adhoc

completed
2026-09-22T22:20:50.163157+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
283.7 s
total steps
366
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: two baskets at the back; plush toys (grey koala, brown teddies) on the left and centre, pens/markers (yellow marker, black marker, white pen) scattered. Plan: plush into left basket, pens into right basket. The right arm seems to be right over a pen, so I'm lowering it to table level to grab it.
move_to
right_x0.3100right_z0.0100right_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]: [-0.0193, 0.8013, 0.617, -0.3786, -0.0216, -0.033, 0.9995, -0.0154, 0.7986, 0.6109, -0.374, -0.0124, -0.0261, 0.9995] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.1831 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [-0.3897, -1.8803, 9.2786, 1.746, -0.0269, 0.1636, -0.0708, -0.6906, -1.6479, 9.9077, 1.7021, -0.0904, 0.1343, -0.0659] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_z": 0.01, "right_gripper": 1.0}, "note": "Scene: two baskets at the back; plush toys (grey koala, brown teddies) on the left and centre, pens/markers (yellow marker, black marker, white pen) scattered. Plan: plush into left basket, pens into right basket. The right arm seems to be right over a pen, so I'm lowering it to table level to grab it."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteRight gripper is low; the black marker is just outside the left jaw in the wrist view. Shifting ~5.5 cm left to centre it between the jaws.
move_to
right_y0.0550right_z0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8051, 0.6163, -0.3801, -0.0219, -0.0376, 0.9995, -0.0193, 1.5078, 0.1062, 0.8433, -0.0204, -0.0162, 0.9995] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1825 left_yaw=0.0028 left_pitch=-0.0061 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3133 right_y=0.0012 right_z=0.0136 right_yaw=-0.0023 right_pitch=0.0035 right_roll=0.0126 right_gripper=0.9995 state[joint_eff]: [-0.1983, -1.0462, 7.1453, 1.8339, -0.022, 0.0171, -0.0171, 0.1709, -3.0564, 2.9607, 1.4383, 0.0366, -0.0806, -0.0611] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.055, "right_z": 0.0}, "note": "Right gripper is low; the black marker is just outside the left jaw in the wrist view. Shifting ~5.5 cm left to centre it between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteRight gripper at table level with the marker near/between the jaws; closing to try a grasp.
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]: [-0.0193, 0.8059, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.2955, 1.6543, 0.131, 1.008, 0.2214, 0.1524, 0.9995] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1817 left_yaw=0.003 left_pitch=-0.0084 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3209 right_y=0.0609 right_z=0.014 right_yaw=0.018 right_pitch=0.0598 right_roll=0.0412 right_gripper=0.9995 state[joint_eff]: [-0.1846, -1.3744, 7.4325, 1.707, -0.0415, -0.0562, -0.0171, 0.253, -3.3573, 3.1385, 1.2918, 0.2613, 0.0073, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Right gripper at table level with the marker near/between the jaws; closing to try a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteEmpty close. In the overhead view the white/blue pen lies ~11 cm left of the right gripper, so opening, lifting slightly and shifting left over it.
move_to
right_gripper1.0000right_z0.0500right_y0.1700right_x0.3200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0223, -0.038, 0.9995, 0.2943, 1.6543, 0.1307, 1.0084, 0.2169, 0.1509, 0.013] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0037 left_pitch=-0.0084 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3208 right_y=0.0613 right_z=0.0138 right_yaw=0.0215 right_pitch=0.0592 right_roll=0.0421 right_gripper=0.013 state[joint_eff]: [-0.0889, -1.3197, 7.0632, 1.7167, -0.0317, -0.0611, -0.0122, 0.0342, -4.6701, 3.2205, 1.7314, 0.0855, 0.0024, 1.1306] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.05, "right_y": 0.17, "right_x": 0.32}, "note": "Empty close. In the overhead view the white/blue pen lies ~11 cm left of the right gripper, so opening, lifting slightly and shifting left over it."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteBlue pen and black marker now sit between the right jaws in the wrist view; descending to table level to grab them.
move_to
right_z0.0000right_y0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0223, -0.038, 0.9995, 0.7597, 1.5764, 0.4026, 0.5365, 0.5835, 0.4057, 0.9988] state[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0037 left_pitch=-0.0084 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3158 right_y=0.1707 right_z=0.044 right_yaw=0.0533 right_pitch=0.0418 right_roll=0.0319 right_gripper=0.9988 state[joint_eff]: [-0.1026, -1.3197, 7.2274, 1.7021, -0.0464, -0.0464, -0.0171, 0.1436, -5.5453, 6.3932, 1.5263, 0.3883, 0.1734, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.0, "right_y": 0.18}, "note": "Blue pen and black marker now sit between the right jaws in the wrist view; descending to table level to grab them."})
tool
executing move_to over 3 steps (0.3s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent notePen and marker between the right jaws at table level; 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]: [-0.0189, 0.8108, 0.6151, -0.3813, -0.0223, -0.038, 0.9995, 0.7795, 1.8149, 0.3946, 0.8165, 0.6094, 0.4282, 0.9986] state[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1802 left_yaw=0.0037 left_pitch=-0.0141 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3224 right_y=0.1816 right_z=0.0131 right_yaw=0.0394 right_pitch=0.0764 right_roll=0.0626 right_gripper=0.9986 state[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.7949, -0.0269, -0.0562, -0.0171, 0.5402, -4.6427, 3.5624, 0.9597, 0.105, -0.0611, -0.0269] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pen and marker between the right jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteGripper settled at 0.32 (~3 cm held), so something is grasped. Lifting straight up to clear the basket rim.
move_to
right_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]: [-0.0193, 0.8108, 0.6151, -0.3805, -0.0216, -0.038, 0.9995, 0.7788, 1.8217, 0.3939, 0.8383, 0.6018, 0.424, 0.3198] state[eef_state]: left_x=0.2972 left_y=0.0017 left_z=0.1803 left_yaw=0.0026 left_pitch=-0.0133 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3234 right_y=0.1837 right_z=0.014 right_yaw=0.0461 right_pitch=0.0841 right_roll=0.0716 right_gripper=0.3198 state[joint_eff]: [-0.1299, -1.3197, 7.2547, 1.7167, -0.0317, -0.0464, -0.0171, -0.2393, -7.0632, 3.9179, 1.3895, 0.2369, -0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.32 (~3 cm held), so something is grasped. Lifting straight up to clear the basket rim."})
tool
executing move_to over 12 steps (1.2s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteBlue pen is held (visible between jaws). Right basket is straight ahead; moving forward over its centre.
move_to
right_x0.4400right_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]: [-0.0193, 0.8116, 0.6151, -0.3805, -0.0216, -0.038, 0.9995, 0.7776, 1.2449, 0.794, -0.1875, 0.5911, 0.4232, 0.3198] state[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.1801 left_yaw=0.0026 left_pitch=-0.0141 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3205 right_y=0.1824 right_z=0.1803 right_yaw=0.0559 right_pitch=0.0435 right_roll=0.043 right_gripper=0.3198 state[joint_eff]: [-0.1299, -1.3744, 7.0769, 1.7118, -0.022, -0.0806, -0.0171, -0.2667, -6.065, 9.2239, 1.5897, 0.2515, -0.0366, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.2}, "note": "Blue pen is held (visible between jaws). Right basket is straight ahead; moving forward over its centre."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
Over the basket. Lower a bit and release.
agent noteRight gripper with the pen is over the right basket's interior; lowering slightly and opening to drop it in.
move_to
right_z0.1400right_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]: [-0.0193, 0.8169, 0.6132, -0.3805, -0.0223, -0.038, 0.9994, 0.5278, 1.5993, 1.1168, -0.1383, 0.3794, 0.2611, 0.3199] state[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1778 left_yaw=0.0033 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9994 right_x=0.4311 right_y=0.1797 right_z=0.1793 right_yaw=0.0619 right_pitch=-0.0093 right_roll=0.0173 right_gripper=0.3199 state[joint_eff]: [-0.1846, -1.853, 7.1863, 1.6923, -0.0317, -0.0366, -0.0171, -0.4581, -7.8564, 10.0718, 1.8437, 0.0952, -0.0611, 1.0232] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
Over the basket. Lower a bit and release.
move_to({"targets": {"right_z": 0.14, "right_gripper": 1.0}, "note": "Right gripper with the pen is over the right basket's interior; lowering slightly and opening to drop it in."})
tool
executing move_to over 7 steps (0.7s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent notePen and black marker are both in the right basket (pens basket). Parking the right arm, and moving the left arm toward the yellow marker that lies just ahead of its jaws.
move_to
right_x0.3000right_y0.0000right_z0.1800left_x0.3200left_z0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0193, 0.8173, 0.6132, -0.3805, -0.0219, -0.038, 0.9995, 0.5285, 1.6375, 1.0145, -0.0059, 0.3794, 0.2543, 0.9969] state[eef_state]: left_x=0.2974 left_y=0.0017 left_z=0.1777 left_yaw=0.003 left_pitch=-0.0217 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4293 right_y=0.1791 right_z=0.1436 right_yaw=0.0663 right_pitch=-0.0164 right_roll=0.0079 right_gripper=0.9969 state[joint_eff]: [-0.1573, -1.4017, 7.0632, 1.7216, -0.0366, -0.0366, -0.0171, -0.294, -7.0085, 6.4205, 1.8193, 0.0952, 0.0415, -0.1099] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "left_x": 0.32, "left_z": 0.05}, "note": "Pen and black marker are both in the right basket (pens basket). Parking the right arm, and moving the left arm toward the yellow marker that lies just ahead of its jaws."})
tool
executing move_to over 15 steps (1.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteYellow marker sits just right of the left jaws' centre; nudging right 1 cm and descending to table level.
move_to
left_z0.0000left_y-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]: [-0.0181, 1.224, 0.2451, 0.4236, -0.0265, -0.0341, 0.9995, -0.0933, 0.8364, 0.6216, -0.3599, -0.1066, -0.0834, 0.9974] state[eef_state]: left_x=0.3266 left_y=0.0024 left_z=0.0606 left_yaw=0.0059 left_pitch=0.0077 left_roll=0.0015 left_gripper=0.9995 right_x=0.3024 right_y=-0.0058 right_z=0.181 right_yaw=0.0323 right_pitch=-0.0093 right_roll=0.0032 right_gripper=0.9974 state[joint_eff]: [0.0342, -2.5504, 4.1504, 1.6679, 0.0171, -0.0659, -0.0171, -0.1299, -1.853, 7.1863, 1.5507, -0.105, -0.1099, 0.0415] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0, "left_y": -0.01}, "note": "Yellow marker sits just right of the left jaws' centre; nudging right 1 cm and descending to table level."})
tool
executing move_to over 4 steps (0.4s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteLeft arm stalled at z 0.05 with an odd pitch; the marker is now hidden under the jaws. Re-commanding the descent with pitch held at 0.
move_to
left_z0.0000left_x0.3300left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0887, 1.6619, 0.1669, 1.1419, -0.1307, -0.0193, 0.9995, -0.0929, 0.8417, 0.6193, -0.3687, -0.1139, -0.0971, 0.9975] state[eef_state]: left_x=0.3537 left_y=-0.0047 left_z=0.0506 left_yaw=0.0178 left_pitch=0.2119 left_roll=0.0476 left_gripper=0.9995 right_x=0.3013 right_y=-0.0043 right_z=0.1767 right_yaw=0.0462 right_pitch=-0.0251 right_roll=-0.0022 right_gripper=0.9975 state[joint_eff]: [-0.1709, -2.2222, 1.4427, 0.4322, 0.4176, -0.5104, -0.0171, -0.0752, -1.4017, 7.2547, 1.7705, -0.0415, 0.0562, -0.0024] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0, "left_x": 0.33, "left_pitch": 0.0}, "note": "Left arm stalled at z 0.05 with an odd pitch; the marker is now hidden under the jaws. Re-commanding the descent with pitch held at 0."})
tool
executing move_to over 8 steps (0.8s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteDescent keeps stopping at z≈0.06, suggesting the yellow marker is standing upright between the jaws and touching the palm. 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]: [-0.0887, 1.6421, 0.1802, 1.1393, -0.1352, -0.0074, 0.9995, -0.0929, 0.8433, 0.6193, -0.3695, -0.1146, -0.0978, 0.9975] state[eef_state]: left_x=0.3588 left_y=-0.0044 left_z=0.0608 left_yaw=0.0161 left_pitch=0.242 left_roll=0.0573 left_gripper=0.9995 right_x=0.3013 right_y=-0.0042 right_z=0.1761 right_yaw=0.0473 right_pitch=-0.0273 right_roll=-0.0021 right_gripper=0.9975 state[joint_eff]: [-0.253, -3.1248, 2.0581, 1.2234, -0.0073, -0.1978, -0.0122, -0.1026, -1.7162, 7.1726, 1.7509, -0.1099, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descent keeps stopping at z\u22480.06, suggesting the yellow marker is standing upright between the jaws and touching the palm. Closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteEmpty close; the left arm seems to be resting on the grey koala plush. Opening and lifting/backing off to re-locate the yellow marker in the wrist view.
move_to
left_gripper1.0000left_z0.1500left_x0.2800left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0906, 1.6436, 0.1802, 1.1507, -0.1349, -0.0071, 0.01, -0.0929, 0.8433, 0.6193, -0.3695, -0.1146, -0.0978, 0.9975] state[eef_state]: left_x=0.3596 left_y=-0.0052 left_z=0.063 left_yaw=0.0139 left_pitch=0.2519 left_roll=0.0564 left_gripper=0.01 right_x=0.3013 right_y=-0.0042 right_z=0.1761 right_yaw=0.0473 right_pitch=-0.0273 right_roll=-0.0021 right_gripper=0.9975 state[joint_eff]: [0.212, -5.1077, 3.6855, 1.8291, -0.0366, -0.0317, 0.7643, -0.1026, -1.5932, 7.3094, 1.6923, -0.1148, -0.0562, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.15, "left_x": 0.28, "left_pitch": 0.0}, "note": "Empty close; the left arm seems to be resting on the grey koala plush. Opening and lifting/backing off to re-locate the yellow marker in the wrist view."})
tool
executing move_to over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe grey koala plush is just left of the left jaws and was blocking the descent onto the yellow marker. Grabbing the koala first: shifting left over it.
move_to
left_y0.0400left_x0.3100left_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]: [-0.1276, 0.7284, 0.4175, -0.181, -0.1555, -0.0525, 0.9953, -0.0929, 0.8471, 0.6174, -0.3702, -0.115, -0.0978, 0.9975] state[eef_state]: left_x=0.292 left_y=-0.0063 left_z=0.1546 left_yaw=0.0155 left_pitch=0.0764 left_roll=0.0446 left_gripper=0.9953 right_x=0.3012 right_y=-0.0041 right_z=0.174 right_yaw=0.0476 right_pitch=-0.0337 right_roll=-0.001 right_gripper=0.9975 state[joint_eff]: [-0.4171, -1.0735, 9.347, 1.6777, -0.0806, 0.1197, -0.0611, -0.1436, -1.4974, 7.2274, 1.6923, -0.105, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.04, "left_x": 0.31, "left_z": 0.12}, "note": "The grey koala plush is just left of the left jaws and was blocking the descent onto the yellow marker. Grabbing the koala first: shifting left over it."})
tool
executing move_to over 5 steps (0.5s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteKoala plush is centred under the left jaws; descending onto it.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [0.1654, 0.8993, 0.3351, -0.0006, 0.0513, 0.0536, 0.9966, -0.0929, 0.849, 0.6174, -0.374, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.3 left_y=0.0445 left_z=0.1066 left_yaw=0.0768 left_pitch=-0.0018 left_roll=0.0342 left_gripper=0.9966 right_x=0.3007 right_y=-0.0038 right_z=0.1727 right_yaw=0.0489 right_pitch=-0.0392 right_roll=0.0007 right_gripper=0.9975 state[joint_eff]: [-0.1436, -2.1538, 6.4615, 2.0342, 0.1734, 0.149, 0.1294, -0.0752, -1.7299, 7.2137, 1.707, -0.0659, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "Koala plush is centred under the left jaws; descending onto it."})
tool
executing move_to over 5 steps (0.5s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteJaws are straddling the koala plush at z≈0.04; 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]: [0.1669, 1.2255, 0.1455, 0.514, 0.0296, 0.0692, 0.9967, -0.0929, 0.8539, 0.6136, -0.3759, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.3034 left_y=0.0495 left_z=0.0405 left_yaw=0.0884 left_pitch=-0.0044 left_roll=0.0589 left_gripper=0.9967 right_x=0.3002 right_y=-0.0037 right_z=0.1692 right_yaw=0.049 right_pitch=-0.0498 right_roll=0.0022 right_gripper=0.9975 state[joint_eff]: [-0.1573, -1.7299, 3.0154, 0.8425, 0.359, -0.1929, 0.0024, 0.0615, -1.8393, 7.3094, 1.7998, -0.0611, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are straddling the koala plush at z\u22480.04; closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteKoala grasped (gripper settled at 0.47). Lifting it clear before carrying to the left basket (plush basket).
move_to
left_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]: [0.1669, 1.2301, 0.1299, 0.5461, 0.0257, 0.0677, 0.4719, -0.0929, 0.8574, 0.6136, -0.3779, -0.1169, -0.0978, 0.9975] state[eef_state]: left_x=0.3022 left_y=0.0499 left_z=0.04 left_yaw=0.0925 left_pitch=0.0073 left_roll=0.0606 left_gripper=0.4719 right_x=0.3001 right_y=-0.0037 right_z=0.1679 right_yaw=0.0494 right_pitch=-0.0551 right_roll=0.0032 right_gripper=0.9975 state[joint_eff]: [-0.1983, -2.8239, 6.4615, 1.4042, -0.0024, -0.0317, 0.7253, -0.1436, -1.935, 7.0359, 1.7558, -0.0952, -0.0611, -0.0122] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Koala grasped (gripper settled at 0.47). Lifting it clear before carrying to the left basket (plush basket)."})
tool
executing move_to over 12 steps (1.2s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteKoala is lifted (visible at top-left of overhead view). Carrying it right and slightly forward over the left basket.
move_to
left_x0.3800left_y-0.1000left_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]: [0.1669, 0.8619, 0.7139, -0.4267, 0.0254, 0.0601, 0.4735, -0.0929, 0.8623, 0.6132, -0.384, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.3024 left_y=0.05 left_z=0.2017 left_yaw=0.0968 left_pitch=-0.013 left_roll=0.0528 left_gripper=0.4735 right_x=0.2995 right_y=-0.0037 right_z=0.1651 right_yaw=0.0491 right_pitch=-0.0664 right_roll=0.0046 right_gripper=0.9975 state[joint_eff]: [-0.0889, -1.7573, 9.4974, 1.8974, 0.0024, 0.0757, 0.1636, -0.1026, -2.0444, 7.2274, 1.8046, -0.0659, -0.0659, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.1, "left_z": 0.22}, "note": "Koala is lifted (visible at top-left of overhead view). Carrying it right and slightly forward over the left basket."})
tool
executing move_to over 14 steps (1.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteKoala is hanging over the left basket; opening to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4793, 1.3178, 1.0039, -0.4274, -0.4725, -0.3141, 0.4764, -0.0929, 0.8639, 0.6132, -0.3855, -0.1169, -0.0978, 0.9975] state[eef_state]: left_x=0.3699 left_y=-0.0976 left_z=0.1956 left_yaw=0.0669 left_pitch=-0.0851 left_roll=0.0797 left_gripper=0.4764 right_x=0.2993 right_y=-0.0036 right_z=0.1644 right_yaw=0.0495 right_pitch=-0.0694 right_roll=0.0053 right_gripper=0.9975 state[joint_eff]: [-0.253, -5.7504, 9.4427, 1.746, -0.4029, 0.0317, 0.3004, -0.0068, -1.7709, 7.0085, 1.6777, -0.0904, -0.022, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Koala is hanging over the left basket; opening to drop it in."})
tool
executing move_to over 6 steps (0.6s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteKoala dropped into the left basket. Next plush: the small brown teddy in front of the basket; moving the left arm above it.
move_to
left_x0.2700left_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]: [-0.4808, 1.3323, 1.0039, -0.432, -0.4717, -0.3229, 0.9954, -0.0929, 0.8642, 0.6132, -0.3847, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.3702 left_y=-0.0985 left_z=0.1897 left_yaw=0.0704 left_pitch=-0.1012 left_roll=0.0822 left_gripper=0.9954 right_x=0.2995 right_y=-0.0037 right_z=0.1644 right_yaw=0.0492 right_pitch=-0.0691 right_roll=0.005 right_gripper=0.9975 state[joint_eff]: [0.0752, -6.5436, 6.8308, 1.5702, -0.2515, 0.0415, -0.2418, -0.1709, -1.4564, 6.9949, 1.663, -0.0708, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.09, "left_z": 0.15}, "note": "Koala dropped into the left basket. Next plush: the small brown teddy in front of the basket; moving the left arm above it."})
tool
executing move_to over 8 steps (0.8s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe koala is snagged on the open left jaws and came along. Going back over the left basket to lower it in and shake it off.
move_to
left_x0.4000left_y-0.1000left_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]: [-0.6952, 1.0061, 0.6762, -0.5102, -0.5896, -0.4797, 0.9966, -0.0929, 0.87, 0.6132, -0.3847, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.2762 left_y=-0.0978 left_z=0.151 left_yaw=0.0342 left_pitch=-0.1072 left_roll=0.0744 left_gripper=0.9966 right_x=0.2998 right_y=-0.0037 right_z=0.1628 right_yaw=0.0492 right_pitch=-0.0747 right_roll=0.0058 right_gripper=0.9975 state[joint_eff]: [-0.1299, -2.4274, 7.159, 1.4237, -0.4322, -0.0171, 0.1148, -0.3487, -1.7162, 7.2547, 1.7558, -0.0904, -0.022, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.2}, "note": "The koala is snagged on the open left jaws and came along. Going back over the left basket to lower it in and shake it off."})
tool
executing move_to over 10 steps (1.0s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteKoala still wedged between the open jaws; the basket interior is straight ahead in the wrist view. Pushing forward and down into the basket so the plush rests inside.
move_to
left_x0.4700left_y-0.1000left_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]: [-0.4252, 1.4086, 1.0737, -0.4335, -0.4126, -0.289, 0.9967, -0.0929, 0.8753, 0.6132, -0.3862, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.3908 left_y=-0.0953 left_z=0.1876 left_yaw=0.0616 left_pitch=-0.1301 left_roll=0.0771 left_gripper=0.9967 right_x=0.2998 right_y=-0.0037 right_z=0.1611 right_yaw=0.0493 right_pitch=-0.0815 right_roll=0.0068 right_gripper=0.9975 state[joint_eff]: [0.294, -5.9009, 8.6222, 1.4921, -0.1197, 0.0904, 0.0024, -0.212, -2.0991, 7.0359, 1.663, -0.0757, -0.0366, -0.0122] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.1, "left_z": 0.12}, "note": "Koala still wedged between the open jaws; the basket interior is straight ahead in the wrist view. Pushing forward and down into the basket so the plush rests inside."})
tool
executing move_to over 7 steps (0.7s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteKoala is still hooked on the jaws and dangling at the basket's front rim. Tipping the tool forward and lowering further so the plush slides off into the basket.
move_to
left_z0.0800left_pitch0.4500left_x0.5000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3466, 1.7229, 1.1175, -0.168, -0.3843, -0.2497, 0.9967, -0.0929, 0.8772, 0.6132, -0.3859, -0.1169, -0.0978, 0.9975] state[eef_state]: left_x=0.4592 left_y=-0.0916 left_z=0.1196 left_yaw=0.0967 left_pitch=-0.1453 left_roll=0.0919 left_gripper=0.9967 right_x=0.2999 right_y=-0.0036 right_z=0.1606 right_yaw=0.0496 right_pitch=-0.083 right_roll=0.0072 right_gripper=0.9975 state[joint_eff]: [-0.0752, -8.0342, 8.1846, 1.3504, 0.0464, 0.0659, -0.0073, -0.294, -1.9077, 6.9949, 1.6435, -0.105, -0.0562, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08, "left_pitch": 0.45, "left_x": 0.5}, "note": "Koala is still hooked on the jaws and dangling at the basket's front rim. Tipping the tool forward and lowering further so the plush slides off into the basket."})
tool
executing move_to over 20 steps (2.0s)
step 223
assistant
agent noteJaws are now clear of the koala, which appears to be in the left basket. Retracting the left arm upward to go for the small teddy.
move_to
left_z0.2000left_pitch0.0000left_x0.3500left_y-0.1000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3653, 2.0571, 0.8394, 1.3045, -0.5014, -0.0021, 0.9968, -0.0929, 0.8772, 0.6132, -0.3855, -0.1169, -0.0978, 0.9975] state[eef_state]: left_x=0.5069 left_y=-0.0991 left_z=0.1561 left_yaw=0.1463 left_pitch=0.6388 left_roll=-0.0258 left_gripper=0.9968 right_x=0.3 right_y=-0.0036 right_z=0.1607 right_yaw=0.0496 right_pitch=-0.0826 right_roll=0.0072 right_gripper=0.9975 state[joint_eff]: [0.4718, -3.412, 2.2906, -0.1099, -0.0122, -0.2369, -0.0073, -0.0615, -1.7162, 7.2547, 1.6532, -0.0952, -0.0562, -0.0122] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_pitch": 0.0, "left_x": 0.35, "left_y": -0.1}, "note": "Jaws are now clear of the koala, which appears to be in the left basket. Retracting the left arm upward to go for the small teddy."})
tool
executing move_to over 22 steps (2.2s)
step 245
assistant
agent noteThe koala is still wedged between the jaws. Lowering it deep into the left basket so it rests on the basket floor before I try to slide the jaws out.
move_to
left_x0.4600left_y-0.1000left_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]: [-0.5472, 1.2533, 0.8467, -0.2249, -0.5724, -0.4389, 0.9969, -0.0929, 0.8814, 0.6132, -0.392, -0.1169, -0.0982, 0.9975] state[eef_state]: left_x=0.3615 left_y=-0.104 left_z=0.1921 left_yaw=0.1428 left_pitch=0.0432 left_roll=-0.0365 left_gripper=0.9969 right_x=0.2992 right_y=-0.0036 right_z=0.1582 right_yaw=0.05 right_pitch=-0.0932 right_roll=0.0084 right_gripper=0.9975 state[joint_eff]: [-0.3897, -6.7487, 10.2359, 1.7216, -0.1148, 0.022, -0.0073, -0.0479, -1.8667, 7.0906, 1.7558, -0.0952, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.1, "left_z": 0.06}, "note": "The koala is still wedged between the jaws. Lowering it deep into the left basket so it rests on the basket floor before I try to slide the jaws out."})
tool
executing move_to over 9 steps (0.9s)
step 254
assistant
agent noteKoala is now sitting inside the left basket against the wrist camera. Lifting straight up so the jaws slide out and the plush stays in the basket.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3901, 1.8057, 0.8188, 0.4507, -0.4671, -0.3656, 0.9969, -0.0929, 0.8864, 0.6128, -0.3935, -0.1169, -0.0978, 0.9975] state[eef_state]: left_x=0.4594 left_y=-0.099 left_z=0.0812 left_yaw=0.1796 left_pitch=0.0879 left_roll=-0.0752 left_gripper=0.9969 right_x=0.2992 right_y=-0.0036 right_z=0.1564 right_yaw=0.0499 right_pitch=-0.1 right_roll=0.0097 right_gripper=0.9975 state[joint_eff]: [0.4308, -6.7761, 5.6, 0.7643, 0.0415, 0.3492, -0.0122, 0.0068, -2.2222, 7.0496, 1.6679, -0.0952, -0.0415, -0.0122] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Koala is now sitting inside the left basket against the wrist camera. Lifting straight up so the jaws slide out and the plush stays in the basket."})
tool
executing move_to over 11 steps (1.1s)
step 265
assistant
agent noteKoala slid out and is sitting on the table just in front of the basket, directly under the left jaws. Descending to re-grasp it.
move_to
left_z0.0400left_x0.4400
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]: [-0.3912, 1.5856, 1.2278, -0.1898, -0.4702, -0.3717, 0.9969, -0.0929, 0.8883, 0.6128, -0.3923, -0.1169, -0.0982, 0.9975] state[eef_state]: left_x=0.4653 left_y=-0.1015 left_z=0.2281 left_yaw=0.1837 left_pitch=0.0789 left_roll=-0.0731 left_gripper=0.9969 right_x=0.2994 right_y=-0.0036 right_z=0.1561 right_yaw=0.0501 right_pitch=-0.1007 right_roll=0.0095 right_gripper=0.9975 state[joint_eff]: [-0.1436, -10.6051, 8.8684, 1.6825, -0.1099, 0.0513, -0.0171, -0.1026, -1.9761, 7.1863, 1.6142, -0.1148, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_x": 0.44}, "note": "Koala slid out and is sitting on the table just in front of the basket, directly under the left jaws. Descending to re-grasp it."})
tool
executing move_to over 13 steps (1.3s)
step 278
assistant
agent noteJaws are pressed onto the koala, which is draped on the basket's front rim. Closing to grab it and carry it deeper into the basket.
