adhoc

completed
2026-09-22T23:55:26.609531+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
297.4 s
total steps
356
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Classify the two types of objects on the table and place them into the two baskets.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTable has two baskets, plush toys (grey, dark, tan bear) and pens/markers. Plan: plushes into left basket, pens into right basket. Moving left arm over the grey plush first.
move_to
left_x0.3400left_y-0.0300left_z0.1500left_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, 0.6167, -0.3798, -0.0223, -0.0299, 0.9995, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0158, 0.9993] state[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993 state[joint_eff]: [-0.6222, -1.6479, 9.306, 1.7949, -0.0122, 0.105, -0.0708, -0.7179, -1.6342, 9.9624, 1.7363, -0.1245, 0.0024, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.03, "left_z": 0.15, "left_gripper": 1}, "note": "Table has two baskets, plush toys (grey, dark, tan bear) and pens/markers. Plan: plushes into left basket, pens into right basket. Moving left arm over the grey plush first."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteGrey plush sits just ahead of the jaws, slightly left in the wrist view. Advancing 2 cm and descending to grasp it.
move_to
left_x0.3600left_y-0.0200left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1799, 1.0592, 0.5751, -0.1211, -0.1513, -0.1143, 0.9995, -0.0154, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.3369 left_y=-0.0306 left_z=0.1422 left_yaw=-0.0067 left_pitch=-0.0358 left_roll=0.0043 left_gripper=0.9995 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.0065 right_roll=-0.0002 right_gripper=0.9993 state[joint_eff]: [-0.1436, -3.8359, 6.8581, 1.8681, -0.0611, -0.0562, -0.0708, -0.3761, -1.2376, 7.2547, 1.7411, -0.0464, -0.0659, -0.0171] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.02, "left_z": 0.03}, "note": "Grey plush sits just ahead of the jaws, slightly left in the wrist view. Advancing 2 cm and descending to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteDescent stopped at 5 cm on the plush, which fills the jaw area. Closing the gripper.
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]: [-0.1162, 1.5234, 0.3607, 0.6483, -0.1314, -0.0677, 0.9995, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.374 left_y=-0.0167 left_z=0.0542 left_yaw=0.0156 left_pitch=0.0518 left_roll=0.0197 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0001 right_gripper=0.9993 state[joint_eff]: [0.0889, -3.5897, 3.6034, 1.3797, 0.2759, -0.1343, -0.0171, -0.3077, -1.4427, 7.2274, 1.8144, -0.0171, -0.0757, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Descent stopped at 5 cm on the plush, which fills the jaw area. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteGripper closed to 0.013 on a soft plush (may have squashed it). Lifting to check whether the plush comes up.
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]: [-0.1162, 1.5158, 0.3698, 0.6746, -0.1501, -0.0677, 0.0128, -0.0154, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.3803 left_y=-0.0142 left_z=0.0662 left_yaw=0.0319 left_pitch=0.0957 left_roll=0.0225 left_gripper=0.0128 right_x=0.2952 right_y=0.0012 right_z=0.1785 right_yaw=0.0002 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9993 state[joint_eff]: [-0.0752, -4.6701, 4.4376, 1.5067, 0.1001, -0.022, 0.6178, -0.3487, -1.306, 7.0085, 1.7021, -0.0024, -0.0855, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper closed to 0.013 on a soft plush (may have squashed it). Lifting to check whether the plush comes up."})
tool
executing move_to over 9 steps (0.9s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteGrey plush is held and lifted. Carrying it over the left basket (forward-right of the arm).
move_to
left_x0.4800left_y-0.1700left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.1162, 1.1725, 0.7132, -0.0666, -0.1543, -0.0769, 0.0159, -0.0151, 0.8032, 0.6083, -0.3847, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.3766 left_y=-0.013 left_z=0.1779 left_yaw=0.0398 left_pitch=0.0422 left_roll=0.0246 left_gripper=0.0159 right_x=0.2953 right_y=0.0013 right_z=0.1784 right_yaw=0.0006 right_pitch=-0.0179 right_roll=-0.0 right_gripper=0.9992 state[joint_eff]: [-0.212, -5.5179, 9.853, 1.8046, -0.0269, 0.0269, 0.9646, -0.1709, -1.265, 7.0222, 1.7509, -0.0171, -0.0708, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.17, "left_z": 0.22}, "note": "Grey plush is held and lifted. Carrying it over the left basket (forward-right of the arm)."})
tool
executing move_to over 14 steps (1.4s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent notePlush hangs over the left basket in both views. 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]: [-0.511, 1.7412, 1.3651, -0.2691, -0.4793, -0.3046, 0.0188, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.4743 left_y=-0.1684 left_z=0.2017 left_yaw=0.0345 left_pitch=-0.0021 left_roll=0.0384 left_gripper=0.0188 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0006 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9993 state[joint_eff]: [-0.3761, -9.4427, 9.4427, 1.7558, -0.3443, 0.0513, 0.5934, -0.3487, -1.4291, 7.0496, 1.7509, -0.0806, -0.0806, -0.0073] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Plush hangs over the left basket in both views. Opening to drop it in."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteGrey plush dropped into left basket. Next target: the small brown plush in front of the basket; moving left arm above it.
move_to
left_x0.3700left_y-0.2000left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.511, 1.7412, 1.3647, -0.2729, -0.4789, -0.3149, 0.9954, -0.0151, 0.8051, 0.6079, -0.3851, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.4737 left_y=-0.1682 left_z=0.2009 left_yaw=0.0397 left_pitch=-0.0055 left_roll=0.0317 left_gripper=0.9954 right_x=0.2953 right_y=0.0013 right_z=0.1776 right_yaw=0.0006 right_pitch=-0.0206 right_roll=-0.0 right_gripper=0.9993 state[joint_eff]: [-0.212, -9.1829, 6.9812, 1.6532, -0.2564, 0.0464, -0.1929, -0.1846, -1.347, 7.2274, 1.7021, -0.0562, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.2, "left_z": 0.14}, "note": "Grey plush dropped into left basket. Next target: the small brown plush in front of the basket; moving left arm above it."})
tool
executing move_to over 8 steps (0.8s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteSmall brown plush is just behind the gripper (toward the base) in the overhead view and not in the wrist view. Pulling back 5 cm and descending onto it.
move_to
left_x0.3200left_y-0.2100left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7567, 1.6032, 0.9661, -0.16, -0.6342, -0.4801, 0.9967, -0.0151, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.3722 left_y=-0.2025 left_z=0.1266 left_yaw=0.0041 left_pitch=-0.0544 left_roll=0.0659 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0236 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.2256, -9.5385, 6.8308, 1.6239, -0.4908, -0.0171, 0.1148, -0.1162, -1.5521, 7.0632, 1.7558, -0.0513, -0.0611, -0.0171] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.21, "left_z": 0.03}, "note": "Small brown plush is just behind the gripper (toward the base) in the overhead view and not in the wrist view. Pulling back 5 cm and descending onto it."})
tool
executing move_to over 7 steps (0.7s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteWrist view shows a brown/white plush just ahead and slightly right of the jaws. Shifting 3 cm forward and 2 cm right to center it.
move_to
left_x0.3500left_y-0.2300left_z0.0200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8959, 1.7218, 0.6941, 0.1242, -0.704, -0.5961, 0.9967, -0.0151, 0.8101, 0.6079, -0.3855, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.3198 left_y=-0.2108 left_z=0.0336 left_yaw=-0.0194 left_pitch=-0.0835 left_roll=0.0859 left_gripper=0.9967 right_x=0.2956 right_y=0.0013 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9993 state[joint_eff]: [-0.212, -6.5026, 4.8068, 1.3602, -0.5543, -0.0806, -0.0122, -0.2393, -1.4564, 7.0496, 1.707, -0.0464, -0.0513, -0.0073] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.23, "left_z": 0.02}, "note": "Wrist view shows a brown/white plush just ahead and slightly right of the jaws. Shifting 3 cm forward and 2 cm right to center it."})
tool
executing move_to over 3 steps (0.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe brown plush now fills the space between the jaws at table level. Closing to grasp.
