adhoc - adhoc_c8090456.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 326.4 s
total steps: 344

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteTable has two baskets, three plush toys (teddy, dog, gray one) and three pens/markers (yellow highlighter, two markers). I'll sort pens into one basket and plush toys into the other; starting with the highlighter right under the left gripper.

move_to

left_x0.3200left_y0.0000left_z0.0500left_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, 0.6174, -0.3786, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.0128, -0.0158, 0.9998] state[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0013 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4991, -1.7026, 9.265, 1.7851, -0.0366, 0.1343, -0.0708, -0.8684, -1.6479, 9.7846, 1.7021, -0.1294, -0.0024, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.32, "left_y": 0.0, "left_z": 0.05, "left_gripper": 1.0}, "note": "Table has two baskets, three plush toys (teddy, dog, gray one) and three pens/markers (yellow highlighter, two markers). I'll sort pens into one basket and plush toys into the other; starting with the highlighter right under the left gripper."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteHighlighter sits on the jaw column at the bottom of the left wrist view, so it's under the fingertips; descending to table level.

move_to

left_z-0.0050

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0284, 1.2362, 0.2256, 0.4484, -0.0269, -0.0322, 0.9995, -0.0193, 0.8032, 0.6086, -0.384, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3233 left_y=-0.0008 left_z=0.0544 left_yaw=-0.0056 left_pitch=0.0004 left_roll=0.0036 left_gripper=0.9995 right_x=0.2954 right_y=0.0 right_z=0.1787 right_yaw=-0.0043 right_pitch=-0.0172 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.0479, -2.6735, 4.1915, 1.4286, -0.0269, -0.0708, -0.0708, 0.2256, -1.0735, 7.241, 1.8535, -0.022, -0.022, -0.0122] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": -0.005}, "note": "Highlighter sits on the jaw column at the bottom of the left wrist view, so it's under the fingertips; descending to table level."})

tool

executing move_to over 4 steps (0.4s)

step 13

assistant

agent noteGripper is at table level with the highlighter between the jaws in the wrist view; closing.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0284, 1.7168, 0.1333, 1.0622, -0.0402, -0.0341, 0.9995, -0.02, 0.8078, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3295 left_y=0.0013 left_z=0.0048 left_yaw=0.0068 left_pitch=0.0414 left_roll=0.0077 left_gripper=0.9995 right_x=0.2955 right_y=-0.0002 right_z=0.1769 right_yaw=-0.005 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2803, -3.7949, 2.6598, 1.917, 0.0855, -0.0073, -0.0171, -0.0342, -1.6615, 7.0906, 1.7363, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]

assistant

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

tool

executing move_to over 10 steps (1.0s)

step 23

assistant

agent noteHighlighter grasped (reading 0.15 ≈ 1.4 cm). Lifting it; plan is pens → right basket, plush toys → left basket.

move_to

left_z0.2000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0284, 1.7168, 0.1326, 1.063, -0.0444, -0.0376, 0.1501, -0.02, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3293 left_y=0.0021 left_z=0.0048 left_yaw=0.0122 left_pitch=0.0416 left_roll=0.0068 left_gripper=0.1501 right_x=0.2955 right_y=-0.0002 right_z=0.1768 right_yaw=-0.005 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [0.0068, -4.9162, 2.906, 1.7314, 0.022, 0.0269, 1.0037, -0.1709, -1.3333, 7.0769, 1.7216, -0.0562, -0.0659, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.2}, "note": "Highlighter grasped (reading 0.15 \u2248 1.4 cm). Lifting it; plan is pens \u2192 right basket, plush toys \u2192 left basket."})

tool

executing move_to over 13 steps (1.3s)

step 36

assistant

agent noteHolding the highlighter up. Carrying it toward the right basket (pens basket), which should be near the left arm's cross-over limit.

move_to

left_x0.4500left_y-0.3800left_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]: [-0.0284, 0.9466, 0.6571, -0.2512, -0.0444, -0.0418, 0.157, -0.02, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3294 left_y=0.0021 left_z=0.187 left_yaw=0.0144 left_pitch=0.0222 left_roll=0.004 left_gripper=0.157 right_x=0.2957 right_y=-0.0002 right_z=0.1756 right_yaw=-0.005 right_pitch=-0.0282 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0752, -3.4256, 9.2923, 1.5458, -0.0269, 0.022, 1.0281, -0.335, -1.6205, 7.0359, 1.6972, -0.0611, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.38, "left_z": 0.22}, "note": "Holding the highlighter up. Carrying it toward the right basket (pens basket), which should be near the left arm's cross-over limit."})

tool

executing move_to over 34 steps (3.4s)

step 70

assistant

agent noteLeft gripper is over the right basket (top view shows it over the basket's far half). Pulling back slightly toward the basket centre and lowering before release.

move_to

left_x0.4200left_z0.1300

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9131, 2.2623, 2.1773, -0.712, -0.7525, -0.6365, 0.162, -0.02, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4509 left_y=-0.3804 left_z=0.2121 left_yaw=0.0133 left_pitch=0.0129 left_roll=-0.0054 left_gripper=0.162 right_x=0.2959 right_y=-0.0002 right_z=0.174 right_yaw=-0.005 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3077, -13.135, 9.1009, 1.4676, -0.4762, 0.0904, 1.0281, -0.1983, -1.4838, 7.2821, 1.6874, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_z": 0.13}, "note": "Left gripper is over the right basket (top view shows it over the basket's far half). Pulling back slightly toward the basket centre and lowering before release."})

tool

executing move_to over 6 steps (0.6s)

step 76

assistant

agent noteHighlighter is over the middle of the right basket; releasing it.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9592, 2.2227, 1.7588, -0.4145, -0.7677, -0.6827, 0.1665, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4203 left_y=-0.3795 left_z=0.1143 left_yaw=0.0024 left_pitch=-0.025 left_roll=0.0281 left_gripper=0.1665 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.005 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.6906, -15.159, 6.8444, 1.4774, -0.5836, -0.0855, 1.0281, -0.1299, -1.5248, 7.0359, 1.7558, -0.0513, -0.0708, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Highlighter is over the middle of the right basket; releasing it."})

tool

executing move_to over 9 steps (0.9s)

step 85

assistant

agent noteReleased; the right wrist cam shows something yellow just in front of the basket, so I'm moving the left arm out of the top view to check where the highlighter landed.

move_to

left_x0.3000left_y-0.0500left_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]: [-0.9588, 2.2227, 1.7481, -0.4141, -0.7628, -0.6895, 0.9954, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4189 left_y=-0.3782 left_z=0.1099 left_yaw=0.0035 left_pitch=-0.0339 left_roll=0.0287 left_gripper=0.9954 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.005 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.2803, -12.7658, 7.3641, 1.2821, -0.3687, 0.022, -0.232, -0.0615, -1.4154, 7.1316, 1.6923, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.2}, "note": "Released; the right wrist cam shows something yellow just in front of the basket, so I'm moving the left arm out of the top view to check where the highlighter landed."})

tool

executing move_to over 30 steps (3.0s)

step 115

assistant

agent noteHighlighter fell just short of the right basket (on the table in front of it); the left arm can't reach that basket's centre, so the right arm will handle pens. Parking left arm and moving right arm over the nearer black marker seen at bottom-left of its wrist view.

move_to

left_x0.3000left_y0.0000left_z0.1800right_y0.0600right_x0.3100right_z0.0800

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.379, 0.9192, 0.7513, -0.4526, -0.3641, -0.2569, 0.9967, -0.02, 0.8211, 0.6067, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.306 left_y=-0.0503 left_z=0.2036 left_yaw=0.0461 left_pitch=-0.0121 left_roll=0.0099 left_gripper=0.9967 right_x=0.2962 right_y=-0.0002 right_z=0.1727 right_yaw=-0.005 right_pitch=-0.0381 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.0479, -2.4547, 6.4615, 1.6288, -0.1636, 0.2027, 0.1148, -0.1983, -1.4427, 7.1863, 1.7314, -0.0806, -0.0317, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.18, "right_y": 0.06, "right_x": 0.31, "right_z": 0.08}, "note": "Highlighter fell just short of the right basket (on the table in front of it); the left arm can't reach that basket's centre, so the right arm will handle pens. Parking left arm and moving right arm over the nearer black marker seen at bottom-left of its wrist view."})

tool

executing move_to over 6 steps (0.6s)

step 121

assistant

agent noteBlack marker is ~40 px left of the jaw column in the right wrist view; shifting right arm ~5 cm left to line up.

move_to

right_y0.1100right_x0.3100right_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]: [-0.0982, 0.8394, 0.6273, -0.3973, -0.1715, -0.1257, 0.9967, 0.3164, 1.0782, 0.3481, 0.0113, 0.2157, 0.1417, 0.9997] state[eef_state]: left_x=0.298 left_y=0.0045 left_z=0.176 left_yaw=0.0966 left_pitch=-0.037 left_roll=0.01 left_gripper=0.9967 right_x=0.2961 right_y=0.061 right_z=0.0663 right_yaw=0.0526 right_pitch=-0.1378 right_roll=-0.0275 right_gripper=0.9997 state[joint_eff]: [-0.294, -1.7983, 6.9812, 1.9365, 0.1392, 0.1636, -0.0024, 0.1436, -3.8222, 6.2838, 1.7949, 0.1929, 0.2076, -0.0171] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.11, "right_x": 0.31, "right_z": 0.06}, "note": "Black marker is ~40 px left of the jaw column in the right wrist view; shifting right arm ~5 cm left to line up."})

tool

executing move_to over 5 steps (0.5s)

step 126

assistant

agent noteBlack marker is now centred on the jaw column and runs toward the jaws; descending to table level to grab it.

move_to

right_z-0.0050

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0978, 0.8433, 0.6224, -0.3996, -0.1608, -0.1272, 0.9967, 0.5095, 1.2755, 0.408, 0.0765, 0.3294, 0.2485, 0.9998] state[eef_state]: left_x=0.2973 left_y=0.0028 left_z=0.1721 left_yaw=0.0889 left_pitch=-0.049 left_roll=0.0048 left_gripper=0.9967 right_x=0.3005 right_y=0.1065 right_z=0.048 right_yaw=0.0896 right_pitch=-0.1775 right_roll=-0.0449 right_gripper=0.9998 state[joint_eff]: [-0.0889, -1.8667, 7.4872, 1.7021, -0.2222, -0.0269, -0.0122, 0.2393, -3.9453, 8.212, 1.6093, 0.2662, 0.1783, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": {"right_z": -0.005}, "note": "Black marker is now centred on the jaw column and runs toward the jaws; descending to table level to grab it."})

tool

executing move_to over 4 steps (0.4s)

step 130

assistant

agent noteRight arm didn't descend (held at z 0.048); retrying the descent with a slightly more extended x, which is also where the marker sits.

move_to

right_z0.0100right_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]: [-0.0978, 0.8433, 0.6224, -0.3996, -0.1604, -0.1276, 0.9968, 0.5236, 1.2877, 0.4145, 0.0799, 0.3515, 0.2707, 0.9998] state[eef_state]: left_x=0.2973 left_y=0.0028 left_z=0.1721 left_yaw=0.0888 left_pitch=-0.049 left_roll=0.0043 left_gripper=0.9968 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0735 right_pitch=-0.1724 right_roll=-0.0437 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.3607, 7.0359, 1.663, -0.1245, -0.0366, -0.0073, 0.0342, -4.0547, 7.9658, 1.5751, 0.2564, 0.1148, -0.0171] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.01, "right_x": 0.32}, "note": "Right arm didn't descend (held at z 0.048); retrying the descent with a slightly more extended x, which is also where the marker sits."})

tool

executing move_to over 3 steps (0.3s)

step 133

assistant

agent noteRight arm seems frozen at z 0.048 (joints unchanged over two commands). Commanding a small raise to check it still responds.

move_to

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

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0978, 0.8433, 0.6224, -0.4023, -0.1604, -0.1303, 0.9967, 0.5236, 1.2877, 0.4145, 0.0799, 0.3519, 0.2707, 0.9998] state[eef_state]: left_x=0.297 left_y=0.0028 left_z=0.1715 left_yaw=0.0902 left_pitch=-0.0516 left_roll=0.0026 left_gripper=0.9967 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0732 right_pitch=-0.1722 right_roll=-0.044 right_gripper=0.9998 state[joint_eff]: [-0.2393, -1.4291, 7.0496, 1.707, -0.105, 0.0269, -0.0171, -0.0342, -4.041, 7.9932, 1.58, 0.2711, 0.1343, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.1, "right_x": 0.3, "right_y": 0.1, "right_yaw": 0.0}, "note": "Right arm seems frozen at z 0.048 (joints unchanged over two commands). Commanding a small raise to check it still responds."})

tool

executing move_to over 4 steps (0.4s)

step 137

assistant

agent noteRight base joint reads exactly 0.5236 rad (30°), which looks like a joint limit that froze the arm. Backing toward smaller y and higher z to get it tracking again.

move_to

right_z0.1200right_x0.3000right_y0.0400right_yaw0.0000right_pitch0.0000right_roll0.0000

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]: [-0.0978, 0.8433, 0.6224, -0.4026, -0.16, -0.1307, 0.9967, 0.5236, 1.2877, 0.4145, 0.0799, 0.3515, 0.2707, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0027 left_z=0.1714 left_yaw=0.0901 left_pitch=-0.052 left_roll=0.0021 left_gripper=0.9967 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0735 right_pitch=-0.1724 right_roll=-0.0437 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.388, 7.0085, 1.7118, -0.1148, -0.0415, -0.0073, 0.1299, -4.0274, 8.0342, 1.536, 0.2515, 0.1148, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12, "right_x": 0.3, "right_y": 0.04, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Right base joint reads exactly 0.5236 rad (30\u00b0), which looks like a joint limit that froze the arm. Backing toward smaller y and higher z to get it tracking again."})

tool

executing move_to over 6 steps (0.6s)

step 143

assistant

agent noteRight arm responds again. Black marker is slightly left of the jaws and ahead; approaching it at y 0.085 (staying below where the base joint froze at ~30°).

move_to

right_y0.0850right_x0.3300right_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]: [-0.0978, 0.8474, 0.6224, -0.4023, -0.16, -0.1307, 0.9967, 0.2562, 0.9077, 0.384, -0.0498, 0.2291, 0.1467, 0.9998] state[eef_state]: left_x=0.2972 left_y=0.0027 left_z=0.1704 left_yaw=0.0902 left_pitch=-0.0558 left_roll=0.0028 left_gripper=0.9967 right_x=0.3025 right_y=0.0415 right_z=0.1183 right_yaw=-0.019 right_pitch=0.0045 right_roll=0.0075 right_gripper=0.9998 state[joint_eff]: [-0.1436, -1.4427, 6.9949, 1.7411, -0.0904, -0.0562, -0.0073, -0.1709, -1.3607, 7.0769, 1.8242, 0.1148, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.085, "right_x": 0.33, "right_z": 0.06}, "note": "Right arm responds again. Black marker is slightly left of the jaws and ahead; approaching it at y 0.085 (staying below where the base joint froze at ~30\u00b0)."})

tool

executing move_to over 4 steps (0.4s)

step 147

assistant

agent noteRight arm didn't track the last target at all. Trying a smaller step (y 0.06, z 0.10) to find out what it will accept.

move_to

right_y0.0600right_z0.1000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1265, 0.9998] state[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0004 right_pitch=-0.0017 right_roll=0.0067 right_gripper=0.9998 state[joint_eff]: [-0.1709, -1.3607, 7.0222, 1.6972, -0.1392, -0.0806, -0.0073, -0.0752, -2.0034, 7.3231, 1.6679, 0.0513, -0.0757, -0.0122] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.06, "right_z": 0.1}, "note": "Right arm didn't track the last target at all. Trying a smaller step (y 0.06, z 0.10) to find out what it will accept."})

tool

executing move_to over 2 steps (0.2s)

step 149

assistant

agent noteRight arm still not tracking; last time it recovered when I commanded all rotations explicitly, so including yaw/pitch/roll = 0 while moving toward the black marker.

move_to

right_y0.0700right_x0.3200right_z0.0800right_yaw0.0000right_pitch0.0000right_roll0.0000

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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1261, 0.9998] state[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.0017 right_roll=0.0064 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.5385, 7.241, 1.7216, -0.0952, -0.0415, -0.0073, -0.2393, -2.0171, 7.2547, 1.6777, 0.0611, -0.1099, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.07, "right_x": 0.32, "right_z": 0.08, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Right arm still not tracking; last time it recovered when I commanded all rotations explicitly, so including yaw/pitch/roll = 0 while moving toward the black marker."})

tool

executing move_to over 3 steps (0.3s)

step 152

assistant

agent noteRight arm ignores targets with larger y; testing whether it still accepts a move that decreases y and raises z.

move_to

right_y0.0300right_x0.3100right_z0.1400

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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1261, 0.9998] state[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.0017 right_roll=0.0064 right_gripper=0.9998 state[joint_eff]: [-0.212, -1.5521, 7.159, 1.7021, -0.1245, -0.0366, -0.0122, -0.1573, -1.8393, 7.1726, 1.6435, 0.0611, -0.1099, -0.0171] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.03, "right_x": 0.31, "right_z": 0.14}, "note": "Right arm ignores targets with larger y; testing whether it still accepts a move that decreases y and raises z."})

tool

executing move_to over 2 steps (0.2s)

step 154

assistant

agent noteRight arm has not moved for several commands. Sending it to its home pose to see if a larger, clearly-feasible move gets it tracking again.

move_to

right_x0.3000right_y0.0000right_z0.1800

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0978, 0.8501, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1265, 0.9997] state[eef_state]: left_x=0.2973 left_y=0.0022 left_z=0.1695 left_yaw=0.0882 left_pitch=-0.0591 left_roll=0.0015 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0004 right_pitch=-0.0017 right_roll=0.0067 right_gripper=0.9997 state[joint_eff]: [-0.1162, -1.7709, 7.0222, 1.7118, -0.1245, -0.0708, -0.0073, -0.212, -1.9624, 7.1316, 1.6435, 0.0611, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18}, "note": "Right arm has not moved for several commands. Sending it to its home pose to see if a larger, clearly-feasible move gets it tracking again."})

tool

executing move_to over 4 steps (0.4s)

step 158

assistant

agent noteRight arm is back home and tracking. Black marker is at the bottom-left of its wrist view; moving in one step to hover over it (y≈0.10).

move_to

right_x0.3200right_y0.1000right_z0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000

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]: [-0.0975, 0.8501, 0.6224, -0.4034, -0.1574, -0.131, 0.9967, -0.0048, 0.8246, 0.5568, -0.2836, 0.0372, 0.02, 0.9998] state[eef_state]: left_x=0.2972 left_y=0.0024 left_z=0.1694 left_yaw=0.0886 left_pitch=-0.0598 left_roll=0.0017 left_gripper=0.9967 right_x=0.3031 right_y=-0.0044 right_z=0.1698 right_yaw=-0.0507 right_pitch=0.0103 right_roll=0.0042 right_gripper=0.9998 state[joint_eff]: [-0.0752, -1.5932, 7.0222, 1.7021, -0.0952, -0.0659, -0.0073, -0.212, -2.0444, 8.8684, 1.5165, -0.1636, -0.0317, -0.0073] 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": {"right_x": 0.32, "right_y": 0.1, "right_z": 0.1, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Right arm is back home and tracking. Black marker is at the bottom-left of its wrist view; moving in one step to hover over it (y\u22480.10)."})

tool

executing move_to over 9 steps (0.9s)

step 167

assistant

agent noteBlack marker is centred on the right jaw column and runs along the arm's forward axis; descending to table level to grasp it.

move_to

right_z-0.0050right_x0.3200right_y0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000

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]: [-0.0959, 0.8536, 0.6224, -0.4034, -0.1574, -0.131, 0.9967, 0.4942, 1.1652, 0.4438, 0.0475, 0.3737, 0.2424, 0.9997] state[eef_state]: left_x=0.2974 left_y=0.0028 left_z=0.1684 left_yaw=0.0901 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9967 right_x=0.3131 right_y=0.0995 right_z=0.0916 right_yaw=0.0473 right_pitch=-0.0589 right_roll=-0.0272 right_gripper=0.9997 state[joint_eff]: [-0.2393, -1.8393, 6.9949, 1.6386, -0.1001, -0.0659, -0.0122, 0.1983, -4.1641, 6.0103, 1.8388, 0.3004, 0.1001, -0.0171] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": -0.005, "right_x": 0.32, "right_y": 0.1, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Black marker is centred on the right jaw column and runs along the arm's forward axis; descending to table level to grasp it."})

tool

executing move_to over 7 steps (0.7s)

step 174

assistant

agent noteRight jaws are at table level straddling the black marker; 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]: [-0.0959, 0.86, 0.6224, -0.4042, -0.1574, -0.131, 0.9967, 0.5049, 1.6882, 0.2642, 0.8345, 0.4194, 0.2928, 0.9997] state[eef_state]: left_x=0.2976 left_y=0.0028 left_z=0.1665 left_yaw=0.0902 left_pitch=-0.0703 left_roll=0.0037 left_gripper=0.9967 right_x=0.3294 right_y=0.104 right_z=0.0121 right_yaw=-0.0056 right_pitch=0.0284 right_roll=0.0298 right_gripper=0.9997 state[joint_eff]: [-0.212, -2.1128, 7.0222, 1.7118, -0.1001, -0.0366, -0.0073, 0.6359, -3.3162, 1.2786, 0.0562, 0.1978, -0.2466, -0.0073] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Right jaws are at table level straddling the black marker; closing."})

tool

executing move_to over 10 steps (1.0s)

step 184

assistant

agent noteMarker grasped (reading 0.15). Lifting it before carrying to the right basket.

move_to

right_z0.2000right_x0.3600right_y0.1100right_yaw0.0000right_pitch0.0000right_roll0.0000

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]: [-0.0959, 0.8612, 0.6224, -0.403, -0.1574, -0.131, 0.9967, 0.5045, 1.6978, 0.2581, 0.8665, 0.411, 0.292, 0.1519] state[eef_state]: left_x=0.2979 left_y=0.0027 left_z=0.1664 left_yaw=0.0902 left_pitch=-0.0703 left_roll=0.0037 left_gripper=0.9967 right_x=0.33 right_y=0.1057 right_z=0.0132 right_yaw=0.001 right_pitch=0.0405 right_roll=0.0412 right_gripper=0.1519 state[joint_eff]: [-0.1846, -1.7573, 7.2137, 1.6484, -0.0904, -0.0464, -0.0073, -0.1846, -6.188, 4.0274, 1.3553, 0.149, -0.0415, 1.0085] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.2, "right_x": 0.36, "right_y": 0.11, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Marker grasped (reading 0.15). Lifting it before carrying to the right basket."})

tool

executing move_to over 13 steps (1.3s)

step 197

assistant

agent noteMarker is held; the right basket is just ahead and slightly left in the wrist view. Moving over its centre.

move_to

right_x0.4700right_y0.1500right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000

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]: [-0.0959, 0.8631, 0.6224, -0.403, -0.157, -0.131, 0.9967, 0.4725, 1.2358, 0.8265, -0.2062, 0.3843, 0.2508, 0.1519] state[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.1658 left_yaw=0.0899 left_pitch=-0.0722 left_roll=0.0038 left_gripper=0.9967 right_x=0.3606 right_y=0.1139 right_z=0.184 right_yaw=0.0132 right_pitch=-0.0035 right_roll=-0.0005 right_gripper=0.1519 state[joint_eff]: [-0.1162, -1.7846, 7.0359, 1.6484, -0.0464, -0.0806, -0.0073, -0.4444, -5.8735, 9.347, 1.5751, 0.149, -0.022, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.47, "right_y": 0.15, "right_z": 0.2, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Marker is held; the right basket is just ahead and slightly left in the wrist view. Moving over its centre."})

tool

executing move_to over 9 steps (0.9s)

step 206

assistant

Over the basket. Releasing.

agent noteRight wrist view shows basket interior filling the frame under the jaws; releasing the marker into the right basket.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0959, 0.8677, 0.6224, -0.4042, -0.1574, -0.131, 0.9967, 0.4343, 1.66, 1.2167, -0.2115, 0.3538, 0.2249, 0.1519] state[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.1644 left_yaw=0.0903 left_pitch=-0.0778 left_roll=0.0051 left_gripper=0.9967 right_x=0.4576 right_y=0.1487 right_z=0.1806 right_yaw=0.0134 right_pitch=-0.0469 right_roll=-0.0224 right_gripper=0.1519 state[joint_eff]: [-0.1709, -1.5932, 7.0632, 1.6874, -0.105, -0.0806, -0.0073, -0.7453, -8.7863, 9.5385, 1.746, 0.1832, 0.0611, 1.0232] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]

assistant

Over the basket. Releasing.

move_to({"targets": {"right_gripper": 1.0}, "note": "Right wrist view shows basket interior filling the frame under the jaws; releasing the marker into the right basket."})

tool

executing move_to over 9 steps (0.9s)

step 215

assistant

agent noteReleased over the right basket, but the top view now shows a dark marker lying crosswise on the table near its old spot, so the drop may have failed. Moving back over that area to check with the wrist camera.

move_to

right_x0.3300right_y0.0800right_z0.1200right_yaw0.0000right_pitch0.0000right_roll0.0000

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]: [-0.0959, 0.868, 0.6224, -0.403, -0.1574, -0.131, 0.9967, 0.4316, 1.6814, 1.2179, -0.2161, 0.3473, 0.2173, 0.9955] state[eef_state]: left_x=0.2982 left_y=0.0027 left_z=0.1645 left_yaw=0.0903 left_pitch=-0.0771 left_roll=0.0049 left_gripper=0.9967 right_x=0.4587 right_y=0.149 right_z=0.1702 right_yaw=0.0195 right_pitch=-0.0714 right_roll=-0.035 right_gripper=0.9955 state[joint_eff]: [-0.1983, -1.7299, 6.9949, 1.6386, -0.1001, -0.0806, -0.0073, 0.0889, -10.2769, 6.7897, 1.6288, 0.1343, 0.0073, -0.188] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.33, "right_y": 0.08, "right_z": 0.12, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Released over the right basket, but the top view now shows a dark marker lying crosswise on the table near its old spot, so the drop may have failed. Moving back over that area to check with the wrist camera."})

tool

executing move_to over 10 steps (1.0s)

step 225

assistant

agent notePens remaining are near the centre where the right arm's base joint limits it; switching to plush toys: parking the right arm and moving the left arm over the teddy bear to put it in the left basket.

move_to

right_x0.3000right_y0.0000right_z0.1800left_x0.2700left_y-0.2100left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000

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]: [-0.0959, 0.8719, 0.6224, -0.4019, -0.1574, -0.131, 0.9967, 0.4038, 1.1595, 0.5129, 0.0124, 0.3286, 0.2169, 0.9963] state[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1636 left_yaw=0.0903 left_pitch=-0.0797 left_roll=0.0054 left_gripper=0.9967 right_x=0.3313 right_y=0.0834 right_z=0.1138 right_yaw=0.0082 right_pitch=-0.0341 right_roll=-0.007 right_gripper=0.9963 state[joint_eff]: [-0.1436, -1.5248, 7.2137, 1.7167, -0.1099, -0.0659, -0.0073, -0.4444, -3.5487, 7.2821, 1.9853, 0.1294, -0.0708, 0.0757] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "left_x": 0.27, "left_y": -0.21, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Pens remaining are near the centre where the right arm's base joint limits it; switching to plush toys: parking the right arm and moving the left arm over the teddy bear to put it in the left basket."})

tool

executing move_to over 19 steps (1.9s)

step 244

assistant

agent noteLeft gripper is directly over the teddy bear (its body and arm fill the jaw area in the wrist view); descending into the plush to grab it.

move_to

left_z0.0300left_x0.2800

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.055, 1.3663, 0.6918, -0.2878, -0.8028, -0.7654, 0.9967, -0.0158, 0.8513, 0.5964, -0.374, 0.0021, -0.017, 0.9965] state[eef_state]: left_x=0.2643 left_y=-0.2012 left_z=0.1063 left_yaw=-0.0249 left_pitch=-0.0451 left_roll=0.0453 left_gripper=0.9967 right_x=0.2979 right_y=-0.0015 right_z=0.1619 right_yaw=-0.0124 right_pitch=-0.0676 right_roll=-0.0087 right_gripper=0.9965 state[joint_eff]: [-0.1299, -4.9983, 8.4034, 1.3504, -0.5397, -0.0904, -0.0073, -0.2803, -2.1128, 10.3726, 1.663, -0.1636, -0.1197, 0.0024] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.03, "left_x": 0.28}, "note": "Left gripper is directly over the teddy bear (its body and arm fill the jaw area in the wrist view); descending into the plush to grab it."})

tool

executing move_to over 5 steps (0.5s)

step 249

assistant

agent noteJaws are pressed into the teddy's body/leg; closing to grip the plush.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0019, 1.5871, 0.5587, 0.0814, -0.7944, -0.7338, 0.9967, -0.0208, 0.8566, 0.5964, -0.3843, -0.009, -0.0269, 0.9965] state[eef_state]: left_x=0.2791 left_y=-0.1959 left_z=0.0399 left_yaw=0.0057 left_pitch=-0.044 left_roll=0.0548 left_gripper=0.9967 right_x=0.2967 right_y=-0.001 right_z=0.1584 right_yaw=-0.0026 right_pitch=-0.0832 right_roll=-0.0099 right_gripper=0.9965 state[joint_eff]: [0.1983, -4.2598, 3.453, 0.8474, -0.1685, 0.2466, -0.0122, 0.1436, -2.0034, 7.0222, 1.7656, 0.0513, 0.0708, -0.0122] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are pressed into the teddy's body/leg; closing to grip the plush."})

tool

executing move_to over 10 steps (1.0s)

step 259

assistant

agent noteGripper reading 0.12, so the teddy is held. Lifting and carrying it over the left basket (plush basket).

move_to

left_x0.4400left_y-0.0600left_z0.2400

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9989, 1.5993, 0.5499, 0.0982, -0.7864, -0.741, 0.118, -0.0208, 0.8577, 0.5964, -0.3847, -0.0093, -0.0273, 0.9965] state[eef_state]: left_x=0.2785 left_y=-0.1951 left_z=0.0348 left_yaw=0.0079 left_pitch=-0.0515 left_roll=0.0489 left_gripper=0.118 right_x=0.2967 right_y=-0.0009 right_z=0.158 right_yaw=-0.0021 right_pitch=-0.0847 right_roll=-0.0099 right_gripper=0.9965 state[joint_eff]: [-0.3077, -6.694, 5.6547, 1.0672, -0.442, 0.0513, 0.989, -0.1573, -1.7162, 7.1863, 1.6484, -0.0171, -0.0659, -0.0122] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.06, "left_z": 0.24}, "note": "Gripper reading 0.12, so the teddy is held. Lifting and carrying it over the left basket (plush basket)."})

tool

executing move_to over 14 steps (1.4s)

step 273

assistant

agent noteTeddy is dangling from the left jaws, which sit at the near rim of the left basket; advancing a bit to be over the basket centre.

move_to

left_x0.5000left_y-0.0900left_z0.2400

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2497, 1.4677, 1.2045, -0.4004, -0.2672, -0.1673, 0.118, -0.0208, 0.86, 0.5964, -0.3859, -0.0093, -0.0269, 0.9965] state[eef_state]: left_x=0.4335 left_y=-0.0587 left_z=0.2208 left_yaw=0.0482 left_pitch=-0.0748 left_roll=0.0446 left_gripper=0.118 right_x=0.2966 right_y=-0.0009 right_z=0.1571 right_yaw=-0.0023 right_pitch=-0.0882 right_roll=-0.0096 right_gripper=0.9965 state[joint_eff]: [0.1299, -6.9949, 9.2376, 1.6923, -0.0708, 0.1587, 0.906, -0.1573, -1.7436, 7.0085, 1.663, -0.0317, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": -0.09, "left_z": 0.24}, "note": "Teddy is dangling from the left jaws, which sit at the near rim of the left basket; advancing a bit to be over the basket centre."})

tool

executing move_to over 6 steps (0.6s)

step 279

assistant

agent noteTeddy still hangs just in front of/right of the left basket in the top view; reaching further forward and left so it's over the basket middle.

