0.2554, 0.996]\nstate[eef_state]: left_x=0.5167 left_y=-0.1979 left_z=0.2413 left_yaw=0.2206 left_pitch=-0.1206 left_roll=0.1815 left_gripper=0.9967 right_x=0.3135 right_y=0.1183 right_z=0.0373 right_yaw=0.0894 right_pitch=0.071 right_roll=0.0471 right_gripper=0.996\nstate[joint_eff]: [-0.335, -12.5197, 6.2974, 1.2918, -0.359, 0.0317, -0.0122, 0.0889, -4.4923, 4.0547, 1.5409, 0.2222, 0.0659, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5728, 2.207, 2.2913, -1.0122, -0.6735, -0.4725, 0.9967, 0.3561, 1.8515, 0.5461, 0.8055, 0.2253, 0.1677, 0.996]\nstate[eef_state]: left_x=0.5161 left_y=-0.1975 left_z=0.2383 left_yaw=0.2253 left_pitch=-0.1268 left_roll=0.1829 left_gripper=0.9967 right_x=0.4137 right_y=0.1156 right_z=0.029 right_yaw=0.0726 right_pitch=0.0726 right_roll=0.0481 right_gripper=0.996\nstate[joint_eff]: [-0.0342, -12.6427, 6.5709, 1.3944, -0.3248, 0.0513, -0.0122, -0.3487, -7.241, 5.3812, 1.6923, 0.0415, 0.0171, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93b11e8ad0e5b2b9b486ad9905875e851e3f0b5532359b636ecb82666fa0627d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a715ccfab45902c4c0cbb89a053a032e6f601c1e4d3621db5abb56732cc37b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3daab6e34194316ec6eaf29c8aba8b8ca084e8305ecc62f2382c4466e71a6092",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5goKEAgSGAI4AUIIdGhpbmtpbmcSDOCVlUufuvmpstg6FBoMa5094i2KHhvFYn5uIjA/JKWodpwK2Iibl9nM5+rebsYIXecvIW/DDaB/mLH0BF38JRlMZU8qhejZ2tKPfdUqgwpzSnGwywjCJU9Bh18l9KgXhUJn//5jyCQDVJj5VcEKhMLO44g8+F4ZNglP+dY70esaHjCdmVINMhO4Vcldk/QvrYCE2w/ZxZ47KgL8niAzu1Us68VWP6kFG5v3/T3vAbKLF6Nu/8Xj7hjwJ4a/JUAeDFR8AyQjrkSLqgtl0cpExN4Yfd7iFg5aQAqPV1n32Qks5Hj+e0o58YCZrvp5/Mm9jvtEQXdcMIRr+1S5ytIEpeD7SIPOF75MxnbIZ08ceYSL3YXFZRoep7LfhIqriWYTfvfuP5lFtB065nb0R1YXxnMQhK1TzCz2YiFMXkMe7LbLf6Q43XIVEamTGLh5FuZmYgsdXe8lNmxmnr/em0qV7L7A1UU88BCd5yMRb8p32ItpOb9K8FUvETGgkU25GxWY2PD9/RL9vcYch3PB1T8Cq8VJ8V+mzC1vZIaTneEK4KNBEUIKSElLpLuDaMrmC4amop+PY9RENIfaULcCFYkNoxTnabR+fOsddmu/MUhgG4+VftqMzcpx4YiVPXTRU7R0d5V4Bv/YvhnWe/AL/FX//C1hbjnFwzuI2+qIai7KvFoWJaIVJ43zS/NIlTQ73iKRQ9XS/+IT4O4ZpO2yEVghUfEf4lfWyL9ic4FPWKeLxeGWPFIKdm8OvJ2WoCu1PJYbqY+G3hLjLZvicc7t1nrKnZg+Wcec0ek3HyfH2/AFTMvr8j98MIuVv2/KOPvBjNcRFGta1Dt2a1+x3gd5PdYBSeTOitiCwy7+mtmn/NQ/+WvVNV2GPIWeelL1Q/TggBiCcW8YH/+4TwI+uOfdvv74J7iWvRrlL/FbqeA8tJd5V226WAFa/uNiMAhLgrH4U/CL0fNM338AecTQaYI+Ofw9v6hOPCxqP5Cb3XgdlbMYwTv8QcAbL7C4fxPrNgEzdYecoxvLIOJBCnE9rXXNsjOtQPZ6QNH8WTvGRJbSm6zKU3gNXO+qZSaRrp/m+EJgRr2JTuDCxU2LFLk7it5ECTMMayCR51egGulzAjOInMTu8sESHBh79C4heG0uVpTkCo5uOvrd6o+TB3uEmsxAjApsBAhtgJBFTISXmrjtbp77Bzu6S6KONQE8oxwbOnlMjXuctEl1aqGzPQqO930WmjJ42+h95QcqCnnOobcnVD6qzklqBdXMBH66mbAAUnmpUGwzZ/QoUiRxxhNzpzcLtalMnPmN4IpbcTp/mj6zRTAVIqZn3mN1blrhE66gLovKeZs+lT6WaWUrUfU4dBrbdS5fJcgXP5Ujfma0bokb4Oj06iLfMyi2SM4PMnPRSa/4iHd34E1EHsUGbJ3RqaKkPaf0/hXIAxtUx6PRFIUUsnwSs3ImOxQcQNKl0a6fy3d7nr/7ULRjQo0ORPIsclCsrbqfkhmueCVQ2sdVcFK2sZTQWJxaL9ZJT2c0mJ8pUHAqcEJvjWFobMCYySzEZ9GwSJ7l8zDNxXYEqFgs19fF+ZMoBsHa14mQ2/WUHqwcGQ9QYudPhMvV6FCHPF8emyuT8obB7Lu4pLwsY0o/5+5hEnK8nn7WljbVXCHUKvcHvn3JtnH87VlITjNzp01J/1ae6MEZesET1OmEzZJWjtAe3dgRKcleZRWaZqxOvymxme+le1ZhMeN8+qwp/RAaq+rgR2SjCob8haqYhzp1wTFlOmtuuVzL2SE0OoEdpH6OgQL5+HLunwkVPYWBN1ybFW71k3JVHzVLbRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012hdSXnHXYWuf6UEnSv1fM1",
      "input": {
        "note": "Pushing forward didn't flatten the basket; it's still standing on end with the gripper inside it. Lifting straight up to try to free the gripper.",
        "targets": {
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_012hdSXnHXYWuf6UEnSv1fM1",
      "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]: [-0.5728, 2.207, 2.2913, -1.0088, -0.6735, -0.4801, 0.9967, 0.3531, 1.3777, 1.0458, -0.1833, 0.2081, 0.157, 0.996]\nstate[eef_state]: left_x=0.5166 left_y=-0.1978 left_z=0.2387 left_yaw=0.229 left_pitch=-0.1237 left_roll=0.1745 left_gripper=0.9967 right_x=0.4168 right_y=0.1185 right_z=0.2285 right_yaw=0.09 right_pitch=0.0559 right_roll=0.0426 right_gripper=0.996\nstate[joint_eff]: [-0.1436, -12.3966, 6.2701, 1.2137, -0.3394, 0.0171, -0.0122, -0.0889, -7.7197, 9.7436, 1.7021, 0.1685, 0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff9c638213c6dc7c01257650b54d5e62d2491e2c41f7d619cd586dd8c7b29652",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9c12a44d222b0f37aa1952f03e6df9ba177452534aac0e7a507462cc6faec08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 409):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6bf903a30e236e5998937d64a70519d142668337c60399ac52c631798325242f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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