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]: [-0.8635, 1.8568, 0.7799, 0.1692, -0.6941, -0.5892, 0.9967, -0.0154, 0.812, 0.6075, -0.387, -0.0116, -0.0162, 0.9992] state[eef_state]: left_x=0.3422 left_y=-0.2208 left_z=0.0159 left_yaw=0.0031 left_pitch=-0.0925 left_roll=0.0895 left_gripper=0.9967 right_x=0.2954 right_y=0.0011 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0298 right_roll=-0.0001 right_gripper=0.9992 state[joint_eff]: [-0.1573, -8.8137, 6.106, 1.2332, -0.2711, 0.1685, -0.0073, -0.3214, -1.3744, 7.0359, 1.7607, -0.0317, -0.0366, -0.0171] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The brown plush now fills the space between the jaws at table level. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteGripper settled at 0.29, so something is held. Lifting straight up before carrying to the left basket.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8547, 1.8759, 0.7952, 0.1741, -0.6807, -0.5652, 0.2861, -0.0147, 0.812, 0.6079, -0.3855, -0.0116, -0.0162, 0.9992] state[eef_state]: left_x=0.3461 left_y=-0.223 left_z=0.0128 left_yaw=-0.0099 left_pitch=-0.1011 left_roll=0.1008 left_gripper=0.2861 right_x=0.2957 right_y=0.0013 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9992 state[joint_eff]: [-0.3624, -8.6496, 6.2974, 1.3651, -0.3687, 0.0317, 0.6471, -0.1436, -1.3333, 6.9949, 1.7216, -0.0171, -0.0659, -0.0073] camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper settled at 0.29, so something is held. Lifting straight up before carrying to the left basket."})
tool
executing move_to over 14 steps (1.4s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteBrown plush is held and lifted. Moving over the left basket (plush basket).
move_to
left_x0.4700left_y-0.1600left_z0.2300
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]: [-0.8539, 1.589, 1.2903, -0.6292, -0.6735, -0.5766, 0.2874, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.3495 left_y=-0.2279 left_z=0.1947 left_yaw=-0.0061 left_pitch=-0.1188 left_roll=0.1041 left_gripper=0.2874 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.001 right_pitch=-0.0278 right_roll=0.0001 right_gripper=0.9992 state[joint_eff]: [-0.1573, -10.1402, 8.8957, 1.2039, -0.4274, 0.0562, 0.105, -0.2256, -1.347, 7.0632, 1.7753, -0.0464, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.16, "left_z": 0.23}, "note": "Brown plush is held and lifted. Moving over the left basket (plush basket)."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteBrown plush is 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]: [-0.4934, 1.7535, 1.5497, -0.5961, -0.4473, -0.2993, 0.2888, -0.0147, 0.8146, 0.6079, -0.3859, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.4606 left_y=-0.1569 left_z=0.2165 left_yaw=0.0296 left_pitch=-0.1461 left_roll=0.1032 left_gripper=0.2888 right_x=0.2958 right_y=0.0014 right_z=0.1748 right_yaw=0.001 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [0.1162, -8.9915, 9.2786, 1.5263, -0.2662, 0.188, 0.1392, -0.2803, -1.5385, 7.1863, 1.6874, -0.0317, -0.0464, -0.0073] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Brown plush is over the left basket. Releasing it."})
tool
executing move_to over 8 steps (0.8s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteBoth plushes so far are in the left basket. Next I'm moving the left arm above the tan teddy bear near the table centre.
move_to
left_x0.3500left_y-0.3500left_z0.1400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4942, 1.7645, 1.5558, -0.6056, -0.437, -0.3069, 0.9954, -0.0147, 0.8146, 0.6075, -0.3855, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.4606 left_y=-0.1592 left_z=0.2118 left_yaw=0.0259 left_pitch=-0.1619 left_roll=0.0982 left_gripper=0.9954 right_x=0.2958 right_y=0.0014 right_z=0.1747 right_yaw=0.001 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [-0.1436, -10.0034, 6.5299, 1.5849, -0.3004, 0.0317, 0.0269, -0.212, -1.388, 7.0359, 1.7411, -0.0659, -0.0317, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.35, "left_z": 0.14}, "note": "Both plushes so far are in the left basket. Next I'm moving the left arm above the tan teddy bear near the table centre."})
tool
executing move_to over 17 steps (1.7s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteBear's head is just ahead of the jaws in the wrist view, slightly right. Advancing 2 cm and descending to grasp the head.
move_to
left_x0.3700left_y-0.3550left_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]: [-1.0267, 2.0388, 1.6737, -0.7559, -0.7212, -0.8165, 0.9966, -0.0143, 0.8177, 0.6075, -0.3855, -0.0116, -0.0162, 0.9992] state[eef_state]: left_x=0.35 left_y=-0.3463 left_z=0.1337 left_yaw=0.0026 left_pitch=-0.1857 left_roll=0.1025 left_gripper=0.9966 right_x=0.296 right_y=0.0014 right_z=0.1739 right_yaw=0.001 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9992 state[joint_eff]: [-0.3897, -10.6051, 8.7179, 0.8767, -0.6032, 0.0171, 0.1148, -0.212, -1.5932, 7.4598, 1.6777, -0.0415, -0.0171, -0.0073] 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_x": 0.37, "left_y": -0.355, "left_z": 0.04}, "note": "Bear's head is just ahead of the jaws in the wrist view, slightly right. Advancing 2 cm and descending to grasp the head."})
tool
executing move_to over 7 steps (0.7s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteDescent stopped on top of the bear's head, which fills the jaw gap. Closing to grasp.
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]: [-1.0046, 2.1612, 1.5654, -0.4561, -0.7181, -0.8124, 0.9967, -0.0143, 0.8185, 0.6075, -0.3855, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.3715 left_y=-0.3612 left_z=0.0672 left_yaw=0.0107 left_pitch=-0.1522 left_roll=0.0445 left_gripper=0.9967 right_x=0.296 right_y=0.0015 right_z=0.1737 right_yaw=0.0014 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9992 state[joint_eff]: [0.253, -9.2923, 4.4923, 0.6129, -0.2808, 0.2857, 0.0073, -0.0342, -1.4291, 7.0359, 1.6972, -0.0171, -0.0415, -0.0073] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Descent stopped on top of the bear's head, which fills the jaw gap. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteGripper settled at 0.40 on the bear's head, so it's grasped. Lifting straight up to clear the basket walls.
move_to
left_z0.2400
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.0046, 2.1769, 1.5593, -0.4133, -0.7265, -0.8223, 0.3995, -0.0147, 0.8185, 0.6075, -0.3855, -0.0116, -0.0162, 0.9993] state[eef_state]: left_x=0.375 left_y=-0.3645 left_z=0.0628 left_yaw=0.0183 left_pitch=-0.1348 left_roll=0.0226 left_gripper=0.3995 right_x=0.296 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.0342, -13.3128, 6.6256, 0.696, -0.2515, 0.0659, 0.8913, -0.212, -1.388, 7.0496, 1.6874, -0.0317, -0.0562, -0.0073] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.24}, "note": "Gripper settled at 0.40 on the bear's head, so it's grasped. Lifting straight up to clear the basket walls."})
tool
executing move_to over 12 steps (1.2s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteBear is held by the head (fur visible at the jaws). Carrying it over the left plush basket.
move_to
left_x0.4700left_y-0.1700left_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]: [-1.0046, 2.1551, 2.1838, -1.0386, -0.7136, -0.8387, 0.4003, -0.0143, 0.8192, 0.6075, -0.3851, -0.0116, -0.0162, 0.9993] state[eef_state]: left_x=0.378 left_y=-0.3725 left_z=0.2269 left_yaw=0.0171 left_pitch=-0.1332 left_roll=-0.014 left_gripper=0.4003 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.001 right_pitch=-0.0351 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.212, -11.3573, 8.2256, 0.9011, -0.4713, 0.1441, 0.0659, -0.0615, -1.306, 7.241, 1.7314, -0.0317, -0.0611, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.17, "left_z": 0.25}, "note": "Bear is held by the head (fur visible at the jaws). Carrying it over the left plush basket."})
tool
executing move_to over 18 steps (1.8s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe bear hangs near the basket's front rim. Moving 6 cm further forward so it drops in the middle of the basket.
move_to
left_x0.5300left_y-0.1800left_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]: [-0.4969, 1.8313, 1.7157, -0.7174, -0.3992, -0.4164, 0.4009, -0.0147, 0.8211, 0.6075, -0.3851, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.4695 left_y=-0.1724 left_z=0.2263 left_yaw=0.0541 left_pitch=-0.1886 left_roll=0.0013 left_gripper=0.4009 right_x=0.2963 right_y=0.0014 right_z=0.173 right_yaw=0.001 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9992 state[joint_eff]: [0.1436, -13.4769, 6.2701, 1.6728, -0.1685, 0.2466, 0.0562, -0.3487, -1.5248, 7.2274, 1.6874, -0.0366, -0.0269, -0.0171] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.18, "left_z": 0.25}, "note": "The bear hangs near the basket's front rim. Moving 6 cm further forward so it drops in the middle of the basket."})
tool
executing move_to over 5 steps (0.5s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteBear is now over the middle of 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]: [-0.4511, 2.1075, 2.1464, -0.8776, -0.3721, -0.3992, 0.401, -0.0147, 0.8249, 0.6075, -0.3897, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.5285 left_y=-0.1806 left_z=0.234 left_yaw=0.0695 left_pitch=-0.2039 left_roll=-0.0006 left_gripper=0.401 right_x=0.2958 right_y=0.0014 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0454 right_roll=0.0004 right_gripper=0.9992 state[joint_eff]: [0.253, -12.7248, 8.4855, 1.0769, -0.1343, 0.1734, -0.0024, -0.2393, -1.6889, 7.0496, 1.7607, -0.0366, -0.0659, -0.0073] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Bear is now over the middle of the left basket. Releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteBear released near the left basket; a brown plush is still on the table next to the yellow marker. Moving the arm back over it, which also clears the overhead view of the basket.