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]: [-0.4217, 1.8408, 0.7391, 0.6262, -0.5011, -0.4015, 0.9968, -0.0929, 0.8902, 0.6132, -0.3931, -0.1169, -0.0978, 0.9975] state[eef_state]: left_x=0.4513 left_y=-0.1055 left_z=0.0722 left_yaw=0.1993 left_pitch=0.1455 left_roll=-0.1283 left_gripper=0.9968 right_x=0.2994 right_y=-0.0036 right_z=0.1556 right_yaw=0.0499 right_pitch=-0.103 right_roll=0.0101 right_gripper=0.9975 state[joint_eff]: [-0.253, -5.5043, 3.4803, 0.7595, -0.1245, 0.0659, -0.0171, 0.0889, -1.9761, 6.9812, 1.6386, -0.1148, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are pressed onto the koala, which is draped on the basket's front rim. Closing to grab it and carry it deeper into the basket."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteClose came up empty (0.01); the koala is lying on the table just in front of the basket. Opening and backing up a few cm to get over its body.
move_to
left_gripper1.0000left_z0.1200left_x0.4100
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]: [-0.4232, 1.8435, 0.7292, 0.6388, -0.4976, -0.4084, 0.0099, -0.0929, 0.8906, 0.6132, -0.3923, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.4495 left_y=-0.1061 left_z=0.0698 left_yaw=0.1986 left_pitch=0.1442 left_roll=-0.1359 left_gripper=0.0099 right_x=0.2996 right_y=-0.0037 right_z=0.1556 right_yaw=0.0496 right_pitch=-0.1027 right_roll=0.0098 right_gripper=0.9975 state[joint_eff]: [0.1299, -8.3761, 5.9692, 1.6142, -0.1294, 0.0317, 0.6813, -0.1162, -1.7162, 6.9812, 1.663, -0.0659, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.12, "left_x": 0.41}, "note": "Close came up empty (0.01); the koala is lying on the table just in front of the basket. Opening and backing up a few cm to get over its body."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteKoala lies right between the left jaws in front of the basket; descending around 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]: [-0.4778, 1.5929, 0.6739, 0.4278, -0.5316, -0.4404, 0.9951, -0.0929, 0.8932, 0.6128, -0.392, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.4144 left_y=-0.1097 left_z=0.1129 left_yaw=0.1881 left_pitch=0.1389 left_roll=-0.1432 left_gripper=0.9951 right_x=0.2997 right_y=-0.0037 right_z=0.1548 right_yaw=0.0496 right_pitch=-0.1053 right_roll=0.0102 right_gripper=0.9975 state[joint_eff]: [-0.4718, -8.5812, 5.6821, 1.5653, -0.1832, 0.0659, 0.0659, -0.212, -1.6068, 7.0222, 1.663, -0.0366, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "Koala lies right between the left jaws in front of the basket; descending around it."})
tool
executing move_to over 6 steps (0.6s)
step 304
assistant
agent noteJaws at table level around the koala; 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, 1.94, 0.5735, 0.7994, -0.5316, -0.4427, 0.9966, -0.0929, 0.897, 0.6132, -0.3931, -0.1169, -0.0978, 0.9975] state[eef_state]: left_x=0.4078 left_y=-0.1079 left_z=0.0112 left_yaw=0.1807 left_pitch=0.079 left_roll=-0.0982 left_gripper=0.9966 right_x=0.2997 right_y=-0.0036 right_z=0.1537 right_yaw=0.05 right_pitch=-0.1098 right_roll=0.0111 right_gripper=0.9975 state[joint_eff]: [0.0889, -8.3487, 3.3436, 2.0049, -0.1343, -0.0269, 0.1441, -0.0479, -2.0855, 6.9812, 1.5995, -0.0806, -0.0269, -0.0122] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws at table level around the koala; closing."})
tool
executing move_to over 10 steps (1.0s)
step 314
assistant
agent noteEmpty close; the koala sits ahead of the fingertips in the wrist view. Opening and advancing ~5 cm so the jaws straddle it.
move_to
left_gripper1.0000left_x0.4600left_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]: [-0.4812, 1.9614, 0.5713, 0.8017, -0.5388, -0.4431, 0.0104, -0.0929, 0.897, 0.6128, -0.3923, -0.1169, -0.0982, 0.9975] state[eef_state]: left_x=0.4054 left_y=-0.1054 left_z=0.003 left_yaw=0.1858 left_pitch=0.0646 left_roll=-0.0822 left_gripper=0.0104 right_x=0.2998 right_y=-0.0036 right_z=0.1536 right_yaw=0.0502 right_pitch=-0.1094 right_roll=0.0107 right_gripper=0.9975 state[joint_eff]: [-0.0479, -9.5385, 4.0821, 1.6093, -0.0904, -0.0513, 0.779, -0.0342, -1.7162, 6.9812, 1.6581, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.46, "left_z": 0.03}, "note": "Empty close; the koala sits ahead of the fingertips in the wrist view. Opening and advancing ~5 cm so the jaws straddle it."})
tool
executing move_to over 10 steps (1.0s)
step 324
assistant
Camera buried in the plush—jaws should be around it. Close.
agent noteWrist camera is buried in the koala's fur, so the jaws are around it; 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]: [-0.4095, 1.9621, 0.7574, 0.6121, -0.4854, -0.408, 0.9954, -0.0929, 0.8986, 0.6128, -0.3927, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.4491 left_y=-0.1012 left_z=0.0225 left_yaw=0.1956 left_pitch=0.0448 left_roll=-0.073 left_gripper=0.9954 right_x=0.2998 right_y=-0.0037 right_z=0.1531 right_yaw=0.0497 right_pitch=-0.1114 right_roll=0.0111 right_gripper=0.9975 state[joint_eff]: [0.335, -7.5966, 7.4188, 1.8144, -0.1001, 0.0757, -0.0708, -0.1573, -1.9077, 7.1863, 1.6093, -0.0855, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
Camera buried in the plush—jaws should be around it. Close.
move_to({"targets": {"left_gripper": 0.0}, "note": "Wrist camera is buried in the koala's fur, so the jaws are around it; closing."})
tool
executing move_to over 10 steps (1.0s)
step 334
assistant
agent noteGripper reads nearly closed, but the plush may be squeezed in the fur. Lifting to check whether the koala comes with the jaws.
move_to
left_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]: [-0.4118, 1.9629, 0.7563, 0.5877, -0.4816, -0.4122, 0.0109, -0.0929, 0.8997, 0.6128, -0.3923, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.4456 left_y=-0.1014 left_z=0.0171 left_yaw=0.192 left_pitch=0.0218 left_roll=-0.0634 left_gripper=0.0109 right_x=0.2999 right_y=-0.0037 right_z=0.1529 right_yaw=0.0497 right_pitch=-0.1121 right_roll=0.0112 right_gripper=0.9975 state[joint_eff]: [0.2393, -8.8821, 4.8068, 1.8779, -0.1929, 0.0317, 0.8181, -0.0479, -1.9487, 6.9675, 1.6239, -0.0855, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper reads nearly closed, but the plush may be squeezed in the fur. Lifting to check whether the koala comes with the jaws."})
tool
executing move_to over 14 steps (1.4s)
step 348
assistant
agent noteKoala is held by its fur and lifted. The basket is just ahead and slightly left; carrying it over the basket centre.
move_to
left_x0.5300left_y-0.0800left_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]: [-0.4118, 1.589, 1.1591, -0.2382, -0.4709, -0.4202, 0.0131, -0.0929, 0.8997, 0.6128, -0.3923, -0.1169, -0.0978, 0.9975] state[eef_state]: left_x=0.447 left_y=-0.1039 left_z=0.1876 left_yaw=0.1877 left_pitch=-0.0226 left_roll=-0.0476 left_gripper=0.0131 right_x=0.2999 right_y=-0.0036 right_z=0.1529 right_yaw=0.05 right_pitch=-0.1121 right_roll=0.0114 right_gripper=0.9975 state[joint_eff]: [-0.1573, -11.0838, 9.2923, 1.7558, -0.3394, 0.0757, 0.6716, -0.3487, -1.8803, 6.9675, 1.6825, -0.0806, -0.0562, -0.0122] camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.08, "left_z": 0.22}, "note": "Koala is held by its fur and lifted. The basket is just ahead and slightly left; carrying it over the basket centre."})
tool
executing move_to over 7 steps (0.7s)
step 355
assistant
agent noteThe koala is hanging over the left basket; opening the jaws and dropping a little so it falls in.
move_to
left_gripper1.0000left_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]: [-0.2794, 1.8286, 1.5173, -0.366, -0.3775, -0.3584, 0.0125, -0.0929, 0.9031, 0.6128, -0.3927, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.5203 left_y=-0.0778 left_z=0.2027 left_yaw=0.2122 left_pitch=-0.0595 left_roll=-0.0418 left_gripper=0.0125 right_x=0.3 right_y=-0.0037 right_z=0.1519 right_yaw=0.0498 right_pitch=-0.1159 right_roll=0.0117 right_gripper=0.9975 state[joint_eff]: [0.3077, -9.9897, 8.9368, 1.707, -0.105, 0.1587, 0.5788, -0.1709, -2.2085, 7.0085, 1.6288, -0.0855, -0.0415, -0.0122] camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.15}, "note": "The koala is hanging over the left basket; opening the jaws and dropping a little so it falls in."})
tool
executing move_to over 10 steps (1.0s)
step 365
assistant
agent noteI split the objects into writing tools (pens and markers) and plush toys, and only partly finished the job before running out of calls. Done: the blue pen and the black marker are in the right basket, and the grey koala plush is in the left basket (the last wrist-camera view shows it sitting inside). Not done: the yellow marker still needs to go in the right basket, and the two brown teddy bears still need to go in the left basket.
done
hindsight- The baskets sit farther forward than the overhead view suggests. The left basket's centre is at about left_x 0.52, left_y −0.08; the right basket is at about right_x 0.43–0.47, right_y 0.18. Drop from z ≈ 0.15–0.2 once you are over the centre. - Plush toys snag on the open jaws or wrist camera and come along even after opening. Release them at z ≈ 0.15 over the basket centre, not at the rim. A soft plush can be held by its fur while the gripper reads a closed-empty value (~0.01), so lift and check the overhead view before deciding a grasp failed. - Descents onto thin objects stop at readback z ≈ 0.013. That is normal, so close there. - Clear bulky plushes before reaching for small objects next to them: the arm stalled at z 0.06 on top of the koala while going for the yellow marker. - On the overhead camera at table level the local scale was about 2.9 px/cm horizontally in the middle row. - The yellow marker lies near left y ≈ 0, too far for the right arm (right_y ≤ 0.4), and the right basket is out of the left arm's box (left_y ≥ −0.4). Hand it off at the centre line: the left arm puts it down near left_y −0.3, then the right arm picks it up. - Budget: plan roughly 5 calls per object (hover, descend, close, lift, carry+drop). Combine opening with repositioning moves, and don't spend calls backing off to look.
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]: [-0.279, 1.8515, 1.3598, -0.1986, -0.366, -0.3664, 0.9954, -0.0929, 0.9081, 0.6128, -0.3946, -0.1165, -0.0978, 0.9975] state[eef_state]: left_x=0.5171 left_y=-0.0787 left_z=0.1534 left_yaw=0.2079 left_pitch=-0.0745 left_roll=-0.0485 left_gripper=0.9954 right_x=0.2999 right_y=-0.0037 right_z=0.1501 right_yaw=0.0499 right_pitch=-0.1227 right_roll=0.0127 right_gripper=0.9975 state[joint_eff]: [-0.3214, -8.7179, 6.612, 1.8584, -0.359, 0.0171, -0.2027, -0.0889, -2.1128, 6.9675, 1.6777, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
done({"summary": "I split the objects into writing tools (pens and markers) and plush toys, and only partly finished the job before running out of calls. Done: the blue pen and the black marker are in the right basket, and the grey koala plush is in the left basket (the last wrist-camera view shows it sitting inside). Not done: the yellow marker still needs to go in the right basket, and the two brown teddy bears still need to go in the left basket.", "hindsight": "- The baskets sit farther forward than the overhead view suggests. The left basket's centre is at about left_x 0.52, left_y \u22120.08; the right basket is at about right_x 0.43\u20130.47, right_y 0.18. Drop from z \u2248 0.15\u20130.2 once you are over the centre.\n- Plush toys snag on the open jaws or wrist camera and come along even after opening. Release them at z \u2248 0.15 over the basket centre, not at the rim. A soft plush can be held by its fur while the gripper reads a closed-empty value (~0.01), so lift and check the overhead view before deciding a grasp failed.\n- Descents onto thin objects stop at readback z \u2248 0.013. That is normal, so close there.\n- Clear bulky plushes before reaching for small objects next to them: the arm stalled at z 0.06 on top of the koala while going for the yellow marker.\n- On the overhead camera at table level the local scale was about 2.9 px/cm horizontally in the middle row.\n- The yellow marker lies near left y \u2248 0, too far for the right arm (right_y \u2264 0.4), and the right basket is out of the left arm's box (left_y \u2265 \u22120.4). Hand it off at the centre line: the left arm puts it down near left_y \u22120.3, then the right arm picks it up.\n- Budget: plan roughly 5 calls per object (hover, descend, close, lift, carry+drop). Combine opening with repositioning moves, and don't spend calls backing off to look."})
tool
done: I split the objects into writing tools (pens and markers) and plush toys, and only partly finished the job before running out of calls. Done: the blue pen and the black marker are in the right basket, and the grey koala plush is in the left basket (the last wrist-camera view shows it sitting inside). Not done: the yellow marker still needs to go in the right basket, and the two brown teddy bears still need to go in the left basket.
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 · 23.38 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3786, -0.0216, -0.033, 0.9995, -0.0154, 0.7986, 0.6109, -0.374, -0.0124, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.1831 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -1.8803, 9.2786, 1.746, -0.0269, 0.1636, -0.0708, -0.6906, -1.6479, 9.9077, 1.7021, -0.0904, 0.1343, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7ef19bf57dc0d70e0d25f9e2fe998b2b167c7c39e75aefe1157d7f6eb0935a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84c4ff3e55bbb8d776e4190cdef463f9b7fb65cdd1d0a83483ea55c0af3bbd03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:497128ee1ca8d63135b820d3cf12c7185775a59586dd904c03b9f3e0268a881a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.676 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3786, -0.0216, -0.033, 0.9995, -0.0154, 0.7986, 0.6109, -0.374, -0.0124, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.1831 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -1.8803, 9.2786, 1.746, -0.0269, 0.1636, -0.0708, -0.6906, -1.6479, 9.9077, 1.7021, -0.0904, 0.1343, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7ef19bf57dc0d70e0d25f9e2fe998b2b167c7c39e75aefe1157d7f6eb0935a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84c4ff3e55bbb8d776e4190cdef463f9b7fb65cdd1d0a83483ea55c0af3bbd03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:497128ee1ca8d63135b820d3cf12c7185775a59586dd904c03b9f3e0268a881a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K6UTttkB55Reaa1L234QVB",
      "input": {
        "note": "Scene: two baskets at the back; plush toys (grey koala, brown teddies) on the left and centre, pens/markers (yellow marker, black marker, white pen) scattered. Plan: plush into left basket, pens into right basket. The right arm seems to be right over a pen, so I'm lowering it to table level to grab it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.31,
          "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_01K6UTttkB55Reaa1L234QVB",
      "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]: [-0.0193, 0.8051, 0.6163, -0.3801, -0.0219, -0.0376, 0.9995, -0.0193, 1.5078, 0.1062, 0.8433, -0.0204, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1825 left_yaw=0.0028 left_pitch=-0.0061 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3133 right_y=0.0012 right_z=0.0136 right_yaw=-0.0023 right_pitch=0.0035 right_roll=0.0126 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.0462, 7.1453, 1.8339, -0.022, 0.0171, -0.0171, 0.1709, -3.0564, 2.9607, 1.4383, 0.0366, -0.0806, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:876a05b2b8f23169fb455af198b76905fefc6df174baad7bd1947b36814072c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bbb0c42d3546dec444b58bef6918b67398f7fc347c6180196c1925c80c4bc86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:407575cd871d6a75a45f349bd1483a09f0dd3f30b09178db1d412185e8e62ea4",
        "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 · 3.614 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3786, -0.0216, -0.033, 0.9995, -0.0154, 0.7986, 0.6109, -0.374, -0.0124, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.1831 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -1.8803, 9.2786, 1.746, -0.0269, 0.1636, -0.0708, -0.6906, -1.6479, 9.9077, 1.7021, -0.0904, 0.1343, -0.0659]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8051, 0.6163, -0.3801, -0.0219, -0.0376, 0.9995, -0.0193, 1.5078, 0.1062, 0.8433, -0.0204, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1825 left_yaw=0.0028 left_pitch=-0.0061 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3133 right_y=0.0012 right_z=0.0136 right_yaw=-0.0023 right_pitch=0.0035 right_roll=0.0126 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.0462, 7.1453, 1.8339, -0.022, 0.0171, -0.0171, 0.1709, -3.0564, 2.9607, 1.4383, 0.0366, -0.0806, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:876a05b2b8f23169fb455af198b76905fefc6df174baad7bd1947b36814072c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bbb0c42d3546dec444b58bef6918b67398f7fc347c6180196c1925c80c4bc86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407575cd871d6a75a45f349bd1483a09f0dd3f30b09178db1d412185e8e62ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AkKEAgSGAI4AUIIdGhpbmtpbmcSDNoGMuOrRyQFcdaeRBoMfQdvpzGoHMsB9hARIjCU+rmwIf8Qe2fS5sW/HxSIP61Wjr6MiSo+4yNgPuBGZh8GZrkgyus42j5X9shwURIq+QjZOzzupfi2y6v1rt7QBhBfgFLdm10GCdVRFOgBo+lqHafEzSi/uyzeJ5H5a2iv8tV3f288+RH0Aczn8ewSHIu2zVg8OEtzzJ1ynsOicatEsnSU/UXQWOpd+aBo+vR10J3YcS7AnfNoOhi+ZpYFFegd5FUHyfRtWSYxhM1TgvNdNZShaqVU5kk85OhGq5O/MMbygA2Ai+vc7h1PdBJUbD18NsUA/qVby0AI9gYiOucFj2LSfsr3UMbsbKTi8etOer9qDr1y6oz9OOcsj/k11HX1qRlrur1GBXmpS59Nm5IWuD4kcqOFZgt6cBlkerepUc7w+9nGyRDrSJrJifzYX1lULeKFuzupgdHGF3jNDqrimft6h07kzIDZgTytBd21LdSdCZ2FHsqNh0jp31V61NjOPTmjWMObekznXF5qhnF4V5suOiwECRnKJlbmZtrg+T+Y/mIDgmTNFKBBoenFI95tVv7f0CNT2u4zixXkgblix312D5FZ0Qzdjf76+lDJgMTvSrRVs7p+iqpBZ8N/pS9V3srRjm53dV55XcnLswpCAi0etQN38Zb5/IzxAZeppwtc0xtbx00kGZYYVGKnQPhbNE9saStVLJY/b3WmyilEYVG4c0ZyiNpAxdtd7Imyhk4o6bzDO6oC13h/xhGesqZvKFxFlzLm1MkrLmVXI3nZDZL2TXzkjmDgaE0r2A1RTlnfNKPveorJ2aZ7CR72jy69op+WLSBRhAg4CGClFwS75kA5EAnmNeEJO2vP/H29jVexBkOeSTen3p5v+taNLP3SIoJEv6yQ4cOuOUFoIPGUaVe3BXQV5bPgR/q7el9i02f7q4ASN+fpVTHPCF0Cq5lVIUwz4tFKjOT59Fk2ekryRkxinVKhKusaIyoJIFpvSaVnhYELAdKOl8l6K5FSSR8HeYGzm2mtpfsbvGW4s8rFSKv/6RZtRCxcraUgS7kUCc7M64qB6Wee8H7lXuadPxc9jqcHESL4zPESDiL3hIu1LBUmwspPnKBIgU/lfyKw5H43PYzMSpuoLMdbLEpwrikB9karEiB3NYWfpazmO3sNCOyHSCKuBQHv4EOIYQSpQAKyjOCHLvbu+rombsrCOZOUwETx/6fSQJrdn3QIlYadXzQ7aahSMkGg8nM9CfEH351TJFzMp5r6o06hRbHs/7rBghLFmw+wYQCPU0lXmIPcmqi6uEA7+cFX67bjXkIBifNVY7vO6aW45cDovywIswzGKmjnQQ4HCcJkosDxZc2heXHdTvSS9+B5GxmauA/Md01qlbnFooXkODINBVZFLaZZxTgRIewCn6m5oX2ct1Wx3rDUivb3I5yNP6hEL7/Iu8HxoXnsUStjZCEnrdCBdkrRKRrfoNnbdhFMaRe2UELzEC1sDD+0RJmZM4lJ31cLMC0KsrymHNd/UiK23jJLAYxee52DU9cXpoq6r2Do4OJCjBrXiOip5DW8xAcrJqHDr2PRtt8BL4ya3iqODp3jIg8FlHkAyN8Cl9zW7QIdLUcy0BT0OFVc7tKWLhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XAJpPjistcRFtm2YTE9eHg",
      "input": {
        "note": "Right gripper is low; the black marker is just outside the left jaw in the wrist view. Shifting ~5.5 cm left to centre it between the jaws.",
        "targets": {
          "right_y": 0.055,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XAJpPjistcRFtm2YTE9eHg",
      "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]: [-0.0193, 0.8059, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.2955, 1.6543, 0.131, 1.008, 0.2214, 0.1524, 0.9995]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1817 left_yaw=0.003 left_pitch=-0.0084 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3209 right_y=0.0609 right_z=0.014 right_yaw=0.018 right_pitch=0.0598 right_roll=0.0412 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.3744, 7.4325, 1.707, -0.0415, -0.0562, -0.0171, 0.253, -3.3573, 3.1385, 1.2918, 0.2613, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2751467efe8a20ecdb5fffd164c9c0df198755838ed9fd49d2cb27fee0e0d1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad077c242b199a7f9134abfffd931d17005af3d1b1dda70c4cbd9f58956a326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a21724876c4a218588190c19b7e7825f24d45b0f1508034b074555ad3050f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 8.507 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.617, -0.3786, -0.0216, -0.033, 0.9995, -0.0154, 0.7986, 0.6109, -0.374, -0.0124, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1842 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2967 right_y=0.0012 right_z=0.1831 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -1.8803, 9.2786, 1.746, -0.0269, 0.1636, -0.0708, -0.6906, -1.6479, 9.9077, 1.7021, -0.0904, 0.1343, -0.0659]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8051, 0.6163, -0.3801, -0.0219, -0.0376, 0.9995, -0.0193, 1.5078, 0.1062, 0.8433, -0.0204, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1825 left_yaw=0.0028 left_pitch=-0.0061 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3133 right_y=0.0012 right_z=0.0136 right_yaw=-0.0023 right_pitch=0.0035 right_roll=0.0126 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.0462, 7.1453, 1.8339, -0.022, 0.0171, -0.0171, 0.1709, -3.0564, 2.9607, 1.4383, 0.0366, -0.0806, -0.0611]",
      "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]: [-0.0193, 0.8059, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.2955, 1.6543, 0.131, 1.008, 0.2214, 0.1524, 0.9995]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1817 left_yaw=0.003 left_pitch=-0.0084 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3209 right_y=0.0609 right_z=0.014 right_yaw=0.018 right_pitch=0.0598 right_roll=0.0412 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.3744, 7.4325, 1.707, -0.0415, -0.0562, -0.0171, 0.253, -3.3573, 3.1385, 1.2918, 0.2613, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2751467efe8a20ecdb5fffd164c9c0df198755838ed9fd49d2cb27fee0e0d1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad077c242b199a7f9134abfffd931d17005af3d1b1dda70c4cbd9f58956a326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a21724876c4a218588190c19b7e7825f24d45b0f1508034b074555ad3050f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQcKEAgSGAI4AUIIdGhpbmtpbmcSDLqTAEWT8DMrlprQKhoMXaZN69RlNymcTxtNIjBOISDlSf0x5rLk1V86/Q7rdNVkf9DL+srteLhKOuf7v3Z8/mDaXP77SC4ZmdpMsAQqvgaR9gF9ejVgVGCIwgPw7KJA6SIUz22LALYdVIWn8s/Y/nygA0bKjrd1s3l8GJi7URdzST29kZ6BZZvqdvml8GWpvSQHLIdIsvcCaKUSOwLWER15jGd6gcJTTlGrs33zo4Qj+3Id+OVrLZTB1Ft1GFj+3tL7t4Bdly/TLbMivqmExzQ7gVRPWeALZa+GB+w1/gvxAfPE/8K1Dplq4Rxkd6zToKyawYOE1ceQRvsia3irEsSQLkDpDDvZxARIoBI/8HrU54hvLfidm6MH4znMieZq/b3kHK53/+6ZbYsKXMAovZmXEUIZcIGzc8ZHIunFSELZLHMDn9Ljd6hpZEoju/UTgKzId5ieD1wuhMn/l4yBCIKCCJflnq/c3S0KRs2UmsRzUi4UMHWKPA8J7+JB4ua51Io+7a8LD7Oej5xThFF0b00s/J1/bUtU0J/bTuhsY5A+Karo+oL2BOcAKENuifaDU9wjoFHTm+AhaAgYhsHO5syRfGzITmQvBqcoh2TeEH1UB8D/oxhiVkTmespsYQHonxnhuKA9XT9braYRRVL7iViy7Yg19yGS1GFFsr4dYFWktvrzDVkGQvQ7jQKTkx0mg3KS5sBICUSveK+8A8nCXIj7/XrY0MxpLuvgcBpQZY+7hNSXDmCIW5ClDGQ3er7Cdtr1OSIQ7ruL1IQ4rtPz83fK4LTh5Ubdt57o1m0sYv92fRZ4KHphClKGGw833yaUsvYtKeOubaZOYIGKVKol+x1DaXh9AQGgEGqvmUm/KrI0YaRVIhilNf4yBQKj2LiLIynZHxJ5z/Kg+cbvtmFN4DcoX9Yvk0SQuXfYKYkDj7VMzopJrZC4blEL9xKuVE0zaAgFXoOyEnfTg8Zw0FQvVlHOQc9X0aywYAAmEXOTCRZ1u7wTncTrO9MeVn8idFyVZPmjT2Xz0JM82SZmBbE+IpLWsnJmKVGkjdv27KOTT8ASHPpBTxu9B+iTELSsGUscLFzfWM7UHyCgwP994FlpNuZ/IbtUT10CXPzOqyUo2qLSLQl9pOlcZqnYFVOMubH0O1TXY0bXGPYKBh626I9//aMkFDBB178P1Xl3QZoVDvvTJoWTxKOjw0JuAoSDiRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TMk1Hw5E17tQYxWPxwGUWe",
      "input": {
        "note": "Right gripper at table level with the marker near/between the jaws; closing to try a grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TMk1Hw5E17tQYxWPxwGUWe",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0223, -0.038, 0.9995, 0.2943, 1.6543, 0.1307, 1.0084, 0.2169, 0.1509, 0.013]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0037 left_pitch=-0.0084 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3208 right_y=0.0613 right_z=0.0138 right_yaw=0.0215 right_pitch=0.0592 right_roll=0.0421 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -1.3197, 7.0632, 1.7167, -0.0317, -0.0611, -0.0122, 0.0342, -4.6701, 3.2205, 1.7314, 0.0855, 0.0024, 1.1306]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95dd206f677d4adae9568f48eedc02a07640912d0ad016508d188cf8005933c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a38badc9a0ab878a1ef89d52dbc868b7c6221e74c0b58543a27a10afe1b8ff96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7f3a6d5c95732d138c1e398e0f2229b7978051b4e4156f2a0511a3f7f07f4be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.833 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]: [-0.0193, 0.8051, 0.6163, -0.3801, -0.0219, -0.0376, 0.9995, -0.0193, 1.5078, 0.1062, 0.8433, -0.0204, -0.0162, 0.9995]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1825 left_yaw=0.0028 left_pitch=-0.0061 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3133 right_y=0.0012 right_z=0.0136 right_yaw=-0.0023 right_pitch=0.0035 right_roll=0.0126 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.0462, 7.1453, 1.8339, -0.022, 0.0171, -0.0171, 0.1709, -3.0564, 2.9607, 1.4383, 0.0366, -0.0806, -0.0611]",