move_to

left_x0.5600left_y-0.0400left_z0.2500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2829, 1.7313, 1.5002, -0.5194, -0.2787, -0.1917, 0.1192, -0.0208, 0.8639, 0.5961, -0.3859, -0.0093, -0.0273, 0.9965] state[eef_state]: left_x=0.4851 left_y=-0.0866 left_z=0.2114 left_yaw=0.0407 left_pitch=-0.1545 left_roll=0.0593 left_gripper=0.1192 right_x=0.2967 right_y=-0.0009 right_z=0.1559 right_yaw=-0.0021 right_pitch=-0.0924 right_roll=-0.0098 right_gripper=0.9965 state[joint_eff]: [-0.3624, -8.6496, 10.2769, 1.8388, -0.2808, 0.0122, 0.7155, -0.1983, -1.935, 6.9949, 1.6874, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.56, "left_y": -0.04, "left_z": 0.25}, "note": "Teddy still hangs just in front of/right of the left basket in the top view; reaching further forward and left so it's over the basket middle."})

tool

executing move_to over 6 steps (0.6s)

step 285

assistant

agent noteTeddy now overlaps the left basket in the top view; releasing it into the plush basket.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1383, 2.009, 1.9514, -0.725, -0.1825, -0.1219, 0.1216, -0.0212, 0.8692, 0.5961, -0.3862, -0.0097, -0.0273, 0.9965] state[eef_state]: left_x=0.5527 left_y=-0.0409 left_z=0.2251 left_yaw=0.0681 left_pitch=-0.2054 left_roll=0.0547 left_gripper=0.1216 right_x=0.2969 right_y=-0.001 right_z=0.1543 right_yaw=-0.0021 right_pitch=-0.0981 right_roll=-0.0094 right_gripper=0.9965 state[joint_eff]: [0.3897, -11.9316, 9.0462, 1.4628, -0.105, 0.2369, 0.5641, -0.1026, -2.0991, 7.0085, 1.6435, -0.0415, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Teddy now overlaps the left basket in the top view; releasing it into the plush basket."})

tool

executing move_to over 9 steps (0.9s)

step 294

assistant

agent noteTeddy landed on the table just in front/right of the left basket (right basket is also still empty — marker missed). Going down onto the teddy to regrab it.

move_to

left_x0.5000left_y-0.0750left_z0.0400

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1398, 2.0216, 1.9472, -0.7399, -0.1795, -0.1307, 0.9953, -0.0212, 0.8707, 0.5953, -0.392, -0.0097, -0.0277, 0.9965] state[eef_state]: left_x=0.5508 left_y=-0.042 left_z=0.214 left_yaw=0.0702 left_pitch=-0.2365 left_roll=0.0529 left_gripper=0.9953 right_x=0.2959 right_y=-0.001 right_z=0.1525 right_yaw=-0.0019 right_pitch=-0.1061 right_roll=-0.0096 right_gripper=0.9965 state[joint_eff]: [-0.1299, -12.3692, 7.0632, 1.6239, -0.1441, 0.0317, -0.1441, -0.3487, -1.7983, 7.241, 1.7411, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": -0.075, "left_z": 0.04}, "note": "Teddy landed on the table just in front/right of the left basket (right basket is also still empty \u2014 marker missed). Going down onto the teddy to regrab it."})

tool

executing move_to over 12 steps (1.2s)

step 306

assistant

agent noteTeddy fills the jaws in the left wrist view, right next to the basket wall; closing on it.

move_to

left_gripper0.0000left_z0.0500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.2356, 1.9625, 1.2308, -0.0029, -0.2577, -0.1883, 0.9966, -0.0208, 0.8715, 0.5953, -0.3927, -0.0097, -0.0277, 0.9965] state[eef_state]: left_x=0.519 left_y=-0.0746 left_z=0.0757 left_yaw=0.068 left_pitch=-0.1437 left_roll=0.0433 left_gripper=0.9966 right_x=0.2959 right_y=-0.0008 right_z=0.1521 right_yaw=-0.0015 right_pitch=-0.1076 right_roll=-0.0096 right_gripper=0.9965 state[joint_eff]: [-0.3897, -8.3077, 4.2051, 0.6911, 0.0024, -0.0659, 0.1245, -0.0752, -1.7983, 6.9538, 1.707, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0, "left_z": 0.05}, "note": "Teddy fills the jaws in the left wrist view, right next to the basket wall; closing on it."})

tool

executing move_to over 10 steps (1.0s)

step 316

assistant

agent noteGrip reading is low (0.05) but the teddy appears to have lifted with the jaws; the basket is to the arm's left in the wrist view, so raising and shifting left over it.

move_to

left_x0.5000left_y0.0000left_z0.2700

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]: [-0.2256, 1.9724, 1.2137, 0.1188, -0.3, -0.1719, 0.0484, -0.0208, 0.8715, 0.5953, -0.3923, -0.0097, -0.0277, 0.9965] state[eef_state]: left_x=0.5329 left_y=-0.0651 left_z=0.0875 left_yaw=0.1015 left_pitch=-0.046 left_roll=0.0525 left_gripper=0.0484 right_x=0.2959 right_y=-0.0008 right_z=0.1522 right_yaw=-0.0015 right_pitch=-0.1072 right_roll=-0.0096 right_gripper=0.9965 state[joint_eff]: [-0.8, -7.3094, 4.2325, 1.3944, 0.3101, -0.2906, 1.8046, -0.0479, -1.7436, 7.0632, 1.663, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": 0.0, "left_z": 0.27}, "note": "Grip reading is low (0.05) but the teddy appears to have lifted with the jaws; the basket is to the arm's left in the wrist view, so raising and shifting left over it."})

tool

executing move_to over 12 steps (1.2s)

step 328

assistant

agent noteTeddy is held; the basket still lies to the arm's left of the jaws, so moving to the left y bound (0.05) to get the teddy as far over it as possible.

move_to

left_y0.0500left_x0.5200left_z0.2700

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0727, 1.7462, 1.533, -0.5026, -0.1791, -0.1078, 0.0586, -0.0208, 0.8715, 0.5953, -0.3927, -0.0097, -0.0277, 0.9965] state[eef_state]: left_x=0.5036 left_y=-0.0015 left_z=0.2188 left_yaw=0.1208 left_pitch=-0.1409 left_roll=0.0496 left_gripper=0.0586 right_x=0.2959 right_y=-0.0008 right_z=0.1521 right_yaw=-0.0015 right_pitch=-0.1076 right_roll=-0.0096 right_gripper=0.9965 state[joint_eff]: [0.1846, -13.9556, 10.1402, 1.9414, -0.0952, 0.2711, 1.0281, -0.1299, -1.6889, 6.9812, 1.6239, -0.0366, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": 0.05, "left_x": 0.52, "left_z": 0.27}, "note": "Teddy is held; the basket still lies to the arm's left of the jaws, so moving to the left y bound (0.05) to get the teddy as far over it as possible."})

tool

executing move_to over 5 steps (0.5s)

step 333

assistant

agent noteAt the left arm's y limit with the teddy against the basket's right wall; releasing in the hope it tips inside.

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]: [0.0425, 1.8481, 1.7798, -0.7197, -0.0662, -0.049, 0.0621, -0.0208, 0.8715, 0.5953, -0.3931, -0.0101, -0.0277, 0.9965] state[eef_state]: left_x=0.5135 left_y=0.0371 left_z=0.2346 left_yaw=0.1092 left_pitch=-0.2238 left_roll=0.0252 left_gripper=0.0621 right_x=0.2958 right_y=-0.0008 right_z=0.152 right_yaw=-0.0012 right_pitch=-0.108 right_roll=-0.0093 right_gripper=0.9965 state[joint_eff]: [1.1419, -10.6325, 10.4, 1.7705, -0.3736, 0.1929, 1.0281, -0.0752, -1.7299, 7.159, 1.6239, -0.0269, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "At the left arm's y limit with the teddy against the basket's right wall; releasing in the hope it tips inside."})

tool

executing move_to over 10 steps (1.0s)

step 343

assistant

agent noteI've used up nearly all of my call budget and no object ended up in a basket. Both baskets are empty. The pens (yellow highlighter, blue pen, black marker) and the plush toys (teddy, small dog, gray plush) are all still on the table. I dropped a pen and the teddy twice each, and every drop landed just outside a basket.

give_up

hindsight- The baskets are farther forward and farther toward the outer sides than they look in the top camera. The left basket's centre is past left_x ≈ 0.55 and at left_y > 0.05, which is outside the left arm's y bound. The right basket was also missed at right_x 0.46, right_y 0.15. Hovering where the wrist camera shows 'basket ahead' leaves the fingertips at the basket's near rim, so an object hanging below the jaws lands in front of it. To be over a basket in the wrist view, its interior has to fill the bottom of the frame around the jaw wedge, not sit above it. Check this with the top camera before releasing. - A plush hanging from the jaws drops 10–15 cm below the grasp point, so it needs extra margin. - The right arm froze several times: joints didn't change even when commanded to go up. It happened when commanding right_y > ~0.09 at x ≈ 0.30–0.33, and also on small follow-up moves after that. Commanding a big move back to home (0.3, 0, 0.18) freed it. It then reached y 0.10 at x 0.32 in a single larger move. Avoid small incremental moves near that region. - Pens in the middle of the table near the bases (top-cam x 130–170, y 120–190) are awkward for both arms. - Mapping for the left arm in the top camera: (x 0.30, y 0) ≈ px (25,130). (0.28, -0.20) ≈ (95,140). (0.42, -0.38) ≈ (145,75). - Grasps worked well: the highlighter and a marker read 0.15, and the teddy read 0.12 when grabbed at z 0.03. - Plan so each object takes about 4 calls (hover, descend, close, carry+release). Carry and release in one move once over the basket.

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]: [0.0578, 1.8507, 1.8233, -0.7395, -0.0738, -0.0334, 0.9953, -0.0208, 0.8715, 0.5957, -0.3923, -0.0097, -0.0273, 0.9965] state[eef_state]: left_x=0.5151 left_y=0.0464 left_z=0.2482 left_yaw=0.1223 left_pitch=-0.2029 left_roll=0.0407 left_gripper=0.9953 right_x=0.296 right_y=-0.0008 right_z=0.1523 right_yaw=-0.0017 right_pitch=-0.1069 right_roll=-0.0093 right_gripper=0.9965 state[joint_eff]: [0.3897, -10.6598, 8.9504, 1.7607, -0.0904, 0.1148, -0.1636, -0.0889, -1.7436, 6.9675, 1.7118, -0.022, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]

assistant

give_up({"reason": "I've used up nearly all of my call budget and no object ended up in a basket. Both baskets are empty. The pens (yellow highlighter, blue pen, black marker) and the plush toys (teddy, small dog, gray plush) are all still on the table. I dropped a pen and the teddy twice each, and every drop landed just outside a basket.", "hindsight": "- The baskets are farther forward and farther toward the outer sides than they look in the top camera. The left basket's centre is past left_x \u2248 0.55 and at left_y > 0.05, which is outside the left arm's y bound. The right basket was also missed at right_x 0.46, right_y 0.15. Hovering where the wrist camera shows 'basket ahead' leaves the fingertips at the basket's near rim, so an object hanging below the jaws lands in front of it. To be over a basket in the wrist view, its interior has to fill the bottom of the frame around the jaw wedge, not sit above it. Check this with the top camera before releasing.\n- A plush hanging from the jaws drops 10\u201315 cm below the grasp point, so it needs extra margin.\n- The right arm froze several times: joints didn't change even when commanded to go up. It happened when commanding right_y > ~0.09 at x \u2248 0.30\u20130.33, and also on small follow-up moves after that. Commanding a big move back to home (0.3, 0, 0.18) freed it. It then reached y 0.10 at x 0.32 in a single larger move. Avoid small incremental moves near that region.\n- Pens in the middle of the table near the bases (top-cam x 130\u2013170, y 120\u2013190) are awkward for both arms.\n- Mapping for the left arm in the top camera: (x 0.30, y 0) \u2248 px (25,130). (0.28, -0.20) \u2248 (95,140). (0.42, -0.38) \u2248 (145,75).\n- Grasps worked well: the highlighter and a marker read 0.15, and the teddy read 0.12 when grabbed at z 0.03.\n- Plan so each object takes about 4 calls (hover, descend, close, carry+release). Carry and release in one move once over the basket."})

tool

give_up: I've used up nearly all of my call budget and no object ended up in a basket. Both baskets are empty. The pens (yellow highlighter, blue pen, black marker) and the plush toys (teddy, small dog, gray plush) are all still on the table. I dropped a pen and the teddy twice each, and every drop landed just outside a 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 · 13.3 s

