adhoc - adhoc_d3478f90.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: 271.3 s
total steps: 407

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

agent noteObjects: plush toys (gray plush, small bear, teddy) and pens (yellow marker, two dark pens); two baskets at the back. Plan: plush into left basket, pens into right basket. The gray plush is right under the left gripper, so descending onto it.

move_to

left_z0.0300left_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, 0.7986, 0.617, -0.3805, -0.0216, -0.0299, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -1.6479, 9.306, 1.8242, -0.0171, 0.1001, -0.0562, -0.8137, -1.0872, 9.812, 1.8535, -0.1001, -0.022, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.03, "left_gripper": 1.0}, "note": "Objects: plush toys (gray plush, small bear, teddy) and pens (yellow marker, two dark pens); two baskets at the back. Plan: plush into left basket, pens into right basket. The gray plush is right under the left gripper, so descending onto it."})

tool

executing move_to over 10 steps (1.0s)

step 10

assistant

agent noteGripper stopped at z≈0.057, resting on the gray plush between the jaws. Closing to grab it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0189, 1.2232, 0.1051, 0.6594, -0.0448, -0.0078, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3126 left_y=0.0056 left_z=0.0571 left_yaw=0.0084 left_pitch=0.1033 left_roll=0.0283 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0103 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1436, -1.3744, 3.412, 1.1941, 0.149, -0.2662, -0.0562, -0.3214, -1.3607, 7.2137, 1.8095, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Gripper stopped at z\u22480.057, resting on the gray plush between the jaws. Closing to grab it."})

tool

executing move_to over 10 steps (1.0s)

step 20

assistant

agent noteClosed on the soft plush (reading ~0.01, plush compresses so unclear). Lifting to check whether it came along.

move_to

left_z0.1500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0174, 1.2167, 0.1204, 0.6746, -0.0547, -0.0036, 0.01, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.319 left_y=0.0077 left_z=0.0684 left_yaw=0.0163 left_pitch=0.1404 left_roll=0.0352 left_gripper=0.01 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0107 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.2803, -2.3043, 4.2051, 1.6484, 0.0611, -0.0269, 0.8034, -0.2803, -1.0462, 7.2957, 1.7363, -0.0317, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.15}, "note": "Closed on the soft plush (reading ~0.01, plush compresses so unclear). Lifting to check whether it came along."})

tool

executing move_to over 6 steps (0.6s)

step 26

assistant

agent notePlush appears lifted with the gripper. Carrying it over the left basket (forward and to the right of the left arm).

move_to

left_x0.4500left_y-0.1300left_z0.2500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0174, 0.8799, 0.3481, 0.0952, -0.0521, -0.0078, 0.0097, -0.0151, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3171 left_y=0.0073 left_z=0.1389 left_yaw=0.0162 left_pitch=0.1255 left_roll=0.0308 left_gripper=0.0097 right_x=0.2951 right_y=0.0013 right_z=0.179 right_yaw=0.0004 right_pitch=-0.0137 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.253, -2.1402, 9.1692, 1.6825, -0.0513, -0.0366, 0.7546, -0.1573, -1.5111, 7.0359, 1.7363, -0.0122, -0.0708, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.13, "left_z": 0.25}, "note": "Plush appears lifted with the gripper. Carrying it over the left basket (forward and to the right of the left arm)."})

tool

executing move_to over 13 steps (1.3s)

step 39

assistant

agent noteLeft gripper is above the left basket (overhead view shows it inside basket outline). Releasing the plush.

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]: [-0.4496, 1.523, 1.1778, -0.1562, -0.4278, -0.2108, 0.0089, -0.0147, 0.8043, 0.6086, -0.3855, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4484 left_y=-0.131 left_z=0.2385 left_yaw=0.008 left_pitch=0.1089 left_roll=0.0271 left_gripper=0.0089 right_x=0.2953 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=-0.0172 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3897, -7.3231, 9.2376, 1.5897, -0.3101, -0.0073, 0.6716, -0.2393, -1.1282, 7.0632, 1.7314, -0.0073, -0.0269, -0.0122] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Left gripper is above the left basket (overhead view shows it inside basket outline). Releasing the plush."})

tool

executing move_to over 10 steps (1.0s)

step 49

assistant

agent noteOverhead view suggests the gray plush is still on the table at the left, so the first grasp likely missed. Returning above it to look with the wrist camera.

move_to

left_x0.2800left_y0.0000left_z0.1200

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4492, 1.5242, 1.1793, -0.1703, -0.4335, -0.2184, 0.9954, -0.0147, 0.8043, 0.6086, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4474 left_y=-0.1293 left_z=0.236 left_yaw=0.0166 left_pitch=0.098 left_roll=0.0289 left_gripper=0.9954 right_x=0.2953 right_y=0.0014 right_z=0.1781 right_yaw=0.001 right_pitch=-0.0172 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1299, -7.3641, 6.9812, 1.9414, -0.1392, 0.0269, -0.0757, -0.2393, -1.2786, 7.0769, 1.7265, -0.0464, -0.0757, -0.0171] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.28, "left_y": 0.0, "left_z": 0.12}, "note": "Overhead view suggests the gray plush is still on the table at the left, so the first grasp likely missed. Returning above it to look with the wrist camera."})

tool

executing move_to over 13 steps (1.3s)

step 62

assistant

agent noteLeft basket is empty; the gray plush sits just ahead of the left jaws. Descending lower this time so the jaws straddle its body.

move_to

left_x0.3000left_y0.0100left_z0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0807, 0.6579, 0.2501, -0.0425, -0.1364, -0.057, 0.9967, -0.0143, 0.8089, 0.6079, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.282 left_y=0.0049 left_z=0.1248 left_yaw=0.0509 left_pitch=0.1158 left_roll=0.0234 left_gripper=0.9967 right_x=0.2945 right_y=0.0015 right_z=0.1751 right_yaw=0.0012 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0205, -0.5538, 6.7214, 1.6679, 0.0464, 0.1343, 0.1294, -0.0479, -1.3607, 7.0906, 1.7998, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": 0.01, "left_z": 0.0}, "note": "Left basket is empty; the gray plush sits just ahead of the left jaws. Descending lower this time so the jaws straddle its body."})

tool

executing move_to over 9 steps (0.9s)

step 71

assistant

agent noteJaws are pressed into the plush at z≈0.05 with plush filling the space between them. Closing to pinch it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0357, 1.8381, 0.0154, 1.5612, -0.1337, 0.0078, 0.9969, -0.0147, 0.8139, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3246 left_y=0.0156 left_z=0.0512 left_yaw=0.0628 left_pitch=0.3015 left_roll=0.0625 left_gripper=0.9969 right_x=0.2946 right_y=0.0013 right_z=0.1731 right_yaw=0.0005 right_pitch=-0.0359 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.0889, -2.2632, 0.4171, 0.3053, 0.3248, -0.5201, 0.0024, -0.212, -1.7026, 7.1043, 1.7118, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are pressed into the plush at z\u22480.05 with plush filling the space between them. Closing to pinch it."})

tool

executing move_to over 10 steps (1.0s)

step 81

assistant

agent noteJaws closed within the plush's fur. Lifting to see if it comes along.

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]: [-0.0341, 1.8194, 0.0231, 1.6119, -0.1566, 0.0231, 0.0124, -0.0147, 0.8185, 0.6067, -0.3923, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3302 left_y=0.0199 left_z=0.0711 left_yaw=0.0792 left_pitch=0.378 left_roll=0.075 left_gripper=0.0124 right_x=0.295 right_y=0.0014 right_z=0.1719 right_yaw=0.0008 right_pitch=-0.0401 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.4991, -3.2615, 1.1419, 1.4481, 0.188, -0.2027, 1.033, -0.1162, -1.7299, 7.1453, 1.7216, -0.0464, -0.0415, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.2}, "note": "Jaws closed within the plush's fur. Lifting to see if it comes along."})

tool

executing move_to over 9 steps (0.9s)

step 90

assistant

agent noteThe gray plush is now hanging from the left jaws (visible lifted in both views). Carrying it over the left basket.

move_to

left_x0.4700left_y-0.1500left_z0.2800

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.0341, 0.8574, 0.3153, 0.3138, -0.157, 0.0223, 0.0141, -0.0147, 0.8249, 0.6067, -0.3996, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3274 left_y=0.02 left_z=0.1815 left_yaw=0.0781 left_pitch=0.3345 left_roll=0.0796 left_gripper=0.0141 right_x=0.2943 right_y=0.0013 right_z=0.1687 right_yaw=0.0005 right_pitch=-0.0538 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1299, -2.5094, 9.8803, 1.9512, -0.022, -0.0171, 0.5495, -0.1983, -1.7162, 7.0359, 1.8339, -0.0171, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.15, "left_z": 0.28}, "note": "The gray plush is now hanging from the left jaws (visible lifted in both views). Carrying it over the left basket."})

tool

executing move_to over 16 steps (1.6s)

step 106

assistant

Plush is over the left basket; releasing.

agent noteThe gray plush is held above the left basket (overhead view). Opening to drop it in.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5259, 1.5925, 1.1568, 0.1162, -0.6147, -0.1139, 0.017, -0.0147, 0.8303, 0.6067, -0.4088, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4654 left_y=-0.1482 left_z=0.2598 left_yaw=0.0564 left_pitch=0.2997 left_roll=0.094 left_gripper=0.017 right_x=0.2933 right_y=0.0014 right_z=0.1654 right_yaw=0.001 right_pitch=-0.0683 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.212, -8.5675, 9.2239, 1.7216, -0.3736, -0.0073, 0.2808, -0.1846, -1.853, 7.0085, 1.7216, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

Plush is over the left basket; releasing.

move_to({"targets": {"left_gripper": 1.0}, "note": "The gray plush is held above the left basket (overhead view). Opening to drop it in."})

tool

executing move_to over 10 steps (1.0s)

step 116

assistant

agent noteGray plush is in the left basket. Next plush: the small brown bear left of the big teddy; moving above it to check alignment in the wrist camera.

move_to

left_x0.2700left_y-0.1400left_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]: [-0.5316, 1.6093, 1.1629, 0.0975, -0.625, -0.1219, 0.9952, -0.0147, 0.8307, 0.6067, -0.4088, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.466 left_y=-0.15 left_z=0.2515 left_yaw=0.0591 left_pitch=0.2775 left_roll=0.1059 left_gripper=0.9952 right_x=0.2933 right_y=0.0014 right_z=0.1653 right_yaw=0.001 right_pitch=-0.0687 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [0.3487, -9.2376, 6.5983, 1.9463, -0.0513, 0.1343, 0.0464, -0.0342, -1.4838, 7.0085, 1.6923, -0.0513, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.27, "left_y": -0.14, "left_z": 0.13}, "note": "Gray plush is in the left basket. Next plush: the small brown bear left of the big teddy; moving above it to check alignment in the wrist camera."})

tool

executing move_to over 16 steps (1.6s)

step 132

assistant

agent noteWrist view shows the small bear just below the jaws (yellow marker to its left, big teddy to the right). Descending onto the small bear, nudged slightly right away from the marker.

move_to

left_y-0.1600left_z0.0200

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0088, 1.2064, 0.3859, 0.2325, -1.0092, -0.408, 0.9967, -0.0147, 0.8326, 0.6067, -0.408, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2753 left_y=-0.1499 left_z=0.1295 left_yaw=0.0061 left_pitch=0.2574 left_roll=0.1223 left_gripper=0.9967 right_x=0.2935 right_y=0.0014 right_z=0.1649 right_yaw=0.001 right_pitch=-0.0698 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0342, -4.2188, 6.0376, 1.5897, -0.3639, -0.0757, 0.1392, -0.2393, -1.2239, 6.9949, 1.7509, -0.0317, -0.0806, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.16, "left_z": 0.02}, "note": "Wrist view shows the small bear just below the jaws (yellow marker to its left, big teddy to the right). Descending onto the small bear, nudged slightly right away from the marker."})

tool

executing move_to over 8 steps (0.8s)

step 140

assistant

agent noteAt table level; the small bear fills the bottom of the wrist view just ahead of the jaws. Nudging forward 2 cm while closing to catch its body.

move_to

left_x0.2900left_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]: [-1.0332, 1.874, 0.2569, 0.9062, -1.018, -0.4351, 0.9968, -0.0147, 0.8368, 0.6067, -0.4091, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2709 left_y=-0.1539 left_z=0.0103 left_yaw=-0.0216 left_pitch=0.1993 left_roll=0.206 left_gripper=0.9968 right_x=0.2936 right_y=0.0014 right_z=0.1636 right_yaw=0.0008 right_pitch=-0.0751 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [-0.2393, -7.1726, 2.3863, 1.8535, -0.569, -0.0269, 0.0024, -0.1436, -1.7846, 7.0222, 1.6288, -0.0415, -0.0366, -0.0122] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.29, "left_gripper": 0.0}, "note": "At table level; the small bear fills the bottom of the wrist view just ahead of the jaws. Nudging forward 2 cm while closing to catch its body."})

tool

executing move_to over 10 steps (1.0s)

step 150

assistant

agent noteGripper settled at 0.29, so something is grasped (likely the small bear). Lifting to confirm.

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]: [-0.9592, 1.9057, 0.2714, 0.9859, -0.9745, -0.3626, 0.2912, -0.0147, 0.8371, 0.6067, -0.4084, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.2869 left_y=-0.1483 left_z=0.011 left_yaw=-0.0062 left_pitch=0.2031 left_roll=0.2064 left_gripper=0.2912 right_x=0.2937 right_y=0.0014 right_z=0.1636 right_yaw=0.0008 right_pitch=-0.0748 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [0.253, -4.6564, 3.8906, 1.5116, -0.1538, 0.0952, 0.7741, -0.253, -1.4017, 6.9949, 1.6679, -0.0513, -0.0806, -0.0122] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.29, so something is grasped (likely the small bear). Lifting to confirm."})

tool

executing move_to over 13 steps (1.3s)

step 163

assistant

agent noteSmall bear is hanging from the left jaws. Carrying it to the left basket with the other plush.

move_to

left_x0.4700left_y-0.1500left_z0.2800

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.9577, 1.1355, 0.643, -0.1398, -0.9649, -0.3668, 0.2936, -0.0147, 0.841, 0.6067, -0.4088, -0.0116, -0.0166, 0.9998] state[eef_state]: left_x=0.289 left_y=-0.1522 left_z=0.1877 left_yaw=-0.0067 left_pitch=0.2082 left_roll=0.1857 left_gripper=0.2936 right_x=0.2938 right_y=0.0013 right_z=0.1625 right_yaw=0.0007 right_pitch=-0.079 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.2667, -4.7521, 8.7316, 1.3993, -0.4176, 0.0317, 0.2418, -0.1983, -1.6205, 7.0222, 1.7021, -0.0269, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.15, "left_z": 0.28}, "note": "Small bear is hanging from the left jaws. Carrying it to the left basket with the other plush."})

tool

executing move_to over 14 steps (1.4s)

step 177

assistant

agent noteSmall bear is above the left basket. Releasing it.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5194, 1.5986, 1.2827, -0.1314, -0.6022, -0.0856, 0.296, -0.0147, 0.8444, 0.6067, -0.4095, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4625 left_y=-0.145 left_z=0.2637 left_yaw=0.0199 left_pitch=0.1866 left_roll=0.1875 left_gripper=0.296 right_x=0.2939 right_y=0.0014 right_z=0.1614 right_yaw=0.001 right_pitch=-0.0832 right_roll=0.001 right_gripper=0.9998 state[joint_eff]: [0.1983, -7.6786, 9.4427, 1.6923, -0.1294, 0.1294, 0.232, -0.3761, -1.7436, 7.2547, 1.6728, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Small bear is above the left basket. Releasing it."})

tool

executing move_to over 8 steps (0.8s)

step 185

assistant

agent noteTwo plush toys are in the left basket. Last plush: the big teddy at centre; moving the left arm above it.

move_to

left_x0.2900left_y-0.3000left_z0.1500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5182, 1.6157, 1.2804, -0.1444, -0.5968, -0.0898, 0.9954, -0.0147, 0.8448, 0.6067, -0.4088, -0.0116, -0.0166, 0.9998] state[eef_state]: left_x=0.4635 left_y=-0.1459 left_z=0.2522 left_yaw=0.016 left_pitch=0.158 left_roll=0.1983 left_gripper=0.9954 right_x=0.294 right_y=0.0013 right_z=0.1614 right_yaw=0.0007 right_pitch=-0.0828 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.212, -9.5111, 7.2, 1.9023, -0.1929, 0.0024, -0.2125, -0.0342, -1.5658, 7.1863, 1.6435, -0.0171, -0.0659, -0.0171] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.29, "left_y": -0.3, "left_z": 0.15}, "note": "Two plush toys are in the left basket. Last plush: the big teddy at centre; moving the left arm above it."})

tool

executing move_to over 14 steps (1.4s)

step 199

assistant

agent noteThe teddy's head is centred between the jaws in the wrist view. Descending so the jaws straddle its head/body.

move_to

left_z0.0400

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1858, 1.7802, 1.1427, -0.3771, -1.0695, -0.7235, 0.9967, -0.0147, 0.8474, 0.6067, -0.4088, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.2931 left_y=-0.3013 left_z=0.1412 left_yaw=-0.0345 left_pitch=0.1253 left_roll=0.2277 left_gripper=0.9967 right_x=0.2942 right_y=0.0014 right_z=0.1607 right_yaw=0.001 right_pitch=-0.0854 right_roll=0.001 right_gripper=0.9998 state[joint_eff]: [-0.1436, -9.0872, 8.1983, 1.0085, -0.7155, -0.0855, 0.1197, -0.1299, -1.7436, 7.0222, 1.6288, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.04}, "note": "The teddy's head is centred between the jaws in the wrist view. Descending so the jaws straddle its head/body."})

tool

executing move_to over 7 steps (0.7s)

step 206

assistant

agent noteJaws are pressed into the teddy at z≈0.07. Closing to pinch it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.1862, 1.9533, 1.0031, -0.0082, -1.1004, -0.7322, 0.9968, -0.0147, 0.8474, 0.6067, -0.4084, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.2979 left_y=-0.3068 left_z=0.0697 left_yaw=-0.007 left_pitch=0.1721 left_roll=0.1778 left_gripper=0.9968 right_x=0.2942 right_y=0.0013 right_z=0.1608 right_yaw=0.0005 right_pitch=-0.0851 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [-0.1846, -5.9419, 3.0017, 0.6081, -0.0904, 0.0611, 0.0024, -0.1983, -1.4154, 7.0222, 1.6923, -0.0269, -0.0757, -0.0122] 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

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are pressed into the teddy at z\u22480.07. Closing to pinch it."})

tool

executing move_to over 10 steps (1.0s)

step 216

assistant

Gripper at 0.40 — holding teddy. Lifting and carrying straight to the left basket.

agent noteGripper settled at 0.40, so the teddy is pinched. Lifting it straight up first to clear the table.

move_to

left_z0.2500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.187, 1.956, 1.0042, 0.0383, -1.1263, -0.733, 0.4044, -0.0147, 0.8474, 0.6067, -0.4088, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3008 left_y=-0.3094 left_z=0.0765 left_yaw=0.0146 left_pitch=0.2082 left_roll=0.1424 left_gripper=0.4044 right_x=0.2942 right_y=0.0014 right_z=0.1607 right_yaw=0.0008 right_pitch=-0.0854 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [0.0205, -9.6889, 5.1624, 0.696, -0.1929, -0.0464, 1.033, -0.0615, -1.5385, 7.0222, 1.6484, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

Gripper at 0.40 — holding teddy. Lifting and carrying straight to the left basket.

move_to({"targets": {"left_z": 0.25}, "note": "Gripper settled at 0.40, so the teddy is pinched. Lifting it straight up first to clear the table."})

tool

executing move_to over 12 steps (1.2s)

step 228

assistant

agent noteTeddy is lifted (gone from its table spot in the overhead view). Carrying it over the left basket.

move_to

left_x0.4700left_y-0.1600left_z0.2900

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]: [-1.1858, 1.7576, 1.3964, -0.572, -1.1198, -0.7414, 0.4049, -0.0143, 0.8494, 0.6067, -0.4091, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.3035 left_y=-0.3162 left_z=0.2229 left_yaw=0.0129 left_pitch=0.1969 left_roll=0.1513 left_gripper=0.4049 right_x=0.2942 right_y=0.0014 right_z=0.1601 right_yaw=0.0009 right_pitch=-0.0877 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [-0.1436, -12.1778, 8.9778, 0.9841, -0.5104, 0.0659, 0.5299, -0.1436, -1.6615, 6.9949, 1.6337, -0.0366, -0.0415, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.16, "left_z": 0.29}, "note": "Teddy is lifted (gone from its table spot in the overhead view). Carrying it over the left basket."})

tool

executing move_to over 14 steps (1.4s)

step 242

assistant

agent noteTeddy is hanging over the left basket. Releasing it.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5518, 1.6321, 1.3682, -0.2569, -0.6411, -0.1627, 0.4062, -0.0147, 0.8494, 0.6067, -0.4091, -0.0116, -0.0166, 0.9998] state[eef_state]: left_x=0.4593 left_y=-0.1545 left_z=0.2643 left_yaw=0.0537 left_pitch=0.1423 left_roll=0.1714 left_gripper=0.4062 right_x=0.2942 right_y=0.0013 right_z=0.1601 right_yaw=0.0007 right_pitch=-0.0877 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [0.0889, -7.6513, 10.1812, 1.9853, -0.0855, 0.2955, 0.4127, -0.0479, -1.5658, 6.9949, 1.6874, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Teddy is hanging over the left basket. Releasing it."})

tool

executing move_to over 6 steps (0.6s)

step 248

assistant

agent noteThe teddy fell just in front of the left basket instead of in it (basket already holds two plushes). Moving above it to regrasp.

move_to

left_x0.3600left_y-0.2000left_z0.1500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.5522, 1.6356, 1.3731, -0.2607, -0.6281, -0.1696, 0.9956, -0.0147, 0.8494, 0.6067, -0.4091, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.4598 left_y=-0.1572 left_z=0.2636 left_yaw=0.0463 left_pitch=0.1374 left_roll=0.161 left_gripper=0.9956 right_x=0.2942 right_y=0.0014 right_z=0.1601 right_yaw=0.0008 right_pitch=-0.0877 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [-0.0752, -8.5812, 6.5573, 1.7314, -0.315, 0.0269, -0.1832, -0.0889, -1.5521, 7.0359, 1.6923, -0.022, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.2, "left_z": 0.15}, "note": "The teddy fell just in front of the left basket instead of in it (basket already holds two plushes). Moving above it to regrasp."})

tool

executing move_to over 8 steps (0.8s)

step 256

assistant

agent noteTeddy's head sits right under the jaws in the wrist view. Descending onto it.

move_to

left_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]: [-0.8383, 1.5875, 0.8932, -0.0334, -0.8261, -0.3592, 0.9967, -0.0147, 0.8539, 0.6067, -0.4088, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.362 left_y=-0.2029 left_z=0.1392 left_yaw=-0.0023 left_pitch=0.0796 left_roll=0.2124 left_gripper=0.9967 right_x=0.2945 right_y=0.0013 right_z=0.1589 right_yaw=0.0005 right_pitch=-0.0919 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [-0.0479, -8.7179, 6.065, 1.79, -0.4664, -0.1099, 0.1001, -0.1026, -1.4291, 7.0496, 1.6679, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.04}, "note": "Teddy's head sits right under the jaws in the wrist view. Descending onto it."})

tool

executing move_to over 7 steps (0.7s)

step 263

assistant

agent noteJaws are straddling the teddy at z≈0.05. Closing to grab it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8417, 1.8309, 0.7376, 0.3645, -0.831, -0.3664, 0.9968, -0.0147, 0.857, 0.6067, -0.4088, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3631 left_y=-0.2053 left_z=0.0513 left_yaw=0.0015 left_pitch=0.0822 left_roll=0.209 left_gripper=0.9968 right_x=0.2946 right_y=0.0014 right_z=0.1581 right_yaw=0.0008 right_pitch=-0.095 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [0.3897, -6.7624, 3.2752, 1.243, -0.1929, 0.0464, -0.0073, -0.253, -1.7573, 7.0632, 1.6777, -0.0073, -0.0366, -0.0122] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are straddling the teddy at z\u22480.05. Closing to grab it."})

tool

executing move_to over 10 steps (1.0s)

step 273

assistant

agent noteTeddy grasped (gripper 0.21). Lifting high so it clears the basket wall.

move_to

left_z0.3300

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]: [-0.8421, 1.84, 0.7315, 0.4061, -0.8387, -0.3676, 0.2111, -0.0147, 0.8577, 0.6067, -0.4088, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.365 left_y=-0.2062 left_z=0.0525 left_yaw=0.009 left_pitch=0.1035 left_roll=0.1915 left_gripper=0.2111 right_x=0.2946 right_y=0.0013 right_z=0.1579 right_yaw=0.0005 right_pitch=-0.0957 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [-0.1436, -8.8274, 5.4085, 1.0379, -0.2711, -0.022, 0.7888, -0.0342, -1.6615, 7.0085, 1.6288, -0.0317, -0.0659, -0.0171] 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_z": 0.33}, "note": "Teddy grasped (gripper 0.21). Lifting high so it clears the basket wall."})

tool

executing move_to over 18 steps (1.8s)

step 291

assistant

agent noteTeddy is lifted high. Moving further forward than last time so it drops into the middle/back of the left basket.

move_to

left_x0.5000left_y-0.1400left_z0.3200

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]: [-0.8421, 1.5391, 1.5494, -0.704, -0.831, -0.3813, 0.2125, -0.0147, 0.8585, 0.6067, -0.4091, -0.012, -0.0162, 0.9998] state[eef_state]: left_x=0.3674 left_y=-0.2103 left_z=0.3176 left_yaw=0.0114 left_pitch=0.107 left_roll=0.1692 left_gripper=0.2125 right_x=0.2946 right_y=0.0014 right_z=0.1576 right_yaw=0.0008 right_pitch=-0.0969 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [-0.0479, -6.2564, 8.759, 1.3211, -0.4078, 0.1343, 0.1441, -0.1026, -1.6615, 7.0222, 1.6923, -0.0073, -0.0464, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": -0.14, "left_z": 0.32}, "note": "Teddy is lifted high. Moving further forward than last time so it drops into the middle/back of the left basket."})

tool

executing move_to over 11 steps (1.1s)

step 302

assistant

agent noteTeddy is now over the middle of the left basket. Releasing.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4541, 1.7554, 1.7126, -0.5518, -0.5285, -0.1371, 0.214, -0.0143, 0.8604, 0.6067, -0.4091, -0.0116, -0.0162, 0.9998] state[eef_state]: left_x=0.4903 left_y=-0.1362 left_z=0.2965 left_yaw=0.0435 left_pitch=0.0459 left_roll=0.1821 left_gripper=0.214 right_x=0.2947 right_y=0.0014 right_z=0.1571 right_yaw=0.0009 right_pitch=-0.0988 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [0.0889, -9.5932, 9.7983, 1.9902, -0.2173, 0.2173, 0.1392, -0.1299, -1.7983, 6.9812, 1.6239, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "Teddy is now over the middle of the left basket. Releasing."})

tool

executing move_to over 8 steps (0.8s)

step 310

assistant

agent noteAll three plush toys are in the left basket. Now the pens: two dark pens lie just left of the right gripper, pointing forward; lowering the open right jaws between/around both to scoop them together.

move_to

right_x0.2800right_y0.1000right_z0.0000right_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]: [-0.4538, 1.7767, 1.7157, -0.5594, -0.5198, -0.1463, 0.9954, -0.0147, 0.8604, 0.6067, -0.4088, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4931 left_y=-0.1389 left_z=0.2856 left_yaw=0.0412 left_pitch=0.0217 left_roll=0.1821 left_gripper=0.9954 right_x=0.2948 right_y=0.0014 right_z=0.1572 right_yaw=0.001 right_pitch=-0.0984 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [-0.1709, -10.988, 6.5983, 1.7509, -0.3053, 0.0269, -0.0513, -0.0889, -1.4427, 7.0085, 1.6386, -0.0415, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.28, "right_y": 0.1, "right_z": 0.0, "right_gripper": 1.0}, "note": "All three plush toys are in the left basket. Now the pens: two dark pens lie just left of the right gripper, pointing forward; lowering the open right jaws between/around both to scoop them together."})

tool

executing move_to over 11 steps (1.1s)

step 321

assistant

agent noteOne pen is centred between the right jaws at table level, the other near the left jaw. Closing to grab them.