move_to
left_x0.3300left_y-0.1900left_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]: [-0.4435, 2.1246, 2.1788, -0.9234, -0.3653, -0.3889, 0.9953, -0.0147, 0.8249, 0.6071, -0.392, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.5272 left_y=-0.1766 left_z=0.2303 left_yaw=0.0694 left_pitch=-0.2331 left_roll=0.0177 left_gripper=0.9953 right_x=0.2955 right_y=0.0014 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0481 right_roll=0.0004 right_gripper=0.9993 state[joint_eff]: [-0.4718, -12.6838, 9.3607, 1.4921, -0.232, 0.0659, -0.0757, -0.1709, -1.4564, 7.0359, 1.7411, -0.0269, -0.0122, -0.0073] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.19, "left_z": 0.15}, "note": "Bear released near the left basket; a brown plush is still on the table next to the yellow marker. Moving the arm back over it, which also clears the overhead view of the basket."})
tool
executing move_to over 16 steps (1.6s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe bear fell outside the left basket and is leaning on its front wall, just ahead of the jaws in the wrist view. Descending to grab it again.
move_to
left_x0.3700left_y-0.2000left_z0.0700
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]: [-0.7746, 1.5322, 1.1191, -0.6067, -0.5373, -0.6636, 0.9966, -0.0147, 0.8307, 0.6067, -0.4, -0.0116, -0.0162, 0.9992] state[eef_state]: left_x=0.3333 left_y=-0.1947 left_z=0.1435 left_yaw=0.0421 left_pitch=-0.2603 left_roll=0.0312 left_gripper=0.9966 right_x=0.2946 right_y=0.0013 right_z=0.1671 right_yaw=0.0007 right_pitch=-0.0622 right_roll=0.0004 right_gripper=0.9992 state[joint_eff]: [-0.1026, -8.1573, 7.0222, 1.2967, -0.4274, -0.0269, 0.1294, -0.253, -1.4427, 7.2274, 1.79, -0.0366, -0.0415, -0.0171] 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_x": 0.37, "left_y": -0.2, "left_z": 0.07}, "note": "The bear fell outside the left basket and is leaning on its front wall, just ahead of the jaws in the wrist view. Descending to grab it again."})
tool
executing move_to over 5 steps (0.5s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteJaws are pressed against the bear's body (motion stopped at contact). Closing to grasp.
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]: [-0.7223, 1.7103, 1.0317, -0.3592, -0.4938, -0.6235, 0.9967, -0.0147, 0.8352, 0.6067, -0.4007, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.3576 left_y=-0.1988 left_z=0.0722 left_yaw=0.0459 left_pitch=-0.3005 left_roll=0.045 left_gripper=0.9967 right_x=0.2947 right_y=0.0014 right_z=0.1656 right_yaw=0.001 right_pitch=-0.0675 right_roll=0.0007 right_gripper=0.9992 state[joint_eff]: [0.9641, -7.2957, 5.1761, 1.3504, -0.4029, 0.2027, 0.0024, -0.3761, -1.8393, 7.2274, 1.663, -0.0122, -0.0513, -0.0073] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Jaws are pressed against the bear's body (motion stopped at contact). Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 221
top_cam
camera top_cam step 221
left_cam
camera left_cam step 221
right_cam
camera right_cam step 221
assistant
agent noteBear grasped (gripper 0.10). Lifting high so it clears the basket rim.
move_to
left_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]: [-0.7238, 1.7279, 1.0309, -0.347, -0.4938, -0.6254, 0.102, -0.0147, 0.836, 0.6067, -0.4004, -0.0116, -0.0158, 0.9992] state[eef_state]: left_x=0.3584 left_y=-0.2002 left_z=0.0666 left_yaw=0.0468 left_pitch=-0.3048 left_roll=0.0482 left_gripper=0.102 right_x=0.2948 right_y=0.0013 right_z=0.1655 right_yaw=0.0005 right_pitch=-0.0679 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [-0.1162, -9.4291, 6.2564, 1.0574, -0.2418, 0.0122, 0.7204, -0.3077, -1.5248, 7.0359, 1.7118, -0.0464, -0.0171, -0.0073] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.32}, "note": "Bear grasped (gripper 0.10). Lifting high so it clears the basket rim."})
tool
executing move_to over 17 steps (1.7s)
step 238
assistant
agent noteBear held high. Moving forward over the centre of the left basket to drop it well inside.
move_to
left_x0.5300left_y-0.1700left_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]: [-0.7235, 1.8, 2.122, -1.3487, -0.4717, -0.63, 0.1045, -0.0143, 0.8371, 0.6067, -0.4011, -0.012, -0.0162, 0.9993] state[eef_state]: left_x=0.3636 left_y=-0.2093 left_z=0.3091 left_yaw=0.0304 left_pitch=-0.3054 left_roll=0.0182 left_gripper=0.1045 right_x=0.2948 right_y=0.0015 right_z=0.165 right_yaw=0.0014 right_pitch=-0.0698 right_roll=0.0008 right_gripper=0.9993 state[joint_eff]: [-0.3487, -8.6496, 7.0496, 0.9158, -0.4518, 0.0317, 0.2418, -0.1162, -1.5658, 7.3094, 1.663, -0.0171, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.17, "left_z": 0.32}, "note": "Bear held high. Moving forward over the centre of the left basket to drop it well inside."})
tool
executing move_to over 13 steps (1.3s)
step 251
assistant
agent noteOverhead view shows the bear above the inside of 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]: [-0.4129, 2.3932, 2.9536, -1.5585, -0.297, -0.384, 0.1066, -0.0147, 0.8417, 0.6064, -0.4076, -0.012, -0.0166, 0.9992] state[eef_state]: left_x=0.4972 left_y=-0.1575 left_z=0.272 left_yaw=0.0604 left_pitch=-0.3727 left_roll=0.0343 left_gripper=0.1066 right_x=0.294 right_y=0.0014 right_z=0.1623 right_yaw=0.0012 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9992 state[joint_eff]: [0.3897, -14.8855, 4.6838, 1.6386, -0.2222, 0.1734, 0.1978, -0.3077, -1.8256, 7.1453, 1.6923, -0.0317, -0.0269, -0.0171] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "Overhead view shows the bear above the inside of the left basket. Releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 260
assistant
agent noteBear and grey plush are now in the left basket. The brown plush is still on the table next to the yellow marker; descending straight onto it.
move_to
left_x0.3300left_y-0.1800left_z0.0300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4099, 2.3726, 2.8334, -1.5131, -0.2874, -0.3931, 0.9953, -0.0147, 0.8429, 0.601, -0.4084, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.4993 left_y=-0.1585 left_z=0.2504 left_yaw=0.0712 left_pitch=-0.4243 left_roll=0.0477 left_gripper=0.9953 right_x=0.2931 right_y=0.0014 right_z=0.1595 right_yaw=0.001 right_pitch=-0.0885 right_roll=0.0011 right_gripper=0.9992 state[joint_eff]: [-0.2803, -14.8991, 6.4068, 1.2918, -0.232, 0.022, -0.105, -0.212, -1.6068, 7.4325, 1.6923, -0.0513, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.18, "left_z": 0.03}, "note": "Bear and grey plush are now in the left basket. The brown plush is still on the table next to the yellow marker; descending straight onto it."})
tool
executing move_to over 15 steps (1.5s)
step 275
assistant
agent noteThe gripper sits over the brown plush at table level (wrist view filled by it). Closing to grasp. The bear seems to have tipped back out onto the table; I'll handle it after this.
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]: [-0.693, 1.7432, 0.9497, -0.4179, -0.3973, -0.638, 0.9966, -0.0147, 0.8471, 0.5999, -0.4095, -0.012, -0.0162, 0.9992] state[eef_state]: left_x=0.3243 left_y=-0.1757 left_z=0.0216 left_yaw=0.0655 left_pitch=-0.4855 left_roll=0.0975 left_gripper=0.9966 right_x=0.293 right_y=0.0014 right_z=0.1576 right_yaw=0.001 right_pitch=-0.095 right_roll=0.0012 right_gripper=0.9992 state[joint_eff]: [-0.253, -9.9077, 5.9829, 1.1551, -0.4078, -0.1245, 0.1294, -0.2256, -1.894, 7.0769, 1.6337, -0.0464, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The gripper sits over the brown plush at table level (wrist view filled by it). Closing to grasp. The bear seems to have tipped back out onto the table; I'll handle it after this."})
tool
executing move_to over 10 steps (1.0s)
step 285
assistant
agent noteBrown plush grasped (gripper 0.13). Lifting and carrying it straight over the left basket in one move.