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

{
  "content": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6174, -0.3786, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.0128, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0013 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -1.7026, 9.265, 1.7851, -0.0366, 0.1343, -0.0708, -0.8684, -1.6479, 9.7846, 1.7021, -0.1294, -0.0024, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:451a933db6a76351ce019ebca24562fec721ad10d5bf09cefd72e053df8542e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e66e6f9906c3cdae9ca73426665527f16e2f2fabb8555d68ef6c017c9d19c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35d5c1e734630c017a0565647b4a9fe4d5d9e0880b8ebb8a1ab5e1d79eea498f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 3.388 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6174, -0.3786, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.0128, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0013 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -1.7026, 9.265, 1.7851, -0.0366, 0.1343, -0.0708, -0.8684, -1.6479, 9.7846, 1.7021, -0.1294, -0.0024, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:451a933db6a76351ce019ebca24562fec721ad10d5bf09cefd72e053df8542e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e66e6f9906c3cdae9ca73426665527f16e2f2fabb8555d68ef6c017c9d19c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35d5c1e734630c017a0565647b4a9fe4d5d9e0880b8ebb8a1ab5e1d79eea498f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018jn7hvrudcTWUiFNMvTVZW",
      "input": {
        "note": "Table has two baskets, three plush toys (teddy, dog, gray one) and three pens/markers (yellow highlighter, two markers). I'll sort pens into one basket and plush toys into the other; starting with the highlighter right under the left gripper.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.32,
          "left_y": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018jn7hvrudcTWUiFNMvTVZW",
      "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]: [-0.0284, 1.2362, 0.2256, 0.4484, -0.0269, -0.0322, 0.9995, -0.0193, 0.8032, 0.6086, -0.384, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3233 left_y=-0.0008 left_z=0.0544 left_yaw=-0.0056 left_pitch=0.0004 left_roll=0.0036 left_gripper=0.9995 right_x=0.2954 right_y=0.0 right_z=0.1787 right_yaw=-0.0043 right_pitch=-0.0172 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -2.6735, 4.1915, 1.4286, -0.0269, -0.0708, -0.0708, 0.2256, -1.0735, 7.241, 1.8535, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:382c06816d96ad9754b7e57daa8f49387178762718c88e56902191fc590e446f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a623b88bb51b6041dbdde47a5ec56896c0c4ae327c13ececf83bab1f0b71cf14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dcb85ef94e75bdd8cf8d525ac96fb293b1c2423c42b031affdd6b979e278d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 4.329 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6174, -0.3786, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.0128, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0013 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -1.7026, 9.265, 1.7851, -0.0366, 0.1343, -0.0708, -0.8684, -1.6479, 9.7846, 1.7021, -0.1294, -0.0024, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 1.2362, 0.2256, 0.4484, -0.0269, -0.0322, 0.9995, -0.0193, 0.8032, 0.6086, -0.384, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3233 left_y=-0.0008 left_z=0.0544 left_yaw=-0.0056 left_pitch=0.0004 left_roll=0.0036 left_gripper=0.9995 right_x=0.2954 right_y=0.0 right_z=0.1787 right_yaw=-0.0043 right_pitch=-0.0172 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -2.6735, 4.1915, 1.4286, -0.0269, -0.0708, -0.0708, 0.2256, -1.0735, 7.241, 1.8535, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:382c06816d96ad9754b7e57daa8f49387178762718c88e56902191fc590e446f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a623b88bb51b6041dbdde47a5ec56896c0c4ae327c13ececf83bab1f0b71cf14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dcb85ef94e75bdd8cf8d525ac96fb293b1c2423c42b031affdd6b979e278d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9AYKEAgSGAI4AUIIdGhpbmtpbmcSDBuQGiyqbT7ySSd+cRoMDgr5wJY23Yl+GWIfIjDK/dvGCxXJ/yO+L370MG9eSiTMfk8yapguWSzy9J226oJ7PcSwhGwWeN3QqsYzuF4qkQb00eq8+gufu8uA9R1exS4k8W92doLo04assZ2tFcVMRERW4rF1oamWziYBqAypCSJMcBXxUmp1HJlHj9p801P6GtfGDCQGVwbKQrJwg36sebtCG4kuaqQOvWTYBpLVrmT+5LgKujIXCmVkmuuuxfmVDDFIY8MrZZmHkHdPRwFH4H4uAcYOMv6iW1Kv6V/3tMARH61cOPYp1iI5ct2cxdRr0SQlk0fTFt9ztOLmSMtSVCO6d7AF645jmVGfZsqzgsQw87HNXd03ayQ1vZvgN81hsuW8jByqR6+pnjpnyrcBjmf4Wk+sJJ7dIGhtVUnyL8oWwb71lYXN4PQCXcJTA+0f8dnZuy9TPSJA34EIqE1zxJQiY41tLNcZUDWuj7fXiSenyYMK2qfF4sykJfM4CYsKS0NMNbaC2dkKEIDIeNcOwMZnC5cCCvPPr7Ofln9fZpcQx3dA0MJKmD+9Lq3k+jEOzVBuieyNllHSwV/beL32++dYYzaJdbRvn6NjisVsTIloBSQKKhGbKVTgZ9gw8X8P8Tw1jF0SYYR1r76w8ukVa2X2P5DdlIWsOwvnvBI7P23jXVPd6qMITHD9jlUc1ZoNExcYpq64L/EguyE3GOkDHA88kzX2enzUqPQDKqcGsC1JOavhoCyHEbKXusNlxSDtXHr2IXIu1/C4oxpaVuqLdFOQ+xD+IU4vuwyJUiUd1AspBYYZaDYoehjkly408SdbkgYTP99kgIKL4zMN18nnLYO3mAac8ND7RZZkhtqIqlHk2xVm8hTD/7ivJlqt7f3+QjbfttKBmIN1/+pb4b/SS2PaahPt//j1wmNxFpJfrF5WYt6h2+iWF6W/cJaJhLiy14em1jW7JfzLlSmrkHwdIJThZKzouAT+2xaHKpHUxP6Zmuhy/XHdP0qpfW0uN2POE3E1qpbSrg4+RRZp2gRDiEunBZLlLEc2Jp+iW08/WZCRVsJmbVa8PJbNDymVnYrYRP8Sjs4J53OKTBlKdygraE+RK4T4HS4UjOKwgdlqri6mx5vNl0yEg+wRYzgt+56ioxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BPXeAR15eiYtrPvqgdThJS",
      "input": {
        "note": "Highlighter sits on the jaw column at the bottom of the left wrist view, so it's under the fingertips; descending to table level.",
        "targets": {
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BPXeAR15eiYtrPvqgdThJS",
      "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]: [-0.0284, 1.7168, 0.1333, 1.0622, -0.0402, -0.0341, 0.9995, -0.02, 0.8078, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=0.0013 left_z=0.0048 left_yaw=0.0068 left_pitch=0.0414 left_roll=0.0077 left_gripper=0.9995 right_x=0.2955 right_y=-0.0002 right_z=0.1769 right_yaw=-0.005 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.7949, 2.6598, 1.917, 0.0855, -0.0073, -0.0171, -0.0342, -1.6615, 7.0906, 1.7363, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c0a2bba806a9026bd8a16b0b4744d9af53a7caa8502502a13cc72cea1e081c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7f371904fa18a5e913186b2a43ac4eb6d09d7687007ed8a58d64a37c862876",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c07bee7a2561f9301221b3926ec3f428d9a281b1d8147b2ef4c4e76e7a97d233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 9.484 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0193, 0.8013, 0.6174, -0.3786, -0.0219, -0.0334, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.0128, -0.0158, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0017 left_z=0.1844 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0013 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -1.7026, 9.265, 1.7851, -0.0366, 0.1343, -0.0708, -0.8684, -1.6479, 9.7846, 1.7021, -0.1294, -0.0024, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 1.2362, 0.2256, 0.4484, -0.0269, -0.0322, 0.9995, -0.0193, 0.8032, 0.6086, -0.384, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3233 left_y=-0.0008 left_z=0.0544 left_yaw=-0.0056 left_pitch=0.0004 left_roll=0.0036 left_gripper=0.9995 right_x=0.2954 right_y=0.0 right_z=0.1787 right_yaw=-0.0043 right_pitch=-0.0172 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -2.6735, 4.1915, 1.4286, -0.0269, -0.0708, -0.0708, 0.2256, -1.0735, 7.241, 1.8535, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 1.7168, 0.1333, 1.0622, -0.0402, -0.0341, 0.9995, -0.02, 0.8078, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=0.0013 left_z=0.0048 left_yaw=0.0068 left_pitch=0.0414 left_roll=0.0077 left_gripper=0.9995 right_x=0.2955 right_y=-0.0002 right_z=0.1769 right_yaw=-0.005 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.7949, 2.6598, 1.917, 0.0855, -0.0073, -0.0171, -0.0342, -1.6615, 7.0906, 1.7363, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c0a2bba806a9026bd8a16b0b4744d9af53a7caa8502502a13cc72cea1e081c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7f371904fa18a5e913186b2a43ac4eb6d09d7687007ed8a58d64a37c862876",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c07bee7a2561f9301221b3926ec3f428d9a281b1d8147b2ef4c4e76e7a97d233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxQcKEAgSGAI4AUIIdGhpbmtpbmcSDAcpEilgIUmc9jTOSBoMyziqfC13yMhnlhYFIjA8d3sf7CJrDeQLkj1l/dtXEp73aztk0xoHJrsZduar3v7cpIBHhjuwy1gLSycHYeAq4gagVC3oMJcvYkVbvgYFVe7zp45l1IrkcPU9zr54DuhDHMGGa2CupKOjzOt2mZ0sAMCJ3DwSH0MWE3jBc9XlZFcJ5znPGqDVjPT6jLFEcJzogayCtyuzde6cwsuoHN+CUOQcLGWfGtoCiVXzP1g2eamgvegCI+6y8ASYGEZ6Kw6Hw3R6JtNiq6/2Tlh7VPrY+VHLaHwIQXznmvMIdBPH4V1qQAZBReY6HRLrU2P/V2axzDweAklI7RYq0DiAkOgj3ZKOH6wP0us9eF4Yt5d36i7HujwrkZINkM3Ym9IOI4xSZ0nK1lTkdNoAF38TKJyI75sbE1btPdI2RQ4tvgor9hW1XfE/V0Jivr5rFInZgXmJGR5umKGOXFZISjbXowR1HpPwbQCpeqZx6FaBGq8ThLAL4Lu3f2FRjnmT+H4gvdLgYvQIP8cSXGq9EHsukVQH73InSqCTmSGLEcHSzMP/XB080WRFUa2AUG56XAAalWZjws00hV9zI9SL8bBMASZT3QFaxhjYvydK4e92KKdg3helItJMpjChlnlcPvnfNYiFX0ES8gP6zF8x7u7RxLUSUw3DJsKZB1NvLxOF/CN0cGlRocFpT+jIPXeoI05P7ZHWi0zn3wFzujqSXFNSSjCN2E8F73BG6gI+Mu2x6cb+8VdDhHfPYt4Pp2nxNplieCY2qmfc8XWp4g+mkFU07Aedzh0mfDrHuumtJ9gofwG1iZP14B1D8GjaCoogngXz7Bf/bFAtgUWLzzT3uWLxptq+VoYLxrITyGi5V1V0hO9a/RJPd+P8pfHydwcDnYytuCNIG1gbCTyZ+cduMGGw+89GDMjDzZvRq0xYaNlEHewXKh4JVm3qHBdrEZHVxpjppleW4E1Jn8LZNqW7aNUWNX+F1Q2H0HO5vZmYkwXpOgYDaoab/auaLbR/F0GLMlns4KEwfJd44KovbH4KxUo4w5DSvGgsUhxkfsnr2rpk5n7/wrDz0mIPZSPg6l2Ttpp7VcBuOYn29J2B+XwB8mOuQnuEs5JBs7q6AAtfeQPvwE9ELbESoRw+Tqdwfz7OpOTFt6l4H8N/r3DbselMqin6V0vQyK3oOgEONb6OL1eJjIgQ5DiIM2MPawXYxs5yCAjtR17aXxyLkmXKvQAog3LUQcnnOYkvKRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XSH7QH57W2kvx94fGFeRBc",
      "input": {
        "note": "Gripper is at table level with the highlighter between the jaws in the wrist view; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XSH7QH57W2kvx94fGFeRBc",
      "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]: [-0.0284, 1.7168, 0.1326, 1.063, -0.0444, -0.0376, 0.1501, -0.02, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3293 left_y=0.0021 left_z=0.0048 left_yaw=0.0122 left_pitch=0.0416 left_roll=0.0068 left_gripper=0.1501 right_x=0.2955 right_y=-0.0002 right_z=0.1768 right_yaw=-0.005 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -4.9162, 2.906, 1.7314, 0.022, 0.0269, 1.0037, -0.1709, -1.3333, 7.0769, 1.7216, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa01b0d26724ca87b675c3c7b6bb9306873de1bb3b182427f4b27d50deae06b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c06d639622ae40efd7f6a93dcc82d5aabaf645c8fea837ecae0cd46ba2026dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:978a1b87cba26117ff27bf886a0f8fe36367fb41b0603e8e727ee5dd2650e193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 14.13 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]: [-0.0284, 1.2362, 0.2256, 0.4484, -0.0269, -0.0322, 0.9995, -0.0193, 0.8032, 0.6086, -0.384, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3233 left_y=-0.0008 left_z=0.0544 left_yaw=-0.0056 left_pitch=0.0004 left_roll=0.0036 left_gripper=0.9995 right_x=0.2954 right_y=0.0 right_z=0.1787 right_yaw=-0.0043 right_pitch=-0.0172 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -2.6735, 4.1915, 1.4286, -0.0269, -0.0708, -0.0708, 0.2256, -1.0735, 7.241, 1.8535, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0284, 1.7168, 0.1333, 1.0622, -0.0402, -0.0341, 0.9995, -0.02, 0.8078, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=0.0013 left_z=0.0048 left_yaw=0.0068 left_pitch=0.0414 left_roll=0.0077 left_gripper=0.9995 right_x=0.2955 right_y=-0.0002 right_z=0.1769 right_yaw=-0.005 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.7949, 2.6598, 1.917, 0.0855, -0.0073, -0.0171, -0.0342, -1.6615, 7.0906, 1.7363, -0.0562, -0.0269, -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]: [-0.0284, 1.7168, 0.1326, 1.063, -0.0444, -0.0376, 0.1501, -0.02, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3293 left_y=0.0021 left_z=0.0048 left_yaw=0.0122 left_pitch=0.0416 left_roll=0.0068 left_gripper=0.1501 right_x=0.2955 right_y=-0.0002 right_z=0.1768 right_yaw=-0.005 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -4.9162, 2.906, 1.7314, 0.022, 0.0269, 1.0037, -0.1709, -1.3333, 7.0769, 1.7216, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa01b0d26724ca87b675c3c7b6bb9306873de1bb3b182427f4b27d50deae06b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c06d639622ae40efd7f6a93dcc82d5aabaf645c8fea837ecae0cd46ba2026dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:978a1b87cba26117ff27bf886a0f8fe36367fb41b0603e8e727ee5dd2650e193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LmhZ8zpxzrwjroHU9duhJZ",
      "input": {
        "note": "Highlighter grasped (reading 0.15 ≈ 1.4 cm). Lifting it; plan is pens → right basket, plush toys → left basket.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01LmhZ8zpxzrwjroHU9duhJZ",
      "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]: [-0.0284, 0.9466, 0.6571, -0.2512, -0.0444, -0.0418, 0.157, -0.02, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3294 left_y=0.0021 left_z=0.187 left_yaw=0.0144 left_pitch=0.0222 left_roll=0.004 left_gripper=0.157 right_x=0.2957 right_y=-0.0002 right_z=0.1756 right_yaw=-0.005 right_pitch=-0.0282 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.4256, 9.2923, 1.5458, -0.0269, 0.022, 1.0281, -0.335, -1.6205, 7.0359, 1.6972, -0.0611, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f1eeadd3615793e29db3a40d80f7e8f0b7b78c73ecbbe4ae6502098b8dcbfd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:445b3097407073899f3cc7d9eb86dd7e1190af34ec9f3a4e57ef5b3b86856616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc8f8bca0d3c3200144f99387e66d946c1d19a30f52f246a9dea673e74dd932f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 5.369 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]: [-0.0284, 1.7168, 0.1333, 1.0622, -0.0402, -0.0341, 0.9995, -0.02, 0.8078, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3295 left_y=0.0013 left_z=0.0048 left_yaw=0.0068 left_pitch=0.0414 left_roll=0.0077 left_gripper=0.9995 right_x=0.2955 right_y=-0.0002 right_z=0.1769 right_yaw=-0.005 right_pitch=-0.0237 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -3.7949, 2.6598, 1.917, 0.0855, -0.0073, -0.0171, -0.0342, -1.6615, 7.0906, 1.7363, -0.0562, -0.0269, -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]: [-0.0284, 1.7168, 0.1326, 1.063, -0.0444, -0.0376, 0.1501, -0.02, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3293 left_y=0.0021 left_z=0.0048 left_yaw=0.0122 left_pitch=0.0416 left_roll=0.0068 left_gripper=0.1501 right_x=0.2955 right_y=-0.0002 right_z=0.1768 right_yaw=-0.005 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -4.9162, 2.906, 1.7314, 0.022, 0.0269, 1.0037, -0.1709, -1.3333, 7.0769, 1.7216, -0.0562, -0.0659, -0.0122]",
      "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]: [-0.0284, 0.9466, 0.6571, -0.2512, -0.0444, -0.0418, 0.157, -0.02, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3294 left_y=0.0021 left_z=0.187 left_yaw=0.0144 left_pitch=0.0222 left_roll=0.004 left_gripper=0.157 right_x=0.2957 right_y=-0.0002 right_z=0.1756 right_yaw=-0.005 right_pitch=-0.0282 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.4256, 9.2923, 1.5458, -0.0269, 0.022, 1.0281, -0.335, -1.6205, 7.0359, 1.6972, -0.0611, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f1eeadd3615793e29db3a40d80f7e8f0b7b78c73ecbbe4ae6502098b8dcbfd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:445b3097407073899f3cc7d9eb86dd7e1190af34ec9f3a4e57ef5b3b86856616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc8f8bca0d3c3200144f99387e66d946c1d19a30f52f246a9dea673e74dd932f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KeKBkTYnU2KkuEmEquyAri",
      "input": {
        "note": "Holding the highlighter up. Carrying it toward the right basket (pens basket), which should be near the left arm's cross-over limit.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.38,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 34 steps (3.4s)",
      "tool_use_id": "toolu_01KeKBkTYnU2KkuEmEquyAri",
      "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]: [-0.9131, 2.2623, 2.1773, -0.712, -0.7525, -0.6365, 0.162, -0.02, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4509 left_y=-0.3804 left_z=0.2121 left_yaw=0.0133 left_pitch=0.0129 left_roll=-0.0054 left_gripper=0.162 right_x=0.2959 right_y=-0.0002 right_z=0.174 right_yaw=-0.005 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -13.135, 9.1009, 1.4676, -0.4762, 0.0904, 1.0281, -0.1983, -1.4838, 7.2821, 1.6874, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9680e2c45ca9954a569e60e32c378190a7627a7447b76cd785ef46889a939e68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1ed96796f8b9f6ae99a2ab06d1ef08399d3f990250fff52e23345977080573",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd0c38515ab35ab9b3390ffe3f35a56529ad9e9e6d0760b9e6bcf9ac6239a6f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 4.07 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]: [-0.0284, 1.7168, 0.1326, 1.063, -0.0444, -0.0376, 0.1501, -0.02, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3293 left_y=0.0021 left_z=0.0048 left_yaw=0.0122 left_pitch=0.0416 left_roll=0.0068 left_gripper=0.1501 right_x=0.2955 right_y=-0.0002 right_z=0.1768 right_yaw=-0.005 right_pitch=-0.024 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -4.9162, 2.906, 1.7314, 0.022, 0.0269, 1.0037, -0.1709, -1.3333, 7.0769, 1.7216, -0.0562, -0.0659, -0.0122]",
      "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]: [-0.0284, 0.9466, 0.6571, -0.2512, -0.0444, -0.0418, 0.157, -0.02, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3294 left_y=0.0021 left_z=0.187 left_yaw=0.0144 left_pitch=0.0222 left_roll=0.004 left_gripper=0.157 right_x=0.2957 right_y=-0.0002 right_z=0.1756 right_yaw=-0.005 right_pitch=-0.0282 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.4256, 9.2923, 1.5458, -0.0269, 0.022, 1.0281, -0.335, -1.6205, 7.0359, 1.6972, -0.0611, -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 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]: [-0.9131, 2.2623, 2.1773, -0.712, -0.7525, -0.6365, 0.162, -0.02, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4509 left_y=-0.3804 left_z=0.2121 left_yaw=0.0133 left_pitch=0.0129 left_roll=-0.0054 left_gripper=0.162 right_x=0.2959 right_y=-0.0002 right_z=0.174 right_yaw=-0.005 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -13.135, 9.1009, 1.4676, -0.4762, 0.0904, 1.0281, -0.1983, -1.4838, 7.2821, 1.6874, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9680e2c45ca9954a569e60e32c378190a7627a7447b76cd785ef46889a939e68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1ed96796f8b9f6ae99a2ab06d1ef08399d3f990250fff52e23345977080573",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd0c38515ab35ab9b3390ffe3f35a56529ad9e9e6d0760b9e6bcf9ac6239a6f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmgkKEAgSGAI4AUIIdGhpbmtpbmcSDA8mFISeTFmxQ1YRExoM2v6gKoEMWHrEaWCTIjCerh1d1yZefOu+gYp/e48h7xrpOe6NVZCceQzpMX18XfERpvM5v4t3Nr62D7R3KfQqtwg21o/6tT/EqR0u0uOQThqnrZCV8iJAsBTuC6Tr2SHYaIovEJbrF8jp/7f1OH7evtuDPY4WfDUFCBTdQ1lEuzM7+g3fJAIP1wg/dsckR9FBd+tRqhsZAKZlqfzjeHekdpkgP5pRh/6wNs13FNWPfty3/0tLn3D+OAXETvnsw9lF3ZQKDB1HTxPN/Q5+H3MZBDCNIijRhK6WQjUSuBCa2LKhU9/V98/ATEKzEj01Hb+fJ8tOl3EzMfsgwmWIZaVr9g5gM2nzXY5ESHQIEgi497E9lFal+h1TR4LK70kCjGII3UHMcUt7DO9oV6XWVgfFpl1j6Xg5+eSmf6w0wdV5rsBxK+yxQJhRCny+Q+SLL8+jb+XB2HEHOMYyZnek5dFzCHIOroyjAMSwjoC0QL+KAtZOof/oVd6jH2e+VPKz6HgfMibieVA6NKj8E5ZJs+1nH8VGPeWD1DrQQoZdhD+hRnpuizTMHk4sMLGoL9u0mvDApHXYrbZ/clnkd6tECYDXhir+D+iWgT1ODmAK4fkaYEFXdfb0UXJ4m2EU4Gu1yiz+wtoCl0XIQeh45OvtQgZWP5Ktl5zSqA23T9eTDUL9qVrXyzF83dS9tRLu0kgVEycLXDWokMM1wJn1ZaSI8i/Ap+CL2gXWgUD0wzK271LXIjLjxSuXO+DUZMqkYNAm5tY1Zh+Sga4RuojcKLcZCKXMfMj20oviez4eDSsFaEYA16igoiJ0sfaCn91CxmDXlvyWe9uzs1K1fXSE1WRYW5PjjUUvFY+Jbpk0x3LTsnA22dQKfsvQZdG83KDwVuLQ4e/jTzmAnVmK0zvAXDr+G/4tw0antIv77D5s7DWwKSD17zJycFeG1EDsOhjK7nHebovQic4IQZyaWAcXueChK/lM10M9snuNzte+RFL3sBtZ+9z3Ahzd8d6vVu55YYFZkrhUkA9NR0gAylDp9hxnaSxkXxmCPSS9S5ziOxfCk/0jhMIr7+81PxvRuETVlhjvNUX9P+M13OgxGP9N/8cFg3qzUlivaqmhzDE4e+ANvh/OkGjsCWDn1rY0l0ITzO0p75FumGa+yFyHrqdHjFP4BeykTQBvFo6Pl/kPB0KP7UCUMDt3XnpYRUYYxl+27GK9NjA2iL+450eNPyc7omOOpyV84GFTbHoRWwcfbnULVf27zKCZ0w/Pz5Z40yHLt7vrIuIuoJdKVJRdcZukBceMAOLEUwD/MTKMKOww79wDwUNfA7faXD6EZVACL3BVkFck0Ug8ppFtape2v3KdfYVEJ6YPyvg29/4OINIldVL6ubTgJPexgNk92B57HJkQ9oAb1TeHy9lmul9oE+eKV5eJb6vAvaKE192+zvxt8fR/3yGTq7m6E4ZxHIq7UIcGZszbY27inyCLSjO8mE939Ajx9oCTi6mztIuJSHGDPKNcNrK7x2hNbXhj2okuFRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YMZarzw5amDg6YAen2hcDb",
      "input": {
        "note": "Left gripper is over the right basket (top view shows it over the basket's far half). Pulling back slightly toward the basket centre and lowering before release.",
        "targets": {
          "left_x": 0.42,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YMZarzw5amDg6YAen2hcDb",
      "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]: [-0.9592, 2.2227, 1.7588, -0.4145, -0.7677, -0.6827, 0.1665, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4203 left_y=-0.3795 left_z=0.1143 left_yaw=0.0024 left_pitch=-0.025 left_roll=0.0281 left_gripper=0.1665 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.005 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -15.159, 6.8444, 1.4774, -0.5836, -0.0855, 1.0281, -0.1299, -1.5248, 7.0359, 1.7558, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f84a611895f0b1917e538a1b8918c7d6f3741c069bc2ca7dea2411a032b7b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e942436097e53241ac61218e21cc743017363c33621188333d97abb99f0f10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92562c4da143149b39cf72889919999f95a3c629d8a97b8db2f78d5491933a17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 5.948 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]: [-0.0284, 0.9466, 0.6571, -0.2512, -0.0444, -0.0418, 0.157, -0.02, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3294 left_y=0.0021 left_z=0.187 left_yaw=0.0144 left_pitch=0.0222 left_roll=0.004 left_gripper=0.157 right_x=0.2957 right_y=-0.0002 right_z=0.1756 right_yaw=-0.005 right_pitch=-0.0282 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -3.4256, 9.2923, 1.5458, -0.0269, 0.022, 1.0281, -0.335, -1.6205, 7.0359, 1.6972, -0.0611, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9131, 2.2623, 2.1773, -0.712, -0.7525, -0.6365, 0.162, -0.02, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4509 left_y=-0.3804 left_z=0.2121 left_yaw=0.0133 left_pitch=0.0129 left_roll=-0.0054 left_gripper=0.162 right_x=0.2959 right_y=-0.0002 right_z=0.174 right_yaw=-0.005 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -13.135, 9.1009, 1.4676, -0.4762, 0.0904, 1.0281, -0.1983, -1.4838, 7.2821, 1.6874, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9592, 2.2227, 1.7588, -0.4145, -0.7677, -0.6827, 0.1665, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4203 left_y=-0.3795 left_z=0.1143 left_yaw=0.0024 left_pitch=-0.025 left_roll=0.0281 left_gripper=0.1665 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.005 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -15.159, 6.8444, 1.4774, -0.5836, -0.0855, 1.0281, -0.1299, -1.5248, 7.0359, 1.7558, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f84a611895f0b1917e538a1b8918c7d6f3741c069bc2ca7dea2411a032b7b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e942436097e53241ac61218e21cc743017363c33621188333d97abb99f0f10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92562c4da143149b39cf72889919999f95a3c629d8a97b8db2f78d5491933a17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQcKEAgSGAI4AUIIdGhpbmtpbmcSDFNe4tN0I8Urtj33oBoM8xN3zNoABmT6URMNIjBrZNZCh0W7UHUY0RZfA11TaqCjao0LhupnNJ7gMky1GcKGJXD9WTQbEBXaffxCg6EqugasrD4uDDr+leDhml9PNl29mJjoauczUFv/4eETOHxF3fXZySH7KVXmnqDKHlWbbN7pGVEkw33cgP2VeE7B270F+tPhrk4ZevKGyeIjlTKImg+wYRYQ3LjJSYzYR1pjxKSNZoYnzClWcBnCUyHLV0ULyIN3s/4wbiGeF9HD/B5vA+wahDyr3BnnLJnEqL70tUp6YACtSoRFbJJAa2mgJkmaGWh51PoBqT5T+F/ONQRldP/wpSIEWwAIUAzIY1oBmgR5AwvyR0ScauXyQof4lZq2ZONwJ2IgD/buPwz/Ixa+sVglFmYE09XluF0nStdQR7uxytkBRCxr7wDIIURLryeNPz83N6gfadfa5hniprOevfmQPO0HGKgJNcoDxBC0/qPhGU3PKYIaALyqEnP5zjVFbCDv2dNGi/f5FPbGIxlXrzdtPOORo1YprLsyWG5kmk4edFK7/Xw1qp4blfIgtKWVvM+Az2s1DQobwS0v6N8FEnaRjvdpmzMg456SXcI2emzhI8XP1bxp3ydE7zlR06M3nZJY0C3UtlRaK01GXumcaJks96FXCZ8NIvce4EzrGtdVi0PchhOqPG/zxTVomqM5/rbjf+9G1fCmOXbuOANWKLCmdS8YhOpCecPemDDR0Qr/xB+vLTu4Od9VjE+be9PAkkbRGrfDA6n4tOvXicssrAs5SFxYHXaxkBdOa2F2Lp8FrcTM1ga+4vN1zN2F7VYvHPfHd5KiNevzU9Yt3r4e7zFqv/MOjzaxLHgDM680vQ35eFFlojDI1ggpNNTz+2svhHl+8dpQ8EVE/tWxKf0hYRDsVIn10L2Pt0vMPk3ist8NjgsQllBHVLqJVA0mrp6J3AH4Zxp9lY7MqlLvBuRM+Kw9rKFIoFQhF0TGgNg3zCXbps9l+LoQu3XYnKbGB/WPMduqTQemoGJa43Ptxwq5JmT7j58cwWdIeAG5q9iCdDaZRjKGzK8O+sWGc9ECYB3OrjgTUQCPyR3LxRLr+AlG7FYLdU38BHZXq/Tk3bPSoBQzS5EI2oqKxWXM8mMtH+ve4K0zDK83MI4e2g0k1vWu5D8ECdYLgNXvM0duh5tfqqeIP8fvLymSmh2CGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QagNvjDZrh8pkDJGS4LCB5",
      "input": {
        "note": "Highlighter is over the middle of the right basket; releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QagNvjDZrh8pkDJGS4LCB5",
      "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]: [-0.9588, 2.2227, 1.7481, -0.4141, -0.7628, -0.6895, 0.9954, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4189 left_y=-0.3782 left_z=0.1099 left_yaw=0.0035 left_pitch=-0.0339 left_roll=0.0287 left_gripper=0.9954 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.005 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -12.7658, 7.3641, 1.2821, -0.3687, 0.022, -0.232, -0.0615, -1.4154, 7.1316, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee04891963d4b215aff126ddf3223e5448201866a8602c1817090c1c93cb37f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cd5bc1b399e2d5466a750735a2e6d6e68d2af501e9ffb5301fce53388623c47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fc7f422a4ff7558dea950f9713ce104efac593bbc4dd5c4d84dab7d2746a44a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 9.961 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]: [-0.9131, 2.2623, 2.1773, -0.712, -0.7525, -0.6365, 0.162, -0.02, 0.8165, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4509 left_y=-0.3804 left_z=0.2121 left_yaw=0.0133 left_pitch=0.0129 left_roll=-0.0054 left_gripper=0.162 right_x=0.2959 right_y=-0.0002 right_z=0.174 right_yaw=-0.005 right_pitch=-0.0336 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -13.135, 9.1009, 1.4676, -0.4762, 0.0904, 1.0281, -0.1983, -1.4838, 7.2821, 1.6874, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9592, 2.2227, 1.7588, -0.4145, -0.7677, -0.6827, 0.1665, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4203 left_y=-0.3795 left_z=0.1143 left_yaw=0.0024 left_pitch=-0.025 left_roll=0.0281 left_gripper=0.1665 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.005 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -15.159, 6.8444, 1.4774, -0.5836, -0.0855, 1.0281, -0.1299, -1.5248, 7.0359, 1.7558, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9588, 2.2227, 1.7481, -0.4141, -0.7628, -0.6895, 0.9954, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4189 left_y=-0.3782 left_z=0.1099 left_yaw=0.0035 left_pitch=-0.0339 left_roll=0.0287 left_gripper=0.9954 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.005 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -12.7658, 7.3641, 1.2821, -0.3687, 0.022, -0.232, -0.0615, -1.4154, 7.1316, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee04891963d4b215aff126ddf3223e5448201866a8602c1817090c1c93cb37f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cd5bc1b399e2d5466a750735a2e6d6e68d2af501e9ffb5301fce53388623c47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fc7f422a4ff7558dea950f9713ce104efac593bbc4dd5c4d84dab7d2746a44a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSjwkKEAgSGAI4AUIIdGhpbmtpbmcSDMPZ8kRssL4nSW3bCxoMHcvhbQFfhtCoobUdIjC97J8ia+gGN93nGX03f4unnqrj2aRUHkbxyLZGuw0OctBfgsgivAQd31Is1yzYD3kqrAg8OkPaBih9LZpfTnwZ0O9Rf6ua3ehuH/GRZPkNk6Gi0fSO/Yw9WvCJ43KrmKgRlFaL+ygL22iQy+yWQ1+pi+HuZ6XCa3UD3kjnyz6Nut2iiUSEdHaGlATHxmuk3ctvtNSQEbx2tEbe30fH4nkcXDLSDuHDcxRdy6s+VdY8qJLBGZ//JelpDwskwOz6A2r4gBW5FcwuqZR/JKBTVvs7+xrTFoQrKl08UAFcPdvDze17k1ZfiB8B+0zfS5LChpFgdxGkomZDayeuh2mVN8MR4rBXyzpPUylwRzlrlNL17Q2cDkCRPU2xbjt/HCkkx3IwqywfaY6gaFRe1xOsmx5oqs1jtrf59Dne12h879zFAT0JSXjNNcRxrLLEg8T/0ijY/gfzEpn3Ftsm3m43kRBBLHSQwjJmmTL06ywdrS0Z52JoQrRxfQ+gpgYnAk8W1KrcyS8Ua+PXDTj0LCPl1TvcBrIcDFgoJEqLcbbpfcC2Ly71R3N451ZTrp+5W71NuOzlVWXiaRJLf4yRDm2Y3kLndZyU6TUrLzIV4ytvf98UQnGmOyc2DAn5F355zwV9tn8eVMwd/UIO3Db+m3nL5PbYFnfE8XVXLnRDh9ZiCISuzrxYhjJT5kYvBnXz6bVV1doQ7mNBFhCdD1zKLLc7Tyq5h4GK/v0YldEVbAcdxJkDoIkx1ir94T9MSr17jyO5qVxgT/9wWZEtn/SPqptHHiy5Y2u2I+NwyK6PM6UMeH5ptOVZW/V0+7dorNEutm2/+VlvwY8g3NHH1ge/jw0Hz4hyT8Nb2J395ZFm9XonCIK3jPGB20XUe2NzyDc3NFNpzy06qyI/zR5a30y9lsEizZuoW+at7dmwBoUZMRnnIiYwET/9d4l/Z3WwKnInMpu7ZJiAbFMRT6+BDJfHtJqZar2IBABxluA/bNXg9AIKMyux8wtfY2Vd6nKy1ND1M+bVn5uwdqTgM07g3upu2idMZ9nEgoRxkIxUmfJorCal9FAgwbWN9d6QcfGN/jP6lFMfQ7D0tw6PohxwxjjorrejlpTRfTG5XJwFAjW8UWT7R0fXNE+/xdkQzP/XYOgRXn44z45Ep2rt85jTd80UNb23DUEe0dZjuN1JJhQk9ENkzHvcWzN9n02RqH1yuhpkEk728TRHrLViKKBZjfq0SKt3ceRtp5Tn8DGjYU3X1CB1Nclpi4AzJArJgp7ww4wJl5ghfMs8qbSx/8hMbBA10Epq8TAjkW0MClCZYI0Ijr33ckf+JgcSJzhr1a6oZSC4fkVjDh8hWyrlEZzB2PfEkU1ad+1gilfnA9Clzjmj6S2iMw7IbuMae6jamt0aaI6wsgsfnOPcdUghrUVRwaXXFt3khXuGiYDxTrqx7q+qzMtvr97KHNPKgDuRdL3MzE/VrVkfcmSHOnZNvnhsQMaeLGiuSIMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KqN7pysThsfzr7Rr9cWtcv",
      "input": {
        "note": "Released; the right wrist cam shows something yellow just in front of the basket, so I'm moving the left arm out of the top view to check where the highlighter landed.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 30 steps (3.0s)",
      "tool_use_id": "toolu_01KqN7pysThsfzr7Rr9cWtcv",