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]: [-0.453, 1.7767, 1.7145, -0.5617, -0.519, -0.1497, 0.9967, 0.5755, 1.4158, 0.2157, 0.4702, 0.4198, 0.3531, 0.9998] state[eef_state]: left_x=0.4928 left_y=-0.1385 left_z=0.2847 left_yaw=0.0431 left_pitch=0.0188 left_roll=0.1804 left_gripper=0.9967 right_x=0.2859 right_y=0.1039 right_z=0.0121 right_yaw=0.0306 right_pitch=-0.0908 right_roll=0.0096 right_gripper=0.9998 state[joint_eff]: [-0.0205, -9.4701, 7.1863, 1.6825, -0.2466, -0.0122, 0.1245, 0.2393, -2.7145, 2.7009, 0.0317, 0.0659, -0.2125, -0.0366] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "One pen is centred between the right jaws at table level, the other near the left jaw. Closing to grab them."})

tool

executing move_to over 10 steps (1.0s)

step 331

assistant

agent noteOne pen is grasped (gripper 0.15 ≈ pen thickness). Carrying it up and over the right basket.

move_to

right_x0.4800right_y0.1900right_z0.2500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.453, 1.7767, 1.7145, -0.5602, -0.519, -0.1497, 0.9968, 0.5758, 1.4227, 0.2054, 0.4938, 0.4149, 0.3485, 0.1463] state[eef_state]: left_x=0.493 left_y=-0.1385 left_z=0.285 left_yaw=0.0431 left_pitch=0.0201 left_roll=0.1797 left_gripper=0.9968 right_x=0.285 right_y=0.1044 right_z=0.0108 right_yaw=0.0377 right_pitch=-0.0869 right_roll=0.0122 right_gripper=0.1463 state[joint_eff]: [-0.1026, -9.4427, 6.8308, 1.5702, -0.1929, -0.0317, -0.0073, -0.3487, -4.1778, 5.3402, 1.3211, 0.1343, -0.0073, 1.0085] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.48, "right_y": 0.19, "right_z": 0.25}, "note": "One pen is grasped (gripper 0.15 \u2248 pen thickness). Carrying it up and over the right basket."})

tool

executing move_to over 16 steps (1.6s)

step 347

assistant

agent notePen is held directly over the right basket (wrist view shows basket interior below). Releasing it.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.453, 1.7771, 1.7145, -0.5613, -0.519, -0.1505, 0.9968, 0.4934, 1.7897, 1.6215, -0.524, 0.3389, 0.284, 0.1503] state[eef_state]: left_x=0.4929 left_y=-0.1385 left_z=0.2846 left_yaw=0.0435 left_pitch=0.0188 left_roll=0.1798 left_gripper=0.9968 right_x=0.4764 right_y=0.1936 right_z=0.2369 right_yaw=0.0525 right_pitch=-0.082 right_roll=0.0191 right_gripper=0.1503 state[joint_eff]: [-0.1709, -9.4291, 6.8855, 1.619, -0.2125, -0.0611, -0.0122, -0.8547, -9.6479, 8.9641, 1.3309, 0.2808, 0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 347): [image omitted: streamed camera frame] camera 'left_cam' (step 347): [image omitted: streamed camera frame] camera 'right_cam' (step 347): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0}, "note": "Pen is held directly over the right basket (wrist view shows basket interior below). Releasing it."})

tool

executing move_to over 9 steps (0.9s)

step 356

assistant

agent noteFirst pen is in the right basket. The second dark pen lies about 5 cm left of where the first one was; lowering the open right jaws around it.

move_to

right_x0.2800right_y0.1550right_z0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.453, 1.7771, 1.7145, -0.5602, -0.519, -0.1501, 0.9968, 0.4934, 1.8057, 1.618, -0.5404, 0.3286, 0.2737, 0.9955] state[eef_state]: left_x=0.4931 left_y=-0.1386 left_z=0.2848 left_yaw=0.0433 left_pitch=0.0198 left_roll=0.1795 left_gripper=0.9968 right_x=0.475 right_y=0.1948 right_z=0.2242 right_yaw=0.065 right_pitch=-0.1173 right_roll=0.0019 right_gripper=0.9955 state[joint_eff]: [-0.212, -9.4291, 6.8444, 1.58, -0.2076, -0.0171, -0.0122, -0.1573, -10.988, 7.1863, 1.7558, 0.1538, 0.0317, -0.1636] camera 'top_cam' (step 356): [image omitted: streamed camera frame] camera 'left_cam' (step 356): [image omitted: streamed camera frame] camera 'right_cam' (step 356): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.28, "right_y": 0.155, "right_z": 0.0}, "note": "First pen is in the right basket. The second dark pen lies about 5 cm left of where the first one was; lowering the open right jaws around it."})

tool

executing move_to over 15 steps (1.5s)

step 371

assistant

agent noteWrist view shows the blue pen running straight between the right jaws. Closing on it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.453, 1.7779, 1.7145, -0.5598, -0.519, -0.1501, 0.9968, 0.7589, 1.5471, 0.3691, 0.379, 0.514, 0.4679, 0.9963] state[eef_state]: left_x=0.4932 left_y=-0.1387 left_z=0.2845 left_yaw=0.0433 left_pitch=0.0195 left_roll=0.1797 left_gripper=0.9968 right_x=0.2889 right_y=0.1592 right_z=0.0122 right_yaw=0.0749 right_pitch=-0.1099 right_roll=0.0069 right_gripper=0.9963 state[joint_eff]: [-0.3487, -9.4838, 6.8308, 1.6435, -0.1587, -0.0562, -0.0122, 0.4581, -2.8513, 3.3162, 0.5201, -0.0366, -0.1099, 0.0757] camera 'top_cam' (step 371): [image omitted: streamed camera frame] camera 'left_cam' (step 371): [image omitted: streamed camera frame] camera 'right_cam' (step 371): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Wrist view shows the blue pen running straight between the right jaws. Closing on it."})

tool

executing move_to over 10 steps (1.0s)

step 381

assistant

agent notePen grasped (gripper 0.15). Carrying it over the right basket.

move_to

right_x0.4800right_y0.1900right_z0.2500

Raw transcript

user

Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.453, 1.7779, 1.7145, -0.5598, -0.519, -0.1501, 0.9968, 0.7635, 1.5574, 0.3592, 0.4049, 0.5129, 0.4671, 0.1454] state[eef_state]: left_x=0.4932 left_y=-0.1387 left_z=0.2845 left_yaw=0.0433 left_pitch=0.0195 left_roll=0.1797 left_gripper=0.9968 right_x=0.2877 right_y=0.1604 right_z=0.0101 right_yaw=0.0812 right_pitch=-0.106 right_roll=0.0106 right_gripper=0.1454 state[joint_eff]: [-0.3077, -9.4291, 6.7897, 1.5897, -0.149, -0.0171, -0.0073, -0.4718, -5.7368, 5.3128, 1.2186, 0.1832, -0.0269, 0.989] camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.48, "right_y": 0.19, "right_z": 0.25}, "note": "Pen grasped (gripper 0.15). Carrying it over the right basket."})

tool

executing move_to over 16 steps (1.6s)

step 397

assistant

agent noteBlue pen is over the right basket, with the first pen visible inside it. Releasing.

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]: [-0.453, 1.7779, 1.7145, -0.5613, -0.519, -0.1501, 0.9968, 0.4789, 1.7935, 1.6417, -0.5423, 0.3004, 0.2531, 0.151] state[eef_state]: left_x=0.4931 left_y=-0.1386 left_z=0.2842 left_yaw=0.0433 left_pitch=0.0181 left_roll=0.1805 left_gripper=0.9968 right_x=0.4779 right_y=0.1933 right_z=0.2391 right_yaw=0.0862 right_pitch=-0.0935 right_roll=0.0162 right_gripper=0.151 state[joint_eff]: [-0.1846, -9.4427, 6.8308, 1.6435, -0.2369, -0.0513, -0.0122, -0.6906, -9.5795, 8.8137, 1.2186, 0.1001, -0.0366, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0}, "note": "Blue pen is over the right basket, with the first pen visible inside it. Releasing."})

tool

executing move_to over 9 steps (0.9s)

step 406

assistant

agent noteI sorted the objects into two groups, stuffed toys and pens, but only got 5 of the 6 into baskets. The yellow highlighter is still on the table: I ran out of calls, and it sits near the left side of the table, where the right arm can't reach it (limit right_y 0.4). All three stuffed toys (gray plush, small bear, big teddy) are in the left basket. The teddy first landed just in front of the basket and I had to pick it up a second time. Both dark pens are in the right basket.

done

hindsight- Plan how many calls you'll need up front. A pick-and-place takes about 4–5 calls (hover, descend, close, carry, release), so 6 objects barely fit in 40. Merge the hover and descend into one move when the object is clear of others. Deal early with any object that needs both arms: the yellow highlighter lies at about left-frame (0.27, −0.10), which is roughly right_y 0.55, out of the right arm's reach. The right basket is out of the left arm's reach (left_y limit −0.4). So the left arm has to move the highlighter toward the table's centre line first, or drop it at left_y −0.4, x 0.5 near the right basket's left edge. - Positions that worked: the left basket drop point is left (0.49, −0.14, z 0.30) and the right basket drop point is right (0.48, 0.19, z 0.25). Dropping at x 0.46 made the big teddy land in front of the basket, so drop further forward (x ≈ 0.49–0.50) and high. - Stuffed toys: the descent stops at z ≈ 0.05–0.07 when it touches the toy. A full close still pinches it; the gripper reads 0.01–0.4, and a soft toy squeezes almost flat, so check the grasp by lifting. The first grab on the gray plush came up empty from z 0.057; the second, 2 cm further forward, worked. - Pens that point forward (along x) are easy to grab from straight above at z = 0; the gripper then reads about 0.15. The top camera scale near the pens was about 2.5 px/cm sideways.

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]: [-0.453, 1.7779, 1.7145, -0.5602, -0.519, -0.1501, 0.9968, 0.4767, 1.8072, 1.6398, -0.5632, 0.2932, 0.2462, 0.9952] state[eef_state]: left_x=0.4932 left_y=-0.1386 left_z=0.2844 left_yaw=0.0433 left_pitch=0.0191 left_roll=0.1799 left_gripper=0.9968 right_x=0.4764 right_y=0.1926 right_z=0.2275 right_yaw=0.092 right_pitch=-0.1291 right_roll=0.0013 right_gripper=0.9952 state[joint_eff]: [-0.0752, -9.347, 6.8034, 1.5751, -0.2418, -0.0464, -0.0073, -0.0205, -10.4, 7.4462, 1.8144, 0.1392, -0.0171, -0.1832] camera 'top_cam' (step 406): [image omitted: streamed camera frame] camera 'left_cam' (step 406): [image omitted: streamed camera frame] camera 'right_cam' (step 406): [image omitted: streamed camera frame]

assistant

done({"summary": "I sorted the objects into two groups, stuffed toys and pens, but only got 5 of the 6 into baskets. The yellow highlighter is still on the table: I ran out of calls, and it sits near the left side of the table, where the right arm can't reach it (limit right_y 0.4). All three stuffed toys (gray plush, small bear, big teddy) are in the left basket. The teddy first landed just in front of the basket and I had to pick it up a second time. Both dark pens are in the right basket.", "hindsight": "- Plan how many calls you'll need up front. A pick-and-place takes about 4\u20135 calls (hover, descend, close, carry, release), so 6 objects barely fit in 40. Merge the hover and descend into one move when the object is clear of others. Deal early with any object that needs both arms: the yellow highlighter lies at about left-frame (0.27, \u22120.10), which is roughly right_y 0.55, out of the right arm's reach. The right basket is out of the left arm's reach (left_y limit \u22120.4). So the left arm has to move the highlighter toward the table's centre line first, or drop it at left_y \u22120.4, x 0.5 near the right basket's left edge.\n- Positions that worked: the left basket drop point is left (0.49, \u22120.14, z 0.30) and the right basket drop point is right (0.48, 0.19, z 0.25). Dropping at x 0.46 made the big teddy land in front of the basket, so drop further forward (x \u2248 0.49\u20130.50) and high.\n- Stuffed toys: the descent stops at z \u2248 0.05\u20130.07 when it touches the toy. A full close still pinches it; the gripper reads 0.01\u20130.4, and a soft toy squeezes almost flat, so check the grasp by lifting. The first grab on the gray plush came up empty from z 0.057; the second, 2 cm further forward, worked.\n- Pens that point forward (along x) are easy to grab from straight above at z = 0; the gripper then reads about 0.15. The top camera scale near the pens was about 2.5 px/cm sideways."})