      "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]: [-0.0193, 0.8059, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.2955, 1.6543, 0.131, 1.008, 0.2214, 0.1524, 0.9995]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1817 left_yaw=0.003 left_pitch=-0.0084 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3209 right_y=0.0609 right_z=0.014 right_yaw=0.018 right_pitch=0.0598 right_roll=0.0412 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.3744, 7.4325, 1.707, -0.0415, -0.0562, -0.0171, 0.253, -3.3573, 3.1385, 1.2918, 0.2613, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0223, -0.038, 0.9995, 0.2943, 1.6543, 0.1307, 1.0084, 0.2169, 0.1509, 0.013]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0037 left_pitch=-0.0084 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3208 right_y=0.0613 right_z=0.0138 right_yaw=0.0215 right_pitch=0.0592 right_roll=0.0421 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -1.3197, 7.0632, 1.7167, -0.0317, -0.0611, -0.0122, 0.0342, -4.6701, 3.2205, 1.7314, 0.0855, 0.0024, 1.1306]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95dd206f677d4adae9568f48eedc02a07640912d0ad016508d188cf8005933c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a38badc9a0ab878a1ef89d52dbc868b7c6221e74c0b58543a27a10afe1b8ff96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7f3a6d5c95732d138c1e398e0f2229b7978051b4e4156f2a0511a3f7f07f4be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrg0KEAgSGAI4AUIIdGhpbmtpbmcSDC5dpQ/Av/3MQyhSFhoMtt2ozicg8jBRVdHSIjCx8+MuWDqsluFWJGlFBrHiL2mhF4B61Z0AtZC92nDquQLHRYeP9pdTON98fiIcveUqyww6hGCw6cL/68OeciOZq+oDCK+eojMpfrz2dItnDKO5npaQ/qRtFKLmnzcrUs69qQoaHsDegqNJZE+AmAm+6fYuzPIVgcSOcygkz6TXMkxiMIzWw5ElG0eUgg6C9fgrGYIJw3a1xT4liI5Hyy7W04PAuBDi+yynSFA/+pHnel8ByRJao/ZmZ0L5EpBf2nu3d4KsWuGLfRw19R49A3ljLaY4rvcUPoamIJdQPXPv9c/UpZy/cKq2XgG8uLK4VZskI9KIlBOibItTTd99VRXOTGeQegfJxfbvurT9g3SjpZ9k7kVzpbcxfAJ1GR8FxwudTbspfXLUccTukXYqcg74HAIJLoccB10HL0hRg7TSoMDXa//JYPDHaElKbr15BQfFj10OTMqiRKg720txzIMeNG+iSpz0CWfi0SzJ9Ne70p/VSl+U2W3QPPrKMorWBnxXlbNt4a38XNwxP8g7FhX+H8F7dnV0Mt1D9zBIUvYHorBfGl/+0sUC/zyQdMUP4HSadSt8+EBbQlEpYfEy4/UcdjjQ9j4TzW/Ov5J+siXFHCa7UCyvAWyPGCHjhazUYCa1c9iu2ZAr76/ovvngoum7MRqZCQ4fVlPchgDL8E0PICbZo82Dl5iqTBUW39YGKsFQt313miNqZSpGM3f1lWDsDCh7UlTZhAKxTOPsUL6AGYT9jupgv4g+iouT1d2sSV72Rjgz9FJ2+s08Hhwlje/1SNDqwcU3bJpzgPziqU8Dxyza4TRnueHvHBHN9WRGtZVjZRaRlN5UxxHH5rPilSIcbNMWC0ohvPO5EyCrzAJGz9Chnyuz5+eJSYCa3jGupSYbFfy4N6+8ZU788s+JudhVVzPLmdqpp3vCj1eeQOaX2WYnWSrmKize0ydTm8b/BZEaBOs2WotyuDVsNc7mfqhDB3CFWSLAHD+dd3HhchnKjZwwhCcSEiNHbEVPUW+mjBkLhFJFASSLKsdc3O+ZtBJ0nzeVlRba3yO8RNJ201DnZ83JhzVcW6KdK8tNaITFHRmNMloAhCE3/9gk8k/eYwu//tLwv+13XHODDVrSQcLyhuRkNEgnpEZAOnJM6PnhVFLTDHJfYK1YMxJG45shBRKcmY4sdjBy58YWAAVTwhwls69MwwYTH00/jVhwXJ3rfM9ms0HD/9LA7D1OEIHkFJ0oEIGcXhyn2CMW3x7zbYjbUoT96g12+dby50HYHPnbtMtcTvuFGkqOzY95raIg2pcILA9E0lNGAdSybC3Q4V4lNCldjOY+GInV6w8mvzi3U0cGxEp2MlKM5p54bZ+Gw9NXu3TSIfNs2h09mMluNYar/Xinub27otVHPIQTgje0Spy0CXRXALgYPhsqxcyOeOHfu5d3RGgyhvhhVokcYIJIt9LUUekhyHskwoGAr6nx9ZRfDzgv0BIHBxvEIrKsh7WVp5NM3DEyMsYgnQhgai0PicPNhUsZxDajHjEVWc/hd4FrJvuoBtWMJuyQ3kbi9/rCEdbeORTwcb8rFr85+998tzc3ub1n2+iNiQP+RPEXcRJTX4iKhBkW7dIfAeNZ9toh+oadBdy1bBZ8h/tcJ9jiqJEP5oziwrqsDwXuu9ojuux92xUybQuRTT2iim3R+qNv44h1Z0VCuLpMVZlceYH3DyyVc1eYRskg6s+vkYhB/imAo7fyWAiA3Q8eHB4it/jAvdRuD/kWAyXNQXXRRzCEAjWb+y2MXfSs/0ddcnzxMp6tFpMxjFW16vSUHHLBChkkxpdN4vlTHT0f3hUXDhDA7A4x21D1INnsKBPiheTeFyD/UTVlFdhRcqvbl4Fyyw5WProxeyzUBYFdP5CraXjvwwnJ489H5rIt5cojGG7o3+7jNvrNoYvLLxabzVuW8G1+8AtOJLvkBpDz1ecRcnxCMU2Ly4TMRzPotwOeYWwDzsG+80b2JXlv2h8tFnd/dGoJf4resJEbRaU5qNB3BZdcPwKBvFlvWS/hcj2S8SgjTfXYPcyRkux90qhVcLcUJK7ux5zntswV1cNutSAviC5kTDU2116q/w0Xbi7B0rK70FN+IFke4BxfzpoJj2nn+/9vTUSh0FqriyQ+AZLNqptmVQLqYHCwiq7N8x+dQZoF5C8SiN+KJzuKbgmZv4xlQfTEnQIdnjcgssZZEzAhwrcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KcqgEaQYkNJtt8WF7p3h9K",
      "input": {
        "note": "Empty close. In the overhead view the white/blue pen lies ~11 cm left of the right gripper, so opening, lifting slightly and shifting left over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.32,
          "right_y": 0.17,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KcqgEaQYkNJtt8WF7p3h9K",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0223, -0.038, 0.9995, 0.7597, 1.5764, 0.4026, 0.5365, 0.5835, 0.4057, 0.9988]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0037 left_pitch=-0.0084 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3158 right_y=0.1707 right_z=0.044 right_yaw=0.0533 right_pitch=0.0418 right_roll=0.0319 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.3197, 7.2274, 1.7021, -0.0464, -0.0464, -0.0171, 0.1436, -5.5453, 6.3932, 1.5263, 0.3883, 0.1734, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a92aa1cfcb1c93a715214a8af15c6b2183be1787affdb3dc8865ce700100d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68e335e3d3c2489a37e1694b942ed0df6eb0fac8bbb06e92dc9d6cc0165b5e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dee4e022578a405c5bff7f2cc24387c7fda87cc9f8533b5e7f39e1fe3f87bd21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.584 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]: [-0.0193, 0.8059, 0.6151, -0.3805, -0.0219, -0.038, 0.9995, 0.2955, 1.6543, 0.131, 1.008, 0.2214, 0.1524, 0.9995]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1817 left_yaw=0.003 left_pitch=-0.0084 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3209 right_y=0.0609 right_z=0.014 right_yaw=0.018 right_pitch=0.0598 right_roll=0.0412 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -1.3744, 7.4325, 1.707, -0.0415, -0.0562, -0.0171, 0.253, -3.3573, 3.1385, 1.2918, 0.2613, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0223, -0.038, 0.9995, 0.2943, 1.6543, 0.1307, 1.0084, 0.2169, 0.1509, 0.013]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0037 left_pitch=-0.0084 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3208 right_y=0.0613 right_z=0.0138 right_yaw=0.0215 right_pitch=0.0592 right_roll=0.0421 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -1.3197, 7.0632, 1.7167, -0.0317, -0.0611, -0.0122, 0.0342, -4.6701, 3.2205, 1.7314, 0.0855, 0.0024, 1.1306]",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0223, -0.038, 0.9995, 0.7597, 1.5764, 0.4026, 0.5365, 0.5835, 0.4057, 0.9988]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0037 left_pitch=-0.0084 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3158 right_y=0.1707 right_z=0.044 right_yaw=0.0533 right_pitch=0.0418 right_roll=0.0319 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.3197, 7.2274, 1.7021, -0.0464, -0.0464, -0.0171, 0.1436, -5.5453, 6.3932, 1.5263, 0.3883, 0.1734, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a92aa1cfcb1c93a715214a8af15c6b2183be1787affdb3dc8865ce700100d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68e335e3d3c2489a37e1694b942ed0df6eb0fac8bbb06e92dc9d6cc0165b5e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dee4e022578a405c5bff7f2cc24387c7fda87cc9f8533b5e7f39e1fe3f87bd21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAcKEAgSGAI4AUIIdGhpbmtpbmcSDKkgABVRS482LiXhjxoMdonIE5MgBSMQhrjeIjDBcYP6lAOKihPVTkIdnIdFmoQWwATSj75CZOmKuTwaDzAlrM1cmV7boanPItUMPDcq2Qa61iY1SnVTo4UsDK1ypADQogaNHERJBRyGMyxY58/r1OwfHMk9r+42xhkmWbkePim6/amiS3v8z8H5nXUc1XHXtarhKZuXlVa+3mZw+kBRnm4lO/H9Vferrr59fnXK6r6/kdXzCrlv6nMalovDLUI2nyDDRxn3RwTBNA3VnCQoYYeBzUfT6U4qkcBZsfMcQVWFaBtAnjTAKMlAAJTJ9aGf/mhCwxbnl3km28q8CNB72Y1O7woAbXWyh9i2K1P3Qxgck8vbxGFPogv9UsYDcMHhdgNQrZvwjBzuujref+OaJtoxRTSgupwUHlIeuOuaEP6RYsRMFJXTsu12VMi+tASnONre60+p1xihfPZguj7u+rJrDG1fuoPQRY31SXeMJcQutVMHqDUqPVso24npyWmgRgSYb2bPapA9eVaiDnqcG56vi96jdLY2No1z5wy7nC07Sll2MQX48PoeUr6lGIXEqWRoed8y/SBfmoWU+nGEXCDjL4s7gmR6OALgJIVNm7Ph1Ofd9k7s6EaWSq/jxxhDCc2hdRMT52YlUQQCa8HyZgXpm76yUJ5npab/ol1yIoy9WgRrI7foSzFsM1t/iIgXvHlmPCIUnccW8OyaCdmbxxHHK3tjYGz6MK7ney0ooS0drzYv3JQqhfld7dKnIYFimIWDG0tB2ZjA7+zZWISxf+X+THB8YzDHcVFf0bbDY1/OR88uff3uU4UYDD0ymkuGsmQr5S8C4GQDC30Bk3P7T2kDNU9tlFgMOxCXaCf82wneKvdWWHYdqVY+aDXDTcAojgp9eM3UeRgExeM1mHVvEi2+yhXzYHRhbqDPIajJ/MvxrZF84/FVL3nxCPFITexfE0/qVFlL9/JA7jmM/ZwoA/llc+sroLFfLygDGgFCLocnq1ZW1XSxD5pmC5Oote3MHHLeKU70mj8gopIeywUydwde20yP9/QDNDUplQolb9uZO4wAuI03cZ+JGjulggY0/xqpqLP6ndYyrEeyvkerPcPec3Fk4FGNEjseZTXkxDOGCmEqGNrU56adD2923mf/E8j8x/raDpwN1uOAcJuVuSjIoPbrAWiHs1lB+qp85FmSRhuF7FZOBuYRM+4xtjJGNPiEFjgKAD6xcF5OypqLXMra81nLnyk39hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0163wn6gqwhrhrNeVeu5mdSp",
      "input": {
        "note": "Blue pen and black marker now sit between the right jaws in the wrist view; descending to table level to grab them.",
        "targets": {
          "right_y": 0.18,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0163wn6gqwhrhrNeVeu5mdSp",
      "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]: [-0.0189, 0.8108, 0.6151, -0.3813, -0.0223, -0.038, 0.9995, 0.7795, 1.8149, 0.3946, 0.8165, 0.6094, 0.4282, 0.9986]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1802 left_yaw=0.0037 left_pitch=-0.0141 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3224 right_y=0.1816 right_z=0.0131 right_yaw=0.0394 right_pitch=0.0764 right_roll=0.0626 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.7949, -0.0269, -0.0562, -0.0171, 0.5402, -4.6427, 3.5624, 0.9597, 0.105, -0.0611, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e8db0ea68c8cae825912d30e804ca562ce665f3cc5e8399abb882182dbff01b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e17b8ee2eb4c2b8057755eb739b0730e5ebd1456b406053136226ab1f866920",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50d80cdd6bec7228fd98e8dca0284055d403fdcfaed300953278f84c939d5c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.69 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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0223, -0.038, 0.9995, 0.2943, 1.6543, 0.1307, 1.0084, 0.2169, 0.1509, 0.013]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0037 left_pitch=-0.0084 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3208 right_y=0.0613 right_z=0.0138 right_yaw=0.0215 right_pitch=0.0592 right_roll=0.0421 right_gripper=0.013\nstate[joint_eff]: [-0.0889, -1.3197, 7.0632, 1.7167, -0.0317, -0.0611, -0.0122, 0.0342, -4.6701, 3.2205, 1.7314, 0.0855, 0.0024, 1.1306]",
      "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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0223, -0.038, 0.9995, 0.7597, 1.5764, 0.4026, 0.5365, 0.5835, 0.4057, 0.9988]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0037 left_pitch=-0.0084 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3158 right_y=0.1707 right_z=0.044 right_yaw=0.0533 right_pitch=0.0418 right_roll=0.0319 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.3197, 7.2274, 1.7021, -0.0464, -0.0464, -0.0171, 0.1436, -5.5453, 6.3932, 1.5263, 0.3883, 0.1734, -0.1392]\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]: [-0.0189, 0.8108, 0.6151, -0.3813, -0.0223, -0.038, 0.9995, 0.7795, 1.8149, 0.3946, 0.8165, 0.6094, 0.4282, 0.9986]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1802 left_yaw=0.0037 left_pitch=-0.0141 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3224 right_y=0.1816 right_z=0.0131 right_yaw=0.0394 right_pitch=0.0764 right_roll=0.0626 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.7949, -0.0269, -0.0562, -0.0171, 0.5402, -4.6427, 3.5624, 0.9597, 0.105, -0.0611, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e8db0ea68c8cae825912d30e804ca562ce665f3cc5e8399abb882182dbff01b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e17b8ee2eb4c2b8057755eb739b0730e5ebd1456b406053136226ab1f866920",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50d80cdd6bec7228fd98e8dca0284055d403fdcfaed300953278f84c939d5c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwcKEAgSGAI4AUIIdGhpbmtpbmcSDKBI2lTcOuFT39/bdhoMBFMsLX5QcMN4tpZxIjCGJLVjgHoy5taeOAGXI0U24KNYyjjPTFBw9XFcXiLJVe0ykCUm7H+n6F6y8IpkoccqoAaMTWuaI98OTxtmdNfvrk/PXgkCbmtCcSAJa/tlTvqpPNMdxaztFuVOZAz58hv57u8SyojJMUKbOdoKXyzyo7Jp2VninguGWeu3vi8peYkQXyP10MBcWDSjnKg25GcQ6g2MNHqDIUgOqpe8HURieKcrQRtVti9ox5py0SPW8SDlOYjFOXxlg7hePSo7nllkluo7ZVJHpBY07Ybfo1gXxUWHsXsjjhO9+8cODrjj88SFgL2892Z8OhHnJpQskJKmUYq/th7kJpSqbpDzvUbGsnoWRg46SsUa/zYdx4cuYEc7AfN7yiN6HIdZ1X0FX0M9VFglVLNmaAH+h5FeY/a5hGWtXKdIMeOo3S5f9MmoX77rTk4rt9qTHzI07zUhTvJC8m+zif6WuzPfUgS7CfY6Ah5E86FDRH1wgKbj/IHYRL4TsvRBPPp/7Dt0tYL+lM8RwSCyE0pCFhxPoL8uG65iA/ICgHnhHgliULyY1UXfMZhlWNrNWNPuhLguq5JmTVzKyIUfIJWntW8WQfG4WeedQIOhgGGZvzsMRLRv9YLYlhRVRVJIhvcInCu16Y13cNnYMCYxV2u1rSk1vB9rYR84V/zSqMErf/cV1bbVXIt9texz5NXms50vI0xrVozaxudQEjPaCGWTEw8n1qt6YSAyiudUqlWS3B6hbJekWe8wo5ECUxISI0EJDJ8VRoaC0rzAQmD9V59NfAtfwmyRuRlT2RavHAFGfxWbNzUuHGRwiPkMCtxJEwSYl6Qeb+FZc/5aavoIw9q9HOTNpuP4LuKa1UnzpPO0eidJ6VCdiqAafKXC0FFAO7/N1tqyOqEYDb0RYHfmHbn3kkXzIFZ5bhiCArQWIBjGoNtvOVivAoiX1ZnotgEpkvfkLyItZYb96IW1OCCzgQ4QC4z/4r53bIYfPyA9uPRTu0FAwOEwFDicbH2vZ0Sc8YaUQnjdHR+lANMXU0koZhEixlnAMLwBAcernfYLUOebttVBYk8h9PjZEwKxxqlmN1VTonSt8YAMiB4aMFErHOL9spwDzGvGxHNWNwMEfmAMbV7KpnX5ApNklYqFARgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012t15Zkw5q1wAvpvDXgLerA",
      "input": {
        "note": "Pen and marker between the right jaws at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012t15Zkw5q1wAvpvDXgLerA",
      "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]: [-0.0193, 0.8108, 0.6151, -0.3805, -0.0216, -0.038, 0.9995, 0.7788, 1.8217, 0.3939, 0.8383, 0.6018, 0.424, 0.3198]\nstate[eef_state]: left_x=0.2972 left_y=0.0017 left_z=0.1803 left_yaw=0.0026 left_pitch=-0.0133 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3234 right_y=0.1837 right_z=0.014 right_yaw=0.0461 right_pitch=0.0841 right_roll=0.0716 right_gripper=0.3198\nstate[joint_eff]: [-0.1299, -1.3197, 7.2547, 1.7167, -0.0317, -0.0464, -0.0171, -0.2393, -7.0632, 3.9179, 1.3895, 0.2369, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b82541e2c0069edbe9c40c2880962ec3c47e32e7469009fcafbb57561b3ce024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90e6402bb439f134f5286a9715cc30fbec86ccebb078e8e28f41d3138ba55569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c19453041e0eec1431fd88adc5d89c836cdfd5a6ec0dea19df8eb9b96cad5605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.935 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]: [-0.0189, 0.8059, 0.6151, -0.3805, -0.0223, -0.038, 0.9995, 0.7597, 1.5764, 0.4026, 0.5365, 0.5835, 0.4057, 0.9988]\nstate[eef_state]: left_x=0.2969 left_y=0.0019 left_z=0.1817 left_yaw=0.0037 left_pitch=-0.0084 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3158 right_y=0.1707 right_z=0.044 right_yaw=0.0533 right_pitch=0.0418 right_roll=0.0319 right_gripper=0.9988\nstate[joint_eff]: [-0.1026, -1.3197, 7.2274, 1.7021, -0.0464, -0.0464, -0.0171, 0.1436, -5.5453, 6.3932, 1.5263, 0.3883, 0.1734, -0.1392]\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]: [-0.0189, 0.8108, 0.6151, -0.3813, -0.0223, -0.038, 0.9995, 0.7795, 1.8149, 0.3946, 0.8165, 0.6094, 0.4282, 0.9986]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1802 left_yaw=0.0037 left_pitch=-0.0141 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3224 right_y=0.1816 right_z=0.0131 right_yaw=0.0394 right_pitch=0.0764 right_roll=0.0626 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.7949, -0.0269, -0.0562, -0.0171, 0.5402, -4.6427, 3.5624, 0.9597, 0.105, -0.0611, -0.0269]",
      "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]: [-0.0193, 0.8108, 0.6151, -0.3805, -0.0216, -0.038, 0.9995, 0.7788, 1.8217, 0.3939, 0.8383, 0.6018, 0.424, 0.3198]\nstate[eef_state]: left_x=0.2972 left_y=0.0017 left_z=0.1803 left_yaw=0.0026 left_pitch=-0.0133 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3234 right_y=0.1837 right_z=0.014 right_yaw=0.0461 right_pitch=0.0841 right_roll=0.0716 right_gripper=0.3198\nstate[joint_eff]: [-0.1299, -1.3197, 7.2547, 1.7167, -0.0317, -0.0464, -0.0171, -0.2393, -7.0632, 3.9179, 1.3895, 0.2369, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b82541e2c0069edbe9c40c2880962ec3c47e32e7469009fcafbb57561b3ce024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90e6402bb439f134f5286a9715cc30fbec86ccebb078e8e28f41d3138ba55569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c19453041e0eec1431fd88adc5d89c836cdfd5a6ec0dea19df8eb9b96cad5605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQkKEAgSGAI4AUIIdGhpbmtpbmcSDIletBA6ad7rAMYTHxoMLcNEmKfUJ4dzy6HtIjCc+YdbsJYjJsF0RfnPaxrbnK6WW3eHRAc6/owjCZ/RM+wXPDZJVLBIfAPjiNdSMxwq4ghlnvvyZKWl0mrcRcBDrqQ+zWF29YX9uBpcSP/eDYyMjGV/rWgKOV0S3zugOTql7mKFkxDMaKHj2Pl/ptdqtwh591TByeM2K2FiWflu/qwv2tXAuGbR/I/VnWVSNSc1kUD7neLAhGCowGZUq+se1CodzEP+4OPx79vsYFx9fTlPAUcG0GgjZ3sEBAxShtqpvufxaOsPaZQRtiJzf7snTKhBbsEX9iVVwB7G+EL3RlzcBNzzYbosyVqitx6Rk0sP+56WnvMz9BkdJJC5Slvz1zCTGZQCOhmn10zjWjvTfRlBnQVVL1axsZcNmkVx/c2NYigC9iazDDhpCsbJO7dppaKCTRzkhGaSZ0O/D4yivwxlydy66VEs/YdR1kkNwGua0PaPT1TJxR27sqilDzrm7ubH7AeSZYU2tySbmCkYoSxCUjGZx+rCIMo+RsIRINzHjwMW2aoT3Fl8fel+xdveBl5Hd+3xoMB1ZNImgLF8ZwB3cJcPU3tcRsUnf+f/s99EuAW0AU+RqSyDoZksGRNv5FTlv+boBvyeQ2BFTp3ejyf5DtMURW58oZruor6XgPR01zYp/T8fKZGbGs2vaWACPWZ4tonNIqhrAnRds+Vdms9kU4dL5kdSswhocJnlH97S0zFoMaY/nn6mhYZ+QEjqqk1QgY2XDCGmJe5+zPDRUpRrP2WN8ccJTztizs2EqN9sCrDu1STY9bvJTyJ1/l2zidEMF3MYJZm/EihTLCIbxRePSA1zuezpAvYwFiix0vQm9FalV+i4nkIUNAS15JtYaEq0C+AHPavpeJABZZTh9l39xQPd+7Wj/OOExhR/mjkU1A7H7Yksq/8BxfVtLkh7TBQFKPgZpZxXjlkR36y3PHWwB1OR4otfH1lPx0ESzcUm0y1+VZB1DNMQiDTReWc598wn0ZgPFjojapDHeWDB430DQRju3pQUiqG7pl9x1uUz89QY6JmSRKPRuSyIj5rHzmwbCj4CDN1g8KdTPlVisCR8slcpiKgdErIsGa6JlNUdhKAy6LQ6LRQcNsz9SsiJR+qk5qx6eEPU1SeDGMBKgROOyf5jhHtmHUr31aZqkzi4pRaFvWbTtCltzmVafFKs8awgMNMNvnqSldTAvq0AGN10WsnT9p0yEOsG3+uwpn80kcmulIjhb5sWDHtZ9aaWPue81g2GXgN4jxfpMrfSTqubfMAkOg9VtADMg/G8ug8JXpzoZNF4DG/Rae6rKZjaDiglojJD/FyNzbqYY5I2mO1pgFd8fyVgOm+lv85Y4ekhKU5UMIPAvuiB6RqfCvjN1eEx/M+3XMUgpNBCCDIwuHyu7AANcOz1SEv2sO56Mg++qVGC5DvR/NwIeX4ITvFrCsil7KgxVystg70DR0e6/VLi5ZspuNm7Rotu7Fy6n2tUF3bh6HqJ2t4UcXjyvy+tz9hL9Cv1JGUzvbWF51r8X6BvRT16TJ4ezdQZoF1+uXku3tABrVuZgC6gZPEgQHviXQX9cOsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AtsKKrMnY7tqxMTGBDn9GR",
      "input": {
        "note": "Gripper settled at 0.32 (~3 cm held), so something is grasped. Lifting straight up to clear the basket rim.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01AtsKKrMnY7tqxMTGBDn9GR",
      "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]: [-0.0193, 0.8116, 0.6151, -0.3805, -0.0216, -0.038, 0.9995, 0.7776, 1.2449, 0.794, -0.1875, 0.5911, 0.4232, 0.3198]\nstate[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.1801 left_yaw=0.0026 left_pitch=-0.0141 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3205 right_y=0.1824 right_z=0.1803 right_yaw=0.0559 right_pitch=0.0435 right_roll=0.043 right_gripper=0.3198\nstate[joint_eff]: [-0.1299, -1.3744, 7.0769, 1.7118, -0.022, -0.0806, -0.0171, -0.2667, -6.065, 9.2239, 1.5897, 0.2515, -0.0366, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5855bd9f2a0e5b547330b020d87f1b1d74a341aec507fa1cb654f5b209b965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ae39c13ff844fe91c5f4767ec059169b79ded2424e5eed536db25f3e2f2e63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc269a1d70a453a998fa50b0ab692e3b4f085a03936dbbcd6c8e913feec55f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.089 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]: [-0.0189, 0.8108, 0.6151, -0.3813, -0.0223, -0.038, 0.9995, 0.7795, 1.8149, 0.3946, 0.8165, 0.6094, 0.4282, 0.9986]\nstate[eef_state]: left_x=0.2971 left_y=0.0019 left_z=0.1802 left_yaw=0.0037 left_pitch=-0.0141 left_roll=-0.0035 left_gripper=0.9995 right_x=0.3224 right_y=0.1816 right_z=0.0131 right_yaw=0.0394 right_pitch=0.0764 right_roll=0.0626 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -1.2923, 7.0632, 1.7949, -0.0269, -0.0562, -0.0171, 0.5402, -4.6427, 3.5624, 0.9597, 0.105, -0.0611, -0.0269]",
      "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]: [-0.0193, 0.8108, 0.6151, -0.3805, -0.0216, -0.038, 0.9995, 0.7788, 1.8217, 0.3939, 0.8383, 0.6018, 0.424, 0.3198]\nstate[eef_state]: left_x=0.2972 left_y=0.0017 left_z=0.1803 left_yaw=0.0026 left_pitch=-0.0133 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3234 right_y=0.1837 right_z=0.014 right_yaw=0.0461 right_pitch=0.0841 right_roll=0.0716 right_gripper=0.3198\nstate[joint_eff]: [-0.1299, -1.3197, 7.2547, 1.7167, -0.0317, -0.0464, -0.0171, -0.2393, -7.0632, 3.9179, 1.3895, 0.2369, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0193, 0.8116, 0.6151, -0.3805, -0.0216, -0.038, 0.9995, 0.7776, 1.2449, 0.794, -0.1875, 0.5911, 0.4232, 0.3198]\nstate[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.1801 left_yaw=0.0026 left_pitch=-0.0141 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3205 right_y=0.1824 right_z=0.1803 right_yaw=0.0559 right_pitch=0.0435 right_roll=0.043 right_gripper=0.3198\nstate[joint_eff]: [-0.1299, -1.3744, 7.0769, 1.7118, -0.022, -0.0806, -0.0171, -0.2667, -6.065, 9.2239, 1.5897, 0.2515, -0.0366, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5855bd9f2a0e5b547330b020d87f1b1d74a341aec507fa1cb654f5b209b965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ae39c13ff844fe91c5f4767ec059169b79ded2424e5eed536db25f3e2f2e63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc269a1d70a453a998fa50b0ab692e3b4f085a03936dbbcd6c8e913feec55f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wcKEAgSGAI4AUIIdGhpbmtpbmcSDCR3txeexC94IvnPXRoMD6n+gC5Rrf1eQLxpIjBM/72Y1eXvDsTb8SzBqr/nshlLyoKu+tb79olYhqnOENFht0e9oKQEbS7vnrIje8kqkAe+EAS0e7PqLDl3wqN96TK1b/TQOiL2DBjJlhG+SiwCUnyP2yYcU8AdSHFJpOaaWzCGrs0H3RNlCfSBcpENRd+SwfgrGHQGHfQZa+UeUUIpS9uVDXJWnyrL8XdZgZOXtbSgbkZahQIPAJ/719IQaE3dse0QRsUnhIkNyfXXrznxNQScoCEBbis8hSREmjKFTtR1sUB9FS9dDr4E3tYkBVqWqzxnCvlk2WZeonIjJ7W6jjIdG4aDYuYpscshnw/yf/WInwTl9Y2BjrJKoHG3Ge5nhr9WvTmhV6qwIeh5mGhybw6Gz3hZhwbL8ypsxFdnkCxRrbez7OaREiXTj8tlXhQ5DyX/Vp4wKNkdAj14+VTwqgW+8MGMF0i/BHhFrt0LYTmvKsDjV9DR5UXrROKvQUYJ1uErUXicYbYhh+xNn3Aung+5dop0owFVGYV0l8vXdavWLJD6SUuvG/Prl6dmNVNuCRUP6dcj6uC+8kUAoqcpoG1uL04BKzQ2BGO2DukCccN2aVJhw+hiANBYA5f1RIIEt+MPdS3XawmtWlUBF02SVo45yB2isKyf2RrxxcKN45chZGt1/ZQlXTITqN1UgNtBJK6vaMDF0/iv9RU0FJD9XucCI4mszEfSn51FDg+Ik9hc1uyWvUatp35SmgU9wPmyKfj2qvPTZmtUqBtlwSABdeeblIMB5oYkH2bdjeYi2KyDh5itwzTlo3q06ayl+sRyhHpjMjQlEuxROzrYv+lws7LVG0/Q/ihL6Hw1u4pdqO2IdWe6QalgFsPPqJugA7K6owu567guQMv4qKmD6y3/YbqgODAjHgmtrnm5XidGwb1uYnGdzYRIhMeeklXpATbMroWWv4+KpL4zNatZy/lQibM8awopg1dSn84AhoNEe5yk4N758EBXwNEkUBWxTavPpzPT/jACqhuiPt0UEmJMwQ1wwvwXmmgIdpW+7K+MtenbXknWGnbkmAtXiYtCx8zJXMCkQ//XFxSRIlMFeR5Blok41R880T5UifTOP3CBbCgs9An7vS4fHKongNXSIA56TPjFH6NDbUrFicq6kPyrUBn0fkXRcglF/kDpRHUqJhfHNeIapTIIO+unlCbJ/GlY+abVbkAvgM+rH2HZW9j35l9HDw5rZkaorIdSLZvUro3TxnexZVzn6qmDbM5ATtTvpVfgpPNKzBnlJOo7Nqgh3RAM4ftAtYeRBH/sWkMAsVMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R64mutCSakkQjasRBUGPHm",
      "input": {
        "note": "Blue pen is held (visible between jaws). Right basket is straight ahead; moving forward over its centre.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01R64mutCSakkQjasRBUGPHm",
      "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]: [-0.0193, 0.8169, 0.6132, -0.3805, -0.0223, -0.038, 0.9994, 0.5278, 1.5993, 1.1168, -0.1383, 0.3794, 0.2611, 0.3199]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1778 left_yaw=0.0033 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9994 right_x=0.4311 right_y=0.1797 right_z=0.1793 right_yaw=0.0619 right_pitch=-0.0093 right_roll=0.0173 right_gripper=0.3199\nstate[joint_eff]: [-0.1846, -1.853, 7.1863, 1.6923, -0.0317, -0.0366, -0.0171, -0.4581, -7.8564, 10.0718, 1.8437, 0.0952, -0.0611, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82e63ffecc47928bfa856b4130b5579d5aaf24929b84aaf88d23e6572dcf572a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2dff2a1c02835a5ab5f831fbbe26c88b9c6ee994d909ad695726514830f6b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a5d1efc196c362b9f00749d826b60786a940dfaff447665017fa481f47d8da5",
        "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 · 10.32 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]: [-0.0193, 0.8108, 0.6151, -0.3805, -0.0216, -0.038, 0.9995, 0.7788, 1.8217, 0.3939, 0.8383, 0.6018, 0.424, 0.3198]\nstate[eef_state]: left_x=0.2972 left_y=0.0017 left_z=0.1803 left_yaw=0.0026 left_pitch=-0.0133 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3234 right_y=0.1837 right_z=0.014 right_yaw=0.0461 right_pitch=0.0841 right_roll=0.0716 right_gripper=0.3198\nstate[joint_eff]: [-0.1299, -1.3197, 7.2547, 1.7167, -0.0317, -0.0464, -0.0171, -0.2393, -7.0632, 3.9179, 1.3895, 0.2369, -0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0193, 0.8116, 0.6151, -0.3805, -0.0216, -0.038, 0.9995, 0.7776, 1.2449, 0.794, -0.1875, 0.5911, 0.4232, 0.3198]\nstate[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.1801 left_yaw=0.0026 left_pitch=-0.0141 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3205 right_y=0.1824 right_z=0.1803 right_yaw=0.0559 right_pitch=0.0435 right_roll=0.043 right_gripper=0.3198\nstate[joint_eff]: [-0.1299, -1.3744, 7.0769, 1.7118, -0.022, -0.0806, -0.0171, -0.2667, -6.065, 9.2239, 1.5897, 0.2515, -0.0366, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0193, 0.8169, 0.6132, -0.3805, -0.0223, -0.038, 0.9994, 0.5278, 1.5993, 1.1168, -0.1383, 0.3794, 0.2611, 0.3199]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1778 left_yaw=0.0033 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9994 right_x=0.4311 right_y=0.1797 right_z=0.1793 right_yaw=0.0619 right_pitch=-0.0093 right_roll=0.0173 right_gripper=0.3199\nstate[joint_eff]: [-0.1846, -1.853, 7.1863, 1.6923, -0.0317, -0.0366, -0.0171, -0.4581, -7.8564, 10.0718, 1.8437, 0.0952, -0.0611, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82e63ffecc47928bfa856b4130b5579d5aaf24929b84aaf88d23e6572dcf572a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2dff2a1c02835a5ab5f831fbbe26c88b9c6ee994d909ad695726514830f6b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a5d1efc196c362b9f00749d826b60786a940dfaff447665017fa481f47d8da5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Over the basket. Lower a bit and release.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018uoV6RkWDo3MWcCe1PzEDo",