      "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]: [-0.379, 0.9192, 0.7513, -0.4526, -0.3641, -0.2569, 0.9967, -0.02, 0.8211, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.306 left_y=-0.0503 left_z=0.2036 left_yaw=0.0461 left_pitch=-0.0121 left_roll=0.0099 left_gripper=0.9967 right_x=0.2962 right_y=-0.0002 right_z=0.1727 right_yaw=-0.005 right_pitch=-0.0381 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -2.4547, 6.4615, 1.6288, -0.1636, 0.2027, 0.1148, -0.1983, -1.4427, 7.1863, 1.7314, -0.0806, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ae69ab98ac5d015a40907d1c925140393b1a78e662e183df88c20b33ff1520c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eef2a3cbcc89187d5e7175fdcf448959a56b5ff84e9d041a50f0acb671c2d99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b439b84066507ac11eb9d12259016fd314133542a9a61043daa5b7f26d4283cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 5.169 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]: [-0.9592, 2.2227, 1.7588, -0.4145, -0.7677, -0.6827, 0.1665, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4203 left_y=-0.3795 left_z=0.1143 left_yaw=0.0024 left_pitch=-0.025 left_roll=0.0281 left_gripper=0.1665 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.005 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -15.159, 6.8444, 1.4774, -0.5836, -0.0855, 1.0281, -0.1299, -1.5248, 7.0359, 1.7558, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9588, 2.2227, 1.7481, -0.4141, -0.7628, -0.6895, 0.9954, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4189 left_y=-0.3782 left_z=0.1099 left_yaw=0.0035 left_pitch=-0.0339 left_roll=0.0287 left_gripper=0.9954 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.005 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -12.7658, 7.3641, 1.2821, -0.3687, 0.022, -0.232, -0.0615, -1.4154, 7.1316, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.379, 0.9192, 0.7513, -0.4526, -0.3641, -0.2569, 0.9967, -0.02, 0.8211, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.306 left_y=-0.0503 left_z=0.2036 left_yaw=0.0461 left_pitch=-0.0121 left_roll=0.0099 left_gripper=0.9967 right_x=0.2962 right_y=-0.0002 right_z=0.1727 right_yaw=-0.005 right_pitch=-0.0381 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -2.4547, 6.4615, 1.6288, -0.1636, 0.2027, 0.1148, -0.1983, -1.4427, 7.1863, 1.7314, -0.0806, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ae69ab98ac5d015a40907d1c925140393b1a78e662e183df88c20b33ff1520c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4eef2a3cbcc89187d5e7175fdcf448959a56b5ff84e9d041a50f0acb671c2d99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b439b84066507ac11eb9d12259016fd314133542a9a61043daa5b7f26d4283cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlxEKEAgSGAI4AUIIdGhpbmtpbmcSDO0xh25MFrSo2A3u7BoMaMspnhEVs+xUKtk3IjBa+CNRXLyr+xU2xHh4LJd5PPBxWnmHYzQVd6Z4JqzT/qLtO0LH05IYJL/TKiTipqcqtBAe2C1azSTUaQSA+g6NGo2QExFW3B2RH9ys3QRIvsP6AmJdYVA5q6QyMVwRcm9Zrb41XL5DQfBI26GkWwmvQLz3xreMIL0ZtnE6OJttFHcQ/LBSsn/fXafsV+DoK+fC2D1V7wpnRL0aNi18b+YMTLHndJUEexoNhRMfeFY/vcJvDVtLnqY/iN08rbxUnApX+cHTkm5+3G5Dqwkvq45BHhC8XKwuFwVmbwXEkYce+/MBYzDkPIsUm1+fU54K6n4tccU+qVuTf6txHlrUzEzl0B1pkXcw+PSOXF7AgvfLALNaIgDdWlHJw1/Tb0fHQBRG0jqHDOGIiw6etK+WZRxXFJ12/BnfDowGifIi6N8TNBhUGVK3lF5apqytBaM6aEYS0NpFsMTe3tWY6dsC5g3rZaWDYO6rm7BP9Eiot+UifHdLzQ0DLI8v7nqm4iSpHPFjhwzHuWnnIPHQ1XsEqkZaWzJvfpDlC2q90npKiAlDct5/uKLM0gOKo9O7NSSzkp8XWcxC7GLxsG+gVAjiJlrH+cEeHnsKk+9dJ7C1epb2awxP/jYLK/bSCpGrI0TueoZgqrjYVLbtaeXJ9+tQaM8lil/NKlo3CYs6NWQj8JybTXhn65GNQiAPWjZk+UOehUXSrXpoPvFZfxGOYEFvEX2Eql/i7XK+C1mh1EPvhBHftTTDw6GE8f0ixffxTWxsc6Phb8axGzhbuX00Q02i5NG6LMID/IXygaVs3awzbkbriLrPvQRCIJm/6r1gBXRneun0YLyN2j3CI69W0/ureKut38poRBVeUT6YLqkpp+3gQN9ZCtlXk1bBIPcdR8fzsXUhAf9HzNHgAbmx+bXzmd6gHnAG6TMUAS5Eo+fA7NsrFengPhu8rYGyEI8je+2pCH/DIxLQxaHZSc8N/TQK56oDZcue5F05W5KsAHnA9Ju86SbdY4HSKnKRq73mzjIZCkJgT9oDMMUIv1wrq28ohbeTyU8NAsqiWnmY1+0yo3Z15YKUV8zGIn8xCDltGJAXJjSP2hZ1J1YAtOexfemz74fpiRe1Uf+PsueVBM2BV5ls9QMPuC7P6gm55ru68Q4dW8tlgRjupw6uxAw//Z8YkUV9PqlVF1FeSw0M/7TZFQer+KcPXgfLM7+QlITilG559R8eJrf/et8WvV65tXZ+kkMeREnt4UgCpFU01HUBkl8v+2q8Nc21yZB0GLRsSInn8f22X7ArXPUG+7RQe5outyRLRw2rGQqn+mk0n1J0jaCcBSNQkUTrY+yr0F5J9IuRlREMAmR4x0iMbLrU6QJ/3H5WOGJH2PkuCW3qv/+ao6pMYT2W36bR35PUyjawkdZ1CDXayrZF81SMc74jGEpK2r6gRT9iMfNgX50mFAmUO70ZkenbYdpzGIRhf5ur/KdYcvC6F9/8DeC8HQApbfSUJVJAP0xeHd0UiyjEQAxwc6u8GDgK/rsG0z2UbFkgqyKgMsvGrcdlEz4cA3el9Nw2RN+1XUpUAD5/H8dCGcvIoL89w/je9+MAu0jX/Wb8n6rd07MpG1H5lMy8uu52qT4ScrEoYpwiQAcw0mzPaxwiqJwFBr7adU92XsONCNX+0yH78/B45SGCcURudqhPfRhvnmQ9/NpqRwfEjjMs8VxbYhuUtAxgW5lsa9peAXGgyPTK8aj+ydEb9ubUU/EgnLrDK4YXvPDnrND9epIwS8XSuCo0+C4ykuyNqBXoYXogcXYifmEQQ8t9Nu3eEmdIdHoJIK9AYlqkmLq4YcWprWpF+JkILInECZpWVsWqV8joRr8qaBYmV7jQjQPByhYpvVd6TcwrcNQgUAP9/A9tG50r4x2xsjkqmDYRGpSSDZwh4PaOY6tN84l52WFKVndFm6uWXRhe0UsSuBlxmhyiaWOFj/LeIP5vjB1xtV04juXtjpxGqOv6kUt3lsnI4BP2Uk+1nmLJL1A6QORkQEV4DcDbsclzA5hnqunoxfq2F20hako28hceWTs6htGFpQN6UHeaZTVyXQmN2B9+UH1m/PDO1+kFYSHPvBQNh3XMDd4eE9ZOPHA92zWJeS95O+Izk87Iwd+5txhG9/hJHyzhR/eZIk6Z6jBAIvILPgnyeJW/2Pw88DZJUhCPC3lnsd0KfINppBgl832mlQZyVHFiga9gj2/66RNl7TWx2C5x35ZBcazN7ht7lZmMnRZDJgIRuWJXQwB7u5FldRvSE5i2nZ3D2oOzjGhbJdHKE+cBVgzaoIxFwNI9hmuou1ML5cGyVHlmU2Z8rEuTyh0m6EGonSxGWQbOJHkyGu3aX5so/xUeICfS84is3IexTSzkBtMq9silPYuIk4XSol4ALct1CxqGgwt+6cm7hpYKN7KiKJ0pscHAhc+HYkLJWRzG6nlIrn2Hvr3VWViX+eVsGePrTR6Mv5yuZIKQcFJ6f7+mnQvrOyc4ltNWMkmBJva274KB7+OgtN/nEXQhtMrbKIYysca1/RkcXuCA4eeAjavYJG1Nc3QrDoM/QSvrEK8fcceMksW7Gn4tNsyllbg7u/UVyit77VwnflhoUJpzGQu9UjlD7xnp2QJRYWy/ZPpmZa5EqyqygC6FukNjVUoncmyiabzd0QB5BFKsnXnNYnwfC0vL/YVPJm/YOKoK0PO1cFjbUta+lHumBXz2UVjna4XxARxb4nVHvmfUELCx5ZrMLSqJtxTAW/Ajn1r5v8sk/NWWhWB3qutVXGSpedd4CCo7WcaWvukvWL0YfoY+51uLawIYu4zL6u9TLS4FoTymlBjcNjsgk/4RJdOb9zQoYIU4yyuQsFoYFdp/AeBt5voYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y7gFYY49AQkEXp8z3y2o9x",
      "input": {
        "note": "Highlighter fell just short of the right basket (on the table in front of it); the left arm can't reach that basket's centre, so the right arm will handle pens. Parking left arm and moving right arm over the nearer black marker seen at bottom-left of its wrist view.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_x": 0.31,
          "right_y": 0.06,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Y7gFYY49AQkEXp8z3y2o9x",
      "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]: [-0.0982, 0.8394, 0.6273, -0.3973, -0.1715, -0.1257, 0.9967, 0.3164, 1.0782, 0.3481, 0.0113, 0.2157, 0.1417, 0.9997]\nstate[eef_state]: left_x=0.298 left_y=0.0045 left_z=0.176 left_yaw=0.0966 left_pitch=-0.037 left_roll=0.01 left_gripper=0.9967 right_x=0.2961 right_y=0.061 right_z=0.0663 right_yaw=0.0526 right_pitch=-0.1378 right_roll=-0.0275 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.7983, 6.9812, 1.9365, 0.1392, 0.1636, -0.0024, 0.1436, -3.8222, 6.2838, 1.7949, 0.1929, 0.2076, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b752ab26107b5e9dbbc21e179b91d2e72d9533fb31f1ee14984e27f8f31f07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e3817f67bad4019dc135ce6e32c211fa8ed06277962a8f4eba95aeecc12cb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00ecb128b9675c181944a3a3e1b4c64d803655b3c6e116cbec2a14e354252575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 4.049 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]: [-0.9588, 2.2227, 1.7481, -0.4141, -0.7628, -0.6895, 0.9954, -0.02, 0.8185, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4189 left_y=-0.3782 left_z=0.1099 left_yaw=0.0035 left_pitch=-0.0339 left_roll=0.0287 left_gripper=0.9954 right_x=0.296 right_y=-0.0002 right_z=0.1734 right_yaw=-0.005 right_pitch=-0.0355 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -12.7658, 7.3641, 1.2821, -0.3687, 0.022, -0.232, -0.0615, -1.4154, 7.1316, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.379, 0.9192, 0.7513, -0.4526, -0.3641, -0.2569, 0.9967, -0.02, 0.8211, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.306 left_y=-0.0503 left_z=0.2036 left_yaw=0.0461 left_pitch=-0.0121 left_roll=0.0099 left_gripper=0.9967 right_x=0.2962 right_y=-0.0002 right_z=0.1727 right_yaw=-0.005 right_pitch=-0.0381 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -2.4547, 6.4615, 1.6288, -0.1636, 0.2027, 0.1148, -0.1983, -1.4427, 7.1863, 1.7314, -0.0806, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0982, 0.8394, 0.6273, -0.3973, -0.1715, -0.1257, 0.9967, 0.3164, 1.0782, 0.3481, 0.0113, 0.2157, 0.1417, 0.9997]\nstate[eef_state]: left_x=0.298 left_y=0.0045 left_z=0.176 left_yaw=0.0966 left_pitch=-0.037 left_roll=0.01 left_gripper=0.9967 right_x=0.2961 right_y=0.061 right_z=0.0663 right_yaw=0.0526 right_pitch=-0.1378 right_roll=-0.0275 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.7983, 6.9812, 1.9365, 0.1392, 0.1636, -0.0024, 0.1436, -3.8222, 6.2838, 1.7949, 0.1929, 0.2076, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b752ab26107b5e9dbbc21e179b91d2e72d9533fb31f1ee14984e27f8f31f07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e3817f67bad4019dc135ce6e32c211fa8ed06277962a8f4eba95aeecc12cb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00ecb128b9675c181944a3a3e1b4c64d803655b3c6e116cbec2a14e354252575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShgkKEAgSGAI4AUIIdGhpbmtpbmcSDDBVvZJErlkbVTYClhoM6sKQOjKHTwH0B+26IjD9IjMtMcISIrw2lIEdubHGBD2kJwwrmuzPSdDxWwXG4wpO/2As5HRZ019MCdmWwu0qowiTaH9mrpJtOU+3QIfceN8mus/9yNsGqPGa9RBqcbzfsSl5R3C3GN4+w8wSaa6O2pyXQMr/u2WEx1mywoIUODTHChHhFBhy7A36AuPdYn4uQ/x3oPeoTJ4OD22HEvNjawzbzvMRr5YxNrgi3ljJS/YcvTS4tmurGeWdXiSVUSKTJph9rOcXpa0uGg593myJ8EECkoPqcBqSEUP5w0ZSwelRNkJYuhIM0HxCJU6CtjqJ/7S7Jy/oT3QBjOBN+rEIYAuSu8md6+qHSt0B74dzlEOgKF6AOJWUqUDd+vTbip4yjnb1clDa9lwwyXz0WL94gZbfOttEhBS3uNHksgs0wTPF+E4+9Biv8glrvIMusI/jGpAu0Ask8c+c07pP5gsxSKlDqyyjbwAOKryjRTSmUWhOhkqS6avGLow0T4hz0t8eoWcJKgqwkeV73wiN+qL2ks6iEyVd85ceYOlGQuHoitou9p3QQ7KeR5QGf7t36Je50el5zARDEwW1WB1LXjfNr3jGyQBMdeaMTumG/9OCdps8CdU0Gmolgosemii6vJsOqxfJSxpc+GrKIp+vu7BGm2NHYS3u+nSIQoUZtqTovFvE1ofYpjuZWpxD/IkNfvOONO2nQOMOVd7SZjezqpzhdHb2GFN5YZdWP7PrqL67IyvPT4tvEZbnrNB+oy5u4X/xPlam8Z8BLiSrqN3TDM9iCnFrqZis02JnwcR7IPgP1ZevPCuRXG0mQuvD7+cKi5qIxnhrvBCMFnZursT1OzuXIKvUHFtm5qgID7Lw0aa81tJTmpUhvibT7MfMSZRjg7wCC3HwO5iWyOU1XvneGYjk2zEfz4X2ayYG5VdqvdPLzYtt+klXkHoAgPUcy9P2QoDbIN16gBw4Eeq8JIhpn/2tLaR9tzc6jO8hmRIZ/fXG0AO6K5n3tsuEBCa2xikyYAci+rOY0/4gVEiRvlZHc5ol0gtAJxmkJ9W4gr2nodmVH48xQLT8qK3YlJ9W1eiZoyJx5laYNetiJ/V2rR+gJg4ukHKtdUM0jY7V0EPrYsNEeQs3+YdVIKT217pWLPQ7Ff1DN6XByPOKHsKVKxjsEdVX561Nb2/BtuuvZzInCZlRK9SSxlQnUPWyOO1urUMTuLc4ofdrTA2VewljvY7S1GoEIyciP6UXwrW4bNXvd5It+LmOqQIt96ppKSgq77xZwyHZaS7sl3j4Oi/0c/HGTNXRhfISx30fOat/nw9Y6Fd4izouJ1KAGdgVIrmm94i6ry7NZAKjiQtYJVYk43LqTd9THLGgtLHtMZaowHsOKcqDp/Py/PlgNbzv8APefQSK081CHBiX4AtIlspF1DiSWiZvaDpGxMdDkyeAEYtsvRKuszNwP74q5NuQqljHS9ihwk50lMNCgs1zKj/PiH8Y4kR5x/pPOIsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018TFPAm1KJG9v6rzd4JYoCM",
      "input": {
        "note": "Black marker is ~40 px left of the jaw column in the right wrist view; shifting right arm ~5 cm left to line up.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.11,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018TFPAm1KJG9v6rzd4JYoCM",
      "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]: [-0.0978, 0.8433, 0.6224, -0.3996, -0.1608, -0.1272, 0.9967, 0.5095, 1.2755, 0.408, 0.0765, 0.3294, 0.2485, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0028 left_z=0.1721 left_yaw=0.0889 left_pitch=-0.049 left_roll=0.0048 left_gripper=0.9967 right_x=0.3005 right_y=0.1065 right_z=0.048 right_yaw=0.0896 right_pitch=-0.1775 right_roll=-0.0449 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.8667, 7.4872, 1.7021, -0.2222, -0.0269, -0.0122, 0.2393, -3.9453, 8.212, 1.6093, 0.2662, 0.1783, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59661eb6c2797fcc406ce850e2312d31e48201d4a53c114a29c362fd6d7a3594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1cb319bff2b3a70221018fba1681af8ff6f60dea5199240eaa85671c75262a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60aa31b87f7c70744604a419f8116c7bd7c202727a82a404f96df5c679091103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 4.433 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]: [-0.379, 0.9192, 0.7513, -0.4526, -0.3641, -0.2569, 0.9967, -0.02, 0.8211, 0.6067, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.306 left_y=-0.0503 left_z=0.2036 left_yaw=0.0461 left_pitch=-0.0121 left_roll=0.0099 left_gripper=0.9967 right_x=0.2962 right_y=-0.0002 right_z=0.1727 right_yaw=-0.005 right_pitch=-0.0381 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -2.4547, 6.4615, 1.6288, -0.1636, 0.2027, 0.1148, -0.1983, -1.4427, 7.1863, 1.7314, -0.0806, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0982, 0.8394, 0.6273, -0.3973, -0.1715, -0.1257, 0.9967, 0.3164, 1.0782, 0.3481, 0.0113, 0.2157, 0.1417, 0.9997]\nstate[eef_state]: left_x=0.298 left_y=0.0045 left_z=0.176 left_yaw=0.0966 left_pitch=-0.037 left_roll=0.01 left_gripper=0.9967 right_x=0.2961 right_y=0.061 right_z=0.0663 right_yaw=0.0526 right_pitch=-0.1378 right_roll=-0.0275 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.7983, 6.9812, 1.9365, 0.1392, 0.1636, -0.0024, 0.1436, -3.8222, 6.2838, 1.7949, 0.1929, 0.2076, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8433, 0.6224, -0.3996, -0.1608, -0.1272, 0.9967, 0.5095, 1.2755, 0.408, 0.0765, 0.3294, 0.2485, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0028 left_z=0.1721 left_yaw=0.0889 left_pitch=-0.049 left_roll=0.0048 left_gripper=0.9967 right_x=0.3005 right_y=0.1065 right_z=0.048 right_yaw=0.0896 right_pitch=-0.1775 right_roll=-0.0449 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.8667, 7.4872, 1.7021, -0.2222, -0.0269, -0.0122, 0.2393, -3.9453, 8.212, 1.6093, 0.2662, 0.1783, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59661eb6c2797fcc406ce850e2312d31e48201d4a53c114a29c362fd6d7a3594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1cb319bff2b3a70221018fba1681af8ff6f60dea5199240eaa85671c75262a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60aa31b87f7c70744604a419f8116c7bd7c202727a82a404f96df5c679091103",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/AYKEAgSGAI4AUIIdGhpbmtpbmcSDDzIa7wIk7CoZy52choMyoRRbt1wLtKdn/GWIjCD4jIlqCfS3IhpFrFM2aC+9lehksV2bwyN+cfX0OGQ2QQLzSLpasp2gTM7nrBHLUIqmQbsp7FOWtt4VEh38XPm/w+blmtD0Jdqfts2K9cNvwJFft/CU8eLIbBvpx1jR2AbLmMvYhjorQ8KqW/yHxx0/m9Ra77dKAqak9GE8qcuwOcMFNZD1UUJBqiKmP/1QcITXoFORdp6ISBrSf9BPlI18xaWLIJeqF7rLE34ScYK96jnij6cDW8MR5/nurZXdrO/3V+QuBjOJBacH8JurHmCrZ8CPK7m0xhdVmCuQ2eD4RFLXpfy3taWoayBVGuKaidndhrmuZJRPQpWEmaQY7waCHsRYASEHzYR8T2tJjukX/mua/yS6rOHXMPaDdtwP6Iyw+iNkoKkgNajltSdaJsBG8FCXYRzdkAC44Q0heKU3Wkg8gsldc1MUAzxTIdPqc0hLdR/5Ggsd0YdkxUr+g1z4EqZu7ErvyRpN5VRaiKOX8MkV+7XM28RnPz4lZHJg6fMqS0Ft93WBZEsUR0KtJsYPTVfEqSeeDX9Gc2dtdqrUzyp2AFAPseXC4hb34Kdc1dzS21Wt1Tu9CdlzSEirij6ktrB/meS264adQVpTpL7jyMbtdpoEeRTvEuxHNF0omAOsB9nZLIG14rR0brgMbALaZGNryMVKNlEIYx9k2Xl8GZGjzxSd8S0FGjw11YMoEyvHQaSr/50ceJH0IXIzlms6uLgHJzdKI7YrN4k3gaKqTtosUpxMw0FaAy3QJ+ArFZI6rIbnQg4SohbIwMuzsOZDIXAd4SsGK2EJnf00A3C5Nx0A9+JxElvHMrnlwiG+wz8FIifyWzIXHPVTkl2NrRVT5awaRnOzEH4tWsC6s0gz1e+1dWH5E438WDksDoQ32bUjV13eRSijpUuzUFheMkX0MC9k8Cuublu3aIr11Be8koUdzqyBqpsotIxQPH6A3jhfOJo040WP9ESj9h6qryckySpENTaJQsBi5Jr+P9hl6Z3u3Q0lmHJ1xLmGfL+quOFDxsWw6f9DjP8uQHVEuk4yK4XexRM0OsJGBL+dBpwMeYQE283LBCdSzJ+BFWnP3VJy1dZEkXvdtbGRJ8BmSQwWngyacl7zerW/r1VGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XCZkMBGYJi1HHbPDXTd2To",
      "input": {
        "note": "Black marker is now centred on the jaw column and runs toward the jaws; descending to table level to grab it.",
        "targets": {
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XCZkMBGYJi1HHbPDXTd2To",
      "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]: [-0.0978, 0.8433, 0.6224, -0.3996, -0.1604, -0.1276, 0.9968, 0.5236, 1.2877, 0.4145, 0.0799, 0.3515, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0028 left_z=0.1721 left_yaw=0.0888 left_pitch=-0.049 left_roll=0.0043 left_gripper=0.9968 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0735 right_pitch=-0.1724 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.3607, 7.0359, 1.663, -0.1245, -0.0366, -0.0073, 0.0342, -4.0547, 7.9658, 1.5751, 0.2564, 0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83eacd69e65cdafba6d55e0f507c63bf7109b5e171176c813d73a0cba3852a32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d3028fcc89ea5c1ce27947a91c4923df40633afb483f0efedf0ee203c6ef56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c6b5e562f762331cc1e9af6fab2b76b9ab017e386f5f834febd324398d7ba42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 3.994 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]: [-0.0982, 0.8394, 0.6273, -0.3973, -0.1715, -0.1257, 0.9967, 0.3164, 1.0782, 0.3481, 0.0113, 0.2157, 0.1417, 0.9997]\nstate[eef_state]: left_x=0.298 left_y=0.0045 left_z=0.176 left_yaw=0.0966 left_pitch=-0.037 left_roll=0.01 left_gripper=0.9967 right_x=0.2961 right_y=0.061 right_z=0.0663 right_yaw=0.0526 right_pitch=-0.1378 right_roll=-0.0275 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -1.7983, 6.9812, 1.9365, 0.1392, 0.1636, -0.0024, 0.1436, -3.8222, 6.2838, 1.7949, 0.1929, 0.2076, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8433, 0.6224, -0.3996, -0.1608, -0.1272, 0.9967, 0.5095, 1.2755, 0.408, 0.0765, 0.3294, 0.2485, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0028 left_z=0.1721 left_yaw=0.0889 left_pitch=-0.049 left_roll=0.0048 left_gripper=0.9967 right_x=0.3005 right_y=0.1065 right_z=0.048 right_yaw=0.0896 right_pitch=-0.1775 right_roll=-0.0449 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.8667, 7.4872, 1.7021, -0.2222, -0.0269, -0.0122, 0.2393, -3.9453, 8.212, 1.6093, 0.2662, 0.1783, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0978, 0.8433, 0.6224, -0.3996, -0.1604, -0.1276, 0.9968, 0.5236, 1.2877, 0.4145, 0.0799, 0.3515, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0028 left_z=0.1721 left_yaw=0.0888 left_pitch=-0.049 left_roll=0.0043 left_gripper=0.9968 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0735 right_pitch=-0.1724 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.3607, 7.0359, 1.663, -0.1245, -0.0366, -0.0073, 0.0342, -4.0547, 7.9658, 1.5751, 0.2564, 0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83eacd69e65cdafba6d55e0f507c63bf7109b5e171176c813d73a0cba3852a32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d3028fcc89ea5c1ce27947a91c4923df40633afb483f0efedf0ee203c6ef56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c6b5e562f762331cc1e9af6fab2b76b9ab017e386f5f834febd324398d7ba42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6AcKEAgSGAI4AUIIdGhpbmtpbmcSDErAziOJw9Xhn2QetxoMXJaHmgWUsSamJk7GIjCCpR+GHZEUEEPAcv308tpEV5UzHBIVE6GQWOm3avlm51dRfBXN3JRwDo4eBa6ZfA4qhQdrRgMoCruPeVs1/skEBiBPqBT0xxUC12xLXcB3js/z8+twBveYbLjJlvF4WYwA116+lM/3vgoAiNMTQeLYw5YtIx7gYDQrgDMOfECFh0nW4x4L9fIgNv4cMHDD75Jjldway7SI0EFp4z8SfBJnBZKpAL938YDZ3RqDOWVHEvbHhe3tvRjyetATkWos5CVXZemj31O/djAX34sbfkz/Brl7mCDelZFIlBUHXRQ7u9TW7aQ514ALdS5si+EON9hFghsW0f87BVbR0wuMX1b3j5m8AI//V8UXr8apjypS91HbOX1knSz4Ht5VfdCTg5VPganUwoZulR86oFtpiNgaNX+k3/2B1oHdmQ8joEoQTRQpm1/wUj7+o3DJKYGvd8yOZVqu0OrMat9hzTbOETD7QOFl61YpMySToTxfX+wRvsfplIzvtVMrOOk53KlL4YZ9napfa5V1itZ1b6nUV+lFjC5O0kfj8jB/8Os8RTkH58S7RJJ+tPhYPbYMjR9B3AMHKD5XexOXWoorOeULdW3Dd0h7IwVnzNUyd3f2fqaeAc860heE0wlosRPMcct3LMydHgiPuNlMywSlJQcEwSTF5aV1HQuBgI2sJU3GNj3ASba0l5e1Y8nAn6XDgk12SG7wBGqJxjXRc193Woxz2jQmwWdU97+zdE2V7lr8ohF37BW3EY/NeYGTieL8U2kDWceO5zqVo0Zk13vg0s6Elv1Dp+7b30/XPc8uogFmRxpvvQBA04TaxMTevU0RB5iJzs58Wixu0E6FaMgy66nkTY0JQ2r4oUEPK2bvngLfUqXI6kTglgWVSONKoZyUYR6ZmQiNQ76vlcjw+mRvj036uCYPzrGTkM5wWjurEaXD/aSY50h37DH7cBHE9+5XH2llMvCWnl1FGH+yiXs2v2PbXEtWIp0l4X1bc9ztxBohc42P4WILQM+tyl6LcUOukU8ZYFsKH3KPCgbrvQOz8L9bB6KNZRbqwgy2Mm1aSSVq/M0HpioNEhLgQ4XlQEmdhILmNb+906nh35slA4WgmPqHFiLC8DPtAmN47kmPIlxpcYXyyz0/EbendKCSsAuQZO5Ptm6anydBENWUg0dNNH8ci9SKDtel5rVInVtXvfp5aU4l2L9rs41bxUWlDVJi8u0e/iXC3UDFEdLw4WpMIGdO/3k5CBlbQ27H+dEDT8horZ1TfrSDtScmKjx1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jvu5sphUAJV1GH2hQrBx5M",
      "input": {
        "note": "Right arm didn't descend (held at z 0.048); retrying the descent with a slightly more extended x, which is also where the marker sits.",
        "targets": {
          "right_x": 0.32,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Jvu5sphUAJV1GH2hQrBx5M",
      "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]: [-0.0978, 0.8433, 0.6224, -0.4023, -0.1604, -0.1303, 0.9967, 0.5236, 1.2877, 0.4145, 0.0799, 0.3519, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0028 left_z=0.1715 left_yaw=0.0902 left_pitch=-0.0516 left_roll=0.0026 left_gripper=0.9967 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0732 right_pitch=-0.1722 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.4291, 7.0496, 1.707, -0.105, 0.0269, -0.0171, -0.0342, -4.041, 7.9932, 1.58, 0.2711, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36d251199328640d74ab756bc4659581eeafb400b643f1bd5169575aba144fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbf7ddf720943f7cf9657e306fd9cb558af69326c77793639b63a4a5ccb470e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d47c68d570030c8557747da0577fc45750fe4af9eee97e0d1ee5c5a49113c32f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 6.502 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]: [-0.0978, 0.8433, 0.6224, -0.3996, -0.1608, -0.1272, 0.9967, 0.5095, 1.2755, 0.408, 0.0765, 0.3294, 0.2485, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0028 left_z=0.1721 left_yaw=0.0889 left_pitch=-0.049 left_roll=0.0048 left_gripper=0.9967 right_x=0.3005 right_y=0.1065 right_z=0.048 right_yaw=0.0896 right_pitch=-0.1775 right_roll=-0.0449 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -1.8667, 7.4872, 1.7021, -0.2222, -0.0269, -0.0122, 0.2393, -3.9453, 8.212, 1.6093, 0.2662, 0.1783, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8433, 0.6224, -0.3996, -0.1604, -0.1276, 0.9968, 0.5236, 1.2877, 0.4145, 0.0799, 0.3515, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0028 left_z=0.1721 left_yaw=0.0888 left_pitch=-0.049 left_roll=0.0043 left_gripper=0.9968 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0735 right_pitch=-0.1724 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.3607, 7.0359, 1.663, -0.1245, -0.0366, -0.0073, 0.0342, -4.0547, 7.9658, 1.5751, 0.2564, 0.1148, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8433, 0.6224, -0.4023, -0.1604, -0.1303, 0.9967, 0.5236, 1.2877, 0.4145, 0.0799, 0.3519, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0028 left_z=0.1715 left_yaw=0.0902 left_pitch=-0.0516 left_roll=0.0026 left_gripper=0.9967 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0732 right_pitch=-0.1722 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.4291, 7.0496, 1.707, -0.105, 0.0269, -0.0171, -0.0342, -4.041, 7.9932, 1.58, 0.2711, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36d251199328640d74ab756bc4659581eeafb400b643f1bd5169575aba144fdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbf7ddf720943f7cf9657e306fd9cb558af69326c77793639b63a4a5ccb470e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d47c68d570030c8557747da0577fc45750fe4af9eee97e0d1ee5c5a49113c32f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpAcKEAgSGAI4AUIIdGhpbmtpbmcSDHw7rYb7vWfwUzC2WxoMueB+rQINfmsS4v1qIjD+vv914hWlgKs80aa9+BHXR6J8gKFsfZ1uEWHa3tYy/etWJtLVx8DgmtSUKy4xGVQqwQZOW74B0KH/C0kDmBEUoX1aUf+HJqxoUipPRnKHYH603ufXjqWk3/+t7I6KGl2DO2ad3BbbaHnQssKRpynrEu7NSGc+0O2JErP8r184kcNi0WG4xqWVGYEVyee38rwHzREPRevu03NzinE+csQ4COXlQacbI7c9KNEe6iABw7xl9I/3dHyGezQACNO44QNREQfVLEmZu/4rKwtsaLi2/VFkawFrzz/f/H6DFs+2GYcMzz8qSSY18kpHjLHEUjB4b2/dXopBant9EHacZE6JwFH2she3jCvuK53iCc577ELSUKqojQDRSmNYDDXdmXQbrwso8bh6/L3m0dzzArtc0HpmxIxYq1qU2gda2ytWwmD6rhePII1VxNMvUno60913edLaXe7LZgm2TTasX5Lc12nMFEcmMGQdJg91pVP2JBDrL2vKFLknle/5/0csIScf92eJTIs/x91IWZPy/1VUtWtGvkU/268Cy8L05Yu/vRqL6SIcii38K/a8TG3ZMuaG5KkNeoCaUXRQNZOF86aGG7lTj+xlkaYPVS7S4ck6OZpkTCqWke7ha92YIH73Ivp9BPsLZ/aq5HWmHsdkDela3zwfWQdyokBrb9D31LZtiygZPLOYzOPWCFmbKmksOK4N68VSwXHwKmY7NMSbBTGOZLZJMcSc4s9b5uYO9Iigqd05Wil8PIinruU+zyARem1Je/tb5u6TT/KxiZVHcZ/nj5fzWdZX/EIR5MP92h4uVOC6HHZL061o9sqvHr/UlWUwrSqXjf7ceynfINHI3ZQ1o49Au2odT/ZTM9OP8x2uXjl3c+jHoV9du8zGinKydyhjuWlTo8p6DOb2rACea13CKxU9Yw1hP76sOnKAvuriwgWW2z+N8XA/oHbE9ggqKCbdsHnJHUNX/9C6HMRYf7o6qj+LqqykupxN4U7rf7PsQDY7UqdsH1cyYn5MvivKXmAs3CzmDLzamP5dKGMHmA68G8GAnGZIeJhXxk9z2sVljiebF7oC0d7saJt07CBOE6wEWNmHqUeai9MEL/tKmPpzXkh1VNK1SNuTlDdhw7xEHLdIeFEio6HwL/CGmEYiNSfNDYY/XtLM5w7pUglHm0nPlvot+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RvY895nBp7hFBjyjDYeK1d",
      "input": {
        "note": "Right arm seems frozen at z 0.048 (joints unchanged over two commands). Commanding a small raise to check it still responds.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RvY895nBp7hFBjyjDYeK1d",
      "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]: [-0.0978, 0.8433, 0.6224, -0.4026, -0.16, -0.1307, 0.9967, 0.5236, 1.2877, 0.4145, 0.0799, 0.3515, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0027 left_z=0.1714 left_yaw=0.0901 left_pitch=-0.052 left_roll=0.0021 left_gripper=0.9967 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0735 right_pitch=-0.1724 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.388, 7.0085, 1.7118, -0.1148, -0.0415, -0.0073, 0.1299, -4.0274, 8.0342, 1.536, 0.2515, 0.1148, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8797736112e978b23ea176e593aaf51ce584c9cacc6ccc840db113d82e841e00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a7120fd0c71c1f1486a5ca16b49823c3bccc86b0c234a24b6ea07bfff8ef94f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b36333a17bab80a3132417ee933205a16a864ba2d07cfe0bf1e8e325250fcef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 10.63 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]: [-0.0978, 0.8433, 0.6224, -0.3996, -0.1604, -0.1276, 0.9968, 0.5236, 1.2877, 0.4145, 0.0799, 0.3515, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.2973 left_y=0.0028 left_z=0.1721 left_yaw=0.0888 left_pitch=-0.049 left_roll=0.0043 left_gripper=0.9968 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0735 right_pitch=-0.1724 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.3607, 7.0359, 1.663, -0.1245, -0.0366, -0.0073, 0.0342, -4.0547, 7.9658, 1.5751, 0.2564, 0.1148, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8433, 0.6224, -0.4023, -0.1604, -0.1303, 0.9967, 0.5236, 1.2877, 0.4145, 0.0799, 0.3519, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0028 left_z=0.1715 left_yaw=0.0902 left_pitch=-0.0516 left_roll=0.0026 left_gripper=0.9967 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0732 right_pitch=-0.1722 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.4291, 7.0496, 1.707, -0.105, 0.0269, -0.0171, -0.0342, -4.041, 7.9932, 1.58, 0.2711, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0978, 0.8433, 0.6224, -0.4026, -0.16, -0.1307, 0.9967, 0.5236, 1.2877, 0.4145, 0.0799, 0.3515, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0027 left_z=0.1714 left_yaw=0.0901 left_pitch=-0.052 left_roll=0.0021 left_gripper=0.9967 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0735 right_pitch=-0.1724 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.388, 7.0085, 1.7118, -0.1148, -0.0415, -0.0073, 0.1299, -4.0274, 8.0342, 1.536, 0.2515, 0.1148, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8797736112e978b23ea176e593aaf51ce584c9cacc6ccc840db113d82e841e00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a7120fd0c71c1f1486a5ca16b49823c3bccc86b0c234a24b6ea07bfff8ef94f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b36333a17bab80a3132417ee933205a16a864ba2d07cfe0bf1e8e325250fcef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkwoKEAgSGAI4AUIIdGhpbmtpbmcSDFDxp4HXP4ffkmQSthoMW4eGSMxaF1kSHm86IjBSdxZT49dZKUgea5lXBjx8s6be7Yb8JnGduFEm3xNpo3CEgDURhGCx/5zmCON4GLkqsAkxcWgWn/8lvFPlXGpsPCSQMzzXIrJv+mKdPcUynUc0n/luxn/xNzp9puh+Dz96i/JIhNo1lalTkixXfJETcmvk1YR3VR+98bxsWXMsyOXSJz7yLdFLENyi182Bhqd4Y4hGLVc4FhxGKvebTJDuH5d2Au8bhPxZZl6BJWDvRUbnLTKPDysXie/J7RFsqxo/5CjSHBnWsPjkVLJOIknuviw873atw4+aSHbCKH3zEz1tCtTD719R0U199+sy1SDBMiggZ/lgtxNMhj/4PC1mc8rHxrFhjsLFZfZ21/fLaiguKM3MsqqcZRQZ2EgYo0ITBt+omeKDJI4xZ6j3No45AIewn7M89ygOH2EheV0OtuEISZAwRMuecxyXPvt46Te7zJWnuHWVVMRfjz5/yqVZT+9Z9XbXlA09iwrgwe5mmMfhsGgaF3FsTT8UGLK++PdgnIUlcQPlL4ZawukBZipwFg38R+6v9LhnaTy/FoqZSpkX9CIFMofrvQ8N7EUG/ccOjDCZzw3KlIins0ScgjKtm4hcnzhTROm0l9BY2h932Oy52F+/M30Ix+kT61iDO8K+j+XCsGWUBFucy4Qd/hshbb/C4Nb6xqCv4T8hD/cc4QQfImoxEMO8/IYnwkd8kzIJYhWFDCVZl9C07O9SZwg0v9KSsMu7OeeF8uB3Rijc+GLc93PzO9q1tk5joPY/+XKcIG0HLNmLJXaChDf1Wj1FqPLGXrRFm7XDeAyKPdbQYvd6HCxf3JvA7dcTziTxQRPbbJAv/gUD+99JcXm5+dIrQc8hcTCYKFFvaIuuv5rTZPFZ+i8MiLuOhRPX1PfUTokWHHJlc8iFI944B3dqwoy5xbrn5N4j4op/AocHmeVnhHaQIUo/Aof8r9J7WnIHcbzWija6Y69o40CqOW35t+mh1bYUi3wDu2oRXdtAZvoC97oHQRPtwZuX/dNjrySL3+B/bukL278NMADlsXWMLgfMUME/y0Q1UETvzNAeWNPDML84ro1JSFlSMiHaJIsxWqQ7k9JaHEwJjd/cVtRjscNT2qdxa5SqZA6+4/9E0hzHphJZDvoTIEio3KM7haW2EubZlN7gFX/k4xi47ZpFbQv0UHE7kpVQZZCRVaeGkgpf5GtlTdscugso3Zpmbf0DAMXqt8k3TmkeMAF/357zGRIwqTmrAuNve9yK+lpRwQdQezi6P47h/ac4n5QRxLY5O55MD/M53C8htWXLlb7MshWaC4qipCPBpAehYUefpyWnVv+OEWjMTZRZ0101gxUu9iTxT8KIJejP4XYLBAnA7VmcAWy8smXQbt1JA1kzpLjRCbsPQ/4LcEBKwGYw6HMxdBXnDzHLfsMCTFENXQ78QwH0dpowHSDvQocFZBd1wcW5Y0V55cgowQEo+MddnfEacgm8DbaU0q+vRRCQrc5bbdAa4w5rMRskemLQdyud2/oy6rfVQCDI0CyqIOFpmeo0dIkuv4xzQAMMs56QFrRzFQplinkhJErktt2hru6lvE1jag658KDmzcGpWb4YBZ3uEdRyTK98WwzldYtYthJDuuCwom5B0x0X8IlQA+CAc8rHFCibEyywUIVdKV2S9jaGs68a2OMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XdEJxYXVvU8ts9uF5fDLJY",
      "input": {
        "note": "Right base joint reads exactly 0.5236 rad (30°), which looks like a joint limit that froze the arm. Backing toward smaller y and higher z to get it tracking again.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.04,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XdEJxYXVvU8ts9uF5fDLJY",
      "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]: [-0.0978, 0.8474, 0.6224, -0.4023, -0.16, -0.1307, 0.9967, 0.2562, 0.9077, 0.384, -0.0498, 0.2291, 0.1467, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0027 left_z=0.1704 left_yaw=0.0902 left_pitch=-0.0558 left_roll=0.0028 left_gripper=0.9967 right_x=0.3025 right_y=0.0415 right_z=0.1183 right_yaw=-0.019 right_pitch=0.0045 right_roll=0.0075 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.4427, 6.9949, 1.7411, -0.0904, -0.0562, -0.0073, -0.1709, -1.3607, 7.0769, 1.8242, 0.1148, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21d776d000ebd37413cb6c47f7617df5dcc4c448ba6db1b4eed0c750b99a856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81eea0288f1c3a033e5064ca6c5b6a446557777f190fc46cfdc7c23a15c3f325",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a9d847ff419ecdd8b67221034076f433b51f51e59c64493c0a95ef4a63d69be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 5.247 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]: [-0.0978, 0.8433, 0.6224, -0.4023, -0.1604, -0.1303, 0.9967, 0.5236, 1.2877, 0.4145, 0.0799, 0.3519, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0028 left_z=0.1715 left_yaw=0.0902 left_pitch=-0.0516 left_roll=0.0026 left_gripper=0.9967 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0732 right_pitch=-0.1722 right_roll=-0.044 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -1.4291, 7.0496, 1.707, -0.105, 0.0269, -0.0171, -0.0342, -4.041, 7.9932, 1.58, 0.2711, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0978, 0.8433, 0.6224, -0.4026, -0.16, -0.1307, 0.9967, 0.5236, 1.2877, 0.4145, 0.0799, 0.3515, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0027 left_z=0.1714 left_yaw=0.0901 left_pitch=-0.052 left_roll=0.0021 left_gripper=0.9967 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0735 right_pitch=-0.1724 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.388, 7.0085, 1.7118, -0.1148, -0.0415, -0.0073, 0.1299, -4.0274, 8.0342, 1.536, 0.2515, 0.1148, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0978, 0.8474, 0.6224, -0.4023, -0.16, -0.1307, 0.9967, 0.2562, 0.9077, 0.384, -0.0498, 0.2291, 0.1467, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0027 left_z=0.1704 left_yaw=0.0902 left_pitch=-0.0558 left_roll=0.0028 left_gripper=0.9967 right_x=0.3025 right_y=0.0415 right_z=0.1183 right_yaw=-0.019 right_pitch=0.0045 right_roll=0.0075 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.4427, 6.9949, 1.7411, -0.0904, -0.0562, -0.0073, -0.1709, -1.3607, 7.0769, 1.8242, 0.1148, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21d776d000ebd37413cb6c47f7617df5dcc4c448ba6db1b4eed0c750b99a856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81eea0288f1c3a033e5064ca6c5b6a446557777f190fc46cfdc7c23a15c3f325",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a9d847ff419ecdd8b67221034076f433b51f51e59c64493c0a95ef4a63d69be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016AazFeyfZ6TGR3kKRgeydV",
      "input": {
        "note": "Right arm responds again. Black marker is slightly left of the jaws and ahead; approaching it at y 0.085 (staying below where the base joint froze at ~30°).",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.085,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016AazFeyfZ6TGR3kKRgeydV",