move_to
left_x0.4800left_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]: [-0.6945, 1.7428, 0.9314, -0.4019, -0.3965, -0.6437, 0.1319, -0.0147, 0.8474, 0.5999, -0.4095, -0.012, -0.0166, 0.9992] state[eef_state]: left_x=0.3217 left_y=-0.1745 left_z=0.0176 left_yaw=0.0676 left_pitch=-0.487 left_roll=0.0951 left_gripper=0.1319 right_x=0.293 right_y=0.0014 right_z=0.1575 right_yaw=0.0012 right_pitch=-0.0954 right_roll=0.0009 right_gripper=0.9992 state[joint_eff]: [0.0342, -7.788, 7.159, 0.7497, -0.2857, 0.0513, 0.9988, -0.212, -1.5658, 6.9949, 1.6825, -0.0513, -0.0708, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.13, "left_z": 0.25}, "note": "Brown plush grasped (gripper 0.13). Lifting and carrying it straight over the left basket in one move."})
tool
executing move_to over 15 steps (1.5s)
step 300
assistant
agent noteIt turns out I'm holding the tan bear (it was the only brown plush). The wrist view shows the basket interior right under it, so I'm 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]: [-0.3744, 2.1738, 2.4145, -1.3815, -0.2531, -0.3504, 0.1342, -0.0143, 0.8532, 0.5972, -0.4103, -0.012, -0.0166, 0.9992] state[eef_state]: left_x=0.4771 left_y=-0.1361 left_z=0.2271 left_yaw=0.0717 left_pitch=-0.5189 left_roll=0.0861 left_gripper=0.1342 right_x=0.2927 right_y=0.0015 right_z=0.1546 right_yaw=0.0016 right_pitch=-0.1045 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [0.5402, -10.4821, 6.5436, 0.8034, -0.2515, 0.0464, 0.4908, -0.0205, -1.853, 7.5009, 1.6337, -0.0317, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "It turns out I'm holding the tan bear (it was the only brown plush). The wrist view shows the basket interior right under it, so I'm releasing."})
tool
executing move_to over 9 steps (0.9s)
step 309
assistant
agent noteThe bear is leaning against the front of the left basket. Now for the pens: the right wrist view shows the blue pen and black marker side by side, just left of the jaw column. Descending with the jaws open so both go between them.
move_to
right_x0.3200right_y0.0550right_z0.0050right_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]: [-0.3763, 2.2196, 2.4214, -1.4055, -0.2459, -0.3576, 0.9953, -0.0147, 0.8539, 0.5972, -0.4095, -0.012, -0.0166, 0.9992] state[eef_state]: left_x=0.4766 left_y=-0.1383 left_z=0.2051 left_yaw=0.0847 left_pitch=-0.578 left_roll=0.1076 left_gripper=0.9953 right_x=0.2929 right_y=0.0014 right_z=0.1545 right_yaw=0.0013 right_pitch=-0.1045 right_roll=0.001 right_gripper=0.9992 state[joint_eff]: [0.0889, -15.4598, 5.2991, 1.116, -0.2271, 0.0757, -0.1441, -0.2256, -1.6479, 7.0222, 1.6093, -0.0269, -0.0611, -0.0073] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.055, "right_z": 0.005, "right_gripper": 1}, "note": "The bear is leaning against the front of the left basket. Now for the pens: the right wrist view shows the blue pen and black marker side by side, just left of the jaw column. Descending with the jaws open so both go between them."})
tool
executing move_to over 10 steps (1.0s)
step 319
assistant
agent noteBoth pens are between the jaws but hugging the left jaw. Shifting 3 cm left to centre them before closing.
move_to
right_y0.0850right_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]: [-0.3763, 2.2181, 2.4214, -1.4044, -0.2459, -0.3592, 0.9967, 0.2638, 1.4612, 0.2634, 0.5041, 0.1764, 0.1516, 0.9993] state[eef_state]: left_x=0.4767 left_y=-0.1383 left_z=0.2059 left_yaw=0.0849 left_pitch=-0.5755 left_roll=0.1054 left_gripper=0.9967 right_x=0.3199 right_y=0.058 right_z=0.0123 right_yaw=0.0292 right_pitch=-0.1192 right_roll=0.0119 right_gripper=0.9993 state[joint_eff]: [-0.294, -11.8906, 5.6547, 1.0085, -0.188, -0.0122, 0.1294, 0.2393, -3.1248, 3.3026, 0.4029, 0.3687, -0.1148, -0.0904] camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.085, "right_z": 0.0}, "note": "Both pens are between the jaws but hugging the left jaw. Shifting 3 cm left to centre them before closing."})
tool
executing move_to over 3 steps (0.3s)
step 322
assistant
agent noteBoth pens are now inside the jaw span (blue pen near the left jaw, black marker at the centre). Closing to grab both at once.
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]: [-0.3763, 2.2181, 2.4214, -1.4055, -0.2459, -0.3595, 0.9967, 0.3767, 1.549, 0.2779, 0.6201, 0.242, 0.2092, 0.9992] state[eef_state]: left_x=0.4765 left_y=-0.1382 left_z=0.2058 left_yaw=0.0855 left_pitch=-0.5765 left_roll=0.1058 left_gripper=0.9967 right_x=0.3269 right_y=0.0876 right_z=0.0133 right_yaw=0.0573 right_pitch=-0.0675 right_roll=0.03 right_gripper=0.9992 state[joint_eff]: [-0.1983, -11.8769, 6.0103, 0.9304, -0.1685, -0.0611, -0.0122, 0.1299, -3.3026, 4.6838, 1.072, 0.2027, 0.0317, -0.0171] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Both pens are now inside the jaw span (blue pen near the left jaw, black marker at the centre). Closing to grab both at once."})
tool
executing move_to over 10 steps (1.0s)
step 332
assistant
agent noteRight gripper settled at 0.13, so it's holding the black marker (the blue pen stayed on the table). Carrying the marker up and over the right basket.
move_to
right_x0.5000right_y0.1400right_z0.2200
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.3763, 2.2181, 2.4214, -1.4055, -0.2459, -0.3592, 0.9967, 0.3927, 1.5608, 0.2832, 0.6235, 0.2611, 0.2359, 0.1347] state[eef_state]: left_x=0.4765 left_y=-0.1382 left_z=0.2058 left_yaw=0.0852 left_pitch=-0.5765 left_roll=0.106 left_gripper=0.9967 right_x=0.3272 right_y=0.0901 right_z=0.0125 right_yaw=0.0431 right_pitch=-0.0671 right_roll=0.0397 right_gripper=0.1347 state[joint_eff]: [-0.0752, -12.0, 5.6821, 0.8913, -0.1783, -0.0415, -0.0073, -0.0205, -3.3573, 4.3556, 1.1795, 0.2564, -0.0171, 0.9744] camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.14, "right_z": 0.22}, "note": "Right gripper settled at 0.13, so it's holding the black marker (the blue pen stayed on the table). Carrying the marker up and over the right basket."})
tool
executing move_to over 14 steps (1.4s)
step 346
assistant
agent noteThe right wrist view shows the empty right basket directly below the marker. 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]: [-0.3763, 2.2181, 2.4214, -1.4059, -0.2459, -0.3595, 0.9967, 0.3508, 1.7599, 1.4357, -0.3347, 0.2161, 0.1986, 0.1396] state[eef_state]: left_x=0.4764 left_y=-0.1382 left_z=0.2057 left_yaw=0.0856 left_pitch=-0.5769 left_roll=0.106 left_gripper=0.9967 right_x=0.4935 right_y=0.144 right_z=0.2017 right_yaw=0.0586 right_pitch=-0.0798 right_roll=0.0341 right_gripper=0.1396 state[joint_eff]: [-0.2667, -11.9726, 5.7641, 0.9206, -0.1685, -0.0415, -0.0073, -1.0462, -9.7709, 9.265, 1.4628, 0.0659, 0.0122, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The right wrist view shows the empty right basket directly below the marker. Releasing it."})
tool
executing move_to over 9 steps (0.9s)
step 355
assistant
agent noteI only partly finished the task, and I'm stopping because I've nearly used up the call budget. I sorted the objects into two groups: plush toys go in the left basket and pens/markers go in the right one. Only the grey plush is confirmed in the left basket. I dropped the tan bear there three times, but it ended up on the table leaning against the basket's front wall each time. I grabbed the black marker and released it over the right basket, but the last wrist image shows that basket empty, so the marker probably fell outside. The yellow marker and the blue pen were never picked up.
done
hindsight- Count the objects carefully at the start. The 'dark plush' and the 'tan bear' were the same bear seen from different sides, and I wasted calls on that. - The baskets sit far forward (front rim about x≈0.45, centre about x≈0.52–0.55). The left arm's reach runs out near x≈0.50 at z 0.25, especially as pitch drifts negative, which it reached −0.58 over the episode. A tall plush hanging from the jaws lands on the front rim unless you release it at x≥0.55, carrying at z≈0.18 and holding the toy by its body rather than its head. - Top-cam scale near row 135 is about 2.5 px/cm in image-x. The left arm grasped at image x≈48 → left_y −0.015, and at image x≈100 → left_y −0.22. - Left basket ≈ left_y −0.15 to −0.2; right basket ≈ right_y 0.14–0.2. Each arm can only reach its own-side basket, but the left arm might reach the right basket's left edge at left_y −0.40. - Two pens 5 cm apart gave only a single grasp. Centre each pen on its own. - Budget: roughly 5 calls per object (approach+descend, close, lift, carry, release). Combine lift and carry into one move to save calls, and go for the most reliable objects first.