      "input": {
        "note": "Right gripper with the pen is over the right basket's interior; lowering slightly and opening to drop it in.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018uoV6RkWDo3MWcCe1PzEDo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8173, 0.6132, -0.3805, -0.0219, -0.038, 0.9995, 0.5285, 1.6375, 1.0145, -0.0059, 0.3794, 0.2543, 0.9969]\nstate[eef_state]: left_x=0.2974 left_y=0.0017 left_z=0.1777 left_yaw=0.003 left_pitch=-0.0217 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4293 right_y=0.1791 right_z=0.1436 right_yaw=0.0663 right_pitch=-0.0164 right_roll=0.0079 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.4017, 7.0632, 1.7216, -0.0366, -0.0366, -0.0171, -0.294, -7.0085, 6.4205, 1.8193, 0.0952, 0.0415, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b933f64b71d8fa01a932dd75182c31d0e6a2097c5eee18bc38074f2ba8ee79df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd44da7bff220f4e85c1638b72e2dc3633df21850fd905ca110eb19a17a5cc20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19b1328c3b80906b1228252e606cb0736ea27cf661d4442f3e1046d7720c7ef0",
        "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 · 3.604 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]: [-0.0193, 0.8116, 0.6151, -0.3805, -0.0216, -0.038, 0.9995, 0.7776, 1.2449, 0.794, -0.1875, 0.5911, 0.4232, 0.3198]\nstate[eef_state]: left_x=0.2973 left_y=0.0017 left_z=0.1801 left_yaw=0.0026 left_pitch=-0.0141 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3205 right_y=0.1824 right_z=0.1803 right_yaw=0.0559 right_pitch=0.0435 right_roll=0.043 right_gripper=0.3198\nstate[joint_eff]: [-0.1299, -1.3744, 7.0769, 1.7118, -0.022, -0.0806, -0.0171, -0.2667, -6.065, 9.2239, 1.5897, 0.2515, -0.0366, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0193, 0.8169, 0.6132, -0.3805, -0.0223, -0.038, 0.9994, 0.5278, 1.5993, 1.1168, -0.1383, 0.3794, 0.2611, 0.3199]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1778 left_yaw=0.0033 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9994 right_x=0.4311 right_y=0.1797 right_z=0.1793 right_yaw=0.0619 right_pitch=-0.0093 right_roll=0.0173 right_gripper=0.3199\nstate[joint_eff]: [-0.1846, -1.853, 7.1863, 1.6923, -0.0317, -0.0366, -0.0171, -0.4581, -7.8564, 10.0718, 1.8437, 0.0952, -0.0611, 1.0232]",
      "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]: [-0.0193, 0.8173, 0.6132, -0.3805, -0.0219, -0.038, 0.9995, 0.5285, 1.6375, 1.0145, -0.0059, 0.3794, 0.2543, 0.9969]\nstate[eef_state]: left_x=0.2974 left_y=0.0017 left_z=0.1777 left_yaw=0.003 left_pitch=-0.0217 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4293 right_y=0.1791 right_z=0.1436 right_yaw=0.0663 right_pitch=-0.0164 right_roll=0.0079 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.4017, 7.0632, 1.7216, -0.0366, -0.0366, -0.0171, -0.294, -7.0085, 6.4205, 1.8193, 0.0952, 0.0415, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b933f64b71d8fa01a932dd75182c31d0e6a2097c5eee18bc38074f2ba8ee79df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd44da7bff220f4e85c1638b72e2dc3633df21850fd905ca110eb19a17a5cc20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19b1328c3b80906b1228252e606cb0736ea27cf661d4442f3e1046d7720c7ef0",
        "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_014t6rb8n8bkTjpx6iKVLXX9",
      "input": {
        "note": "Pen and black marker are both in the right basket (pens basket). Parking the right arm, and moving the left arm toward the yellow marker that lies just ahead of its jaws.",
        "targets": {
          "left_x": 0.32,
          "left_z": 0.05,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_014t6rb8n8bkTjpx6iKVLXX9",
      "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]: [-0.0181, 1.224, 0.2451, 0.4236, -0.0265, -0.0341, 0.9995, -0.0933, 0.8364, 0.6216, -0.3599, -0.1066, -0.0834, 0.9974]\nstate[eef_state]: left_x=0.3266 left_y=0.0024 left_z=0.0606 left_yaw=0.0059 left_pitch=0.0077 left_roll=0.0015 left_gripper=0.9995 right_x=0.3024 right_y=-0.0058 right_z=0.181 right_yaw=0.0323 right_pitch=-0.0093 right_roll=0.0032 right_gripper=0.9974\nstate[joint_eff]: [0.0342, -2.5504, 4.1504, 1.6679, 0.0171, -0.0659, -0.0171, -0.1299, -1.853, 7.1863, 1.5507, -0.105, -0.1099, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e34d8c4abc79d9a0b06e6f80d763221388a5a15680fa2e630392eb4e260c1f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bbc10d8a9c3c38700e4e9ba65829ca107bda55a7a159a4ca356ac80077e2e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf28f08a817b24f95da43c2cdad745783c69a8bfe152fca6d9a57e66b9687a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.948 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]: [-0.0193, 0.8169, 0.6132, -0.3805, -0.0223, -0.038, 0.9994, 0.5278, 1.5993, 1.1168, -0.1383, 0.3794, 0.2611, 0.3199]\nstate[eef_state]: left_x=0.2974 left_y=0.0018 left_z=0.1778 left_yaw=0.0033 left_pitch=-0.0213 left_roll=-0.0033 left_gripper=0.9994 right_x=0.4311 right_y=0.1797 right_z=0.1793 right_yaw=0.0619 right_pitch=-0.0093 right_roll=0.0173 right_gripper=0.3199\nstate[joint_eff]: [-0.1846, -1.853, 7.1863, 1.6923, -0.0317, -0.0366, -0.0171, -0.4581, -7.8564, 10.0718, 1.8437, 0.0952, -0.0611, 1.0232]",
      "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]: [-0.0193, 0.8173, 0.6132, -0.3805, -0.0219, -0.038, 0.9995, 0.5285, 1.6375, 1.0145, -0.0059, 0.3794, 0.2543, 0.9969]\nstate[eef_state]: left_x=0.2974 left_y=0.0017 left_z=0.1777 left_yaw=0.003 left_pitch=-0.0217 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4293 right_y=0.1791 right_z=0.1436 right_yaw=0.0663 right_pitch=-0.0164 right_roll=0.0079 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.4017, 7.0632, 1.7216, -0.0366, -0.0366, -0.0171, -0.294, -7.0085, 6.4205, 1.8193, 0.0952, 0.0415, -0.1099]",
      "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]: [-0.0181, 1.224, 0.2451, 0.4236, -0.0265, -0.0341, 0.9995, -0.0933, 0.8364, 0.6216, -0.3599, -0.1066, -0.0834, 0.9974]\nstate[eef_state]: left_x=0.3266 left_y=0.0024 left_z=0.0606 left_yaw=0.0059 left_pitch=0.0077 left_roll=0.0015 left_gripper=0.9995 right_x=0.3024 right_y=-0.0058 right_z=0.181 right_yaw=0.0323 right_pitch=-0.0093 right_roll=0.0032 right_gripper=0.9974\nstate[joint_eff]: [0.0342, -2.5504, 4.1504, 1.6679, 0.0171, -0.0659, -0.0171, -0.1299, -1.853, 7.1863, 1.5507, -0.105, -0.1099, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e34d8c4abc79d9a0b06e6f80d763221388a5a15680fa2e630392eb4e260c1f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10bbc10d8a9c3c38700e4e9ba65829ca107bda55a7a159a4ca356ac80077e2e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf28f08a817b24f95da43c2cdad745783c69a8bfe152fca6d9a57e66b9687a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwcKEAgSGAI4AUIIdGhpbmtpbmcSDB9fFMdX2Buu9tBzYhoMdl5LKjtjEZRZWwVQIjCo7TQle+OuPfdWEKjpoIm+YCHwwy7v1b3PFcvISISlUEPVb5/ekzqwgxwEv8GKGf4q2Abv77LP7/qlgK7gXTPDQtvdikqjgALjcT9QoUy5azBcwg2uW7uS2RaF8gG+0xpr1XLr42F8zKf+0ohYQ8DD94yyd3TlK1GZaRq+xreQyAEDb+yJNhJhuGkkRWYHEbUW+IVNmAa8QJM4BaSDCVeZxO4Do2AqvqNUHfj233lnFQTn/6jwdEdn0evOtfLjcTtMKii/r1h3EZwLNlJAiUcbE2YLspXkBGhaMdg+yx833MJtvpT4I4d/QZQ+QTjcGLoPxcR2CedzIJ8Zk/nnYWxp+BFYx1ICNhPLd+jN6QwjLMDhw+2Shqok/p5WPNLg27IH4DcR6Mc1bmeEI4cXBaiXeAwgN1iOJsMusoj+LT+9QHmjDbAMPqGCyCdJu5X9wJo8PyewAQlUIxLGD5LO10+zXIUOGPJBDGbf7ZqQRT4q3R2IJC9GDCP0aoUwxLJhPbPfy5c5DPkV+iH9xWpZcUPzbgAH0Ig2y/EK8ReAZeHhABN8LBNB+6fOcRR/VpW5oex96ap6hC8GtZWyfgpjvuahxEKJ2C2hg/tErVnYHV60aQrNkKK6y4vgSJzAgOktfBhhPoZXCjSOaW83aj9jP5lWDlaRj7fZrjOIHiraKeW3AaopU7QqYXSsRcgAz/6WYfxlN8g97QcfY3YOI2uGEGigWYPbfwWUr7q3RuUB/caMetpvRRFK+kemn+T1/4GhR7Jrwr1gZ1SAIgvHLtZuvu7UV6nqnBr4NOIFeN7prM178zqAkINcWGbTkj7r/xkfstP8ySJyfvoOgJ4dT3sVn9CJtvOiZq1IZU1BV+7gAG+uFr/a/f1wbonXGLyhfbywAAphv6haZoraC8REXpO+7m9Vq2hy7X+I3YauFdGNtaOdjooFMzwAS5AhH32g/KZEcr9XS4eUyl9gtJtoAxKnJw83Poxg4PRAYb6ahYcsV/Iiu8PNZJJehZUqYA857YU4bdq7XxvTwaDbHt0eemBgqS4BOtgn3GosTGLWY79Sw5jfWhtvwyuvE4fOqzTOI3+XQlapVR8UILcfK6f5NFUYx6724fjFSDBB6bnNn4buBDvQh0jZsAvvv4rwr2W4Tt9cbr53I8ZUzQeeR00v/OK1GhCUeG4zQOcN7FcCzP7DetrAGGQYPYe8ywdOjGmWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GYLXPt21TurmmGBA71pm5m",
      "input": {
        "note": "Yellow marker sits just right of the left jaws' centre; nudging right 1 cm and descending to table level.",
        "targets": {
          "left_y": -0.01,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GYLXPt21TurmmGBA71pm5m",
      "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]: [-0.0887, 1.6619, 0.1669, 1.1419, -0.1307, -0.0193, 0.9995, -0.0929, 0.8417, 0.6193, -0.3687, -0.1139, -0.0971, 0.9975]\nstate[eef_state]: left_x=0.3537 left_y=-0.0047 left_z=0.0506 left_yaw=0.0178 left_pitch=0.2119 left_roll=0.0476 left_gripper=0.9995 right_x=0.3013 right_y=-0.0043 right_z=0.1767 right_yaw=0.0462 right_pitch=-0.0251 right_roll=-0.0022 right_gripper=0.9975\nstate[joint_eff]: [-0.1709, -2.2222, 1.4427, 0.4322, 0.4176, -0.5104, -0.0171, -0.0752, -1.4017, 7.2547, 1.7705, -0.0415, 0.0562, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c281ee5366855ea77172db0804479949fbac13fd556eeaab3f689d7ea13c2b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0deb12b7fecd0ab8e2272050a61a2bae142d99db18ddc6dabe224b20c6564b64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e90d2b0ca5fdef1a0c602cda90e0afec6e4435b52ca46d94042d7c4bcde3be69",
        "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 · 6.298 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]: [-0.0193, 0.8173, 0.6132, -0.3805, -0.0219, -0.038, 0.9995, 0.5285, 1.6375, 1.0145, -0.0059, 0.3794, 0.2543, 0.9969]\nstate[eef_state]: left_x=0.2974 left_y=0.0017 left_z=0.1777 left_yaw=0.003 left_pitch=-0.0217 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4293 right_y=0.1791 right_z=0.1436 right_yaw=0.0663 right_pitch=-0.0164 right_roll=0.0079 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.4017, 7.0632, 1.7216, -0.0366, -0.0366, -0.0171, -0.294, -7.0085, 6.4205, 1.8193, 0.0952, 0.0415, -0.1099]",
      "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]: [-0.0181, 1.224, 0.2451, 0.4236, -0.0265, -0.0341, 0.9995, -0.0933, 0.8364, 0.6216, -0.3599, -0.1066, -0.0834, 0.9974]\nstate[eef_state]: left_x=0.3266 left_y=0.0024 left_z=0.0606 left_yaw=0.0059 left_pitch=0.0077 left_roll=0.0015 left_gripper=0.9995 right_x=0.3024 right_y=-0.0058 right_z=0.181 right_yaw=0.0323 right_pitch=-0.0093 right_roll=0.0032 right_gripper=0.9974\nstate[joint_eff]: [0.0342, -2.5504, 4.1504, 1.6679, 0.0171, -0.0659, -0.0171, -0.1299, -1.853, 7.1863, 1.5507, -0.105, -0.1099, 0.0415]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0887, 1.6619, 0.1669, 1.1419, -0.1307, -0.0193, 0.9995, -0.0929, 0.8417, 0.6193, -0.3687, -0.1139, -0.0971, 0.9975]\nstate[eef_state]: left_x=0.3537 left_y=-0.0047 left_z=0.0506 left_yaw=0.0178 left_pitch=0.2119 left_roll=0.0476 left_gripper=0.9995 right_x=0.3013 right_y=-0.0043 right_z=0.1767 right_yaw=0.0462 right_pitch=-0.0251 right_roll=-0.0022 right_gripper=0.9975\nstate[joint_eff]: [-0.1709, -2.2222, 1.4427, 0.4322, 0.4176, -0.5104, -0.0171, -0.0752, -1.4017, 7.2547, 1.7705, -0.0415, 0.0562, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c281ee5366855ea77172db0804479949fbac13fd556eeaab3f689d7ea13c2b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0deb12b7fecd0ab8e2272050a61a2bae142d99db18ddc6dabe224b20c6564b64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e90d2b0ca5fdef1a0c602cda90e0afec6e4435b52ca46d94042d7c4bcde3be69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAoKEAgSGAI4AUIIdGhpbmtpbmcSDLf6hYELl6FBq7dmqxoMlSQKi8SD3zcAXG8WIjBnFXlq+gLLugVdxEww+jJmaXKxrCd3M8za+cJlDaYN0EfejHufWDtVhF1nfZYc/e0q2QmI2PngVD1tvkZ+vNXRlso8DHSpWCgHFjicfGkdfEYBoJVhwkYK7SywoPVvHU+e6RSR/nZzKKPV6xMF1p04Hv3C2qz4Vr4ttxQRVzW8R2b+Di0EIzLa8qduM+53CHspjje7LLnT3IExyKKVjss1n7k3PaT5QxQO8+y51xbhVwuss6e5xOHMgOv2a7e9xl+O7QM2bxmo/343VL9rGHVMYk0i4bBoJzlIDYj2RqLQK1ACVJGApczLffaAtzcJQdkvYFMNQBEDj7navzgYLBTB+TUi+4nF4PH+rGTq7XIJcYHkylsxtwj5mloHJUGYHalD6Plx1Qzf9mwh/KT3ePWYi/8aJQMQHn/HSV3V5aM36OPjPO0CO8f5agPAn1A+RGdkVn+5JvrkiYSjzldb7Rh95p+8i+DUNR8sQw1d4sjL4HG0Zn52DlHKEfAiyEvOiNeHEUR0iepwXCgtlJnX3sIRbGFyp7k+ksxvF2B9kqnk/7TBIGKiENUXhoVEhIC6EOrgvDBSRbeHmw/G6i2BYfMcX2s8iRnU1Nc0hWc0/uS40x/lp+w6cCfpztYD5h8qBMmcfXy5SaX3H+UGL0ZV7sBI15C6F7EnqIsn56OGQFdkwZ1m2AYNTnjTFV2fGqGIIH+e5zW1Rm1pzmR+bq/bxreg3y71Rqap7xKzrBR1T5HLN8EW57dI9j8YnkaiqYAeGxNptVGbd0vTbYxWYl/EwFN8OjF2WGxkv8E1Wm0QHh62sjFE3kIkjp5quXfnkyg5le0SZWsfaDLTZiMR/iGO0Jq1vwzG4cTfNIWKOOXR/+S7O7KVA4MJAT4u73yMNas6SAsffBYs7xWQHXXrscn4utNkkShcXuCBb4y95qkFoSiYwe5P4TprS/SbqkO5COSMnMq03hdH13iVBBTBC5EODq3t6g7+gi2yzvCbgkS4ktBduVpec3nYUjLfKEYIxSUI9W2tOc+I1Am6Dx2LkIGEwXjLD0Gi5jXHsdbbykEz+FpiAv71ecNuYUe6AsB9B2WvcdyQhalt104DWIm4yzywxejhvV6OmXvyZ/fheidajzBtfKYLr7AFR95lqi93ZZN7dJW1riYTO5wIP9TEmDU1aIvz/YAIAHHMTDqsmRWPtYdAB/rVqP45Fvq93N3WCs+KaQgaMArcqQfPVf5dHyVg5jU4MTjYNtwFYvmvT/Q7C1gKvFVPZEHVW8nV57pEZoVscvRv5j1rJjUCiHMyNgg6uEDVxj+yMYbKezaAA46LgF0ekLKpojOm7Y7uOTZNx/Mo2qUa7a/sgYhO/dswHwUUwWtuCwizzaDoVkma4hrcf2UppX3BCUFTqF36VUVpVJ7gETQrxVVKnYn3YhDazn5xHm9e3qbECDkTZkdhJ+YGu5NVBtPz9dQFzRJQ0QqIHkVlUfIpCRN5CmwGgrS2P8O91SbOk+xXsnXfR/j6Zy8j/EIGZFlM8WQKccMGGLMVFiFvMQTGNiVrfHXvHJmaTkn1moLIT8wAfc6X0d7mjxLKOoUyIga+gNYdJV4YU/zYHpUxov61S3X8KTDeLh5Z2LvJb4t/HDp55UGqsGzhTXnlsMA3TRLPYAaVML99E4vz17nUnhng0L+31pckDdS2pjMFAPvTTOicT8RH7VqBq/aR5eiktbCpl2T1tUucE6eQpRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EaGLaKP4CGkGmW2MiFzPvs",
      "input": {
        "note": "Left arm stalled at z 0.05 with an odd pitch; the marker is now hidden under the jaws. Re-commanding the descent with pitch held at 0.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.33,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EaGLaKP4CGkGmW2MiFzPvs",
      "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]: [-0.0887, 1.6421, 0.1802, 1.1393, -0.1352, -0.0074, 0.9995, -0.0929, 0.8433, 0.6193, -0.3695, -0.1146, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3588 left_y=-0.0044 left_z=0.0608 left_yaw=0.0161 left_pitch=0.242 left_roll=0.0573 left_gripper=0.9995 right_x=0.3013 right_y=-0.0042 right_z=0.1761 right_yaw=0.0473 right_pitch=-0.0273 right_roll=-0.0021 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -3.1248, 2.0581, 1.2234, -0.0073, -0.1978, -0.0122, -0.1026, -1.7162, 7.1726, 1.7509, -0.1099, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c44d0097d32aef07b49a99392ba2fc3bcb5620ed70647beecbae8e0db82077b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faee6c7c4d189d27d7d5fa12d38a918162eb34572889e3ebb81ae8e53c335979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90b1d9090b7af70b60266caa1a4fec48c6c9012797e8612960dbc0b469a31167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 4.579 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]: [-0.0181, 1.224, 0.2451, 0.4236, -0.0265, -0.0341, 0.9995, -0.0933, 0.8364, 0.6216, -0.3599, -0.1066, -0.0834, 0.9974]\nstate[eef_state]: left_x=0.3266 left_y=0.0024 left_z=0.0606 left_yaw=0.0059 left_pitch=0.0077 left_roll=0.0015 left_gripper=0.9995 right_x=0.3024 right_y=-0.0058 right_z=0.181 right_yaw=0.0323 right_pitch=-0.0093 right_roll=0.0032 right_gripper=0.9974\nstate[joint_eff]: [0.0342, -2.5504, 4.1504, 1.6679, 0.0171, -0.0659, -0.0171, -0.1299, -1.853, 7.1863, 1.5507, -0.105, -0.1099, 0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0887, 1.6619, 0.1669, 1.1419, -0.1307, -0.0193, 0.9995, -0.0929, 0.8417, 0.6193, -0.3687, -0.1139, -0.0971, 0.9975]\nstate[eef_state]: left_x=0.3537 left_y=-0.0047 left_z=0.0506 left_yaw=0.0178 left_pitch=0.2119 left_roll=0.0476 left_gripper=0.9995 right_x=0.3013 right_y=-0.0043 right_z=0.1767 right_yaw=0.0462 right_pitch=-0.0251 right_roll=-0.0022 right_gripper=0.9975\nstate[joint_eff]: [-0.1709, -2.2222, 1.4427, 0.4322, 0.4176, -0.5104, -0.0171, -0.0752, -1.4017, 7.2547, 1.7705, -0.0415, 0.0562, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0887, 1.6421, 0.1802, 1.1393, -0.1352, -0.0074, 0.9995, -0.0929, 0.8433, 0.6193, -0.3695, -0.1146, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3588 left_y=-0.0044 left_z=0.0608 left_yaw=0.0161 left_pitch=0.242 left_roll=0.0573 left_gripper=0.9995 right_x=0.3013 right_y=-0.0042 right_z=0.1761 right_yaw=0.0473 right_pitch=-0.0273 right_roll=-0.0021 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -3.1248, 2.0581, 1.2234, -0.0073, -0.1978, -0.0122, -0.1026, -1.7162, 7.1726, 1.7509, -0.1099, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c44d0097d32aef07b49a99392ba2fc3bcb5620ed70647beecbae8e0db82077b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faee6c7c4d189d27d7d5fa12d38a918162eb34572889e3ebb81ae8e53c335979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90b1d9090b7af70b60266caa1a4fec48c6c9012797e8612960dbc0b469a31167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PFFBDzHcWzL7zK7ffrTSq5",
      "input": {
        "note": "Descent keeps stopping at z≈0.06, suggesting the yellow marker is standing upright between the jaws and touching the palm. Closing to grab it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PFFBDzHcWzL7zK7ffrTSq5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0906, 1.6436, 0.1802, 1.1507, -0.1349, -0.0071, 0.01, -0.0929, 0.8433, 0.6193, -0.3695, -0.1146, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3596 left_y=-0.0052 left_z=0.063 left_yaw=0.0139 left_pitch=0.2519 left_roll=0.0564 left_gripper=0.01 right_x=0.3013 right_y=-0.0042 right_z=0.1761 right_yaw=0.0473 right_pitch=-0.0273 right_roll=-0.0021 right_gripper=0.9975\nstate[joint_eff]: [0.212, -5.1077, 3.6855, 1.8291, -0.0366, -0.0317, 0.7643, -0.1026, -1.5932, 7.3094, 1.6923, -0.1148, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bfed22611bc09329012b82d70d94b1f7cfeb32f7d03cca67b657f58faaa0081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1deeaf9fd0e0d48178d135ddd9a2c444a27aace2fcc2a77ba23f7a5956511aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:daa73d837c531cadd561ef077a9a313879f215459aa94637d370b0d5b5f6e4b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 7.459 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0887, 1.6619, 0.1669, 1.1419, -0.1307, -0.0193, 0.9995, -0.0929, 0.8417, 0.6193, -0.3687, -0.1139, -0.0971, 0.9975]\nstate[eef_state]: left_x=0.3537 left_y=-0.0047 left_z=0.0506 left_yaw=0.0178 left_pitch=0.2119 left_roll=0.0476 left_gripper=0.9995 right_x=0.3013 right_y=-0.0043 right_z=0.1767 right_yaw=0.0462 right_pitch=-0.0251 right_roll=-0.0022 right_gripper=0.9975\nstate[joint_eff]: [-0.1709, -2.2222, 1.4427, 0.4322, 0.4176, -0.5104, -0.0171, -0.0752, -1.4017, 7.2547, 1.7705, -0.0415, 0.0562, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0887, 1.6421, 0.1802, 1.1393, -0.1352, -0.0074, 0.9995, -0.0929, 0.8433, 0.6193, -0.3695, -0.1146, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3588 left_y=-0.0044 left_z=0.0608 left_yaw=0.0161 left_pitch=0.242 left_roll=0.0573 left_gripper=0.9995 right_x=0.3013 right_y=-0.0042 right_z=0.1761 right_yaw=0.0473 right_pitch=-0.0273 right_roll=-0.0021 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -3.1248, 2.0581, 1.2234, -0.0073, -0.1978, -0.0122, -0.1026, -1.7162, 7.1726, 1.7509, -0.1099, -0.0513, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0906, 1.6436, 0.1802, 1.1507, -0.1349, -0.0071, 0.01, -0.0929, 0.8433, 0.6193, -0.3695, -0.1146, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3596 left_y=-0.0052 left_z=0.063 left_yaw=0.0139 left_pitch=0.2519 left_roll=0.0564 left_gripper=0.01 right_x=0.3013 right_y=-0.0042 right_z=0.1761 right_yaw=0.0473 right_pitch=-0.0273 right_roll=-0.0021 right_gripper=0.9975\nstate[joint_eff]: [0.212, -5.1077, 3.6855, 1.8291, -0.0366, -0.0317, 0.7643, -0.1026, -1.5932, 7.3094, 1.6923, -0.1148, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bfed22611bc09329012b82d70d94b1f7cfeb32f7d03cca67b657f58faaa0081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1deeaf9fd0e0d48178d135ddd9a2c444a27aace2fcc2a77ba23f7a5956511aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daa73d837c531cadd561ef077a9a313879f215459aa94637d370b0d5b5f6e4b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAgKEAgSGAI4AUIIdGhpbmtpbmcSDIsjUp/qJBOVBwICiRoMf1GnmZ/d+kz9ktdBIjBoNxxg/WwvJmBcIUOjL+M7Lvh/9rRTakffKC5LFQzTbaRqFLCvF9mzgFeXsKLkTVwqtQfJGz6Tn18sp42sfOjpBcbgm4jJBmzBtE6CU8/t36HtwUZ+RNRDm2GWe/O0WIc3nKVzPcenM40nZ/EdgXdttNJ1+gSrAKNVq6+J2CkNsr58OipLbglAMNB1+GLjpLdhmWbhqYwapxzV1afhKKVB13UUNsIgn6WEHs3erlavvqnZOAI692b4hNXWYw/hP1cmc+1OeoBFiOBdzjtMb6E2CwHv8WeFDcfdhLjEDKzNZ37D0C+cvEnAz2B/gd6j4o3asF94E24dj+TMBxHIBLHzUufvW2+Lh0wxpmiQp0aYBhClC+iD6PeAfT2xOK/3TJzS+cwpVKO0wEfCy8CZMS0OseZYE1kPNSe51Tdypv0nZWVhZaX7bH71TR3Yn/M1YNL3P0OYktSsfLEhcSbCalAD8L95YKiaG81R7opnPbQfCUpRpiYdKGIRgEkv0IlYLMG7OJSQKhWB66D6wueWYa6d3YLYjCRHLtZyBBQkjDGxKYcn3i2fCo4eLUTTRnvaKuaHnPw+aq7lBIZzNS+7LyJEVGAYLdugVkwcw+odcW3Cv2sFtji/3kfN/yt7L8xq77RBkpS+5ewmKoP+l42r2MKwrNXAhyqyKF2SruIG1sMwBUIcPulYxrELir27nl9AER5fcAB9RKuCExKpmQZz7QWFPLSVkDSCdqAbyn9yJeKS73KxYL2Rk7b9vPB90ZMtalT/lJmbhJuvUZ4jkI2FRMe/ZqyIRA4X+f9nXaC8Gp65Z0uEYXHrKHEH1pBp+enMqjAqcK57roobz3Gssu+Fy/ltmKbekX0udTPr31HerCBxPyzhVbEY/cSyWXuXeLtvm2POKQPdfzZPQr/9D4lWuMVWu9B2gb3oVQOVxQeatJJYaGiI+xs/xOMhxiQzVex67fPFPC+r8xO6e3vxHlwjZe4PMIKJ0kYOB+2Z5ZBqNc6OgHR9TL9p5P9Znn6+D3Nsh9n2HB5agvj2YGIjpQ9U1f1EIzNxNTGHMAcPdjCc2O1q3zMeNURutkSxGy+ykahQAKpLUMSB9M0SW5zIdNLtYhVa6eyplFLWAux8gwA/3IZRTstoSasPSMpPI41ocac8H/wHQc+Hg+0wr3QJopVQvktQYDhEsGIaoDo1DjZDnVxQWtTECokjRhcNaHeQXmsUR7vccJ/iVllh7/HqV2yfhtAHhRfbEh3NvwqyWBTNIVdKmU5utN7OZEWctrOxaS+bEYWzvhKkf9ttHkfw6QQXZG5KhfKbD2W0z5dpvIZisNaGZTPDJbMEuzLpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017cAt69x7Ekp99zGG9CSnyY",
      "input": {
        "note": "Empty close; the left arm seems to be resting on the grey koala plush. Opening and lifting/backing off to re-locate the yellow marker in the wrist view.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.28,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017cAt69x7Ekp99zGG9CSnyY",
      "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, 0.7284, 0.4175, -0.181, -0.1555, -0.0525, 0.9953, -0.0929, 0.8471, 0.6174, -0.3702, -0.115, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.292 left_y=-0.0063 left_z=0.1546 left_yaw=0.0155 left_pitch=0.0764 left_roll=0.0446 left_gripper=0.9953 right_x=0.3012 right_y=-0.0041 right_z=0.174 right_yaw=0.0476 right_pitch=-0.0337 right_roll=-0.001 right_gripper=0.9975\nstate[joint_eff]: [-0.4171, -1.0735, 9.347, 1.6777, -0.0806, 0.1197, -0.0611, -0.1436, -1.4974, 7.2274, 1.6923, -0.105, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4e56258430b326da6d450f2d8f19af29366735170b4854a287be149c5729fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d6d4b2d7fc3901a228caf011863110ffe529155cb7a0f4e3c6501e75f72f35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df0086f3ca73d09ad4566156bd647002235f9e76c16d8d8ca6f827f2a63ee474",
        "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 · 3.419 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0887, 1.6421, 0.1802, 1.1393, -0.1352, -0.0074, 0.9995, -0.0929, 0.8433, 0.6193, -0.3695, -0.1146, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3588 left_y=-0.0044 left_z=0.0608 left_yaw=0.0161 left_pitch=0.242 left_roll=0.0573 left_gripper=0.9995 right_x=0.3013 right_y=-0.0042 right_z=0.1761 right_yaw=0.0473 right_pitch=-0.0273 right_roll=-0.0021 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -3.1248, 2.0581, 1.2234, -0.0073, -0.1978, -0.0122, -0.1026, -1.7162, 7.1726, 1.7509, -0.1099, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0906, 1.6436, 0.1802, 1.1507, -0.1349, -0.0071, 0.01, -0.0929, 0.8433, 0.6193, -0.3695, -0.1146, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3596 left_y=-0.0052 left_z=0.063 left_yaw=0.0139 left_pitch=0.2519 left_roll=0.0564 left_gripper=0.01 right_x=0.3013 right_y=-0.0042 right_z=0.1761 right_yaw=0.0473 right_pitch=-0.0273 right_roll=-0.0021 right_gripper=0.9975\nstate[joint_eff]: [0.212, -5.1077, 3.6855, 1.8291, -0.0366, -0.0317, 0.7643, -0.1026, -1.5932, 7.3094, 1.6923, -0.1148, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1276, 0.7284, 0.4175, -0.181, -0.1555, -0.0525, 0.9953, -0.0929, 0.8471, 0.6174, -0.3702, -0.115, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.292 left_y=-0.0063 left_z=0.1546 left_yaw=0.0155 left_pitch=0.0764 left_roll=0.0446 left_gripper=0.9953 right_x=0.3012 right_y=-0.0041 right_z=0.174 right_yaw=0.0476 right_pitch=-0.0337 right_roll=-0.001 right_gripper=0.9975\nstate[joint_eff]: [-0.4171, -1.0735, 9.347, 1.6777, -0.0806, 0.1197, -0.0611, -0.1436, -1.4974, 7.2274, 1.6923, -0.105, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4e56258430b326da6d450f2d8f19af29366735170b4854a287be149c5729fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d6d4b2d7fc3901a228caf011863110ffe529155cb7a0f4e3c6501e75f72f35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df0086f3ca73d09ad4566156bd647002235f9e76c16d8d8ca6f827f2a63ee474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011RLhuKjTf7x39w61je254W",