      "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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1265, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0004 right_pitch=-0.0017 right_roll=0.0067 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.3607, 7.0222, 1.6972, -0.1392, -0.0806, -0.0073, -0.0752, -2.0034, 7.3231, 1.6679, 0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da684267c5a46dfc7ee86d360bc7f1658f838f571a0aa01921849738cdf01235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5652f597bb79224a757fb47369634679be05d6251abf1ca4f2c393026639c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8844ee49b7352988f56ee57441869098cbeb29a20a73d263471b558b537ac0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 6.081 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]: [-0.0978, 0.8433, 0.6224, -0.4026, -0.16, -0.1307, 0.9967, 0.5236, 1.2877, 0.4145, 0.0799, 0.3515, 0.2707, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0027 left_z=0.1714 left_yaw=0.0901 left_pitch=-0.052 left_roll=0.0021 left_gripper=0.9967 right_x=0.3016 right_y=0.108 right_z=0.0483 right_yaw=0.0735 right_pitch=-0.1724 right_roll=-0.0437 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.388, 7.0085, 1.7118, -0.1148, -0.0415, -0.0073, 0.1299, -4.0274, 8.0342, 1.536, 0.2515, 0.1148, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8474, 0.6224, -0.4023, -0.16, -0.1307, 0.9967, 0.2562, 0.9077, 0.384, -0.0498, 0.2291, 0.1467, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0027 left_z=0.1704 left_yaw=0.0902 left_pitch=-0.0558 left_roll=0.0028 left_gripper=0.9967 right_x=0.3025 right_y=0.0415 right_z=0.1183 right_yaw=-0.019 right_pitch=0.0045 right_roll=0.0075 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.4427, 6.9949, 1.7411, -0.0904, -0.0562, -0.0073, -0.1709, -1.3607, 7.0769, 1.8242, 0.1148, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1265, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0004 right_pitch=-0.0017 right_roll=0.0067 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.3607, 7.0222, 1.6972, -0.1392, -0.0806, -0.0073, -0.0752, -2.0034, 7.3231, 1.6679, 0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da684267c5a46dfc7ee86d360bc7f1658f838f571a0aa01921849738cdf01235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5652f597bb79224a757fb47369634679be05d6251abf1ca4f2c393026639c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8844ee49b7352988f56ee57441869098cbeb29a20a73d263471b558b537ac0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSggkKEAgSGAI4AUIIdGhpbmtpbmcSDOMFeo5zbvoguYeDPhoMj7bgbJZNLIhoemiRIjCSonYcNZ5bbBpHqYrTIaLA4BpowqqhKM9hDrekwSS/kasP9xm183A9wSymQ7DrLjUqnwiDcYbUJDGOSwseurRs2wBpmtRlypecZFbh2uoifw4NP+AGJzGBL4T7RjQacCQc/b01K0AumjEZfAwb3uUltrXPLc41ZLycxm6bVCpErByVGR6NONoTgSolXxsgcaI0fhLnnr+3S2A5SAY2tHOkD3Dh8EQ0qtnmn6HZr5VlKze2RFSdIPkVsi7dtweLQRt2pTQRaSIiclzruOPCuaR/WviceqrcYo4V4Rr5GOOI3e8+pCNQp6TQDQgM2ZlCgAiBLfbPwbEDLucVRYcNwZGnXq6YmtiZcVqH++aoovOgI11S8FaFiylt16d8HvgunRAQjZDPMBhMU8zg3mK2t2SAStAKaHn4B2z8ya9h/+cxrMK8nUBVTTRZI/oyfkQuCazDTI9wBlW6QF3lxiA/oOUMGmRtyE32s0W8gPMnM2ND5ImDw6wn2n1f4d1b9oUNI0LxNK9kGUySGHT4EkDa/ShNOm9Izvv2oIVY4grnMu/5bSBLiOjz4bBC37MXTS5EajBXu/PRwSJeotOPvM+G0yCx0IEzViMIcKRRRJrECSu9Z/6I9ymR5Q9BiP0C1cl+aaTP7ECXDx2Hc01raH2WH99sXa8obvQGw8dFf4lVS7vprje4eCrW+VUtSW2afxQbnE80zo30UQIf2mK14PA96Ajd5j0/nPOx75RQwYhW7DH1BU4bMqK+Q/x/rpYJH3m2WMGK84sGQXcvkIHfqA8KYKgFTPACdOmXUlqLUVelIhNMvh0r2Yk85brrSio6SB6DuEdXizebCGQdwMbfEzUmCCY/HIescSCXqyPk501P1+wfMB9JWQ+8HJnYafg6xtIrdHQw8KVdYwoNINVbBkQzLUMLJw58oM645NPqFJB/yGTi7YsDgzfIgwT5bYN+ybT7QiLJEhLvcCNICKuaV6L+iDJIbcOMOhWKS1IPwOusLU/ajBSlK4JVM1ZcS/tHfzcaKFPF5BWuyPegv3O6i6Sb3RDJNmAuixD1Ra6cfNblqYOVf2eWqjEzrjmMpXADXt7crwh5+ubW5K1f2NQoFulCC0seZ9RNtqASWSZqkelrXqUKdh88qbgrK8xcUxfZ/V05oqmb2iAtaZEp8h84PReFrtilIBX4oKqPOum6jERQWIt3VCuibnFm6VmNSvvHGrx5WJhQ8lGDeTdokxE+t++yx4y91dJfHN3wQ5ZSLlyFTSDCWAqO95POYSMlNwZjspzRILXIyYurI75w4Tcv0DcEYY/RIDELfZ1wzqw0ZrbZxiCpQUu3j1nMylqYqTWMmZ3Icn6JDuAl0ySxzdXcC2GAvuZFoZRXSpyVe4NZUMqv5vV2ic72xznowhrabdLHTZv/R9Ayj8gZa5+9w3eACol+mkd0D2UhhxDbW0kUhKeK614TJ71+LJuJQH7jE/WSWhfnkEMFwBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GHNoHqEb2uwNb5eo1cGuBK",
      "input": {
        "note": "Right arm didn't track the last target at all. Trying a smaller step (y 0.06, z 0.10) to find out what it will accept.",
        "targets": {
          "right_y": 0.06,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01GHNoHqEb2uwNb5eo1cGuBK",
      "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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1261, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.0017 right_roll=0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5385, 7.241, 1.7216, -0.0952, -0.0415, -0.0073, -0.2393, -2.0171, 7.2547, 1.6777, 0.0611, -0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00bdf1a2c57a9f5dcb384bfc70af9a1127d9a28adb2fc2206586833eb397457d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6068a7f351aae495e7db81d24f2ae8de940bcf0a56e2baa8c28eeb4c38be132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be3299744a66804b7061da0dec41302f4e1204882957d60df89ea7aabe026236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 5.864 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]: [-0.0978, 0.8474, 0.6224, -0.4023, -0.16, -0.1307, 0.9967, 0.2562, 0.9077, 0.384, -0.0498, 0.2291, 0.1467, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0027 left_z=0.1704 left_yaw=0.0902 left_pitch=-0.0558 left_roll=0.0028 left_gripper=0.9967 right_x=0.3025 right_y=0.0415 right_z=0.1183 right_yaw=-0.019 right_pitch=0.0045 right_roll=0.0075 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.4427, 6.9949, 1.7411, -0.0904, -0.0562, -0.0073, -0.1709, -1.3607, 7.0769, 1.8242, 0.1148, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1265, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0004 right_pitch=-0.0017 right_roll=0.0067 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.3607, 7.0222, 1.6972, -0.1392, -0.0806, -0.0073, -0.0752, -2.0034, 7.3231, 1.6679, 0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1261, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.0017 right_roll=0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5385, 7.241, 1.7216, -0.0952, -0.0415, -0.0073, -0.2393, -2.0171, 7.2547, 1.6777, 0.0611, -0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00bdf1a2c57a9f5dcb384bfc70af9a1127d9a28adb2fc2206586833eb397457d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6068a7f351aae495e7db81d24f2ae8de940bcf0a56e2baa8c28eeb4c38be132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be3299744a66804b7061da0dec41302f4e1204882957d60df89ea7aabe026236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1gkKEAgSGAI4AUIIdGhpbmtpbmcSDLlkUTectMCwJnCMZBoM4elx2yrQ9Jf1Z8qXIjAHCqPK5y5Ev9aIUPe3XFzL1g4gUJrhwK14KKaqTXdrHt++Om83vPIBRYUJuwtr0E4q8wiArRp3XYazug4V+tnt8s3RxGQ5C6oGWdNvJXZ13xaEkHM2vF+dxab6ly73MN5O7tTG2VV+jOtZNdThKNr+DPUEpM+4KHIwdN1KItKaHRc2PzljPYFLUlOFkB5HnLjHGygggMlXqWuUyNUi1ItYT7xE01hYjs3RYB1QW0DUMCzuSoBGuUS4NABtRWhJNkJ9MgEXurQQrQ5k8GEI8GwiXDnTNuEQz1q3rIWr/GT58UXFKvg9ZigfExoNvmaQz/J9XV03p0UoELqa16CI9aMUQ0tx24Fx3hD0rWNqw6+R0GVFhLM9zrL3SUiv27sHKVWlDFYqtjY5IV0qiiRKzGOp5p/6x3dFc3NTM769CtRHY+svEkNUOsYC3RQ2Qv8uKHIr+nUBTKEBi5yNOP1rhHRpBNY4bcm9pIf3sLiaYoKSIX404UogwsgErSB2Mi6sx/v5xnfF/jhNnNMLuem/9SsO2cSN1LbEplJ42lg0J23fivBifUaqA8DN1IVuI3Jr0cqQzB+h32Ikuna9P/bCYlKXmPWqzkdpF3jnDKzpcmUzx65o4+KIfYuhsIeFoIhnAEDbMpWUxef07u6Yhhc6O3bfJZ0kCfrv1XfA2fLNFl0AZihnF1rdrgEVQzIaEYNIJhrc/aZvZ1om1hBy9hJJxeEinOQz95hwHGakTMy1AnhZzheebCtqle8HEhAgzCOXAbZp4+O2l5zHhubPtFOF2v6WAuahtF03+QjKtWM47HEJTu3fg07xbJwncwQ7g16quOS1j2vZ+VxKcsHRxeDrM+M+ypzin1tLRbmk5hCIuDU6iVAJPtkdlFFd/qs5sO5OhjUryez/RhF+5R+6uM09PN4cVmiRDyBqoH3OT2+k5fTM8aDByK+/Fb7znIHQpyu4oyaXNQqohSQd6dyItlfGNlj7Fj5L35lYInE7QsuxUfAaWzZll8bYn//TXf9CGNPJX4d8Mu4GUBX8XGyKP4F1Z32HUngRD/NiF3yPWVDdLsla2nPOGWjKClK5PZeGYO2oh2f7botXAeTogbqLXItcM5tBptcaWWBQTS4YFgZSVjMPgvvGRNLvMGeTMCkscXdPZwMY00/3I0OG/zb6yTuzqOzgkLi2/RHY9h0sa44Fe+ODbXaeqGnivKTPaf5aqvd6ICapI13jZVzqCtb1u3n3mEiKF3fAEJIWaMMEGkWj7kfDxVBjq1/bsEtO3zjbV68rNNpS02gD7E8pk4nrt3FU/xyZ1UH+iDG9hlWtyOKELCTzk+yfTB5QvJR9Rk58Zg83VOfjX4uenhdyovDBo4k8zKAncoqXqtjyPDBi8R4yY/sTDD0T25lfTTZEkyDZVUmWjUDH/75OqNaLdZXfJ63CMnufjNdV3biNOUkw6wkZHsvousN6FZC3Z/TdLMUDeuoD4Qoj/KWRX6mcFvo+QcJ5ZpxvuboPJrkgIZ2/4FbyFFR/IPfevbxR8vGvFG03totGgTv5wWJw1QmLxEzNmYauEea/9aOWMzEDRYOUyad5rHPmcDRGJbTc9xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FKY7jawmh8xoUeGVHincQT",
      "input": {
        "note": "Right arm still not tracking; last time it recovered when I commanded all rotations explicitly, so including yaw/pitch/roll = 0 while moving toward the black marker.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.32,
          "right_y": 0.07,
          "right_yaw": 0.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FKY7jawmh8xoUeGVHincQT",
      "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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1261, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.0017 right_roll=0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5521, 7.159, 1.7021, -0.1245, -0.0366, -0.0122, -0.1573, -1.8393, 7.1726, 1.6435, 0.0611, -0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce6c61873c0b5ca4bb1208be8696f4391ba8e7ba63e1fec88c1e14ff3ae9f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a84c3b1970debe95a27af5c79481f2a53cd6703280660883b124ff28dee7b201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4cd0a11ed7194193da69c76bd64fdec00431e558b7c8fb3a8e49e9673f2f5058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 6.661 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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1265, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0004 right_pitch=-0.0017 right_roll=0.0067 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.3607, 7.0222, 1.6972, -0.1392, -0.0806, -0.0073, -0.0752, -2.0034, 7.3231, 1.6679, 0.0513, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1261, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.0017 right_roll=0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5385, 7.241, 1.7216, -0.0952, -0.0415, -0.0073, -0.2393, -2.0171, 7.2547, 1.6777, 0.0611, -0.1099, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1261, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.0017 right_roll=0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5521, 7.159, 1.7021, -0.1245, -0.0366, -0.0122, -0.1573, -1.8393, 7.1726, 1.6435, 0.0611, -0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce6c61873c0b5ca4bb1208be8696f4391ba8e7ba63e1fec88c1e14ff3ae9f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a84c3b1970debe95a27af5c79481f2a53cd6703280660883b124ff28dee7b201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cd0a11ed7194193da69c76bd64fdec00431e558b7c8fb3a8e49e9673f2f5058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+goKEAgSGAI4AUIIdGhpbmtpbmcSDOJhDmbJbTJwZAE9phoMUKe5uPbLLpq7587zIjCGCVWGu9/9b8/qgrVqy6aVtHrKHKeq5bVHpNpPjcL6qvs9Ml5jFMZe+czOraC29OQqlwrSjUaNFIV75xnYZjy+3CfF12+MDxBc808FJPKVPjrBbiEijro4luWLgav9UEsadVWr/vsATXFaqF0JvdzwpuhiHW/IN2Fqx0iK1Q1+nGZF0CzgDRqVLLIIw9HayZxLlwb+sotelL7HlgWZoblTD6CdaMXyyij5Jg0vgJDSDTs32Wbn3WoUy8j5lZIe1MaVXZA1C9vt3X56r1wVuyD6S524VhyuP33JNZwcHABFfHndCDY0FJ+Yb7iBMC6gq71JzmvjiegUyqQ3O0vRDoRkgPGMYRpHzcCnO6afshObEd+XBNNpIUkPW+5YwdQh7kZmJDTcUKHqFAMXbThyOd0xav6MpeIsLxva5MgGm0+dhCaQSZ9K4D9Fhd6kXGbUrdlFvI2u5rm5T15FlpD8YkP1ZsKyEhTgpMmcFIpiS5JzF0UyVPLUi4IyOM4Ms53YMTShh0W4oYi6AyjX/LQzlOCBlflWvi3TIEf/BZy+pdECZg+VFkfA+x3BxFLgVGWwH8AdG9y+RuajpYRdB6xVFGW5v8qzEve5Tpe1w9RKafjE/zySvQ+It1pMZbtY5sLzou5ckhqzMZIquNa7DL0dC20xrha88LVNXrrS3Ahw4cFxXAOCkhu/8lG0yfBmYIdqocAXm4CqTDiK4QCo11W5zsGJ95M2J1N9WomfzikVJV09LL01nU6t3Z5rj+8lgErBfI/P0UgpCi0fr5SC51fqkMUS+hBPHpEXTGLW3Zc9LkRvwecNuNDFZQ7Mpr4EwbB/hup31Y5BSOHIQOBxahb4HV22zIP+Bo3mgtF9gJ5bFfFjnu6WC7Nlk6w0ROsVzoUGOJfkLbPBudSJQbJa6rhGE4j70O59hp1Cz6PY3E5eHIWA7k6i4hhKnho3u5KFZUe6PWqv9M/TaKcnLm2ArrA3M8fbRSOxEVCzQZRdeeyW2RV30v2fDFaqBSTluUOEpd5xM/jSlMDHhRWvB/2Kv267lURs+YsOF2bXkDox0ndsvTYiHdHU0wgdfKdXM5u2cns8qK85ksSElppo0ElMWWWGaadZeFt+eEZaDafEuMylvVaZ1ZYOepcXI690oh73wXt4dlK262B5w4Jcn3wDcCfnAciBmJPXRjJit0VlXqpiJ91nrTrXgNMVnfczvFwcKapdoeG7gL8+CWgU+GBtkPyVOqOVwOE+uTA7ygZmyJC6ZNJLlZ23LsbJnjTlDjS8tpbORc/8sYoqajJksRg3VJBcXPMWcEWDmSNcv1mhEryFqhHITxekj4KZXAj9WaN3U1X5l1dDACcyrjKB46u3H1kd9QCavanrw3sDtGbTydP3aT2BQM4ERat0joL2J6YzNxfsb/YeYnLXhjftoSRaB8RzS1babcZDAHjR6/xxmBim8dO9vOnpvdN6IoG4S0FiiLGx3ThjjKoPI21u5sDDq1xNeZvLTO/1/tq1rV9uhVLiLHa1t3tXrZfZDYMXVA968J0iRfDLqLjiGb2NHC3OycwzchnicjqOvWGStpQxx6/AMUk8/6IfBMnzWVcMRYtHt1AeslhQpAAmXEzga0suBcAlKCDrJY1GO4ksH8gvmDzbREtSCVzjuzhyf+a3bDM1tqujAlOtqlzeBYhtE0Aoy4/WrG6iDGbavVj/dtUJ/myyjk/EaLhHblrgdu/45QopVfdTKS935lhpDrJte1rR1b8ohAUYwwlEMd5tbTucCSd5FyHo7owxZT8w3UKsiYJ0GmuE9fe9aMzAB1zIYd7GGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CuYgA455pSYG4Js98pwJN3",
      "input": {
        "note": "Right arm ignores targets with larger y; testing whether it still accepts a move that decreases y and raises z.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.03,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01CuYgA455pSYG4Js98pwJN3",
      "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]: [-0.0978, 0.8501, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1265, 0.9997]\nstate[eef_state]: left_x=0.2973 left_y=0.0022 left_z=0.1695 left_yaw=0.0882 left_pitch=-0.0591 left_roll=0.0015 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0004 right_pitch=-0.0017 right_roll=0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.7709, 7.0222, 1.7118, -0.1245, -0.0708, -0.0073, -0.212, -1.9624, 7.1316, 1.6435, 0.0611, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f67b490c2b92b778b692703ea2106b273ceaba67aa36a4e15351b48bc23358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7d819a0ddbf1bba4b537dcd15b59ca5827591e1dce3f704457710d4c24cbeba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6801a3a513e68947980d533ec53f2b963024f91c2b68e5fae16150bec27f248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 8.692 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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1261, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.0017 right_roll=0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.5385, 7.241, 1.7216, -0.0952, -0.0415, -0.0073, -0.2393, -2.0171, 7.2547, 1.6777, 0.0611, -0.1099, -0.0171]\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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1261, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.0017 right_roll=0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5521, 7.159, 1.7021, -0.1245, -0.0366, -0.0122, -0.1573, -1.8393, 7.1726, 1.6435, 0.0611, -0.1099, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8501, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1265, 0.9997]\nstate[eef_state]: left_x=0.2973 left_y=0.0022 left_z=0.1695 left_yaw=0.0882 left_pitch=-0.0591 left_roll=0.0015 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0004 right_pitch=-0.0017 right_roll=0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.7709, 7.0222, 1.7118, -0.1245, -0.0708, -0.0073, -0.212, -1.9624, 7.1316, 1.6435, 0.0611, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f67b490c2b92b778b692703ea2106b273ceaba67aa36a4e15351b48bc23358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7d819a0ddbf1bba4b537dcd15b59ca5827591e1dce3f704457710d4c24cbeba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6801a3a513e68947980d533ec53f2b963024f91c2b68e5fae16150bec27f248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+AkKEAgSGAI4AUIIdGhpbmtpbmcSDLkIejyr2hqOnA/ANBoMJG+HFsKgaxtHh1EcIjBLwxy8YtavddetnW+3qK9fblVhQmcaF69I3h0PyKeGuZ+Ymn1I6TnKIH5AXmTCHwcqlQl12VZmQirAx17+SGN9Eobav3px3mpTHB7H7/UIoLlmqODHzdf1BqZKpwdcZVSQnYmUIDblDoBC1AmMbDRHRS5yTH/w8l1WAdFYhyJSBNG4jXk1bN8Rnpd6dyrvkt2Gv5EXY+TFduuesmiOeI3mO7aPOSEk32H3+9F3KfsLjAMd0VfAdfcFkn8aPNKVYAq/YctgNdi5liL+2clS6+99etQSm8/cv95ptxkK7wWO2j7HyrSCd2KAn/4s7Qowku+1Fh6Q93A+FmHANdRFxMpmV86u5wnfxN+JM8kOJrgkDI9nwhKMs5LETAYcRO2ltC4M1tf1ty2fy7jqIxiF/DAZE51a7NVNXBDr3RIYccZw6FIr9TPYkZTUPqANwZQRxsQ/EAP2ASW6Vmz/mSc4ZwQV+vvE81DGS5LEnTzegHR4jFHWFtLGzdWTaP/+lrnFv1uykGEM/+JYTpFxBGuFWXZ3lZcqJWmq8YRIyprUo2xjNGJ8speTkHN5350ZcsOFajYAoKvcNPPvVA3tjop/sYnWbz14IYothurTwqpswDgCD574et8l9Ig4bDQJMQ9eViD4IgvH2AunbgU4U3p22X4/cAReHSn/q46AI1zPRod1QOSFIMFegbkfT3Nf1Hd1JHchEPKFzIrNv9S/CNaWqpXACk5jdoOsthua7CmcTdgb4lNg9qii++a3MVe8EbzeRpgVz7uo2nCAFieko+gf2cp+ccK4LBQTzN6TYUdFcDmkWWC1tEgi4gXLbeoJYHhaNrm1BpOAJDPCM9QQ8yfJwLiFZ8SxolIxmOsidORRTlOJVx6fMEbPrfiKByC8UrcIEfMP6AYp64gAdM7lTpsFb/t0Ca+0muQm/AUFSiEKkIvkM2OrwrJJc8t4p8Zh0++cRR1aH2juD0QVc8aIsE5Jtc7RiZr1eZ57C32SM4OrqrLhUIQlEap6cjvoQeF42WJEn8x7YsOucH6gPM8Y5p1e/0NSO+ZkRNqXktxAoUHfIM1TILAHFIU0EZa0veDRdj3uzaKNJtkTHL5D1/VOiw3IsrFLvDpLU1pUFTprEEgr8CF8CFZRb/SG1EBXahy6BEtLTUhTT6y5hIYvAYsyLy2LGUKmUkjKp2U0JImgkaJeV3Vj94USA2Kmwt1S2A4ZcCdEYRQx3dwa4bxA4BK6QshFHAK03fhGTKf0i95Rv7ck0ML/SDlvoLKkCCVloxEBif53TiCSskxveXn43pfOWOSawiBdpDb+IPPMMFmFPDjfPHS01OLWXZFtF0c1wissXho1mzA15Tp1SqsGviv4K0gcXZ972nW7zMf3FhfIbooBTOWU1H4CdgEPKHOUVct4EvbK2hCO0rMrhACgonzGVOnJc7wb6QN3ltEzLQt/3Sfk+LPRk8US+1nMH4tniplsIG6mlEWPDfilIGUjPKff1tCueDOfmBloxXXVbCaUFi7WBuocacklN1L6F2rQioBK37ccF/c/glw1nGn5tRRTLhNE9lz42RCqfhm4ceoRasEKJRDCePJU03Vq/U7EofwlND/BpFnwTHvGtmT91ta23QtZ3TOHL0G4nX4D3RoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012streLBHsEHJsDanzpxmER",
      "input": {
        "note": "Right arm has not moved for several commands. Sending it to its home pose to see if a larger, clearly-feasible move gets it tracking again.",
        "targets": {
          "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 4 steps (0.4s)",
      "tool_use_id": "toolu_012streLBHsEHJsDanzpxmER",
      "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]: [-0.0975, 0.8501, 0.6224, -0.4034, -0.1574, -0.131, 0.9967, -0.0048, 0.8246, 0.5568, -0.2836, 0.0372, 0.02, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0024 left_z=0.1694 left_yaw=0.0886 left_pitch=-0.0598 left_roll=0.0017 left_gripper=0.9967 right_x=0.3031 right_y=-0.0044 right_z=0.1698 right_yaw=-0.0507 right_pitch=0.0103 right_roll=0.0042 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.5932, 7.0222, 1.7021, -0.0952, -0.0659, -0.0073, -0.212, -2.0444, 8.8684, 1.5165, -0.1636, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d6f28d71e08ebed83cbfdd7debb0d1767de55c3b62f8771bc0e75600c460a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1269663446e29a6a4e6c18f349f0b4348f2566213d71f191f09491e47b3ab4ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2219e283b0291659d80aae7daf2964e458e122f76fbc308b36cf8f8c267a85a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 5.925 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]: [-0.0978, 0.8474, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1261, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0022 left_z=0.1702 left_yaw=0.0881 left_pitch=-0.0565 left_roll=0.001 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0002 right_pitch=-0.0017 right_roll=0.0064 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -1.5521, 7.159, 1.7021, -0.1245, -0.0366, -0.0122, -0.1573, -1.8393, 7.1726, 1.6435, 0.0611, -0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0978, 0.8501, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1265, 0.9997]\nstate[eef_state]: left_x=0.2973 left_y=0.0022 left_z=0.1695 left_yaw=0.0882 left_pitch=-0.0591 left_roll=0.0015 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0004 right_pitch=-0.0017 right_roll=0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.7709, 7.0222, 1.7118, -0.1245, -0.0708, -0.0073, -0.212, -1.9624, 7.1316, 1.6435, 0.0611, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0975, 0.8501, 0.6224, -0.4034, -0.1574, -0.131, 0.9967, -0.0048, 0.8246, 0.5568, -0.2836, 0.0372, 0.02, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0024 left_z=0.1694 left_yaw=0.0886 left_pitch=-0.0598 left_roll=0.0017 left_gripper=0.9967 right_x=0.3031 right_y=-0.0044 right_z=0.1698 right_yaw=-0.0507 right_pitch=0.0103 right_roll=0.0042 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.5932, 7.0222, 1.7021, -0.0952, -0.0659, -0.0073, -0.212, -2.0444, 8.8684, 1.5165, -0.1636, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d6f28d71e08ebed83cbfdd7debb0d1767de55c3b62f8771bc0e75600c460a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1269663446e29a6a4e6c18f349f0b4348f2566213d71f191f09491e47b3ab4ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2219e283b0291659d80aae7daf2964e458e122f76fbc308b36cf8f8c267a85a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RM49EBxXpao4Ab4eC3Dytw",
      "input": {
        "note": "Right arm is back home and tracking. Black marker is at the bottom-left of its wrist view; moving in one step to hover over it (y≈0.10).",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.32,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RM49EBxXpao4Ab4eC3Dytw",
      "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]: [-0.0959, 0.8536, 0.6224, -0.4034, -0.1574, -0.131, 0.9967, 0.4942, 1.1652, 0.4438, 0.0475, 0.3737, 0.2424, 0.9997]\nstate[eef_state]: left_x=0.2974 left_y=0.0028 left_z=0.1684 left_yaw=0.0901 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9967 right_x=0.3131 right_y=0.0995 right_z=0.0916 right_yaw=0.0473 right_pitch=-0.0589 right_roll=-0.0272 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -1.8393, 6.9949, 1.6386, -0.1001, -0.0659, -0.0122, 0.1983, -4.1641, 6.0103, 1.8388, 0.3004, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:251d8fd6f65b2f58326ac5bce4179bfbb6696943e2b445639486d85006b81a08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348650724fe5c8a94f569cff652afa1ed4f3a4de89e37ff5fc29e35be09b16fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:453884950ee216925c0e69466c4ae5e9424c957c18b7b2fae1fa7d3148f11b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 5.205 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]: [-0.0978, 0.8501, 0.6224, -0.4026, -0.1574, -0.131, 0.9967, 0.2371, 0.8883, 0.384, -0.0711, 0.197, 0.1265, 0.9997]\nstate[eef_state]: left_x=0.2973 left_y=0.0022 left_z=0.1695 left_yaw=0.0882 left_pitch=-0.0591 left_roll=0.0015 left_gripper=0.9967 right_x=0.3001 right_y=0.0406 right_z=0.1188 right_yaw=-0.0004 right_pitch=-0.0017 right_roll=0.0067 right_gripper=0.9997\nstate[joint_eff]: [-0.1162, -1.7709, 7.0222, 1.7118, -0.1245, -0.0708, -0.0073, -0.212, -1.9624, 7.1316, 1.6435, 0.0611, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0975, 0.8501, 0.6224, -0.4034, -0.1574, -0.131, 0.9967, -0.0048, 0.8246, 0.5568, -0.2836, 0.0372, 0.02, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0024 left_z=0.1694 left_yaw=0.0886 left_pitch=-0.0598 left_roll=0.0017 left_gripper=0.9967 right_x=0.3031 right_y=-0.0044 right_z=0.1698 right_yaw=-0.0507 right_pitch=0.0103 right_roll=0.0042 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.5932, 7.0222, 1.7021, -0.0952, -0.0659, -0.0073, -0.212, -2.0444, 8.8684, 1.5165, -0.1636, -0.0317, -0.0073]",
      "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]: [-0.0959, 0.8536, 0.6224, -0.4034, -0.1574, -0.131, 0.9967, 0.4942, 1.1652, 0.4438, 0.0475, 0.3737, 0.2424, 0.9997]\nstate[eef_state]: left_x=0.2974 left_y=0.0028 left_z=0.1684 left_yaw=0.0901 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9967 right_x=0.3131 right_y=0.0995 right_z=0.0916 right_yaw=0.0473 right_pitch=-0.0589 right_roll=-0.0272 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -1.8393, 6.9949, 1.6386, -0.1001, -0.0659, -0.0122, 0.1983, -4.1641, 6.0103, 1.8388, 0.3004, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:251d8fd6f65b2f58326ac5bce4179bfbb6696943e2b445639486d85006b81a08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348650724fe5c8a94f569cff652afa1ed4f3a4de89e37ff5fc29e35be09b16fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:453884950ee216925c0e69466c4ae5e9424c957c18b7b2fae1fa7d3148f11b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShAkKEAgSGAI4AUIIdGhpbmtpbmcSDIa6dk2WQvxpnM9luBoMw4Wxr7jmqYfSp16sIjDPjT0Wua002wlj9WhXWEmj7gYahpKFqCCYaBZ5v+5aDbYqi3LDAgt3SrLmGe1TLJMqoQjFHRu6pCy8GqT1suGCrAEgZDd5Yi9du7HoCaFC6lzieM6WiYfrFJC3Cx5O6XZBZkdzteX4CAGGdkCdSUfttQcy6fHZFgw5h2n/a5JWDhWEkjgk+ubCp7v7/dfxyq8vXf6Y2N9B+iJ7wMuL4dbYgiC+SZsiEs4n04IVI/7oNwiga0AEqEgtJ7bI16N4xTZ/d2iJtsFUlxwxakGAf0czlCpy+WbWWGOxag5jeNO/KaeGVudlM/vxMeGyYOu4rs9GFdIbUh3X20iicrgSeluCZUuCvYsYwQnxg1/XdGdOSVEJG5NvyRn+LDwnDuKd28HziLqOKncnf72JNozWGKWe1xLjf+vQBBtOHG6oBIP+GSYPF/6+eFh8pTC00o5ub0LBN1tGdrsUltIUYfSOO3tfq/AAsftCaaCyA/Bbjnj+hNngiYs6WfT9CgvdoOIx/pioo0R5C4WvP2umyvjjvlgYXzN3u3A11AHzjqec1q4MZ1GE7kturOaV58Ey5qWw11yRMp66AxmJRQB971yUlpFv8JlW5lpRIsutodOtyth0PZmA13D8adPWbMWeABlQ86IsI7fxut9II42UYZflkCT2QYXl1kY2yrj0qn7EFKVgFYsqphj4gOkKHtx7TYTefMvGhVkUOov7TvjhLlEqyOWM7j8X/MaWZ8wafWWSQVqBbWb1+WrgG9lYRJTTkiaLuZEvDlXZecKAHLnv6sovgWmF8GKZgvB1wGwen43Gm93IlZ7LpkJXhyi7U/w283ScjTHywxiaQEiCBdIz6vdxgWyeQ7/nhIaTWkNEdMX8gbuZ9MM3vpGBAWX0Cf+QE+vRGnK0h7v8QL7S0j3KH7JwUSv6EW9qWTz9/2YM40uxXReuIdH/T5UfUG3pGnSm74nsG9wTpci5fr2Q51FfD1kLVJpUcOPGiz8SN9Ihvvi+DvIQXGpvxVwzn8q9/aef+kn229BuzG3HiQyfdVlu+V2mRPLpQBcuu4o+KAEMeb+QtrE9BcuDUG/NZanLvbd9W6+K3kyv8vied5H7zwOETFogXiiRumhLKJNTDiIXQmjStm1SlK4XtlhNeoMXA3/IUqvKBP18yZKDwRdP1fsSIQPxKA/1UZxPhu3jCX67silicmLMm1DGfed4jGhEsOr2n1w4uA7+V17qLZRJF51Uo8VfIa+HMww63+hzAixLBK8eWf9RgA7Wd9n9Gt0JyR9FEAHVj0V/Lv4BaCqC3Njkf+RTHWqnCDXlV3stZQdXNRCKqlmIMBdslrCC8DncDiIb/Psh4r3mtQjbS3MI4Z3O02s2TAEPQhBSHwLBuxwbSCkmJu0Z9te54ALAzLnUorTvl/2CXgKjGnigCuYne8EQrLGfcc/C6Ma96hTz48P77xZWsc4v3rTQUDwZrtYxitwl+BWp8u08qOh7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018vh5bwhhND65iHWM82ZGR2",
      "input": {
        "note": "Black marker is centred on the right jaw column and runs along the arm's forward axis; descending to table level to grasp it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.32,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018vh5bwhhND65iHWM82ZGR2",
      "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]: [-0.0959, 0.86, 0.6224, -0.4042, -0.1574, -0.131, 0.9967, 0.5049, 1.6882, 0.2642, 0.8345, 0.4194, 0.2928, 0.9997]\nstate[eef_state]: left_x=0.2976 left_y=0.0028 left_z=0.1665 left_yaw=0.0902 left_pitch=-0.0703 left_roll=0.0037 left_gripper=0.9967 right_x=0.3294 right_y=0.104 right_z=0.0121 right_yaw=-0.0056 right_pitch=0.0284 right_roll=0.0298 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -2.1128, 7.0222, 1.7118, -0.1001, -0.0366, -0.0073, 0.6359, -3.3162, 1.2786, 0.0562, 0.1978, -0.2466, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd26ddbfc26e0367ea656c22ab21eb190f1e65cc1c6749801d102fb2cf793d58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0baddf105a9b393f1df5e6fec62aa486af007548360c8790d52bc7f9896d69b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3814cfdc3a8ba7d0dc403bd8391c2d4c555f1ab1a96b243943550850db31e30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 5.678 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]: [-0.0975, 0.8501, 0.6224, -0.4034, -0.1574, -0.131, 0.9967, -0.0048, 0.8246, 0.5568, -0.2836, 0.0372, 0.02, 0.9998]\nstate[eef_state]: left_x=0.2972 left_y=0.0024 left_z=0.1694 left_yaw=0.0886 left_pitch=-0.0598 left_roll=0.0017 left_gripper=0.9967 right_x=0.3031 right_y=-0.0044 right_z=0.1698 right_yaw=-0.0507 right_pitch=0.0103 right_roll=0.0042 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -1.5932, 7.0222, 1.7021, -0.0952, -0.0659, -0.0073, -0.212, -2.0444, 8.8684, 1.5165, -0.1636, -0.0317, -0.0073]",
      "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]: [-0.0959, 0.8536, 0.6224, -0.4034, -0.1574, -0.131, 0.9967, 0.4942, 1.1652, 0.4438, 0.0475, 0.3737, 0.2424, 0.9997]\nstate[eef_state]: left_x=0.2974 left_y=0.0028 left_z=0.1684 left_yaw=0.0901 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9967 right_x=0.3131 right_y=0.0995 right_z=0.0916 right_yaw=0.0473 right_pitch=-0.0589 right_roll=-0.0272 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -1.8393, 6.9949, 1.6386, -0.1001, -0.0659, -0.0122, 0.1983, -4.1641, 6.0103, 1.8388, 0.3004, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 0.86, 0.6224, -0.4042, -0.1574, -0.131, 0.9967, 0.5049, 1.6882, 0.2642, 0.8345, 0.4194, 0.2928, 0.9997]\nstate[eef_state]: left_x=0.2976 left_y=0.0028 left_z=0.1665 left_yaw=0.0902 left_pitch=-0.0703 left_roll=0.0037 left_gripper=0.9967 right_x=0.3294 right_y=0.104 right_z=0.0121 right_yaw=-0.0056 right_pitch=0.0284 right_roll=0.0298 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -2.1128, 7.0222, 1.7118, -0.1001, -0.0366, -0.0073, 0.6359, -3.3162, 1.2786, 0.0562, 0.1978, -0.2466, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd26ddbfc26e0367ea656c22ab21eb190f1e65cc1c6749801d102fb2cf793d58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0baddf105a9b393f1df5e6fec62aa486af007548360c8790d52bc7f9896d69b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3814cfdc3a8ba7d0dc403bd8391c2d4c555f1ab1a96b243943550850db31e30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4QYKEAgSGAI4AUIIdGhpbmtpbmcSDH8uL0JdQ/pmniepNRoMAXHnwMcQOvgjWD9iIjA8ijrafMVj8bC6yX1K+/To5XWLrY3ovVZl2fNSWeB7STPJtkfLfC4fyadL0j5gWlsq/gVmi7MvViOR0R2XILMSeTEPQQSOPzRupsJCWZehsGiooDjRaOCJflBXVlK0veu4TBii1O1u/6t04vi6kT6DSKYr3E2ZKXNJPF1b/hiqzOhvTwEMYXNsrLG5WbyPwpQwCXmNbHSzyHUhIsJ9t5Usm+1LXJ7SxtoPqygLEdXrL68MBxvih3DHPIhYm+Psuc037Fp6hnO7yHZCE/bkCSbQN4NcMaElN2GFWfA0mCcjPVoYCWXxJuOI/K2g7I+Gd/hW2DP+q4B/g8r4KKV1zHeZyHuc1bC+AP2OEIdl7w9RkbMfz9o2tVRrBApvGHwD7h10MBnuu2z+9V6nJn+4AvJrp7fEJSm2PUe2UWsDszFV7bEf9l6Flrfl0juRasq5Fzu63d4aN7RBQBUhiBppzTDUSmGDFkdHgwcUzG7zHzofdO48bNhjLBmJQ7YTKXcTuEPk5mDF6TL7WRwOUWABfGcE/eEjpQNXA9bcW1kej9Gl1UJ1w22obRBjyW6g9Gyo++ueDay1j6TG+jeWR2OfFY3Gy9S3tknoqN5UC4AUfL7C1MuPPIL4h0YIf3ptKSnRlza7HMMyOFlu5SgyFE+WD7CYm9Qtb1TPDnOgfKVUasTjFPy9lV6/uOypkIC0iBlhvCGNMpkaPVtF7juRCQwZeozvxs/6qGkYSVscIEfzvn8s0u7xv8UvNF3PibhoQOLtbsNxy2ko59B6LIRsCf19QYQ4fxjVf/YiUiUIva97M5yaTnJiuc9xmDklx3qtPTaddrAxkeprgI6BfMXYU27AGiqPwSFc71+lk4K+dfGtDKkSLxm57SfPfzfrBQ80thzqATEe+rlrtYhK7mLJfLkXBYyttH7GrLVlLudIAfRrjFkqyUWcbksbqX5YKMMpslKpbLRTOyAN4NhvekWVQMqSxZil6DRFqgIsCLydkv+/Lt3wBQhTD1hNvwlSII5qIdL7AEmbzmWlsfyNrfCamXSIQADWv+NRj4zIq+bsJO99UG3ZeIpfKTPjDNJieYP/oghBELCrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GgXAKuajE7dHHjYiengpxz",
      "input": {
        "note": "Right jaws are at table level straddling the black marker; 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_01GgXAKuajE7dHHjYiengpxz",
      "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]: [-0.0959, 0.8612, 0.6224, -0.403, -0.1574, -0.131, 0.9967, 0.5045, 1.6978, 0.2581, 0.8665, 0.411, 0.292, 0.1519]\nstate[eef_state]: left_x=0.2979 left_y=0.0027 left_z=0.1664 left_yaw=0.0902 left_pitch=-0.0703 left_roll=0.0037 left_gripper=0.9967 right_x=0.33 right_y=0.1057 right_z=0.0132 right_yaw=0.001 right_pitch=0.0405 right_roll=0.0412 right_gripper=0.1519\nstate[joint_eff]: [-0.1846, -1.7573, 7.2137, 1.6484, -0.0904, -0.0464, -0.0073, -0.1846, -6.188, 4.0274, 1.3553, 0.149, -0.0415, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c76f98aa1990ebf3615a5cfa95dbd80126e7c0c770a31b65560682fb3cb3344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de6b38f7f55a229c3a213cc1014751b6b8a528dac0025f9da5bd8282aa86c585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4ce435f8ef677a6ec98fd95dc4092c0d840199f99ddaa2decf69bcf911627ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 5.842 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 0.8536, 0.6224, -0.4034, -0.1574, -0.131, 0.9967, 0.4942, 1.1652, 0.4438, 0.0475, 0.3737, 0.2424, 0.9997]\nstate[eef_state]: left_x=0.2974 left_y=0.0028 left_z=0.1684 left_yaw=0.0901 left_pitch=-0.0632 left_roll=0.0023 left_gripper=0.9967 right_x=0.3131 right_y=0.0995 right_z=0.0916 right_yaw=0.0473 right_pitch=-0.0589 right_roll=-0.0272 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -1.8393, 6.9949, 1.6386, -0.1001, -0.0659, -0.0122, 0.1983, -4.1641, 6.0103, 1.8388, 0.3004, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 0.86, 0.6224, -0.4042, -0.1574, -0.131, 0.9967, 0.5049, 1.6882, 0.2642, 0.8345, 0.4194, 0.2928, 0.9997]\nstate[eef_state]: left_x=0.2976 left_y=0.0028 left_z=0.1665 left_yaw=0.0902 left_pitch=-0.0703 left_roll=0.0037 left_gripper=0.9967 right_x=0.3294 right_y=0.104 right_z=0.0121 right_yaw=-0.0056 right_pitch=0.0284 right_roll=0.0298 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -2.1128, 7.0222, 1.7118, -0.1001, -0.0366, -0.0073, 0.6359, -3.3162, 1.2786, 0.0562, 0.1978, -0.2466, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 0.8612, 0.6224, -0.403, -0.1574, -0.131, 0.9967, 0.5045, 1.6978, 0.2581, 0.8665, 0.411, 0.292, 0.1519]\nstate[eef_state]: left_x=0.2979 left_y=0.0027 left_z=0.1664 left_yaw=0.0902 left_pitch=-0.0703 left_roll=0.0037 left_gripper=0.9967 right_x=0.33 right_y=0.1057 right_z=0.0132 right_yaw=0.001 right_pitch=0.0405 right_roll=0.0412 right_gripper=0.1519\nstate[joint_eff]: [-0.1846, -1.7573, 7.2137, 1.6484, -0.0904, -0.0464, -0.0073, -0.1846, -6.188, 4.0274, 1.3553, 0.149, -0.0415, 1.0085]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c76f98aa1990ebf3615a5cfa95dbd80126e7c0c770a31b65560682fb3cb3344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de6b38f7f55a229c3a213cc1014751b6b8a528dac0025f9da5bd8282aa86c585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ce435f8ef677a6ec98fd95dc4092c0d840199f99ddaa2decf69bcf911627ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzQkKEAgSGAI4AUIIdGhpbmtpbmcSDKsrNfjhLVdiyKi0rhoMMWxh5X/jzio+avTMIjDVJg6pVPKB19zkRFvRaG+0mcsN/+I2yqaIKgWtX19fXaQebtBR21141UHwlXmqvMUq6gg4/NLzLtT71OxWMs37tzxJ/yFpcACeMKa+U06MgrVFNqqu6kuYUX5oSJvYOfbUHsgBj7iX4b4NZFbdyOdgQ3uAtDAN2xhs+5gwensJ524Ljp/pXXwWG1h/X/+I6/2HusSKZOIxZXsi9JaG1dGBJNLL74FdZIsqVoJeyMBNHcB/YLVS90HDLUOblfZeK3xtWPUhrvVXag/7Zr9aGUJgTv0zmbxZSkTXR/ABY9BCANRA7uJUpHwgd25XkXebKSKjVfj73WztbfJeJa17QDnOKbZKZds8hI0UJEQaZ4HDdWNc4/DJf7PbWBpvVvfHNzKOjDW8WVrn9zxEPKInrMlmgIsHPS+L8QTZl6bo8sCRX48oKEAi7tHZY/+Iq/PO8l6OvpJa5Aa9LFhKX0rLLVlroiraw7LCnFNfxusRrHACQaENjFFbGkQ013CCtJb1b2ASJO4DK9Y6a9aVywqKFaDeNml94+iG5BGXjP0up3p4HXyTyjHY+Ga8sDJIXTHBYJI5LanzyO9G/sN3zpm2hY5lXgaf2+LnwyswChINrKKDW6x8bf6zCMtUoJk4sGyslwDl5M+FQQiE2MYYL5FTrzuZkH4emlxU+ISLg/xyOQeny77vnNF/dPZwBZFLv8pf4x3sMhP9WQyB8EJ3qGV0+mDe9y1EWAPD8CBweOeM9vWRRkwbFGitvNKmk+D1Dz7Fah8aZQFX/lIopECet0MRGENVv0CP/8M7f+4TLBguSJnL9kNP0GHk+YcyWnBvJ7hKWMA5OBok9Td58gol6pamYgAl+E9+KNcpBlPlbi0NJNv+Be1HBQ2Q+aNihmcsTuh8u1Gq9Mex3UQFHWHKhGqtSeYlTHAprIQMhdeoYBTWNV8pmf9Isgm93+uAqPRPdOzUSCXOrXIaYe4QCv63SJdL7fM9Gs0QvdF1svVUMtZdHkzR3CH0CUQzUyMcujv2ckuL3cuBEimYwSDqGVwv29WhgmLCovOVnsknYp6XIXnCYPEiO1BYmiJMWGZAG77nHWz+u3B16epxEILQXpEKGk2omkONIrXqWteS2PGt7Jzc7jwTTrm0R9fqmcW4Q2oZCyOeHFRWzyMcXJK50vSjasddx2Ax7p8mzdriwUlxjljfDGzMN6VaGd1hSt/gEVtMawzKMely6wZ5D2ir/OtdHh31So2A0g1JKIc+2WkrR6uH5ZYUYOiYD4WSpYXh/72XqQEmwLxWu+Yuv0feuh/1Q6+AtSxPt/PZTApKuif9iz1nkpJmIjj3ZOAjeQLrVzfuMbFDCKcfXFzBuHyYmyjxu3et1YjyNGOYnqlEZqorzEAo/iTC7W2Db0Qy4A0xa2UpdNr42e+WS8KLUCgMjX7L0FKCCEDUFLfQxAYNtJr1w34NSrRthk55A7vt7OsckoUbeGd44GrjSrSCJAj6U9kE1VV8pu1W0bwsYKnqxOqjOJbNEls+B7BBV04jGevfhgBlX5ejj44Rnu4A73lObLz1bTKx+ph7KfKmLuzvj2QVeSHVaBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018ArDUKmMkQE2j6GSjdqFqu",