tool

done: I sorted the objects into two groups, stuffed toys and pens, but only got 5 of the 6 into baskets. The yellow highlighter is still on the table: I ran out of calls, and it sits near the left side of the table, where the right arm can't reach it (limit right_y 0.4). All three stuffed toys (gray plush, small bear, big teddy) are in the left basket. The teddy first landed just in front of the basket and I had to pick it up a second time. Both dark pens are in the right 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": {
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"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 · 19.56 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, 0.7986, 0.617, -0.3805, -0.0216, -0.0299, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6479, 9.306, 1.8242, -0.0171, 0.1001, -0.0562, -0.8137, -1.0872, 9.812, 1.8535, -0.1001, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:193b35eb0e6d853fb2ddddf4b49f001aa8e77846cf4cb3aecf964793e1216709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:969159333acf3e15c5277d40d81d07add222b1b6618d309f7f516fdeebdae857",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
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  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 2.989 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, 0.7986, 0.617, -0.3805, -0.0216, -0.0299, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6479, 9.306, 1.8242, -0.0171, 0.1001, -0.0562, -0.8137, -1.0872, 9.812, 1.8535, -0.1001, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
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    },
    {
      "source": {
        "data": "$blob:193b35eb0e6d853fb2ddddf4b49f001aa8e77846cf4cb3aecf964793e1216709",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
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    {
      "source": {
        "data": "$blob:969159333acf3e15c5277d40d81d07add222b1b6618d309f7f516fdeebdae857",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R5yijtTUw7Xv56ZsgoTDTM",
      "input": {
        "note": "Objects: plush toys (gray plush, small bear, teddy) and pens (yellow marker, two dark pens); two baskets at the back. Plan: plush into left basket, pens into right basket. The gray plush is right under the left gripper, so descending onto it.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01R5yijtTUw7Xv56ZsgoTDTM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 1.2232, 0.1051, 0.6594, -0.0448, -0.0078, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=0.0056 left_z=0.0571 left_yaw=0.0084 left_pitch=0.1033 left_roll=0.0283 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0103 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.3744, 3.412, 1.1941, 0.149, -0.2662, -0.0562, -0.3214, -1.3607, 7.2137, 1.8095, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb8a0d155b2d9c78ee31e1940119d19fa20467f797980ad19f0999318d98ffcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f396c611f28b31cb6edf95d22c4545dbb2d381da6c64b9cbbb8e53037478a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c321fd806b6a0957666d9b1f4987f938d9000ab7f86d1432f95e59771a6007d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 3.527 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, 0.7986, 0.617, -0.3805, -0.0216, -0.0299, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6479, 9.306, 1.8242, -0.0171, 0.1001, -0.0562, -0.8137, -1.0872, 9.812, 1.8535, -0.1001, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 1.2232, 0.1051, 0.6594, -0.0448, -0.0078, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=0.0056 left_z=0.0571 left_yaw=0.0084 left_pitch=0.1033 left_roll=0.0283 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0103 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.3744, 3.412, 1.1941, 0.149, -0.2662, -0.0562, -0.3214, -1.3607, 7.2137, 1.8095, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb8a0d155b2d9c78ee31e1940119d19fa20467f797980ad19f0999318d98ffcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f396c611f28b31cb6edf95d22c4545dbb2d381da6c64b9cbbb8e53037478a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c321fd806b6a0957666d9b1f4987f938d9000ab7f86d1432f95e59771a6007d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQYKEAgSGAI4AUIIdGhpbmtpbmcSDEccU5XJjWTJ8AiSDBoM3h8NW3t/1tOD1aUrIjC0wWZI6m4dIO3gPlR+jBj7KGjvEIWankEazKFbzuJzsPVwXMTJV7XDipW2T/i4sa4qugWlZrXRRniLN+5pS7Zhy33JKR8PzLwomKazpha0QjaOqteEZHqpGmeLxU1/bulaS+xpPftE8v34Af8rQI4VfxPWNPhNy3/fDRBot79LgM/EVnWwSvNRYzZvFyj4CQ6wg03f01isZi8iDW/eleAAPYlNNo0LBhhQzNShMphMTx8fswkqgujYnptJCbJu9+M4xcpiWtrDZFLqr0IZl8nTLCUktJL3j8IP/3L3sBr+UIdIMZ/TbI9kojQhoWKQle/qGRi01tgPtrh5PnEesLQ0En57QvRPHtLLuqyJy0hE/YGxgHh84uuOZ/xniNgpklZQvXy2bofv9VnIM//c0P9tqHRFOiZe90FCofsdNtp+/UHu3pdBs9q6vOTTQOfc6WuGG38i6KQaybggrxTZmUQPaWoIzCh7GjyviyjMNLdqTH32IKxMu20EHSV2V2zrCZkNsZNe5WGC+JN5wf92H42ajAGPEqY/3sJuub7be/HpkF+4tCpeS/bZJEfuv+k9I0jqiEjbI4+FuU/2y57KHlk0O8Xe11R2VJ0CNRh1yDAcTT8qOXDDyKtNpgjLhaWVuJwPjG0IETZIyOeYDbGg8kW451K5L6+A4SOQ+Kof30KusErLMS7EEj0g4pwTypIOSq5ztY/PqlFDi0BtO2gcJyrTkNwo644PB6w9pYQ4mrYi52qWKq5J+u08j7IuyybW3web+nyT4r2UtTbU9Jvb+YeAYcmfMggMxJzQXzrDFrAdah6qJi5eG5HzjSPdLrkG9cayGRkIoTh3w9o0dLNQEwQqR9W0zY7IQNGGyFLvoxrU710q+ffzBXW+pTmtGeGU6zbLcgnDwvz+0zNdIIgpQR7KycLkBhvf4LeobPSroCgHb/Mh6aeY1xtskbadWGvMhZdns540gSZvhCt4ZYvWtC+lOwaEmyNsCbBrZgW3aBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EiJCyztU3RaZzrHzrJvfhe",
      "input": {
        "note": "Gripper stopped at z≈0.057, resting on the gray plush between the jaws. Closing to grab it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EiJCyztU3RaZzrHzrJvfhe",
      "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]: [-0.0174, 1.2167, 0.1204, 0.6746, -0.0547, -0.0036, 0.01, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.319 left_y=0.0077 left_z=0.0684 left_yaw=0.0163 left_pitch=0.1404 left_roll=0.0352 left_gripper=0.01 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0107 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -2.3043, 4.2051, 1.6484, 0.0611, -0.0269, 0.8034, -0.2803, -1.0462, 7.2957, 1.7363, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362770df394ffe2a574a63086b592c089c4880c0d2adf78db6bc26e383190867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a28a7fefab3d331d9f98b3be9d4daa4f9b60a998246c382575f1f5e366da1023",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de3f09117504a3edd932c7adc2ff26a8c8d3b93dbf62e5720b8483bcb075aa96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 4.394 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, 0.7986, 0.617, -0.3805, -0.0216, -0.0299, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1846 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6479, 9.306, 1.8242, -0.0171, 0.1001, -0.0562, -0.8137, -1.0872, 9.812, 1.8535, -0.1001, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 1.2232, 0.1051, 0.6594, -0.0448, -0.0078, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=0.0056 left_z=0.0571 left_yaw=0.0084 left_pitch=0.1033 left_roll=0.0283 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0103 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.3744, 3.412, 1.1941, 0.149, -0.2662, -0.0562, -0.3214, -1.3607, 7.2137, 1.8095, -0.0366, -0.0366, -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]: [-0.0174, 1.2167, 0.1204, 0.6746, -0.0547, -0.0036, 0.01, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.319 left_y=0.0077 left_z=0.0684 left_yaw=0.0163 left_pitch=0.1404 left_roll=0.0352 left_gripper=0.01 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0107 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -2.3043, 4.2051, 1.6484, 0.0611, -0.0269, 0.8034, -0.2803, -1.0462, 7.2957, 1.7363, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362770df394ffe2a574a63086b592c089c4880c0d2adf78db6bc26e383190867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a28a7fefab3d331d9f98b3be9d4daa4f9b60a998246c382575f1f5e366da1023",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de3f09117504a3edd932c7adc2ff26a8c8d3b93dbf62e5720b8483bcb075aa96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4AYKEAgSGAI4AUIIdGhpbmtpbmcSDBMfzU0b6aAL+aXIIxoM9E4YA73CYGskCiSoIjCKMJWDhWnnf0uv+SmAkT02hCRlpPhw/E718ET+mGlWlkdJsFopIfn26nIwWkszsXkq/QXlXyE4KvodaCRl9KKUkHX24+CTHys7dKelmzqgjIzQb6OLZeOwjDsGjRDCRruq59rfgLj9EpcPhT094TizbGC1IrQxRcOLym7GwLgyIw+9aoUiK3WBMfN1XJwFz46O//DKnoT1SKB2EOLeKQ3TtYlPtzYL7ZTLVTiLyfLWZwGTYXM7smg3gB5gjyJZEjWclWjBhz9WrnXAQPMIaiWYbW2f5UM/h3Vi3T3rE8ilUEUYMOYCVYuSXIz/yDXzF87pFonkop1ia9ZshZee3UfDKXncPF3Uk5DFpK16kzRGpviHGfueid/U5ZI40rGQzL0pUBcBlhRAX4EWXhx6CVahiaRceutSV9C0Sptqvi01uv6qR4tOwXeu1jjPoNZYINkkGtbBWOFp06vclZkEryxXSMMILsipaEnfB1kMWBh/VDObIw0+pyq557kMQN3Mv/DZL93tKtBqq0JfTNX5cT1gePB/jgMCPWbuL37jJrZH86LZS+yckrB0cstwgMaKXZ7lcf6l4j0NRBQVihG1PBLcK65EkebLG6Xfpp9pKuuAxT6iSkGEKdZ/p3k8Kct4logsZXNnU5+jD6+te+/8qmN9aKmI/shRyi6OKqxXjhnGk9xZAqZlFIHoYnlFkMBCwwQXIz25WC7z6bB0gEtthi6eB134m7I+boxTgUeIFO2DKtJ7Faa+m86v1KUjHL6f+P1CWyLRRyT+Xod5vjhXfk9yJd4FOd61OroyLFRZrkoAD8ZgA6Zo8LVKepdyEp7fsNOxOQAYVBsc9jccy5SwEAfe/wnGUMwyoBoSkJQO0kG+/lAOrPZfes7iUkFKNYU2034Pg4QBgYn6wBEip1RJnRbxxXrigaUV9UrgCIEkZ9imAFmosxXEr8rzVwm5FlaxI2PO++VPeUQ80G1apuitTlkW1jf+4JwCZyj9a6WJmObXKQnV6nrKvhbfBBn49hk8lvOxGZ+M1i9gFl55qmyc8w6paXGldMllCb1DA5SM6Iu2/0eGK14H4UklHh9Q5Mz+iGAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VAENSt8ynXei93BGot4tNC",
      "input": {
        "note": "Closed on the soft plush (reading ~0.01, plush compresses so unclear). Lifting to check whether it came along.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VAENSt8ynXei93BGot4tNC",
      "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]: [-0.0174, 0.8799, 0.3481, 0.0952, -0.0521, -0.0078, 0.0097, -0.0151, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3171 left_y=0.0073 left_z=0.1389 left_yaw=0.0162 left_pitch=0.1255 left_roll=0.0308 left_gripper=0.0097 right_x=0.2951 right_y=0.0013 right_z=0.179 right_yaw=0.0004 right_pitch=-0.0137 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.1402, 9.1692, 1.6825, -0.0513, -0.0366, 0.7546, -0.1573, -1.5111, 7.0359, 1.7363, -0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35de858fd79266516499157dfcb525a0bc6bc58327368cf58c4b139bdd447164",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cde11264b0f3c90df4ea1074ef0baf9e35b64ac079dfb335ba8c424dcacd971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18054495fb369f5ad58bc9b9e9eb71e8b5bec3871f30f746d1f05cb05846c59d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 4.67 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]: [-0.0189, 1.2232, 0.1051, 0.6594, -0.0448, -0.0078, 0.9996, -0.0151, 0.7986, 0.6086, -0.3843, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3126 left_y=0.0056 left_z=0.0571 left_yaw=0.0084 left_pitch=0.1033 left_roll=0.0283 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1799 right_yaw=0.0004 right_pitch=-0.0103 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -1.3744, 3.412, 1.1941, 0.149, -0.2662, -0.0562, -0.3214, -1.3607, 7.2137, 1.8095, -0.0366, -0.0366, -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]: [-0.0174, 1.2167, 0.1204, 0.6746, -0.0547, -0.0036, 0.01, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.319 left_y=0.0077 left_z=0.0684 left_yaw=0.0163 left_pitch=0.1404 left_roll=0.0352 left_gripper=0.01 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0107 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -2.3043, 4.2051, 1.6484, 0.0611, -0.0269, 0.8034, -0.2803, -1.0462, 7.2957, 1.7363, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0174, 0.8799, 0.3481, 0.0952, -0.0521, -0.0078, 0.0097, -0.0151, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3171 left_y=0.0073 left_z=0.1389 left_yaw=0.0162 left_pitch=0.1255 left_roll=0.0308 left_gripper=0.0097 right_x=0.2951 right_y=0.0013 right_z=0.179 right_yaw=0.0004 right_pitch=-0.0137 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.1402, 9.1692, 1.6825, -0.0513, -0.0366, 0.7546, -0.1573, -1.5111, 7.0359, 1.7363, -0.0122, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35de858fd79266516499157dfcb525a0bc6bc58327368cf58c4b139bdd447164",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cde11264b0f3c90df4ea1074ef0baf9e35b64ac079dfb335ba8c424dcacd971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18054495fb369f5ad58bc9b9e9eb71e8b5bec3871f30f746d1f05cb05846c59d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQkKEAgSGAI4AUIIdGhpbmtpbmcSDP7Ag/LA/ZccybY2KhoMoznAZzNWejqAHCWBIjANdYDn1/8UBvRZNmlEw0la75hJcuHzoC9DkwVbHqLP3hdOswsyZE8G7NbRWu1+D8cqugi7XFIQxiQQSGEtdPqV4Kz8L3LFeb2w9YEDNddwEEFlSpLx/sIdV7H6e8PFbJWQ3D93UgLxonMV5olzb4Mki+kYhQgbPsLEFZb10MEe9IRncrE9QODyiLNHL+kqcEevLDVfePmA1KpOxEbbXG+MhnzzNmNXG1HFzRvob3rhvk9spbMY3RiKa9b8Zf10rYUoySulDpv9Z4MhxyCvkw+MAbNYUunaXW52MBaHEQhMndvVEpAfA5PR/K2Yemwzm1PD09Y5ropjFSFdl0qWk40coC2fEp0PPJrAN8QtSJVbePuiT2rTzIdyjp5xfteeM2OOXF7/ouerLs/zoznaFgAaFJudL9i1aRL2NftHQLNFJEEsW+O1UoiNkVSpbNqhIFAnZpbTi3Iqv15giJVJwSxMBUKFRpvcvPHQ9OO7PKFfe+NWMGMDnAFgwpBWEc/EiV6cqpospNPOzeiwKOCPbbmfb3fNSJTHlJNxtoA5tbTyH6RJHiZuV/E0orkoo+83Ec+2OE8wfdDctm/85/IytmSHZbdt6muxNLIPpjvbnl+3pNu/d/SlaK+E2aZiF7H2v96/+3op0tQO2ItqcrssjI3LvaPbItwsAKsSeXJUeCH7eFChJvq9aMcT6vaNZygaBIqQ17CzoDtW0Y+xkTNUlVSHnjjcI2XdBoZJiMk0Z62P6XTKo7J8wVQZvyx+lnFCRdNXTL4pn7M8vT8Mwusc4ApBRP1+sZloscry+to351QgFFHVrbLzgTUf93HtS5lmNvN4GsrO3x1rcYa2CoGK4uhy8cN679gtHwSNhXmNSX4gHGgi2oQrtxMX80qi5XT2ZQRgfYLdiGg7TPQuhK4BieqRbXBzVYSee4tNfts8FtCZX1Fb+zz4tvZz1hmgkPXjOJHpLbT+G34iI3FvewUoW1gv0jo3zZm4+K58PiB5dmWzDCqh1t/u1YG5l5eKZ6IpcfH+hQNYu0IAkq2bgjyxP9D4kOlKZUwLw4xpoKgAbC3G/mGbUCLW2JrdtLWm3w29+foAW6mudnNDNo8E3TfPEkrNVc8Dvx7NAZhGqkcNBpQh9lmVZcPBbha5ZdbWXIbEvRxeGBnbaAYSrO+1c2OnbbmFWawft5LbnjWTl1/qh4wVccBRRA0NP8h9ldYAmvq33pgGK7MotD3DPmGklBg9uZzOy71/ViAz2PJj7St4pk+7/tUwIkveWl6RqvkcQ+nOs5qEEpkXXQT6/1cTcIKPhlePJqbxoLAuGe1jpcl7n9crVYKaeGrjbmRiHQ9QqQWhkwlKmcXTP6ELRaTfi7AxZkVwU2uwHB04JQ6cOfdpNPriW/e38nvArPG0z1xg0zMCR74wd+JfTt5uVsmX20ZGI0Roswl81VPhH5sNV5PtNJzrpeP4aHUlKO1Ye3XW+H/cmZICqJYL/xvnv8go04TKGdMuUnMyDcGW2mUZuhXvNBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011ienFofNewnomFpfjBLyDo",
      "input": {
        "note": "Plush appears lifted with the gripper. Carrying it over the left basket (forward and to the right of the left arm).",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.13,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_011ienFofNewnomFpfjBLyDo",
      "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]: [-0.4496, 1.523, 1.1778, -0.1562, -0.4278, -0.2108, 0.0089, -0.0147, 0.8043, 0.6086, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.131 left_z=0.2385 left_yaw=0.008 left_pitch=0.1089 left_roll=0.0271 left_gripper=0.0089 right_x=0.2953 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=-0.0172 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.3231, 9.2376, 1.5897, -0.3101, -0.0073, 0.6716, -0.2393, -1.1282, 7.0632, 1.7314, -0.0073, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8e6a21443b62e6c5900cb643e84c4e0c40d1dcccd5ae0e4a75390eab4ab9921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7de909440b47d4194d5ad93d5f413bd959b1c1e1fd1d2bfbb76336a593c212dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85b09b98e98638263ccb3f9af115f668b5d5077bbea767381c6b72a7cf8bcb2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 7.839 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]: [-0.0174, 1.2167, 0.1204, 0.6746, -0.0547, -0.0036, 0.01, -0.0151, 0.7986, 0.6086, -0.3847, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.319 left_y=0.0077 left_z=0.0684 left_yaw=0.0163 left_pitch=0.1404 left_roll=0.0352 left_gripper=0.01 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0107 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -2.3043, 4.2051, 1.6484, 0.0611, -0.0269, 0.8034, -0.2803, -1.0462, 7.2957, 1.7363, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0174, 0.8799, 0.3481, 0.0952, -0.0521, -0.0078, 0.0097, -0.0151, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3171 left_y=0.0073 left_z=0.1389 left_yaw=0.0162 left_pitch=0.1255 left_roll=0.0308 left_gripper=0.0097 right_x=0.2951 right_y=0.0013 right_z=0.179 right_yaw=0.0004 right_pitch=-0.0137 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.1402, 9.1692, 1.6825, -0.0513, -0.0366, 0.7546, -0.1573, -1.5111, 7.0359, 1.7363, -0.0122, -0.0708, -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]: [-0.4496, 1.523, 1.1778, -0.1562, -0.4278, -0.2108, 0.0089, -0.0147, 0.8043, 0.6086, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.131 left_z=0.2385 left_yaw=0.008 left_pitch=0.1089 left_roll=0.0271 left_gripper=0.0089 right_x=0.2953 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=-0.0172 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.3231, 9.2376, 1.5897, -0.3101, -0.0073, 0.6716, -0.2393, -1.1282, 7.0632, 1.7314, -0.0073, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8e6a21443b62e6c5900cb643e84c4e0c40d1dcccd5ae0e4a75390eab4ab9921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7de909440b47d4194d5ad93d5f413bd959b1c1e1fd1d2bfbb76336a593c212dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85b09b98e98638263ccb3f9af115f668b5d5077bbea767381c6b72a7cf8bcb2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1QoKEAgSGAI4AUIIdGhpbmtpbmcSDMbWRIxvhlTxQmTKexoMlVDA60a/z8t/9hrUIjB3ubzXGV92xzitk9cneu1AN+F6nplcDxk4RSWa6/9o5IVw32IzUJqahVdW2olNFS8q8glSn+CUuwcSADcg8nOCOG4Taq6NEJY6t4l9UQtbyQ35oEzcA3yqYwdfJFbRyM1JRuzJNKW9076FIshz1O0a0QSIYx91ZRxWvXUS/Zn1cxTWvZgrGgjBjmIdsI5AsZJwI+WxKs6zg9wsf1McXbBFmo6wzTfr12nwx7SHGVFmVTKBIOjBfN+Fm29uOl/TVHS9ovAHVkESWU+6KKdT7GeLu5sRZO97fNy8Om5+mst9yhz6Kp76M2iHdOZKlhkiWNmFjCx7Bolh6mfLF1mQ4cuKYy/4u8Df6KjBHd6VfpkkY+8PbHl3C5FF+ei3I0BmJIVsDLdmlA3MBsCHHx7sXV9Ol2obz6/+W96FsPipQ1pV+7GgAcfira1p6CrLyGDXbPvQt26KVYR2YUlRpMBy9mOsqlR2y10YloNj8ReTssFoabX0mgr1yxs6SR8k/yUx453sXpHsMe8ezw3Sv0C2QimLw9d1DenzITaNsIeJFj7XpEjAiRITqWkqmzyigET5z4K17Zj+HA+aswHcEjbrcXT1ba1L4WGgr2c3Sxt4r4Nthq001a7KvTT6889JtOB+twshiXx+sRGbglSCCLChEYYU9ZCI3KBrZfqmjbVzfRYyI4yTFK+kBs66/6y3htjsa7GAuVGksWHRzIYmQ8Pd6txlmSWC7tQwWShtWRLa1l5HDF/pzywe3NwsZc4foEZvG39SI7lH56k1V79U8GFBneL3zTMVEOEA+BHqB6eyXMtV3EMydWrKd7hMiZA7rDuhOMdYo929pGkSkAv60bNOvbjFVqDLvDTMpjaItS9u49vTtQMSSrFHcI08YV8S9yFwyXyvHFDcc2diNTF7VDVLYGlYmG5GhaGd0RhwWmdkOVsodDMwJBaXhmgu4sbdqZRUfoc704NP2iygr/sKtaIj66dR7ypXRY/cf9Fwl+NLzuDTDJ8XxH4coeYEhrZJr8g65Vgs5EH02dP0mLxh6HCPRy2Z2oIcTWWZweA1HVwUDzN8yUJeqwg4UE2l7AaTu2G27vIWYpmhZg9Qk6wdij1Vohanr6W4W+9Crs2P1c5vBK3q1BWUG8HCDk1Dqkcnc2t4l9PU2HrVRLfftR+5CxY8U4j6EIOS4C46xB83kPn+8PSExCPKxR4v+k9EE8vpi1+eL+8P43PiUmTOrAhnuYqAQbpSbhJu6SbqqdCUtH69LVOatzyUZJblISDAZURFx5n+UuN4lEmDhwWDwgkINxAVq4PJEFQ/BERuamFo5Iz1v21F/++HeERpEOnHxrH+IMyVgVUR7SMCeFVfYzLJCIqnMaTJBUIzBa6ZVafJokPt+omo7HM4YXIxqXcX3hKuHc4NxJQZ05wXHjFzcKVlNAN9kvWLzRkemqyVICeVbOEw3+xGul0C2zBfaC1bEhvVaBQ0g+zbPfe/PNFZVH7lDRfehOfFYtz0hNYf24HPZKKCUXUz7T7Z+f+E2AJFOpS/mw8nnAWNL9xLoqmVdnAfRCaAkGsgvx4jGcjGJVy5G+rb4eKvQuauV3NoTHMizPN2LUB8RblXh5PLDrVzsevdCssCJgnDbirzE2pkqckw2YW41maJQDRwwiaks8SFYUwzbkA3pvvEko/bMlE36XPFwge2AxRJkXoGuYNuGOAPnh5hkSQW0VFhebFdi4k4P/QmHk9W4cTHFr1UxgxzVpp7GF4xv09Habwg/4UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JQyYFJUDEtLA2CWx8kpggz",
      "input": {
        "note": "Left gripper is above the left basket (overhead view shows it inside basket outline). Releasing the plush.",
        "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_01JQyYFJUDEtLA2CWx8kpggz",
      "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]: [-0.4492, 1.5242, 1.1793, -0.1703, -0.4335, -0.2184, 0.9954, -0.0147, 0.8043, 0.6086, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4474 left_y=-0.1293 left_z=0.236 left_yaw=0.0166 left_pitch=0.098 left_roll=0.0289 left_gripper=0.9954 right_x=0.2953 right_y=0.0014 right_z=0.1781 right_yaw=0.001 right_pitch=-0.0172 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -7.3641, 6.9812, 1.9414, -0.1392, 0.0269, -0.0757, -0.2393, -1.2786, 7.0769, 1.7265, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e88ab78b9511f4e7e66edb45621abce34cd0a90b86c46dc15cff13d1e6d3628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3402af18b2fcd1e0eb830a49d08ae5000fbe7c5fd532f472cd7e1c25c34538f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09d4f56af02e99cea89d24989b283fc0bdd9db3adcaabdac463ce8b34082a24b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 5.789 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]: [-0.0174, 0.8799, 0.3481, 0.0952, -0.0521, -0.0078, 0.0097, -0.0151, 0.8013, 0.6086, -0.3851, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3171 left_y=0.0073 left_z=0.1389 left_yaw=0.0162 left_pitch=0.1255 left_roll=0.0308 left_gripper=0.0097 right_x=0.2951 right_y=0.0013 right_z=0.179 right_yaw=0.0004 right_pitch=-0.0137 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -2.1402, 9.1692, 1.6825, -0.0513, -0.0366, 0.7546, -0.1573, -1.5111, 7.0359, 1.7363, -0.0122, -0.0708, -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]: [-0.4496, 1.523, 1.1778, -0.1562, -0.4278, -0.2108, 0.0089, -0.0147, 0.8043, 0.6086, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.131 left_z=0.2385 left_yaw=0.008 left_pitch=0.1089 left_roll=0.0271 left_gripper=0.0089 right_x=0.2953 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=-0.0172 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.3231, 9.2376, 1.5897, -0.3101, -0.0073, 0.6716, -0.2393, -1.1282, 7.0632, 1.7314, -0.0073, -0.0269, -0.0122]",
      "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]: [-0.4492, 1.5242, 1.1793, -0.1703, -0.4335, -0.2184, 0.9954, -0.0147, 0.8043, 0.6086, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4474 left_y=-0.1293 left_z=0.236 left_yaw=0.0166 left_pitch=0.098 left_roll=0.0289 left_gripper=0.9954 right_x=0.2953 right_y=0.0014 right_z=0.1781 right_yaw=0.001 right_pitch=-0.0172 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -7.3641, 6.9812, 1.9414, -0.1392, 0.0269, -0.0757, -0.2393, -1.2786, 7.0769, 1.7265, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e88ab78b9511f4e7e66edb45621abce34cd0a90b86c46dc15cff13d1e6d3628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3402af18b2fcd1e0eb830a49d08ae5000fbe7c5fd532f472cd7e1c25c34538f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09d4f56af02e99cea89d24989b283fc0bdd9db3adcaabdac463ce8b34082a24b",
        "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_016bmMYKNpsKmC851hXWoEkd",
      "input": {
        "note": "Overhead view suggests the gray plush is still on the table at the left, so the first grasp likely missed. Returning above it to look with the wrist camera.",
        "targets": {
          "left_x": 0.28,
          "left_y": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_016bmMYKNpsKmC851hXWoEkd",
      "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]: [-0.0807, 0.6579, 0.2501, -0.0425, -0.1364, -0.057, 0.9967, -0.0143, 0.8089, 0.6079, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.282 left_y=0.0049 left_z=0.1248 left_yaw=0.0509 left_pitch=0.1158 left_roll=0.0234 left_gripper=0.9967 right_x=0.2945 right_y=0.0015 right_z=0.1751 right_yaw=0.0012 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -0.5538, 6.7214, 1.6679, 0.0464, 0.1343, 0.1294, -0.0479, -1.3607, 7.0906, 1.7998, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1f9a46922bbaf99ddf53d8920b36a531165adc99119ffc805f9ee2065e0d5fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83c6704533704c31ebc1178eacaae6791d0efc48038348c6ea4b53b8ad1fc379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:834956b31af73c605496028ae1b0b6738d43567d0269ddf5bbd3b53cb837bdac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 3.682 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]: [-0.4496, 1.523, 1.1778, -0.1562, -0.4278, -0.2108, 0.0089, -0.0147, 0.8043, 0.6086, -0.3855, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4484 left_y=-0.131 left_z=0.2385 left_yaw=0.008 left_pitch=0.1089 left_roll=0.0271 left_gripper=0.0089 right_x=0.2953 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=-0.0172 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.3231, 9.2376, 1.5897, -0.3101, -0.0073, 0.6716, -0.2393, -1.1282, 7.0632, 1.7314, -0.0073, -0.0269, -0.0122]",