      "input": {
        "note": "The grey koala plush is just left of the left jaws and was blocking the descent onto the yellow marker. Grabbing the koala first: shifting left over it.",
        "targets": {
          "left_x": 0.31,
          "left_y": 0.04,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011RLhuKjTf7x39w61je254W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1654, 0.8993, 0.3351, -0.0006, 0.0513, 0.0536, 0.9966, -0.0929, 0.849, 0.6174, -0.374, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3 left_y=0.0445 left_z=0.1066 left_yaw=0.0768 left_pitch=-0.0018 left_roll=0.0342 left_gripper=0.9966 right_x=0.3007 right_y=-0.0038 right_z=0.1727 right_yaw=0.0489 right_pitch=-0.0392 right_roll=0.0007 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -2.1538, 6.4615, 2.0342, 0.1734, 0.149, 0.1294, -0.0752, -1.7299, 7.2137, 1.707, -0.0659, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7324049600d00869154e7e589515da65d0189f4c19b94eb8f91611773ecd86f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a50a7b546e491a08d503d9c778545d8e9674310130a7a942b64e4274bb3ff5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebda0469bd360592a27fb1ed8cfc4b2297962081721b0f0daaf877d968640289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.021 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0906, 1.6436, 0.1802, 1.1507, -0.1349, -0.0071, 0.01, -0.0929, 0.8433, 0.6193, -0.3695, -0.1146, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3596 left_y=-0.0052 left_z=0.063 left_yaw=0.0139 left_pitch=0.2519 left_roll=0.0564 left_gripper=0.01 right_x=0.3013 right_y=-0.0042 right_z=0.1761 right_yaw=0.0473 right_pitch=-0.0273 right_roll=-0.0021 right_gripper=0.9975\nstate[joint_eff]: [0.212, -5.1077, 3.6855, 1.8291, -0.0366, -0.0317, 0.7643, -0.1026, -1.5932, 7.3094, 1.6923, -0.1148, -0.0562, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1276, 0.7284, 0.4175, -0.181, -0.1555, -0.0525, 0.9953, -0.0929, 0.8471, 0.6174, -0.3702, -0.115, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.292 left_y=-0.0063 left_z=0.1546 left_yaw=0.0155 left_pitch=0.0764 left_roll=0.0446 left_gripper=0.9953 right_x=0.3012 right_y=-0.0041 right_z=0.174 right_yaw=0.0476 right_pitch=-0.0337 right_roll=-0.001 right_gripper=0.9975\nstate[joint_eff]: [-0.4171, -1.0735, 9.347, 1.6777, -0.0806, 0.1197, -0.0611, -0.1436, -1.4974, 7.2274, 1.6923, -0.105, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.1654, 0.8993, 0.3351, -0.0006, 0.0513, 0.0536, 0.9966, -0.0929, 0.849, 0.6174, -0.374, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3 left_y=0.0445 left_z=0.1066 left_yaw=0.0768 left_pitch=-0.0018 left_roll=0.0342 left_gripper=0.9966 right_x=0.3007 right_y=-0.0038 right_z=0.1727 right_yaw=0.0489 right_pitch=-0.0392 right_roll=0.0007 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -2.1538, 6.4615, 2.0342, 0.1734, 0.149, 0.1294, -0.0752, -1.7299, 7.2137, 1.707, -0.0659, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7324049600d00869154e7e589515da65d0189f4c19b94eb8f91611773ecd86f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a50a7b546e491a08d503d9c778545d8e9674310130a7a942b64e4274bb3ff5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebda0469bd360592a27fb1ed8cfc4b2297962081721b0f0daaf877d968640289",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAcKEAgSGAI4AUIIdGhpbmtpbmcSDOr9CNy9viLt1/6uKhoMrcvmTFSTtB2AH3WdIjCZego3NDahDtiCwtrt8RNgr5Rz+8gM3xliuaG//E3h6rQEBbKdrlc+EKnVh9U8G8QqpQZvFCwpIDXw3xw9m1w12tTz/+km7dMrBZpwyUbbj5FyaYZdA3FqwnPe2l0jVf00Exl8ttSvdInbk7OJIonKBRcBEtY86UYTaxdgKcL1p31WKGnXadzVaCm8XKU8GfAZBELnoAX0DlDrd0XHBIEeGqMzQhRcRqrYFrEWS7hTovkVrKuiG07HYhVHjToHGNwtx8ONdKMof2GO5oXCyegdyKxFbxGwXlLyF0v2hXf02lj6Y0E2qEbtE2ygL6UvgvYexdVvSgN1B+8svm6BsVn3G+cLZjyxKuBLarWJoZXYEghTdtOzEffJLadTMO4IGmDxj5IHCQ5Hk7wOMIUX1ROinSI1S63SSeqrnavOBOOgNF8uWWuB6tiC8VymzXYqkXXadAzGGO8nrLW/mUD+TCNXpLM+NNDa9UJowbGuRk0XaKt9VLKcSAHwi//QmksLGFZYOWtRb8ODWqnzL/HCqxVB4TDF7CWD4JAvlW0Z1nfCcw8MFv1sif4ok2p9l45vUYaybkPWlSMBGfc9gRcYHVyFg04kZe8+Rx0axnAUTLNd1EPOwQldnqywUpHWvv1DBEaAE6fpXjp0UjOoiah/lCZW1hrwKUyw9wBrRnMUfToAIO7y4X8VotLSav6IOuJ9V5YPqgFkP+LGwdUHX4Sx0CLYb2m6glwy9U+k4XnYF65BQqvNMTrRKjBawmBXN1PMZN8O/KTd6kH5lcVQVl/XY40ROead6vU4JuQCqMt83WvaGoAtdv5kf8HkNt2VsTOTnliydu8kj5rudt75xRZ/bKLDN+vRplNeZyMg1qxpSHX/bXT3N0LomWdOJxNMZo7hsVngBM1/gmHyqCcZwDv1J96a65Z4Y52gvYg9MeNzxl7cYfopGw7FrxLGblKTPOETvRanE5SiFhbeENFcxdRLre29S1NHGlBgxzQxqLXb7KsOssl1VsK8e4orNTWUv+Li/1BCaiWMODIQ5PB1ZK48KVXPjO57N0AiDTI30U0/kJjbLPKKAriO6UNUdOUKkkd4fptHCHujgYd9/OUmsGZu0Jxl/tNO/9i0ISgSdTlIQp0Y6aolymrbiSueGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Aq72VMwvCL5pNc5S1PKk3X",
      "input": {
        "note": "Koala plush is centred under the left jaws; descending onto it.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Aq72VMwvCL5pNc5S1PKk3X",
      "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]: [0.1669, 1.2255, 0.1455, 0.514, 0.0296, 0.0692, 0.9967, -0.0929, 0.8539, 0.6136, -0.3759, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3034 left_y=0.0495 left_z=0.0405 left_yaw=0.0884 left_pitch=-0.0044 left_roll=0.0589 left_gripper=0.9967 right_x=0.3002 right_y=-0.0037 right_z=0.1692 right_yaw=0.049 right_pitch=-0.0498 right_roll=0.0022 right_gripper=0.9975\nstate[joint_eff]: [-0.1573, -1.7299, 3.0154, 0.8425, 0.359, -0.1929, 0.0024, 0.0615, -1.8393, 7.3094, 1.7998, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1de288e00074385ab46110e82a0d5471f0e2d6670ac6e472eef0f700a83a09c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af7d6acf5e6b086fd8c39d8d6eb2e33223afbdba013259849270dda6b02194a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3845d9d7cce37ab56e041845a865cf65090d8fabfa91f072250aeb0451e7204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 5.89 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1276, 0.7284, 0.4175, -0.181, -0.1555, -0.0525, 0.9953, -0.0929, 0.8471, 0.6174, -0.3702, -0.115, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.292 left_y=-0.0063 left_z=0.1546 left_yaw=0.0155 left_pitch=0.0764 left_roll=0.0446 left_gripper=0.9953 right_x=0.3012 right_y=-0.0041 right_z=0.174 right_yaw=0.0476 right_pitch=-0.0337 right_roll=-0.001 right_gripper=0.9975\nstate[joint_eff]: [-0.4171, -1.0735, 9.347, 1.6777, -0.0806, 0.1197, -0.0611, -0.1436, -1.4974, 7.2274, 1.6923, -0.105, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.1654, 0.8993, 0.3351, -0.0006, 0.0513, 0.0536, 0.9966, -0.0929, 0.849, 0.6174, -0.374, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3 left_y=0.0445 left_z=0.1066 left_yaw=0.0768 left_pitch=-0.0018 left_roll=0.0342 left_gripper=0.9966 right_x=0.3007 right_y=-0.0038 right_z=0.1727 right_yaw=0.0489 right_pitch=-0.0392 right_roll=0.0007 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -2.1538, 6.4615, 2.0342, 0.1734, 0.149, 0.1294, -0.0752, -1.7299, 7.2137, 1.707, -0.0659, -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 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]: [0.1669, 1.2255, 0.1455, 0.514, 0.0296, 0.0692, 0.9967, -0.0929, 0.8539, 0.6136, -0.3759, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3034 left_y=0.0495 left_z=0.0405 left_yaw=0.0884 left_pitch=-0.0044 left_roll=0.0589 left_gripper=0.9967 right_x=0.3002 right_y=-0.0037 right_z=0.1692 right_yaw=0.049 right_pitch=-0.0498 right_roll=0.0022 right_gripper=0.9975\nstate[joint_eff]: [-0.1573, -1.7299, 3.0154, 0.8425, 0.359, -0.1929, 0.0024, 0.0615, -1.8393, 7.3094, 1.7998, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1de288e00074385ab46110e82a0d5471f0e2d6670ac6e472eef0f700a83a09c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af7d6acf5e6b086fd8c39d8d6eb2e33223afbdba013259849270dda6b02194a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3845d9d7cce37ab56e041845a865cf65090d8fabfa91f072250aeb0451e7204",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GkwB3KhuMZhKtsQgif9XRg",
      "input": {
        "note": "Jaws are straddling the koala plush at z≈0.04; closing to grab it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GkwB3KhuMZhKtsQgif9XRg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1669, 1.2301, 0.1299, 0.5461, 0.0257, 0.0677, 0.4719, -0.0929, 0.8574, 0.6136, -0.3779, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3022 left_y=0.0499 left_z=0.04 left_yaw=0.0925 left_pitch=0.0073 left_roll=0.0606 left_gripper=0.4719 right_x=0.3001 right_y=-0.0037 right_z=0.1679 right_yaw=0.0494 right_pitch=-0.0551 right_roll=0.0032 right_gripper=0.9975\nstate[joint_eff]: [-0.1983, -2.8239, 6.4615, 1.4042, -0.0024, -0.0317, 0.7253, -0.1436, -1.935, 7.0359, 1.7558, -0.0952, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:372eb502107f6df8aff2f5227bef84ad9f2a8aea3a21be5f889bf43f64f20c02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2250e3602b13a5416d761a298ba66e71d07e7484ad08b16b3f2d800a40b7b8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7c623b2bfc2c6664548719952e56df354dc930608953b19bacc531da2111841",
        "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 · 4.509 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]: [0.1654, 0.8993, 0.3351, -0.0006, 0.0513, 0.0536, 0.9966, -0.0929, 0.849, 0.6174, -0.374, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3 left_y=0.0445 left_z=0.1066 left_yaw=0.0768 left_pitch=-0.0018 left_roll=0.0342 left_gripper=0.9966 right_x=0.3007 right_y=-0.0038 right_z=0.1727 right_yaw=0.0489 right_pitch=-0.0392 right_roll=0.0007 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -2.1538, 6.4615, 2.0342, 0.1734, 0.149, 0.1294, -0.0752, -1.7299, 7.2137, 1.707, -0.0659, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1669, 1.2255, 0.1455, 0.514, 0.0296, 0.0692, 0.9967, -0.0929, 0.8539, 0.6136, -0.3759, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3034 left_y=0.0495 left_z=0.0405 left_yaw=0.0884 left_pitch=-0.0044 left_roll=0.0589 left_gripper=0.9967 right_x=0.3002 right_y=-0.0037 right_z=0.1692 right_yaw=0.049 right_pitch=-0.0498 right_roll=0.0022 right_gripper=0.9975\nstate[joint_eff]: [-0.1573, -1.7299, 3.0154, 0.8425, 0.359, -0.1929, 0.0024, 0.0615, -1.8393, 7.3094, 1.7998, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.1669, 1.2301, 0.1299, 0.5461, 0.0257, 0.0677, 0.4719, -0.0929, 0.8574, 0.6136, -0.3779, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3022 left_y=0.0499 left_z=0.04 left_yaw=0.0925 left_pitch=0.0073 left_roll=0.0606 left_gripper=0.4719 right_x=0.3001 right_y=-0.0037 right_z=0.1679 right_yaw=0.0494 right_pitch=-0.0551 right_roll=0.0032 right_gripper=0.9975\nstate[joint_eff]: [-0.1983, -2.8239, 6.4615, 1.4042, -0.0024, -0.0317, 0.7253, -0.1436, -1.935, 7.0359, 1.7558, -0.0952, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:372eb502107f6df8aff2f5227bef84ad9f2a8aea3a21be5f889bf43f64f20c02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2250e3602b13a5416d761a298ba66e71d07e7484ad08b16b3f2d800a40b7b8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7c623b2bfc2c6664548719952e56df354dc930608953b19bacc531da2111841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAsKEAgSGAI4AUIIdGhpbmtpbmcSDHI9gocIEzxx/Lj+kBoMuuC4/9qLpfNo0FlPIjAai7D6pH3mB8BUnheU0rOGZwErFE5Sj4W5A5gLafEmSH59LV9dxUvg5Sow7pfcDTsquQroB4lSmoMrQ3gyVe50NNWiuhLxSZscENg7GYSwqmBF2i+xK80NqJ6U+cB4fS9HrBGm9639ngBha6rEya+1EGwNJgf7HjEF13o2Wrfo0NQlzzW74esGFbx5YAo7tikP2va8hDjhXRO2EzNO4ofbY+qEdaqE1mrpb1QZvDVaoH4CMtHTgbVjmgctsJ++9tS6C7xQfWQE+bc8uU1QYtoFWCK8KWxZ8fzF4w/dx22VwPbxqpxs/SQy5UvB/LHW5xv3ffuQ8MbjVTzGL+p4bD+R+ta1xX8ON4yciAiVUoo6NF0l0/D0mkqp9XoLl90D8mb+KaOy7g/V/EM76horMT8ZItiOn41wae2yLSgIx78Xeb87LET6IZf9Z112pptV484kueb81aBa2u8XGV1yP015QZkE2Xu6/rAWmCTXvCk9bxuR2tQl8m6DsGIBGxbOPwA4L3mvH6VboZZolniKAjnUsighGL7amX+UCyhFZIoTbLBIGu9eD/Uo2Fp1xvPc84i5OkTEMHUMPKjSFQM4UBFyEuEF9cDqiTlE7r2hZWxETcGWrJU8eQls9rL/j5x1Sh623qbIrMKOuY93P44HzM/0YJj3OfJ+qo4Q19AP7vHD/JRLEEmUQA9aEJTgVsz9iCC4x548shcB89Ss/iiM3RlY2GSQUtUo58o9o3RiBizRHaRaYg2NlNziR6RUheDKLmKBp1sEubVrXMHdrpDuxiTVVJG/Oex0xXPsId7t5WyjSorgFDH7rOBBrZmrKWYRz9djusSkA5eDn+dSTuHWWsAJNgIgLMntoYSi4jTCVcOgVsPteM3zv3SUCVpAJFIcMOdKPeZFmuO/VhHg10HgVIigGmtUqKxK4d9stjxRg6JU+MnwOfWJghkQTdxuCAv54coKTIJ0mBVt4B3F6LY9/gaXmQL1TRow8pwzJgLb0c+RX/x9RzH0xQ1Ceg1jS3q+vH4ySklCPG33t5mLv87VnIdsLwcVVIAM07QWPD9twkWe+4JuR5LSSJEe5QfqJsHZt+dyNOjpWnsLjFcyaVijrhNxQ9VDwiCZ8FKzxPcjlwboMiSsIVInNuCGRZDTtJjVitpLivl2OBMYrDq2A90S+DQHUqx6nFM4vtJzsUehkMGRRElvNoxTth5wrRFj2eyp+Yu3Pmw1O3MNd5fH0VMk4l7F0YUpZiQOHHuPP7xnODW0ubwf7LfbUeqzE0cBvXD88/gGC58ksIsoCCkx+AvKWwrJjaipnMkujSC6pyUi31ZU/tbyCny0pnhYeA+aiomdRrxbdozirWMaoVGchlEqnsYDWHkQqVuGMR+Ye6q6c/IhOIpYT4Psr1lKAHefsGjIOA0i9O9Wu2xarwVh+7STtk2UM8VgMN75YmVIzha8iePRrh1FPNcKmWdSX5pXEOQpAFgq19I06NcviGkNRTLxSyd+8/0ay+EdxqBRl/zIDsfIpnkmOggaz8YWseEGBD4tjAFigod5Vb7zUliyx/hgnonwbZ010Kk/nZvsJaIr4CRHMPAuKR/+PBTmkh86QII6G4keO1kQSgg0zFY7YZu5tLx6awbi6gPjYjAxFghfnjRbfhelNR52Xf/0de3xewO+fKKw6E1VcXJAZnk53vEPuFfQJF3WkWXTg2+VrMFxOTbd2q+fwFb76ZQFDkckQpyrRYieSXtGChK1FyJq3sYyyd8/WKQe/jiDU90wxotE7xFbqL15DKG19r47EuHShGoMfm7rKmwHn3Wt7HKCpJXfpr0NWJaHx/M3wyYsY4qqZwoorgMZEHAldw7sGAVnMRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XgJtR3LBvKK2cNStDmFn28",
      "input": {
        "note": "Koala grasped (gripper settled at 0.47). Lifting it clear before carrying to the left basket (plush basket).",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01XgJtR3LBvKK2cNStDmFn28",
      "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]: [0.1669, 0.8619, 0.7139, -0.4267, 0.0254, 0.0601, 0.4735, -0.0929, 0.8623, 0.6132, -0.384, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3024 left_y=0.05 left_z=0.2017 left_yaw=0.0968 left_pitch=-0.013 left_roll=0.0528 left_gripper=0.4735 right_x=0.2995 right_y=-0.0037 right_z=0.1651 right_yaw=0.0491 right_pitch=-0.0664 right_roll=0.0046 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -1.7573, 9.4974, 1.8974, 0.0024, 0.0757, 0.1636, -0.1026, -2.0444, 7.2274, 1.8046, -0.0659, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37686caea962078c2958e7cdc9f5f5a275f5bd9dd0c581f5588167a49dff26d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3d90a0bed65b45a5a479e3bd40977e8d1025f48ca2b6588923407fc882ce92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9258020738cd53ec5fe85966207a84eb968609db4fdcdec80d5d8d6229e21ede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 3.405 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]: [0.1669, 1.2255, 0.1455, 0.514, 0.0296, 0.0692, 0.9967, -0.0929, 0.8539, 0.6136, -0.3759, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3034 left_y=0.0495 left_z=0.0405 left_yaw=0.0884 left_pitch=-0.0044 left_roll=0.0589 left_gripper=0.9967 right_x=0.3002 right_y=-0.0037 right_z=0.1692 right_yaw=0.049 right_pitch=-0.0498 right_roll=0.0022 right_gripper=0.9975\nstate[joint_eff]: [-0.1573, -1.7299, 3.0154, 0.8425, 0.359, -0.1929, 0.0024, 0.0615, -1.8393, 7.3094, 1.7998, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.1669, 1.2301, 0.1299, 0.5461, 0.0257, 0.0677, 0.4719, -0.0929, 0.8574, 0.6136, -0.3779, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3022 left_y=0.0499 left_z=0.04 left_yaw=0.0925 left_pitch=0.0073 left_roll=0.0606 left_gripper=0.4719 right_x=0.3001 right_y=-0.0037 right_z=0.1679 right_yaw=0.0494 right_pitch=-0.0551 right_roll=0.0032 right_gripper=0.9975\nstate[joint_eff]: [-0.1983, -2.8239, 6.4615, 1.4042, -0.0024, -0.0317, 0.7253, -0.1436, -1.935, 7.0359, 1.7558, -0.0952, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1669, 0.8619, 0.7139, -0.4267, 0.0254, 0.0601, 0.4735, -0.0929, 0.8623, 0.6132, -0.384, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3024 left_y=0.05 left_z=0.2017 left_yaw=0.0968 left_pitch=-0.013 left_roll=0.0528 left_gripper=0.4735 right_x=0.2995 right_y=-0.0037 right_z=0.1651 right_yaw=0.0491 right_pitch=-0.0664 right_roll=0.0046 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -1.7573, 9.4974, 1.8974, 0.0024, 0.0757, 0.1636, -0.1026, -2.0444, 7.2274, 1.8046, -0.0659, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37686caea962078c2958e7cdc9f5f5a275f5bd9dd0c581f5588167a49dff26d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3d90a0bed65b45a5a479e3bd40977e8d1025f48ca2b6588923407fc882ce92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9258020738cd53ec5fe85966207a84eb968609db4fdcdec80d5d8d6229e21ede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwgKEAgSGAI4AUIIdGhpbmtpbmcSDLKurl0WWWMLWqLYOxoMiHoulRtYlGz3TnpAIjCYxTAIwqHl2+A1UmQXjTFe5ECJXLFVwau11fl1IXtxmVDI2D0AcG/fyV32M82/efYqsAcQow7VhSh5vu/8t/3tBj8CoUMtOMOUDIOXm0Z0hhjYEk6L9Toc56tSETApCLWP7Lt79U+MixtfuqfK43/Pe9zIQw6V2RpU3fX27vY4/SOG0W/O5PHuwUQBhruSJa+G0RS8l5lwoM8rXRYP9dDJQCqGX18X2geJDGQgsvgYonuCT6KdYvy7Z2QDZiH8MstYE3wLIg7MkmJdg4bZFFjWMGj00ukvIjVXXtGc/+CDBMqssOqGLEAxfGfLH8vEnN0Pyky5cedOBOM4G+pf0sgiDXqBoOyJc1uHKSqbARmwx/eKKIkPXHmQ3WINrbGGYUP4XIulMz1jzxhrdFaa30CwoOZoUUKdV28FZdDM7STfZJSGRglrhLsT2AOXzGYgixdq0/4k+ItCobaBCLgGciZJMKu0EQnczHI/WfC4I+/Lx+nUTlrbK3w5gJuJbBIxFTZMr6bptwcHysyLaeAQ7ZawahZnZxD7JANKTAiBTaQdfKly29ANNaL0aO/rxN3ZW7TSZPvOvXxUN8FYFkULd4zHlc6Q9XXrhcu64s+4yA8GaafOGLDtHVvFowqJhkE5f+ktQb3oYlRdwV2v0YZh6m1cSyjyN1sBWF40UMdAvNZGcjwdXjaL65nMkB7xpn6TPQZoQOEb94eJOGXsUEp08TIV08PiobZUicdqfP6yGUrVZrEVB8h7mjo7ae27hcReDisD1HbrCr02YCqcnCNKbx5opSJOxrs93rsypLtPRKCWdtmiBTnqmdWfdtlSUCU+BZGQMDQwQwopvJW/FbXl5wlizIvZIZ+2a3HZmUDmnoNX+tzZ29XbcOuuuWvjLMOajxdqKg0r50RsIoyAhAqMzR70NTbYkGsnRAVKyyJ5Mbxme0e431NdYhGB+CkF0VOHPQ5OJCQWjwizEKv+AjyDbfVlpO2i2yDUojjRauYaXxnXA1tngAD1YpY3ueFRsKKja+ag2vFq5Ujf+6WiQTbiuyCNhqnoOw7BW87EP4nqyuBNJRlwXakiJcxvB/tXRmb3KEbqvV59ZdvhTBApqnbn0WAtD9hF+lfGQiozkWjghL43SZyEgzqehtoWruyk/BmmKH4ibm0Xoa+I44+t9B5ZwEth2BGJJbT3XbWAce4dApFREL5N1YR35hf1VPdQ13Cjf1fZdUmsLluGfuzaCAg7iopSxLvU1tOql3yuAul/+0B7Yy2UHbjWtqSqdwMaulP50i9xxjY4VPHvcvAFkreTi8RW8RQWYITc+KELs7As1Q8iaqXaAxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Phva8Mj7Lgoqtz8URWAq7D",
      "input": {
        "note": "Koala is lifted (visible at top-left of overhead view). Carrying it right and slightly forward over the left basket.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.1,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Phva8Mj7Lgoqtz8URWAq7D",
      "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]: [-0.4793, 1.3178, 1.0039, -0.4274, -0.4725, -0.3141, 0.4764, -0.0929, 0.8639, 0.6132, -0.3855, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3699 left_y=-0.0976 left_z=0.1956 left_yaw=0.0669 left_pitch=-0.0851 left_roll=0.0797 left_gripper=0.4764 right_x=0.2993 right_y=-0.0036 right_z=0.1644 right_yaw=0.0495 right_pitch=-0.0694 right_roll=0.0053 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -5.7504, 9.4427, 1.746, -0.4029, 0.0317, 0.3004, -0.0068, -1.7709, 7.0085, 1.6777, -0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a25ed40f60492c89401e044ebea759b839c5c57fa8351c4f941668e89b5ac5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3177d60cb596f1962e5010b17562b1b3f9feafa0c5159aa8051a92b840545196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:996c4c9b8c8a68d52b71bc83739d1ce05112d71a5f20e092944f4b544cd896bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 6.294 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]: [0.1669, 1.2301, 0.1299, 0.5461, 0.0257, 0.0677, 0.4719, -0.0929, 0.8574, 0.6136, -0.3779, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3022 left_y=0.0499 left_z=0.04 left_yaw=0.0925 left_pitch=0.0073 left_roll=0.0606 left_gripper=0.4719 right_x=0.3001 right_y=-0.0037 right_z=0.1679 right_yaw=0.0494 right_pitch=-0.0551 right_roll=0.0032 right_gripper=0.9975\nstate[joint_eff]: [-0.1983, -2.8239, 6.4615, 1.4042, -0.0024, -0.0317, 0.7253, -0.1436, -1.935, 7.0359, 1.7558, -0.0952, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1669, 0.8619, 0.7139, -0.4267, 0.0254, 0.0601, 0.4735, -0.0929, 0.8623, 0.6132, -0.384, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3024 left_y=0.05 left_z=0.2017 left_yaw=0.0968 left_pitch=-0.013 left_roll=0.0528 left_gripper=0.4735 right_x=0.2995 right_y=-0.0037 right_z=0.1651 right_yaw=0.0491 right_pitch=-0.0664 right_roll=0.0046 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -1.7573, 9.4974, 1.8974, 0.0024, 0.0757, 0.1636, -0.1026, -2.0444, 7.2274, 1.8046, -0.0659, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4793, 1.3178, 1.0039, -0.4274, -0.4725, -0.3141, 0.4764, -0.0929, 0.8639, 0.6132, -0.3855, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3699 left_y=-0.0976 left_z=0.1956 left_yaw=0.0669 left_pitch=-0.0851 left_roll=0.0797 left_gripper=0.4764 right_x=0.2993 right_y=-0.0036 right_z=0.1644 right_yaw=0.0495 right_pitch=-0.0694 right_roll=0.0053 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -5.7504, 9.4427, 1.746, -0.4029, 0.0317, 0.3004, -0.0068, -1.7709, 7.0085, 1.6777, -0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a25ed40f60492c89401e044ebea759b839c5c57fa8351c4f941668e89b5ac5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3177d60cb596f1962e5010b17562b1b3f9feafa0c5159aa8051a92b840545196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:996c4c9b8c8a68d52b71bc83739d1ce05112d71a5f20e092944f4b544cd896bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgcKEAgSGAI4AUIIdGhpbmtpbmcSDCtJULZg3SDobq+KdRoM8nMkYWAREETZqhZeIjCY0XO/FU0E5fuF5SVUN3TGcZ085btGDBRTxI18GALVOpQtzh+FYvRAuCzPoB5NbQAqtwa/oBfFoASu7sA/9SzfMTE66q3BkrSgsvpm6dJ2GA63laxHfo4mmkfLxsyUciGYEPFJ7m0XsN4r+MoEO2lgNeGw7Gd/HASfuVBkcuHtf+hdPYW3tLaaDDjjBFFD3YIfyJn8DgRXfGpLUvfkU8FzrYBiNyM625yf//HJ1gtoQGdjP+rIH4FbnlcOL939NGWLGeg910LiPs2zCK3WGAmynN0hnXOxtkCUyVSqZz1LT/QpLPG/LOc14I1yDvtge55t3GJvIG4dIpYa7hhHjQPD7Fd9Kc7NHvgeuUT9haq6FFb117VlVk51KnqY7aLlBhK/l5c1fmG+LwTLfjDthSLHfOjxsvXIhzej+NyOAhZEgevJZ2A/f/QlGKWgULo6iXy5AnC+RGv1WmcRHSfdeF/u3VK5kIUQwSJbz6cgs79uTf0dkSIntobFDoqgmR/RzGrQ4hgKjgwQAS6kMxme17ZcWlLVgy9gtpMONnz52XbXxlWH4OzMJ9TJ+l3TZ+RfRVkFT1vKS1FCKHYwQnH7ifnrjWKfiMAaHZNxoh2huYOIjLdScta9nzFKIvCvwAgzb07y6H/wKDbLIzsKuO8gdh1ia2lWanMOAZ9bqjyTVJKjWtdYcUa+aotsocJrJ4n8dZyf2MnMACukqYXk8ilscQzooiyWZX13ekAWRBM1cAeVykx631tIfcIgz6dRKgvvRmzqpxS53kGLOX2kPGqSEp8ltVz1zgkopYf1hvHTolVGc7/e35KAQboeJP632wJKtpWk8UP3WhgsMf/aw8gh/Ze377c4Ub3kezp+8osiAqGk1jee199evYtcKVeIlDwwiperSyJm7jGaR8LdJTVhXHDvzVcKG+eNQdhoWeT5Yo2O8aQsqgVY160Ri9QskFoFHVWxEznKw93Qs0xTOh1DsUX5nmQmopMvlTSkuqv5jMC5pF8bi0tXajgk4FGbRpokPUZHH3pjsvX7VBJZwvfaaA2QToDaPzXgazfK1TGJcVmJUdiP6rWT6UvwLjFrJQUkYOh3BFdVBLLxer+YA8+SS5CwqF6XPfxWBRvplGpYrv9RWD+ecV+mK8agGb4EE6xQmn5fty+pwpX6/ZprGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XYy53cYZCxomzWA4JiNKbP",
      "input": {
        "note": "Koala is hanging over the left basket; opening to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XYy53cYZCxomzWA4JiNKbP",