      "input": {
        "note": "Marker grasped (reading 0.15). Lifting it before carrying to the right basket.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.36,
          "right_y": 0.11,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_018ArDUKmMkQE2j6GSjdqFqu",
      "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]: [-0.0959, 0.8631, 0.6224, -0.403, -0.157, -0.131, 0.9967, 0.4725, 1.2358, 0.8265, -0.2062, 0.3843, 0.2508, 0.1519]\nstate[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.1658 left_yaw=0.0899 left_pitch=-0.0722 left_roll=0.0038 left_gripper=0.9967 right_x=0.3606 right_y=0.1139 right_z=0.184 right_yaw=0.0132 right_pitch=-0.0035 right_roll=-0.0005 right_gripper=0.1519\nstate[joint_eff]: [-0.1162, -1.7846, 7.0359, 1.6484, -0.0464, -0.0806, -0.0073, -0.4444, -5.8735, 9.347, 1.5751, 0.149, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8691938f816d35a91572f55500a420c2de5ba375daed7b32af46c2380e51a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f67538179a05b0bc75b75cc4c1d2ba9b7587614f0aa11bf6962f9d7d050f3ef2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8b1ee2d6de4492150a466fae4ae8a27910e5fd7e24bfe60e5b718baf379919f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 3.541 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]: [-0.0959, 0.86, 0.6224, -0.4042, -0.1574, -0.131, 0.9967, 0.5049, 1.6882, 0.2642, 0.8345, 0.4194, 0.2928, 0.9997]\nstate[eef_state]: left_x=0.2976 left_y=0.0028 left_z=0.1665 left_yaw=0.0902 left_pitch=-0.0703 left_roll=0.0037 left_gripper=0.9967 right_x=0.3294 right_y=0.104 right_z=0.0121 right_yaw=-0.0056 right_pitch=0.0284 right_roll=0.0298 right_gripper=0.9997\nstate[joint_eff]: [-0.212, -2.1128, 7.0222, 1.7118, -0.1001, -0.0366, -0.0073, 0.6359, -3.3162, 1.2786, 0.0562, 0.1978, -0.2466, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0959, 0.8612, 0.6224, -0.403, -0.1574, -0.131, 0.9967, 0.5045, 1.6978, 0.2581, 0.8665, 0.411, 0.292, 0.1519]\nstate[eef_state]: left_x=0.2979 left_y=0.0027 left_z=0.1664 left_yaw=0.0902 left_pitch=-0.0703 left_roll=0.0037 left_gripper=0.9967 right_x=0.33 right_y=0.1057 right_z=0.0132 right_yaw=0.001 right_pitch=0.0405 right_roll=0.0412 right_gripper=0.1519\nstate[joint_eff]: [-0.1846, -1.7573, 7.2137, 1.6484, -0.0904, -0.0464, -0.0073, -0.1846, -6.188, 4.0274, 1.3553, 0.149, -0.0415, 1.0085]",
      "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]: [-0.0959, 0.8631, 0.6224, -0.403, -0.157, -0.131, 0.9967, 0.4725, 1.2358, 0.8265, -0.2062, 0.3843, 0.2508, 0.1519]\nstate[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.1658 left_yaw=0.0899 left_pitch=-0.0722 left_roll=0.0038 left_gripper=0.9967 right_x=0.3606 right_y=0.1139 right_z=0.184 right_yaw=0.0132 right_pitch=-0.0035 right_roll=-0.0005 right_gripper=0.1519\nstate[joint_eff]: [-0.1162, -1.7846, 7.0359, 1.6484, -0.0464, -0.0806, -0.0073, -0.4444, -5.8735, 9.347, 1.5751, 0.149, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8691938f816d35a91572f55500a420c2de5ba375daed7b32af46c2380e51a7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f67538179a05b0bc75b75cc4c1d2ba9b7587614f0aa11bf6962f9d7d050f3ef2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8b1ee2d6de4492150a466fae4ae8a27910e5fd7e24bfe60e5b718baf379919f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6gcKEAgSGAI4AUIIdGhpbmtpbmcSDEMTenz88ZtSFC7DlRoMDV/FnKgiq/2b+8+OIjB2mB3FhEzrzzNNJWRWPrpKmSCikNm+GIiUMNRfN6WchZswr3gvLMW3BdMol/XDLP0qhwdPOLKiKubcRvUW1gyKsVpagzQkzVQlSR00aV7JwPnMBmw1+H/EylTsKrRfGooKDb2hkqB6NF935piXlSdvN1gCSQf2HkFQ3oXLXdmsQk7h3n9KSjxFVdTAvzU9mRmrHI/X9GLUEPp60Y9i0T2yu73PGIatyXA44wmi8j25puzG0aU6qoSAhONkAWovEHRFOjet/wrsvAsa86asdHWKDlfBBnmtGAc2iN3sTFwpNCXKfcHtQqVyLn4zaC0VwaY1KWFc0LN27Vxuu+dbZuf9IfYYY1RNMWmCtf9rcL4jHXeuW2amV7mwx8EkzGnsN4vTKcEJoXmKGQv7ByggyZETCIp5zm7P+ZpNipUrArGZtaLr/yqnlyAlEPa3moRZGsdlD4HM19TJgFl+hP59rQxUx4ybDnNgnZ9LlaMv3G0nltshz/dyRKiIy2Oq6Fhjtin9s0mAh9ztMAuT6eawvSmVqHjCCQm3JytWgMNywQc1kkW34X5WW288eMp+JSkTL2QSuNhMsa6MKCz5gxuQSKQ/V8pZx8aUj1mQRnauJt5PayXbCJZTaAnMjLiRECGTEZ/tn5j8ct6Gxjk0HaLQRwr80hVnuFcfgORpTrlL89O3RnB8AV+GWXEbQrSnp008GXwYVcG3sorWgTG4B4l1e3EdSiTV2QY50cUkV7YLgue7j6uiCoIG1wrE57FzET4VXpdz30fesgFZ3tSRAxzH6gfCnevnis8E3WFRpIj7yqzM32EuZ3I3lHajGSNeXxroBNigRqEdXRKbA3LR22u5FopC5WWaY5H9X+rfC+28L6f6ji2JxEFAMQJiv4arK5NTIsGDpQL5pxwrlWINtFoJR0adsh9zoKfktM9H8ldM+oqQR6+1TWy06Qr2Yw0G2a4nO4XgJBweETbvisoZ4o057B+yx6ilrcvqX2nqnh4wexBj3c+ZOUJDow4n8FH5VsCMDzKS+afJdPuDuqYnI9l6xM+YSoZ7wdHhPch3wEvWvqsKX0jmWs4v3KRfZz5p0JvKxytE+b2xU14Cr+7Z+tD5Tte42HkvLz4+PdZTFHNiRUYaVICGBFtm9b2RTAhVbjDaRWqQ0y/l5TvYZSNeHjD+VLQpkNMn92r6TRoeRlAao7EJ+WdurRFKUv0wSCI/m2R/PjrbM42Y/rIHnue3Qo25n5jFC3WTXgeXayuD2xLiXKLzfdEpnWfW4hT2F04YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012YrxZnnn2gcXW6DYsQMrSm",
      "input": {
        "note": "Marker is held; the right basket is just ahead and slightly left in the wrist view. Moving over its centre.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.47,
          "right_y": 0.15,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_012YrxZnnn2gcXW6DYsQMrSm",
      "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]: [-0.0959, 0.8677, 0.6224, -0.4042, -0.1574, -0.131, 0.9967, 0.4343, 1.66, 1.2167, -0.2115, 0.3538, 0.2249, 0.1519]\nstate[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.1644 left_yaw=0.0903 left_pitch=-0.0778 left_roll=0.0051 left_gripper=0.9967 right_x=0.4576 right_y=0.1487 right_z=0.1806 right_yaw=0.0134 right_pitch=-0.0469 right_roll=-0.0224 right_gripper=0.1519\nstate[joint_eff]: [-0.1709, -1.5932, 7.0632, 1.6874, -0.105, -0.0806, -0.0073, -0.7453, -8.7863, 9.5385, 1.746, 0.1832, 0.0611, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d87fe13726c81f509a0b8efa6192552c6cbabea08690ddb57a6a96ffeef84f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8bf52057311db1f7f93d4b7f0ea003e604443a08889c6af5b97dd0ca395d3d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07933b3011fa32efe76a25e74955812f90f9604aa4db3a0a59322056727c2f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 11.15 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]: [-0.0959, 0.8612, 0.6224, -0.403, -0.1574, -0.131, 0.9967, 0.5045, 1.6978, 0.2581, 0.8665, 0.411, 0.292, 0.1519]\nstate[eef_state]: left_x=0.2979 left_y=0.0027 left_z=0.1664 left_yaw=0.0902 left_pitch=-0.0703 left_roll=0.0037 left_gripper=0.9967 right_x=0.33 right_y=0.1057 right_z=0.0132 right_yaw=0.001 right_pitch=0.0405 right_roll=0.0412 right_gripper=0.1519\nstate[joint_eff]: [-0.1846, -1.7573, 7.2137, 1.6484, -0.0904, -0.0464, -0.0073, -0.1846, -6.188, 4.0274, 1.3553, 0.149, -0.0415, 1.0085]",
      "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]: [-0.0959, 0.8631, 0.6224, -0.403, -0.157, -0.131, 0.9967, 0.4725, 1.2358, 0.8265, -0.2062, 0.3843, 0.2508, 0.1519]\nstate[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.1658 left_yaw=0.0899 left_pitch=-0.0722 left_roll=0.0038 left_gripper=0.9967 right_x=0.3606 right_y=0.1139 right_z=0.184 right_yaw=0.0132 right_pitch=-0.0035 right_roll=-0.0005 right_gripper=0.1519\nstate[joint_eff]: [-0.1162, -1.7846, 7.0359, 1.6484, -0.0464, -0.0806, -0.0073, -0.4444, -5.8735, 9.347, 1.5751, 0.149, -0.022, 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 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]: [-0.0959, 0.8677, 0.6224, -0.4042, -0.1574, -0.131, 0.9967, 0.4343, 1.66, 1.2167, -0.2115, 0.3538, 0.2249, 0.1519]\nstate[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.1644 left_yaw=0.0903 left_pitch=-0.0778 left_roll=0.0051 left_gripper=0.9967 right_x=0.4576 right_y=0.1487 right_z=0.1806 right_yaw=0.0134 right_pitch=-0.0469 right_roll=-0.0224 right_gripper=0.1519\nstate[joint_eff]: [-0.1709, -1.5932, 7.0632, 1.6874, -0.105, -0.0806, -0.0073, -0.7453, -8.7863, 9.5385, 1.746, 0.1832, 0.0611, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d87fe13726c81f509a0b8efa6192552c6cbabea08690ddb57a6a96ffeef84f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8bf52057311db1f7f93d4b7f0ea003e604443a08889c6af5b97dd0ca395d3d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07933b3011fa32efe76a25e74955812f90f9604aa4db3a0a59322056727c2f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Over the basket. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QnSvUmNe2pCefH9zX9szEo",
      "input": {
        "note": "Right wrist view shows basket interior filling the frame under the jaws; releasing the marker into the right basket.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QnSvUmNe2pCefH9zX9szEo",
      "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]: [-0.0959, 0.868, 0.6224, -0.403, -0.1574, -0.131, 0.9967, 0.4316, 1.6814, 1.2179, -0.2161, 0.3473, 0.2173, 0.9955]\nstate[eef_state]: left_x=0.2982 left_y=0.0027 left_z=0.1645 left_yaw=0.0903 left_pitch=-0.0771 left_roll=0.0049 left_gripper=0.9967 right_x=0.4587 right_y=0.149 right_z=0.1702 right_yaw=0.0195 right_pitch=-0.0714 right_roll=-0.035 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.7299, 6.9949, 1.6386, -0.1001, -0.0806, -0.0073, 0.0889, -10.2769, 6.7897, 1.6288, 0.1343, 0.0073, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8e59d48863bd61aecc8b608e0c79c3c7bef1fddd120bfa7a2212b8a85ec92b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:092ba19f0e26296168da33a3d4dc71d4118128b3cd5969b5708769de4e12082c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46eb0454d4030f57c52bb023a78335096e66e59460274dd2af042f400c1c2ac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 12.55 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]: [-0.0959, 0.8631, 0.6224, -0.403, -0.157, -0.131, 0.9967, 0.4725, 1.2358, 0.8265, -0.2062, 0.3843, 0.2508, 0.1519]\nstate[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.1658 left_yaw=0.0899 left_pitch=-0.0722 left_roll=0.0038 left_gripper=0.9967 right_x=0.3606 right_y=0.1139 right_z=0.184 right_yaw=0.0132 right_pitch=-0.0035 right_roll=-0.0005 right_gripper=0.1519\nstate[joint_eff]: [-0.1162, -1.7846, 7.0359, 1.6484, -0.0464, -0.0806, -0.0073, -0.4444, -5.8735, 9.347, 1.5751, 0.149, -0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0959, 0.8677, 0.6224, -0.4042, -0.1574, -0.131, 0.9967, 0.4343, 1.66, 1.2167, -0.2115, 0.3538, 0.2249, 0.1519]\nstate[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.1644 left_yaw=0.0903 left_pitch=-0.0778 left_roll=0.0051 left_gripper=0.9967 right_x=0.4576 right_y=0.1487 right_z=0.1806 right_yaw=0.0134 right_pitch=-0.0469 right_roll=-0.0224 right_gripper=0.1519\nstate[joint_eff]: [-0.1709, -1.5932, 7.0632, 1.6874, -0.105, -0.0806, -0.0073, -0.7453, -8.7863, 9.5385, 1.746, 0.1832, 0.0611, 1.0232]",
      "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]: [-0.0959, 0.868, 0.6224, -0.403, -0.1574, -0.131, 0.9967, 0.4316, 1.6814, 1.2179, -0.2161, 0.3473, 0.2173, 0.9955]\nstate[eef_state]: left_x=0.2982 left_y=0.0027 left_z=0.1645 left_yaw=0.0903 left_pitch=-0.0771 left_roll=0.0049 left_gripper=0.9967 right_x=0.4587 right_y=0.149 right_z=0.1702 right_yaw=0.0195 right_pitch=-0.0714 right_roll=-0.035 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.7299, 6.9949, 1.6386, -0.1001, -0.0806, -0.0073, 0.0889, -10.2769, 6.7897, 1.6288, 0.1343, 0.0073, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8e59d48863bd61aecc8b608e0c79c3c7bef1fddd120bfa7a2212b8a85ec92b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:092ba19f0e26296168da33a3d4dc71d4118128b3cd5969b5708769de4e12082c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46eb0454d4030f57c52bb023a78335096e66e59460274dd2af042f400c1c2ac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P7S4pwDS2ngX9FrXRuM8GB",
      "input": {
        "note": "Released over the right basket, but the top view now shows a dark marker lying crosswise on the table near its old spot, so the drop may have failed. Moving back over that area to check with the wrist camera.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.33,
          "right_y": 0.08,
          "right_yaw": 0.0,
          "right_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_01P7S4pwDS2ngX9FrXRuM8GB",
      "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]: [-0.0959, 0.8719, 0.6224, -0.4019, -0.1574, -0.131, 0.9967, 0.4038, 1.1595, 0.5129, 0.0124, 0.3286, 0.2169, 0.9963]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1636 left_yaw=0.0903 left_pitch=-0.0797 left_roll=0.0054 left_gripper=0.9967 right_x=0.3313 right_y=0.0834 right_z=0.1138 right_yaw=0.0082 right_pitch=-0.0341 right_roll=-0.007 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -1.5248, 7.2137, 1.7167, -0.1099, -0.0659, -0.0073, -0.4444, -3.5487, 7.2821, 1.9853, 0.1294, -0.0708, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b690ce4fab76c6fc8c86794aee45e2706e80b8eca32703da006dabc851885875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:268b5fabee6bdf50941cdee596061cbf97b5bd29bdb47f02ad60d32420e09f08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a2efe66b9446feccd55106d375f91746fc21161aa0ae6d3ced2c51ebd16a88f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 4.753 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]: [-0.0959, 0.8677, 0.6224, -0.4042, -0.1574, -0.131, 0.9967, 0.4343, 1.66, 1.2167, -0.2115, 0.3538, 0.2249, 0.1519]\nstate[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.1644 left_yaw=0.0903 left_pitch=-0.0778 left_roll=0.0051 left_gripper=0.9967 right_x=0.4576 right_y=0.1487 right_z=0.1806 right_yaw=0.0134 right_pitch=-0.0469 right_roll=-0.0224 right_gripper=0.1519\nstate[joint_eff]: [-0.1709, -1.5932, 7.0632, 1.6874, -0.105, -0.0806, -0.0073, -0.7453, -8.7863, 9.5385, 1.746, 0.1832, 0.0611, 1.0232]",
      "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]: [-0.0959, 0.868, 0.6224, -0.403, -0.1574, -0.131, 0.9967, 0.4316, 1.6814, 1.2179, -0.2161, 0.3473, 0.2173, 0.9955]\nstate[eef_state]: left_x=0.2982 left_y=0.0027 left_z=0.1645 left_yaw=0.0903 left_pitch=-0.0771 left_roll=0.0049 left_gripper=0.9967 right_x=0.4587 right_y=0.149 right_z=0.1702 right_yaw=0.0195 right_pitch=-0.0714 right_roll=-0.035 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.7299, 6.9949, 1.6386, -0.1001, -0.0806, -0.0073, 0.0889, -10.2769, 6.7897, 1.6288, 0.1343, 0.0073, -0.188]",
      "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]: [-0.0959, 0.8719, 0.6224, -0.4019, -0.1574, -0.131, 0.9967, 0.4038, 1.1595, 0.5129, 0.0124, 0.3286, 0.2169, 0.9963]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1636 left_yaw=0.0903 left_pitch=-0.0797 left_roll=0.0054 left_gripper=0.9967 right_x=0.3313 right_y=0.0834 right_z=0.1138 right_yaw=0.0082 right_pitch=-0.0341 right_roll=-0.007 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -1.5248, 7.2137, 1.7167, -0.1099, -0.0659, -0.0073, -0.4444, -3.5487, 7.2821, 1.9853, 0.1294, -0.0708, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b690ce4fab76c6fc8c86794aee45e2706e80b8eca32703da006dabc851885875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:268b5fabee6bdf50941cdee596061cbf97b5bd29bdb47f02ad60d32420e09f08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2efe66b9446feccd55106d375f91746fc21161aa0ae6d3ced2c51ebd16a88f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LVPPheX3pTBoGv12z2nL6a",
      "input": {
        "note": "Pens remaining are near the centre where the right arm's base joint limits it; switching to plush toys: parking the right arm and moving the left arm over the teddy bear to put it in the left basket.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.27,
          "left_y": -0.21,
          "left_yaw": 0.0,
          "left_z": 0.12,
          "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 19 steps (1.9s)",
      "tool_use_id": "toolu_01LVPPheX3pTBoGv12z2nL6a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.055, 1.3663, 0.6918, -0.2878, -0.8028, -0.7654, 0.9967, -0.0158, 0.8513, 0.5964, -0.374, 0.0021, -0.017, 0.9965]\nstate[eef_state]: left_x=0.2643 left_y=-0.2012 left_z=0.1063 left_yaw=-0.0249 left_pitch=-0.0451 left_roll=0.0453 left_gripper=0.9967 right_x=0.2979 right_y=-0.0015 right_z=0.1619 right_yaw=-0.0124 right_pitch=-0.0676 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -4.9983, 8.4034, 1.3504, -0.5397, -0.0904, -0.0073, -0.2803, -2.1128, 10.3726, 1.663, -0.1636, -0.1197, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:837bb4567924b4e1d9da10d34eb9314fbe9c4b10375c15414dc0cfe2db2cced6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:389cc86388235a52397ff8002df74accd281904abd26826c65d27ce0d4e7e503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aed5c0805d4f0c53bf9d55f6a6beb9d066da59128ff4f53c44ddbb4f04478062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 3.673 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]: [-0.0959, 0.868, 0.6224, -0.403, -0.1574, -0.131, 0.9967, 0.4316, 1.6814, 1.2179, -0.2161, 0.3473, 0.2173, 0.9955]\nstate[eef_state]: left_x=0.2982 left_y=0.0027 left_z=0.1645 left_yaw=0.0903 left_pitch=-0.0771 left_roll=0.0049 left_gripper=0.9967 right_x=0.4587 right_y=0.149 right_z=0.1702 right_yaw=0.0195 right_pitch=-0.0714 right_roll=-0.035 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.7299, 6.9949, 1.6386, -0.1001, -0.0806, -0.0073, 0.0889, -10.2769, 6.7897, 1.6288, 0.1343, 0.0073, -0.188]",
      "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]: [-0.0959, 0.8719, 0.6224, -0.4019, -0.1574, -0.131, 0.9967, 0.4038, 1.1595, 0.5129, 0.0124, 0.3286, 0.2169, 0.9963]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1636 left_yaw=0.0903 left_pitch=-0.0797 left_roll=0.0054 left_gripper=0.9967 right_x=0.3313 right_y=0.0834 right_z=0.1138 right_yaw=0.0082 right_pitch=-0.0341 right_roll=-0.007 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -1.5248, 7.2137, 1.7167, -0.1099, -0.0659, -0.0073, -0.4444, -3.5487, 7.2821, 1.9853, 0.1294, -0.0708, 0.0757]",
      "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]: [-1.055, 1.3663, 0.6918, -0.2878, -0.8028, -0.7654, 0.9967, -0.0158, 0.8513, 0.5964, -0.374, 0.0021, -0.017, 0.9965]\nstate[eef_state]: left_x=0.2643 left_y=-0.2012 left_z=0.1063 left_yaw=-0.0249 left_pitch=-0.0451 left_roll=0.0453 left_gripper=0.9967 right_x=0.2979 right_y=-0.0015 right_z=0.1619 right_yaw=-0.0124 right_pitch=-0.0676 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -4.9983, 8.4034, 1.3504, -0.5397, -0.0904, -0.0073, -0.2803, -2.1128, 10.3726, 1.663, -0.1636, -0.1197, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:837bb4567924b4e1d9da10d34eb9314fbe9c4b10375c15414dc0cfe2db2cced6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:389cc86388235a52397ff8002df74accd281904abd26826c65d27ce0d4e7e503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aed5c0805d4f0c53bf9d55f6a6beb9d066da59128ff4f53c44ddbb4f04478062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSoQgKEAgSGAI4AUIIdGhpbmtpbmcSDLoGxIjyVzVD4WQD3hoMd8yDdooDCFnqkHHhIjAkXEJ+rHCsLvc9wKhAWFmMV6MwBn/kiveWU6OWIo23Po0Y0aDuvQZpddhGLNyIsCgqvgfrUamS5ChB+qClFvv4hLlHc2vxA1YVi5a67G0uAPkrAOd+mRL+WqbSSLc3GICUnAQv1ZUqHf2vhQryOJA4/sKRLqdel4VIqeqfh4wawoW3hUFARtmeVZ3TF+0Twu2c49o2crytdLhlveLKGR2zmO+1SB8gaiMHWXiJGJ/kn3BvvH3eaxw3tVp45f1OQlt6tbtdamTZ8+6woKasjUXe0M3AmW2iF/TBkAn7sDorqVi6ix8YuYuBZPOyhSbnViJp7mlBgEZN9WqQdmFtwvfT5tZ1CO0k3JEvDA8vgi7kYNmUO3RkUbAWIIOJO1AJurNoUc7t5wQIMlCQiQcIvjX7sQuzcoKvHk3wOXnXt093jXJEL+lbJ/2fSc5Am8oWPGyVi/hqrRW+Ksj1RHe7TTbry08UK+LgLI3KXo0+DK7U0pLq+8BPfEHejQ50Ui4ge02RFpUQTA3eAmFEDNun4cEeA5u8pJrI8/ZFwpsr5+4whSvPiyHkX6W2ljPvDyD7SP8vtYKFZp/B1p8/toZOLetyUKSE71B9lCSaYx6OQeprggpwv0HRSM7jYClIlWo39NyEDvyA+WOAczQzfgXJIlN3pJ+LIEyBtuiC/ryBT10/Y85PRaMx0CLi4bGkP6WMgOXCdMtlsH9F0aT/MRspVdtzVcMddCdDyd9i/AV4xJZfbiE7CPOEBtZBVfcix75SRXawVsDV2+BQj9c4gvf1yR0nDyNP/oUfKIz0rptciVzFL+MAqS4323ehyJw6ltRXCzQTYVf1wHKwf+4o+mpX0IIQaSY6k5FXpafvG0iVqph6Qr7xFW6m9lHAhnWSwYMS5Yqk/o7eDXVWPLT/VHS9k8wx2jQKxY9v+7mHlJE6PZBOTjq6VR+sIkDjsTPlSb3x1sFHHdIjfHECP5oec/swOFWKpvmjyOGh/XwQguGvcww16agH0R0ho6MpfwfrXV56kFevl5SVHGmgpe8EUb5hLO6k4yylzPi8kS8BnUS36AMSkE5izIw2pSIu6gyVt5TqNnbr1RFSkLIh+rED3664i8dcuMiJsWrlwImAF9kl5CUvQ9ftkm4QxixpPz2AByi04O8EmqICCC5uYmx9LuWYjfeXPJYl8paB9iB/w+Sf7WxoLAtYfCsAtYakRmNXYpbsyIEJrFk//jR84noT9PIX5BPGuNBbD9IKabGkJp3aMu/ya+qsyBjb5JSiQkkIPUIFz2DOKou/CFy5tt5mhEjcz9FOUbBGAigCdNs82t799IXc4s+3O0RImPbf/FrQ+Lu6oEnaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JQVMk6XodKEqUtA3vkdDrT",
      "input": {
        "note": "Left gripper is directly over the teddy bear (its body and arm fill the jaw area in the wrist view); descending into the plush to grab it.",
        "targets": {
          "left_x": 0.28,
          "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_01JQVMk6XodKEqUtA3vkdDrT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0019, 1.5871, 0.5587, 0.0814, -0.7944, -0.7338, 0.9967, -0.0208, 0.8566, 0.5964, -0.3843, -0.009, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.2791 left_y=-0.1959 left_z=0.0399 left_yaw=0.0057 left_pitch=-0.044 left_roll=0.0548 left_gripper=0.9967 right_x=0.2967 right_y=-0.001 right_z=0.1584 right_yaw=-0.0026 right_pitch=-0.0832 right_roll=-0.0099 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -4.2598, 3.453, 0.8474, -0.1685, 0.2466, -0.0122, 0.1436, -2.0034, 7.0222, 1.7656, 0.0513, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ede69b931eaee97f2f32cb49e2809cad6c7b428d5dcda66023d837336a406fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3921d8876d41204e91b3384da574a33aedd7d9f1238891e08261824e42488fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0a09e11935a0c07078748f080be9d1662c4e2c0c090aa2aa42dbcad0efd6a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 5.837 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]: [-0.0959, 0.8719, 0.6224, -0.4019, -0.1574, -0.131, 0.9967, 0.4038, 1.1595, 0.5129, 0.0124, 0.3286, 0.2169, 0.9963]\nstate[eef_state]: left_x=0.2986 left_y=0.0027 left_z=0.1636 left_yaw=0.0903 left_pitch=-0.0797 left_roll=0.0054 left_gripper=0.9967 right_x=0.3313 right_y=0.0834 right_z=0.1138 right_yaw=0.0082 right_pitch=-0.0341 right_roll=-0.007 right_gripper=0.9963\nstate[joint_eff]: [-0.1436, -1.5248, 7.2137, 1.7167, -0.1099, -0.0659, -0.0073, -0.4444, -3.5487, 7.2821, 1.9853, 0.1294, -0.0708, 0.0757]",
      "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]: [-1.055, 1.3663, 0.6918, -0.2878, -0.8028, -0.7654, 0.9967, -0.0158, 0.8513, 0.5964, -0.374, 0.0021, -0.017, 0.9965]\nstate[eef_state]: left_x=0.2643 left_y=-0.2012 left_z=0.1063 left_yaw=-0.0249 left_pitch=-0.0451 left_roll=0.0453 left_gripper=0.9967 right_x=0.2979 right_y=-0.0015 right_z=0.1619 right_yaw=-0.0124 right_pitch=-0.0676 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -4.9983, 8.4034, 1.3504, -0.5397, -0.0904, -0.0073, -0.2803, -2.1128, 10.3726, 1.663, -0.1636, -0.1197, 0.0024]",
      "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]: [-1.0019, 1.5871, 0.5587, 0.0814, -0.7944, -0.7338, 0.9967, -0.0208, 0.8566, 0.5964, -0.3843, -0.009, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.2791 left_y=-0.1959 left_z=0.0399 left_yaw=0.0057 left_pitch=-0.044 left_roll=0.0548 left_gripper=0.9967 right_x=0.2967 right_y=-0.001 right_z=0.1584 right_yaw=-0.0026 right_pitch=-0.0832 right_roll=-0.0099 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -4.2598, 3.453, 0.8474, -0.1685, 0.2466, -0.0122, 0.1436, -2.0034, 7.0222, 1.7656, 0.0513, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ede69b931eaee97f2f32cb49e2809cad6c7b428d5dcda66023d837336a406fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3921d8876d41204e91b3384da574a33aedd7d9f1238891e08261824e42488fb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0a09e11935a0c07078748f080be9d1662c4e2c0c090aa2aa42dbcad0efd6a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JGpxru2TVqpNkHm21DiDJf",
      "input": {
        "note": "Jaws are pressed into the teddy's body/leg; closing to grip the plush.",
        "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_01JGpxru2TVqpNkHm21DiDJf",
      "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]: [-0.9989, 1.5993, 0.5499, 0.0982, -0.7864, -0.741, 0.118, -0.0208, 0.8577, 0.5964, -0.3847, -0.0093, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.2785 left_y=-0.1951 left_z=0.0348 left_yaw=0.0079 left_pitch=-0.0515 left_roll=0.0489 left_gripper=0.118 right_x=0.2967 right_y=-0.0009 right_z=0.158 right_yaw=-0.0021 right_pitch=-0.0847 right_roll=-0.0099 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -6.694, 5.6547, 1.0672, -0.442, 0.0513, 0.989, -0.1573, -1.7162, 7.1863, 1.6484, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca2c8bd2d4d4b4d7f711c7f9da567632c66e1e3ca680f0bf48c44066d9ef26ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d8d364f38933e18a8133dbbee2ca63483ca061cafa5c5a44981026c32cb208f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b157691fb6b6870b20c03f5fdf89c530864892a7618bf0fb61cd4dbb872a7dcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 4.946 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]: [-1.055, 1.3663, 0.6918, -0.2878, -0.8028, -0.7654, 0.9967, -0.0158, 0.8513, 0.5964, -0.374, 0.0021, -0.017, 0.9965]\nstate[eef_state]: left_x=0.2643 left_y=-0.2012 left_z=0.1063 left_yaw=-0.0249 left_pitch=-0.0451 left_roll=0.0453 left_gripper=0.9967 right_x=0.2979 right_y=-0.0015 right_z=0.1619 right_yaw=-0.0124 right_pitch=-0.0676 right_roll=-0.0087 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -4.9983, 8.4034, 1.3504, -0.5397, -0.0904, -0.0073, -0.2803, -2.1128, 10.3726, 1.663, -0.1636, -0.1197, 0.0024]",
      "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]: [-1.0019, 1.5871, 0.5587, 0.0814, -0.7944, -0.7338, 0.9967, -0.0208, 0.8566, 0.5964, -0.3843, -0.009, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.2791 left_y=-0.1959 left_z=0.0399 left_yaw=0.0057 left_pitch=-0.044 left_roll=0.0548 left_gripper=0.9967 right_x=0.2967 right_y=-0.001 right_z=0.1584 right_yaw=-0.0026 right_pitch=-0.0832 right_roll=-0.0099 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -4.2598, 3.453, 0.8474, -0.1685, 0.2466, -0.0122, 0.1436, -2.0034, 7.0222, 1.7656, 0.0513, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9989, 1.5993, 0.5499, 0.0982, -0.7864, -0.741, 0.118, -0.0208, 0.8577, 0.5964, -0.3847, -0.0093, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.2785 left_y=-0.1951 left_z=0.0348 left_yaw=0.0079 left_pitch=-0.0515 left_roll=0.0489 left_gripper=0.118 right_x=0.2967 right_y=-0.0009 right_z=0.158 right_yaw=-0.0021 right_pitch=-0.0847 right_roll=-0.0099 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -6.694, 5.6547, 1.0672, -0.442, 0.0513, 0.989, -0.1573, -1.7162, 7.1863, 1.6484, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca2c8bd2d4d4b4d7f711c7f9da567632c66e1e3ca680f0bf48c44066d9ef26ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d8d364f38933e18a8133dbbee2ca63483ca061cafa5c5a44981026c32cb208f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b157691fb6b6870b20c03f5fdf89c530864892a7618bf0fb61cd4dbb872a7dcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2wkKEAgSGAI4AUIIdGhpbmtpbmcSDINBsEG9cBzB8FscTBoMFDlLSKm4FqdiO2wTIjDnkQHukzAvIJfXCAZ/vlftca7sSWZB3puwUTZcdHK9ost8NwjJGKcmF1WD2dWlnnMq+AiBE9dy9Cs0WQUC7b+2uKJB5hIh2IKuOWYjY2FTkI1B6OXNwNsjEDbS3sRgnuWoOaCpyDY7aC5iKU2PJs5eHRjRcluakJhoB1E0iI2Qg4wFX6f0W630b7pYQEwhPPPEbZoAN57gCCCNzEBGZjrn+x5vSYmIxw8zUV9cbCPD4cSp9CztPE3blUjv2nTd9Vx4uc4evq4jdW1/v1ejLNvVwaDIYWU9tUwXw2a9yISgLnRvMj26wYGxKccjSdEMEVmF9U3Gt7zCqr615YCWRt0CM5JRl2e9SBSLqBn3ajWouqnLfkBednKYhA9FLEq3HapXMP3U+Om3f9wtwds2vR6Bem7WWcV7LTTbaYaLUvz9sl2q+hEH7NO3t0yZI/POcMUem5IW7aAaQMzrZlRHPF4QJzpBclW/Mwwi+UL+B725X9jFwOhyuNISdZH+N0UKK8Zd7L28VJ3qQCug2913eU446BkQJthAdibSQNtSeuUjwSlB9ccAlET8oPOTinz/XJ/EvH55hhVdFDL2PIyZlMhBm39wwjzdT8LsLMjoScPj90S1SdFElg4vGCPiKK0V+pxteOSZ4QzYAEm7FP+XgvHG3FHQENXsVU27E6J/UXgSuSeD5PLYx1cePw8L05cX8QUAlhVBupqE7iWqs2bZ1FG6/X6clFXSQK4Mzr7biFJv52+fiItCAV+DWG2RJQYnk+dzbMb2Dn3FIz5l4csHHgL8ei0p03pHYurdKBPdRcojK342aFgtJILlt/x9WLz8fIiNQZyiTgkn9gS0FGt4n0bhIUS0jhtQI/hWNrb9SPQ2fpVavtAlHmhQd6L9btAlFoTmKtjHYLz/wrmCJ2p3Lb9/M9AzmE2VY7LBfJITP3T9Kl4qBRenkB7/VCZPw5elk7IfY66daUrcS5hHKIHOxUz+l1MJKF/kQwtGlZlS3S4vIrzDUi1zKWn+4ElJkUjuip2omNFGrim9EWnIQ4b4QuYbunRIQ/f+WOzJ5SIVHxtCkbhFdv1zc7sp2K8uVl6T+5VhVOgK+Xswr/UBhoRK7tW+TX8Aoumcn+6wHHK01oc8nzzcu38I4KTlHlBHwi5O6y5tqP5omHhou4rq2rMekzfvWVuF/FGEnIr+peire/PZ5C0w5ET5jgDvsmXf6rV+Bej7zOspWutX1rc+aQWKr/SK+OMJ0n/Wec3oEeRxOfhBLcJDcPZgs+Hv9Hokn/4DRwNqkwPEEc0pTpncRAb/U0b+BB9stjpB1YFav21vZukAuM4UxBAx2JiOaU6ARKhDEkE2sXA3RJ9h8Uxe/GNLJq7XdVs3/pbACJA5FHHwOMEwcb69CEFMxVr37M9HZjZZyT7ZJ1nk6PwpXON1fwKDhBNb5VadovBI0xHX/Tk5FLmUm3xUi5/3F/JAl+28J3wrHLyuBOizPfyTgJ/ZrR3XqWUIRrwF835ZJKFJ9cMCYthtIhiqKZy6v5qTlUgJiJzUEQZiRfMxM5X+Am5XF6UwIkZGYx6r0YBvdrpzSNCHRKi3Q13D44Ph03k9wCW1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016LVrkwAVkXECGBqequT9BG",
      "input": {
        "note": "Gripper reading 0.12, so the teddy is held. Lifting and carrying it over the left basket (plush basket).",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.06,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_016LVrkwAVkXECGBqequT9BG",