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]: [-0.3763, 2.2181, 2.4214, -1.4052, -0.2459, -0.3595, 0.9967, 0.3492, 1.7721, 1.4311, -0.3542, 0.2089, 0.1871, 0.9948] state[eef_state]: left_x=0.4766 left_y=-0.1382 left_z=0.2058 left_yaw=0.0853 left_pitch=-0.5762 left_roll=0.1056 left_gripper=0.9967 right_x=0.4909 right_y=0.1436 right_z=0.1898 right_yaw=0.0683 right_pitch=-0.1157 right_roll=0.0191 right_gripper=0.9948 state[joint_eff]: [-0.0342, -12.0, 5.6684, 0.9402, -0.1392, -0.0611, -0.0073, 0.0342, -10.3043, 7.3231, 1.8046, 0.0659, 0.0952, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
done({"summary": "I only partly finished the task, and I'm stopping because I've nearly used up the call budget. I sorted the objects into two groups: plush toys go in the left basket and pens/markers go in the right one. Only the grey plush is confirmed in the left basket. I dropped the tan bear there three times, but it ended up on the table leaning against the basket's front wall each time. I grabbed the black marker and released it over the right basket, but the last wrist image shows that basket empty, so the marker probably fell outside. The yellow marker and the blue pen were never picked up.", "hindsight": "- Count the objects carefully at the start. The 'dark plush' and the 'tan bear' were the same bear seen from different sides, and I wasted calls on that.\n- The baskets sit far forward (front rim about x\u22480.45, centre about x\u22480.52\u20130.55). The left arm's reach runs out near x\u22480.50 at z 0.25, especially as pitch drifts negative, which it reached \u22120.58 over the episode. A tall plush hanging from the jaws lands on the front rim unless you release it at x\u22650.55, carrying at z\u22480.18 and holding the toy by its body rather than its head.\n- Top-cam scale near row 135 is about 2.5 px/cm in image-x. The left arm grasped at image x\u224848 \u2192 left_y \u22120.015, and at image x\u2248100 \u2192 left_y \u22120.22.\n- Left basket \u2248 left_y \u22120.15 to \u22120.2; right basket \u2248 right_y 0.14\u20130.2. Each arm can only reach its own-side basket, but the left arm might reach the right basket's left edge at left_y \u22120.40.\n- Two pens 5 cm apart gave only a single grasp. Centre each pen on its own.\n- Budget: roughly 5 calls per object (approach+descend, close, lift, carry, release). Combine lift and carry into one move to save calls, and go for the most reliable objects first."})
tool
done: I only partly finished the task, and I'm stopping because I've nearly used up the call budget. I sorted the objects into two groups: plush toys go in the left basket and pens/markers go in the right one. Only the grey plush is confirmed in the left basket. I dropped the tan bear there three times, but it ended up on the table leaning against the basket's front wall each time. I grabbed the black marker and released it over the right basket, but the last wrist image shows that basket empty, so the marker probably fell outside. The yellow marker and the blue pen were never picked up.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 24.08 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, 0.6167, -0.3798, -0.0223, -0.0299, 0.9995, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.6479, 9.306, 1.7949, -0.0122, 0.105, -0.0708, -0.7179, -1.6342, 9.9624, 1.7363, -0.1245, 0.0024, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:904cd210bbb511952c5ca4f7da46c1e459747c0b599b63bd48fc52a49a74eec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ae64f53d604b8b6c6b58ffa24118701847cd976765b494e5916700fced0d28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e26c387f33cef45267cf72a72f9ae6dc1509fadf5442ae2a34dae2b52165032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 6.235 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, 0.6167, -0.3798, -0.0223, -0.0299, 0.9995, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.6479, 9.306, 1.7949, -0.0122, 0.105, -0.0708, -0.7179, -1.6342, 9.9624, 1.7363, -0.1245, 0.0024, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:904cd210bbb511952c5ca4f7da46c1e459747c0b599b63bd48fc52a49a74eec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ae64f53d604b8b6c6b58ffa24118701847cd976765b494e5916700fced0d28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e26c387f33cef45267cf72a72f9ae6dc1509fadf5442ae2a34dae2b52165032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EDNdVutJZf1aQmerwS8FE1",
      "input": {
        "note": "Table has two baskets, plush toys (grey, dark, tan bear) and pens/markers. Plan: plushes into left basket, pens into right basket. Moving left arm over the grey plush first.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.34,
          "left_y": -0.03,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EDNdVutJZf1aQmerwS8FE1",
      "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]: [-0.1799, 1.0592, 0.5751, -0.1211, -0.1513, -0.1143, 0.9995, -0.0154, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3369 left_y=-0.0306 left_z=0.1422 left_yaw=-0.0067 left_pitch=-0.0358 left_roll=0.0043 left_gripper=0.9995 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.0065 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -3.8359, 6.8581, 1.8681, -0.0611, -0.0562, -0.0708, -0.3761, -1.2376, 7.2547, 1.7411, -0.0464, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db3453c4596610ef1482d698c0c5ed39d8ceabf6a7bc5b6f74b3d9c3a093e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85713b81e3e54d1043daf4eb8f6d1aeb5848e01c533783dd993922e9a46ac4f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:568dd0add0dd74a618c5b66f800df449e5f180e9020cfff71dad4f53e7d62de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.572 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, 0.6167, -0.3798, -0.0223, -0.0299, 0.9995, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.6479, 9.306, 1.7949, -0.0122, 0.105, -0.0708, -0.7179, -1.6342, 9.9624, 1.7363, -0.1245, 0.0024, -0.0904]",
      "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]: [-0.1799, 1.0592, 0.5751, -0.1211, -0.1513, -0.1143, 0.9995, -0.0154, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3369 left_y=-0.0306 left_z=0.1422 left_yaw=-0.0067 left_pitch=-0.0358 left_roll=0.0043 left_gripper=0.9995 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.0065 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -3.8359, 6.8581, 1.8681, -0.0611, -0.0562, -0.0708, -0.3761, -1.2376, 7.2547, 