      "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]: [-0.4808, 1.3323, 1.0039, -0.432, -0.4717, -0.3229, 0.9954, -0.0929, 0.8642, 0.6132, -0.3847, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3702 left_y=-0.0985 left_z=0.1897 left_yaw=0.0704 left_pitch=-0.1012 left_roll=0.0822 left_gripper=0.9954 right_x=0.2995 right_y=-0.0037 right_z=0.1644 right_yaw=0.0492 right_pitch=-0.0691 right_roll=0.005 right_gripper=0.9975\nstate[joint_eff]: [0.0752, -6.5436, 6.8308, 1.5702, -0.2515, 0.0415, -0.2418, -0.1709, -1.4564, 6.9949, 1.663, -0.0708, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17bbd58845163bd26100a8dfeccd6d5d818de6ac5dfd8619923145567e2062d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:573b011b8d0b6ea9c67349c69584e94c79957f7fd150ace047ccd8b4b1dd72df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ddf0f5204ed24968861d151579922e39f5a0063ee7aacf4215f336669729bb73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.487 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.1669, 0.8619, 0.7139, -0.4267, 0.0254, 0.0601, 0.4735, -0.0929, 0.8623, 0.6132, -0.384, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3024 left_y=0.05 left_z=0.2017 left_yaw=0.0968 left_pitch=-0.013 left_roll=0.0528 left_gripper=0.4735 right_x=0.2995 right_y=-0.0037 right_z=0.1651 right_yaw=0.0491 right_pitch=-0.0664 right_roll=0.0046 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -1.7573, 9.4974, 1.8974, 0.0024, 0.0757, 0.1636, -0.1026, -2.0444, 7.2274, 1.8046, -0.0659, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4793, 1.3178, 1.0039, -0.4274, -0.4725, -0.3141, 0.4764, -0.0929, 0.8639, 0.6132, -0.3855, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3699 left_y=-0.0976 left_z=0.1956 left_yaw=0.0669 left_pitch=-0.0851 left_roll=0.0797 left_gripper=0.4764 right_x=0.2993 right_y=-0.0036 right_z=0.1644 right_yaw=0.0495 right_pitch=-0.0694 right_roll=0.0053 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -5.7504, 9.4427, 1.746, -0.4029, 0.0317, 0.3004, -0.0068, -1.7709, 7.0085, 1.6777, -0.0904, -0.022, -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]: [-0.4808, 1.3323, 1.0039, -0.432, -0.4717, -0.3229, 0.9954, -0.0929, 0.8642, 0.6132, -0.3847, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3702 left_y=-0.0985 left_z=0.1897 left_yaw=0.0704 left_pitch=-0.1012 left_roll=0.0822 left_gripper=0.9954 right_x=0.2995 right_y=-0.0037 right_z=0.1644 right_yaw=0.0492 right_pitch=-0.0691 right_roll=0.005 right_gripper=0.9975\nstate[joint_eff]: [0.0752, -6.5436, 6.8308, 1.5702, -0.2515, 0.0415, -0.2418, -0.1709, -1.4564, 6.9949, 1.663, -0.0708, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17bbd58845163bd26100a8dfeccd6d5d818de6ac5dfd8619923145567e2062d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:573b011b8d0b6ea9c67349c69584e94c79957f7fd150ace047ccd8b4b1dd72df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddf0f5204ed24968861d151579922e39f5a0063ee7aacf4215f336669729bb73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvQsKEAgSGAI4AUIIdGhpbmtpbmcSDJt7c5BGmcyUEU084RoMVZ/dZOYrPoqcbBTeIjCcaqN6+FgIvL+BppmBP76kpfyVH04zRnu8cejZVwChRMqDuLwYppUzc9aaXviJ7Zsq2gpvnbn8bPdcSDGS+4aKdt4RirTK1yWSLs8R0NeN5rCH2Z0wtYwnLx6mN5/289LYH+7IU3L6S76plbTbS/OXmg1RS4IQEfktqgKC4+kpX+aRuEQWG5UK+LJDFuILxqCjvcvClUiqLH6KXm6U7YWhOUh6z3zGxtIW3+GqO0hxZNYzgbydDqAgdV9sTVwgJzoWmSscx3oKJxDUL6R3FlKKpAYWeK9ZcnnEcmV/lRzeO1faQPZwFobp6KaKBjB0lQdh9oGq+wsp2r2wL9/LwrPfJ20iDdXccHFRi9DDiDY/gHgcT3QZ6QFsAQKpLqIsx7KJ2B2S2lKANRayuzVXesOs6+N++wLmGN3qullxP/Ij02XDQ3MgQaDrmbkrecpGoZYpzQI7AXtkH3dPjER0w03FcY2JrvE+6r1fthpo7YXS4bLKm53PjodUTTDogrTcQyH+icfMBaR+ijYLlNrW7IuRlg8YdEcCKRxGcjUlK40OETKhehH6TM9MxAGJMYAysAwF6BLdDR2ULGxMkGrukg8RBwl0Wfu9/VehmNDvFXn9J36gMtGsI0DNrmDaKKoj1jn0zVpjS/TDlc5OXUz5aBtKr94IZRRF6ehHUFOxH/Py6aIYDq/EsUzFoD5ieh5WNE5dtUaBpZHfdoC++0ukvz7WDtRWrTrIGnu3L1c/H75/2U/M/VzHKhExUGRc5zWllkfa/z+yUwcaky7dq/xqdCOWFAquy/i40F5xzqVEMdkFDf2+44oiSOatd3taF98QXY6EFP80RFGzwlGltsnXKHQ1vJJONWE+2i5TU6lzrL96ehrjbkKs6EJiazULU7F0Ix6e4PRKm/X5TJuUVm3u5HM2fgVRzEWJUfZ1GL9l8fBMs+t0xHmx+MS3vjFb5oaZ9v7x6pxChP2nH3VAo+yjmAV665n5vfST8UCUCyGNCfbKxmVcdZ61gXaf6HzGGXDs95U1wIg1xnPp+FbmL+lKCowNHKM0rPt04pa1Ue/IilvEvtV8FhYhnyC19KvgZdRqA28pgjo+ELLzyLp6koyrxL+v7StfV53//UGOz/BCk1gfgGNjany8rvM2t7TKy75yAzry2pEEgvMtfTlSxrK/BlBNibDYATJBVT9nG4up02mKUcADhzD8GadwuZbHNGnTDK2ExLlDF9Uy3ePKBU5nXO2Sz3KkQuVNgE5r27NwJQ7ICtpyexq9OpxNjI9u0ZpRjyti38p84WC4guMhKAqz5fUhWqz8Fxu5e1jpj7IfSMIUo6fpN0HehcEp+iDWCRqETeM0tde2E7OekmpMA4kbPnQgVyHnEjPS7RW7heEfXSroBkeLb6M7UQ+vgiXQ8/Ond7phRfyqTsuRjYSQ+A8t2SMFkChIRM9H3skZlTIOHvn/pG5YcA/fCExVpETr1xgAnYIyRIxbdk/YQphGg8ifpzQ+ZpenffC936Infvxe/AwzH5ADt2RgpjB2rSzIVIJxxqIl6/KXd3h8jKfDPbOq+XnQCTrBRJo2+IkD+T2UtOKSCpE4MHgQFbem+LZUyqGNTk9JjQ7RD7LvJMr/j431ncf26ivslzDvxoZ9mmTlpTCYuAu8cSCG/68zIJmsNiUNsA7luVTx+GafIXt+aJtF9V7yoMD7IO1JPC1hMlO4LjIF+NXcKZW9X4XUxr2FvoyATv+1PC+hQ7/liq3NT/PILbRrR2XjY/XH46R3RxgkkwLwGkDq2rcQaQiEFehqLfRfEDMhwuuCuW2A9aFJKCH2sRJq1wAK0tJN0C94uz6gqq61EpSj3x5DRdm36lmjAqB+aCORvp68XRC8wnVLG+dwPMyTCTnTHDrRLdQOszMA6RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rm2cV2Uws8nvfkzpW7DUzp",
      "input": {
        "note": "Koala dropped into the left basket. Next plush: the small brown teddy in front of the basket; moving the left arm above it.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.09,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Rm2cV2Uws8nvfkzpW7DUzp",
      "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]: [-0.6952, 1.0061, 0.6762, -0.5102, -0.5896, -0.4797, 0.9966, -0.0929, 0.87, 0.6132, -0.3847, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.2762 left_y=-0.0978 left_z=0.151 left_yaw=0.0342 left_pitch=-0.1072 left_roll=0.0744 left_gripper=0.9966 right_x=0.2998 right_y=-0.0037 right_z=0.1628 right_yaw=0.0492 right_pitch=-0.0747 right_roll=0.0058 right_gripper=0.9975\nstate[joint_eff]: [-0.1299, -2.4274, 7.159, 1.4237, -0.4322, -0.0171, 0.1148, -0.3487, -1.7162, 7.2547, 1.7558, -0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a6d928609f64b604f4c727aabe9a3fcd45bc28ae0c39c7e08e06142564ead5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e741e09f1562a0a37de1f06959e18d35a8bc2501f66f56eb3b90a9227bac0fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e31102b7c1d451280a4c067b3e3e67871ed3ac5d745d01f622da3cd0ac13d2d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 4.074 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4793, 1.3178, 1.0039, -0.4274, -0.4725, -0.3141, 0.4764, -0.0929, 0.8639, 0.6132, -0.3855, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3699 left_y=-0.0976 left_z=0.1956 left_yaw=0.0669 left_pitch=-0.0851 left_roll=0.0797 left_gripper=0.4764 right_x=0.2993 right_y=-0.0036 right_z=0.1644 right_yaw=0.0495 right_pitch=-0.0694 right_roll=0.0053 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -5.7504, 9.4427, 1.746, -0.4029, 0.0317, 0.3004, -0.0068, -1.7709, 7.0085, 1.6777, -0.0904, -0.022, -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]: [-0.4808, 1.3323, 1.0039, -0.432, -0.4717, -0.3229, 0.9954, -0.0929, 0.8642, 0.6132, -0.3847, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3702 left_y=-0.0985 left_z=0.1897 left_yaw=0.0704 left_pitch=-0.1012 left_roll=0.0822 left_gripper=0.9954 right_x=0.2995 right_y=-0.0037 right_z=0.1644 right_yaw=0.0492 right_pitch=-0.0691 right_roll=0.005 right_gripper=0.9975\nstate[joint_eff]: [0.0752, -6.5436, 6.8308, 1.5702, -0.2515, 0.0415, -0.2418, -0.1709, -1.4564, 6.9949, 1.663, -0.0708, -0.0659, -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]: [-0.6952, 1.0061, 0.6762, -0.5102, -0.5896, -0.4797, 0.9966, -0.0929, 0.87, 0.6132, -0.3847, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.2762 left_y=-0.0978 left_z=0.151 left_yaw=0.0342 left_pitch=-0.1072 left_roll=0.0744 left_gripper=0.9966 right_x=0.2998 right_y=-0.0037 right_z=0.1628 right_yaw=0.0492 right_pitch=-0.0747 right_roll=0.0058 right_gripper=0.9975\nstate[joint_eff]: [-0.1299, -2.4274, 7.159, 1.4237, -0.4322, -0.0171, 0.1148, -0.3487, -1.7162, 7.2547, 1.7558, -0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a6d928609f64b604f4c727aabe9a3fcd45bc28ae0c39c7e08e06142564ead5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e741e09f1562a0a37de1f06959e18d35a8bc2501f66f56eb3b90a9227bac0fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e31102b7c1d451280a4c067b3e3e67871ed3ac5d745d01f622da3cd0ac13d2d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1ggKEAgSGAI4AUIIdGhpbmtpbmcSDP943P0BX1znUVA32xoMsik9UZcR9aAorzyYIjC6ztiT7dtxZVq2Ad7Qoz7stI0xJGUMbw2J8K2iAsV67VbQnv70yASU1IOBK8GNeUoq8wc+Uh4rpYOUSYlR3tZU4ordQv6haDS0Xb27GfJVTQf8g/UFXQYI5FLvMy5g8RRXFnXSDi9juA91XKnjkwPDbE8lhY4RTUXCoLaJNlOk8VUhkwmF4T6m6Sabzs4l0/txFVRZ+Uv5RujiAbfvKnalliDludOpGlc1Nddq9drYnKSyuSI48608C7jCxzuMMA6dQh8X7ksdy9WLsXLkq2ipbxpJF0I+K/cgcZkSoZ58GeXB8fJs2dXe9sO2XNm6ue14x+F2HGOjcAia30cIIRXNj7xN7NORao+cf8LymJ7+bU51JcKPTxBt1atrKd8XISOnL3q9Bj7O5mKa+adFtf6HNNMNuWpvQ/OJRP0fz+zlpfAE/7N+3MgMuTam8ShiAmPDnqh/qOjeLbkfxsQkPq4xim+BjBbTVlD/cJLrjOSu+Qj13BtXcsks05v/ZYHhyzmaBfc6AKWc7zLpGYAbBkjNo8aLRKn6Wzvz7B6nRFMYossKPnM6FR3qw892tnaFZKxEp5GHCffrXYL5H/t2n3slioRXq0ll+kKstOYJI+ukwM3FBC2F8len0bF8RM4t4J2OUMPcAo6VPHUN58C6q9LuIcYFtbNQ8jKhwxjn2VSVUHPTfp6mL5V8PZS75qeHOlfuz7yamHLIZvQD1Zf5ygt/XdDhhTvivl6jHdFRxjNph19/Mxo6d6qOfIQmNJFF4L0S15GHmGtK1i59dLtz/tiXcFO4JU/6H/FbWGYQHYrQw59IrWEJDbwIIk8+8LOcA9SG1xqsh8K5ABm2euiAnrdWpRTO263FeMNDivBE8IPK8au9Ih2vsgx11PnHMIpmObnXLOE/TMUJCe/fK8lWM48QyJEEAo+u1tXr+c7ZzCBHH/49VGFjrnRbDSooTVOQSdhqnSPQZQu9BY3Gf3+DN3wai0BsmqazZvCuumdEHKBO/vcDSTMxVHqF4r70flVWGUhJ5Lx8YCyamgpI7u3BdhpcTgwuoaS2LyiFtzEFtN16ywM0yUHisCTCtcmkLS/Z+P94/J0tHZ4WMLa/F6rz8g95V4/bjnBSVIktRycCD1No1MxPdde3ZO1oNExuUMedFf0m1cz1xbS+3bzs1GRbRFaqgJxZDwLQt4XENxGtqAzVSNJx7/XsCGLQZK/faYCTlMBLOLmkd2YXOGxO5eEa2mcqttg8pI8G2+1lTNC0aC8gngHdwVqpmKyL+JbC5xlr/OpXg9nEunJiorS9+gl2NiE8DgCGW+KlduuuAJs62GsGPJmy02l6A2WXBgt6Pi1dR8D4Lho1f9ynyupdQS7m6LAHjAbjJG3nDioA1xAiv2Bv5lZxnzHvJvpjgZTeWo9gcRILg3Rn1V4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CJrjBftTUYHkWrPdbkj8mb",
      "input": {
        "note": "The koala is snagged on the open left jaws and came along. Going back over the left basket to lower it in and shake it off.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.1,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CJrjBftTUYHkWrPdbkj8mb",
      "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]: [-0.4252, 1.4086, 1.0737, -0.4335, -0.4126, -0.289, 0.9967, -0.0929, 0.8753, 0.6132, -0.3862, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3908 left_y=-0.0953 left_z=0.1876 left_yaw=0.0616 left_pitch=-0.1301 left_roll=0.0771 left_gripper=0.9967 right_x=0.2998 right_y=-0.0037 right_z=0.1611 right_yaw=0.0493 right_pitch=-0.0815 right_roll=0.0068 right_gripper=0.9975\nstate[joint_eff]: [0.294, -5.9009, 8.6222, 1.4921, -0.1197, 0.0904, 0.0024, -0.212, -2.0991, 7.0359, 1.663, -0.0757, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9a2678bc3650db19fa9254b1dd37a490e5c4632b2e0a657e3b8683583c0d83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da2212b4fd14211f8320e3fb8b2526e89f5984ec34b3e69bdc8315299638e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f5252fd988ff49077a78a101dfed96daeedf42657c0593eaaedeadf1112e642",
        "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 · 6.392 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4808, 1.3323, 1.0039, -0.432, -0.4717, -0.3229, 0.9954, -0.0929, 0.8642, 0.6132, -0.3847, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3702 left_y=-0.0985 left_z=0.1897 left_yaw=0.0704 left_pitch=-0.1012 left_roll=0.0822 left_gripper=0.9954 right_x=0.2995 right_y=-0.0037 right_z=0.1644 right_yaw=0.0492 right_pitch=-0.0691 right_roll=0.005 right_gripper=0.9975\nstate[joint_eff]: [0.0752, -6.5436, 6.8308, 1.5702, -0.2515, 0.0415, -0.2418, -0.1709, -1.4564, 6.9949, 1.663, -0.0708, -0.0659, -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]: [-0.6952, 1.0061, 0.6762, -0.5102, -0.5896, -0.4797, 0.9966, -0.0929, 0.87, 0.6132, -0.3847, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.2762 left_y=-0.0978 left_z=0.151 left_yaw=0.0342 left_pitch=-0.1072 left_roll=0.0744 left_gripper=0.9966 right_x=0.2998 right_y=-0.0037 right_z=0.1628 right_yaw=0.0492 right_pitch=-0.0747 right_roll=0.0058 right_gripper=0.9975\nstate[joint_eff]: [-0.1299, -2.4274, 7.159, 1.4237, -0.4322, -0.0171, 0.1148, -0.3487, -1.7162, 7.2547, 1.7558, -0.0904, -0.022, -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]: [-0.4252, 1.4086, 1.0737, -0.4335, -0.4126, -0.289, 0.9967, -0.0929, 0.8753, 0.6132, -0.3862, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3908 left_y=-0.0953 left_z=0.1876 left_yaw=0.0616 left_pitch=-0.1301 left_roll=0.0771 left_gripper=0.9967 right_x=0.2998 right_y=-0.0037 right_z=0.1611 right_yaw=0.0493 right_pitch=-0.0815 right_roll=0.0068 right_gripper=0.9975\nstate[joint_eff]: [0.294, -5.9009, 8.6222, 1.4921, -0.1197, 0.0904, 0.0024, -0.212, -2.0991, 7.0359, 1.663, -0.0757, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9a2678bc3650db19fa9254b1dd37a490e5c4632b2e0a657e3b8683583c0d83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da2212b4fd14211f8320e3fb8b2526e89f5984ec34b3e69bdc8315299638e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f5252fd988ff49077a78a101dfed96daeedf42657c0593eaaedeadf1112e642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugcKEAgSGAI4AUIIdGhpbmtpbmcSDHnhB3wsBtTb7xJVcRoMu2KWv8DryVd14nq4IjCvBbpCl9O4liCeuUa8+mZZ35DxQNaSnozV4OThZdXQAvjnTHLev2Qjy5hHLJ/NpbQq1waeKRWQiUjY7f05NWrfEMDC+gozzlbYyek38r8sFge+pH1mq6EUs2F55BQ/T3iDe/jyCdra2kvy3HsUANr99j4bQrfKV+zqHFnzdJ7T+dsFm/hqoK6DOg/hJf2JZEpfoYL7YYgUvTEXGRLaWdugZOBKSw6Sc9rZUeaIjyokAvGXBdJyJmt1NvhhK3z8AYfPh2UP3KKNYiq5LEPu4WibJ/xegq2mHcil6Nv3rIN6l5BSEEzg1C56OdrrKnPn7TkvscjfXQZJ7cDO7E6W+NggmNJh5DKpfvaqFXBf+NOn1idYLk1DbMe/hQFbP0+RFI9WbnheLSMjMvQk2vV7GxGOGBOopL9G6sQJD7iGFLDxITeUKg490kHkRwUjCzzuEmEEA8sJB7bAQqWbnEqxIJpogUF9HXAKsSrMkcTU1C2PtDPJJR0FeKcjqlxaMfdPF9vvU44qKQTPMAb0qu7L5BcSTm4LbEqDQztjzrHF6z8O7D00WT9rGsMwEuIJi30X/urHjfcYDwxgC5mMtABcFu+fklbwNtWTyUiIQlj+bEbKrzO6sOOz2kgkh44/oIQunhkBmUYJ74Ad+nUq//iOnufxdSkkJm5rxZRmEawg4vJH6GnKJaoQdYxOJmUgqtYSjnrfP9UomwXrCOth7L5TIp/OA7FyBa/bMpK5s8CVARpS2sCxGwcPGwKNB1dNAhLwJ37hTR3hQK0b1WupeY7J0VphXteA7L82crLMri//1WzvVUOEpxnkz4VnfucIRqQCg2VkJXhLfOdxakZ1GtkYjtcKv2lTitZSJJEEL0Es7dNCKHJLvq5VCGil97EcQkBMepGMRDmR+L3UV3zh62x54Pv/cTzmOf70FZ0kDNcREezZM3EJTfxGuy5OKm2fk/F9Js1I103aPWilfY59ILfdTdLHdPzFCVonsIcMEvULJKRYp0Yh/k1yuL6XFYB0gWWPJqkHAmxcHa5KETiBQHSIq0PtzF4tD1V0ws82eG1DphTmf3VwLkr6Cfdc9HTfMHVmMkaOeuAcnljnbPEQEpX0exkove9LlYekcyUaTH6NIs7ij+PUi76nBYe5iDfjRcgR04EiTYQ/bSy2j1rlLNRRKXL6qqaEhFWKzMkZmAFLbJ26xtn1cIALveNGBk0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JaYqNQHVkWPdCnCjocdcQk",
      "input": {
        "note": "Koala still wedged between the open jaws; the basket interior is straight ahead in the wrist view. Pushing forward and down into the basket so the plush rests inside.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.1,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JaYqNQHVkWPdCnCjocdcQk",
      "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]: [-0.3466, 1.7229, 1.1175, -0.168, -0.3843, -0.2497, 0.9967, -0.0929, 0.8772, 0.6132, -0.3859, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4592 left_y=-0.0916 left_z=0.1196 left_yaw=0.0967 left_pitch=-0.1453 left_roll=0.0919 left_gripper=0.9967 right_x=0.2999 right_y=-0.0036 right_z=0.1606 right_yaw=0.0496 right_pitch=-0.083 right_roll=0.0072 right_gripper=0.9975\nstate[joint_eff]: [-0.0752, -8.0342, 8.1846, 1.3504, 0.0464, 0.0659, -0.0073, -0.294, -1.9077, 6.9949, 1.6435, -0.105, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf03c272ecd8d55fd4d26808325404ca88cd985b4f629dffc92769489d514ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:678b510e63c01799d7273b2129da42aad659e4e0e8e767f8c626c9f6583e14f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c33146accaa03b6fb051c52d6b7961d5820d219e59f51ebc5f96f66ae7242369",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.95 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]: [-0.6952, 1.0061, 0.6762, -0.5102, -0.5896, -0.4797, 0.9966, -0.0929, 0.87, 0.6132, -0.3847, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.2762 left_y=-0.0978 left_z=0.151 left_yaw=0.0342 left_pitch=-0.1072 left_roll=0.0744 left_gripper=0.9966 right_x=0.2998 right_y=-0.0037 right_z=0.1628 right_yaw=0.0492 right_pitch=-0.0747 right_roll=0.0058 right_gripper=0.9975\nstate[joint_eff]: [-0.1299, -2.4274, 7.159, 1.4237, -0.4322, -0.0171, 0.1148, -0.3487, -1.7162, 7.2547, 1.7558, -0.0904, -0.022, -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]: [-0.4252, 1.4086, 1.0737, -0.4335, -0.4126, -0.289, 0.9967, -0.0929, 0.8753, 0.6132, -0.3862, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3908 left_y=-0.0953 left_z=0.1876 left_yaw=0.0616 left_pitch=-0.1301 left_roll=0.0771 left_gripper=0.9967 right_x=0.2998 right_y=-0.0037 right_z=0.1611 right_yaw=0.0493 right_pitch=-0.0815 right_roll=0.0068 right_gripper=0.9975\nstate[joint_eff]: [0.294, -5.9009, 8.6222, 1.4921, -0.1197, 0.0904, 0.0024, -0.212, -2.0991, 7.0359, 1.663, -0.0757, -0.0366, -0.0122]",
      "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]: [-0.3466, 1.7229, 1.1175, -0.168, -0.3843, -0.2497, 0.9967, -0.0929, 0.8772, 0.6132, -0.3859, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4592 left_y=-0.0916 left_z=0.1196 left_yaw=0.0967 left_pitch=-0.1453 left_roll=0.0919 left_gripper=0.9967 right_x=0.2999 right_y=-0.0036 right_z=0.1606 right_yaw=0.0496 right_pitch=-0.083 right_roll=0.0072 right_gripper=0.9975\nstate[joint_eff]: [-0.0752, -8.0342, 8.1846, 1.3504, 0.0464, 0.0659, -0.0073, -0.294, -1.9077, 6.9949, 1.6435, -0.105, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf03c272ecd8d55fd4d26808325404ca88cd985b4f629dffc92769489d514ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:678b510e63c01799d7273b2129da42aad659e4e0e8e767f8c626c9f6583e14f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c33146accaa03b6fb051c52d6b7961d5820d219e59f51ebc5f96f66ae7242369",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAsKEAgSGAI4AUIIdGhpbmtpbmcSDHbIU3GHSaaqALli3xoMpgdl9zsr7q0DK1GhIjDv/D6MG+fgoFoKbHV9zHvYf6Yqj0ib2fQPtgusVMrUptMCYmEvh1xzxPiu0VHEDx8qnQq9L2bg4NhnPKRJFm0X2W+7J7Kz3oC55zgX/SRyrnloZk4Z/7GW6oK6URmEUQpMiAeznwPDnC3Vjk2rPvkhpeT5kyiVHE4YBRRfZ03+y8iZmIrAMPRggtI48kp3BMyDfltKcYxuLWk4eVxePzbB0WUqpUO6pI6HAhjnuw6/ag/BtJNbLSVW5ML7W1ffDlosR451GxiAD5gXGNjO6fdCDuMGxrhBQb0bv2KdupXVCgcR1xUCz3eKwuiPu9+0fMLHqSMp8aBej3v4/Ay35CW+qeH8oNkJB7U0wPIHqVBodvF+mmtLbCeazbJJkkn0PcMdtqg59HDoWoV5lT1l0SxXtgNhYPrK2ynQeY6ZwcLgOxbifRKAx837sCMawwrEsDht3hRO3g5ijq9Hls5XbgYQ/pcnjHZxS0yeNlU7JhXJ+49mYEG7iRlS5FIBGVoHuYaOt/jx02ZfwVHpuWBGXz/Tbr69EdVSB/v6mlgVTF2CKW5ClCQ1fLbJYbxxJUoIDQo/VKdzYSZUvfMCHY/UEFVI5KtGmPn9RL0PGPagMr2zY5VV99K31T1GRTP7jP9vuG4n9pQ3IYNDq1CqRngP4/fZ3Sk4Vh0rvOQcfDcFDEPljlVwNYe5ftjDIE823moT/tk1dJayftL0eprfxSNgu4gjP+3oItLLHFK9IzRl8MsoomDaO/U/UGbdesqV0umTF3sTsGQtE8JQ97gO3oyLi8TFkMXxYTyy7OkfIJUjQgDkrno92gDxgayL0a1b7mjs9vW1PhD/vHFAvIRMh2DshNt2WMXWrKwsuIt4JUjbtJlxCiKPUcoEnov7AYyfXT20SiEbCcngeI3VYNSNWgTIsh1FTe5et3CU6BcqAxxul501TmqseR3W0V3nuA99uh8KejfMHif4TfKHG3gTE23hIJBMMj1X5jld39LvjA5CFy/ZfCG9EGvQrp2OSSMoGTLe9rHOPkCnOFskfUwG9D/PcJ2xZPzacdGB2YWbtJ/LUxsSIVCskaXHuVf0C8AdUiKHJfzvgXdj/Lf0pW+9/+At5QZtd0fqJDfqcMW0XFvIEescLjsF+etZmKWNctHtcppwUk2UQ0d8hDAev7IQ2Z1E+CBpThVDBoN2XUfjI6F+2Smn6h2EPZgxbe1D1pTC9orNj9ivmAhoR8WpodGReXguHiXWydmkry9uS1UnEB9Q5Ef/kgdV2K3wy438X6Q4uPKTFtsGyXUI2lYcV1GfYIK9HvBKL0Q241XI4R5Odt1FM14ohBKti942QI7qRajHcgD+FHFMCudQklQJr3kJDJdYqfZtQUGaOnRlqRTJt5kDogTPaPpbCuySlzfeaTOXfeUG47RwgSE4U2BGeUY0ykLOkwGaTW+ZTQNK8oDXj4bMMhecWJvamftiIe+jijQOTGp9yowQ60/llRXsZjuh3xSUBAnqKZprvbx6nsi3xe1+FOFwwd5E/DjCgZA8SnDpD4UzTFv83f2wJhSONlI/ifEdBUM4Ry8JMchde59oP1Dg0MdjLGbAdFepJwelw9PPPUFoZPAVbtEK4eoAg6RuYBx2L94nSvIG9v86MR9NSfZ8em+QnPAbRhlwbPiLBKHxOEG/12Mv/2fhbw4ULbWfBs5UkQ0surQXeC3gP18nSUmgl10FQnj0/+oWMG0XCvRKkmcE7OWYF4OxP0prLeWnLxG0eaGukakHQAstNZTyspAexxOvAXT9lcxS3D77x/WcR9lb8kwWkVFLWyAxSK4c+UyQ10jfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LK6HH68KzrZ7Gcqma1BuRc",
      "input": {
        "note": "Koala is still hooked on the jaws and dangling at the basket's front rim. Tipping the tool forward and lowering further so the plush slides off into the basket.",
        "targets": {
          "left_pitch": 0.45,
          "left_x": 0.5,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01LK6HH68KzrZ7Gcqma1BuRc",
      "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]: [-0.3653, 2.0571, 0.8394, 1.3045, -0.5014, -0.0021, 0.9968, -0.0929, 0.8772, 0.6132, -0.3855, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.5069 left_y=-0.0991 left_z=0.1561 left_yaw=0.1463 left_pitch=0.6388 left_roll=-0.0258 left_gripper=0.9968 right_x=0.3 right_y=-0.0036 right_z=0.1607 right_yaw=0.0496 right_pitch=-0.0826 right_roll=0.0072 right_gripper=0.9975\nstate[joint_eff]: [0.4718, -3.412, 2.2906, -0.1099, -0.0122, -0.2369, -0.0073, -0.0615, -1.7162, 7.2547, 1.6532, -0.0952, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0740803165c92f53e15910c0bb3dbfe9add358e64d22909d54aec5729308c4fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffea6daa99298711a6a7afce5e24ca2f32dd821f95c9eeb3880957a86d20227b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd57d838d9747c2964078aab97ffc030a3c42f7b13713821006e390c3fdb510e",
        "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 · 11.55 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]: [-0.4252, 1.4086, 1.0737, -0.4335, -0.4126, -0.289, 0.9967, -0.0929, 0.8753, 0.6132, -0.3862, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.3908 left_y=-0.0953 left_z=0.1876 left_yaw=0.0616 left_pitch=-0.1301 left_roll=0.0771 left_gripper=0.9967 right_x=0.2998 right_y=-0.0037 right_z=0.1611 right_yaw=0.0493 right_pitch=-0.0815 right_roll=0.0068 right_gripper=0.9975\nstate[joint_eff]: [0.294, -5.9009, 8.6222, 1.4921, -0.1197, 0.0904, 0.0024, -0.212, -2.0991, 7.0359, 1.663, -0.0757, -0.0366, -0.0122]",
      "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]: [-0.3466, 1.7229, 1.1175, -0.168, -0.3843, -0.2497, 0.9967, -0.0929, 0.8772, 0.6132, -0.3859, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4592 left_y=-0.0916 left_z=0.1196 left_yaw=0.0967 left_pitch=-0.1453 left_roll=0.0919 left_gripper=0.9967 right_x=0.2999 right_y=-0.0036 right_z=0.1606 right_yaw=0.0496 right_pitch=-0.083 right_roll=0.0072 right_gripper=0.9975\nstate[joint_eff]: [-0.0752, -8.0342, 8.1846, 1.3504, 0.0464, 0.0659, -0.0073, -0.294, -1.9077, 6.9949, 1.6435, -0.105, -0.0562, -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]: [-0.3653, 2.0571, 0.8394, 1.3045, -0.5014, -0.0021, 0.9968, -0.0929, 0.8772, 0.6132, -0.3855, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.5069 left_y=-0.0991 left_z=0.1561 left_yaw=0.1463 left_pitch=0.6388 left_roll=-0.0258 left_gripper=0.9968 right_x=0.3 right_y=-0.0036 right_z=0.1607 right_yaw=0.0496 right_pitch=-0.0826 right_roll=0.0072 right_gripper=0.9975\nstate[joint_eff]: [0.4718, -3.412, 2.2906, -0.1099, -0.0122, -0.2369, -0.0073, -0.0615, -1.7162, 7.2547, 1.6532, -0.0952, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0740803165c92f53e15910c0bb3dbfe9add358e64d22909d54aec5729308c4fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffea6daa99298711a6a7afce5e24ca2f32dd821f95c9eeb3880957a86d20227b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd57d838d9747c2964078aab97ffc030a3c42f7b13713821006e390c3fdb510e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QgKEAgSGAI4AUIIdGhpbmtpbmcSDNGlnVhk0iBPGj+goxoM6HO3TTFRZOA2gJh/IjBHAzXRcQDVpKvIYV4SoVvetttq34pGQoYq5AhQNdQ9v8E/vRk/IhyGXKDFtSCoUYAqhgjYnl+s8nyOL8xFoGjI34jxib74qlGnMXdwuksIIWYbsvNOTqOe9veho6I/8JTEIqDwV+VsoG168zI3Cdl1mYGtz3dOSx1BoGuJKeQCCfqFFnMG5Ls1yY3mvjC8mTA5cpyGQOeyeCy3Fv78tjoYAjXT7COcSyQt89pBj7/yL1BQMI8P4C9pedaCi23xucVOJb6E0WKdxanhQcGz2Z7ZKHnw2c6c5WEcB6sFGaTrSKjJsAww+Vy2qapMwDRUEl8Jub+UKPWWX1Tdbm0quE9j0o3G22VhPvpuY2LIl2r5EJmbyNc6bXJX2A3EWT4ZEMldEvUTX+ilKyPf48YjQBR7K9WFHJ2GXedLNVWSlenqLQYnh4tKbA7jd+TPUgMrojQo8f21akTWGYU66DK5t9Ua9ux9UB7a5w5fhAi1rmskjqqhnMxTR99JxIDLZjtcZaqz8hNdHvUtgdvpn0yGoVMEfdIl0xEnaOU+diodf9gmifNXWo+eeCKZZkXs9/Uhnz9O4CxM6oqbVqGQNy+ugc6QApvq8JS28NgXx0OhTraYduMtkDt8cRv/+lJBiwJ3lLOf028CiuyMMluAhmiW39LchpxaJ5WtuB+P8wKcVwUBvLptTZNRWOZzn61siOIs5Ct0Ihyj1+f9GY6bNV1k2adOPN6dBtCMCm4nMlbwfpAV/b5noq4VMEYtlqYQE/JwK5orXs7AzZph4hRY3TLrwliTlhoVa2dLiedU3iipgk1jqWRCeuA7Lr1ShZ2hkPPBYBF6oe1bylEtaZj9nAzB6iUtCKboknXEpiMJvaGl9XP1UwkvgEI8turEk3TjiUCPV5Hjw9iSfBV4W6XGUukmxHt8Mv0q6Lgn/i9QGB4I+YEWUXYF4nu6cpF6C+97Ql/uJc+ZFbLEIHWm4wA0oOP88veYcRCq6X1bZmchftA/jGz3NpZYJ01tl093IwkPYwEFnTVkzTAb4ALzwPBgJeAbm0Y+HdURw7nfWI63CCUtcWFzPvU8Klqz5tGUFa/aKgXt5R4NnDQMrlhKHZ0TgXB8lCoqf9nTLLQKNbInsTP+V9BasKDaEmiPpFPBgTBPmUuQCVb8Kfek/6a0F8Y2DhiXpCNfEO+CxECLLlbNILZDKrdPUQQToZ4IB7S62yiLzv9Odu1yinw0ejVm+n0+3z5GWvaZhgvrSokIpVEgXRHc1CQzW3f85/O8HWpaoFA9tSSr0oC+Zn/fBwt5RG+92UwKqguvy4A1ZAIBQZWg9ZKcG176RrCtXLwLeeNF9/FrEDHuqHl1my3Ur0iamhDRC3bK9YXHPUk14dYJTdTKWIesfG37Pj8BsqJUD/ZQszJYmIERjZ6AcW2XGSAFakW1vUbtDYDOlJ0REWdMJzxhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015JwAomDLzSufoUFw4PDpLM",
      "input": {
        "note": "Jaws are now clear of the koala, which appears to be in the left basket. Retracting the left arm upward to go for the small teddy.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.35,
          "left_y": -0.1,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_015JwAomDLzSufoUFw4PDpLM",
      "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]: [-0.5472, 1.2533, 0.8467, -0.2249, -0.5724, -0.4389, 0.9969, -0.0929, 0.8814, 0.6132, -0.392, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.3615 left_y=-0.104 left_z=0.1921 left_yaw=0.1428 left_pitch=0.0432 left_roll=-0.0365 left_gripper=0.9969 right_x=0.2992 right_y=-0.0036 right_z=0.1582 right_yaw=0.05 right_pitch=-0.0932 right_roll=0.0084 right_gripper=0.9975\nstate[joint_eff]: [-0.3897, -6.7487, 10.2359, 1.7216, -0.1148, 0.022, -0.0073, -0.0479, -1.8667, 7.0906, 1.7558, -0.0952, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35b67b719f91e45f7b522bb7292a579bb18ec2b18ebfd58e58fb99a2da2f158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a784b5b8faf736a899e91ab46a8f354d52adef94665fe604c0312757f05712de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3735cd86fb86902cdf8c9c8dd1671a8439e4f7a2dccfddb66f6d9521374bf29",