      "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]: [-0.4492, 1.5242, 1.1793, -0.1703, -0.4335, -0.2184, 0.9954, -0.0147, 0.8043, 0.6086, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4474 left_y=-0.1293 left_z=0.236 left_yaw=0.0166 left_pitch=0.098 left_roll=0.0289 left_gripper=0.9954 right_x=0.2953 right_y=0.0014 right_z=0.1781 right_yaw=0.001 right_pitch=-0.0172 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -7.3641, 6.9812, 1.9414, -0.1392, 0.0269, -0.0757, -0.2393, -1.2786, 7.0769, 1.7265, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 0.6579, 0.2501, -0.0425, -0.1364, -0.057, 0.9967, -0.0143, 0.8089, 0.6079, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.282 left_y=0.0049 left_z=0.1248 left_yaw=0.0509 left_pitch=0.1158 left_roll=0.0234 left_gripper=0.9967 right_x=0.2945 right_y=0.0015 right_z=0.1751 right_yaw=0.0012 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -0.5538, 6.7214, 1.6679, 0.0464, 0.1343, 0.1294, -0.0479, -1.3607, 7.0906, 1.7998, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1f9a46922bbaf99ddf53d8920b36a531165adc99119ffc805f9ee2065e0d5fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83c6704533704c31ebc1178eacaae6791d0efc48038348c6ea4b53b8ad1fc379",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:834956b31af73c605496028ae1b0b6738d43567d0269ddf5bbd3b53cb837bdac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmwoKEAgSGAI4AUIIdGhpbmtpbmcSDE5ap3HpWXDUkpwF+RoMQCHB4lf3yGXjMg/2IjATfrGVDqGwDEg0QbL5rzwTG4cD4wwYkA3GU48Iz2uCEMzpPodSq44UtFikImJJOHgquAnFLiVbwK7DZniPZal6/9U9Iu7gI6i5Ym4dw2+UPvuBb14IjXGCjSbgNuTuw1qQeHge6c6voPYAoLaAaw1BAsPm6TOV7JCzyFcnoDYPHCy1WypxX6hZNZoTBOfq5XP3tF9P4qZzFJ1t3nRW96V9sAmOS7X/oaGls7+ZU33FFWaCNF2+G7o7IaIiQgZvpPoZpIU6MAeybOgOXLc3PPbV/FW4+jRZyCc0W5shTbYgzsMM6pkT6s0POUiEvOIERK9AckPruqGBjT349PmqPRxIwh9sh8uom5B252wn7o7jUikpoKaK62f2lU/rceu/CSj5uu809PrKANpPYiYDGLi7iz3/mwr+i+3XY6ll/nHEPs+pKOoVBP9uWV4+ORTvg7udhX3q8G5i1i1VZ7Ze/0FKc0xD4cxuMdUrw3HXz1LdbqK3kJgRyWRLjYb0G8G7I3/if2vA9YoZaW85N4nqX7p7rZs3qNV+iWWgn+hxob5j+/ol2RmK1SMWHUzeJFt5rjjICLE6mtmuuABNdVi3WkdAFU/alAydQAV0VXmSwsCdSOQ4/q+fe+jGifYj8hPrHu6m5LtQpZ/EJi1PvQbkKcba84d6w3ggvs0oVdx9WNoc2E95HTcFXSusKiqgY9W7rwy15a7AwjhBkmDHW9fADXWxJqHdwddi/8Nrh9c2OrSw5b2VoDM+StC6IPTdGODEw+sjxrvYKUzWdnI7SkFHNLAObsedA/DnKaW9zYHbWrxpbSpit8RuQtaiG9aThcFxuZiFNjzrOl2zbz+1n9sHUDrYWi4f39hgAvPSPedwY5aN0w9Fsh4Xv+aA9wIC52m3dMkMLh+N8SJirD2VA1Cw9+mDJtnI64rfsavHrfFDHv4DmJfmFTLyjm/20ZflISsQQ7rG+LZ0zR4TMRXKDBP1Vec5bHXAFkYxpsCcWPVlf10H0+BValpnqNZ0X4+sVDJOk5Go91oczHEJYfjkYxw8J7x/QPffm7OUgi8K97NcNAQ7V6TUJMKEkFUJfQHDTqtlv9jeiZA1WjRk9JvJol2Dv2C+xkh0Qh4lPPSlZVk1J5QGuaMJLA0Gf1xS7SFhzGAwrLPejsa5BETAJqdMAX7MlZk6Lz6V46tWUESxMWmUBmlC1rfb4rrMLsSQ7ctp4BBx4eqsayTr2FQUQpH5PhTeS/nE3DmCz8wx8E5qMGoqLNpV1V96ideZ8omYbowSIHg+XYSC8gNTkiX1nv4F7nFAX5ohlrXlmiWlKwqcrFStrEliWJqKSclb1/A2ex0+Dkub+wagkhDu//bV/uEV59icrEc0zPmipmayFdk/+6uEhG/Ngq8e9w4mAceVk+OCUTfeGRW5cQkqcctCbrxWbWUxqgFHTkETEl3xEmY1c6C1TG+0Uh7lorFQOexcMWJV3vxcAUpgmrcARpsH8w8txyh1z2jGeQG/gX6++9ln03MJqTBvxSq9ROE+ukewDt5ta1AKR7JydKUCJnB0schSdP7C8MtmyCj6PFbu8DgVNkNXvZgrXj7UePIq/3nLocrE3ocxACjlRTtf0M8DxCFXpSPrS6FI3FsqXgNwkrKu1CYWLPaDN8RGbC+atx4GOboOSGggyJgXb97N385R4EqE9hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XDPAePCo4xy4FmzaPUMMB5",
      "input": {
        "note": "Left basket is empty; the gray plush sits just ahead of the left jaws. Descending lower this time so the jaws straddle its body.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.01,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XDPAePCo4xy4FmzaPUMMB5",
      "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]: [-0.0357, 1.8381, 0.0154, 1.5612, -0.1337, 0.0078, 0.9969, -0.0147, 0.8139, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3246 left_y=0.0156 left_z=0.0512 left_yaw=0.0628 left_pitch=0.3015 left_roll=0.0625 left_gripper=0.9969 right_x=0.2946 right_y=0.0013 right_z=0.1731 right_yaw=0.0005 right_pitch=-0.0359 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -2.2632, 0.4171, 0.3053, 0.3248, -0.5201, 0.0024, -0.212, -1.7026, 7.1043, 1.7118, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8fe681d6ae3a933fff631973a78c08fc2a5a1c68b62e545c09d5a241f4c006f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094a2da9a1e8953e6bb75070a4e1ad7e4798a0a499a7cdd40776e3974ef645a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:820b901682e6f7c5dbd44551fde25f23e61b3fb61b09c426de124761b6554e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 4.253 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]: [-0.4492, 1.5242, 1.1793, -0.1703, -0.4335, -0.2184, 0.9954, -0.0147, 0.8043, 0.6086, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4474 left_y=-0.1293 left_z=0.236 left_yaw=0.0166 left_pitch=0.098 left_roll=0.0289 left_gripper=0.9954 right_x=0.2953 right_y=0.0014 right_z=0.1781 right_yaw=0.001 right_pitch=-0.0172 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -7.3641, 6.9812, 1.9414, -0.1392, 0.0269, -0.0757, -0.2393, -1.2786, 7.0769, 1.7265, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0807, 0.6579, 0.2501, -0.0425, -0.1364, -0.057, 0.9967, -0.0143, 0.8089, 0.6079, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.282 left_y=0.0049 left_z=0.1248 left_yaw=0.0509 left_pitch=0.1158 left_roll=0.0234 left_gripper=0.9967 right_x=0.2945 right_y=0.0015 right_z=0.1751 right_yaw=0.0012 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -0.5538, 6.7214, 1.6679, 0.0464, 0.1343, 0.1294, -0.0479, -1.3607, 7.0906, 1.7998, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0357, 1.8381, 0.0154, 1.5612, -0.1337, 0.0078, 0.9969, -0.0147, 0.8139, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3246 left_y=0.0156 left_z=0.0512 left_yaw=0.0628 left_pitch=0.3015 left_roll=0.0625 left_gripper=0.9969 right_x=0.2946 right_y=0.0013 right_z=0.1731 right_yaw=0.0005 right_pitch=-0.0359 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -2.2632, 0.4171, 0.3053, 0.3248, -0.5201, 0.0024, -0.212, -1.7026, 7.1043, 1.7118, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8fe681d6ae3a933fff631973a78c08fc2a5a1c68b62e545c09d5a241f4c006f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094a2da9a1e8953e6bb75070a4e1ad7e4798a0a499a7cdd40776e3974ef645a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:820b901682e6f7c5dbd44551fde25f23e61b3fb61b09c426de124761b6554e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzgcKEAgSGAI4AUIIdGhpbmtpbmcSDI56LmmxV6WBTkDNcxoMmtwcIFE2PtAsESH0IjAY3/ccCsZTeFiFbxaYuaDTzhUE6hqQvZDqiehHCwwKFO8TfmhRXNE17QUHy9qu2/cq6waAGasOpuALU3kQFC/ThtkMF7Ws2RaCF27qJySylOT7zLP5cAm4ROnt1R8MyX186tYjGw0zLimzNAb/u+LlT0r3CyLhCagZM7bsqI4Z8LcU+LOgsVAkIbJG+YHPHgKR+8YrVSszmwkDDghm1EGeYuP5BSmIYZ80liNy41qSLcIdjAue65UrBokDH2LcReJPCEKQX8/khaCDuA4hq9pYx7E/EPkEQ67giXV+gTdxtDrMlPK6vf1kvRA1EDz4fmLlnkeNf1RVEEd1xaN6yfiIm6drgDS+Pnw64/zYiEn1mLOHyhaLoREgnwp2vPWoGgUXNO+24PB/7JIoth3OHGeR36SPtEWp30zwOym1+fheq8mujxtF+3Pw5XaCvrpaEcYHlgRhnVGWmduvGTr+pcKYJG1u2HY59loH+LyuuW55lsh1nqKI4IfJcD7+euGy8KzlHjP6zLjOvajZKe9H53gsNEOI9MU9sgjj5pt7nwKN7Q3tUzV4R0lNzJJiaw0AGLsGEhpaSdjSZk/Tr3vt9ColI9QU77bIaRcKScZ0sefCK0o1kypLbtGpRdqU1onz8GDGKn+7f9opBOW2aiYamuWERP55GIwbDC/q7oZnSQc+cOJ439bT94lD3mspShcHxiQVjk8fKfrNNInQs61stst9O8VcCC8vCC4DWB55nYvYQGiEbbNTXVpcIM8Q3hOgAwhrGCN63sUzTpRCwPnuwGZeQHC1VViIREz7Re0hkuqgl7PGaVwPUuMy45FvF6ZqF37BRy3PO9Zqpop3hWRBotLYRGHD0ewgvm/pw3j5lPnLJ6b7ioc+leVDbMzibevapAujXPBvzRzdzS9oXInz1jUlW+YKV4PnlZ9jqrbQzJrV/Fs4GlBvubcKTKxBTgdpyTkcw/E7Vi3lZciwBEPcMOIuwcn6N3EFEMew/WyCw2vicOzl4d959OwH/nlHI4uSpko4hVxvcFyNnbwFwZsK57Hf4+Bk1r29xZ4OomEqedEenV+VjQNPh61QYO/sRCAT5Tgd0+FJVNQEZY6y/bzKYwMW5tdDs9u1d3sr58wMqSINWLYydF8pe9rOPEVe9UkJwMo+3ul71epQ3Zqv1iYIGh+Kv5iou1fMpF3KTUn7tgO4+Qr1+156Cu/BUd3A/d07MaYERNJm0xh4BY7Yf8g/5hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F6mnz3MyvZaY7Pf64SJkK1",
      "input": {
        "note": "Jaws are pressed into the plush at z≈0.05 with plush filling the space between them. Closing to pinch it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F6mnz3MyvZaY7Pf64SJkK1",
      "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]: [-0.0341, 1.8194, 0.0231, 1.6119, -0.1566, 0.0231, 0.0124, -0.0147, 0.8185, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3302 left_y=0.0199 left_z=0.0711 left_yaw=0.0792 left_pitch=0.378 left_roll=0.075 left_gripper=0.0124 right_x=0.295 right_y=0.0014 right_z=0.1719 right_yaw=0.0008 right_pitch=-0.0401 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -3.2615, 1.1419, 1.4481, 0.188, -0.2027, 1.033, -0.1162, -1.7299, 7.1453, 1.7216, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:453e8664e49a104dda41c400e8eb71f8226f701071b32b888c7f4fa9e35db238",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2779154a60b8a47577b4d6b844c0370f39df810d908f9c96c3b787fde0055fba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a98f725989a631b2e8daedfb2d64442eaf595e8d3f444137197bb847265765e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 3.785 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]: [-0.0807, 0.6579, 0.2501, -0.0425, -0.1364, -0.057, 0.9967, -0.0143, 0.8089, 0.6079, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.282 left_y=0.0049 left_z=0.1248 left_yaw=0.0509 left_pitch=0.1158 left_roll=0.0234 left_gripper=0.9967 right_x=0.2945 right_y=0.0015 right_z=0.1751 right_yaw=0.0012 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -0.5538, 6.7214, 1.6679, 0.0464, 0.1343, 0.1294, -0.0479, -1.3607, 7.0906, 1.7998, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0357, 1.8381, 0.0154, 1.5612, -0.1337, 0.0078, 0.9969, -0.0147, 0.8139, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3246 left_y=0.0156 left_z=0.0512 left_yaw=0.0628 left_pitch=0.3015 left_roll=0.0625 left_gripper=0.9969 right_x=0.2946 right_y=0.0013 right_z=0.1731 right_yaw=0.0005 right_pitch=-0.0359 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -2.2632, 0.4171, 0.3053, 0.3248, -0.5201, 0.0024, -0.212, -1.7026, 7.1043, 1.7118, -0.0366, -0.0269, -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]: [-0.0341, 1.8194, 0.0231, 1.6119, -0.1566, 0.0231, 0.0124, -0.0147, 0.8185, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3302 left_y=0.0199 left_z=0.0711 left_yaw=0.0792 left_pitch=0.378 left_roll=0.075 left_gripper=0.0124 right_x=0.295 right_y=0.0014 right_z=0.1719 right_yaw=0.0008 right_pitch=-0.0401 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -3.2615, 1.1419, 1.4481, 0.188, -0.2027, 1.033, -0.1162, -1.7299, 7.1453, 1.7216, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:453e8664e49a104dda41c400e8eb71f8226f701071b32b888c7f4fa9e35db238",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2779154a60b8a47577b4d6b844c0370f39df810d908f9c96c3b787fde0055fba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a98f725989a631b2e8daedfb2d64442eaf595e8d3f444137197bb847265765e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+gYKEAgSGAI4AUIIdGhpbmtpbmcSDEBobusBO4Cg2gshORoM5KQ0wZu5Lu719wSzIjBpR1hGoPVS2tgOloIPjEEPONC4n6a3lU3qNLlTGYP3niRi3oL5L+FC7fYn/AqnT1wqlwbhuxgKtyK1Lc1AKd/rsyZmnbtwWitDTZAFVluVknYL8J2PA3cZaEnTCM06uAne0bjlPAma0qJgl1laKGUjIRjDe3brT4g++qjHN5D5f9eLI4PrXuzI8Fsv08WpJ+ZdsIpicKAoxmVNCUvvJ0UYz8t45lpMWr2S9gn8KOxLMqTn8WHePqPdZHbWDmCwnJck3scv70qsC90uqVf95fPWCT3ghFVTuE7fe4bKi0s3SiGJiMXX6OLLBJ2bMouXtOVhMWgUwjtj9EB/FSiUmVGZPWTJKMaqIUqdjHKqJ3HQUtytv9grBoZ9gZQq/VEWRrx6z4LGSj0bJ8H2Dtud7tW0Z78K8nbcJw7tgmvgQMN7VdQXHVsVdgO2Si/eFgqKep53cYVw+wTvnYjX8i8mncyKO/Kszgz9ia5k+v4jZug4agyISDKaRu8skmN0gtIBip8aL0Trudr0LURlxeepreqxSL2PzuTZJfqALgdJSiTjJ5WMHs4JhM16ygh1uVG1DiBeSQu5SBCS5ScvBkYScztjaWwhEVi8YNoSvEhHMLWhjJvWKnILI2hu4mTdNowtFJWd5SbMfnbH/e8OC5nQcAYaa/yxuA4Vib1qVq9PHz4ZK6KXsXqMICWWJiyyuhIZHKvIHMH1D0UZ8MtVzKcrjg3rPHLXI3TuRcrysYHyAvtFeSPAfpvcMzeSmE0JiylGdh1IcVelufdq2PZuCMSx72jJIZ1lVzCdn5sY7zCfynCBM5+UFHdj9k3uEpxh9fo+ZVykOOXpWMZxFrT5JgkqSLtlkcD+rDbrWaz6UWXC6bwGgjdQUlcTTvyrKfMjjMWyR/SEg5NpjfcAMOHBLaC7lZKwjd6f6Ou3DvDAtIC6aIScNdUAp7r0jE1yZMoYUpiORApNdA2x0fqFKKYlpmSyc7yc6IPXBwQYPaQFFbXas4ZPHc065LiohFySXCE3YNHjCllzZwP3nGbKmq1amz60ZKDEkTp6E3whcpqwC7iWOI+pYJMq7T8u9KIhTfd0oW/5RjnGsv1oSz4Bg2hRZuefi2qG6eJzND9Aj9OROhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LWi1uurRKNFxB3jbzjNvHJ",
      "input": {
        "note": "Jaws closed within the plush's fur. Lifting to see if it comes along.",
        "targets": {
          "left_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_01LWi1uurRKNFxB3jbzjNvHJ",
      "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]: [-0.0341, 0.8574, 0.3153, 0.3138, -0.157, 0.0223, 0.0141, -0.0147, 0.8249, 0.6067, -0.3996, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3274 left_y=0.02 left_z=0.1815 left_yaw=0.0781 left_pitch=0.3345 left_roll=0.0796 left_gripper=0.0141 right_x=0.2943 right_y=0.0013 right_z=0.1687 right_yaw=0.0005 right_pitch=-0.0538 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -2.5094, 9.8803, 1.9512, -0.022, -0.0171, 0.5495, -0.1983, -1.7162, 7.0359, 1.8339, -0.0171, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a8fafd5b72ddeb9566735fc2036806b297ea3c22d897cdf626fab6c0bbfbed9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6601805615e52d08414820ae306df567bcb98d968da0efacf71cd748eefd842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0847ce702a572a0d9682db6d971aa4889547661670a85f69810ac353d9ddcd0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 2.759 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]: [-0.0357, 1.8381, 0.0154, 1.5612, -0.1337, 0.0078, 0.9969, -0.0147, 0.8139, 0.6067, -0.3927, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3246 left_y=0.0156 left_z=0.0512 left_yaw=0.0628 left_pitch=0.3015 left_roll=0.0625 left_gripper=0.9969 right_x=0.2946 right_y=0.0013 right_z=0.1731 right_yaw=0.0005 right_pitch=-0.0359 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -2.2632, 0.4171, 0.3053, 0.3248, -0.5201, 0.0024, -0.212, -1.7026, 7.1043, 1.7118, -0.0366, -0.0269, -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]: [-0.0341, 1.8194, 0.0231, 1.6119, -0.1566, 0.0231, 0.0124, -0.0147, 0.8185, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3302 left_y=0.0199 left_z=0.0711 left_yaw=0.0792 left_pitch=0.378 left_roll=0.075 left_gripper=0.0124 right_x=0.295 right_y=0.0014 right_z=0.1719 right_yaw=0.0008 right_pitch=-0.0401 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -3.2615, 1.1419, 1.4481, 0.188, -0.2027, 1.033, -0.1162, -1.7299, 7.1453, 1.7216, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.0341, 0.8574, 0.3153, 0.3138, -0.157, 0.0223, 0.0141, -0.0147, 0.8249, 0.6067, -0.3996, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3274 left_y=0.02 left_z=0.1815 left_yaw=0.0781 left_pitch=0.3345 left_roll=0.0796 left_gripper=0.0141 right_x=0.2943 right_y=0.0013 right_z=0.1687 right_yaw=0.0005 right_pitch=-0.0538 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -2.5094, 9.8803, 1.9512, -0.022, -0.0171, 0.5495, -0.1983, -1.7162, 7.0359, 1.8339, -0.0171, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a8fafd5b72ddeb9566735fc2036806b297ea3c22d897cdf626fab6c0bbfbed9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6601805615e52d08414820ae306df567bcb98d968da0efacf71cd748eefd842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0847ce702a572a0d9682db6d971aa4889547661670a85f69810ac353d9ddcd0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmQgKEAgSGAI4AUIIdGhpbmtpbmcSDE5p+taw737CRIVSNhoMjCjJdQaDe807S3OMIjD1IKRP5Hn4v35ZjzjBWpobB+3pJeKmUBhSw7CaHYwvRvdYWyXXWjf2BmLS3B+NZYgqtgccEK3LxawquNn9CTnoa68NHDUDbYUyukrAgbbPOUDb7NIbTx5zFIoKrYXhb3iwyHyFvI7Ab62rU/rctFk/hPUWzacb6MDhu/DOvXnpbXnbD9YCR6OdF0fe5LCLPrDiysphv218ox3fv3IOXvnTLiVxV0qNhD9eaBfji2pcuF+VDPAuqZPyuj0CDttqxvwoKB4oJytMnT11fBZr+t0FNdcOuNrDSvmJIEoThvMUCuOEFRwCS1g4xPidjbDwQa+lusZ5D+QjvEjM91AIS7+ShNkVjU+ar9oBKkn5zqyKHZ7pJSjJ7bXzZwQaRjpr+mmoD+lJoJbfLfcnRopFucCwzIFFiUINNzWtMLy5VR2hIhQeUuY6erKocazgo0dlM+I5al9/hr8Fzcc3bYuFekGITC4ZYVEEXbONlPzmcCNX1rTnpxylN667+hP9DKatDJsN/IumMXBfyYPOCKNi9K73o7mkt+uiaDnleKJ+ZfySrquIzclTaW+QzaPIY0xs+TEY8Kvc0X7pKlrpreQmz03TeHkh/CnphEFNef8qj5VtMMR50LE5LRAuYK5Yw6qEyK1O2JQHpkhsatrXnKYraVa+YV7cBVb8km7UJ9mqTG9NAiXlfkpHzbnDVeNRfE+eGj84DlXFAfOWzHhJ2P04Hoq2gBeZ73UhgM5ilWZQ8PyTwbSm9gDtJia8/qo1ULj+O8r/OlDcopd54oXDGh7wZT+E+VM+SxMVylr22qZfAMEnirrhtU5zG2C/MHGdDHQyvjf2NhrdSbLIIaeIjPXzlqzvlVJjZVLo/i7HQFh1X6xAkgrZbDJnLB2CNVx39nTJhDDRbXYlyBj/Hesu/IWSC8s5vhg9+dGWX9ewz3pN0IPAobfeYkYpb4twQtDGDK5D9/nlAyqmHYbBjwpTHHo4vXs2aLI4BaLClLVvDq/shBg8AOarJ82VXzld4NCMeRWI6klEbF8u2CxE2OlZGjPpATD+26pDE/0GxpxiQDFq9lpkAnTwavmxM0ecvRLjQBL80+khJgm5Vmw0ygnQbAcIzoPF6bMaWMPSchStpQi1Bzz+9qM8M511MHIQASB/XW1EmMOhXRfyCle5k1SNjVkWoh4JOGkjsgtC40T8ZdIIjo01x0TG58l/u4gEy0i8v67pm0QvKrpqj8bA9jUy6Bg+TzApvSrwRXxZ6kqsrkYG1uyvbdbHQel3oy9xGaWnD0hYc+qJct7EZiL8Hoc49YsTh6JI8DNltlrYLDAwRCatpWAEXFf+ZbyWr0jsHBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HNDPxA4Y1cL5jD7ZZjBMZw",
      "input": {
        "note": "The gray plush is now hanging from the left jaws (visible lifted in both views). Carrying it over the left basket.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.15,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01HNDPxA4Y1cL5jD7ZZjBMZw",
      "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]: [-0.5259, 1.5925, 1.1568, 0.1162, -0.6147, -0.1139, 0.017, -0.0147, 0.8303, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.1482 left_z=0.2598 left_yaw=0.0564 left_pitch=0.2997 left_roll=0.094 left_gripper=0.017 right_x=0.2933 right_y=0.0014 right_z=0.1654 right_yaw=0.001 right_pitch=-0.0683 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.5675, 9.2239, 1.7216, -0.3736, -0.0073, 0.2808, -0.1846, -1.853, 7.0085, 1.7216, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5249e0bdcb1871af9128691876892a04b278e5750ad7051af12fec72c3bc9b33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:404fcd93163a27c75b013f5913e15cb80a5b1f25846eb564bc1f564f419d49b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88c79840775f98af63db864487ab36195d4c3105e49569179b1d712a507e92a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 11.77 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]: [-0.0341, 1.8194, 0.0231, 1.6119, -0.1566, 0.0231, 0.0124, -0.0147, 0.8185, 0.6067, -0.3923, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3302 left_y=0.0199 left_z=0.0711 left_yaw=0.0792 left_pitch=0.378 left_roll=0.075 left_gripper=0.0124 right_x=0.295 right_y=0.0014 right_z=0.1719 right_yaw=0.0008 right_pitch=-0.0401 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -3.2615, 1.1419, 1.4481, 0.188, -0.2027, 1.033, -0.1162, -1.7299, 7.1453, 1.7216, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0341, 0.8574, 0.3153, 0.3138, -0.157, 0.0223, 0.0141, -0.0147, 0.8249, 0.6067, -0.3996, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3274 left_y=0.02 left_z=0.1815 left_yaw=0.0781 left_pitch=0.3345 left_roll=0.0796 left_gripper=0.0141 right_x=0.2943 right_y=0.0013 right_z=0.1687 right_yaw=0.0005 right_pitch=-0.0538 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -2.5094, 9.8803, 1.9512, -0.022, -0.0171, 0.5495, -0.1983, -1.7162, 7.0359, 1.8339, -0.0171, -0.0122, -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 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]: [-0.5259, 1.5925, 1.1568, 0.1162, -0.6147, -0.1139, 0.017, -0.0147, 0.8303, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.1482 left_z=0.2598 left_yaw=0.0564 left_pitch=0.2997 left_roll=0.094 left_gripper=0.017 right_x=0.2933 right_y=0.0014 right_z=0.1654 right_yaw=0.001 right_pitch=-0.0683 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.5675, 9.2239, 1.7216, -0.3736, -0.0073, 0.2808, -0.1846, -1.853, 7.0085, 1.7216, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5249e0bdcb1871af9128691876892a04b278e5750ad7051af12fec72c3bc9b33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:404fcd93163a27c75b013f5913e15cb80a5b1f25846eb564bc1f564f419d49b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88c79840775f98af63db864487ab36195d4c3105e49569179b1d712a507e92a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Plush is over the left basket; releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0183YGpsJdaHpkRudob4Uzbi",
      "input": {
        "note": "The gray plush is held above the left basket (overhead view). Opening to drop it in.",
        "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_0183YGpsJdaHpkRudob4Uzbi",
      "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]: [-0.5316, 1.6093, 1.1629, 0.0975, -0.625, -0.1219, 0.9952, -0.0147, 0.8307, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.466 left_y=-0.15 left_z=0.2515 left_yaw=0.0591 left_pitch=0.2775 left_roll=0.1059 left_gripper=0.9952 right_x=0.2933 right_y=0.0014 right_z=0.1653 right_yaw=0.001 right_pitch=-0.0687 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -9.2376, 6.5983, 1.9463, -0.0513, 0.1343, 0.0464, -0.0342, -1.4838, 7.0085, 1.6923, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916626d5778a3cf0a9e18aaac2307670bc28ddf2d3e7a509825d9dec995183bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d982b218a33135051e5520c927d0831bdeb93db9d7802b7ede89ade19e5d02c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29093f82d620b577ce6f34528cdc200edc67774973bce5f394bceeb89f28bff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 5.084 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]: [-0.0341, 0.8574, 0.3153, 0.3138, -0.157, 0.0223, 0.0141, -0.0147, 0.8249, 0.6067, -0.3996, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3274 left_y=0.02 left_z=0.1815 left_yaw=0.0781 left_pitch=0.3345 left_roll=0.0796 left_gripper=0.0141 right_x=0.2943 right_y=0.0013 right_z=0.1687 right_yaw=0.0005 right_pitch=-0.0538 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -2.5094, 9.8803, 1.9512, -0.022, -0.0171, 0.5495, -0.1983, -1.7162, 7.0359, 1.8339, -0.0171, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5259, 1.5925, 1.1568, 0.1162, -0.6147, -0.1139, 0.017, -0.0147, 0.8303, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.1482 left_z=0.2598 left_yaw=0.0564 left_pitch=0.2997 left_roll=0.094 left_gripper=0.017 right_x=0.2933 right_y=0.0014 right_z=0.1654 right_yaw=0.001 right_pitch=-0.0683 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.5675, 9.2239, 1.7216, -0.3736, -0.0073, 0.2808, -0.1846, -1.853, 7.0085, 1.7216, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5316, 1.6093, 1.1629, 0.0975, -0.625, -0.1219, 0.9952, -0.0147, 0.8307, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.466 left_y=-0.15 left_z=0.2515 left_yaw=0.0591 left_pitch=0.2775 left_roll=0.1059 left_gripper=0.9952 right_x=0.2933 right_y=0.0014 right_z=0.1653 right_yaw=0.001 right_pitch=-0.0687 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -9.2376, 6.5983, 1.9463, -0.0513, 0.1343, 0.0464, -0.0342, -1.4838, 7.0085, 1.6923, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916626d5778a3cf0a9e18aaac2307670bc28ddf2d3e7a509825d9dec995183bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d982b218a33135051e5520c927d0831bdeb93db9d7802b7ede89ade19e5d02c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29093f82d620b577ce6f34528cdc200edc67774973bce5f394bceeb89f28bff2",
        "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_01G3ezzjygrRoAijQdi24Roa",
      "input": {
        "note": "Gray plush is in the left basket. Next plush: the small brown bear left of the big teddy; moving above it to check alignment in the wrist camera.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.14,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01G3ezzjygrRoAijQdi24Roa",
      "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]: [-1.0088, 1.2064, 0.3859, 0.2325, -1.0092, -0.408, 0.9967, -0.0147, 0.8326, 0.6067, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2753 left_y=-0.1499 left_z=0.1295 left_yaw=0.0061 left_pitch=0.2574 left_roll=0.1223 left_gripper=0.9967 right_x=0.2935 right_y=0.0014 right_z=0.1649 right_yaw=0.001 right_pitch=-0.0698 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.2188, 6.0376, 1.5897, -0.3639, -0.0757, 0.1392, -0.2393, -1.2239, 6.9949, 1.7509, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72241cc11f541f52b2f1c38e9462c6cbbbdbebc8e48203d3e109b0dbb5c4163c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfde0e776124fa1b07ec4029c29de9fe4d442465ddb445d40060247c97f9c853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b7e1871239437567e99a1e5fa4c7d9a7746626a7779ee1a1be75c22d84c63cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 5.374 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]: [-0.5259, 1.5925, 1.1568, 0.1162, -0.6147, -0.1139, 0.017, -0.0147, 0.8303, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4654 left_y=-0.1482 left_z=0.2598 left_yaw=0.0564 left_pitch=0.2997 left_roll=0.094 left_gripper=0.017 right_x=0.2933 right_y=0.0014 right_z=0.1654 right_yaw=0.001 right_pitch=-0.0683 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -8.5675, 9.2239, 1.7216, -0.3736, -0.0073, 0.2808, -0.1846, -1.853, 7.0085, 1.7216, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5316, 1.6093, 1.1629, 0.0975, -0.625, -0.1219, 0.9952, -0.0147, 0.8307, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.466 left_y=-0.15 left_z=0.2515 left_yaw=0.0591 left_pitch=0.2775 left_roll=0.1059 left_gripper=0.9952 right_x=0.2933 right_y=0.0014 right_z=0.1653 right_yaw=0.001 right_pitch=-0.0687 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -9.2376, 6.5983, 1.9463, -0.0513, 0.1343, 0.0464, -0.0342, -1.4838, 7.0085, 1.6923, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0088, 1.2064, 0.3859, 0.2325, -1.0092, -0.408, 0.9967, -0.0147, 0.8326, 0.6067, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2753 left_y=-0.1499 left_z=0.1295 left_yaw=0.0061 left_pitch=0.2574 left_roll=0.1223 left_gripper=0.9967 right_x=0.2935 right_y=0.0014 right_z=0.1649 right_yaw=0.001 right_pitch=-0.0698 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.2188, 6.0376, 1.5897, -0.3639, -0.0757, 0.1392, -0.2393, -1.2239, 6.9949, 1.7509, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72241cc11f541f52b2f1c38e9462c6cbbbdbebc8e48203d3e109b0dbb5c4163c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfde0e776124fa1b07ec4029c29de9fe4d442465ddb445d40060247c97f9c853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b7e1871239437567e99a1e5fa4c7d9a7746626a7779ee1a1be75c22d84c63cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+wkKEAgSGAI4AUIIdGhpbmtpbmcSDCJ76DGyxRmT6jR9URoM+FFBgAbxRHBHsAHGIjDs4ONTkth764C5v0S0FiyVhTkwuV54ArQD0c90ZwQ7eSe4BQpwFlGHhCUhvbL6fCkqmAldDhmJ9DuPlh1WxckTeC0NYeza6X6wlJlrGOGa2A/YG217RHPa5tv/Z4LcHfL+mDkTCvxDgtvqvmMFxGB+BmxH5Sv1IptF0d266LRsRIvvr+0LQyuP42pV+KSNVgYoapWZH0h6Nh5YpiHcfwC1LRtq9/CYXW6wCHQmmSnY/ZjOVWDV8O98AKZ8wwSkJPDY3FmP2/l6xUrpg8QmgL40t49aT7KnzngvyVy9mGndwYa1Gy1RGRqE+CefKF/FYoJGJG2z7qeNmn+NXMJk/MD4xr3keOCrC8ZaioWrp9Z+FEihvKy0ARH235zbofMdjBlU8sccivRenWuDNAWKsGWCsI3dWMx2Qp4sW1PThNGe8dwYBAL7MlqT105/TVQTqD4LOW+GSDoVv8dsNkgCGZyM8Bo7XXgpLJyeXGffqsL03gRcAd4cJjlDsS3N0ZDx46gF1+Ja1AclQj/1vffVuNvqb6772beTEFyoTeE1V6MRA5gF4tWwMOMlBcHpq2KIcbcOna/4oAqK3ubFUIMgJ/CSk1C2hDmPnN8uDQsTrIyo+mYAqUtWmhJcV+d8viOe0ya0ErhUcd5YDQjpvGrJL3BZ6kFQjl0B104mNx9GPt2jirko2r9x/qhiAsnnoL3JsqukgZwAeLDbvuFoiLN6wM1w6cikxba91Snhg66kddmItyOhASkRTKDeIj5TfpeTTxgSYcLvakFuXAzwFQb/KfrzvffaQ40xAfRUN8wYeyspeggZem3pBVdxfQldCTzxL3rOffIOonbgWdNQwV0CQFyv35dGxuOvcrQTiAqDpagtjh9LyeJ0juqd/wP7+cCxtZhmvtGNZ5dil6hYOmLik5RN1YxHJKiXPQxunolHlZOKFqtfbGsZz5i53jTca6uHn6S7V/mfMUw7PMSyoLquAmNnaUBOpMMC0VWxo6gCF+DjuzhD3q9zLzQTlBvj9CX5TMLY67FMXFH6VIUCauXrIlbDuPmElvyAsqM0FzKF+1ynd1l9gOjpCkWdtaUeiRJHpWKe44irpgI2+uJcY601TMubXgfXsH9272qWmloIZ1utipArLdT+Y1lKZDcDolk/2NZMRqoT05N/puYrDvq2lSuybYVbQVdViDqNwnFX/mSsX3gtWQ9tV/XWR5wJL2+SgjurYKLfLvwLH2Wlz3VgGqKlBo2L3hiANJvpAMyvOIbB8omH5+9fM5gyY7HixLS9JVbQR54P7zIyBWvJqUP2yqpsWuh/eBUVSu4cvHcuBufoEhZmKv/BYrTBHwe3YPb3aBbDtFFvWDrQAntCGpHZMMJl0cbZAuF4mz386jYP7NwvTyquFhA7wfSycmv8aFtwnOO+yxnTvIqcPE5n7PnGv92LmHYOBN0SEMbAcFtmApkBcdScu0CDGt7HVy9rxurBvuWdUpmWS5kA1QL6+FyEYzoh+9Psfw/U9rgHKJuCVUOJ6ruiGBSVpX49aejm/89OgLhUhv3HyeW84UhHmKPW+Pm4FLOQT2rjiVcA7setslfMIEByJxmoENnG9yIFE48jcq8aKeg8desCddTyJmrJVC/ZsuehXoj02qZ8pm0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K3rQCT86bFzQSb2hkBULMb",