1.7411, -0.0464, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8db3453c4596610ef1482d698c0c5ed39d8ceabf6a7bc5b6f74b3d9c3a093e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85713b81e3e54d1043daf4eb8f6d1aeb5848e01c533783dd993922e9a46ac4f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:568dd0add0dd74a618c5b66f800df449e5f180e9020cfff71dad4f53e7d62de5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAoKEAgSGAI4AUIIdGhpbmtpbmcSDDPSoCOeSw808VjIqRoMx4KNcF7QDRqE8vy/IjCKA36Z6EcVE/KnjM0uQ+1bDDpg/cPKQ60soq4W/RvIz22cjM0lqHSuYHbvqJZTq8IqzQkha1p3nuhqvpAK8BvYRWjkPeTBD1mPYGEPUcq0e0Iha/ex5ZViv/O2uDz9x3X18U8AGOdWhaCabIWOW+Vq5cDWawN//ebiQ6gMrGDiCs9SDPiS3C/FgwQoWR3X2NxYtGqg5ZtKnWZL+h368HWintsFqCtKogV+lgYSav6Nz9IWGv0GDG4sxTGF1r18cvOr1V/I+rCJJTYpnp7tPcoItbdoShBWwtO+5qONOzCepIL+Ed439b5NBsTgO1rxnGvkTqLixe5eVPiBLBk3uYMqm4A/yOzead+O8Pfm8VDMBvhHTtKou/tQR5FYIalwEV1nGtcD4U6xc/frKQ8Y9TV1CO9jYOznjJB8LNXGv7ZyEDBuahTSia3dGby8T2JjIz2Jg77p+59So0bPNpA4DNwnIwjjpurrD162EuYPqRHFF3K84jVRd2Y/8VvFJOar9kncxIvN2bOOkxWolS0glu2rN1dnO5B6oE+ubvPRPBGDZH1YuYLscoFTjfrDOpa6E0JJuWEq4lEjVNLZRGM2jVFhoxQnpZGvPz7gUXxd9lYg/ldjaFoo6GGhdlKVfguU4l+NTn3f9PsBYkHm5oLVc2vZtuvYGydI58ZJ4scONpYeZGuNqhw0SiDJGIaMgQh4gvWVwHwmS4XxIkb0zq5NMDRTIqkUQKWw4k5uQmpFwJ/vZacQmk9ZQ44PtZFHfLcPxvh+wPUCviQH+S7fY3a7d29KAUe/SpHfiwaTmWewm8zrPaJHbdk0kJHRwbKBKAXjkYY2wVVPzUYgV1h98tdssViRF6jfaEI8QlUtCqZL3FW/ZH54k3EUBA5KZa7vd26AA7XhzcW1TXfrk911eHiE4wF6f1I/SDf3cRbRnqYqJ9FFZ0EjmvimidbiqoDCiuITcmfYnjZMq0O6v1bToKc6toJzLhs69pEhQplKR9uRAMBCdd8Epk36ucRhO9kEVJivX5uJUKUqcemA08vHVHl1mnuYcvbUk9qsEfbnhs1y2DNCwVhen/DIx+JLD48kMmenJQF8FEeeGrio48AttZL71Ck7iu62N5B2TN32aKY63yvBELdPG1N5phdEmV1HIRNuE9II4qsMouEswsYyXWLFohHQHt6qDIRvBax2Tdl3rBu81tP3QxVvZKOeYd3VRnIrbpv9Q/WNA3B46suOjeD3+VRs9lFAvOc8kFNrHu61uNvTeTAPt8+RxgqHAxXFKMUNtC9qj96lKNDqr/lLmyi6ERnX3ePii0LFUlIbk9gY0o/9VzxrAYwUzSY23HnSHUWZIZUw5EeDvHo93NRyyueaAMj45MW9adwyN7l5feoRsMGZ2oMfB7Ef3UCGxiU5SH85cckJB307YKulCvbm4pBykcW4BRGS0tWk7XqlAcRcnih0GfkMcL7zYt42DubWv8Qzi+4pfN1RAOGHIi2vSdZpG7FGjvipBZr3v35TK3fdmhAtQmDJM5iHy3MABmMAFz1avF9rRXFsYSqmCTrWZWnAPUYwEQwfsxTNhorINIoJc+Uww5cPSxQLP6MbAqZ7HnMIK37IZpl3V21/hLuDS6fngh7E4xYaW+17fkMTZ9Ju3tq0B/zTVRPoKxA+FHHAOroa6kw9iRcop5eRnbY+n/1lIYNiSEB1Bi9rdtCnldrEbDtBcBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B9rYW697dhjZWJ3KLA2DSq",
      "input": {
        "note": "Grey plush sits just ahead of the jaws, slightly left in the wrist view. Advancing 2 cm and descending to grasp it.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.02,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01B9rYW697dhjZWJ3KLA2DSq",
      "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]: [-0.1162, 1.5234, 0.3607, 0.6483, -0.1314, -0.0677, 0.9995, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.374 left_y=-0.0167 left_z=0.0542 left_yaw=0.0156 left_pitch=0.0518 left_roll=0.0197 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -3.5897, 3.6034, 1.3797, 0.2759, -0.1343, -0.0171, -0.3077, -1.4427, 7.2274, 1.8144, -0.0171, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a396572877830abfe443691c81a46df2c45bf9ff77098bd375b82090170c563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0587d3ed4ebba4506432d852dc7cb97a3a8bf77d65ae5e7b7ad301d0dd8bb49c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28e20114fb68ec155e2d10a78afed5c47c40182e75043ab2743e3e3fe1becc31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 3.752 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, 0.6167, -0.3798, -0.0223, -0.0299, 0.9995, -0.0154, 0.7986, 0.6109, -0.3737, -0.012, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2966 left_y=0.0018 left_z=0.1846 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2968 right_y=0.0011 right_z=0.1832 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.6479, 9.306, 1.7949, -0.0122, 0.105, -0.0708, -0.7179, -1.6342, 9.9624, 1.7363, -0.1245, 0.0024, -0.0904]",
      "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]: [-0.1799, 1.0592, 0.5751, -0.1211, -0.1513, -0.1143, 0.9995, -0.0154, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3369 left_y=-0.0306 left_z=0.1422 left_yaw=-0.0067 left_pitch=-0.0358 left_roll=0.0043 left_gripper=0.9995 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.0065 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -3.8359, 6.8581, 1.8681, -0.0611, -0.0562, -0.0708, -0.3761, -1.2376, 7.2547, 1.7411, -0.0464, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 1.5234, 0.3607, 0.6483, -0.1314, -0.0677, 0.9995, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.374 left_y=-0.0167 left_z=0.0542 left_yaw=0.0156 left_pitch=0.0518 left_roll=0.0197 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -3.5897, 3.6034, 1.3797, 0.2759, -0.1343, -0.0171, -0.3077, -1.4427, 7.2274, 1.8144, -0.0171, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a396572877830abfe443691c81a46df2c45bf9ff77098bd375b82090170c563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0587d3ed4ebba4506432d852dc7cb97a3a8bf77d65ae5e7b7ad301d0dd8bb49c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28e20114fb68ec155e2d10a78afed5c47c40182e75043ab2743e3e3fe1becc31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxwYKEAgSGAI4AUIIdGhpbmtpbmcSDFK9bZYP/z38QzxdyhoMgHasDUShTOrAqNh9IjA3+Vu5yVlrQoGWQiHPscsV2n13A9qQuMYaF5eRpejYMcfGUdumZZjxjgri4juHGCgq5AWPhoOFshQ0p7V/uJTAYl/5fMh3CF6AayN1oRt1NBQ6JQ3jJLtUnqpeKf9VYFdd9XfAOCmVtSDnS9rNHcmhIDefdwRQNsVYUbmUom1FjLXbHm4P6AipF6MJceh/p40TrgBiaoTIRBF/XeQAvs7+YkOXg51314i5fskz4Kc3dwCSDDNS9AvwelzfSg4b0p/58ER32C9wj4UhoZW1qSWUcHzBPjPjhcMoMmOY+wcSxUw0Q+C6Vtih46/coJlTtB8cQSfFy/FFmDsjX/DiD0GE4bL7frUhG0BB78ZD8mZhwoE6edCMjv6PmvgmQlyjgIWvAb+yGworslX2YkIssnGXnhPyqyH8eQandqAtoJPNUteDKGPYqiCqlxaAiTpbbrg3bmShN89G+RW3JM/Z6Dk4WSDHADmb5LINDpmoR9zD0TZHZr0HrsTatFgZCkHy6atf7JtvXh3kuT5neoeeE2h4qyWtfOLIOPx+zDhSJJObxQgHkyqKqAWr3Vw2qecWl9cpQ06p+YGn2edFRlbGupYJuiIumgkL5gFcmpoY0Dx8PmGLdt9RZZzfACwD1WmAYEUlmgc2ThevnfcRs+hvj7iH9P24yqCWr+ZSUa0SLuqsmKOVSN5uGh7zALKEkOuolVKL6bWRvJf9VOmeoPRq1XejSkBHsXM5EeOtW0VIETcRzHtujO2vsxs8wzOgjLVL0dM85LqiCJ+8HOBIlV4vP1SJYV6MxGEeO9ZmSh0UNczBWKmC9wql1nbUwBjiWioCoEs6Cvrqyrq5LP2VEGbUB5il0WmVTIx6w10xFPVnFuyKxUpFEB5FcaZ3HW7BAKjD+JJohR/p62HhZ54ELaIY1KDA5txr5VDixmnH6/yLw/M0E3Ye494C3cKPV1HPlFpmVVRbXmZXE7cW0ne+1mdfW94yW1GR6zocIxxlNWB8E6uSo1S/T7Di4i52rSQvkkT+oIGopEiBTwX7uQu0cf7CIv3/rUYx7Rj2bBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1V6gev3bFtSUoBLJ8GWcD",
      "input": {
        "note": "Descent stopped at 5 cm on the plush, which fills the jaw area. Closing the gripper.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01C1V6gev3bFtSUoBLJ8GWcD",
      "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]: [-0.1162, 1.5158, 0.3698, 0.6746, -0.1501, -0.0677, 0.0128, -0.0154, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.0142 left_z=0.0662 left_yaw=0.0319 left_pitch=0.0957 left_roll=0.0225 left_gripper=0.0128 right_x=0.2952 right_y=0.0012 right_z=0.1785 right_yaw=0.0002 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -4.6701, 4.4376, 1.5067, 0.1001, -0.022, 0.6178, -0.3487, -1.306, 7.0085, 1.7021, -0.0024, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f82d99f50227aafa1345a643966bf4ffc5788ae0306476569c9cfb825b7b5186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbde8fe2e4e2ac1cbf7c4574e68ccda29da567e3869e8f0bcd5827f83e376ba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6809c73cafd9ca4faeec82e72cc71b34f16a5069877132efd82dc0565c6066f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 6.194 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]: [-0.1799, 1.0592, 0.5751, -0.1211, -0.1513, -0.1143, 0.9995, -0.0154, 0.7986, 0.6086, -0.3782, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3369 left_y=-0.0306 left_z=0.1422 left_yaw=-0.0067 left_pitch=-0.0358 left_roll=0.0043 left_gripper=0.9995 right_x=0.2959 right_y=0.0011 right_z=0.1812 right_yaw=0.0002 right_pitch=-0.0065 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -3.8359, 6.8581, 1.8681, -0.0611, -0.0562, -0.0708, -0.3761, -1.2376, 7.2547, 