        "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 · 4.162 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]: [-0.3466, 1.7229, 1.1175, -0.168, -0.3843, -0.2497, 0.9967, -0.0929, 0.8772, 0.6132, -0.3859, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4592 left_y=-0.0916 left_z=0.1196 left_yaw=0.0967 left_pitch=-0.1453 left_roll=0.0919 left_gripper=0.9967 right_x=0.2999 right_y=-0.0036 right_z=0.1606 right_yaw=0.0496 right_pitch=-0.083 right_roll=0.0072 right_gripper=0.9975\nstate[joint_eff]: [-0.0752, -8.0342, 8.1846, 1.3504, 0.0464, 0.0659, -0.0073, -0.294, -1.9077, 6.9949, 1.6435, -0.105, -0.0562, -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]: [-0.3653, 2.0571, 0.8394, 1.3045, -0.5014, -0.0021, 0.9968, -0.0929, 0.8772, 0.6132, -0.3855, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.5069 left_y=-0.0991 left_z=0.1561 left_yaw=0.1463 left_pitch=0.6388 left_roll=-0.0258 left_gripper=0.9968 right_x=0.3 right_y=-0.0036 right_z=0.1607 right_yaw=0.0496 right_pitch=-0.0826 right_roll=0.0072 right_gripper=0.9975\nstate[joint_eff]: [0.4718, -3.412, 2.2906, -0.1099, -0.0122, -0.2369, -0.0073, -0.0615, -1.7162, 7.2547, 1.6532, -0.0952, -0.0562, -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]: [-0.5472, 1.2533, 0.8467, -0.2249, -0.5724, -0.4389, 0.9969, -0.0929, 0.8814, 0.6132, -0.392, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.3615 left_y=-0.104 left_z=0.1921 left_yaw=0.1428 left_pitch=0.0432 left_roll=-0.0365 left_gripper=0.9969 right_x=0.2992 right_y=-0.0036 right_z=0.1582 right_yaw=0.05 right_pitch=-0.0932 right_roll=0.0084 right_gripper=0.9975\nstate[joint_eff]: [-0.3897, -6.7487, 10.2359, 1.7216, -0.1148, 0.022, -0.0073, -0.0479, -1.8667, 7.0906, 1.7558, -0.0952, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35b67b719f91e45f7b522bb7292a579bb18ec2b18ebfd58e58fb99a2da2f158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a784b5b8faf736a899e91ab46a8f354d52adef94665fe604c0312757f05712de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3735cd86fb86902cdf8c9c8dd1671a8439e4f7a2dccfddb66f6d9521374bf29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0157MpMsTSyjd1udSsrrNjCt",
      "input": {
        "note": "The koala is still wedged between the jaws. Lowering it deep into the left basket so it rests on the basket floor before I try to slide the jaws out.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.1,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0157MpMsTSyjd1udSsrrNjCt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3901, 1.8057, 0.8188, 0.4507, -0.4671, -0.3656, 0.9969, -0.0929, 0.8864, 0.6128, -0.3935, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4594 left_y=-0.099 left_z=0.0812 left_yaw=0.1796 left_pitch=0.0879 left_roll=-0.0752 left_gripper=0.9969 right_x=0.2992 right_y=-0.0036 right_z=0.1564 right_yaw=0.0499 right_pitch=-0.1 right_roll=0.0097 right_gripper=0.9975\nstate[joint_eff]: [0.4308, -6.7761, 5.6, 0.7643, 0.0415, 0.3492, -0.0122, 0.0068, -2.2222, 7.0496, 1.6679, -0.0952, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b5a842116000d459002630a97e8dc7d6e1202e467233a54090fd1fd4ab39d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18615d7dfc3cc00f116e168596456d4bb8ab82ccf958196671a87c6a24c36301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f63fd1e53793cda4092f9dcda038dbdebc3218bcc9c18380f5d654ae7020ad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 6.703 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]: [-0.3653, 2.0571, 0.8394, 1.3045, -0.5014, -0.0021, 0.9968, -0.0929, 0.8772, 0.6132, -0.3855, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.5069 left_y=-0.0991 left_z=0.1561 left_yaw=0.1463 left_pitch=0.6388 left_roll=-0.0258 left_gripper=0.9968 right_x=0.3 right_y=-0.0036 right_z=0.1607 right_yaw=0.0496 right_pitch=-0.0826 right_roll=0.0072 right_gripper=0.9975\nstate[joint_eff]: [0.4718, -3.412, 2.2906, -0.1099, -0.0122, -0.2369, -0.0073, -0.0615, -1.7162, 7.2547, 1.6532, -0.0952, -0.0562, -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]: [-0.5472, 1.2533, 0.8467, -0.2249, -0.5724, -0.4389, 0.9969, -0.0929, 0.8814, 0.6132, -0.392, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.3615 left_y=-0.104 left_z=0.1921 left_yaw=0.1428 left_pitch=0.0432 left_roll=-0.0365 left_gripper=0.9969 right_x=0.2992 right_y=-0.0036 right_z=0.1582 right_yaw=0.05 right_pitch=-0.0932 right_roll=0.0084 right_gripper=0.9975\nstate[joint_eff]: [-0.3897, -6.7487, 10.2359, 1.7216, -0.1148, 0.022, -0.0073, -0.0479, -1.8667, 7.0906, 1.7558, -0.0952, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3901, 1.8057, 0.8188, 0.4507, -0.4671, -0.3656, 0.9969, -0.0929, 0.8864, 0.6128, -0.3935, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4594 left_y=-0.099 left_z=0.0812 left_yaw=0.1796 left_pitch=0.0879 left_roll=-0.0752 left_gripper=0.9969 right_x=0.2992 right_y=-0.0036 right_z=0.1564 right_yaw=0.0499 right_pitch=-0.1 right_roll=0.0097 right_gripper=0.9975\nstate[joint_eff]: [0.4308, -6.7761, 5.6, 0.7643, 0.0415, 0.3492, -0.0122, 0.0068, -2.2222, 7.0496, 1.6679, -0.0952, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b5a842116000d459002630a97e8dc7d6e1202e467233a54090fd1fd4ab39d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18615d7dfc3cc00f116e168596456d4bb8ab82ccf958196671a87c6a24c36301",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f63fd1e53793cda4092f9dcda038dbdebc3218bcc9c18380f5d654ae7020ad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsQgKEAgSGAI4AUIIdGhpbmtpbmcSDAEbHLUTLvTdDOfcLBoMSAdaIWIPK34CL14DIjAzJqhjBUzeZaZUuOezic1pPYZtqP+zusvrgkYZ0qbU22QqZwhjdPALFwcCtbs+QosqzgcokxMQPKHXI+yB06yx68zSeCN0rAAWUnZUauWqEZly/oGL5pLE+btF8wLP+tG8jrv40YdV3WnG7gfMXplcpQ7vOVS9cyNdHZy65+KwMYK4GFnwxIdwFraAn9pmaNBuLiHpgsWQyziob22X1hc9p9G/IM4XaG1y3t/n0UmpXLPovFg+skSQc/7vy4JlCk6A/rGtD7erXVv9PvT7cfo7o58K5zFgtt9eJH/cOCp+eEYyU/q4qEwgtNLzjAs/4jK0BBxzNWBoqRDfBsZI49EBnyms8yGR3L3cNNupGrPOwxBfyluy3DX10Ht4MuCZhyqi0N/fHry73+P2eXmzphk83QF/3v73EbREHKfHudEyUTTsCCV3X8rMBjKURsnWTEQMbceV9pyR/tPo3PeDt8+6Aw4ZSFGXeHb5midq1A4K78yDUXQO9IJub6ugcH1Va5KSfWFJyDrHDMThNUDXGILef61GC4OGXI6F1vDjHubvdtYgsSzjXKyIPBHV0Q6Uch833j2+AEr9fR4Jjdo7b5fXQgzv6Y+Oy01YjbvrkNeNKmyeyavAf0fnUf0QE8tyGXE4cV0CKElD07HUcinUra+VrJ05I6VL4JJ3i+yuNGrfT7ZiXmOqEVrdR7RQZYMLZpFkG7MydfkULN6trXAPIifj8rggwyJ5l1rPO78/BqE91d2NlQgcIDkVVMP83xaNa6EJ5+voQvQoMYYfJhtm3c/B2N8dVE/6DmWxAeeP5YYpE4dbe69Kp5Eno9ZjPFro/QONp8zxkhRwVSqEnYwka0RyIJE0Ac7mOBbG6Mce0s57GBmHC54L7HFRzpGXZ8h/nmfsBRmN9f9lRzP0mTISh/ktkMunInIGxdUWIWoh1xw+va+aO4Av9sKiv4Hw6Nfe2qRs1IyclXDXxFC2g3UH+01QgZFb8ozwRB62TktIkeNzNi/he/1HrX9HLQtyojFO+qxdBrQaYskxEzLiCnZAI61pdG/xQBS9ir2xOCabDAaXF66wW2+lay2MZpG+8Rc+UDcXZQVhx5fzD6yEm1PIkfxoZYtu63vFyUqyzDBDASnNOMeJXaQPnqtMWpi+3gqf/YzZ7UbDUQqTF7gUSbFHrQZDVJcddynt28NAA0M2VUsqPuTOI1LUf2fIKcFu4PfZRDP2A7WDpx6cZZYlZtRRHux/ek+jdXwXaYWgsMcDdrxsKjo6NFMpkZ1BOQXsxH9swLiCY+c1qsfhVN2VWnpg605pZLaWT2UOQ8ZjI3aRre4Y5v3RsGyqu6fpfSrH21Ug85TwHsfHhmuzMBVqyHO6CtPSvxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019j6BV26KdSnWHYhXUv2tW6",
      "input": {
        "note": "Koala is now sitting inside the left basket against the wrist camera. Lifting straight up so the jaws slide out and the plush stays in the basket.",
        "targets": {
          "left_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_019j6BV26KdSnWHYhXUv2tW6",
      "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]: [-0.3912, 1.5856, 1.2278, -0.1898, -0.4702, -0.3717, 0.9969, -0.0929, 0.8883, 0.6128, -0.3923, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.4653 left_y=-0.1015 left_z=0.2281 left_yaw=0.1837 left_pitch=0.0789 left_roll=-0.0731 left_gripper=0.9969 right_x=0.2994 right_y=-0.0036 right_z=0.1561 right_yaw=0.0501 right_pitch=-0.1007 right_roll=0.0095 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -10.6051, 8.8684, 1.6825, -0.1099, 0.0513, -0.0171, -0.1026, -1.9761, 7.1863, 1.6142, -0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbcf83ea443c13378e1af8f1a8f2c764384466ef2728657edf4a6083b61f0f2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbb4bcff0ec16edc4bda74773a84f09f425206c90cc18b840edc22a3825246ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1880f7291ea52c692f691e49cde066efe9c99edc919d8957f0193ce3f270e761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 3.671 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]: [-0.5472, 1.2533, 0.8467, -0.2249, -0.5724, -0.4389, 0.9969, -0.0929, 0.8814, 0.6132, -0.392, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.3615 left_y=-0.104 left_z=0.1921 left_yaw=0.1428 left_pitch=0.0432 left_roll=-0.0365 left_gripper=0.9969 right_x=0.2992 right_y=-0.0036 right_z=0.1582 right_yaw=0.05 right_pitch=-0.0932 right_roll=0.0084 right_gripper=0.9975\nstate[joint_eff]: [-0.3897, -6.7487, 10.2359, 1.7216, -0.1148, 0.022, -0.0073, -0.0479, -1.8667, 7.0906, 1.7558, -0.0952, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3901, 1.8057, 0.8188, 0.4507, -0.4671, -0.3656, 0.9969, -0.0929, 0.8864, 0.6128, -0.3935, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4594 left_y=-0.099 left_z=0.0812 left_yaw=0.1796 left_pitch=0.0879 left_roll=-0.0752 left_gripper=0.9969 right_x=0.2992 right_y=-0.0036 right_z=0.1564 right_yaw=0.0499 right_pitch=-0.1 right_roll=0.0097 right_gripper=0.9975\nstate[joint_eff]: [0.4308, -6.7761, 5.6, 0.7643, 0.0415, 0.3492, -0.0122, 0.0068, -2.2222, 7.0496, 1.6679, -0.0952, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3912, 1.5856, 1.2278, -0.1898, -0.4702, -0.3717, 0.9969, -0.0929, 0.8883, 0.6128, -0.3923, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.4653 left_y=-0.1015 left_z=0.2281 left_yaw=0.1837 left_pitch=0.0789 left_roll=-0.0731 left_gripper=0.9969 right_x=0.2994 right_y=-0.0036 right_z=0.1561 right_yaw=0.0501 right_pitch=-0.1007 right_roll=0.0095 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -10.6051, 8.8684, 1.6825, -0.1099, 0.0513, -0.0171, -0.1026, -1.9761, 7.1863, 1.6142, -0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbcf83ea443c13378e1af8f1a8f2c764384466ef2728657edf4a6083b61f0f2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbb4bcff0ec16edc4bda74773a84f09f425206c90cc18b840edc22a3825246ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1880f7291ea52c692f691e49cde066efe9c99edc919d8957f0193ce3f270e761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XvLDfPtASNhhgBNFg9D37J",
      "input": {
        "note": "Koala slid out and is sitting on the table just in front of the basket, directly under the left jaws. Descending to re-grasp it.",
        "targets": {
          "left_x": 0.44,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01XvLDfPtASNhhgBNFg9D37J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4217, 1.8408, 0.7391, 0.6262, -0.5011, -0.4015, 0.9968, -0.0929, 0.8902, 0.6132, -0.3931, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4513 left_y=-0.1055 left_z=0.0722 left_yaw=0.1993 left_pitch=0.1455 left_roll=-0.1283 left_gripper=0.9968 right_x=0.2994 right_y=-0.0036 right_z=0.1556 right_yaw=0.0499 right_pitch=-0.103 right_roll=0.0101 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -5.5043, 3.4803, 0.7595, -0.1245, 0.0659, -0.0171, 0.0889, -1.9761, 6.9812, 1.6386, -0.1148, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91955c31a0c360a22491002d3bc5bd7659cbb34e5f954605c662e27d7421897a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bffa435b8121309116f641f1a747047dbb6d892c26f47662a78364163c9aa495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:862844f966d1fac5fc20951b250463fb98510fc57ed873a572e9e4f144c5c3f7",
        "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 · 6.42 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]: [-0.3901, 1.8057, 0.8188, 0.4507, -0.4671, -0.3656, 0.9969, -0.0929, 0.8864, 0.6128, -0.3935, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4594 left_y=-0.099 left_z=0.0812 left_yaw=0.1796 left_pitch=0.0879 left_roll=-0.0752 left_gripper=0.9969 right_x=0.2992 right_y=-0.0036 right_z=0.1564 right_yaw=0.0499 right_pitch=-0.1 right_roll=0.0097 right_gripper=0.9975\nstate[joint_eff]: [0.4308, -6.7761, 5.6, 0.7643, 0.0415, 0.3492, -0.0122, 0.0068, -2.2222, 7.0496, 1.6679, -0.0952, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3912, 1.5856, 1.2278, -0.1898, -0.4702, -0.3717, 0.9969, -0.0929, 0.8883, 0.6128, -0.3923, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.4653 left_y=-0.1015 left_z=0.2281 left_yaw=0.1837 left_pitch=0.0789 left_roll=-0.0731 left_gripper=0.9969 right_x=0.2994 right_y=-0.0036 right_z=0.1561 right_yaw=0.0501 right_pitch=-0.1007 right_roll=0.0095 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -10.6051, 8.8684, 1.6825, -0.1099, 0.0513, -0.0171, -0.1026, -1.9761, 7.1863, 1.6142, -0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4217, 1.8408, 0.7391, 0.6262, -0.5011, -0.4015, 0.9968, -0.0929, 0.8902, 0.6132, -0.3931, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4513 left_y=-0.1055 left_z=0.0722 left_yaw=0.1993 left_pitch=0.1455 left_roll=-0.1283 left_gripper=0.9968 right_x=0.2994 right_y=-0.0036 right_z=0.1556 right_yaw=0.0499 right_pitch=-0.103 right_roll=0.0101 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -5.5043, 3.4803, 0.7595, -0.1245, 0.0659, -0.0171, 0.0889, -1.9761, 6.9812, 1.6386, -0.1148, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91955c31a0c360a22491002d3bc5bd7659cbb34e5f954605c662e27d7421897a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bffa435b8121309116f641f1a747047dbb6d892c26f47662a78364163c9aa495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862844f966d1fac5fc20951b250463fb98510fc57ed873a572e9e4f144c5c3f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQcKEAgSGAI4AUIIdGhpbmtpbmcSDLKqEb2l4dDAFZD5YRoMYx1m0td2Olgy6PL3IjD/ElHHqP0icUQ3rMB3pdtMVvbo9OoZEhLnROu2pJAeax4wsjHjJzXZLccS4pHPfKAq4gY05gMc0dw3oh0FZKQ4GaPFuMaJfzses+9W+mC4i5wvGj0RM4n4DfcYYXpOeiwUAYaZRTU73TUCBBWnTI1pcf7jycMgaR2xYUigLj1hqfqtLOHOC4qi+Kp2RpOIhSee5MdZbDca6zsbalJ2ISe52G2EpnqFIdoOBj8sOpCep4syLxChonxcHDS8St/0FtwATS5PomfA6CCLVLcwl65iAuPSncXImYF1yKKuQOXS1MBPzt//VGCs2Dqfd7gqtgJA3aPthsbOnC5yrS1ieQRA+0H5WsyeTbV/WqLQWVFZn+/60Lw3WpOLcTN7q7OKMmyHS4hLtfR6CApfsu9vF6bMvrNZ3eC/3M9pyJ14QS2pYnYNpkbFrdLBF9jWUtx854NkycLkD+M9ZqS9fwwdDxujLB8SRJTwutREUvKDOucdCa6AgvsOirOI61xZpyPUvzWmnpKS1ahjX+HpIyQRp3MRoOAF/j2zdvyvtAtf074GC9zK4OkVLO3LOVFTs5igcc1MxQCulbDDgodhr2V7qk60+biVngMBHp6Q/XUNwmqEUo6+Dj0Rf3OPwYEfW6LMzUoOgNCrFSh0TH+a2E/wtloQjLz0HFe2aLZNIuI8ttw0Wb+w+LxJE02ZLjuiNR7e+Je+694o2GI+f0xfnCYfuIMR1p9cINzYUNYul+eUZmMTiCns+MRW6d+PbncKoGLT+AUpxju7DtzcRcbWd1yMDhzNOdjSJDD6+vN0lYwXi9o3M/bM3tUdt4jJ/dAlyEgDjatRuNcML0zGodbU9y5nzYqIuMrdkqdC9BcRG1XAa+xA1Hx6LG3/PnYb9vtGEpqT/OdZ+fdjU3T6PQxDO8DhtIq/ZziCDS3E1aZCqaH5hslhQ5C1+QfFdnURurXalnQ0kFJPLnA9kUNQ0CZ7Ikr+IXb96YB6ylwoYJa9xPg6dzM9eMnSup3ZUxkE7/nXqRcNh8V4VjcvgPG4qLhCT+qwRc8slfgMC+6rnpRRg2GEtpmaztRp0pb66bG3XxepEZFH7lM+axDUdvYD9bFg6yJmzyAgSUaE3mmMOmpslcQe+Q9YLIG/wB7prfYvNRmP9zqXgMRLMEeiEApGBd4xEQjW+guP9IY005PHN08MB3Ghr8JBACY7BENxKbnZXDaz0l8odzAD/5MUCBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012QdbKQqoYvMmKaRAmsGVzv",
      "input": {
        "note": "Jaws are pressed onto the koala, which is draped on the basket's front rim. Closing to grab it and carry it deeper into the basket.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012QdbKQqoYvMmKaRAmsGVzv",
      "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]: [-0.4232, 1.8435, 0.7292, 0.6388, -0.4976, -0.4084, 0.0099, -0.0929, 0.8906, 0.6132, -0.3923, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4495 left_y=-0.1061 left_z=0.0698 left_yaw=0.1986 left_pitch=0.1442 left_roll=-0.1359 left_gripper=0.0099 right_x=0.2996 right_y=-0.0037 right_z=0.1556 right_yaw=0.0496 right_pitch=-0.1027 right_roll=0.0098 right_gripper=0.9975\nstate[joint_eff]: [0.1299, -8.3761, 5.9692, 1.6142, -0.1294, 0.0317, 0.6813, -0.1162, -1.7162, 6.9812, 1.663, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b124e4ce599560d2c83de6c4a8e1134d9b3d7eac60502783bbad3b3784769bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:304162044965442d8ef3d39355bc11c583e10f0510a8cfe0f4b0df001df0f63b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f66597b15c8abe543b8779d2d48f852b0be5ab31c1c8c5ad4d84eb45af021b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.337 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]: [-0.3912, 1.5856, 1.2278, -0.1898, -0.4702, -0.3717, 0.9969, -0.0929, 0.8883, 0.6128, -0.3923, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.4653 left_y=-0.1015 left_z=0.2281 left_yaw=0.1837 left_pitch=0.0789 left_roll=-0.0731 left_gripper=0.9969 right_x=0.2994 right_y=-0.0036 right_z=0.1561 right_yaw=0.0501 right_pitch=-0.1007 right_roll=0.0095 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -10.6051, 8.8684, 1.6825, -0.1099, 0.0513, -0.0171, -0.1026, -1.9761, 7.1863, 1.6142, -0.1148, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4217, 1.8408, 0.7391, 0.6262, -0.5011, -0.4015, 0.9968, -0.0929, 0.8902, 0.6132, -0.3931, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4513 left_y=-0.1055 left_z=0.0722 left_yaw=0.1993 left_pitch=0.1455 left_roll=-0.1283 left_gripper=0.9968 right_x=0.2994 right_y=-0.0036 right_z=0.1556 right_yaw=0.0499 right_pitch=-0.103 right_roll=0.0101 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -5.5043, 3.4803, 0.7595, -0.1245, 0.0659, -0.0171, 0.0889, -1.9761, 6.9812, 1.6386, -0.1148, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4232, 1.8435, 0.7292, 0.6388, -0.4976, -0.4084, 0.0099, -0.0929, 0.8906, 0.6132, -0.3923, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4495 left_y=-0.1061 left_z=0.0698 left_yaw=0.1986 left_pitch=0.1442 left_roll=-0.1359 left_gripper=0.0099 right_x=0.2996 right_y=-0.0037 right_z=0.1556 right_yaw=0.0496 right_pitch=-0.1027 right_roll=0.0098 right_gripper=0.9975\nstate[joint_eff]: [0.1299, -8.3761, 5.9692, 1.6142, -0.1294, 0.0317, 0.6813, -0.1162, -1.7162, 6.9812, 1.663, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b124e4ce599560d2c83de6c4a8e1134d9b3d7eac60502783bbad3b3784769bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:304162044965442d8ef3d39355bc11c583e10f0510a8cfe0f4b0df001df0f63b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f66597b15c8abe543b8779d2d48f852b0be5ab31c1c8c5ad4d84eb45af021b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQsKEAgSGAI4AUIIdGhpbmtpbmcSDDWVpGxcEat3hok5txoMBku88JtoUmkdjZzFIjCDy26GQT5y6Bak1ErrbHNGB3r/qFuqOZKJSg6+PZ0aX2YyxB5b94UjJpCIBBDccBYqzgqOxk+Ii0Tz0JjzUNppkGSuXKFdhJ3+FU3CRK/wKRdI5ZDcqv0Z2UK5LCLmQUZd2XBKreDhK/wd1bdLv9IDqe88upWaSp6TW2/SQzAPKG6Sq/6zs4vpyYdbtG312dzpAazddDQmYDlcDuE7mWH8q5cdtW10pd5KbfAsD10P3D78FnOVOnlj+IMTQfz9mlOOSjyO6abUd3pcuS2B4GbgDz/TlMwXuonDUistU6Pp0sPnlcMtUoT75EoWw6vRDtQeJAzVZk0XyxYjLWsb2D8tleo5BCPHTjBzjANTkKHofhA6VOXThmsQA9gjrdzxjyrJMJM2kuIFkWTlErPUaLhmH/YzwPc0CzmJOXxgE7Sd0HXyb4pUc0i84WCjXBhtlTT2t2MhyEw+0kKE5ppiJJ0P3Kk5MfRcrpyx6B2geCMH7PYL5sT/UgRU0p6X0kHSb6OZ7G6YWokFJCc1Mdmz2225Nsh8MX4asLnRO2Ks0GomiFqFmvgiewtNYe5jVrnF23MrOjc+eFaDkYoSx/bbRPWqiKuGiua+LTtDlleVMzBKUOduiFnA9/nZwHTSLbk4AhlcvvjMf7tlpAu5fZRGaY46lJj73diA0h10wyW1X/M4vsvQnjXLzb3NxV6CozhMKbCi+uVZUI/LG6nwrclsiQKKc9AEHimRNaMPlNbwe/PmdpXjx2VVAqI8aYDPnjGgtA+w+/Pop9RXuoGmCmh0Zet+Bb71kTEvgdVwyUF9w3Ie3fhQuQ7A7A2N9Lqif7DbmUNx/TL1WAWGr0yqrxg6E7J1uyPLSpwVUCMa/di4al2mvL0EdGZKhCaD2Lcpm5NauXN76eK5ivX4cWLqxNLiGSHNGytgNYMmS00+J5o1HkoiDwJ9+DDuQ3aCMKvM6nLK7W4xScukKQwwOhoRBdV+4VshQXpI/R5txivNdx5v3ZcAcl8q+rCcCyzA4VzT3aSHPrhVD1wy0rwGNTLZF3TPl2G6jba3BaCTjS9gBDsRx7xRt5VhwDJqQI5DpT667iokgbsr6CVmLjgLu2xrmzTx/uKiPcAN8ID9/CW9f88wTZ4RvVA8P1+r4ZWHteofR5r+5r/xAcRv8ps9jnXfnE3/PGOg45ISis7b7cSAHP5l5AAPQoCY++LAi1njtS0y9EqsXfTXeMgnCkQHshcMIV+u5F8SoGzie1f4WerZTU77TLnUO5+45MtuJ6cJ69l5roP3OUkx7jB7dHIbOYqkYWXBkrwZEBVOxyPEFL3mcSjZAnQv4omqoJT20H0xrOam3oVLpeafQK2cmhDCwnIJvLuu93iXT8q/POdThSmDhVoJAjhsweeW7zyViD1mY4dL5EYzsFXbhBuQOJ0iH54CHzz+xr79C6oBMLmQW1jKG4CO3hT3XBuWDV38lDNytUMIdiMk+00W0ch2YWVcIYCz0u8hAi7mz1MmFQkqgf46cbYIAtdCYiEOSds4Hx2cv/shyyYIKpg9dV24nCfYlhIjiRzAitQTwWH1x7GNCsrXLl+BXlB94QIo2Wwik7AeTWizTusorD83YUjSsn7dKw7gB4+sw9PWuRx/Sg4oEwGLVOpAtvAR3lwFVzPFK+Xncqs9mqzXdm4zr3s8FpeuoPJzNnWqI/EyZ3Wk0VHripNmU+jiI9uxV3jIL7HiHxwQ8xmZCW82HrIXKGeUAz9d/8DiCopcW9c0FmHf38Zx2Gi9A4iYuqNz/pETBdn9xUKaL05Z1T20xDke0fnz7v4ZMrUH1W4teqsMjznrz9+oVIUR/XEEnaM5XYFAelroDwmjvibtaM+tpMhT3sd03A28kyqTEr2F18bB3RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DBDirrc295ijPoAkPBR5G7",
      "input": {
        "note": "Close came up empty (0.01); the koala is lying on the table just in front of the basket. Opening and backing up a few cm to get over its body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DBDirrc295ijPoAkPBR5G7",
      "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, 1.5929, 0.6739, 0.4278, -0.5316, -0.4404, 0.9951, -0.0929, 0.8932, 0.6128, -0.392, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4144 left_y=-0.1097 left_z=0.1129 left_yaw=0.1881 left_pitch=0.1389 left_roll=-0.1432 left_gripper=0.9951 right_x=0.2997 right_y=-0.0037 right_z=0.1548 right_yaw=0.0496 right_pitch=-0.1053 right_roll=0.0102 right_gripper=0.9975\nstate[joint_eff]: [-0.4718, -8.5812, 5.6821, 1.5653, -0.1832, 0.0659, 0.0659, -0.212, -1.6068, 7.0222, 1.663, -0.0366, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccc4d2e36ba28e26e015e68039094902f9fd64ed8940ed26a3b31d8e4e5d2bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9121140add6503fe6419fec374e54953d50390789acf8e7a5bf28af68eef933",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dadff34f3ea5016f4f223fade77f7dfbb912062ab531bc50ada147515dcb78a9",
        "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 · 2.696 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]: [-0.4217, 1.8408, 0.7391, 0.6262, -0.5011, -0.4015, 0.9968, -0.0929, 0.8902, 0.6132, -0.3931, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4513 left_y=-0.1055 left_z=0.0722 left_yaw=0.1993 left_pitch=0.1455 left_roll=-0.1283 left_gripper=0.9968 right_x=0.2994 right_y=-0.0036 right_z=0.1556 right_yaw=0.0499 right_pitch=-0.103 right_roll=0.0101 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -5.5043, 3.4803, 0.7595, -0.1245, 0.0659, -0.0171, 0.0889, -1.9761, 6.9812, 1.6386, -0.1148, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4232, 1.8435, 0.7292, 0.6388, -0.4976, -0.4084, 0.0099, -0.0929, 0.8906, 0.6132, -0.3923, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4495 left_y=-0.1061 left_z=0.0698 left_yaw=0.1986 left_pitch=0.1442 left_roll=-0.1359 left_gripper=0.0099 right_x=0.2996 right_y=-0.0037 right_z=0.1556 right_yaw=0.0496 right_pitch=-0.1027 right_roll=0.0098 right_gripper=0.9975\nstate[joint_eff]: [0.1299, -8.3761, 5.9692, 1.6142, -0.1294, 0.0317, 0.6813, -0.1162, -1.7162, 6.9812, 1.663, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4778, 1.5929, 0.6739, 0.4278, -0.5316, -0.4404, 0.9951, -0.0929, 0.8932, 0.6128, -0.392, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4144 left_y=-0.1097 left_z=0.1129 left_yaw=0.1881 left_pitch=0.1389 left_roll=-0.1432 left_gripper=0.9951 right_x=0.2997 right_y=-0.0037 right_z=0.1548 right_yaw=0.0496 right_pitch=-0.1053 right_roll=0.0102 right_gripper=0.9975\nstate[joint_eff]: [-0.4718, -8.5812, 5.6821, 1.5653, -0.1832, 0.0659, 0.0659, -0.212, -1.6068, 7.0222, 1.663, -0.0366, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccc4d2e36ba28e26e015e68039094902f9fd64ed8940ed26a3b31d8e4e5d2bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9121140add6503fe6419fec374e54953d50390789acf8e7a5bf28af68eef933",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dadff34f3ea5016f4f223fade77f7dfbb912062ab531bc50ada147515dcb78a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQcKEAgSGAI4AUIIdGhpbmtpbmcSDGPxk8hQtyxqSgqOhRoMenHmDeyg6O2qWcZrIjDbjXdGah5L53PksKiSFX0oKZhTUNChE0BzL+MxSB+Nhgt13bEjI91N61FaxYO9ejUqrgbuDGOtr/mu0qZ01gRp21DCmpp23BQONXuDygy/XGHMgEzBj1B7+dsdATqbTbgEZC8aJm5Dn0QIa1Mp10CgWT0qMrviHVI/JG3hdQN+Lxnga8+p0bVze6FoC+Z7YIvUM+KTNLqCQHRUbglgXYO6w2S/l8TXfkh7a22BNrcwoOZn3aWwwkx7R7ihwrpRNfcZAnX4xJTKmoqe/y5nqvOwRjc7kYz4bNCvlqSwsnNELCHnnovbZjH/u0ICiMh3mAYYQUj3HarLe0NicpY1s4DCgneyNPNe2jljB8FpGH3RMbCYETYoG6DjNDV8zvVTYy8+pHCdpx/lM3vm2I3lgHfPq86N60uYzsEUE9ptvDjC+kbe1cnYRGJM5Kn16VRmmFabA7uHbvlkU04cD7Wqh90PN0AxJBFXMLAJqfJ/X2wkvpz1E4W5pGXYaFV9ArLNhwF6yhfj+z/WrRuEQLZNHVvY7L5TNIclBazyGB0kXBdQifyBNq88ic+qqC1+z8/vifvKt9Yyw65mFNWoSwcPLHXIiFlHrH/iG5CPpHKlJtncX8/5r1D8Y1MoZDdoR6BWDOjYidXmSInf6ZgKJ7hOGmsFYHPCm0sDV3SNtG7pK2APOPCOm3+LS+iPP47DQwsDYoiwTVL1E/CPE0rGIqCufltKOOUP8O3NLrd4wj31GTaj0O/eCkqwSEIY+XP32kTVwwNWgzgJqtRzkKb6EaXLgz6NmG4MR5EF+V0HpS2x2Cqp86Y1TwbjE0JxJYLwVHmXp0R5o11VCH0Ian3NnTehBLnufNieSzeVoX7FL2vhUemfuUAu88paiAuhBwJvedv4RPVixoBfooFHD+69jIvEkros87WAHet0lU+1sfw8cmxLCbM92wUVhCJpz3Io3o0wUTd0SWCCNHi/2+5XX78Vc+dgzv54xxmaLE6Bn87CzFqfkMvJgvpEwE3c65kxkZbgXLTt2bUyNe6tPKc2Be8UKHtp8tkLjpPyZNerrKIrASE+tHXr9Oed16hdEVngCcarFQ8qwlXNqtxvnykb2/tbR8BhGHNutYq21U7yvHNXBYuGpYChcjF/5XklhIwrHp0jxe0aGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y3X7GvqU8dznGMz2tUuwU4",
      "input": {
        "note": "Koala lies right between the left jaws in front of the basket; descending around it.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Y3X7GvqU8dznGMz2tUuwU4",