      "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]: [-0.2497, 1.4677, 1.2045, -0.4004, -0.2672, -0.1673, 0.118, -0.0208, 0.86, 0.5964, -0.3859, -0.0093, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.4335 left_y=-0.0587 left_z=0.2208 left_yaw=0.0482 left_pitch=-0.0748 left_roll=0.0446 left_gripper=0.118 right_x=0.2966 right_y=-0.0009 right_z=0.1571 right_yaw=-0.0023 right_pitch=-0.0882 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -6.9949, 9.2376, 1.6923, -0.0708, 0.1587, 0.906, -0.1573, -1.7436, 7.0085, 1.663, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:deb28fa715731599c382f8bf57b595d4401ea5c001b6b88c956f0948ac5ca005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d176faeffa14ff6cb09f7cd9c66244482b511b76f2990b86afc2f225b237ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea84e03487ce6c8c51f20b0a24f721d4dc76bab275cb3ae936832412c62159dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 7.39 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]: [-1.0019, 1.5871, 0.5587, 0.0814, -0.7944, -0.7338, 0.9967, -0.0208, 0.8566, 0.5964, -0.3843, -0.009, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.2791 left_y=-0.1959 left_z=0.0399 left_yaw=0.0057 left_pitch=-0.044 left_roll=0.0548 left_gripper=0.9967 right_x=0.2967 right_y=-0.001 right_z=0.1584 right_yaw=-0.0026 right_pitch=-0.0832 right_roll=-0.0099 right_gripper=0.9965\nstate[joint_eff]: [0.1983, -4.2598, 3.453, 0.8474, -0.1685, 0.2466, -0.0122, 0.1436, -2.0034, 7.0222, 1.7656, 0.0513, 0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9989, 1.5993, 0.5499, 0.0982, -0.7864, -0.741, 0.118, -0.0208, 0.8577, 0.5964, -0.3847, -0.0093, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.2785 left_y=-0.1951 left_z=0.0348 left_yaw=0.0079 left_pitch=-0.0515 left_roll=0.0489 left_gripper=0.118 right_x=0.2967 right_y=-0.0009 right_z=0.158 right_yaw=-0.0021 right_pitch=-0.0847 right_roll=-0.0099 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -6.694, 5.6547, 1.0672, -0.442, 0.0513, 0.989, -0.1573, -1.7162, 7.1863, 1.6484, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2497, 1.4677, 1.2045, -0.4004, -0.2672, -0.1673, 0.118, -0.0208, 0.86, 0.5964, -0.3859, -0.0093, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.4335 left_y=-0.0587 left_z=0.2208 left_yaw=0.0482 left_pitch=-0.0748 left_roll=0.0446 left_gripper=0.118 right_x=0.2966 right_y=-0.0009 right_z=0.1571 right_yaw=-0.0023 right_pitch=-0.0882 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -6.9949, 9.2376, 1.6923, -0.0708, 0.1587, 0.906, -0.1573, -1.7436, 7.0085, 1.663, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:deb28fa715731599c382f8bf57b595d4401ea5c001b6b88c956f0948ac5ca005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d176faeffa14ff6cb09f7cd9c66244482b511b76f2990b86afc2f225b237ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea84e03487ce6c8c51f20b0a24f721d4dc76bab275cb3ae936832412c62159dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSiAgKEAgSGAI4AUIIdGhpbmtpbmcSDI8c8wQzjr77Y0MEIhoMeAw9I4SHg3n5uAlsIjDfejgK3hn5JU2GtVozYZfu9N4TnwXj1VsfLgaA/7KHi4OCux4rmqEGaOJb4fDFJHwqpQdhDpY/y58kkdUJY6xoNnPNiGOsOFxi8aLXHtW43qUxzpYta4oCpW7FOi4Far03Bz1m3Qs/pphBrJqsbhAbI2fXp57kQt1OBjgVSAu5+RcvXaeEQ9/zetZT1nejPlC0+65GKByzzpjAeaDPjEj78028ybX+xzjnnhiqjIlvgvPfV/eFaDcmwo34+vGulxM1QAwkqiEw+c73Q2Nulic9YihLMGYp9AQZNlCgNJbbZdKnojvaZFyqW8bOOL3hqi4/3jLH69NZW+2oZpw7HOQGeHOSSWEdhxesiT6YXc54bOPxqnB4ttM1qd7clPP7u8CPXaaMAikHm9Oj4KzQfPK+1/KSWBoWIw7fbxu5oBaPylOGArBEZyBtdV9aQ8wHUSi5GbVdgTGcoZ+3ZOdk4BOHssG1GuF4Y3xwK+nW5lWDVWrJFW+sxz0IECMgyKYnstn/HiV4w6EoRFTVeFfJ4HUuHIMXTBKyc19UMLz0BX2aZy3slLPG/SqU/xIA5pJZczqTQZwoG8w/RSTjIw2PoAT21mcZpxuShIBV9ulfzqNX2+QDFYsPDKq/Q3zTQmtCcfVSPrERM/oPTIS42O7gjO1iGTu1ujhPftSDEWBBtHyTbY0Wv9sQoTdyinh/0lQAx7OSLjFh1V9pQ1YrUrLOdzAdRXBv77eFEqmeBHCkjiWad6vbpXhwrCXlEnRvxGZ7Wh8WUNe4WQBP9MRXdV52RJvESg/b38+H8C+TTu72yWPykAU9eIj3rq2kC+R/6XAzTuNk8XX/yVPER8ZDi4Yu3aaxPi10OS/Rp6Y6Nw++esl98m4w3NW2YMuEOERaojevBzzCOPhNkc1tis7Oy/zH/CXlqmj8/6TjLBywhO7Q2vm/573CXPQSQVI/SEVEpcgZIvS0Y1P5LgBLJVMe1MuirBx4q16SvYrT4yI3fNhRmJvIPyZgVpaHcr0Qgwf8Rw961A0O/O5YXwRb7v04OVgpEzYwo9xwuHdJaw35H/oHcfXWUABN7hyBV0z9TVtzKI1Wk+S53O03TRd30pDUG1NSx+BcgyVplx7bVTtbq1uYHJcnZgDui4VLRvg4qB0VkZy25/KeT4Bw4dfax/GfnFAQLyRN7XM2YkBzPFy3YeJSArbZOjsAqUnE6E6Cc3n84F5LtRkdtyov9o70eZFEdk12JW+h8YWAsvF0UuQhgNgwSq1303qRB3Jp8fKtqwce/NA9O7cOpsk7F/EMMX3aGX/hZkzk+jwk7GP8BFgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W1FWj4Mry5ymMKmRo3pczS",
      "input": {
        "note": "Teddy is dangling from the left jaws, which sit at the near rim of the left basket; advancing a bit to be over the basket centre.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.09,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01W1FWj4Mry5ymMKmRo3pczS",
      "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]: [-0.2829, 1.7313, 1.5002, -0.5194, -0.2787, -0.1917, 0.1192, -0.0208, 0.8639, 0.5961, -0.3859, -0.0093, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.4851 left_y=-0.0866 left_z=0.2114 left_yaw=0.0407 left_pitch=-0.1545 left_roll=0.0593 left_gripper=0.1192 right_x=0.2967 right_y=-0.0009 right_z=0.1559 right_yaw=-0.0021 right_pitch=-0.0924 right_roll=-0.0098 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.6496, 10.2769, 1.8388, -0.2808, 0.0122, 0.7155, -0.1983, -1.935, 6.9949, 1.6874, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b67b6419e116582205c25531364f7986bbf85f7540b8cae0ffad38ef84473a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58a0201cdb5805d67ee20a931ba57e244373adc2a388521eed146d8d922544dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c904a9e5a1913fcee8d92c5077804cc6d10c103399a49502a0b91e610e93bb73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 5.096 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]: [-0.9989, 1.5993, 0.5499, 0.0982, -0.7864, -0.741, 0.118, -0.0208, 0.8577, 0.5964, -0.3847, -0.0093, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.2785 left_y=-0.1951 left_z=0.0348 left_yaw=0.0079 left_pitch=-0.0515 left_roll=0.0489 left_gripper=0.118 right_x=0.2967 right_y=-0.0009 right_z=0.158 right_yaw=-0.0021 right_pitch=-0.0847 right_roll=-0.0099 right_gripper=0.9965\nstate[joint_eff]: [-0.3077, -6.694, 5.6547, 1.0672, -0.442, 0.0513, 0.989, -0.1573, -1.7162, 7.1863, 1.6484, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2497, 1.4677, 1.2045, -0.4004, -0.2672, -0.1673, 0.118, -0.0208, 0.86, 0.5964, -0.3859, -0.0093, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.4335 left_y=-0.0587 left_z=0.2208 left_yaw=0.0482 left_pitch=-0.0748 left_roll=0.0446 left_gripper=0.118 right_x=0.2966 right_y=-0.0009 right_z=0.1571 right_yaw=-0.0023 right_pitch=-0.0882 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -6.9949, 9.2376, 1.6923, -0.0708, 0.1587, 0.906, -0.1573, -1.7436, 7.0085, 1.663, -0.0317, -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 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]: [-0.2829, 1.7313, 1.5002, -0.5194, -0.2787, -0.1917, 0.1192, -0.0208, 0.8639, 0.5961, -0.3859, -0.0093, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.4851 left_y=-0.0866 left_z=0.2114 left_yaw=0.0407 left_pitch=-0.1545 left_roll=0.0593 left_gripper=0.1192 right_x=0.2967 right_y=-0.0009 right_z=0.1559 right_yaw=-0.0021 right_pitch=-0.0924 right_roll=-0.0098 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.6496, 10.2769, 1.8388, -0.2808, 0.0122, 0.7155, -0.1983, -1.935, 6.9949, 1.6874, -0.0269, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b67b6419e116582205c25531364f7986bbf85f7540b8cae0ffad38ef84473a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58a0201cdb5805d67ee20a931ba57e244373adc2a388521eed146d8d922544dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c904a9e5a1913fcee8d92c5077804cc6d10c103399a49502a0b91e610e93bb73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShQoKEAgSGAI4AUIIdGhpbmtpbmcSDKxqklXLOYkL1MTNWxoM3Er2VGE8HWfdPhPnIjBRXDRuBCdCT5Ph7cya98LOWhKCLscONutOr//qscysu1xMygnazr5nM/JEYWk9FP4qogkLH2Jl7o7VFP3mc9IIf8+WRQXBB8G9PchICkIHp2g+9ExR/D+6XPXQ3VgJLroa32yPAWMamIP/dK+k8nDInCYS8232kmfV9T3gu5dLS9A9ulAAzepooP9hn0GNDyF2fs6vPk7edYinfv4RP2egOe687B9F37QcgOykBb40u2zuwUsX+6rYQHKYvwj3sTX3Ob3s71kQsWglrf+ecF8ZCEulh5iX/hFljfC6FAFSluqDNbYdzsa8nbVthS39TrlwCJWA/xJx95wqBTvkI0LvSl+Hv2vLa73aQcaBFfYoQAEaRNAr+PiC7gMkU2+kkgYmCTwKBg3NK3k0I2RgdIwwFOaqhBsxJG40eW4b1xGqG3Z4QYgpgox33Bk98BtbsLmwU7zZ6ISMgwohi74WT7w3sD4cr1+CnIr3HRGIjudaFPYrFQOg2O7/f3NnnuyD76yJO8wlLXujYuoEcFIEQCXDwoOTlgQIwy7W79po+YhNo+jJQUQDvLS58plvQ40TNlyP8YOZ82uErrYf7sc2TDnJTZWTERsdJNAfehuJBI8ifYr/CRgS53eAj/tOf8TIxn2Cikczwvv7ud3wqVV4TfYTdHTcMLoCiCShlmNf2N25yaLEBVmXKywJu1ICQm9+VNMORk/9APOyz4u1xVjpnrTshD4Kq8qTghZUGf+TUDWwS2PRdfrGpTybkz75a0IoiwKCJKtjb3eVvuVahn5IiYjMHw3JvbwG3hTurn8T3acwsJ7ZvUJk2Z5ay/quUTp+Ai441rssZUOsViaKOw7ZhQZUfU4mFSxgkUcqhmg7NGxi5BaC8i1J2NJVCq6d7Dk4puaP4FLAdRnIoH1Za1rjZaRkazT1nTmp5ZXbc7/MIeZ7ZFbUGRHVKP48XukeqPjrMz5s4m2EBHApSvL0bWY2Un2YHboHFoaaM3hfjbINQpCJRVqd531U5zkBSn6FRzOcPnXDDCDshLg1UX7Y8Baz1uiBS/XMvYMmugp2Ek/8547pb/A7PxD5zgOpgIYGECPtC+vt4Mhx6bxNizdyxFYek1fKk2OJKbZD9JlU/ZHln33fNcrhirGv7nxczUcnETetd7I+QiinzIt6gbvq/KH3HJ3vkTtLsJrvwIN7SVWGw4empfy90i5c619rl2MZLQmNEAc/yHh8dP2oC5NrbD/ZMEUT5/Q3G6GH6AXdPE6xTuzpUugPtreVDH3CS7qVDxh+a8D1KRu5vj2vZpWV2KrSZYc++x7hj/zjoxjbnsCLb1tzUQdATImf+EL912aNgU4jQwD/vpyPy3pOs6uZgyT0Q6DdXsd57g2oaJqbWbsIx1ILQRCBL4OAvJc7BhcII4804lpwgQ/Z8jtoj9u1o9CgDuZi+gN0y6npkz5ZxDci7aj/hgQCuBt5LpK90cY4RFdw09hLA+8T8nPxg2CNSQfcdXlJlcBM9g1W7E2gsiNIIG8bgVhY51gKR34g/XYeV2Ij8VTU5HySgD/El4JJPDePpbPZYLt1T5DqppXYM8YgsLvzcp0JV+wpUvG+xs1f1by4W5YGdwW/XWq3arzEWDoE2Ra3a0dMvlIOiNsVZxC7bClO8GiMcJcoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018cQbsQjfZekAhaEgKc4ygQ",
      "input": {
        "note": "Teddy still hangs just in front of/right of the left basket in the top view; reaching further forward and left so it's over the basket middle.",
        "targets": {
          "left_x": 0.56,
          "left_y": -0.04,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018cQbsQjfZekAhaEgKc4ygQ",
      "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]: [-0.1383, 2.009, 1.9514, -0.725, -0.1825, -0.1219, 0.1216, -0.0212, 0.8692, 0.5961, -0.3862, -0.0097, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.5527 left_y=-0.0409 left_z=0.2251 left_yaw=0.0681 left_pitch=-0.2054 left_roll=0.0547 left_gripper=0.1216 right_x=0.2969 right_y=-0.001 right_z=0.1543 right_yaw=-0.0021 right_pitch=-0.0981 right_roll=-0.0094 right_gripper=0.9965\nstate[joint_eff]: [0.3897, -11.9316, 9.0462, 1.4628, -0.105, 0.2369, 0.5641, -0.1026, -2.0991, 7.0085, 1.6435, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dd12036a6ea607701f41ffc3c0a2ee0a884f2e8170a6b96697d2ce287717d8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:486faeb8a4178677e418c189537222edd0bfe7eac149fdba971d41f51a0c72dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1b23f72937e5865a7a1216aceb54d511e467c15239e2a222b3c1dab67a2f7a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 10.32 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]: [-0.2497, 1.4677, 1.2045, -0.4004, -0.2672, -0.1673, 0.118, -0.0208, 0.86, 0.5964, -0.3859, -0.0093, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.4335 left_y=-0.0587 left_z=0.2208 left_yaw=0.0482 left_pitch=-0.0748 left_roll=0.0446 left_gripper=0.118 right_x=0.2966 right_y=-0.0009 right_z=0.1571 right_yaw=-0.0023 right_pitch=-0.0882 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -6.9949, 9.2376, 1.6923, -0.0708, 0.1587, 0.906, -0.1573, -1.7436, 7.0085, 1.663, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2829, 1.7313, 1.5002, -0.5194, -0.2787, -0.1917, 0.1192, -0.0208, 0.8639, 0.5961, -0.3859, -0.0093, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.4851 left_y=-0.0866 left_z=0.2114 left_yaw=0.0407 left_pitch=-0.1545 left_roll=0.0593 left_gripper=0.1192 right_x=0.2967 right_y=-0.0009 right_z=0.1559 right_yaw=-0.0021 right_pitch=-0.0924 right_roll=-0.0098 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.6496, 10.2769, 1.8388, -0.2808, 0.0122, 0.7155, -0.1983, -1.935, 6.9949, 1.6874, -0.0269, -0.0464, -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]: [-0.1383, 2.009, 1.9514, -0.725, -0.1825, -0.1219, 0.1216, -0.0212, 0.8692, 0.5961, -0.3862, -0.0097, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.5527 left_y=-0.0409 left_z=0.2251 left_yaw=0.0681 left_pitch=-0.2054 left_roll=0.0547 left_gripper=0.1216 right_x=0.2969 right_y=-0.001 right_z=0.1543 right_yaw=-0.0021 right_pitch=-0.0981 right_roll=-0.0094 right_gripper=0.9965\nstate[joint_eff]: [0.3897, -11.9316, 9.0462, 1.4628, -0.105, 0.2369, 0.5641, -0.1026, -2.0991, 7.0085, 1.6435, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dd12036a6ea607701f41ffc3c0a2ee0a884f2e8170a6b96697d2ce287717d8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:486faeb8a4178677e418c189537222edd0bfe7eac149fdba971d41f51a0c72dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b23f72937e5865a7a1216aceb54d511e467c15239e2a222b3c1dab67a2f7a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStwcKEAgSGAI4AUIIdGhpbmtpbmcSDJzM+7Y5CapxWVO7yxoMmpmX6ILQ/eqTW0IhIjDfZXIWggKBo95PGnztaerOrLMdRC4Cnk9Ay8ZFLjSpm90gXWbtMiGL3uuT75gq1VYq1AYXpgzBvOw3RI9z3N2eKry/hHe+qXkZeYurSx0RJWtw6x4ZIfLbq6hdZ6fLtBkfmk4yyFR1jQnlAsK6ILFhKQckqBZ5X26EJXBKVv35RdkNPsztST3o4QiqmchpUtvVkVhjKFiokfv+FvM/bt7I4OV65v9XN29RqYIntV6FzSql6pNiqIxwMfwe6mkp5GaWqS1M4CGb2g3nBux9Tia33jCuWNp/rvDYUNkc/vfmpUs1VHRWvBZS0HvYipagluKEZxx98N8LmFlfFcBLikfADdMfkG4+WdwykCnM4BR/FzQ1tlyl1y9zeUa42sGs1Gnq5z/BrYGL4ZN8vIC+0iEZKclWWL+dkrbiizzyStMvpL4o7AP1avB9UgP6MHfdodxQmTofKNq66bMnnarN3u8o6P6h0OE9gEFSB53/Es0eUy8N5eqNvYXzDTrUI4+xlC+H4pnyXGdJgF0OTz2GBJoUfz9eaqzBV839dcewlN/cgzaEa2JZ5u7c2/e6j4ZuNrSfM4UTl/8lcDkgAfoyo+hVaXtKk1HgZwi9F3zeZWnWx+iVLsfqXZnaQLLcGuCHHO55q++1Fvy0JoudjHAHkZIwhgTFxGCKQzp6f6iUITakEqW/74YdpwmMQT5glcKDBEv9JwjrvgIrYZPPb4S1dSfm2FNFuZJFVnevXtC+eEa9lzBGopLJaBea864xFpjSTKzDUpp7Zfnc6OuGBSbsFEx5Y3REnhRkzz0dgDhg6bd6q2bMSXxrWiAaYpzFf4lbY+UYYjK90nyJUs9xmOC/2/VmPbXXwwrXkp6n8dKS1S/JVJgVd4s/anWXQTsnsGGYCkYaYO8AdLJmThrTZz1iWdtoVslOipfHAqnwYTqVhrOJEQGAbjXW/L1yPlXGE/vYTCegmQcMg0Z5odt9linG7BEw45LU/vj+FZ8esGDEU+ACDsLf4tzel9wc8sfu4pYqS/h4F8dyYLE8100oduj25cioV6631zEjYEXOfXFR+qYJrCKN+kMLiH75iJSaYaWnPqQ0u3nWCGnU/T6ltn6Smj0L1MF+z1ADbTwsNzK6V7LgLdxuGId1dmj2bU50hdva5FZupIdleLjed1gBDgdG8tPrTd0aqNUbMyDK2b5aaTwkilgatySyN/MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ouvk41HYjUickUtvDTg2Q",
      "input": {
        "note": "Teddy now overlaps the left basket in the top view; releasing it into the plush basket.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013ouvk41HYjUickUtvDTg2Q",
      "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]: [-0.1398, 2.0216, 1.9472, -0.7399, -0.1795, -0.1307, 0.9953, -0.0212, 0.8707, 0.5953, -0.392, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5508 left_y=-0.042 left_z=0.214 left_yaw=0.0702 left_pitch=-0.2365 left_roll=0.0529 left_gripper=0.9953 right_x=0.2959 right_y=-0.001 right_z=0.1525 right_yaw=-0.0019 right_pitch=-0.1061 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -12.3692, 7.0632, 1.6239, -0.1441, 0.0317, -0.1441, -0.3487, -1.7983, 7.241, 1.7411, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a618068624ea3d8cecb15a11a296b4cc7896203136c34f52aa9f24014212641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f79b9300a56646b35db4c061984bce5afc6874d4b05d55a8adac6615a508da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a1363a048d2512ac3bfe08b6fbfad14516620d987917430dc203a01a613c31c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 3.978 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]: [-0.2829, 1.7313, 1.5002, -0.5194, -0.2787, -0.1917, 0.1192, -0.0208, 0.8639, 0.5961, -0.3859, -0.0093, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.4851 left_y=-0.0866 left_z=0.2114 left_yaw=0.0407 left_pitch=-0.1545 left_roll=0.0593 left_gripper=0.1192 right_x=0.2967 right_y=-0.0009 right_z=0.1559 right_yaw=-0.0021 right_pitch=-0.0924 right_roll=-0.0098 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.6496, 10.2769, 1.8388, -0.2808, 0.0122, 0.7155, -0.1983, -1.935, 6.9949, 1.6874, -0.0269, -0.0464, -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]: [-0.1383, 2.009, 1.9514, -0.725, -0.1825, -0.1219, 0.1216, -0.0212, 0.8692, 0.5961, -0.3862, -0.0097, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.5527 left_y=-0.0409 left_z=0.2251 left_yaw=0.0681 left_pitch=-0.2054 left_roll=0.0547 left_gripper=0.1216 right_x=0.2969 right_y=-0.001 right_z=0.1543 right_yaw=-0.0021 right_pitch=-0.0981 right_roll=-0.0094 right_gripper=0.9965\nstate[joint_eff]: [0.3897, -11.9316, 9.0462, 1.4628, -0.105, 0.2369, 0.5641, -0.1026, -2.0991, 7.0085, 1.6435, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.1398, 2.0216, 1.9472, -0.7399, -0.1795, -0.1307, 0.9953, -0.0212, 0.8707, 0.5953, -0.392, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5508 left_y=-0.042 left_z=0.214 left_yaw=0.0702 left_pitch=-0.2365 left_roll=0.0529 left_gripper=0.9953 right_x=0.2959 right_y=-0.001 right_z=0.1525 right_yaw=-0.0019 right_pitch=-0.1061 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -12.3692, 7.0632, 1.6239, -0.1441, 0.0317, -0.1441, -0.3487, -1.7983, 7.241, 1.7411, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a618068624ea3d8cecb15a11a296b4cc7896203136c34f52aa9f24014212641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85f79b9300a56646b35db4c061984bce5afc6874d4b05d55a8adac6615a508da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a1363a048d2512ac3bfe08b6fbfad14516620d987917430dc203a01a613c31c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019aTV8QjGsavneweSVLMKmw",
      "input": {
        "note": "Teddy landed on the table just in front/right of the left basket (right basket is also still empty — marker missed). Going down onto the teddy to regrab it.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.075,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_019aTV8QjGsavneweSVLMKmw",
      "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]: [-0.2356, 1.9625, 1.2308, -0.0029, -0.2577, -0.1883, 0.9966, -0.0208, 0.8715, 0.5953, -0.3927, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.519 left_y=-0.0746 left_z=0.0757 left_yaw=0.068 left_pitch=-0.1437 left_roll=0.0433 left_gripper=0.9966 right_x=0.2959 right_y=-0.0008 right_z=0.1521 right_yaw=-0.0015 right_pitch=-0.1076 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -8.3077, 4.2051, 0.6911, 0.0024, -0.0659, 0.1245, -0.0752, -1.7983, 6.9538, 1.707, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c09e83e6bf29dd35f58b1d0e6c316981d7e29e5ac6ba721897dd1c202c72230",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df164dadeafb7ff77fcad7ae5c918353f3c94aed8b8101c234b212c26d78a7a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39349e717d0d7ccbfbf62a46a8cbcad08378da9c58a8ccc0627be936a0e0fdd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 5.669 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]: [-0.1383, 2.009, 1.9514, -0.725, -0.1825, -0.1219, 0.1216, -0.0212, 0.8692, 0.5961, -0.3862, -0.0097, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.5527 left_y=-0.0409 left_z=0.2251 left_yaw=0.0681 left_pitch=-0.2054 left_roll=0.0547 left_gripper=0.1216 right_x=0.2969 right_y=-0.001 right_z=0.1543 right_yaw=-0.0021 right_pitch=-0.0981 right_roll=-0.0094 right_gripper=0.9965\nstate[joint_eff]: [0.3897, -11.9316, 9.0462, 1.4628, -0.105, 0.2369, 0.5641, -0.1026, -2.0991, 7.0085, 1.6435, -0.0415, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1398, 2.0216, 1.9472, -0.7399, -0.1795, -0.1307, 0.9953, -0.0212, 0.8707, 0.5953, -0.392, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5508 left_y=-0.042 left_z=0.214 left_yaw=0.0702 left_pitch=-0.2365 left_roll=0.0529 left_gripper=0.9953 right_x=0.2959 right_y=-0.001 right_z=0.1525 right_yaw=-0.0019 right_pitch=-0.1061 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -12.3692, 7.0632, 1.6239, -0.1441, 0.0317, -0.1441, -0.3487, -1.7983, 7.241, 1.7411, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2356, 1.9625, 1.2308, -0.0029, -0.2577, -0.1883, 0.9966, -0.0208, 0.8715, 0.5953, -0.3927, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.519 left_y=-0.0746 left_z=0.0757 left_yaw=0.068 left_pitch=-0.1437 left_roll=0.0433 left_gripper=0.9966 right_x=0.2959 right_y=-0.0008 right_z=0.1521 right_yaw=-0.0015 right_pitch=-0.1076 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -8.3077, 4.2051, 0.6911, 0.0024, -0.0659, 0.1245, -0.0752, -1.7983, 6.9538, 1.707, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c09e83e6bf29dd35f58b1d0e6c316981d7e29e5ac6ba721897dd1c202c72230",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df164dadeafb7ff77fcad7ae5c918353f3c94aed8b8101c234b212c26d78a7a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39349e717d0d7ccbfbf62a46a8cbcad08378da9c58a8ccc0627be936a0e0fdd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqwcKEAgSGAI4AUIIdGhpbmtpbmcSDPqSV/GSWbV9qIaeDxoMYuBr57nLZx7yuj1/IjADefT1LJG32OmwFl26mHIyaQokxnp5mrOnha1aX/9Ir1JewIzgNryaCiXK6MDA2r4qyAZqmiCP0NJ0oS02m+aCzkBIYoBoCBPXSLNDaFdRlhAlNhD3c0EE+iZjBqf0WXZ19a0KJep6K2b7XSI8Z5khYYinRRbFgSeGzmf19TAkHRChlPGvmUtgtjRvTucRt1V9VFQpUygDDGAxQrSCaJx+rUpUX1fdFALMW0X0g6/SIxNC54V0x+7/+V8iRFxIkLWEdeOimvfhehr7zKEaCsIqHsAWxMNGu5uJ8rHCWVWM9zxMdXYenoxvfO7wTfsaqFq6C0tTrua8dhd/17yVehwGbLNR4tRO+7Xo9vD0fi94VEi8y7qfQMQKh3GtgmvNcI9kyqiZu+1UbnSYXUFCyC7RduxqzP3qsXPEJOZoIzeIZY4AZpqFZsyDvQ5zYENpssftmFL7c1beemB4qc5R9k3c+RYD33iHEVoQuOZqk7kjIpMXcrz6oqbfZNfaIfhpNAhS5m6KKRDxz+GX3wwuVJl4kjQeCaOgmh5aSbL8iFN+unUOEszq524a7shWosQ3Kml4mXJV015zE6OtjphxdxtgK9j1+LjiQ+n6HkLzUlBkGBKsbu4tbDXrzqF6/lxr4YCn05cxBiozGabJz9QB+l5DBShDiqiTzX+5hHRGh93pGqydlBs/R1IUXnsRoYewO+lAvVS7go/MJt9agYcAMPseIodk358UJ+7JSCmJq5TZiUz41trHNkVMMt7Pc5prM3d+Yit5IRX97Vhquczlfm+RQ1yk0hCl062GDs7A+9ukPh2ZYsqxPX4O2PbZOxY0VUaxnuV5mnuWpSBKNI71ZM7UjovOy7Q00Ap08CBSkyMjSRxhKk7FQRUUoLuu0Q7U7pIC+6J5ocMBakZXwZSN+zhZDmAOuSJ0HQU8HOq2iTo1bAbwCOSh8KZyF/uR3Jx7X0O8Y569fqigpt3WrZbMaOk9AaTebgK4adZ1N83Qu5uuHK4zOdN+YQSqfi92ZWvpKX5IbbCR6SzkKy/oicHT/0OtngzfBDGV/fD1Smmeshy8u+Z45CmE/Q9DRK4566TN7psffKAPS7EbCcphbJLmTxIM8ZZl0omkCJAhpDNbXdu3LbXYrJaXYsWiBOFpsZA7a6zhm5pvEI/4B8GDhsSz9yLsW7qY/qpfoozq1rMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YAYbp8WhPp6PapRoHvZm8h",
      "input": {
        "note": "Teddy fills the jaws in the left wrist view, right next to the basket wall; closing on it.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YAYbp8WhPp6PapRoHvZm8h",
      "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]: [-0.2256, 1.9724, 1.2137, 0.1188, -0.3, -0.1719, 0.0484, -0.0208, 0.8715, 0.5953, -0.3923, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5329 left_y=-0.0651 left_z=0.0875 left_yaw=0.1015 left_pitch=-0.046 left_roll=0.0525 left_gripper=0.0484 right_x=0.2959 right_y=-0.0008 right_z=0.1522 right_yaw=-0.0015 right_pitch=-0.1072 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.8, -7.3094, 4.2325, 1.3944, 0.3101, -0.2906, 1.8046, -0.0479, -1.7436, 7.0632, 1.663, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b439f2d0fc13255e60147108690a5f40dc308fb3889d6605874039d01f8546d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33fcc811804b7e98597ffbb377ccbd0fa88a5cd29af628ade95969cbe6de5efe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7ffbb2f4446a930a2fb716a4f0c8e8ebb2d8de158d902ae6af7d10e510f6c42c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 6.477 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]: [-0.1398, 2.0216, 1.9472, -0.7399, -0.1795, -0.1307, 0.9953, -0.0212, 0.8707, 0.5953, -0.392, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5508 left_y=-0.042 left_z=0.214 left_yaw=0.0702 left_pitch=-0.2365 left_roll=0.0529 left_gripper=0.9953 right_x=0.2959 right_y=-0.001 right_z=0.1525 right_yaw=-0.0019 right_pitch=-0.1061 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -12.3692, 7.0632, 1.6239, -0.1441, 0.0317, -0.1441, -0.3487, -1.7983, 7.241, 1.7411, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2356, 1.9625, 1.2308, -0.0029, -0.2577, -0.1883, 0.9966, -0.0208, 0.8715, 0.5953, -0.3927, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.519 left_y=-0.0746 left_z=0.0757 left_yaw=0.068 left_pitch=-0.1437 left_roll=0.0433 left_gripper=0.9966 right_x=0.2959 right_y=-0.0008 right_z=0.1521 right_yaw=-0.0015 right_pitch=-0.1076 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -8.3077, 4.2051, 0.6911, 0.0024, -0.0659, 0.1245, -0.0752, -1.7983, 6.9538, 1.707, -0.0562, -0.0464, -0.0122]",
      "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]: [-0.2256, 1.9724, 1.2137, 0.1188, -0.3, -0.1719, 0.0484, -0.0208, 0.8715, 0.5953, -0.3923, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5329 left_y=-0.0651 left_z=0.0875 left_yaw=0.1015 left_pitch=-0.046 left_roll=0.0525 left_gripper=0.0484 right_x=0.2959 right_y=-0.0008 right_z=0.1522 right_yaw=-0.0015 right_pitch=-0.1072 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.8, -7.3094, 4.2325, 1.3944, 0.3101, -0.2906, 1.8046, -0.0479, -1.7436, 7.0632, 1.663, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b439f2d0fc13255e60147108690a5f40dc308fb3889d6605874039d01f8546d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33fcc811804b7e98597ffbb377ccbd0fa88a5cd29af628ade95969cbe6de5efe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ffbb2f4446a930a2fb716a4f0c8e8ebb2d8de158d902ae6af7d10e510f6c42c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzAkKEAgSGAI4AUIIdGhpbmtpbmcSDJvP6dFe2+8wVoOm3RoMkfDiBzlpyV5uL3mYIjBIpiMN8/6mH8b5M9ukINvtaEp2NrVAUkiYLwfkPsq9qxhrUbByu518ZA6yWdjVcRIq6Qg9hQoJBCv6FUaSYcYe7aRAMBFt4ul4Zh6qt4a7R1BXEqH2hIh3tm/CZpj4fBp9+nk3B1lvJHL1hBMK7kanBTib/z0O5W8Lrp/ooHgxZeXoOe/nBBHZSaZCpHTiQu3cjLACFT2kcWt16fRJygNn4tiqoQmaNqZHRNLKpt2VZLKg9BlyzgMlDOUDRYlhzBca8JSE1lKZxoWf+Q/1fBEtGeG6nxcg1NxtqoIMft2JkA3bY3V01VWWliDFqqV3ov42Y/VVJRje8+8sbtV4ory/NR4XIADjBsnYShg4JCfFwYrTc1bVWc7saK8j5F+CGdV1PSTWheEYTdrL5wvT61TK4VcshXcplwfGauwGyoPffEwxsTpVJsa39vggMVnmnSz0wKqW/ajkyaZLr/ocI5C84ZO1AtqGRG5DgOGOImjlPt7/6TEH5GcMXWfaBff0xpAiM1fzNR4a2MhBlv765Xw0genQMWMnC83N5HqjEyGvwe4t8eDMTp//Ws2xhFxPBOJ1THTWkIg1PL3P9crByvr394lfYA6vpGANamQuAuF7fHqJLfotT1IBbEf6iXbguJl/9ja83AGQQ9jhudOG/uoUOy/AKv7MjbAliQqCio/9tSAE3H7pa1+fGEkSsqZA5kK7cGiWB7AtebuJAg5NS3Rm+pJKhQyPbslZFY7JhIXQpCYhYL0mr3LTLXKIevfU9u3JisvmZ4arNs0LZ707u3Tftkt2tWc7ea8VgspuE434YRcLDlEazIc4q0lfgFwsB/XORq+j9nT/9J5s5wP1r9/dmlzxJcnFIkzie8rXKwRoVr4isjwbqVMemNM9/9yDvqzc3pdCQ0Nx575i74E5vLyEEpHzlv6I56qm4UaTNQ0wQHH2s/U+Ecf3tb+LclfBqndiB0WRXm4J5F0ycKUVKNxIMNe3ZHdAYlyScZNksN/N/JEatwntSFZSLvxC8SRmYACObIhIiarUGcJ54s+e50tRpPYZ5X4emEopUN6k71ym9phLYXHL0ICRQP6KI7mcEOuA9k92P15/oFoDJz6nYmjZrn3NA4Ow9AY6PSrfrkT/VgHb03VkmEI/U7xEAYzPeY9VNK7lr7UaOL9pkTOT/MfX+BWVKWwECmri/FG9sOkhxeLbcQRP6RKRsj1kYlvd9iNyVkLuqTDGd5EVeFJZJ37uMn568qIf9h+C1CQhGI1NGGImWgXN1GcFrlNao28xHhRI7MFvnq0lXjicwBzIO7X7G4cnXADhDpdwXZqSfD66Az+CtYAR8LphXWI3v5o0UtbO49HIHXJSRUS0FemOeR6+YqayEFoEn+6Sveol0JgU9oDrEeN1w0WjnsnuH57fujp8ndLp+NK3MCRVuOT/oZNNhtdhx0wHRWHKX+l3F1qk36Y2bpQoKu7NxIFnh2C82IbGNObaecZ0neNCdiYMHUbzNleEs2Jn8yfNVA5MJucv2Qxbw9V1DfB5itScC23J6b3GPgwDnnBy/c8+gyUD6OobXCc7blSON4Bd5sFHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MB3vcT3NmyXcVYBJU81y4a",
      "input": {
        "note": "Grip reading is low (0.05) but the teddy appears to have lifted with the jaws; the basket is to the arm's left in the wrist view, so raising and shifting left over it.",
        "targets": {
          "left_x": 0.5,
          "left_y": 0.0,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01MB3vcT3NmyXcVYBJU81y4a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0727, 1.7462, 1.533, -0.5026, -0.1791, -0.1078, 0.0586, -0.0208, 0.8715, 0.5953, -0.3927, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5036 left_y=-0.0015 left_z=0.2188 left_yaw=0.1208 left_pitch=-0.1409 left_roll=0.0496 left_gripper=0.0586 right_x=0.2959 right_y=-0.0008 right_z=0.1521 right_yaw=-0.0015 right_pitch=-0.1076 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -13.9556, 10.1402, 1.9414, -0.0952, 0.2711, 1.0281, -0.1299, -1.6889, 6.9812, 1.6239, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a662eb9940e67811f06d2f3339e1082f6f2d334a2b0b69af25637819e1a974",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd9d553913165fc047d4f0b6f995d27129f15ce5e8b504c8a6b90acc95ba0516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ed433b42f8cf806f00d77cea2d08e297e1a437be1c3172cef33e1521eda1bf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 4.848 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]: [-0.2356, 1.9625, 1.2308, -0.0029, -0.2577, -0.1883, 0.9966, -0.0208, 0.8715, 0.5953, -0.3927, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.519 left_y=-0.0746 left_z=0.0757 left_yaw=0.068 left_pitch=-0.1437 left_roll=0.0433 left_gripper=0.9966 right_x=0.2959 right_y=-0.0008 right_z=0.1521 right_yaw=-0.0015 right_pitch=-0.1076 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -8.3077, 4.2051, 0.6911, 0.0024, -0.0659, 0.1245, -0.0752, -1.7983, 6.9538, 1.707, -0.0562, -0.0464, -0.0122]",
      "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]: [-0.2256, 1.9724, 1.2137, 0.1188, -0.3, -0.1719, 0.0484, -0.0208, 0.8715, 0.5953, -0.3923, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5329 left_y=-0.0651 left_z=0.0875 left_yaw=0.1015 left_pitch=-0.046 left_roll=0.0525 left_gripper=0.0484 right_x=0.2959 right_y=-0.0008 right_z=0.1522 right_yaw=-0.0015 right_pitch=-0.1072 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.8, -7.3094, 4.2325, 1.3944, 0.3101, -0.2906, 1.8046, -0.0479, -1.7436, 7.0632, 1.663, -0.0317, -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 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0727, 1.7462, 1.533, -0.5026, -0.1791, -0.1078, 0.0586, -0.0208, 0.8715, 0.5953, -0.3927, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5036 left_y=-0.0015 left_z=0.2188 left_yaw=0.1208 left_pitch=-0.1409 left_roll=0.0496 left_gripper=0.0586 right_x=0.2959 right_y=-0.0008 right_z=0.1521 right_yaw=-0.0015 right_pitch=-0.1076 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -13.9556, 10.1402, 1.9414, -0.0952, 0.2711, 1.0281, -0.1299, -1.6889, 6.9812, 1.6239, -0.0366, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a662eb9940e67811f06d2f3339e1082f6f2d334a2b0b69af25637819e1a974",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd9d553913165fc047d4f0b6f995d27129f15ce5e8b504c8a6b90acc95ba0516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ed433b42f8cf806f00d77cea2d08e297e1a437be1c3172cef33e1521eda1bf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8wkKEAgSGAI4AUIIdGhpbmtpbmcSDHSE3b7ViAMr2XuOnhoMlMFMd0g55jQtyV3dIjCqrRjdhCUg7y3RFAg+Rnmmg3JxUi3l+OOFFpsjMGDzUZIQ/m+nsGLSqN/k0A0as9EqkAmiYG5Fb+n2AqJIbopgCxgj2tstq2yzsTqe6ni1Ia0bmMJOvIxHTLJq3f7elDjT1cvSp0WcKdoZRyZ0C9FQO2pIUns2qznMWNnW4yCUvBpPUl0mNYdHYdb8vkRHynuXY+RI/O1M42dQpm2hET70xrd5ruVh2fOxbmuQYGFBsxWyDourECRQI7VQ20jW6XIhaayW7FLhLXvqIlQEADdbg/+ZOmfu0z1uTpsspjG67/8DXxZRSZB6EL1AT3P3W21vB4QwZagyRonTzDPIF65ZXAN07iuW8Ur4PGbdvYyxki76XmildSJmdp2WSkA9+JhW4/m8KXiC56JipjY/0AQwBaUvX/YOprGvsM/edNVxfRAy7w/ZGMDh9OIwAROzkGD/BKGqkDRCHtwQxXAI2ahF/f7Nta3nU/NyLxBn+P06hl9ivNsM3PE5ffJ83ltaxA3yRhfNX2M9y0bSzX2+q3/D90xVe4ljM4vQx5M1biR88VKYoBKlT/4xAZ23nII1DMRIBHSlyp9ffTaQqZJC1krt0NuMAK9XMjqKAZIVg3gQR35VElrAuLu4CrW/q9I3ZW+I+E4MZUbrCSP09ayNvHM8ORRgASz/dPlXnhaND+Kez3YWlWI5GBuQ1DwhSJyQOpGzRI++U1SzZGdjTTYRePcQaAFyQA/zm9S9zhkQj0kscRkXWOxm1o0brwr0LDrhiz7EmZqFONhmY5YU2/BBbmeujMAkrfnkoGZUyhE4q65dlWv4R2hxZfcGQOYKL9ehrITOlV/A38M4uw558fsXhNtUKhVrzqKH69bM7VZr3Zvq1TgtU5M108tE/pblKVADFJfCUJiRbdX4Cu9+uGxwjzWEZ0PvL35XgOsx+TLugF4FuIJAQm/Z1QV+PISlzAFFajSMqr/in5jrYzMX8131RqKd7U039JcDSZVO15D71N1DMaV0JL/KaDotFAnpqS1NKCoJmTgyGCBGVsRLscTc6+x++Jk+BQS3VFWmesDlEECvBI/hfrWFexahNM2DIQQqfNg8h6cdwPGIwgh2m8frUoGLp/B4jmnQG+mAwkryuPz1nQwKOPCdWxDi+hz4nvpQcQpf6hAmiDfCXomf2dFaOA0nvqVjqK4a5IXupirEedzdELdQzjAD8oB6h1Blt3tDloKTbrH/HhlTWCxCcbsAnRoKpkoWeNgc6iZcD8PXESC5fjcLbmdCvN5z0Dg3pXsyhdvNChW+YsFg2297gdYzgZ4c80p9SBkHgeDX5/f7rg8oPjJ8dGRdCNGjDDMW9Drdoa2bJff8dJMmm7z0gG6Kie1NIgMv66oTASUROTKatleFRQg3pTSzu5w6+3bkH7uhICW+z7b52s/j1O/87X+8jKuIgqOciizpf1TjIySKLAyWpu+ko4cJhI1UvWNy3Xf/GkGaFOLIJukpJ3FNAPx3Jm18mTZ+eE0kupMj1qWjRGvb8B6QuJMh0/6SfrX0oUzi+A4FnzbzGM86zcUcpE2szfK9fu9RnRJXQaOVwXFrPdWj8uKVvll7dJTjxi6g+Wm+/+OlBZAv2cdu0y5gNo7j5p79zjREGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A1WB69AApTG84vm7hHdu1C",
      "input": {
        "note": "Teddy is held; the basket still lies to the arm's left of the jaws, so moving to the left y bound (0.05) to get the teddy as far over it as possible.",
        "targets": {
          "left_x": 0.52,
          "left_y": 0.05,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01A1WB69AApTG84vm7hHdu1C",
      "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]: [0.0425, 1.8481, 1.7798, -0.7197, -0.0662, -0.049, 0.0621, -0.0208, 0.8715, 0.5953, -0.3931, -0.0101, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5135 left_y=0.0371 left_z=0.2346 left_yaw=0.1092 left_pitch=-0.2238 left_roll=0.0252 left_gripper=0.0621 right_x=0.2958 right_y=-0.0008 right_z=0.152 right_yaw=-0.0012 right_pitch=-0.108 right_roll=-0.0093 right_gripper=0.9965\nstate[joint_eff]: [1.1419, -10.6325, 10.4, 1.7705, -0.3736, 0.1929, 1.0281, -0.0752, -1.7299, 7.159, 1.6239, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6531abeb799699026153f2d8c12520ff20253d2ef644a18a32d1e4f124e63f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c0aa8e78605a80f06358cc8ba5f36049941f28ef4f82159f92c67eb4a2f9b44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:965cd031236f39415aa7f4f95d7d8e804f6555a3fa5f8f739401f37f5f69c52f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 10.63 s