      "input": {
        "note": "Wrist view shows the small bear just below the jaws (yellow marker to its left, big teddy to the right). Descending onto the small bear, nudged slightly right away from the marker.",
        "targets": {
          "left_y": -0.16,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01K3rQCT86bFzQSb2hkBULMb",
      "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]: [-1.0332, 1.874, 0.2569, 0.9062, -1.018, -0.4351, 0.9968, -0.0147, 0.8368, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2709 left_y=-0.1539 left_z=0.0103 left_yaw=-0.0216 left_pitch=0.1993 left_roll=0.206 left_gripper=0.9968 right_x=0.2936 right_y=0.0014 right_z=0.1636 right_yaw=0.0008 right_pitch=-0.0751 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -7.1726, 2.3863, 1.8535, -0.569, -0.0269, 0.0024, -0.1436, -1.7846, 7.0222, 1.6288, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685645cfe57fad112c4420f784c369ed5ee63e64cabb200edb95d71a1a8e4b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5718ae4a3d2f4f1976065b02e6c84dd4d9dd08d2dea66171f6c26d9b98ddc218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32f67cdc93c0d7f193009978a279ba0f13b873ae8ffbed961bd5ad97da6f01a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 3.293 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]: [-0.5316, 1.6093, 1.1629, 0.0975, -0.625, -0.1219, 0.9952, -0.0147, 0.8307, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.466 left_y=-0.15 left_z=0.2515 left_yaw=0.0591 left_pitch=0.2775 left_roll=0.1059 left_gripper=0.9952 right_x=0.2933 right_y=0.0014 right_z=0.1653 right_yaw=0.001 right_pitch=-0.0687 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -9.2376, 6.5983, 1.9463, -0.0513, 0.1343, 0.0464, -0.0342, -1.4838, 7.0085, 1.6923, -0.0513, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0088, 1.2064, 0.3859, 0.2325, -1.0092, -0.408, 0.9967, -0.0147, 0.8326, 0.6067, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2753 left_y=-0.1499 left_z=0.1295 left_yaw=0.0061 left_pitch=0.2574 left_roll=0.1223 left_gripper=0.9967 right_x=0.2935 right_y=0.0014 right_z=0.1649 right_yaw=0.001 right_pitch=-0.0698 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.2188, 6.0376, 1.5897, -0.3639, -0.0757, 0.1392, -0.2393, -1.2239, 6.9949, 1.7509, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0332, 1.874, 0.2569, 0.9062, -1.018, -0.4351, 0.9968, -0.0147, 0.8368, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2709 left_y=-0.1539 left_z=0.0103 left_yaw=-0.0216 left_pitch=0.1993 left_roll=0.206 left_gripper=0.9968 right_x=0.2936 right_y=0.0014 right_z=0.1636 right_yaw=0.0008 right_pitch=-0.0751 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -7.1726, 2.3863, 1.8535, -0.569, -0.0269, 0.0024, -0.1436, -1.7846, 7.0222, 1.6288, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685645cfe57fad112c4420f784c369ed5ee63e64cabb200edb95d71a1a8e4b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5718ae4a3d2f4f1976065b02e6c84dd4d9dd08d2dea66171f6c26d9b98ddc218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32f67cdc93c0d7f193009978a279ba0f13b873ae8ffbed961bd5ad97da6f01a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8AkKEAgSGAI4AUIIdGhpbmtpbmcSDGm5srm8SkuLwnLHShoM9gR7Ca34gH9ncOsbIjBPdY2I50ZUR+BhGRgpDKtSrDaVvpzymSgfSqWebO7Pk18+cl86M6lKDQ1iSG1vhOgqjQlgze+wHvf0ryCp1U1wRoCmV+W1n8Clor4QhziBSyTuUEpAl8vnBLdabGiHNBQrJw4brx/5N8+YmHJUTGrzui/NphMqA+79Syph1z8yaFeo2s3DX27dni6VRzc+LgZTH1tJZSIFx708mQrAJwjos9ffaICARx0+FO5lI1WXYoE8medIWxnxA8ylljs4Srwqf1xHB6AtIDHEJ9xwm/2c37k/tVighc8q5WY5YkqsARhjUMnks57NInUqdoufWijQvSoVud27WKsrsuXNRYkqn8JJ6dxSGqzfYauyHDinuAlLqgOvw7fjFH5KTt0R09IapenXPuDYcJv0P/F4OdBJtQRo6HS2g0J4XI/GUPrwmhidjyj47n4vrlH+zdsHxDHXlY2iKJwzdyEuJXfyzhfzg3v/btIsMjSDXoHWhBYl4ZP5utMznIanIlGDHtGcEpO+zTLvMUoPTy1+NeagNih7JGIzmHD2dM2CEoRjb/Eme3EWnI9ULcHltIxkRG0yXYZorRJF6AIIMDXfaPAPpWq2vVTgpTRhWGKvSqvLV1LTKxsB6oQ39ZB7t9l+i9brSBo543H/hCc3reDvQLFYsDQ2ci5MGYq43kf7yq94+HZyaRnsMAkLqFBWzS54j3W+nSzbnOOWeSrYpOypqcW5eyOtEv7lU8Ka9Sl+K5GxmP2c0lKyYWxsQ+ExKMmREVYWGXLn6P3c6ADU/PdSfRgtLa2R6kJDPLPZzglXm194y23dn93Gm/2w63N5n0OT/zhH7qWSLLOIS3XK/F0SMp0BFvObw3c2TTcIUQtQEOe33CoFITW6i2rzfqmC8wFTF0dpMZLTDiSWiNgFMe3BKAViP/TAfmsUmq9yRqAyaJCrQdCS6Q3IWDFFVHrwa293XL+pz6zkAE9PrmXZCfpcRo+4brAtqvr5+uVkCVHHFTIhLl6hcuUqAh8DMMXikJ7HpEkPZNb7dT1w2FL6cZ3B4m2B+BoaB9ou7rg+LN7TVED2hZh5XIvlzT/UEl4zn9gqehbFFs3MUkJ3hnRzjavJDBig87/QuU24jb/VJGT4XZTZ4czf05YItoSkA5nK++5YeNXJOclx6z6GpKuvklz93H2R464wuWbXkgZBmcZpWOVQgvdwGQZnkPtlXB6/8xLJbU7mQoiN2V5auOreLvlJbXAoVy1S4dL2NrfL/WoChWS3yzE9dg2BtEaDYUffxXeg7mujYnhMEE/u/OmL4iz/L5Qg5TavIoP7CoFUsVkvdvyuiXBdzxDiQjniQdnivqJQyp/eVqpj6FSLn0+cHA7YQ0y0X7D5LHUbJHvVZB/VjtCLKBFuJLxMe9HkdXXXu6ezdG43XRnLSZdOT3SAUcolcEoZUKXC7NHo8Tg3eoYVAycfH+uaxaaxvwr9YthGiYEUVPHp1jbuLeh/R0bqoOQR1KjGSyCjiB9pToQ10QGyouNOfA2uAw0cm47ShPSB0fKNyMDxhOCIuPJePpJqCXP+T0yTv/Ced9vQvFE32oKz2XtQTimtPqjHo5fPQmHg2fUJbVOpL0N+wMobz8xiq9vqHLYLdavIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LbSaeZje8u5cDrhTU6Xt4R",
      "input": {
        "note": "At table level; the small bear fills the bottom of the wrist view just ahead of the jaws. Nudging forward 2 cm while closing to catch its body.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.29
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LbSaeZje8u5cDrhTU6Xt4R",
      "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, 1.9057, 0.2714, 0.9859, -0.9745, -0.3626, 0.2912, -0.0147, 0.8371, 0.6067, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=-0.1483 left_z=0.011 left_yaw=-0.0062 left_pitch=0.2031 left_roll=0.2064 left_gripper=0.2912 right_x=0.2937 right_y=0.0014 right_z=0.1636 right_yaw=0.0008 right_pitch=-0.0748 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.6564, 3.8906, 1.5116, -0.1538, 0.0952, 0.7741, -0.253, -1.4017, 6.9949, 1.6679, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac3225296cc96cd79be146a6e9df0f6d0634f7230f9549030a4842ec72f8f428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64b2d96992a4ac6fe6042706b01589add760d383cbf158178563198ae708caee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e847fd7cbfb3515ea7a4493730f9abe2d116d34458a7b0080751d6860bc7161a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 3.376 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0088, 1.2064, 0.3859, 0.2325, -1.0092, -0.408, 0.9967, -0.0147, 0.8326, 0.6067, -0.408, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2753 left_y=-0.1499 left_z=0.1295 left_yaw=0.0061 left_pitch=0.2574 left_roll=0.1223 left_gripper=0.9967 right_x=0.2935 right_y=0.0014 right_z=0.1649 right_yaw=0.001 right_pitch=-0.0698 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -4.2188, 6.0376, 1.5897, -0.3639, -0.0757, 0.1392, -0.2393, -1.2239, 6.9949, 1.7509, -0.0317, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0332, 1.874, 0.2569, 0.9062, -1.018, -0.4351, 0.9968, -0.0147, 0.8368, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2709 left_y=-0.1539 left_z=0.0103 left_yaw=-0.0216 left_pitch=0.1993 left_roll=0.206 left_gripper=0.9968 right_x=0.2936 right_y=0.0014 right_z=0.1636 right_yaw=0.0008 right_pitch=-0.0751 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -7.1726, 2.3863, 1.8535, -0.569, -0.0269, 0.0024, -0.1436, -1.7846, 7.0222, 1.6288, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9592, 1.9057, 0.2714, 0.9859, -0.9745, -0.3626, 0.2912, -0.0147, 0.8371, 0.6067, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=-0.1483 left_z=0.011 left_yaw=-0.0062 left_pitch=0.2031 left_roll=0.2064 left_gripper=0.2912 right_x=0.2937 right_y=0.0014 right_z=0.1636 right_yaw=0.0008 right_pitch=-0.0748 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.6564, 3.8906, 1.5116, -0.1538, 0.0952, 0.7741, -0.253, -1.4017, 6.9949, 1.6679, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac3225296cc96cd79be146a6e9df0f6d0634f7230f9549030a4842ec72f8f428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64b2d96992a4ac6fe6042706b01589add760d383cbf158178563198ae708caee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e847fd7cbfb3515ea7a4493730f9abe2d116d34458a7b0080751d6860bc7161a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnAcKEAgSGAI4AUIIdGhpbmtpbmcSDNubHiNUVD80HP1TghoMjSI8/Y0lIWJid5uzIjDUyDnyK5Qs1DEifvAUx2VsynbaB+jKRplQXCxiUi8+w/0B8JGiP0/LaPCJiJ6mNHoquQZ76KL9xyRGzWJxS9hTuPHzUGYbx87wucK8N0BTPV+jB+OJqnP/U12OpxMVifLInUWxjatv73IaEDjyD795vM3GFhp8EweiqiywH6Bi0HPL+/XME+Tsje3O6jLJ6eFh6kFieh93Co7i+jWbvNMvlDg8YjsbOgyKzZEdpTfFs+8WSZKb8EvQVD84PhZf+1aJid47EnwaOf/hxK/uPcGxmQQe8nrw9izsca6AbqSnrxS9hfY2zko3Tnxuy+mUSng1JBypZJQ2dWUubRaS5/wPQGTEW2/63qbbczYW0FiivFOQSQ5tw6pwhLk41tIRk2plumr2jRgvv0DKYFdKhyqHXyKk3H6WPHcHvWrwz/2oBPcVuEIU1YZ0tK1xt7s+IqxaVlK+IGa6VwuvPxTvcimIuMgKnGcfkcvz7Qa6+hImok7GMRi7E+tuZiVUIzh8ls2XDfUlGb7dJshE0OQ6gDj6k7HW1+5W3cKGf/oYmQL4LnG1rh/nVGe8oTD6GDsUPCF04HuIUnWVPVSPlcS5t3DeH/JPht5vxloILPGZiybe+DRebLMY1t1T9J70M9nTecB8AOx4vxjqQ+t+Tv0cbloxEPayDcpzAyGUGkO0IF4t1bXtcBrsuw7LkUIhhj7aJ/wsIPC/VZWZ9dO59r1/wCUwdhFn6YkskU+iX0px68uVEbZXGsW0emMyxSRD1fHNIXP8wfDrDEwWSprrVbOUa6ELbg24sreITmhYHm+Pe163TtMdEdZvrF5R2fhYefehABcCPzaEg9eSawrmhCQ59I+k5yzg6qRSXRLMUa96gA86aOOc6wpYm8CZ/2sFa6GEqEnY2HYZz3fE+Pp/p4zdkhgU9yr8m14XMmb0GFx26lF+nrA709F1HSckM84bbuPaTI2Z1JZXXoksxMNHAChruB594HFtHqF6qY/vNWjSDI+Ow17stVZsfW4XJVbpJezV4cSHiaFngcn47ZpIHRm4O2BdaG53zzRTbZ/dx7UnPP2/6TzrPgIolnhU4Y9+oCUKQa8ajmk0cQhANft9/aPRMljhB0tnqgiCYIEh4crX9A/dLHZ+KuVdcXpZLF8iilA1aBtYa+o27DzlR0zGX08YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WN6jxDfQX8WBYhtNrRcPyB",
      "input": {
        "note": "Gripper settled at 0.29, so something is grasped (likely the small bear). Lifting to confirm.",
        "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_01WN6jxDfQX8WBYhtNrRcPyB",
      "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]: [-0.9577, 1.1355, 0.643, -0.1398, -0.9649, -0.3668, 0.2936, -0.0147, 0.841, 0.6067, -0.4088, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.289 left_y=-0.1522 left_z=0.1877 left_yaw=-0.0067 left_pitch=0.2082 left_roll=0.1857 left_gripper=0.2936 right_x=0.2938 right_y=0.0013 right_z=0.1625 right_yaw=0.0007 right_pitch=-0.079 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.7521, 8.7316, 1.3993, -0.4176, 0.0317, 0.2418, -0.1983, -1.6205, 7.0222, 1.7021, -0.0269, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d283cab4158d45a21d2e3a75b8d877f218e6f9c5b811bcd8531a7964c6d59bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbeb4953f7559bc247a739e68e2d9aa016fdf246aa77b0e4ff2f4268bf646bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46bb87f0434448432ba2547e85f8e48fe37053e0bdef07236d3deac1d456eba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 2.678 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0332, 1.874, 0.2569, 0.9062, -1.018, -0.4351, 0.9968, -0.0147, 0.8368, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2709 left_y=-0.1539 left_z=0.0103 left_yaw=-0.0216 left_pitch=0.1993 left_roll=0.206 left_gripper=0.9968 right_x=0.2936 right_y=0.0014 right_z=0.1636 right_yaw=0.0008 right_pitch=-0.0751 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -7.1726, 2.3863, 1.8535, -0.569, -0.0269, 0.0024, -0.1436, -1.7846, 7.0222, 1.6288, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9592, 1.9057, 0.2714, 0.9859, -0.9745, -0.3626, 0.2912, -0.0147, 0.8371, 0.6067, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=-0.1483 left_z=0.011 left_yaw=-0.0062 left_pitch=0.2031 left_roll=0.2064 left_gripper=0.2912 right_x=0.2937 right_y=0.0014 right_z=0.1636 right_yaw=0.0008 right_pitch=-0.0748 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.6564, 3.8906, 1.5116, -0.1538, 0.0952, 0.7741, -0.253, -1.4017, 6.9949, 1.6679, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9577, 1.1355, 0.643, -0.1398, -0.9649, -0.3668, 0.2936, -0.0147, 0.841, 0.6067, -0.4088, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.289 left_y=-0.1522 left_z=0.1877 left_yaw=-0.0067 left_pitch=0.2082 left_roll=0.1857 left_gripper=0.2936 right_x=0.2938 right_y=0.0013 right_z=0.1625 right_yaw=0.0007 right_pitch=-0.079 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.7521, 8.7316, 1.3993, -0.4176, 0.0317, 0.2418, -0.1983, -1.6205, 7.0222, 1.7021, -0.0269, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d283cab4158d45a21d2e3a75b8d877f218e6f9c5b811bcd8531a7964c6d59bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbeb4953f7559bc247a739e68e2d9aa016fdf246aa77b0e4ff2f4268bf646bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46bb87f0434448432ba2547e85f8e48fe37053e0bdef07236d3deac1d456eba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSsQcKEAgSGAI4AUIIdGhpbmtpbmcSDM5c/0WSxDTYLx/jjBoML/0RrXfo9+ME63eVIjBFCoWPgScIzBB5B0Zz2uVumciPAWCset072OZIMuYdyLIm2EGoQt//AftZs3ognogqzgYovi0mgimVmFJRQeQwDdR5QSA79HBeYcL1YM/MRJ3OKtiEReEkdJBTiknlXlauGHEN4jb8ZIhxmvn4Lmb/vvEdSjpK15b7ths5YxIo0EotcxOwCcVLM4Db7nTTbal6gC2x2Cidb+hk2XiwagkHcmdIaHY0RGU2b+ipkkYKFgssT0g6GQ9pi9ApcgGHDu+pYixQidBykDeDlBZN0keCqP6fKe8ASomNyhYDjLDMYtpCmdZy8C0OI+fHiJpEviZWx3RadhbN3rFmltvPACePNO6y6QaQ5cGSP0rh19GBckh1b4FkvYZqQ10r0m+f+ibWaNCHICEjCtZSQ2023kp81aICapZVYgWz3ah0R2kqxF5rI/I24hncvZDARoQ2spxjQWsUZ3L/Z+DTADiLz7anibWxcrB5J91ROMdkJqGNcb9aOvTQ/Bgwzli4ULbxsD1vP1OJZ3mwW9hVvtNtg5WMFqVj1oswtxx8MXXy3ZQczhuSLPofjrX5gsbBEKsUBpnAmaTCDoLz22FN8kOIWz8JIHvXb7c2x3YJGGmYdiLtEJ2ekVyyW6GByyjR3v9VJXnjYuHiDFk0UjEWWOrKSTPAMYkEjtLSiQ6camxbpm/PSnUXdpxtutK18omkcD9Ax1G5mX3M+G5a0Mf7BOc2myXZBZBksxyRslrNd1qUCaIpXtzDdCK/0YQdfgjeeJ+J97h7SyfULExDn6JRuBSJdU9OelXCri2qfUodRcTMSC67VocDQLMWk75qGl3adiYmkGy267q/NL4EEajtSTyXDhYypH7/sHpt9ay5tlHBvFYOgJqZBip0QpDL4EXhcHsr/wNYrwqNFvkqkzyBpV7zg0hsQZeGKudvwaKTqISZFSOlLAuSgeBISzLsCfrNo7997AIR4WZ4WEgM26wqPjfRiuxKlb5byDVZ7l1TQxCveu1PHbyE4LdY2dE7nnN99z/X9xxFAb3PUgk6+0Nqpjo+nVN7yzimxto3Y5qN9MMxsou6MKNqXF8FDHSj4P8F2B+MzwQYlTFkH70OnHkUi+Z3X6LQfKMObXBuGh8ZRqGJQCN28HKr7D0jVLVEXHLznipaWNPrikZTsLFPrlw5TfGjXbI0oxNIXEV236Oe/4m7ISfKTBoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013PRxCPvG3HYnnwHYz9u1gr",
      "input": {
        "note": "Small bear is hanging from the left jaws. Carrying it to the left basket with the other plush.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.15,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_013PRxCPvG3HYnnwHYz9u1gr",
      "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]: [-0.5194, 1.5986, 1.2827, -0.1314, -0.6022, -0.0856, 0.296, -0.0147, 0.8444, 0.6067, -0.4095, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.145 left_z=0.2637 left_yaw=0.0199 left_pitch=0.1866 left_roll=0.1875 left_gripper=0.296 right_x=0.2939 right_y=0.0014 right_z=0.1614 right_yaw=0.001 right_pitch=-0.0832 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.6786, 9.4427, 1.6923, -0.1294, 0.1294, 0.232, -0.3761, -1.7436, 7.2547, 1.6728, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87c98406c6d5d1b9a6e69bf39e4638277533af93c6a4d8d0bf1ad1c0c5391c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5befe1f0b1f8ddc0b4cd57c8c26ca09758e60068e51e9c826953c7f28860c464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:833fa41d5b85622adda72ce24c02f28deb8f78a8c96baa608149247301a8faf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 6.643 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]: [-0.9592, 1.9057, 0.2714, 0.9859, -0.9745, -0.3626, 0.2912, -0.0147, 0.8371, 0.6067, -0.4084, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2869 left_y=-0.1483 left_z=0.011 left_yaw=-0.0062 left_pitch=0.2031 left_roll=0.2064 left_gripper=0.2912 right_x=0.2937 right_y=0.0014 right_z=0.1636 right_yaw=0.0008 right_pitch=-0.0748 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.6564, 3.8906, 1.5116, -0.1538, 0.0952, 0.7741, -0.253, -1.4017, 6.9949, 1.6679, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9577, 1.1355, 0.643, -0.1398, -0.9649, -0.3668, 0.2936, -0.0147, 0.841, 0.6067, -0.4088, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.289 left_y=-0.1522 left_z=0.1877 left_yaw=-0.0067 left_pitch=0.2082 left_roll=0.1857 left_gripper=0.2936 right_x=0.2938 right_y=0.0013 right_z=0.1625 right_yaw=0.0007 right_pitch=-0.079 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.7521, 8.7316, 1.3993, -0.4176, 0.0317, 0.2418, -0.1983, -1.6205, 7.0222, 1.7021, -0.0269, -0.0708, -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 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]: [-0.5194, 1.5986, 1.2827, -0.1314, -0.6022, -0.0856, 0.296, -0.0147, 0.8444, 0.6067, -0.4095, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.145 left_z=0.2637 left_yaw=0.0199 left_pitch=0.1866 left_roll=0.1875 left_gripper=0.296 right_x=0.2939 right_y=0.0014 right_z=0.1614 right_yaw=0.001 right_pitch=-0.0832 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.6786, 9.4427, 1.6923, -0.1294, 0.1294, 0.232, -0.3761, -1.7436, 7.2547, 1.6728, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87c98406c6d5d1b9a6e69bf39e4638277533af93c6a4d8d0bf1ad1c0c5391c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5befe1f0b1f8ddc0b4cd57c8c26ca09758e60068e51e9c826953c7f28860c464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:833fa41d5b85622adda72ce24c02f28deb8f78a8c96baa608149247301a8faf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KiXPYo7TcHnJ6fKCh19d9x",
      "input": {
        "note": "Small bear is above the left basket. Releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KiXPYo7TcHnJ6fKCh19d9x",
      "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]: [-0.5182, 1.6157, 1.2804, -0.1444, -0.5968, -0.0898, 0.9954, -0.0147, 0.8448, 0.6067, -0.4088, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4635 left_y=-0.1459 left_z=0.2522 left_yaw=0.016 left_pitch=0.158 left_roll=0.1983 left_gripper=0.9954 right_x=0.294 right_y=0.0013 right_z=0.1614 right_yaw=0.0007 right_pitch=-0.0828 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.5111, 7.2, 1.9023, -0.1929, 0.0024, -0.2125, -0.0342, -1.5658, 7.1863, 1.6435, -0.0171, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1ddbae64fc7b5cbf1e23f18794419c4adc6f06ab5f3c5b125868c63c9551bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef510eb0799c71d1714044fd3633abe8cf222cc561a5dea7515942d087b5e637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b3c194ef26d4edb04518e3c85664721c59408f09f93a4fd3d38f65157c90e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 3.995 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]: [-0.9577, 1.1355, 0.643, -0.1398, -0.9649, -0.3668, 0.2936, -0.0147, 0.841, 0.6067, -0.4088, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.289 left_y=-0.1522 left_z=0.1877 left_yaw=-0.0067 left_pitch=0.2082 left_roll=0.1857 left_gripper=0.2936 right_x=0.2938 right_y=0.0013 right_z=0.1625 right_yaw=0.0007 right_pitch=-0.079 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.7521, 8.7316, 1.3993, -0.4176, 0.0317, 0.2418, -0.1983, -1.6205, 7.0222, 1.7021, -0.0269, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5194, 1.5986, 1.2827, -0.1314, -0.6022, -0.0856, 0.296, -0.0147, 0.8444, 0.6067, -0.4095, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.145 left_z=0.2637 left_yaw=0.0199 left_pitch=0.1866 left_roll=0.1875 left_gripper=0.296 right_x=0.2939 right_y=0.0014 right_z=0.1614 right_yaw=0.001 right_pitch=-0.0832 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.6786, 9.4427, 1.6923, -0.1294, 0.1294, 0.232, -0.3761, -1.7436, 7.2547, 1.6728, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5182, 1.6157, 1.2804, -0.1444, -0.5968, -0.0898, 0.9954, -0.0147, 0.8448, 0.6067, -0.4088, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4635 left_y=-0.1459 left_z=0.2522 left_yaw=0.016 left_pitch=0.158 left_roll=0.1983 left_gripper=0.9954 right_x=0.294 right_y=0.0013 right_z=0.1614 right_yaw=0.0007 right_pitch=-0.0828 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.5111, 7.2, 1.9023, -0.1929, 0.0024, -0.2125, -0.0342, -1.5658, 7.1863, 1.6435, -0.0171, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1ddbae64fc7b5cbf1e23f18794419c4adc6f06ab5f3c5b125868c63c9551bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef510eb0799c71d1714044fd3633abe8cf222cc561a5dea7515942d087b5e637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3c194ef26d4edb04518e3c85664721c59408f09f93a4fd3d38f65157c90e8b",
        "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_01EWQjL16vzifwdAzUifWiuy",
      "input": {
        "note": "Two plush toys are in the left basket. Last plush: the big teddy at centre; moving the left arm above it.",
        "targets": {
          "left_x": 0.29,
          "left_y": -0.3,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01EWQjL16vzifwdAzUifWiuy",
      "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]: [-1.1858, 1.7802, 1.1427, -0.3771, -1.0695, -0.7235, 0.9967, -0.0147, 0.8474, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.3013 left_z=0.1412 left_yaw=-0.0345 left_pitch=0.1253 left_roll=0.2277 left_gripper=0.9967 right_x=0.2942 right_y=0.0014 right_z=0.1607 right_yaw=0.001 right_pitch=-0.0854 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.0872, 8.1983, 1.0085, -0.7155, -0.0855, 0.1197, -0.1299, -1.7436, 7.0222, 1.6288, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b91ffe25725e44cf8ffbb6a50e6f2ac5d4ab26b87a6d14c13a43c9b7bcb3cc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:387df68d251d891271ce87c97ae5948762d8d6753d5da4444ddfbec6f514f815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87db26f859931af7e458b6a5c02ce4786ad9505a5f04fdf296baaf70f8758a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 2.953 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]: [-0.5194, 1.5986, 1.2827, -0.1314, -0.6022, -0.0856, 0.296, -0.0147, 0.8444, 0.6067, -0.4095, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4625 left_y=-0.145 left_z=0.2637 left_yaw=0.0199 left_pitch=0.1866 left_roll=0.1875 left_gripper=0.296 right_x=0.2939 right_y=0.0014 right_z=0.1614 right_yaw=0.001 right_pitch=-0.0832 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.6786, 9.4427, 1.6923, -0.1294, 0.1294, 0.232, -0.3761, -1.7436, 7.2547, 1.6728, -0.0464, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5182, 1.6157, 1.2804, -0.1444, -0.5968, -0.0898, 0.9954, -0.0147, 0.8448, 0.6067, -0.4088, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4635 left_y=-0.1459 left_z=0.2522 left_yaw=0.016 left_pitch=0.158 left_roll=0.1983 left_gripper=0.9954 right_x=0.294 right_y=0.0013 right_z=0.1614 right_yaw=0.0007 right_pitch=-0.0828 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.5111, 7.2, 1.9023, -0.1929, 0.0024, -0.2125, -0.0342, -1.5658, 7.1863, 1.6435, -0.0171, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1858, 1.7802, 1.1427, -0.3771, -1.0695, -0.7235, 0.9967, -0.0147, 0.8474, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.3013 left_z=0.1412 left_yaw=-0.0345 left_pitch=0.1253 left_roll=0.2277 left_gripper=0.9967 right_x=0.2942 right_y=0.0014 right_z=0.1607 right_yaw=0.001 right_pitch=-0.0854 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.0872, 8.1983, 1.0085, -0.7155, -0.0855, 0.1197, -0.1299, -1.7436, 7.0222, 1.6288, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b91ffe25725e44cf8ffbb6a50e6f2ac5d4ab26b87a6d14c13a43c9b7bcb3cc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:387df68d251d891271ce87c97ae5948762d8d6753d5da4444ddfbec6f514f815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87db26f859931af7e458b6a5c02ce4786ad9505a5f04fdf296baaf70f8758a5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/QcKEAgSGAI4AUIIdGhpbmtpbmcSDDhdXRf2p3MFroQ81RoMWCf4NJ0m4EMQ+JtuIjCzRK0edTVTks8udmyzAmKtKcl81bGiDOMW6zNIV2fY/ewEv9UyKklrvzJxD19bl8wqmgdBCdtmOXwz+V9OcyC7OvSABnYQZsr8vPw8tQTziyoX0ztiHz4NZlEv0lYy2L1HP7P/Jrt+L7a7jzP8YBFm5XmxaKvFU0VCnCYnw7oEpONK390ofMqLH+CVgB/6g72XNt4S5vH9XS4MqmeH/yy5JyWbj8X5ldgGGsrmEzcdjdq/67OUXX7BOv4r861mywZ/fbi6rzOy3yv7ND+Cqmr0WlYW529I5NHlEfL9qArnAIuggbqcXS8dIX7h9fTwiGJkuo1GuZS0BLms/e4e3nHUlx4+1iIfJ3clbpp64psEFES9Ei6iKITrHjL78G9vMFvtfEAU+gnvjDP1eihtCvDnyUJSsh/1oAxB7pySCDnR+anahd4O7FiwBoBl6mfo74bm+K/88RM+gkPkfFDf8BTQIIUo+93v1x+sLx2TxC/ifW3IFzfCxUZWzd+CzDLJnN4BsUnpWtV43GeuPYMoje74IqS/it0zff1PWHVPKuI0pcM6ZuQqPvaQzkRBhHRV1MvCBCrZweDdfLPSZ63qSiBtKTzMEzPo8aVi8pfQTQ/hfw1A/lOJbpK4F2gV59qbp33uN93cQ2J788xBprmpZ3kxRSyFjXssOSkTv28TP/zcWQnMtUpu6uFpD/9f/8MBfBweID37SN8WYtEb+A120ZRqfJ/XeYdHmS+GOvaNZlzBPCmxpZhJ8bs+L0pLUQ3mEBxAAIATwpqAjIg0LmJFECfk7DaGzQzYTA0ny4hZf818Xp5JEw76Q0dS7XHh4FFjUoFthNEeWd6Q+7F75sjbU/6uoW7ieeECrlJfmbfkieMRsWvYUcWsK89cv6O73Nk1xVKtwH2ZmnxS/mRlyR7IMljMEFCBqIH7ICHu9+cq2Qc+SylKnCISBb/bkJDdFMW4egg0/2iT8mysWjVXGM/SybvMCzmjqALaxZov/nBEhq7VCvafBLjXHx2qWsYIUEpHp1nRdxb98Uzf6oBhn0MJRRYtnWUiTuGGtiUUrOB8xzyau3BnKYuIeM5Aue60A+A5XEFfgFozcQ1PolLFCv66IA+Z1eUSIJcx6tufUAKHgtKCq8nmTbeFMN+0I7nFw3fZ+45D2DHqqhxLmrt+wGltqJeBqlZGeI0aEQSAcMhBnCJUSCcw8E2osq4H0Q/swV+vA7tAjCSOwF8k5smyqlhuxTtQh+T0EbNfIwRa3xIwO9OeqdvFKEW9iPiS2BfFIuVwNhMb6qKawapPr/tJTrskGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9WGTiqkgHFCsobZGQW2Sd",