1.7411, -0.0464, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 1.5234, 0.3607, 0.6483, -0.1314, -0.0677, 0.9995, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.374 left_y=-0.0167 left_z=0.0542 left_yaw=0.0156 left_pitch=0.0518 left_roll=0.0197 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -3.5897, 3.6034, 1.3797, 0.2759, -0.1343, -0.0171, -0.3077, -1.4427, 7.2274, 1.8144, -0.0171, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 1.5158, 0.3698, 0.6746, -0.1501, -0.0677, 0.0128, -0.0154, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.0142 left_z=0.0662 left_yaw=0.0319 left_pitch=0.0957 left_roll=0.0225 left_gripper=0.0128 right_x=0.2952 right_y=0.0012 right_z=0.1785 right_yaw=0.0002 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -4.6701, 4.4376, 1.5067, 0.1001, -0.022, 0.6178, -0.3487, -1.306, 7.0085, 1.7021, -0.0024, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f82d99f50227aafa1345a643966bf4ffc5788ae0306476569c9cfb825b7b5186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbde8fe2e4e2ac1cbf7c4574e68ccda29da567e3869e8f0bcd5827f83e376ba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6809c73cafd9ca4faeec82e72cc71b34f16a5069877132efd82dc0565c6066f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gYKEAgSGAI4AUIIdGhpbmtpbmcSDJEyeB8mxYWFNy36IRoM/7URf7yknlivhlccIjCsf4bgKta2lJL2kkIaB9cOGxLFDShkVKhVlhBt1iN1MDqqT76NvLPqFHm08PbE1CEq7wVaoK5OtIoV1V2IatBBC6pOmWWcB4f2NTJ/42q543a3e64r7Y2h2PsR59Jm2lkL3UMY1NTzYV/KpCMlG9PFo2o1Cg21s7Xzm9Jih43vw7YonmnLJe63rY+c69ne/esOkFMMuUVervL3VZwA2z/jZg3yqzXNDdrCOBj68OG4YNJ5UHE7AKE97WuF86K+DGZnW4dHTKIhjrxLb2++EX93EU/GwT67T6KxXwXB7Z35IlHv5Nwt10sqpxTkSXo87thbY/KPE3zmDby0qSQdpemgaQqCnA0IKbYz1f1pOml1BnpcRW7BBio7c+dlThcBDl3yH+4dPIcrJ8kwRIMRPiLW9OHT/4gHErdAkhRXRI0GveEtxqNA0tUfMSrjGjbX5/oEaQ+5H10X+TweK6qmvygU8be1QU96x2gi6FzKfbop7PHVAtgRSaVk2FDKgb22gdZp1/kGWVmydLs1AsGICXFsf3+5YxeuH4/xjJMko5iF0uZVeSgOkSxzr5K622S/z2G4NnkMa8+wcupfH90Twq6Ylkw+LUfXahYYEUkN8loq5hd9dm2SmnH5S7gQEbGoePX4+ADIFyzU2SU7miA3qsc+rsBoKKEox3GB28olfO30wKIEmRWvKOnZqs8H6CMzNS4qsv5heVGH7fqpX8Uqm/IdcRxPXIrgDcsFaGWzzVRqph1twrsbeWw7d8He8Qa94ZljuvTa64mUuukxa7fTjFekM40Gj91qkATIl5pov2bouP54hnuj91cDomE50+4H3F9CYdrg2ptWLQ2lwJZY63XjScnyyyYs6Ka5GMpgZ9yp8Sd5qSxWmBoGAHBHkKu8gTr5ShafFgwj8iLOahCQWfXrSaHL5ruchJCfChR4e5PGS0l4vaLoJvOYV2XVX5uaQQlW1mKlMWcAp97qiFBnHNr5e9CvOs5yWGbYNgwmPDZGK+HfluJQhQLV2OE81/CB1coeh3/0MlCklK3b16LAwvjt0X5nYbD/aGEdB4buPjcvbYvmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QsYHHFuUJS47DzQEGPfRmq",
      "input": {
        "note": "Gripper closed to 0.013 on a soft plush (may have squashed it). Lifting to check whether the plush comes up.",
        "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_01QsYHHFuUJS47DzQEGPfRmq",
      "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]: [-0.1162, 1.1725, 0.7132, -0.0666, -0.1543, -0.0769, 0.0159, -0.0151, 0.8032, 0.6083, -0.3847, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3766 left_y=-0.013 left_z=0.1779 left_yaw=0.0398 left_pitch=0.0422 left_roll=0.0246 left_gripper=0.0159 right_x=0.2953 right_y=0.0013 right_z=0.1784 right_yaw=0.0006 right_pitch=-0.0179 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -5.5179, 9.853, 1.8046, -0.0269, 0.0269, 0.9646, -0.1709, -1.265, 7.0222, 1.7509, -0.0171, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:500476e5eaa9de352b61b379d6dc440a4f5cdc69d1c6bac58654dfbe46071268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d7a9d478681cebadb961e87c35f68d5397f027548160675298aaf8a65fb583e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:916bf9c7b1da2e9b09b5562077d6e89e463d6224082ddc03a9c85cfcc0d7bf97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.711 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]: [-0.1162, 1.5234, 0.3607, 0.6483, -0.1314, -0.0677, 0.9995, -0.0151, 0.8024, 0.6083, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.374 left_y=-0.0167 left_z=0.0542 left_yaw=0.0156 left_pitch=0.0518 left_roll=0.0197 left_gripper=0.9995 right_x=0.2952 right_y=0.0013 right_z=0.1786 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0001 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -3.5897, 3.6034, 1.3797, 0.2759, -0.1343, -0.0171, -0.3077, -1.4427, 7.2274, 1.8144, -0.0171, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1162, 1.5158, 0.3698, 0.6746, -0.1501, -0.0677, 0.0128, -0.0154, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.0142 left_z=0.0662 left_yaw=0.0319 left_pitch=0.0957 left_roll=0.0225 left_gripper=0.0128 right_x=0.2952 right_y=0.0012 right_z=0.1785 right_yaw=0.0002 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -4.6701, 4.4376, 1.5067, 0.1001, -0.022, 0.6178, -0.3487, -1.306, 7.0085, 1.7021, -0.0024, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1162, 1.1725, 0.7132, -0.0666, -0.1543, -0.0769, 0.0159, -0.0151, 0.8032, 0.6083, -0.3847, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3766 left_y=-0.013 left_z=0.1779 left_yaw=0.0398 left_pitch=0.0422 left_roll=0.0246 left_gripper=0.0159 right_x=0.2953 right_y=0.0013 right_z=0.1784 right_yaw=0.0006 right_pitch=-0.0179 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -5.5179, 9.853, 1.8046, -0.0269, 0.0269, 0.9646, -0.1709, -1.265, 7.0222, 1.7509, -0.0171, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:500476e5eaa9de352b61b379d6dc440a4f5cdc69d1c6bac58654dfbe46071268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d7a9d478681cebadb961e87c35f68d5397f027548160675298aaf8a65fb583e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:916bf9c7b1da2e9b09b5562077d6e89e463d6224082ddc03a9c85cfcc0d7bf97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQoKEAgSGAI4AUIIdGhpbmtpbmcSDNiCxh7C1uC8QDKJEhoMHocmoa2y5gtQAFjIIjCUaIx+G/ttkuQGOjZOl1slNlD0PLhx0WP9qoeN/cZfGNQEbtzkuFRYre3StQM3mVMq3gk8IlTH+jH6kcpGXU13iLck1+wg+CbWBFXxCi74aOVb+W6dV2WRDQVrL3Mg2V2xcTlKH10Ix/IKRypaWSo8z6De93F5MPywu4ke3q0SbMyAd6F3o961EqU3+qSL/lCBAHJrN4ugSU3SJpGmLLfZUN34NJN0uBfIEiXcuBhIVEz1VtoNfvo8drezcYiCG03v34PcSkmBma0jSJ+2Tiqwzkp5R0SasM/0HdDp3X7MIapr3+VzSsv7sgybMyGvFpmVuw4EHMU39h2XVOKP4JSnxzXYDJEgXLXAp8RJDaOXLYHbNbupNZqNEely5wh48zp5lYMxhBRKbtrrQRqpjH0Fl1NOZcH4ZjvgMoWmAVoW5JWIqSjtBlQhE3BavU+rVxvEu2ZeEhYfigmwUjL3wDFVhxKr6VlM34Bsrjmq9DEQguZiDlBVEqaRGzD9304dT6k/BZnhplxXNcQ9L+/5nAbfjfG57TrZG0Hr0aejXJ2AThwBXG0LIwTzcN0ltyEHktVqcOe/V/dY5bwZ5XnqDPrZHiMPoIKYKbVGbDRVBP71eVWsoaEeEPHh9FUL78XjXaPwbb15XRBMyfnM13PbU6BzjQdBxISHykxdG7HBBCeMb1emisODboZeQsuGlYEpKyzjY/WyFLTe/7wN3nUvmLUQZ19SXEtJx9ru1CD5o/15Y2kLoJCTJii5LZ4ns2JY12b71RstHaedTgahmDSPsLv45nseMoHVntB8ZP73/TwLBJt58V01t21UpYci8YnH2uSJoz7QfIGvyARxldm9B7nu53cAShaTpFhTfUKjbIxq7eoPwLDW++j1PgbcPSExnGtJ0PZ7kJT+rcZ4wjM1vjh0gsQICQcqtxi69KNwz/Zzzn6+x3K7x57z2E8mMXv2XTb7M9OFfN9Fui1PRJo+dul/z2csoIEmRkdBX9otnv13kYd4WS7/nx06+semabCH+yJ5GMr/Ck4yzbBwDobrQCnVHvA2OJdaBRQaoHbu2R0n1T5kZ8OaSIg5BJZ6AakdjDIop2aoTlVIYP5sR/ZigvLAHHhi5WqN4ALPL0lC+t7mWIOZ1SxqmJoCfIUFR0k0tFOgp/QiPrbxDlIuKPrCQ5+5YLd5RJznxW9mXoer07wsRcReu5ZWJSuw5Y2jhLWJ8SeXMjd3dsbb95ZOsZwPXh1W++MbH1mDkn5OEisYJEKSJE20bZ6+T5pyoZ+prO0HPuW+/1vz0nO4p72PTHtu6rwoQNqdoWhjWulsDSDLlDKDQcqRXUI+Pl4MKELdcpshPJs4ys0gGUiWTw8JCzCwRCb1Tydy/v6xqzFwViijQjlc3wYuL+gQ406vvcxRao3v0SM1jqpTjk6zQ+/CQylXuvW+iQmurI4Xb/eSTSFnM3sXXNNOlGjc8dbjKb0SB6A+s4R8GiW1FbddhXQiPA9587+wcfX80NjgP3mK46d52ASgN19lgsPXMrLys3gSzzEckWf/+WOHRwavIQzii83AJ/7BjKqPB3CxHpAQ7IMO/bsl3dzGQkJqIiHiH2TEkr4s/xk0RcKMUFfwQkXQtSFYk93RIhpdMkY7jYLhUvzEFnAoqYCrsl0hn56MZSzd+gHf0+uZhFcPyZdbzJRk1/+PJN9nyWxI/Gv1wq+Hz+TreOMCSJTH0r//8LKxLZ0i9PsTHc29GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NGwXHoUVekHxu58zdfXH5h",