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

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2256, 1.9724, 1.2137, 0.1188, -0.3, -0.1719, 0.0484, -0.0208, 0.8715, 0.5953, -0.3923, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5329 left_y=-0.0651 left_z=0.0875 left_yaw=0.1015 left_pitch=-0.046 left_roll=0.0525 left_gripper=0.0484 right_x=0.2959 right_y=-0.0008 right_z=0.1522 right_yaw=-0.0015 right_pitch=-0.1072 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [-0.8, -7.3094, 4.2325, 1.3944, 0.3101, -0.2906, 1.8046, -0.0479, -1.7436, 7.0632, 1.663, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0727, 1.7462, 1.533, -0.5026, -0.1791, -0.1078, 0.0586, -0.0208, 0.8715, 0.5953, -0.3927, -0.0097, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5036 left_y=-0.0015 left_z=0.2188 left_yaw=0.1208 left_pitch=-0.1409 left_roll=0.0496 left_gripper=0.0586 right_x=0.2959 right_y=-0.0008 right_z=0.1521 right_yaw=-0.0015 right_pitch=-0.1076 right_roll=-0.0096 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -13.9556, 10.1402, 1.9414, -0.0952, 0.2711, 1.0281, -0.1299, -1.6889, 6.9812, 1.6239, -0.0366, -0.0366, -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 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.0425, 1.8481, 1.7798, -0.7197, -0.0662, -0.049, 0.0621, -0.0208, 0.8715, 0.5953, -0.3931, -0.0101, -0.0277, 0.9965]\nstate[eef_state]: left_x=0.5135 left_y=0.0371 left_z=0.2346 left_yaw=0.1092 left_pitch=-0.2238 left_roll=0.0252 left_gripper=0.0621 right_x=0.2958 right_y=-0.0008 right_z=0.152 right_yaw=-0.0012 right_pitch=-0.108 right_roll=-0.0093 right_gripper=0.9965\nstate[joint_eff]: [1.1419, -10.6325, 10.4, 1.7705, -0.3736, 0.1929, 1.0281, -0.0752, -1.7299, 7.159, 1.6239, -0.0269, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6531abeb799699026153f2d8c12520ff20253d2ef644a18a32d1e4f124e63f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c0aa8e78605a80f06358cc8ba5f36049941f28ef4f82159f92c67eb4a2f9b44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:965cd031236f39415aa7f4f95d7d8e804f6555a3fa5f8f739401f37f5f69c52f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShwgKEAgSGAI4AUIIdGhpbmtpbmcSDIGm9ZaU2humDOSkjBoMUVX7vgwt8lKY2TC+IjA+EuCqWmmxSg27wzUfKBLxZP7EuhDCUo9EmQtx3EdANHL4G6ZwA8x4fiWCkRdq8IoqpAfv+yGOApHVi1/njReEDI2LmXl4OWzeiP2D7stbD+WRjQoo71DTy+B0ngyTUwSfnbcoWyq5EZ2XhL5aHg6nkogzAHxtKU3uouYAf3/t24NawOeVANO7J5pJFWKz1jc6XbjavN27f27CkJ7/wnwTA0hZhhePb0wDzfhPJgTRIwD4Nt8rb1nR0Bjzvf3yIsGA6y0TpCcmiACdlxdab9lZFbsA2ApZ9sM206ntEOknZfRqWcF09+BK0pGxJM5CpQGzXkC2Oagsk+8rwk6lANDznQAURXHhEnwD9/x2IC0Tzjtx/vII6y6ed+MZgXLQrgqWhMRtePFWV927LdL/NkeQDjPk55/c0MMdqXjiNdwbke/qdmz47I09OHXUwozDLJ35ZbxJGzhRTPKF2gm+2fBlfyTbMS6/LAsIyJGaBoiT1ZZ/k+fc8gpX8KE7M03i2edHxq49evsYL5/vfUCNKH/1fX/xoZNFVWUFI44KNHfOBF9dtxNtmSXPhwhZpoaMNDRV8NhJcZjUUXTQi243ErZ9Fx3Dg8mVcMeo0MK/mzEDBNJaORMJM9vzcoavWFUNfRnXTTnTdTn4MPlf8gp8KGlOEZV3kJ5W4TOwAN4/anlDcoVQyrEsXvzFAKnrAZIRsgG3dqfqBT/kZ6q9pXHhhEl1FvXq1B9YL1r8M3nvc7fRGiKu89F8C12S4PQgTIGGZI9kOhsI3cLugfANLlD6D2xKYRBhA1AV07aeDnACoLF/5vu2B5kBYkhtZbuqT6cSZsfZqTURgOhOraTTnzYi1UYLG8HTivsUOd00IbG19+4LNkqnJ8qbqHCT9REUOS2xpNgHKP2pOBKyROYDzPvjkKZk0MaSZzdQz77czlNbPODmjBUtDQaJXlzRDNWgxHxBTrTVm7iaBh8RzOzP9L3MSJ7vzJ1q+aUAGgC9Yy7GIVMgrR3/fVXPBU6r4ct5LXWwBx4irWnXdMjMWPSqxDxPC5GVtb38mapFJpqw2XQvmOJJaHAUFI7/Rc2LYZtWSW0YVeY1GnsKrcPGLfQMtT2xIuIXEwyHnS0kHPZ4BOBTb2SOdWmqZcSY7hJ284QrwQqKHYLeIOV7ecQcwQlmKknKpIlzqWN+0pi/xkdGfXzfa2mbLan16qb1+z3nEEdhcRffZdgwmM4UbXCxFI8CxDvnItYPNmTwY0Oa4AxNozCQ+8m0F3vyPcy3jlqWExe0ttLKIEC3cerMfTa/IGynQ4oOID5kJWHc67uuzBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0113L7UYJBfnCPkLk7zMX5LM",
      "input": {
        "note": "At the left arm's y limit with the teddy against the basket's right wall; releasing in the hope it tips inside.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0113L7UYJBfnCPkLk7zMX5LM",
      "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]: [0.0578, 1.8507, 1.8233, -0.7395, -0.0738, -0.0334, 0.9953, -0.0208, 0.8715, 0.5957, -0.3923, -0.0097, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.5151 left_y=0.0464 left_z=0.2482 left_yaw=0.1223 left_pitch=-0.2029 left_roll=0.0407 left_gripper=0.9953 right_x=0.296 right_y=-0.0008 right_z=0.1523 right_yaw=-0.0017 right_pitch=-0.1069 right_roll=-0.0093 right_gripper=0.9965\nstate[joint_eff]: [0.3897, -10.6598, 8.9504, 1.7607, -0.0904, 0.1148, -0.1636, -0.0889, -1.7436, 6.9675, 1.7118, -0.022, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0272d9aa307c1e4fc6549a0d712385b4ae46a2bfd1d817433d3f55cccd701ac9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0059107b8796fd33445bd60f562080db5454810e1fc3775894b039e1a938127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37c79b0f6744fd4d4ff92df48d130d5a2d92de0fc1cda024f7663a3d78289d18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]