      "input": {
        "note": "The teddy's head is centred between the jaws in the wrist view. Descending so the jaws straddle its head/body.",
        "targets": {
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01K9WGTiqkgHFCsobZGQW2Sd",
      "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]: [-1.1862, 1.9533, 1.0031, -0.0082, -1.1004, -0.7322, 0.9968, -0.0147, 0.8474, 0.6067, -0.4084, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2979 left_y=-0.3068 left_z=0.0697 left_yaw=-0.007 left_pitch=0.1721 left_roll=0.1778 left_gripper=0.9968 right_x=0.2942 right_y=0.0013 right_z=0.1608 right_yaw=0.0005 right_pitch=-0.0851 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.9419, 3.0017, 0.6081, -0.0904, 0.0611, 0.0024, -0.1983, -1.4154, 7.0222, 1.6923, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f412b18e4a705ffd112f261fac2493e3cacf18ff7217e13de7df9833f31346c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86465f7e206d53b66a8e948025bbbe0793a9871b6c49f626a51ddc2a06fde2c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a37351e0583ea566a669466d2c1a9a4f52170d9f2105fbfedbd27555461ef87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 2.993 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]: [-0.5182, 1.6157, 1.2804, -0.1444, -0.5968, -0.0898, 0.9954, -0.0147, 0.8448, 0.6067, -0.4088, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4635 left_y=-0.1459 left_z=0.2522 left_yaw=0.016 left_pitch=0.158 left_roll=0.1983 left_gripper=0.9954 right_x=0.294 right_y=0.0013 right_z=0.1614 right_yaw=0.0007 right_pitch=-0.0828 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.5111, 7.2, 1.9023, -0.1929, 0.0024, -0.2125, -0.0342, -1.5658, 7.1863, 1.6435, -0.0171, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1858, 1.7802, 1.1427, -0.3771, -1.0695, -0.7235, 0.9967, -0.0147, 0.8474, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.3013 left_z=0.1412 left_yaw=-0.0345 left_pitch=0.1253 left_roll=0.2277 left_gripper=0.9967 right_x=0.2942 right_y=0.0014 right_z=0.1607 right_yaw=0.001 right_pitch=-0.0854 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.0872, 8.1983, 1.0085, -0.7155, -0.0855, 0.1197, -0.1299, -1.7436, 7.0222, 1.6288, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1862, 1.9533, 1.0031, -0.0082, -1.1004, -0.7322, 0.9968, -0.0147, 0.8474, 0.6067, -0.4084, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2979 left_y=-0.3068 left_z=0.0697 left_yaw=-0.007 left_pitch=0.1721 left_roll=0.1778 left_gripper=0.9968 right_x=0.2942 right_y=0.0013 right_z=0.1608 right_yaw=0.0005 right_pitch=-0.0851 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.9419, 3.0017, 0.6081, -0.0904, 0.0611, 0.0024, -0.1983, -1.4154, 7.0222, 1.6923, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f412b18e4a705ffd112f261fac2493e3cacf18ff7217e13de7df9833f31346c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86465f7e206d53b66a8e948025bbbe0793a9871b6c49f626a51ddc2a06fde2c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a37351e0583ea566a669466d2c1a9a4f52170d9f2105fbfedbd27555461ef87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSyQYKEAgSGAI4AUIIdGhpbmtpbmcSDORiYTy+FTXVN4Y3mhoM+t30jNk+cUmmx5t+IjAqOZksdhGVmJBy/KOvSSiWvOwZ5GEztpPV0c26COSnKB8fW49wCsKC7M4sIGiqipMq5gUYw5vtxiiRStcUHNCGbsRyIq9eGFCcba9fV0wNzym1+vfneHXF8tnHpqZfIbPMfFuwFrCbNzU3Nwi11EADTu5teCJ7fxTd4ZshmJrMmJ1lKqx3tlILhlWThRo87wci4fxo+XTt2ZHCm/gTV6kNcSKiBtdRvMdmfIkoLs3fTOZnXd4ajSXJyXaK17B0P1XXYP8zgYUMnRaetlC1HlZHkgiveyYwmD71+AJSpKBuJu+yiZuueXVekVrO7l+84E8kRU7eXGRyXVb36UtgXFUUXY4kCJRGViU7eONFp+28teIvtFtqgBFnLiv8ZF6GIFBFFLurwZLTrCVk3BXjaOrRASM+LDdrM976VFPylTgJMV8hopBJLLvobO/0aWjmA8xdF3cACu1WTYGPD0hKrOT1PEkMSk5iwjSQTyMvZKzK8p4R+4cfMhlH7VZSgjtHMV4bhJSk2IhKJSQdhgy/0PoUeYqfmpnImeyWqJhfZ5XKZPGLvLElnxulwg4zLuH20L64R/Wi9vCsFUgfbQ7s77uDxVkWBfRAdfs+8t01DnAoM3+l9tUZQFiOCSdrzPorYj5KAO05JbseeIvYUYm1Pz2cTkrte+lW9dhh3qpkAEWvuQyjEru+cMok19pifH5+DRQXGVRupKpY9LTh8xFtDy7/84jGiM6GZHnlj2ZVHxp11AN2dGKBMvPYp3UxnSH5TyxcViCpIDdtCUgzbzuaFrdjk6KjK2wr+82pTGxkOGwPYwreh95r5knhSmsR1NYeLwxVUh/u2TwwsqLyG8+ci9Zw8glVB9jZ4GKw/MC8xyAR8/0IHSGu46TEcHROu5gRkQ6RIu++nukAWbLY9apzmmYyM5CVETNXbrVqmMAe0IZSdrzr4I2Nw9o248gUml5TjXrnF3WvgzGGo/iCcJn9+Zgm+f8qD7ntrNF33GnjyEwkTAtNoDOrQHyVNkfbzGSTfKpxwjCOKmDUUcMaoDPM4wzGEEJIowdRBZ17GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VD3kRt8NujqP4cTqajdUaf",
      "input": {
        "note": "Jaws are pressed into the teddy at z≈0.07. Closing to pinch it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VD3kRt8NujqP4cTqajdUaf",
      "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]: [-1.187, 1.956, 1.0042, 0.0383, -1.1263, -0.733, 0.4044, -0.0147, 0.8474, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3008 left_y=-0.3094 left_z=0.0765 left_yaw=0.0146 left_pitch=0.2082 left_roll=0.1424 left_gripper=0.4044 right_x=0.2942 right_y=0.0014 right_z=0.1607 right_yaw=0.0008 right_pitch=-0.0854 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.6889, 5.1624, 0.696, -0.1929, -0.0464, 1.033, -0.0615, -1.5385, 7.0222, 1.6484, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c6159e7709ee498171031d24fd2b1f21bf3cb29b6cfd16e3fba186da7892677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dc9dc21178d85bb37e1ec9ddd652faa3c87321fa8721f9b35552c9cfe7cf063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5b5534288bc30cd1eff611bb1638f10cc8697d0c8c3bc222ca1cd4e171e33b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 3.245 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1858, 1.7802, 1.1427, -0.3771, -1.0695, -0.7235, 0.9967, -0.0147, 0.8474, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.2931 left_y=-0.3013 left_z=0.1412 left_yaw=-0.0345 left_pitch=0.1253 left_roll=0.2277 left_gripper=0.9967 right_x=0.2942 right_y=0.0014 right_z=0.1607 right_yaw=0.001 right_pitch=-0.0854 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.0872, 8.1983, 1.0085, -0.7155, -0.0855, 0.1197, -0.1299, -1.7436, 7.0222, 1.6288, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1862, 1.9533, 1.0031, -0.0082, -1.1004, -0.7322, 0.9968, -0.0147, 0.8474, 0.6067, -0.4084, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2979 left_y=-0.3068 left_z=0.0697 left_yaw=-0.007 left_pitch=0.1721 left_roll=0.1778 left_gripper=0.9968 right_x=0.2942 right_y=0.0013 right_z=0.1608 right_yaw=0.0005 right_pitch=-0.0851 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.9419, 3.0017, 0.6081, -0.0904, 0.0611, 0.0024, -0.1983, -1.4154, 7.0222, 1.6923, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.187, 1.956, 1.0042, 0.0383, -1.1263, -0.733, 0.4044, -0.0147, 0.8474, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3008 left_y=-0.3094 left_z=0.0765 left_yaw=0.0146 left_pitch=0.2082 left_roll=0.1424 left_gripper=0.4044 right_x=0.2942 right_y=0.0014 right_z=0.1607 right_yaw=0.0008 right_pitch=-0.0854 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.6889, 5.1624, 0.696, -0.1929, -0.0464, 1.033, -0.0615, -1.5385, 7.0222, 1.6484, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c6159e7709ee498171031d24fd2b1f21bf3cb29b6cfd16e3fba186da7892677",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dc9dc21178d85bb37e1ec9ddd652faa3c87321fa8721f9b35552c9cfe7cf063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5b5534288bc30cd1eff611bb1638f10cc8697d0c8c3bc222ca1cd4e171e33b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Gripper at 0.40 — holding teddy. Lifting and carrying straight to the left basket.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EgBEbCDtR2BmPQuLJfYfUW",
      "input": {
        "note": "Gripper settled at 0.40, so the teddy is pinched. Lifting it straight up first to clear the table.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01EgBEbCDtR2BmPQuLJfYfUW",
      "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]: [-1.1858, 1.7576, 1.3964, -0.572, -1.1198, -0.7414, 0.4049, -0.0143, 0.8494, 0.6067, -0.4091, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3035 left_y=-0.3162 left_z=0.2229 left_yaw=0.0129 left_pitch=0.1969 left_roll=0.1513 left_gripper=0.4049 right_x=0.2942 right_y=0.0014 right_z=0.1601 right_yaw=0.0009 right_pitch=-0.0877 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -12.1778, 8.9778, 0.9841, -0.5104, 0.0659, 0.5299, -0.1436, -1.6615, 6.9949, 1.6337, -0.0366, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10b128661eadc0d9fcd995cb9191e08fa37e9691b14fad47aedc435bfb33ab65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ea1dc942afabb168363296da88930cb5daa77afa565614a83dc335a54c70776",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c8110df0bd070d66b7123ca46f939f761155adf5f37d1a86c91771fda43dede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 2.8 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1862, 1.9533, 1.0031, -0.0082, -1.1004, -0.7322, 0.9968, -0.0147, 0.8474, 0.6067, -0.4084, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2979 left_y=-0.3068 left_z=0.0697 left_yaw=-0.007 left_pitch=0.1721 left_roll=0.1778 left_gripper=0.9968 right_x=0.2942 right_y=0.0013 right_z=0.1608 right_yaw=0.0005 right_pitch=-0.0851 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.9419, 3.0017, 0.6081, -0.0904, 0.0611, 0.0024, -0.1983, -1.4154, 7.0222, 1.6923, -0.0269, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.187, 1.956, 1.0042, 0.0383, -1.1263, -0.733, 0.4044, -0.0147, 0.8474, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3008 left_y=-0.3094 left_z=0.0765 left_yaw=0.0146 left_pitch=0.2082 left_roll=0.1424 left_gripper=0.4044 right_x=0.2942 right_y=0.0014 right_z=0.1607 right_yaw=0.0008 right_pitch=-0.0854 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.6889, 5.1624, 0.696, -0.1929, -0.0464, 1.033, -0.0615, -1.5385, 7.0222, 1.6484, -0.0317, -0.0513, -0.0122]",
      "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]: [-1.1858, 1.7576, 1.3964, -0.572, -1.1198, -0.7414, 0.4049, -0.0143, 0.8494, 0.6067, -0.4091, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3035 left_y=-0.3162 left_z=0.2229 left_yaw=0.0129 left_pitch=0.1969 left_roll=0.1513 left_gripper=0.4049 right_x=0.2942 right_y=0.0014 right_z=0.1601 right_yaw=0.0009 right_pitch=-0.0877 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -12.1778, 8.9778, 0.9841, -0.5104, 0.0659, 0.5299, -0.1436, -1.6615, 6.9949, 1.6337, -0.0366, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10b128661eadc0d9fcd995cb9191e08fa37e9691b14fad47aedc435bfb33ab65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ea1dc942afabb168363296da88930cb5daa77afa565614a83dc335a54c70776",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c8110df0bd070d66b7123ca46f939f761155adf5f37d1a86c91771fda43dede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgwcKEAgSGAI4AUIIdGhpbmtpbmcSDF/R1PIvF7lgvDM9ABoM/yTMjEVstMjXRnsgIjDktsSHmjTT1859XNPf1R5ALR5OrK9zHQB0xdFBVksD6SppD6j+7YsfnO/xZ+klW4AqoAYG1OzLkN4Y7iJj1WBS0YLilw6oddK7eGf/z8IVCcEQRMSBnce6NXFkxx85ecUVCyoYyTErOZBsv++HL+72Tw4qngM/v5gJcrcU/M906fnPhPRZlszz4ho9aCwzgBEubL9Y5sGyq4w+aahLE64qn/4KS9Swo1I/zLkcFf46e9TZ/V07xHVrUo3tKDJN5TqRjkhs9+L+eDJaqozit+ITprFi22A2BrK8hI7fqTvk887w8FFR3K/2uBLKDHbt9K1k7CXXilQjG871+gmPxbcL14SOOC5ngtH4ywjyJit9QCMgwiQ6Pq04U33zCa+fXXaWeZaWp1cRxqWNHmxy07S1br4wIx31DuFhmHvwkKmEKSr+VbxdHCac+lftnKnHeWSu4cCYHs2H7u4hUM+OSyGGxeqWGNKqYdnJL+PjwixVh0AQfl6UcGtiOvJdKrPkUxBH6pxg5bVsVJ1w8HG11yLG7iUl8db3XT+YHXXKE8GlR+R+CC54OxOeOdN3Qhxz8HkcVkGUkqa6PCTHn1VeHHF9CIaRsGJtBsZ90IItTj2XqP7KMIlC2t3uBaMVSDdf1X6WubpNuJqLhhQzOyrX47AzmIKSbQV+mZy7LHE/xjpM6dLEA6HlU9LZjydVgkIZzsTkA+jD2dykD5ijMG+/FCetEFH8m/qOrpCSkg5PzBdrtZCg9NBd/3424ZT7lsjo5Ls6HTKGubDfGPW7aNjK8rGPYB/LFRJoJLiCYzAqkApB+HQrXCRNUZ321XFmtGFNBNb+S28G3iVuDeIzubow2lWXnJds4uBgIOEBprO9hY8DCQ8epRUFqYGw0E1OcNnmMuc2UNEgZi6I3kn/FZPTBBOlJjnGyT4o4BS8JATrzx9sqRkqMShDTJ2zmC6asCwfAY+wdgwuzqr7T7FyrXX4qxhV5sb6Zz8NV1UQiqRMHrDkI1FyYgNfQLeqWPAuC8/2Wx1U48K6FPG5izS0SjQIgZkj0egMCNnCfEWYUgmVqvHu46F4JkKlWHCfqQYmJyGNJaFD20nh6ct4xd+axv+4aEuD0RhYphnWXzf3xbOmu+AE5/7/khgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WUyrAUBGyseG3pcnG7wvfv",
      "input": {
        "note": "Teddy is lifted (gone from its table spot in the overhead view). Carrying it over the left basket.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.16,
          "left_z": 0.29
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01WUyrAUBGyseG3pcnG7wvfv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5518, 1.6321, 1.3682, -0.2569, -0.6411, -0.1627, 0.4062, -0.0147, 0.8494, 0.6067, -0.4091, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1545 left_z=0.2643 left_yaw=0.0537 left_pitch=0.1423 left_roll=0.1714 left_gripper=0.4062 right_x=0.2942 right_y=0.0013 right_z=0.1601 right_yaw=0.0007 right_pitch=-0.0877 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -7.6513, 10.1812, 1.9853, -0.0855, 0.2955, 0.4127, -0.0479, -1.5658, 6.9949, 1.6874, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ccf5534cdaf5ab55636f137245362c00849a183269e061411e9af6f8bfac5c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a2eacab82bfe7ba4072f642bd3edc7fd5cd0cfd002b7970982089aaca80610a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4edebfdfafe1cc0e18584004f92195900dc6310911d54108d5a91a6782236059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 7.004 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.187, 1.956, 1.0042, 0.0383, -1.1263, -0.733, 0.4044, -0.0147, 0.8474, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3008 left_y=-0.3094 left_z=0.0765 left_yaw=0.0146 left_pitch=0.2082 left_roll=0.1424 left_gripper=0.4044 right_x=0.2942 right_y=0.0014 right_z=0.1607 right_yaw=0.0008 right_pitch=-0.0854 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -9.6889, 5.1624, 0.696, -0.1929, -0.0464, 1.033, -0.0615, -1.5385, 7.0222, 1.6484, -0.0317, -0.0513, -0.0122]",
      "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]: [-1.1858, 1.7576, 1.3964, -0.572, -1.1198, -0.7414, 0.4049, -0.0143, 0.8494, 0.6067, -0.4091, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3035 left_y=-0.3162 left_z=0.2229 left_yaw=0.0129 left_pitch=0.1969 left_roll=0.1513 left_gripper=0.4049 right_x=0.2942 right_y=0.0014 right_z=0.1601 right_yaw=0.0009 right_pitch=-0.0877 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -12.1778, 8.9778, 0.9841, -0.5104, 0.0659, 0.5299, -0.1436, -1.6615, 6.9949, 1.6337, -0.0366, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5518, 1.6321, 1.3682, -0.2569, -0.6411, -0.1627, 0.4062, -0.0147, 0.8494, 0.6067, -0.4091, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1545 left_z=0.2643 left_yaw=0.0537 left_pitch=0.1423 left_roll=0.1714 left_gripper=0.4062 right_x=0.2942 right_y=0.0013 right_z=0.1601 right_yaw=0.0007 right_pitch=-0.0877 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -7.6513, 10.1812, 1.9853, -0.0855, 0.2955, 0.4127, -0.0479, -1.5658, 6.9949, 1.6874, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ccf5534cdaf5ab55636f137245362c00849a183269e061411e9af6f8bfac5c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a2eacab82bfe7ba4072f642bd3edc7fd5cd0cfd002b7970982089aaca80610a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4edebfdfafe1cc0e18584004f92195900dc6310911d54108d5a91a6782236059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PLvmx2zQg3zm5bCv2ya8Ph",
      "input": {
        "note": "Teddy is hanging over the left basket. Releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PLvmx2zQg3zm5bCv2ya8Ph",
      "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]: [-0.5522, 1.6356, 1.3731, -0.2607, -0.6281, -0.1696, 0.9956, -0.0147, 0.8494, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4598 left_y=-0.1572 left_z=0.2636 left_yaw=0.0463 left_pitch=0.1374 left_roll=0.161 left_gripper=0.9956 right_x=0.2942 right_y=0.0014 right_z=0.1601 right_yaw=0.0008 right_pitch=-0.0877 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.5812, 6.5573, 1.7314, -0.315, 0.0269, -0.1832, -0.0889, -1.5521, 7.0359, 1.6923, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9271ffc99d3ff8daad608ab9595392407b0b9095d3411ca7a97b17239ed41e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e0139e4e327a8a5a9cb43884a8d8e1449ede7aa09524552af2782e153868e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17c6653ca89684613313a8dc8f962337e2e896ea0a1abdf7d8d64fe770bcbc99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 4.116 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]: [-1.1858, 1.7576, 1.3964, -0.572, -1.1198, -0.7414, 0.4049, -0.0143, 0.8494, 0.6067, -0.4091, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3035 left_y=-0.3162 left_z=0.2229 left_yaw=0.0129 left_pitch=0.1969 left_roll=0.1513 left_gripper=0.4049 right_x=0.2942 right_y=0.0014 right_z=0.1601 right_yaw=0.0009 right_pitch=-0.0877 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -12.1778, 8.9778, 0.9841, -0.5104, 0.0659, 0.5299, -0.1436, -1.6615, 6.9949, 1.6337, -0.0366, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5518, 1.6321, 1.3682, -0.2569, -0.6411, -0.1627, 0.4062, -0.0147, 0.8494, 0.6067, -0.4091, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1545 left_z=0.2643 left_yaw=0.0537 left_pitch=0.1423 left_roll=0.1714 left_gripper=0.4062 right_x=0.2942 right_y=0.0013 right_z=0.1601 right_yaw=0.0007 right_pitch=-0.0877 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -7.6513, 10.1812, 1.9853, -0.0855, 0.2955, 0.4127, -0.0479, -1.5658, 6.9949, 1.6874, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5522, 1.6356, 1.3731, -0.2607, -0.6281, -0.1696, 0.9956, -0.0147, 0.8494, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4598 left_y=-0.1572 left_z=0.2636 left_yaw=0.0463 left_pitch=0.1374 left_roll=0.161 left_gripper=0.9956 right_x=0.2942 right_y=0.0014 right_z=0.1601 right_yaw=0.0008 right_pitch=-0.0877 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.5812, 6.5573, 1.7314, -0.315, 0.0269, -0.1832, -0.0889, -1.5521, 7.0359, 1.6923, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9271ffc99d3ff8daad608ab9595392407b0b9095d3411ca7a97b17239ed41e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99e0139e4e327a8a5a9cb43884a8d8e1449ede7aa09524552af2782e153868e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17c6653ca89684613313a8dc8f962337e2e896ea0a1abdf7d8d64fe770bcbc99",
        "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_01TTnCPaubzm9UZXX9P5Qccb",
      "input": {
        "note": "The teddy fell just in front of the left basket instead of in it (basket already holds two plushes). Moving above it to regrasp.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.2,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TTnCPaubzm9UZXX9P5Qccb",
      "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]: [-0.8383, 1.5875, 0.8932, -0.0334, -0.8261, -0.3592, 0.9967, -0.0147, 0.8539, 0.6067, -0.4088, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.362 left_y=-0.2029 left_z=0.1392 left_yaw=-0.0023 left_pitch=0.0796 left_roll=0.2124 left_gripper=0.9967 right_x=0.2945 right_y=0.0013 right_z=0.1589 right_yaw=0.0005 right_pitch=-0.0919 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -8.7179, 6.065, 1.79, -0.4664, -0.1099, 0.1001, -0.1026, -1.4291, 7.0496, 1.6679, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f304c934133b9a7c9dcac0ff624778c223b66b9e2d7f0c67175cd2934fb2b1c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0657bb12a6b407c010530e4df84f09426fe45ba98fdc755086382fdca01ded67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f23c3532251314f45b060071782456edd6e0673455317cd0c1fca65e6f309863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 2.791 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5518, 1.6321, 1.3682, -0.2569, -0.6411, -0.1627, 0.4062, -0.0147, 0.8494, 0.6067, -0.4091, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4593 left_y=-0.1545 left_z=0.2643 left_yaw=0.0537 left_pitch=0.1423 left_roll=0.1714 left_gripper=0.4062 right_x=0.2942 right_y=0.0013 right_z=0.1601 right_yaw=0.0007 right_pitch=-0.0877 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -7.6513, 10.1812, 1.9853, -0.0855, 0.2955, 0.4127, -0.0479, -1.5658, 6.9949, 1.6874, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.5522, 1.6356, 1.3731, -0.2607, -0.6281, -0.1696, 0.9956, -0.0147, 0.8494, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4598 left_y=-0.1572 left_z=0.2636 left_yaw=0.0463 left_pitch=0.1374 left_roll=0.161 left_gripper=0.9956 right_x=0.2942 right_y=0.0014 right_z=0.1601 right_yaw=0.0008 right_pitch=-0.0877 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.5812, 6.5573, 1.7314, -0.315, 0.0269, -0.1832, -0.0889, -1.5521, 7.0359, 1.6923, -0.022, -0.0513, -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 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]: [-0.8383, 1.5875, 0.8932, -0.0334, -0.8261, -0.3592, 0.9967, -0.0147, 0.8539, 0.6067, -0.4088, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.362 left_y=-0.2029 left_z=0.1392 left_yaw=-0.0023 left_pitch=0.0796 left_roll=0.2124 left_gripper=0.9967 right_x=0.2945 right_y=0.0013 right_z=0.1589 right_yaw=0.0005 right_pitch=-0.0919 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -8.7179, 6.065, 1.79, -0.4664, -0.1099, 0.1001, -0.1026, -1.4291, 7.0496, 1.6679, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f304c934133b9a7c9dcac0ff624778c223b66b9e2d7f0c67175cd2934fb2b1c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0657bb12a6b407c010530e4df84f09426fe45ba98fdc755086382fdca01ded67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f23c3532251314f45b060071782456edd6e0673455317cd0c1fca65e6f309863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuAkKEAgSGAI4AUIIdGhpbmtpbmcSDFJhr4HYoSaWZXBk/xoMqiLVtGIlBRAXcFjAIjBLHvBxrC7UXIBZpjXYLTtkmpmZpJ6rtXh1S93TtOXrwfxhQkd3BdM/vrMMW15OnrUq1QjYqKKs1imTRXCuNzeKaPeN7RKwrjPAw1utwn75TkVqSd7Jk+28wT11d8NRZTJ6RN6NIdq8BAjI8PPbLtmyWWlRJKL7GN5Kjv+c+XSzL5SSTWFRjGGAULvi5FJqtBm6EuMrdN7YPfGM7kCq2Kqq1rvogiSl5zfAI4ChqILar9hPKzR8YKv27CX9CA95tf+JXro4zq+SeMCH0zKWZSskUS/veBzl08G8l2DdRrFmg8OLHwj8fuzwbVq0kUOLYCBZW1sS9nmK3b/WfkfU6dGgWqWIDv1e2ngyxHM6uugKEq9DbrG/ZpRXC360CmqrZ1qeUJG3Lu9X1XIQdkX+oO/9rlC9ON1XjHFBr44p59rEuHP060IsccQUdrd1PjJ+wSn2CgZE8ct+1nFd02b/oZn5QqGdv9ZCFdsXnvDTDfUuo2ETBsMIm+xYqCvHKz4c0zpCL2AQeTK0+DLd6BKJ91Ad8VNNVYIi087vyE+BaL0g5IiFAXZv1UB8MVbxibR3tgglrv3hT0j5ycY9RtE5jNUa0QY93zQ+k9jEiW+laeAtj9abpbUr12HDYwvSOkNi6l4VUw+P4Fo3UUyr3I3sJvaHJtxTkcfFwX1b9dmKVKGO4Ldx4g7Pa/0zMI1pNBGRV5FDOoYrTOILYRbShvrUKpLE3A9mHL8dO11xykrFvFpNtKEvlyPLoq97hiRwtHTF/5yCfdmYGUAUzeE6gtD+Fdbq2fhMeYXsWPre/A3ZULi/xRw3OGCPmoqnQ3m1b7Qtolr1teSCtIftdsk5Xs0vfgXns32W0SSZrQIEHnNfnSyG4LnBcDBw+vov95lkNYIVylfw78GKUTYwhTbBcBOImKYK3ZHAwBsjHWb7d5SJ05zUyYgjR1No3WjR7swx93qurSyCSb2bvN0u14sIbPG3SnCSmn2scW7U9dsrsrGDEEX5BDCcTjCowTQ0gdOZvt1wLBaCoWZvtnM/GL8V2Xgp2vgBJ+ychfOlSZoJMaJNeBgcdo8z2v7ua0sCQUZcAxxeBDY/ZRfMV8ilyxFnLHFRxczGa2/Xr+G4YrB/swU9v7FwiHE9wrMJ1vHwXKIsKXeSxCeU5Xi3wnYA/ayEok9p8hDwxuwMAnFHr9vffVwzojl1b6I4k/ol+/a2j2SGJ/zcZN1xRBE9EF8PEFuDv2ey4PQGxxWZyFzLH4wsKXVwle1jLBoZ20/2ErVNvpdEb35i9r3v0usk8gS50Vppwz4ouR0MBTIIvW8d0jVI8ouRhp1QuK5zE7xq8LZjgytagJIFuTchRM8NYY5a7AttKQGL2cJ6p90ib0C1TIw4ZYQXd9u/GlBFrWrb+2FknAWRlOQ/Op/69EBt4lkGaKMHRyLH9epcZaUIIb0F9JKjCCD61Uumz+CJMkc8p3jd4S9oQyPEKEFBEKfkDf/4n8QnHCL7NLsWhcU2k7ZCy1ZpZ6qKLjod/eKFFJSZkWuDt17gDN1N2DxalfnhiYcj3RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0178B912CYXovNEu6J2eVXDA",