      "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, 1.94, 0.5735, 0.7994, -0.5316, -0.4427, 0.9966, -0.0929, 0.897, 0.6132, -0.3931, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4078 left_y=-0.1079 left_z=0.0112 left_yaw=0.1807 left_pitch=0.079 left_roll=-0.0982 left_gripper=0.9966 right_x=0.2997 right_y=-0.0036 right_z=0.1537 right_yaw=0.05 right_pitch=-0.1098 right_roll=0.0111 right_gripper=0.9975\nstate[joint_eff]: [0.0889, -8.3487, 3.3436, 2.0049, -0.1343, -0.0269, 0.1441, -0.0479, -2.0855, 6.9812, 1.5995, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70d29e9fa820d988837cd26fbe7bcaa1c5a837e81ac62dcff1d09026626fede6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e297ea716c733d5c2407d13af18b9d93f80bf2f65e2801dbb52b43705630c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cee0f1ee992911983499786efdca2eec6a4d3add5d027d7b1643675c4d3038ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 4.139 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]: [-0.4232, 1.8435, 0.7292, 0.6388, -0.4976, -0.4084, 0.0099, -0.0929, 0.8906, 0.6132, -0.3923, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4495 left_y=-0.1061 left_z=0.0698 left_yaw=0.1986 left_pitch=0.1442 left_roll=-0.1359 left_gripper=0.0099 right_x=0.2996 right_y=-0.0037 right_z=0.1556 right_yaw=0.0496 right_pitch=-0.1027 right_roll=0.0098 right_gripper=0.9975\nstate[joint_eff]: [0.1299, -8.3761, 5.9692, 1.6142, -0.1294, 0.0317, 0.6813, -0.1162, -1.7162, 6.9812, 1.663, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4778, 1.5929, 0.6739, 0.4278, -0.5316, -0.4404, 0.9951, -0.0929, 0.8932, 0.6128, -0.392, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4144 left_y=-0.1097 left_z=0.1129 left_yaw=0.1881 left_pitch=0.1389 left_roll=-0.1432 left_gripper=0.9951 right_x=0.2997 right_y=-0.0037 right_z=0.1548 right_yaw=0.0496 right_pitch=-0.1053 right_roll=0.0102 right_gripper=0.9975\nstate[joint_eff]: [-0.4718, -8.5812, 5.6821, 1.5653, -0.1832, 0.0659, 0.0659, -0.212, -1.6068, 7.0222, 1.663, -0.0366, -0.0562, -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 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]: [-0.4812, 1.94, 0.5735, 0.7994, -0.5316, -0.4427, 0.9966, -0.0929, 0.897, 0.6132, -0.3931, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4078 left_y=-0.1079 left_z=0.0112 left_yaw=0.1807 left_pitch=0.079 left_roll=-0.0982 left_gripper=0.9966 right_x=0.2997 right_y=-0.0036 right_z=0.1537 right_yaw=0.05 right_pitch=-0.1098 right_roll=0.0111 right_gripper=0.9975\nstate[joint_eff]: [0.0889, -8.3487, 3.3436, 2.0049, -0.1343, -0.0269, 0.1441, -0.0479, -2.0855, 6.9812, 1.5995, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70d29e9fa820d988837cd26fbe7bcaa1c5a837e81ac62dcff1d09026626fede6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e297ea716c733d5c2407d13af18b9d93f80bf2f65e2801dbb52b43705630c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cee0f1ee992911983499786efdca2eec6a4d3add5d027d7b1643675c4d3038ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012uuKiE4GrwpHMMTMUkh653",
      "input": {
        "note": "Jaws at table level around the koala; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012uuKiE4GrwpHMMTMUkh653",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4812, 1.9614, 0.5713, 0.8017, -0.5388, -0.4431, 0.0104, -0.0929, 0.897, 0.6128, -0.3923, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.4054 left_y=-0.1054 left_z=0.003 left_yaw=0.1858 left_pitch=0.0646 left_roll=-0.0822 left_gripper=0.0104 right_x=0.2998 right_y=-0.0036 right_z=0.1536 right_yaw=0.0502 right_pitch=-0.1094 right_roll=0.0107 right_gripper=0.9975\nstate[joint_eff]: [-0.0479, -9.5385, 4.0821, 1.6093, -0.0904, -0.0513, 0.779, -0.0342, -1.7162, 6.9812, 1.6581, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d2f426e1414f8ba81f95a4c470aedec987228c2e9c99dc178a0eb36a869634d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d33c300077b2904ab0b30aca2cf88de92f3bc9884b936b0375d9cd603f71cf1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a5c74cf0c92a5a1b20c15c7a2144bf774e25ae450f0e05443ca359d2076169d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /messages · status 200 · 3.21 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]: [-0.4778, 1.5929, 0.6739, 0.4278, -0.5316, -0.4404, 0.9951, -0.0929, 0.8932, 0.6128, -0.392, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4144 left_y=-0.1097 left_z=0.1129 left_yaw=0.1881 left_pitch=0.1389 left_roll=-0.1432 left_gripper=0.9951 right_x=0.2997 right_y=-0.0037 right_z=0.1548 right_yaw=0.0496 right_pitch=-0.1053 right_roll=0.0102 right_gripper=0.9975\nstate[joint_eff]: [-0.4718, -8.5812, 5.6821, 1.5653, -0.1832, 0.0659, 0.0659, -0.212, -1.6068, 7.0222, 1.663, -0.0366, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4812, 1.94, 0.5735, 0.7994, -0.5316, -0.4427, 0.9966, -0.0929, 0.897, 0.6132, -0.3931, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4078 left_y=-0.1079 left_z=0.0112 left_yaw=0.1807 left_pitch=0.079 left_roll=-0.0982 left_gripper=0.9966 right_x=0.2997 right_y=-0.0036 right_z=0.1537 right_yaw=0.05 right_pitch=-0.1098 right_roll=0.0111 right_gripper=0.9975\nstate[joint_eff]: [0.0889, -8.3487, 3.3436, 2.0049, -0.1343, -0.0269, 0.1441, -0.0479, -2.0855, 6.9812, 1.5995, -0.0806, -0.0269, -0.0122]",
      "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]: [-0.4812, 1.9614, 0.5713, 0.8017, -0.5388, -0.4431, 0.0104, -0.0929, 0.897, 0.6128, -0.3923, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.4054 left_y=-0.1054 left_z=0.003 left_yaw=0.1858 left_pitch=0.0646 left_roll=-0.0822 left_gripper=0.0104 right_x=0.2998 right_y=-0.0036 right_z=0.1536 right_yaw=0.0502 right_pitch=-0.1094 right_roll=0.0107 right_gripper=0.9975\nstate[joint_eff]: [-0.0479, -9.5385, 4.0821, 1.6093, -0.0904, -0.0513, 0.779, -0.0342, -1.7162, 6.9812, 1.6581, -0.0708, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d2f426e1414f8ba81f95a4c470aedec987228c2e9c99dc178a0eb36a869634d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d33c300077b2904ab0b30aca2cf88de92f3bc9884b936b0375d9cd603f71cf1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5c74cf0c92a5a1b20c15c7a2144bf774e25ae450f0e05443ca359d2076169d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwgKEAgSGAI4AUIIdGhpbmtpbmcSDEJ5Djv2qkIvrC8elhoM+m6LG3/gC5GzwKXgIjDTZ7XJ5e8OePEA2HhDo2sfh3lytYemTYbqauxdJnn25sUN7xGuzY/uorlaGZNtySgq2AdtLbBy4vJmblYV/yMoGpg8FN9O5S4zEOkqHu89VkrDNeTSD8z3PhqOCMF1ndut+S3cQUhki0+0tvYPgXkjgl10orVsAG0XF5ocdgN6SzkQoCg/vKPZltv/0crlt7oFtJ734Grh04DS8S3J010hVV8rzct69ivFTuBDaQDAHYxNhyRFn2GIEaYvdhTrEjFHzvyfbBYX3rHQiYpJCLbSkLNZBpdyTbqupFXMiiCDmwk5NquucTrm5DuK4+8Zfq/kSVxB+A3K/sqQriaJoTy0s7GrisxAYcQzt9Px5gR709vJN72mIaBM+NcZwBM5UwLx72gspOGBJ5yWssZO3l7jjmgIbBVDGSam02CINaJeGuWG1Jv9Ewj6jl+kdCALFwm8fB5C9AZ9hn0el8wSOhrzG6syIMUfNPDQUbIrVmLY31EYwvyx+hBrW+K0y08P9zhltcWF6ef8741lOT6CFICi+W/I6Wf8g3CdycD+gDF6GW6j+vF6oX0vSC2uz5nQ3gJMA7u84KhZBOLuG6ld8+O0QXO3/QrXPmj82NVowrBvENjapUzy+mjQZ00HJ4tcQDlFmiUrg1O7/1jTAUBzB1H5TCOLA9onUH2Lx21mdlHSmWAi2a9NUPKJ3W/bkeVBQ1T4h0WhCU5C87Po787u+igYUtr8zfQ8bQfn3Masz0h7lqXJ2tIVAMz3F7+1tFtnRvyBkUcktNvL6Nn6V0ZhKKwu1LAP1exZOA0/LF2PaGRO38O7g2Wrd5yybsdpZSqgen0H1xF9FBbd6k726MWwUEQJa9KBfoMdki5yXnPsT89YSJoMTxcSaiHmzniYpNrUEh2xoOJi83ijMUiQpVa7JMhnRt1aj3C4AaECYx9ECMmCLhSbsxihAnjWUrglIY++QXwHnXn21Vmc260/iP3NyAT89OnwRGzpeQqjMzIiggwMqRh1f3EYVqaBBs/LJ4G5XsdsQbnNRZKgxUXkIciekKALuxyF2k03B8qM5W/qWUZJ+cAlIOMpSaD62VsjJJMqRwZhDsMtB3RpJpWcw2JEioSOOzsG8U5Jhpu2wB2gpuLvipPAGuQdL+ScVRxc2O173Ng3i4e0/tg6hcwjk/b2tNhrrdYY6sCEBh3fm0PXsPnLAOJLBMGBjWzAqjH7UhXKqgVMPI6DUe8pu3GrMpCk8SvF+wlw4PFOro5JgcmuwS2vBuv0Z1kLGIWvxFQrJIijfUN2hvJsWZ/oyvhjPKHFxnhw0ag/XUBNrcFgDEo2bSXTlHIBWUbEHqF2uuWZqxlRzlDOzDl58u0YVnxkjY4PDqNEuSZb1bXtsqPo5+cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MfFr9RHqUYVXrSVijc3mrm",
      "input": {
        "note": "Empty close; the koala sits ahead of the fingertips in the wrist view. Opening and advancing ~5 cm so the jaws straddle it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.46,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MfFr9RHqUYVXrSVijc3mrm",
      "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]: [-0.4095, 1.9621, 0.7574, 0.6121, -0.4854, -0.408, 0.9954, -0.0929, 0.8986, 0.6128, -0.3927, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4491 left_y=-0.1012 left_z=0.0225 left_yaw=0.1956 left_pitch=0.0448 left_roll=-0.073 left_gripper=0.9954 right_x=0.2998 right_y=-0.0037 right_z=0.1531 right_yaw=0.0497 right_pitch=-0.1114 right_roll=0.0111 right_gripper=0.9975\nstate[joint_eff]: [0.335, -7.5966, 7.4188, 1.8144, -0.1001, 0.0757, -0.0708, -0.1573, -1.9077, 7.1863, 1.6093, -0.0855, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6f6bb2fa5437463217daa2dd374b7c31ae5672d3d494e851fa55e58f5cd681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:871f03d669970820ff0a3efb30abd2eed28b1a7a4129f067b23714b3f22c3b79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3af4e5ed31ab26fa1aafd674caba50d9a302fb8f4a8567df543153071eebb70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 5.628 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]: [-0.4812, 1.94, 0.5735, 0.7994, -0.5316, -0.4427, 0.9966, -0.0929, 0.897, 0.6132, -0.3931, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4078 left_y=-0.1079 left_z=0.0112 left_yaw=0.1807 left_pitch=0.079 left_roll=-0.0982 left_gripper=0.9966 right_x=0.2997 right_y=-0.0036 right_z=0.1537 right_yaw=0.05 right_pitch=-0.1098 right_roll=0.0111 right_gripper=0.9975\nstate[joint_eff]: [0.0889, -8.3487, 3.3436, 2.0049, -0.1343, -0.0269, 0.1441, -0.0479, -2.0855, 6.9812, 1.5995, -0.0806, -0.0269, -0.0122]",
      "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]: [-0.4812, 1.9614, 0.5713, 0.8017, -0.5388, -0.4431, 0.0104, -0.0929, 0.897, 0.6128, -0.3923, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.4054 left_y=-0.1054 left_z=0.003 left_yaw=0.1858 left_pitch=0.0646 left_roll=-0.0822 left_gripper=0.0104 right_x=0.2998 right_y=-0.0036 right_z=0.1536 right_yaw=0.0502 right_pitch=-0.1094 right_roll=0.0107 right_gripper=0.9975\nstate[joint_eff]: [-0.0479, -9.5385, 4.0821, 1.6093, -0.0904, -0.0513, 0.779, -0.0342, -1.7162, 6.9812, 1.6581, -0.0708, -0.0464, -0.0122]",
      "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]: [-0.4095, 1.9621, 0.7574, 0.6121, -0.4854, -0.408, 0.9954, -0.0929, 0.8986, 0.6128, -0.3927, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4491 left_y=-0.1012 left_z=0.0225 left_yaw=0.1956 left_pitch=0.0448 left_roll=-0.073 left_gripper=0.9954 right_x=0.2998 right_y=-0.0037 right_z=0.1531 right_yaw=0.0497 right_pitch=-0.1114 right_roll=0.0111 right_gripper=0.9975\nstate[joint_eff]: [0.335, -7.5966, 7.4188, 1.8144, -0.1001, 0.0757, -0.0708, -0.1573, -1.9077, 7.1863, 1.6093, -0.0855, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6f6bb2fa5437463217daa2dd374b7c31ae5672d3d494e851fa55e58f5cd681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:871f03d669970820ff0a3efb30abd2eed28b1a7a4129f067b23714b3f22c3b79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3af4e5ed31ab26fa1aafd674caba50d9a302fb8f4a8567df543153071eebb70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Camera buried in the plush—jaws should be around it. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017t8epuEWmHzajGb6JajRvq",
      "input": {
        "note": "Wrist camera is buried in the koala's fur, so the jaws are around it; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017t8epuEWmHzajGb6JajRvq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4118, 1.9629, 0.7563, 0.5877, -0.4816, -0.4122, 0.0109, -0.0929, 0.8997, 0.6128, -0.3923, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4456 left_y=-0.1014 left_z=0.0171 left_yaw=0.192 left_pitch=0.0218 left_roll=-0.0634 left_gripper=0.0109 right_x=0.2999 right_y=-0.0037 right_z=0.1529 right_yaw=0.0497 right_pitch=-0.1121 right_roll=0.0112 right_gripper=0.9975\nstate[joint_eff]: [0.2393, -8.8821, 4.8068, 1.8779, -0.1929, 0.0317, 0.8181, -0.0479, -1.9487, 6.9675, 1.6239, -0.0855, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cff3fd6c5382f430ac59bdf074f5b77817883b789edef24d7ff7c92d07fc44e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa936fa4691c64d1cffa505475995e3fd2a00b0bae97fb9a2c8215bbe55060be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f799b4964454aaf9294e7c65ec92ce1f89f1f00ccb3e8575da8bea818a038b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /messages · status 200 · 4.194 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]: [-0.4812, 1.9614, 0.5713, 0.8017, -0.5388, -0.4431, 0.0104, -0.0929, 0.897, 0.6128, -0.3923, -0.1169, -0.0982, 0.9975]\nstate[eef_state]: left_x=0.4054 left_y=-0.1054 left_z=0.003 left_yaw=0.1858 left_pitch=0.0646 left_roll=-0.0822 left_gripper=0.0104 right_x=0.2998 right_y=-0.0036 right_z=0.1536 right_yaw=0.0502 right_pitch=-0.1094 right_roll=0.0107 right_gripper=0.9975\nstate[joint_eff]: [-0.0479, -9.5385, 4.0821, 1.6093, -0.0904, -0.0513, 0.779, -0.0342, -1.7162, 6.9812, 1.6581, -0.0708, -0.0464, -0.0122]",
      "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]: [-0.4095, 1.9621, 0.7574, 0.6121, -0.4854, -0.408, 0.9954, -0.0929, 0.8986, 0.6128, -0.3927, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4491 left_y=-0.1012 left_z=0.0225 left_yaw=0.1956 left_pitch=0.0448 left_roll=-0.073 left_gripper=0.9954 right_x=0.2998 right_y=-0.0037 right_z=0.1531 right_yaw=0.0497 right_pitch=-0.1114 right_roll=0.0111 right_gripper=0.9975\nstate[joint_eff]: [0.335, -7.5966, 7.4188, 1.8144, -0.1001, 0.0757, -0.0708, -0.1573, -1.9077, 7.1863, 1.6093, -0.0855, -0.0659, -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 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]: [-0.4118, 1.9629, 0.7563, 0.5877, -0.4816, -0.4122, 0.0109, -0.0929, 0.8997, 0.6128, -0.3923, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4456 left_y=-0.1014 left_z=0.0171 left_yaw=0.192 left_pitch=0.0218 left_roll=-0.0634 left_gripper=0.0109 right_x=0.2999 right_y=-0.0037 right_z=0.1529 right_yaw=0.0497 right_pitch=-0.1121 right_roll=0.0112 right_gripper=0.9975\nstate[joint_eff]: [0.2393, -8.8821, 4.8068, 1.8779, -0.1929, 0.0317, 0.8181, -0.0479, -1.9487, 6.9675, 1.6239, -0.0855, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cff3fd6c5382f430ac59bdf074f5b77817883b789edef24d7ff7c92d07fc44e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa936fa4691c64d1cffa505475995e3fd2a00b0bae97fb9a2c8215bbe55060be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f799b4964454aaf9294e7c65ec92ce1f89f1f00ccb3e8575da8bea818a038b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3woKEAgSGAI4AUIIdGhpbmtpbmcSDHYkiPh4yXcqFu93IhoMiqHC15gTjwP2gC3aIjDbA503LchCamgJ5ZqliOLfk8D3o72oG+g8+gBgoW6+2BxAUEeE6wMEm9+x8PWKJ8Uq/An5mIie9XqTXQ/JNd9+lLoWEfU4vHMKlaWtPWxaQPhEs/euu+Cfx6yN2DkFG5V7ABsODk0ZVkDrzQ9IA3pc3r4G/OoFUdp3tiN4A04aK2zOB6ec0Wq5sCsRK48Dv+POK0BAPjugKOGaksRQkxoJBc6xT+baRmnVFyaN8lMbAj/6ljbQVO9/uhS4+6HsBWBLokoEh0rslW0fRjZ0o6hqbOy8plGTnrla58Bj/l9+0bszzvW+Qmgob78OieiKZFSf3uy7OTMtcaSDarvH46AuE/kVtRrRvqz1C/3rdoO+rl32iw9m01IKP7G03j+tQeNiyvxCxoY+7MSY2ASDLFby04cs60nsY63KWET0fb65BguDJokchyX08S8u6ahjS1Cc55kSONmsZ/yE086gG2t5VhRku0jk9W499MV/0WTqRL8sQXYcdDoaOgAWfjlwl6Hl5iV0vQyK1Zf7yrjGm2HswRrwG7WacGknIya5SIt7xnK+NaITAMgeJgEaR1VUfYf5a472YkHNhAAQ8gI3QWDr+QYiM5Wcz/tDM23up6vemuQY5/7WZWPDzSahWW2rznMJ82APdaih32gMUvyntxQhIL5KXC/4emxpufHo+L/zQH8XfkvkwXT0WW6oOafvAcFrE6MZgDizJFTwF3/9xv61LyBbFUY7625aYAeogs1vIH2u/kri9C+TgeMowPm9DnNz0yr096YXbhXV50zMWp6fptAy4dwyrZfNM1C1xfZQzQHOzI1R3H2Smw47DAyP8jjKEV8+77VIo0R+x5XuWD5q2I2RhLfoHimdTBVUE7bxquL4JbLV9X9goN5Mxo1rjSKnGGwEQuGLnOpyKQhbNj86tIw+agRNYZGGpJYnMnawXB6ebtGBWrlsi6jT2O0mcL2Tbdr0zkEXbNmO7lFL6kQe+nrK0a/xZlMs3hiqDwVXRSsmnXLHMoGzTAEl+3P7i/0AFYtQitASaj39sfWvxS/NsoEDdI+m/+t8QE/XNWiaeLFtfgDJ8gquya8fe4weWW7j3KtxbL7baMwstMkfEnrHSxLvMaEIgm/ZPsMCMnRiuJFBZ6n+tTDMYFyOmhVZMGvEvKHq77+28TIwab0/LCIephmqH8Q2Nrir5msz7/QsC3AZvhS0frAw/J0FDACd61hryI9FhuZJoJxjftOmiwEZkgf/F21zQRV9NFX6L+jFuQRNsx8/RPl/auJRnY7EamQzu9fTqkhVJ+Zso1dJXG12Wb0+nD9bZqtA+s6C1CGqboi8FyipKK1CKjOAkdWbRGAZ1Rjgs/qsu1rnk1/1zDH09VJZNLoq+Vkzk71M76IsBinCoTSAv4TgSBaBtz2sl5AGQ7ipnAYQf+fm+J9uuEPWYua1SShgZjOM0yfwNmOAx3gj1kVNqqOIWNzwzog0IQlwWj4Gn8c68cvp9enPdqEVtqcv/a4Ba2qpYPnUZSvs8sTXTNyL9evBKPUqWuSutd5S8noPqFdjty/xnpMRXmE1PHSU5srJRN7/1aImf/SlS9CPjf0shNssXCOW+LaY7kG6Bt90EaMdhEl2g8SwmAohgiWLsDQHJcwZ0IlbU53WBcPSwJa9TOmJDlttYYY9h7phij2VNmOwt36A+Z00ivOIuMFbw0LtPRNtrFljBTn4o/jDdr0PCkQerGtisuJJefSEd/Benyf9nAXLLCwIGqR+x8f2EOxbxd2gqGMZFrGrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GpeUhg19oTn2kUUk69WGGU",
      "input": {
        "note": "Gripper reads nearly closed, but the plush may be squeezed in the fur. Lifting to check whether the koala comes with the jaws.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01GpeUhg19oTn2kUUk69WGGU",
      "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]: [-0.4118, 1.589, 1.1591, -0.2382, -0.4709, -0.4202, 0.0131, -0.0929, 0.8997, 0.6128, -0.3923, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.447 left_y=-0.1039 left_z=0.1876 left_yaw=0.1877 left_pitch=-0.0226 left_roll=-0.0476 left_gripper=0.0131 right_x=0.2999 right_y=-0.0036 right_z=0.1529 right_yaw=0.05 right_pitch=-0.1121 right_roll=0.0114 right_gripper=0.9975\nstate[joint_eff]: [-0.1573, -11.0838, 9.2923, 1.7558, -0.3394, 0.0757, 0.6716, -0.3487, -1.8803, 6.9675, 1.6825, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c285ed68fb070cd8144e02e722ea1049e0b6b013d71fca88325d84e5fcbca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6861ba3656ca33066c1a5c7fffecbc09e7060eb0dab42e4261675810f78dc957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:511cfd98e0262e4c67bd884bbc24e27ee9e8e7069eb8da86a64ed95998881a94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 3.044 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]: [-0.4095, 1.9621, 0.7574, 0.6121, -0.4854, -0.408, 0.9954, -0.0929, 0.8986, 0.6128, -0.3927, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4491 left_y=-0.1012 left_z=0.0225 left_yaw=0.1956 left_pitch=0.0448 left_roll=-0.073 left_gripper=0.9954 right_x=0.2998 right_y=-0.0037 right_z=0.1531 right_yaw=0.0497 right_pitch=-0.1114 right_roll=0.0111 right_gripper=0.9975\nstate[joint_eff]: [0.335, -7.5966, 7.4188, 1.8144, -0.1001, 0.0757, -0.0708, -0.1573, -1.9077, 7.1863, 1.6093, -0.0855, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4118, 1.9629, 0.7563, 0.5877, -0.4816, -0.4122, 0.0109, -0.0929, 0.8997, 0.6128, -0.3923, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4456 left_y=-0.1014 left_z=0.0171 left_yaw=0.192 left_pitch=0.0218 left_roll=-0.0634 left_gripper=0.0109 right_x=0.2999 right_y=-0.0037 right_z=0.1529 right_yaw=0.0497 right_pitch=-0.1121 right_roll=0.0112 right_gripper=0.9975\nstate[joint_eff]: [0.2393, -8.8821, 4.8068, 1.8779, -0.1929, 0.0317, 0.8181, -0.0479, -1.9487, 6.9675, 1.6239, -0.0855, -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 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]: [-0.4118, 1.589, 1.1591, -0.2382, -0.4709, -0.4202, 0.0131, -0.0929, 0.8997, 0.6128, -0.3923, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.447 left_y=-0.1039 left_z=0.1876 left_yaw=0.1877 left_pitch=-0.0226 left_roll=-0.0476 left_gripper=0.0131 right_x=0.2999 right_y=-0.0036 right_z=0.1529 right_yaw=0.05 right_pitch=-0.1121 right_roll=0.0114 right_gripper=0.9975\nstate[joint_eff]: [-0.1573, -11.0838, 9.2923, 1.7558, -0.3394, 0.0757, 0.6716, -0.3487, -1.8803, 6.9675, 1.6825, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c285ed68fb070cd8144e02e722ea1049e0b6b013d71fca88325d84e5fcbca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6861ba3656ca33066c1a5c7fffecbc09e7060eb0dab42e4261675810f78dc957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:511cfd98e0262e4c67bd884bbc24e27ee9e8e7069eb8da86a64ed95998881a94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gcKEAgSGAI4AUIIdGhpbmtpbmcSDBCh883QDDq8Jkj95RoMV2I8WssZtKZSsgfSIjCNpOIhON/hso+SbuBfJgSiTqWzoyNqciW6leREZU1hLlaNoq60Nt2Im3p06r8cQaAqkwe/DUjMd4QRUetHKTPecc3Zl2JJlHbI0hkzgPo4e4YXFZfZzF+JimBQhO5tSMHMOMXlgUtjxTUPiBW6i/gS3hjQiTgV7etAHMB4terkSLxck2WQO6gmbMIf82ks40MuryYgWSjvN49opOP/nn+qV2GTSCB/K78Les2DIrQ+7jQ2xKT8mNfokaLxIl/V5kYehtMv9emaJDwPso9S/3aBhTHBPMJXwZm6OtGZGRXd1duTl/obstKfFTEzNkhuTFm2meJswuM5unkFY4lxNnc3gt0GTZAKZAONylLKOHlnbYV0yy90ZYUtf7T+IIp6+3nA5hXtR/pkvrUvZwcykCGp5uNVyhzyYPYyugR06qVUYbQ0BkTM4nkm13nJ0016wVacEIyX93mrp68I9BsuiEfbBnl27Bo1CmKroU8lEzFXV1w765Ll3kld3ly1Ej6WTEOe51RDwk7ZdWFcUL7/PqXTr7i+Vca8p9TWp09nONDblPLr3rP8lVVCXn9JQc4Cr/scAEJYSR8W2cXSwFirLa48NDsd+KIt1FlOjAFYWdI1AeMi2AQGWIX2mCzFbCKIXpPriK8rH8b88VTdDfeFpOxV1OupZKCNIRbcqpb8djA+ZcrKI766vHnwzWAKCSKhRG4XERL6Askr0y1WTW1OSGxYzc79fqiPOmEluNf3a3psYykYw8tmEcToXn3dicmWTmHl9sSayzItLASXAdaFiLK0xAW46iBnA2ZOHUYlmuecc0KJbxeG4sqMZ+84jWrmRPrdw+CXMWq0qRoeCABQhPMzSEl0NOe8RYpTQH3g4aHOwI5XgE8NzH3afnU5hlf0PKGntVs1gEnQVPMICrjxUvvDhqOtKxkWQcpKLat1QQQln+p6kffjFkdBM0Iy4f4Okh0puTKNTOAFMJrwi/DmMo2q29kyTEgErNBIqKOZvKvRH2r3Wqbjf6hhtnSPs6DLaG3CmXlF8bhfCmXR6tuXeI6msmPTR5pirhZkegfMRVDDHiUfJgV5Bp5QhfPiJB6DtjYJeMHAxK5HY8Dg79WbZBe2aNYfkjLzG4IE+RpPmYUgKdmdx8EvsF5CUPm1nHi/6VOUAzVTHd2e1U6+n5DrxstXV3F4podaTDZjhENwgvNctUXib84B4Kg4qfivgIZSGGecIlzoZ3cSQTxI4ckBrKt4hS5SF9gVmHSHmtugvkmRmfcp3n4LJM8SKq3hqtZWdBZ24a46N3sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012XvYNTw35RDvd3BcyeeWyF",
      "input": {
        "note": "Koala is held by its fur and lifted. The basket is just ahead and slightly left; carrying it over the basket centre.",
        "targets": {
          "left_x": 0.53,
          "left_y": -0.08,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012XvYNTw35RDvd3BcyeeWyF",
      "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]: [-0.2794, 1.8286, 1.5173, -0.366, -0.3775, -0.3584, 0.0125, -0.0929, 0.9031, 0.6128, -0.3927, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.5203 left_y=-0.0778 left_z=0.2027 left_yaw=0.2122 left_pitch=-0.0595 left_roll=-0.0418 left_gripper=0.0125 right_x=0.3 right_y=-0.0037 right_z=0.1519 right_yaw=0.0498 right_pitch=-0.1159 right_roll=0.0117 right_gripper=0.9975\nstate[joint_eff]: [0.3077, -9.9897, 8.9368, 1.707, -0.105, 0.1587, 0.5788, -0.1709, -2.2085, 7.0085, 1.6288, -0.0855, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84a480818e7611451ed04b05c7936f162fc64ee33a6bc43ca1bd8cbe6d533ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5ae18121e6ca4311a8ba6d8e177dbbabf9079679f97e1769fa9c3939101ea56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ae0faafc344a4b27ee9907e89f5577c2bc2e99be2610a88a72d3801e9512654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 9.812 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]: [-0.4118, 1.9629, 0.7563, 0.5877, -0.4816, -0.4122, 0.0109, -0.0929, 0.8997, 0.6128, -0.3923, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.4456 left_y=-0.1014 left_z=0.0171 left_yaw=0.192 left_pitch=0.0218 left_roll=-0.0634 left_gripper=0.0109 right_x=0.2999 right_y=-0.0037 right_z=0.1529 right_yaw=0.0497 right_pitch=-0.1121 right_roll=0.0112 right_gripper=0.9975\nstate[joint_eff]: [0.2393, -8.8821, 4.8068, 1.8779, -0.1929, 0.0317, 0.8181, -0.0479, -1.9487, 6.9675, 1.6239, -0.0855, -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 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]: [-0.4118, 1.589, 1.1591, -0.2382, -0.4709, -0.4202, 0.0131, -0.0929, 0.8997, 0.6128, -0.3923, -0.1169, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.447 left_y=-0.1039 left_z=0.1876 left_yaw=0.1877 left_pitch=-0.0226 left_roll=-0.0476 left_gripper=0.0131 right_x=0.2999 right_y=-0.0036 right_z=0.1529 right_yaw=0.05 right_pitch=-0.1121 right_roll=0.0114 right_gripper=0.9975\nstate[joint_eff]: [-0.1573, -11.0838, 9.2923, 1.7558, -0.3394, 0.0757, 0.6716, -0.3487, -1.8803, 6.9675, 1.6825, -0.0806, -0.0562, -0.0122]",
      "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]: [-0.2794, 1.8286, 1.5173, -0.366, -0.3775, -0.3584, 0.0125, -0.0929, 0.9031, 0.6128, -0.3927, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.5203 left_y=-0.0778 left_z=0.2027 left_yaw=0.2122 left_pitch=-0.0595 left_roll=-0.0418 left_gripper=0.0125 right_x=0.3 right_y=-0.0037 right_z=0.1519 right_yaw=0.0498 right_pitch=-0.1159 right_roll=0.0117 right_gripper=0.9975\nstate[joint_eff]: [0.3077, -9.9897, 8.9368, 1.707, -0.105, 0.1587, 0.5788, -0.1709, -2.2085, 7.0085, 1.6288, -0.0855, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84a480818e7611451ed04b05c7936f162fc64ee33a6bc43ca1bd8cbe6d533ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5ae18121e6ca4311a8ba6d8e177dbbabf9079679f97e1769fa9c3939101ea56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ae0faafc344a4b27ee9907e89f5577c2bc2e99be2610a88a72d3801e9512654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ggqg1YB8Yn2FDkPEDxJz4p",
      "input": {
        "note": "The koala is hanging over the left basket; opening the jaws and dropping a little so it falls in.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ggqg1YB8Yn2FDkPEDxJz4p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.279, 1.8515, 1.3598, -0.1986, -0.366, -0.3664, 0.9954, -0.0929, 0.9081, 0.6128, -0.3946, -0.1165, -0.0978, 0.9975]\nstate[eef_state]: left_x=0.5171 left_y=-0.0787 left_z=0.1534 left_yaw=0.2079 left_pitch=-0.0745 left_roll=-0.0485 left_gripper=0.9954 right_x=0.2999 right_y=-0.0037 right_z=0.1501 right_yaw=0.0499 right_pitch=-0.1227 right_roll=0.0127 right_gripper=0.9975\nstate[joint_eff]: [-0.3214, -8.7179, 6.612, 1.8584, -0.359, 0.0171, -0.2027, -0.0889, -2.1128, 6.9675, 1.6777, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8603042bea93055fa7981428699fee8bf2e99c9cf5610b2042ba2fc53d9118e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f620cf58bc1a40bf026335f27e2a3d4bf6e37d4b93da1a18ba269fcf1d38db5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:840bc42b3412737d0c4cf5b3df1c921d030a354e3917c5467a69d2a090477221",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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