      "input": {
        "note": "Teddy's head sits right under the jaws in the wrist view. Descending onto it.",
        "targets": {
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0178B912CYXovNEu6J2eVXDA",
      "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]: [-0.8417, 1.8309, 0.7376, 0.3645, -0.831, -0.3664, 0.9968, -0.0147, 0.857, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3631 left_y=-0.2053 left_z=0.0513 left_yaw=0.0015 left_pitch=0.0822 left_roll=0.209 left_gripper=0.9968 right_x=0.2946 right_y=0.0014 right_z=0.1581 right_yaw=0.0008 right_pitch=-0.095 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -6.7624, 3.2752, 1.243, -0.1929, 0.0464, -0.0073, -0.253, -1.7573, 7.0632, 1.6777, -0.0073, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d58e674dae980669f96e318fa980fd6176f3a70a904610e5c7ec664e9454f4c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab1f9031348bfc3c7c07a5fd0b55cae08ccf32e3e1d390fc521e81e04bad0255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7fb98a780ad14513e0a76c321d3ecf99fd13f5c2bdb52dcbaef629eb00487c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 4.22 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]: [-0.5522, 1.6356, 1.3731, -0.2607, -0.6281, -0.1696, 0.9956, -0.0147, 0.8494, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4598 left_y=-0.1572 left_z=0.2636 left_yaw=0.0463 left_pitch=0.1374 left_roll=0.161 left_gripper=0.9956 right_x=0.2942 right_y=0.0014 right_z=0.1601 right_yaw=0.0008 right_pitch=-0.0877 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.5812, 6.5573, 1.7314, -0.315, 0.0269, -0.1832, -0.0889, -1.5521, 7.0359, 1.6923, -0.022, -0.0513, -0.0122]\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]: [-0.8383, 1.5875, 0.8932, -0.0334, -0.8261, -0.3592, 0.9967, -0.0147, 0.8539, 0.6067, -0.4088, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.362 left_y=-0.2029 left_z=0.1392 left_yaw=-0.0023 left_pitch=0.0796 left_roll=0.2124 left_gripper=0.9967 right_x=0.2945 right_y=0.0013 right_z=0.1589 right_yaw=0.0005 right_pitch=-0.0919 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -8.7179, 6.065, 1.79, -0.4664, -0.1099, 0.1001, -0.1026, -1.4291, 7.0496, 1.6679, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8417, 1.8309, 0.7376, 0.3645, -0.831, -0.3664, 0.9968, -0.0147, 0.857, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3631 left_y=-0.2053 left_z=0.0513 left_yaw=0.0015 left_pitch=0.0822 left_roll=0.209 left_gripper=0.9968 right_x=0.2946 right_y=0.0014 right_z=0.1581 right_yaw=0.0008 right_pitch=-0.095 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -6.7624, 3.2752, 1.243, -0.1929, 0.0464, -0.0073, -0.253, -1.7573, 7.0632, 1.6777, -0.0073, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d58e674dae980669f96e318fa980fd6176f3a70a904610e5c7ec664e9454f4c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab1f9031348bfc3c7c07a5fd0b55cae08ccf32e3e1d390fc521e81e04bad0255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7fb98a780ad14513e0a76c321d3ecf99fd13f5c2bdb52dcbaef629eb00487c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018PKTXUemNgFnhdqpXUqtcW",
      "input": {
        "note": "Jaws are straddling the teddy at z≈0.05. Closing to grab it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018PKTXUemNgFnhdqpXUqtcW",
      "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]: [-0.8421, 1.84, 0.7315, 0.4061, -0.8387, -0.3676, 0.2111, -0.0147, 0.8577, 0.6067, -0.4088, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.365 left_y=-0.2062 left_z=0.0525 left_yaw=0.009 left_pitch=0.1035 left_roll=0.1915 left_gripper=0.2111 right_x=0.2946 right_y=0.0013 right_z=0.1579 right_yaw=0.0005 right_pitch=-0.0957 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.8274, 5.4085, 1.0379, -0.2711, -0.022, 0.7888, -0.0342, -1.6615, 7.0085, 1.6288, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc291a828acf40607b728d8b9bbd867b2ef4c60983d18873c4ef76120646df23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b369eb4f8bb96ebe116a97766cda8544f8168bd979e181b0f299a2cd3961fa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a201b873104df4207258c41ce1cc00b2e55bc654f616fc502138bb3e7b7bf6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 3.274 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]: [-0.8383, 1.5875, 0.8932, -0.0334, -0.8261, -0.3592, 0.9967, -0.0147, 0.8539, 0.6067, -0.4088, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.362 left_y=-0.2029 left_z=0.1392 left_yaw=-0.0023 left_pitch=0.0796 left_roll=0.2124 left_gripper=0.9967 right_x=0.2945 right_y=0.0013 right_z=0.1589 right_yaw=0.0005 right_pitch=-0.0919 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -8.7179, 6.065, 1.79, -0.4664, -0.1099, 0.1001, -0.1026, -1.4291, 7.0496, 1.6679, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8417, 1.8309, 0.7376, 0.3645, -0.831, -0.3664, 0.9968, -0.0147, 0.857, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3631 left_y=-0.2053 left_z=0.0513 left_yaw=0.0015 left_pitch=0.0822 left_roll=0.209 left_gripper=0.9968 right_x=0.2946 right_y=0.0014 right_z=0.1581 right_yaw=0.0008 right_pitch=-0.095 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -6.7624, 3.2752, 1.243, -0.1929, 0.0464, -0.0073, -0.253, -1.7573, 7.0632, 1.6777, -0.0073, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8421, 1.84, 0.7315, 0.4061, -0.8387, -0.3676, 0.2111, -0.0147, 0.8577, 0.6067, -0.4088, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.365 left_y=-0.2062 left_z=0.0525 left_yaw=0.009 left_pitch=0.1035 left_roll=0.1915 left_gripper=0.2111 right_x=0.2946 right_y=0.0013 right_z=0.1579 right_yaw=0.0005 right_pitch=-0.0957 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.8274, 5.4085, 1.0379, -0.2711, -0.022, 0.7888, -0.0342, -1.6615, 7.0085, 1.6288, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc291a828acf40607b728d8b9bbd867b2ef4c60983d18873c4ef76120646df23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b369eb4f8bb96ebe116a97766cda8544f8168bd979e181b0f299a2cd3961fa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a201b873104df4207258c41ce1cc00b2e55bc654f616fc502138bb3e7b7bf6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxQgKEAgSGAI4AUIIdGhpbmtpbmcSDF8cUECDzj6SCj/DWxoMqG1oAVKWIc4PVCciIjCJKy67O5dxmS5Obv03DMNfgtcpkOevm3Hhc/EK3QIcPjpi1LZkeBJJJr3MbNnze5Qq4gfs7GytOHjVuSAQK0yNA8ZZsVXAkvcCVdEH7v2vzt3fAry+849nHIfzi7UBRyZ0QeMPSRc/q2zPuU5FqSmBbFgEcOLO7pfZ3SfJu76Z6bGHP83KFb2uP4p1SXQGs0n+AmgAKDjqUCGXA1QQUqnA8NDKCGkMogieyn4aWsyfdePyQOWLgV+fhB8E+zj9Q2u+x6jTi+3GNiYGvbenBTAteMGtLj2YTVvk1k/KqJlDudfSwAUuwUO3276bl4clS3XqcPccy+GxTEeL7wFXiL9OY8Vr+0/K9YhSDa/Y9vb9wvNYNsgDWXs3y6CKW14cwLyUeGdQFwdIc0pkBklEjrVLd9C4UjQ5FNy6sGLGnjYoOT/bIgwQC8znZVCmqIXEB8IR75qPdQCODso4JW95BvnirOkDA24x38YUI0KrakoyfRLRPe7dMFczb1BRM39Fl7BePJDsos45U0sJENkOn+8CJRVLTw1ZKHUyEfo0b+6ihu4cH8jYdnoATzB95YQ6uKuQ79RulX67vZwSJ3laccOgueOFZp07s8t4nkodJIyf8IT3sBGz4102Vc9Nl5PuRm4wgcEzzjHHy7sY+jaMh8YVJcZKkI0p+FUyj7jhN6T0dikujuE7weYh1JFVpMGpTIiyAaWT3U0aCA+QwkE9Mq9n1TzWZ+ZT4bb2FOfcTKwu32wlLl6vfHL2mmXKyT0qwBonwEiTvucl8EdZDg9rVi0BqdQqpp2mG56tEXhXaLR8MPdQ6dEPvGA2DVU3BRCbX5w+cJMSugLJHXeUpsQblj7G8l9dkv8vkSd0w6Mu5LhIQHD5FDAab3jdL4zyhWJ4TFOALtb83uwNx2PVXEmmgoDJD2dlzXVvfN5gdYYN6oEiHKeA44KycwRnySR3AV9M6Du8X8CYgg0ShspPZJSECKRqGF7TdjGfMTHFXOjIJmdE63FiZowdBwZmgtNjtkykKfkp2NSdMhTx3jXXzWgywStFDuGPOmuZk1aF8/3Z4sGIi/Uai4nfegqu6zSh0sS8BzRAxylTZQ9lxn5qV+7DSNgW/3bL9epWucR5DUPjGIZBCApMgaJQuWB5SYCnUXi/Zh96wajsLpI0t63KXG9TgNmH7ik+1bp7bwl7aRAY2uWdfJ3e24fZMQT6dms9kkae9AIFZ+UWh1ifBydqOz4sFApp2Hk/miTYrHVt4p2J46ZqI49D+Unuc9NQIn1oqIFsvV73oT6Hx7W1G9iOT9YZ6zYBrC3VMmj131BrgH+4Vwn+PMxbkkcSr4YNpIWqgCuRTVl0PN5aINcray8JslJ5W5rrBpkGwdqlrnJrxH2LRhSe1mAHkpcPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HcvsV6zk93d7Z73SWiFb9r",
      "input": {
        "note": "Teddy grasped (gripper 0.21). Lifting high so it clears the basket wall.",
        "targets": {
          "left_z": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01HcvsV6zk93d7Z73SWiFb9r",
      "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]: [-0.8421, 1.5391, 1.5494, -0.704, -0.831, -0.3813, 0.2125, -0.0147, 0.8585, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3674 left_y=-0.2103 left_z=0.3176 left_yaw=0.0114 left_pitch=0.107 left_roll=0.1692 left_gripper=0.2125 right_x=0.2946 right_y=0.0014 right_z=0.1576 right_yaw=0.0008 right_pitch=-0.0969 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.2564, 8.759, 1.3211, -0.4078, 0.1343, 0.1441, -0.1026, -1.6615, 7.0222, 1.6923, -0.0073, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:457913a10c8d83f15c72ad07926774fab6210bbc24c9ce3e36276826c5b43cfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85e0725288309b119832f6e405b0563ffda336e53365919c5eb622a4173b61df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c26fd4f599fbf23073adf894ef70a6a6dc96a92af1c8d47c658ed8ad3b1d0fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 2.638 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]: [-0.8417, 1.8309, 0.7376, 0.3645, -0.831, -0.3664, 0.9968, -0.0147, 0.857, 0.6067, -0.4088, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3631 left_y=-0.2053 left_z=0.0513 left_yaw=0.0015 left_pitch=0.0822 left_roll=0.209 left_gripper=0.9968 right_x=0.2946 right_y=0.0014 right_z=0.1581 right_yaw=0.0008 right_pitch=-0.095 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.3897, -6.7624, 3.2752, 1.243, -0.1929, 0.0464, -0.0073, -0.253, -1.7573, 7.0632, 1.6777, -0.0073, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8421, 1.84, 0.7315, 0.4061, -0.8387, -0.3676, 0.2111, -0.0147, 0.8577, 0.6067, -0.4088, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.365 left_y=-0.2062 left_z=0.0525 left_yaw=0.009 left_pitch=0.1035 left_roll=0.1915 left_gripper=0.2111 right_x=0.2946 right_y=0.0013 right_z=0.1579 right_yaw=0.0005 right_pitch=-0.0957 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.8274, 5.4085, 1.0379, -0.2711, -0.022, 0.7888, -0.0342, -1.6615, 7.0085, 1.6288, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8421, 1.5391, 1.5494, -0.704, -0.831, -0.3813, 0.2125, -0.0147, 0.8585, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3674 left_y=-0.2103 left_z=0.3176 left_yaw=0.0114 left_pitch=0.107 left_roll=0.1692 left_gripper=0.2125 right_x=0.2946 right_y=0.0014 right_z=0.1576 right_yaw=0.0008 right_pitch=-0.0969 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.2564, 8.759, 1.3211, -0.4078, 0.1343, 0.1441, -0.1026, -1.6615, 7.0222, 1.6923, -0.0073, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:457913a10c8d83f15c72ad07926774fab6210bbc24c9ce3e36276826c5b43cfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85e0725288309b119832f6e405b0563ffda336e53365919c5eb622a4173b61df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c26fd4f599fbf23073adf894ef70a6a6dc96a92af1c8d47c658ed8ad3b1d0fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5gYKEAgSGAI4AUIIdGhpbmtpbmcSDFHyJypaBi9XqU5VShoMlJyDf3zGOynwLJApIjC7HaEz2GPQMD3qSfBH6CsldPNwAhdqt0RoBvuZMC5VrANSdheHDdvtDQUyKoGSRAEqgwb8ENiwy4R2yCeejQ421alcgCwnPnAbFEteUUOZb0n5hxnIKehRCRxlS8F7zMin7IY9uxy8xx0EvNksjideMro5tToLvUACgqW6xxujPz3LXoycJJy61NSKhx33HfmmmlME8DbBEBS7MO4Moj3ljHH2g8N591NR1XJlFISIe62pBmyst2642YLfdZVqyIoRVzE0FjH7YVbK7inelq7yIKRu3OGyqmSZs9klEpicbkEUr92K7sbw14hgWxnKLu8axBb+aCAIFBIZVfVbGVvVXi4o7l6fAKo9TvnridH6Ou0Rt32Dgj0i9sVRLokTQvPG60GAiDH6cGoooap1d/O0hI843rktZfE1mYCUXacZ31MxF4O3QuN7HS3XOpAM6/ygecws6v7zuPn2zNgaz5VXp2yuIVUMW9BdmtdgY5cDc4jD5out31FNhDsWZbI8CtaRnMuY00qX3q91TBh1vQ8sRO+luyfWvSKeoVb2pbDCozerBnLRuloHZcOezfRgRz+ioDtmLsXmT5RXcHS/aZZFun+u1QV89oqsb1V+85i28r7iajzw7Elnc2XwQBEGoAHnnETIhTN3sJivsUQfJKK0KwVAGs6uceDJUo/oesa37z1/+JYwXllW8Eob8bV9aPb3SxLnN1kkxieG5ORSRiXOWN7EIKy/Xv86Itxu/yc01q9mDJB7UzbVXsHLAXiCCbI0+x+dK5JiZh63ywmZL2d92R+z97t6OP5iO5O0WyesQDC7aubTQIgcA3eKR6MAcRp/O14Q/7bxiidm1RtPzvbV5XaqM2LX5K1ile0qCR/eKHQcEJgNqasZ7UqQ9EtaF2DYsFAAdgqsr/0vW+WU+XZe0EwnzyXS0eMr/qc0iBsCWdC2G4RBOrxjzikYRHEDZlRqgUhO5eKZkKlO+nzfG4aYlW8GhXjIOmv7mvtYgaZp3nLmSNn7ADnlgDCjwg+RfA/VUDj9m1egdYLgHjMfTR8nwJTq9i/SOEMk7LYBWKKM8nz6Zbr006hsesrNtPba4uoibDFiv2EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VK2cvmAJktHQQ6GZaziArf",
      "input": {
        "note": "Teddy is lifted high. Moving further forward than last time so it drops into the middle/back of the left basket.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.14,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01VK2cvmAJktHQQ6GZaziArf",
      "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]: [-0.4541, 1.7554, 1.7126, -0.5518, -0.5285, -0.1371, 0.214, -0.0143, 0.8604, 0.6067, -0.4091, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4903 left_y=-0.1362 left_z=0.2965 left_yaw=0.0435 left_pitch=0.0459 left_roll=0.1821 left_gripper=0.214 right_x=0.2947 right_y=0.0014 right_z=0.1571 right_yaw=0.0009 right_pitch=-0.0988 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -9.5932, 9.7983, 1.9902, -0.2173, 0.2173, 0.1392, -0.1299, -1.7983, 6.9812, 1.6239, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe1228aec79e785a2121e1beae59087c7ce71a588b18ab790446fc85020e2c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ca930d1cf2f2d5fe9db1df884e67368b9d3fdbe681d9bf72ff13c9d6084393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c71226e22154954f410b9630b42147381b396b4ebd9a881f3f42992f277cb498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 19.86 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]: [-0.8421, 1.84, 0.7315, 0.4061, -0.8387, -0.3676, 0.2111, -0.0147, 0.8577, 0.6067, -0.4088, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.365 left_y=-0.2062 left_z=0.0525 left_yaw=0.009 left_pitch=0.1035 left_roll=0.1915 left_gripper=0.2111 right_x=0.2946 right_y=0.0013 right_z=0.1579 right_yaw=0.0005 right_pitch=-0.0957 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.8274, 5.4085, 1.0379, -0.2711, -0.022, 0.7888, -0.0342, -1.6615, 7.0085, 1.6288, -0.0317, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8421, 1.5391, 1.5494, -0.704, -0.831, -0.3813, 0.2125, -0.0147, 0.8585, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3674 left_y=-0.2103 left_z=0.3176 left_yaw=0.0114 left_pitch=0.107 left_roll=0.1692 left_gripper=0.2125 right_x=0.2946 right_y=0.0014 right_z=0.1576 right_yaw=0.0008 right_pitch=-0.0969 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.2564, 8.759, 1.3211, -0.4078, 0.1343, 0.1441, -0.1026, -1.6615, 7.0222, 1.6923, -0.0073, -0.0464, -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 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4541, 1.7554, 1.7126, -0.5518, -0.5285, -0.1371, 0.214, -0.0143, 0.8604, 0.6067, -0.4091, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4903 left_y=-0.1362 left_z=0.2965 left_yaw=0.0435 left_pitch=0.0459 left_roll=0.1821 left_gripper=0.214 right_x=0.2947 right_y=0.0014 right_z=0.1571 right_yaw=0.0009 right_pitch=-0.0988 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -9.5932, 9.7983, 1.9902, -0.2173, 0.2173, 0.1392, -0.1299, -1.7983, 6.9812, 1.6239, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe1228aec79e785a2121e1beae59087c7ce71a588b18ab790446fc85020e2c9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ca930d1cf2f2d5fe9db1df884e67368b9d3fdbe681d9bf72ff13c9d6084393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c71226e22154954f410b9630b42147381b396b4ebd9a881f3f42992f277cb498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJZAGrirJKKCW3ejwtaVbF",
      "input": {
        "note": "Teddy is now over the middle of the left basket. Releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01YJZAGrirJKKCW3ejwtaVbF",
      "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]: [-0.4538, 1.7767, 1.7157, -0.5594, -0.5198, -0.1463, 0.9954, -0.0147, 0.8604, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4931 left_y=-0.1389 left_z=0.2856 left_yaw=0.0412 left_pitch=0.0217 left_roll=0.1821 left_gripper=0.9954 right_x=0.2948 right_y=0.0014 right_z=0.1572 right_yaw=0.001 right_pitch=-0.0984 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.988, 6.5983, 1.7509, -0.3053, 0.0269, -0.0513, -0.0889, -1.4427, 7.0085, 1.6386, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e349e00ebdca0f0f79a9b619028993f7914db1ab3975af98e6d0e5f76ec795c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b9a1c59b8a2f8b92a0b050f6c27a9c5fd421626b3f667f87b334daaa5a441b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebca5e70749b021384e5d335041e49218361491851d79d7b2f0857345d31f9ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 3.629 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8421, 1.5391, 1.5494, -0.704, -0.831, -0.3813, 0.2125, -0.0147, 0.8585, 0.6067, -0.4091, -0.012, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.3674 left_y=-0.2103 left_z=0.3176 left_yaw=0.0114 left_pitch=0.107 left_roll=0.1692 left_gripper=0.2125 right_x=0.2946 right_y=0.0014 right_z=0.1576 right_yaw=0.0008 right_pitch=-0.0969 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -6.2564, 8.759, 1.3211, -0.4078, 0.1343, 0.1441, -0.1026, -1.6615, 7.0222, 1.6923, -0.0073, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4541, 1.7554, 1.7126, -0.5518, -0.5285, -0.1371, 0.214, -0.0143, 0.8604, 0.6067, -0.4091, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4903 left_y=-0.1362 left_z=0.2965 left_yaw=0.0435 left_pitch=0.0459 left_roll=0.1821 left_gripper=0.214 right_x=0.2947 right_y=0.0014 right_z=0.1571 right_yaw=0.0009 right_pitch=-0.0988 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -9.5932, 9.7983, 1.9902, -0.2173, 0.2173, 0.1392, -0.1299, -1.7983, 6.9812, 1.6239, -0.0415, -0.0171, -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]: [-0.4538, 1.7767, 1.7157, -0.5594, -0.5198, -0.1463, 0.9954, -0.0147, 0.8604, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4931 left_y=-0.1389 left_z=0.2856 left_yaw=0.0412 left_pitch=0.0217 left_roll=0.1821 left_gripper=0.9954 right_x=0.2948 right_y=0.0014 right_z=0.1572 right_yaw=0.001 right_pitch=-0.0984 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.988, 6.5983, 1.7509, -0.3053, 0.0269, -0.0513, -0.0889, -1.4427, 7.0085, 1.6386, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e349e00ebdca0f0f79a9b619028993f7914db1ab3975af98e6d0e5f76ec795c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b9a1c59b8a2f8b92a0b050f6c27a9c5fd421626b3f667f87b334daaa5a441b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebca5e70749b021384e5d335041e49218361491851d79d7b2f0857345d31f9ad",
        "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_016b8ZCu3sNWCZx5MoEbT9rM",
      "input": {
        "note": "All three plush toys are in the left basket. Now the pens: two dark pens lie just left of the right gripper, pointing forward; lowering the open right jaws between/around both to scoop them together.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.28,
          "right_y": 0.1,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_016b8ZCu3sNWCZx5MoEbT9rM",
      "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]: [-0.453, 1.7767, 1.7145, -0.5617, -0.519, -0.1497, 0.9967, 0.5755, 1.4158, 0.2157, 0.4702, 0.4198, 0.3531, 0.9998]\nstate[eef_state]: left_x=0.4928 left_y=-0.1385 left_z=0.2847 left_yaw=0.0431 left_pitch=0.0188 left_roll=0.1804 left_gripper=0.9967 right_x=0.2859 right_y=0.1039 right_z=0.0121 right_yaw=0.0306 right_pitch=-0.0908 right_roll=0.0096 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.4701, 7.1863, 1.6825, -0.2466, -0.0122, 0.1245, 0.2393, -2.7145, 2.7009, 0.0317, 0.0659, -0.2125, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05ac4849ec2fbf0ddee93324c106b5655f0b93e83c8da72c4e11800d73b5200",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:825aed466d9445644ecaf63c6fecc9e598b9fa3b453f425af0e215f9f9056b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a04353938b60cc74d225e7aa20d15f9ce9ac570aea87cc704675f3e2e393ef31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 6.482 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4541, 1.7554, 1.7126, -0.5518, -0.5285, -0.1371, 0.214, -0.0143, 0.8604, 0.6067, -0.4091, -0.0116, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.4903 left_y=-0.1362 left_z=0.2965 left_yaw=0.0435 left_pitch=0.0459 left_roll=0.1821 left_gripper=0.214 right_x=0.2947 right_y=0.0014 right_z=0.1571 right_yaw=0.0009 right_pitch=-0.0988 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -9.5932, 9.7983, 1.9902, -0.2173, 0.2173, 0.1392, -0.1299, -1.7983, 6.9812, 1.6239, -0.0415, -0.0171, -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]: [-0.4538, 1.7767, 1.7157, -0.5594, -0.5198, -0.1463, 0.9954, -0.0147, 0.8604, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4931 left_y=-0.1389 left_z=0.2856 left_yaw=0.0412 left_pitch=0.0217 left_roll=0.1821 left_gripper=0.9954 right_x=0.2948 right_y=0.0014 right_z=0.1572 right_yaw=0.001 right_pitch=-0.0984 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.988, 6.5983, 1.7509, -0.3053, 0.0269, -0.0513, -0.0889, -1.4427, 7.0085, 1.6386, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.453, 1.7767, 1.7145, -0.5617, -0.519, -0.1497, 0.9967, 0.5755, 1.4158, 0.2157, 0.4702, 0.4198, 0.3531, 0.9998]\nstate[eef_state]: left_x=0.4928 left_y=-0.1385 left_z=0.2847 left_yaw=0.0431 left_pitch=0.0188 left_roll=0.1804 left_gripper=0.9967 right_x=0.2859 right_y=0.1039 right_z=0.0121 right_yaw=0.0306 right_pitch=-0.0908 right_roll=0.0096 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.4701, 7.1863, 1.6825, -0.2466, -0.0122, 0.1245, 0.2393, -2.7145, 2.7009, 0.0317, 0.0659, -0.2125, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05ac4849ec2fbf0ddee93324c106b5655f0b93e83c8da72c4e11800d73b5200",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:825aed466d9445644ecaf63c6fecc9e598b9fa3b453f425af0e215f9f9056b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04353938b60cc74d225e7aa20d15f9ce9ac570aea87cc704675f3e2e393ef31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6gcKEAgSGAI4AUIIdGhpbmtpbmcSDPRve76/aW67MKKOgxoMc2QDfPLP2nC4zKn7IjDpGNiwimgVGquu2wJU5oylihiZSDTRKAjRMYAgCbeaMaQUynJs4UfQUwBq5CpgWjIqhwe9OTXBpQ2HV7+lDds8l0M/PcNfzMfMgYMA7zJd3GiLTPpIW7DhozgrTyBOBOlmy5uFYYyXFroWd3/qLE8X96DH8szqrdhIaGfQt5TF8gHIiQJ2WEKmeQolr4xmHt5QTnEfqqny2yfB20qauToBeWfI0f1qTKimnIT7u5BP8ZX7OjWziuM8yu911KFt9MZpTWxUi8lDBDl5ck1PzDu5xavOeG/vKEuVEDHmCjKx8SfT3GSzAqSVJbfbkYxkeuXZjM8RjOCC3kPu4BYWWPUU7Qhguk34ooJiS/QsiEIy7zvgSvV6ZYwcpBa6NJi6YhR5dDLEzVytsSp1yzn3ku3GwA3AmkpyIYp7YqWwiwhyt/LeRKeqmvcqVL5N/Q+GZQ1NGw7KYeWg6TLqmHCSI8UWmf6XvImItGD44rCDZdebI0FKy8+MNs55QAH7TSVNOKLQTRwgJeGgcE2oqaNjIKqGlWqgAwdIH+a3stB8m67YyJdQ1T/qx08z6eGM3J3UfVEp1Zhk5ghA7a2Dx2nxV5D68iDKrVbKwYEWiFi2baLRQcQ+9zm85fIc1y+0zLgBlbTptdseCjnqvpcznCgmaifVUcyUEOJJlWRR6LDSrbPktBfnU6t2Oc/fjGaTEkJ6eeqizfSG0rRiEwkU/Kf57ww4IKzoaa21d8mUCjm6lVrn5yIGo8ZTrD2UikAgNlQPiaqakpSKZyQZJJs3J1bieeeLzp1DANc7BIC88enYh2jqpkQtvQ2qC3Ke4jiNUYIoltLm3apGBjf5Y51XjMi3Nqxi/qG3NRm5z4P5cwK2uob0ijUZBjKs55AYT5Dvjsa6e4hDS2iB138+1YqcG5dwW1w1+GDDGKCTVVpK5uAgQvuHtDM8LcQJmqYS6cuE8z28Hzc7SYK6vwssFKSUQKlqQcu6r23l1k6g8Xw2NLPGe/GlB9+xqRU8KRJiBw9nMRc6WJyUUj/IrTFdKiKWXib1s8nIW5cXblyAEzK+5JVm5F6zZvAO0ZsV5VBpN0kfWtWOMluVqWSU5yMfi6Uo4ex95jmY5JzNDm4zzhIUbXlMdPdk2GX8IpAzjJ2CIRmfm/8C/VqGK7zB/yBreR7Eejdwulu63B0JjX848oohTH3TJ4u8htbl9bNIxfi7/PAIRO4AIX/XIKsnkktaLn2Cja7WI02xsp9HlJZLbbw71R4cCHwkpfueB6iVKgQXER4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CcDdDVjo7GyEkwXh6n2XHb",
      "input": {
        "note": "One pen is centred between the right jaws at table level, the other near the left jaw. Closing to grab them.",
        "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_01CcDdDVjo7GyEkwXh6n2XHb",
      "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]: [-0.453, 1.7767, 1.7145, -0.5602, -0.519, -0.1497, 0.9968, 0.5758, 1.4227, 0.2054, 0.4938, 0.4149, 0.3485, 0.1463]\nstate[eef_state]: left_x=0.493 left_y=-0.1385 left_z=0.285 left_yaw=0.0431 left_pitch=0.0201 left_roll=0.1797 left_gripper=0.9968 right_x=0.285 right_y=0.1044 right_z=0.0108 right_yaw=0.0377 right_pitch=-0.0869 right_roll=0.0122 right_gripper=0.1463\nstate[joint_eff]: [-0.1026, -9.4427, 6.8308, 1.5702, -0.1929, -0.0317, -0.0073, -0.3487, -4.1778, 5.3402, 1.3211, 0.1343, -0.0073, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94a41c7e719da1ab14c18721350de7419e377d31f67ebfe8a0a98fd2299d6551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c1004d9fc09560166eaad39274b182c2d3e2a82b1644588460fcaee6041a922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:226eb4ae3d0f40bea69a4256dc3b3536b3081518c53d0308725c9a682266fba3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 3.368 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]: [-0.4538, 1.7767, 1.7157, -0.5594, -0.5198, -0.1463, 0.9954, -0.0147, 0.8604, 0.6067, -0.4088, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4931 left_y=-0.1389 left_z=0.2856 left_yaw=0.0412 left_pitch=0.0217 left_roll=0.1821 left_gripper=0.9954 right_x=0.2948 right_y=0.0014 right_z=0.1572 right_yaw=0.001 right_pitch=-0.0984 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.988, 6.5983, 1.7509, -0.3053, 0.0269, -0.0513, -0.0889, -1.4427, 7.0085, 1.6386, -0.0415, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.453, 1.7767, 1.7145, -0.5617, -0.519, -0.1497, 0.9967, 0.5755, 1.4158, 0.2157, 0.4702, 0.4198, 0.3531, 0.9998]\nstate[eef_state]: left_x=0.4928 left_y=-0.1385 left_z=0.2847 left_yaw=0.0431 left_pitch=0.0188 left_roll=0.1804 left_gripper=0.9967 right_x=0.2859 right_y=0.1039 right_z=0.0121 right_yaw=0.0306 right_pitch=-0.0908 right_roll=0.0096 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.4701, 7.1863, 1.6825, -0.2466, -0.0122, 0.1245, 0.2393, -2.7145, 2.7009, 0.0317, 0.0659, -0.2125, -0.0366]",
      "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]: [-0.453, 1.7767, 1.7145, -0.5602, -0.519, -0.1497, 0.9968, 0.5758, 1.4227, 0.2054, 0.4938, 0.4149, 0.3485, 0.1463]\nstate[eef_state]: left_x=0.493 left_y=-0.1385 left_z=0.285 left_yaw=0.0431 left_pitch=0.0201 left_roll=0.1797 left_gripper=0.9968 right_x=0.285 right_y=0.1044 right_z=0.0108 right_yaw=0.0377 right_pitch=-0.0869 right_roll=0.0122 right_gripper=0.1463\nstate[joint_eff]: [-0.1026, -9.4427, 6.8308, 1.5702, -0.1929, -0.0317, -0.0073, -0.3487, -4.1778, 5.3402, 1.3211, 0.1343, -0.0073, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94a41c7e719da1ab14c18721350de7419e377d31f67ebfe8a0a98fd2299d6551",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c1004d9fc09560166eaad39274b182c2d3e2a82b1644588460fcaee6041a922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:226eb4ae3d0f40bea69a4256dc3b3536b3081518c53d0308725c9a682266fba3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxwsKEAgSGAI4AUIIdGhpbmtpbmcSDMVCG1EiAZG5Qy1qSBoMDE54twM6bFPil+YZIjDam7caCqcVubLFIeu5YcA1vQaXp4vmjvqFRH4uvBgMa6VPIVUQ2NgDQ6XFfc31W0Uq5AoDHZwYlFdWWdnRtcH3ce3O6yz2NkJvoB+41FpUJ6zc5j82wU+HoYzHlOfeKOS8TUHv65GaSMRBlAtsFjlWbzI++iM0nmcf5VwBdmae7Hj5bqRpmDRps50mWU9Zt19sicRG0UaNahNTdQZ3EoiKOPuz1oW8v6cGrXKVQfVV7z/MQ3LHrT9ECGUZ7io/YzrteZ6jhse+EKi/CeGk6bNEdFmiDQRcHERpVf3S7BCIDsb6OoYL2M6jis4CHbcsurOcfhcM/K920Cyx7O0mR8KZ6RVua7gVHZIxomsrWxIJQi9CmqwAZl1g9udNLvqjizRyMJL4gsvpBdxaF1wYfzzOKW8+bAkCcSteJdCLTtDwVyzioQsG2QhTwVdi/pN0Q0S9/07JouLJSGPXiozY9U+NR87vbHi7SNGclFNeqyVCSOZ/lyT5i7SIOvFtBZFgxxuzyIvPJGzOWNCYocL2DZZFZDagrTt+LjXRS0gwTeXvDevcELyP/JyZVrG9UjRzOGXNMcg4d1+JJpsor747FiJB5DIC0PCeO4ZW0kvBAWjvmoEz9JJ8Rj+TOw8hGxoxFG6RzyfwnlY8KY7HsMbARdSzwOnonrUBpfA/zz9ID355Z81a5ZTsMB/dHfGL27KE+e9NgNq6LxZnTm7dAdPy8PUsMrpDwRHdRMDTOz1FdP59jRU5t+lhAjEtLuHJPRdCUL017RRBnLxQ4ayfQewDj/jcqdI8yrBN2vyAe3VUwspuFkmtE+TJxNIh6UXmuAEfEYsL7HQEKtYCq+wIgcyAyWOiPVEmTODMYkRRgV48ob4fUiKjC0DhUzpPve0HPOKo0nma+NjBNDaMu8+VCIxaqCPy9ciaXwSvOjZJxtFiH1cKgDrg0ymX7eRpRixu33fRtXe5WVCueLZJnoPvAlMaI07O+rcVaKofRSTCQlgx0QbsyngGzciB0qMFxdnhvr4X6J3OXQhv8TWhaJssL1qtpP6Tr/G/ekIXL4Vwmg1hN1gQHLRnNcplwATcBK0DVKJsz0vKO8XmgfNNbe7Mwlb5SMzG8wy3DI+O7Wigrmdj4wDbSPvASoBMw2F05yh39aTqmFoSECWFdNMrILqmiCFFduDaetsi//FjGm53muKOQmdnwg8R65IwXJYw3k2YbzDLtHYLJQRFi+9eVrv9DWEYUZqkt4tukK6My2pQbmGMjO5gCKoiggp/JKZVmn6+fSOS2gKG7YWO8ADY2hVEw0E3vjBKsgF+0l2v0GX/cZQc9ZbygFTTMZZ1IsQwfLbm+2/BIWG7Tbw9ETfIfAFGNpf+VdWCH9ymNZ59z1GhCh2bCcGMPHlZqn3aGDnsXr+pNQnOAu1kp/ries4D0R7i//h2Zn4BHTkLkP4xhbrDyXC8E+Tv+sJPePYmNEt99LQhperO3ts44PsTyNsVdEwZnoPjuQdQcW4Iz9u+3tZc4eGHHyr8iULnvmrw7wQj1JmprtTD+9oII4Qr3MNhLWgD5bJhEIcIi6kXoUXDTY8YHO/Qr/K67FgMBjBCtj9hI9bQxZ3JiuvN4H/q1TTIlSNZd0HCVpJthtKrta3lUg43wyOPCaoo1nT6uaIWfYlJB4EBitgQ3rGQfNvlX9v1MYHjcCtS2EK+8fd7XKRNL2FtCmwIZeFfs16nMZ5vLXcGy0ZL1XDi1e8h8s8Mn/hQ7h3MWORWEvY1hSdtiqj2P4sU8MxSiaxgv1Q1GqcmdCGjXoNVkzUui9OyV2nBVcF6F8gZSBfnBfhMXjlQ2nTJz7dXwLLOhWflILBrVWrhDnbU+fouoA7nC3IUUDVsuQ108a3y7irQ10iuPGgZDEwcIYreugBFM68mjt8W6LXzecAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TfaX9Up2wPjnSFFoMSqS2r",
      "input": {
        "note": "One pen is grasped (gripper 0.15 ≈ pen thickness). Carrying it up and over the right basket.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.19,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01TfaX9Up2wPjnSFFoMSqS2r",
      "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]: [-0.453, 1.7771, 1.7145, -0.5613, -0.519, -0.1505, 0.9968, 0.4934, 1.7897, 1.6215, -0.524, 0.3389, 0.284, 0.1503]\nstate[eef_state]: left_x=0.4929 left_y=-0.1385 left_z=0.2846 left_yaw=0.0435 left_pitch=0.0188 left_roll=0.1798 left_gripper=0.9968 right_x=0.4764 right_y=0.1936 right_z=0.2369 right_yaw=0.0525 right_pitch=-0.082 right_roll=0.0191 right_gripper=0.1503\nstate[joint_eff]: [-0.1709, -9.4291, 6.8855, 1.619, -0.2125, -0.0611, -0.0122, -0.8547, -9.6479, 8.9641, 1.3309, 0.2808, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324bdd2642721f86a0a2a664110ce9c7832bae56b88a715df04b2a55d9d8f64f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1312f120e86f68116f30762dc8417f54d89535358fec23d39d93cc0bc66d772",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e047ca752f997911c560d3d259d6f6b297d210946edbed1572e41559c5330681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 5.699 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]: [-0.453, 1.7767, 1.7145, -0.5617, -0.519, -0.1497, 0.9967, 0.5755, 1.4158, 0.2157, 0.4702, 0.4198, 0.3531, 0.9998]\nstate[eef_state]: left_x=0.4928 left_y=-0.1385 left_z=0.2847 left_yaw=0.0431 left_pitch=0.0188 left_roll=0.1804 left_gripper=0.9967 right_x=0.2859 right_y=0.1039 right_z=0.0121 right_yaw=0.0306 right_pitch=-0.0908 right_roll=0.0096 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -9.4701, 7.1863, 1.6825, -0.2466, -0.0122, 0.1245, 0.2393, -2.7145, 2.7009, 0.0317, 0.0659, -0.2125, -0.0366]",
      "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]: [-0.453, 1.7767, 1.7145, -0.5602, -0.519, -0.1497, 0.9968, 0.5758, 1.4227, 0.2054, 0.4938, 0.4149, 0.3485, 0.1463]\nstate[eef_state]: left_x=0.493 left_y=-0.1385 left_z=0.285 left_yaw=0.0431 left_pitch=0.0201 left_roll=0.1797 left_gripper=0.9968 right_x=0.285 right_y=0.1044 right_z=0.0108 right_yaw=0.0377 right_pitch=-0.0869 right_roll=0.0122 right_gripper=0.1463\nstate[joint_eff]: [-0.1026, -9.4427, 6.8308, 1.5702, -0.1929, -0.0317, -0.0073, -0.3487, -4.1778, 5.3402, 1.3211, 0.1343, -0.0073, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 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]: [-0.453, 1.7771, 1.7145, -0.5613, -0.519, -0.1505, 0.9968, 0.4934, 1.7897, 1.6215, -0.524, 0.3389, 0.284, 0.1503]\nstate[eef_state]: left_x=0.4929 left_y=-0.1385 left_z=0.2846 left_yaw=0.0435 left_pitch=0.0188 left_roll=0.1798 left_gripper=0.9968 right_x=0.4764 right_y=0.1936 right_z=0.2369 right_yaw=0.0525 right_pitch=-0.082 right_roll=0.0191 right_gripper=0.1503\nstate[joint_eff]: [-0.1709, -9.4291, 6.8855, 1.619, -0.2125, -0.0611, -0.0122, -0.8547, -9.6479, 8.9641, 1.3309, 0.2808, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324bdd2642721f86a0a2a664110ce9c7832bae56b88a715df04b2a55d9d8f64f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1312f120e86f68116f30762dc8417f54d89535358fec23d39d93cc0bc66d772",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 347):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e047ca752f997911c560d3d259d6f6b297d210946edbed1572e41559c5330681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q93SdYbNXMiijEprfZD1Xu",
      "input": {
        "note": "Pen is held directly over the right basket (wrist view shows basket interior below). Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Q93SdYbNXMiijEprfZD1Xu",
      "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]: [-0.453, 1.7771, 1.7145, -0.5602, -0.519, -0.1501, 0.9968, 0.4934, 1.8057, 1.618, -0.5404, 0.3286, 0.2737, 0.9955]\nstate[eef_state]: left_x=0.4931 left_y=-0.1386 left_z=0.2848 left_yaw=0.0433 left_pitch=0.0198 left_roll=0.1795 left_gripper=0.9968 right_x=0.475 right_y=0.1948 right_z=0.2242 right_yaw=0.065 right_pitch=-0.1173 right_roll=0.0019 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -9.4291, 6.8444, 1.58, -0.2076, -0.0171, -0.0122, -0.1573, -10.988, 7.1863, 1.7558, 0.1538, 0.0317, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b4926d90488c474c209a9f5f57096042f42411a5b10cc96e7e4bc34db5104db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36742ed7f8c881df145f0468390f4b96740e327b37e230f9d6e4d8c1bce800f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e443e7040b40b0392195e518fe8633f44a00a45b41f52d3266a9785a9fa4b4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 3.59 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]: [-0.453, 1.7767, 1.7145, -0.5602, -0.519, -0.1497, 0.9968, 0.5758, 1.4227, 0.2054, 0.4938, 0.4149, 0.3485, 0.1463]\nstate[eef_state]: left_x=0.493 left_y=-0.1385 left_z=0.285 left_yaw=0.0431 left_pitch=0.0201 left_roll=0.1797 left_gripper=0.9968 right_x=0.285 right_y=0.1044 right_z=0.0108 right_yaw=0.0377 right_pitch=-0.0869 right_roll=0.0122 right_gripper=0.1463\nstate[joint_eff]: [-0.1026, -9.4427, 6.8308, 1.5702, -0.1929, -0.0317, -0.0073, -0.3487, -4.1778, 5.3402, 1.3211, 0.1343, -0.0073, 1.0085]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.453, 1.7771, 1.7145, -0.5613, -0.519, -0.1505, 0.9968, 0.4934, 1.7897, 1.6215, -0.524, 0.3389, 0.284, 0.1503]\nstate[eef_state]: left_x=0.4929 left_y=-0.1385 left_z=0.2846 left_yaw=0.0435 left_pitch=0.0188 left_roll=0.1798 left_gripper=0.9968 right_x=0.4764 right_y=0.1936 right_z=0.2369 right_yaw=0.0525 right_pitch=-0.082 right_roll=0.0191 right_gripper=0.1503\nstate[joint_eff]: [-0.1709, -9.4291, 6.8855, 1.619, -0.2125, -0.0611, -0.0122, -0.8547, -9.6479, 8.9641, 1.3309, 0.2808, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.453, 1.7771, 1.7145, -0.5602, -0.519, -0.1501, 0.9968, 0.4934, 1.8057, 1.618, -0.5404, 0.3286, 0.2737, 0.9955]\nstate[eef_state]: left_x=0.4931 left_y=-0.1386 left_z=0.2848 left_yaw=0.0433 left_pitch=0.0198 left_roll=0.1795 left_gripper=0.9968 right_x=0.475 right_y=0.1948 right_z=0.2242 right_yaw=0.065 right_pitch=-0.1173 right_roll=0.0019 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -9.4291, 6.8444, 1.58, -0.2076, -0.0171, -0.0122, -0.1573, -10.988, 7.1863, 1.7558, 0.1538, 0.0317, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b4926d90488c474c209a9f5f57096042f42411a5b10cc96e7e4bc34db5104db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36742ed7f8c881df145f0468390f4b96740e327b37e230f9d6e4d8c1bce800f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 356):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e443e7040b40b0392195e518fe8633f44a00a45b41f52d3266a9785a9fa4b4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQsKEAgSGAI4AUIIdGhpbmtpbmcSDBSUD2CCZ0EXQlqgEhoMzWE7OpctvSUq534AIjD2jBFUxk7AIvo3lSJTPqYzxFMM9LNEUmZbinUuGKcP9ZFsXxb7mFpgyfEnLJVIkMwqugq+YmzZzO/tghyv0E46wlZddcxtHriD+bTH6GFTT0fnhLt5Wwv/c4j4I6EJvf+XIwsJsi8ozUa13kgmFgIEysPNvnnRv7/I7PfpHJ0Gz1EKQBr70rAvg4lWwURs48H1IhPR607UspOo4lzv1fb5FxX/dOEHUq1kM8U+rtfDtcTPK8gQKrsfF34w8hU60GY8mFtmfOyhEaAWCKluDzzphQhpATP3TnjKKEnTJ3a6yNdUH44rzqAmegmFAZG3F4oXAB2UBFnmXKYo8BD90GOMT2i0xQ/bWevFbbpbBO0w0M3idMqvrpzL/Fp6aHQ2FRc5tx8c6jM4b8/8Y5NgRRm7iynPsRvvLaxwzBp1Dqq1EUR28NBmYkv3O3AqBLVQ/x6eyZZrVJ2tDDkFYOj8jPodpSfu+mGRRlq3A5mqNVAPBOz/oXWT/FsXqioCJTTKDgRb05FnxXYcnAK8whfDEbPFYa5WXKfjKAiVS2yqRSpZrYnlV91OZPgk9BBF5bagVOgRrrP5cusOj5CJ1nePl9n/99n7ex6MRtxSCb+bKmzDRoYB1Z3yThOrVhugDlCOGiTuFqlPapQ4GEBceka7FW2apbWIoIhyyCAawlUf0j6HHMKv8TsyxR48PpJmWXY4nQFuHDYiyuEk8wetWx8UwBHeyM97VLOVWfgjCcmZhsQAGMSJQZSl4/B905Tg3jLnfVksrzcKSYXDkCVkPurNZj1brqxVsLv+ZHuLT6GUYjRuytGCkcJYPE3WY4FQolzW6gorJWYyrHxN4hTDlUMVBtNlYvAww+fCAzaHXhcLtd0m8QTxssnxHbJ9dXXoVUX4BjszfS7ouIXhmzIQEiukhzWA6qQ4C6nyEPr7MoqgfM9gQI7Rd+I+yohxnSJCmU1E6aleYz+9dcbn4qsEvRRg+LhIFkrZ3LjFtchDuBLGOnPqJ2lNcat9ZIf1xVDcaOhZziqStRpzE2BFOFE2TxkLkEM6J6zaK5BYtzVRcryEzNRhAgWaohIS1mxmuBWA+MWnRZA/6B5JxmxyjjXh0ZRkaoSm50ypCoEFAWb8SKqfX7M7bt3VgEH+PJ6ZAPq8zhF5WTnEll8itdNAu4Xlc1j/gsnYyvcEiJEFqIeeUZUw2bP80uZvHYBUJrCQJHBb5bI/3zLQ5qIZDoPTP4m4ocI+28m6JpTtQLK7aE1m0mA05ZIf2zEXM/+A/PafTg29Q19AwEb8hYqD17ReUuIP1RAmySxD0l/0SE8p6aUVA80DaH9ww92hrrGLzu8OUZrjxM6HUcuW0X4vq+TQJhWLUb95FrtRqkPraBEmAbAZTM7m4r+fOu/xEJ+LzUc+r+AN5tr1cX/aaOKzd5LrRUGaVAtWQ5TvYzRkX5DkZPykdiNGuwHv1OCBUh1sar2pVvzdfOB3HOpaOrcV2uyC9NMaS/bxZ092M44TZoodUljSyTGGx4gTaCr9bzE6hQ76lVRCph2hwkwr61asZLepAbUrPgvpkvJat/q9Yb/QqNrEwtnTpV6MJM1LswByC0hamqyNmvGbgGOSBUSh2PYsplLXge9FRPdFDFR6P5baisktUvxFU828OWeXAZJoLUPdXO7NJpBKW5d64gZJvu6ocla09ASliBP+32bwgsp8vwrBHqhF71XWHyWi/QWpa3cYbptB7DItgvFlm6Op6IGn1gPjSBfqosRocfajHbjcXKnLI8T0U2GhtTiliVimBbcDXUHsCws0v8mAq7q2/94kiKhFx8VUhkLuHyXDTziCKS7FYDARb2hkK00wi9554uLEABid/ygYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019z264NMuhGKC9BmYhNT5df",
      "input": {
        "note": "First pen is in the right basket. The second dark pen lies about 5 cm left of where the first one was; lowering the open right jaws around it.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.155,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_019z264NMuhGKC9BmYhNT5df",
      "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]: [-0.453, 1.7779, 1.7145, -0.5598, -0.519, -0.1501, 0.9968, 0.7589, 1.5471, 0.3691, 0.379, 0.514, 0.4679, 0.9963]\nstate[eef_state]: left_x=0.4932 left_y=-0.1387 left_z=0.2845 left_yaw=0.0433 left_pitch=0.0195 left_roll=0.1797 left_gripper=0.9968 right_x=0.2889 right_y=0.1592 right_z=0.0122 right_yaw=0.0749 right_pitch=-0.1099 right_roll=0.0069 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -9.4838, 6.8308, 1.6435, -0.1587, -0.0562, -0.0122, 0.4581, -2.8513, 3.3162, 0.5201, -0.0366, -0.1099, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e57dd2170443b67d1ada196499eb8df852bb09bab37e799738bb38bb7b775bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2739a87a34b5b6f1e90cd17c340cec58eddfc33f1ff215c4590c3a068d0e8a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8fdb0b958b18e74364f18a74d4468e7f9b8ab94c5c69211bf62424eae31e632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 3.138 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]: [-0.453, 1.7771, 1.7145, -0.5613, -0.519, -0.1505, 0.9968, 0.4934, 1.7897, 1.6215, -0.524, 0.3389, 0.284, 0.1503]\nstate[eef_state]: left_x=0.4929 left_y=-0.1385 left_z=0.2846 left_yaw=0.0435 left_pitch=0.0188 left_roll=0.1798 left_gripper=0.9968 right_x=0.4764 right_y=0.1936 right_z=0.2369 right_yaw=0.0525 right_pitch=-0.082 right_roll=0.0191 right_gripper=0.1503\nstate[joint_eff]: [-0.1709, -9.4291, 6.8855, 1.619, -0.2125, -0.0611, -0.0122, -0.8547, -9.6479, 8.9641, 1.3309, 0.2808, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.453, 1.7771, 1.7145, -0.5602, -0.519, -0.1501, 0.9968, 0.4934, 1.8057, 1.618, -0.5404, 0.3286, 0.2737, 0.9955]\nstate[eef_state]: left_x=0.4931 left_y=-0.1386 left_z=0.2848 left_yaw=0.0433 left_pitch=0.0198 left_roll=0.1795 left_gripper=0.9968 right_x=0.475 right_y=0.1948 right_z=0.2242 right_yaw=0.065 right_pitch=-0.1173 right_roll=0.0019 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -9.4291, 6.8444, 1.58, -0.2076, -0.0171, -0.0122, -0.1573, -10.988, 7.1863, 1.7558, 0.1538, 0.0317, -0.1636]",
      "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]: [-0.453, 1.7779, 1.7145, -0.5598, -0.519, -0.1501, 0.9968, 0.7589, 1.5471, 0.3691, 0.379, 0.514, 0.4679, 0.9963]\nstate[eef_state]: left_x=0.4932 left_y=-0.1387 left_z=0.2845 left_yaw=0.0433 left_pitch=0.0195 left_roll=0.1797 left_gripper=0.9968 right_x=0.2889 right_y=0.1592 right_z=0.0122 right_yaw=0.0749 right_pitch=-0.1099 right_roll=0.0069 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -9.4838, 6.8308, 1.6435, -0.1587, -0.0562, -0.0122, 0.4581, -2.8513, 3.3162, 0.5201, -0.0366, -0.1099, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e57dd2170443b67d1ada196499eb8df852bb09bab37e799738bb38bb7b775bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2739a87a34b5b6f1e90cd17c340cec58eddfc33f1ff215c4590c3a068d0e8a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8fdb0b958b18e74364f18a74d4468e7f9b8ab94c5c69211bf62424eae31e632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0wYKEAgSGAI4AUIIdGhpbmtpbmcSDEbFl4BkgeNDWPADDxoMHeqMWFQ44wP1UwBOIjBajIhRCEd9FfLH6b57XooFjJXlPfbT7ggRq8M50Zvs/b0otJjxvEsTKVRM+b4zAWUq8AUwxXokQryG6n6jgv7mMMZI70o6Py1H7/IsfwJU25GbtcwRuOtygGGVv4VaWtSnSe1QSyopEXTplZ6wj7SbNmh2VAVe7YR0ntfq516Iba91cCFfRTQjpU1zJefMuwFjq9S9Nch8A9326tIJreQIu+IuxO1sOpBzCZ5kgE9I381YGdXmhgN0I+G1RSnh1WuVKld1ledxIZijEQgSk52sVeweKmX0Tvd9PHuXLjbu1a/n/TmVcHgLoBpwBmcVkNAvG1E0uO2q0n+dz9aTpIi6BTLNe7/IluWLfS6IqTDuvBUP27A8UI2SWTXxB3zae5faGrEJPv2QP0o3QhvMeZQP5+1MMJ/X6GwVp58uhbE1Tp05vE6S2kybEJ8umlAUtmp7UcAA55Mizfjt5055d0RAGG88aL0gbysccZxYNVKDgXxjmjriSQyTdM8+/e03ofaNNGGWEcSj4IGSVgglvRnIbR9D6vYTYPaIEE/RJ/MIXM2NtPabSEuNtxh9Ts6jTFTDViJDIabnT0iUkgkPsZFH9p25LzLfDJ+RBLUP/+WRCHLYB9nj8I3xtqus93Zl/cw3hCsACjywSVgI+uQyoWnZtuEx+EN18kbb4D63mxbeniNiacNYdM+v6eIWkF3HHhqEV+NI9viGGW00KAyJWAKEZDHM08NOi/Vc2j7Soniw1bhLyneaM9X2jg4rD2cKUNiKFQEtIb9iAHTZEtM3XsanzOghfv6AU4YBT4LYHkQKxWXS3ry58935gs6kfhTsRJ9aYF+coZVTzrVgQ2PM7x4EeLr78PSJO2LYoRRybAoZCfvaifyPFEaN51ZREO/Kkb42RX+7Ie4Qm82b+i9ukQUWb7elUM6Rl3kpzP1ZWe1F+Kj4hdk3MsOnbCBkshNEENvbVmTM2urx5ZIRa1m7CELI9qUqtXzgtDF7+jvoTQbBB0kBqn2iQ5sjT4YhX/BdTUw52NRSLUrOa46GqSi7NvvkEnhRaCfkeX//qOvvceBuLODkcRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012bC81NDAJRrU9UYpzvZWqK",
      "input": {
        "note": "Wrist view shows the blue pen running straight between the right jaws. Closing on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012bC81NDAJRrU9UYpzvZWqK",
      "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]: [-0.453, 1.7779, 1.7145, -0.5598, -0.519, -0.1501, 0.9968, 0.7635, 1.5574, 0.3592, 0.4049, 0.5129, 0.4671, 0.1454]\nstate[eef_state]: left_x=0.4932 left_y=-0.1387 left_z=0.2845 left_yaw=0.0433 left_pitch=0.0195 left_roll=0.1797 left_gripper=0.9968 right_x=0.2877 right_y=0.1604 right_z=0.0101 right_yaw=0.0812 right_pitch=-0.106 right_roll=0.0106 right_gripper=0.1454\nstate[joint_eff]: [-0.3077, -9.4291, 6.7897, 1.5897, -0.149, -0.0171, -0.0073, -0.4718, -5.7368, 5.3128, 1.2186, 0.1832, -0.0269, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:315b8b5f766294f558a634dac0fd44e003c7092e464e4687606f6d8dbee4ef27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f037d6b0b1b9d95ba8d6df84339b0b1209a57a498f2ca3ab5d0e7b36d2947e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5bfb07a9fd976ee0789a088021ec189f5dd8b5713223f89d85e8426b1625aed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 2.706 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]: [-0.453, 1.7771, 1.7145, -0.5602, -0.519, -0.1501, 0.9968, 0.4934, 1.8057, 1.618, -0.5404, 0.3286, 0.2737, 0.9955]\nstate[eef_state]: left_x=0.4931 left_y=-0.1386 left_z=0.2848 left_yaw=0.0433 left_pitch=0.0198 left_roll=0.1795 left_gripper=0.9968 right_x=0.475 right_y=0.1948 right_z=0.2242 right_yaw=0.065 right_pitch=-0.1173 right_roll=0.0019 right_gripper=0.9955\nstate[joint_eff]: [-0.212, -9.4291, 6.8444, 1.58, -0.2076, -0.0171, -0.0122, -0.1573, -10.988, 7.1863, 1.7558, 0.1538, 0.0317, -0.1636]",
      "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]: [-0.453, 1.7779, 1.7145, -0.5598, -0.519, -0.1501, 0.9968, 0.7589, 1.5471, 0.3691, 0.379, 0.514, 0.4679, 0.9963]\nstate[eef_state]: left_x=0.4932 left_y=-0.1387 left_z=0.2845 left_yaw=0.0433 left_pitch=0.0195 left_roll=0.1797 left_gripper=0.9968 right_x=0.2889 right_y=0.1592 right_z=0.0122 right_yaw=0.0749 right_pitch=-0.1099 right_roll=0.0069 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -9.4838, 6.8308, 1.6435, -0.1587, -0.0562, -0.0122, 0.4581, -2.8513, 3.3162, 0.5201, -0.0366, -0.1099, 0.0757]",
      "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]: [-0.453, 1.7779, 1.7145, -0.5598, -0.519, -0.1501, 0.9968, 0.7635, 1.5574, 0.3592, 0.4049, 0.5129, 0.4671, 0.1454]\nstate[eef_state]: left_x=0.4932 left_y=-0.1387 left_z=0.2845 left_yaw=0.0433 left_pitch=0.0195 left_roll=0.1797 left_gripper=0.9968 right_x=0.2877 right_y=0.1604 right_z=0.0101 right_yaw=0.0812 right_pitch=-0.106 right_roll=0.0106 right_gripper=0.1454\nstate[joint_eff]: [-0.3077, -9.4291, 6.7897, 1.5897, -0.149, -0.0171, -0.0073, -0.4718, -5.7368, 5.3128, 1.2186, 0.1832, -0.0269, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:315b8b5f766294f558a634dac0fd44e003c7092e464e4687606f6d8dbee4ef27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f037d6b0b1b9d95ba8d6df84339b0b1209a57a498f2ca3ab5d0e7b36d2947e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5bfb07a9fd976ee0789a088021ec189f5dd8b5713223f89d85e8426b1625aed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017u4zbW4GvkzjTHmQvWCf76",
      "input": {
        "note": "Pen grasped (gripper 0.15). Carrying it over the right basket.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.19,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_017u4zbW4GvkzjTHmQvWCf76",
      "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]: [-0.453, 1.7779, 1.7145, -0.5613, -0.519, -0.1501, 0.9968, 0.4789, 1.7935, 1.6417, -0.5423, 0.3004, 0.2531, 0.151]\nstate[eef_state]: left_x=0.4931 left_y=-0.1386 left_z=0.2842 left_yaw=0.0433 left_pitch=0.0181 left_roll=0.1805 left_gripper=0.9968 right_x=0.4779 right_y=0.1933 right_z=0.2391 right_yaw=0.0862 right_pitch=-0.0935 right_roll=0.0162 right_gripper=0.151\nstate[joint_eff]: [-0.1846, -9.4427, 6.8308, 1.6435, -0.2369, -0.0513, -0.0122, -0.6906, -9.5795, 8.8137, 1.2186, 0.1001, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da772293f02b426badb57fac6f8844ae23d9bf81eb0728209893eeb767c4cc25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79b5e4304502e320d9e739b241b7a903b97baa2c7ffef9e01b258447f83954b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a891d8b600da0e44291f997a689a399be5b36fceda408d14f1fc4a47400d88c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 10.64 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]: [-0.453, 1.7779, 1.7145, -0.5598, -0.519, -0.1501, 0.9968, 0.7589, 1.5471, 0.3691, 0.379, 0.514, 0.4679, 0.9963]\nstate[eef_state]: left_x=0.4932 left_y=-0.1387 left_z=0.2845 left_yaw=0.0433 left_pitch=0.0195 left_roll=0.1797 left_gripper=0.9968 right_x=0.2889 right_y=0.1592 right_z=0.0122 right_yaw=0.0749 right_pitch=-0.1099 right_roll=0.0069 right_gripper=0.9963\nstate[joint_eff]: [-0.3487, -9.4838, 6.8308, 1.6435, -0.1587, -0.0562, -0.0122, 0.4581, -2.8513, 3.3162, 0.5201, -0.0366, -0.1099, 0.0757]",
      "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]: [-0.453, 1.7779, 1.7145, -0.5598, -0.519, -0.1501, 0.9968, 0.7635, 1.5574, 0.3592, 0.4049, 0.5129, 0.4671, 0.1454]\nstate[eef_state]: left_x=0.4932 left_y=-0.1387 left_z=0.2845 left_yaw=0.0433 left_pitch=0.0195 left_roll=0.1797 left_gripper=0.9968 right_x=0.2877 right_y=0.1604 right_z=0.0101 right_yaw=0.0812 right_pitch=-0.106 right_roll=0.0106 right_gripper=0.1454\nstate[joint_eff]: [-0.3077, -9.4291, 6.7897, 1.5897, -0.149, -0.0171, -0.0073, -0.4718, -5.7368, 5.3128, 1.2186, 0.1832, -0.0269, 0.989]",
      "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]: [-0.453, 1.7779, 1.7145, -0.5613, -0.519, -0.1501, 0.9968, 0.4789, 1.7935, 1.6417, -0.5423, 0.3004, 0.2531, 0.151]\nstate[eef_state]: left_x=0.4931 left_y=-0.1386 left_z=0.2842 left_yaw=0.0433 left_pitch=0.0181 left_roll=0.1805 left_gripper=0.9968 right_x=0.4779 right_y=0.1933 right_z=0.2391 right_yaw=0.0862 right_pitch=-0.0935 right_roll=0.0162 right_gripper=0.151\nstate[joint_eff]: [-0.1846, -9.4427, 6.8308, 1.6435, -0.2369, -0.0513, -0.0122, -0.6906, -9.5795, 8.8137, 1.2186, 0.1001, -0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da772293f02b426badb57fac6f8844ae23d9bf81eb0728209893eeb767c4cc25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79b5e4304502e320d9e739b241b7a903b97baa2c7ffef9e01b258447f83954b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a891d8b600da0e44291f997a689a399be5b36fceda408d14f1fc4a47400d88c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YLbBdTcQNrLAxRfipAfsFX",
      "input": {
        "note": "Blue pen is over the right basket, with the first pen visible inside it. Releasing.",
        "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_01YLbBdTcQNrLAxRfipAfsFX",
      "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]: [-0.453, 1.7779, 1.7145, -0.5602, -0.519, -0.1501, 0.9968, 0.4767, 1.8072, 1.6398, -0.5632, 0.2932, 0.2462, 0.9952]\nstate[eef_state]: left_x=0.4932 left_y=-0.1386 left_z=0.2844 left_yaw=0.0433 left_pitch=0.0191 left_roll=0.1799 left_gripper=0.9968 right_x=0.4764 right_y=0.1926 right_z=0.2275 right_yaw=0.092 right_pitch=-0.1291 right_roll=0.0013 right_gripper=0.9952\nstate[joint_eff]: [-0.0752, -9.347, 6.8034, 1.5751, -0.2418, -0.0464, -0.0073, -0.0205, -10.4, 7.4462, 1.8144, 0.1392, -0.0171, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9a991b8752904ee00696e3cbd011de390333adbe0bd9499c89944673ef39ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dbb687cdd7805b89d40f41d1094cbd2292108f85effd259f5c2fa311e9fe8ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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[blob elided: media budget]