      "input": {
        "note": "Grey plush is held and lifted. Carrying it over the left basket (forward-right of the arm).",
        "targets": {
          "left_x": 0.48,
          "left_y": -0.17,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01NGwXHoUVekHxu58zdfXH5h",
      "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]: [-0.511, 1.7412, 1.3651, -0.2691, -0.4793, -0.3046, 0.0188, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4743 left_y=-0.1684 left_z=0.2017 left_yaw=0.0345 left_pitch=-0.0021 left_roll=0.0384 left_gripper=0.0188 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0006 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -9.4427, 9.4427, 1.7558, -0.3443, 0.0513, 0.5934, -0.3487, -1.4291, 7.0496, 1.7509, -0.0806, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ae9868b364490f544311b54e3ad0763705e9ecd4ae7f14265d6ce4a6264dc9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f971676687c5f907f80ec4834887ddebba6d25b1364fcfdec955ca517a505ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ee950a6b1e2a9d826c3b87e1c72d3c3cd0cadc6af3200b2ab2b2dbfa59c73ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 9.731 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]: [-0.1162, 1.5158, 0.3698, 0.6746, -0.1501, -0.0677, 0.0128, -0.0154, 0.8024, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3803 left_y=-0.0142 left_z=0.0662 left_yaw=0.0319 left_pitch=0.0957 left_roll=0.0225 left_gripper=0.0128 right_x=0.2952 right_y=0.0012 right_z=0.1785 right_yaw=0.0002 right_pitch=-0.0175 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -4.6701, 4.4376, 1.5067, 0.1001, -0.022, 0.6178, -0.3487, -1.306, 7.0085, 1.7021, -0.0024, -0.0855, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1162, 1.1725, 0.7132, -0.0666, -0.1543, -0.0769, 0.0159, -0.0151, 0.8032, 0.6083, -0.3847, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3766 left_y=-0.013 left_z=0.1779 left_yaw=0.0398 left_pitch=0.0422 left_roll=0.0246 left_gripper=0.0159 right_x=0.2953 right_y=0.0013 right_z=0.1784 right_yaw=0.0006 right_pitch=-0.0179 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -5.5179, 9.853, 1.8046, -0.0269, 0.0269, 0.9646, -0.1709, -1.265, 7.0222, 1.7509, -0.0171, -0.0708, -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]: [-0.511, 1.7412, 1.3651, -0.2691, -0.4793, -0.3046, 0.0188, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4743 left_y=-0.1684 left_z=0.2017 left_yaw=0.0345 left_pitch=-0.0021 left_roll=0.0384 left_gripper=0.0188 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0006 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -9.4427, 9.4427, 1.7558, -0.3443, 0.0513, 0.5934, -0.3487, -1.4291, 7.0496, 1.7509, -0.0806, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ae9868b364490f544311b54e3ad0763705e9ecd4ae7f14265d6ce4a6264dc9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f971676687c5f907f80ec4834887ddebba6d25b1364fcfdec955ca517a505ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee950a6b1e2a9d826c3b87e1c72d3c3cd0cadc6af3200b2ab2b2dbfa59c73ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQcKEAgSGAI4AUIIdGhpbmtpbmcSDFSLlHzmVV6qo5KKARoMeYpvwpyfJiNgdZcsIjBR8N9REmsx7ExlFYDdCDDBA1oKijrb+lYvUyjoDCgmSocBXByBLxPSMl6fjNd7RVcqugZ30lS5X2xk/cYs7gJ6+evfeLJ1+EYVDO5lZQu1AfVBMesecJfZlqXW8B/IpUb6GxOpvqCNIoXNu5zxSNCGRveZsh+UDkJjFdNv4B2zxun8omdZJ/Zuacx6B8q4e5VNz56QjDfA/FaTlHwpYMUDX5rTRPGrt25Ki0f2BmJ3Uw2+ljbBGtbAPuX3hA+MRVK7tXUkaRbYvrOj7yo7DvYuNVqFyFZ4qilQhOvyY/Lt0tXo7ZoGaTNwe7azbg/i8HBvjVAWpVe13n8XBJnsZRBpdf2+lcuA1v41W8WRUu+7jQF2MBYznBBlzWEkvVPys9aCjJ7bwJYkYtB8fr1Tf6CdP3AVuNku/ESe52oDXN8FWUDd7HlCVS4Ufuc4lxzvsCxap9LgojMzuJZdxAFJIvxjMT3y0kEFpz84O/xQP1EOOIVjwQRRoUplvvcjZ1tdYk1q2CKTbyhBhXY+WYVfOwjqSf4vzgO8sh3KrOv3+Ai/NF9K+sAb3utb/Y+cfyCW4i3KvhCwNz8CS8ZfvgeIxgw/Hn7KSyVfqnpJsn9IHvekq+wGIkiUyLlFozS64LcYxav4KInJja/UkqAEN0SafxasGhVIMQiJ2tP6kUhbKK84w0Bs6waDsE711wPpE+2Pb/EVFgxvk45b/McjhPARoWBScZ9s0IXA3mAkt7VC+74cS+yd3ZttG8Hpno2/mcCIzfaxds1yNF9ts3fDbGPFxxZW5s/6f+z7M+uVOkVEIqncpH9JXGoWNmNTjV5Da1BZjXJJgy1mzlULBV9gbdrAHStxdpF/XoK5FpdBuGLtUYmB+onUVOXL9uqhohoV4B2HSMcjqhHd+PKW6ymuGzAT5SxSgQpNDN0xDYCcSo28D1qjGuP7qQ7gTPEF5skIEG4WgUZWLzPewu3GtRpR5QHXoMAzxxJ6bCZREbJ94qGkEMaDopK66D4CIRGWsHT6XXHubJMUn52tvgxyQytrR4KM080eRErN7XMbBrdBjm/bBtgYheLPPnZOQSe+s4Kikni5TQyIgNkyjmc5EEsX3edhIKdLWOPHRarAwmHpsY2go7IkFlSf4aNUG97AREGY4tDrktnbPXIX9izzO3r6yX3dGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015CG5kWetT5B3Ye6ykB2add",
      "input": {
        "note": "Plush hangs over the left basket in both views. Opening to drop it in.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015CG5kWetT5B3Ye6ykB2add",
      "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]: [-0.511, 1.7412, 1.3647, -0.2729, -0.4789, -0.3149, 0.9954, -0.0151, 0.8051, 0.6079, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4737 left_y=-0.1682 left_z=0.2009 left_yaw=0.0397 left_pitch=-0.0055 left_roll=0.0317 left_gripper=0.9954 right_x=0.2953 right_y=0.0013 right_z=0.1776 right_yaw=0.0006 right_pitch=-0.0206 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -9.1829, 6.9812, 1.6532, -0.2564, 0.0464, -0.1929, -0.1846, -1.347, 7.2274, 1.7021, -0.0562, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac5241c32f02120fe068917fc24e9e629aac80a0e20353ca070f0d82ae6a68f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b3e4706618f39f77942b3bc6366d3120e30c8c93206973d409f54b7f03c38d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d758f46a0c077179de9828b242c3537c53e1339e1c60c8e08f3e970c7691f2c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.698 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]: [-0.1162, 1.1725, 0.7132, -0.0666, -0.1543, -0.0769, 0.0159, -0.0151, 0.8032, 0.6083, -0.3847, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3766 left_y=-0.013 left_z=0.1779 left_yaw=0.0398 left_pitch=0.0422 left_roll=0.0246 left_gripper=0.0159 right_x=0.2953 right_y=0.0013 right_z=0.1784 right_yaw=0.0006 right_pitch=-0.0179 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -5.5179, 9.853, 1.8046, -0.0269, 0.0269, 0.9646, -0.1709, -1.265, 7.0222, 1.7509, -0.0171, -0.0708, -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]: [-0.511, 1.7412, 1.3651, -0.2691, -0.4793, -0.3046, 0.0188, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4743 left_y=-0.1684 left_z=0.2017 left_yaw=0.0345 left_pitch=-0.0021 left_roll=0.0384 left_gripper=0.0188 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0006 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -9.4427, 9.4427, 1.7558, -0.3443, 0.0513, 0.5934, -0.3487, -1.4291, 7.0496, 1.7509, -0.0806, -0.0806, -0.0073]",
      "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]: [-0.511, 1.7412, 1.3647, -0.2729, -0.4789, -0.3149, 0.9954, -0.0151, 0.8051, 0.6079, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4737 left_y=-0.1682 left_z=0.2009 left_yaw=0.0397 left_pitch=-0.0055 left_roll=0.0317 left_gripper=0.9954 right_x=0.2953 right_y=0.0013 right_z=0.1776 right_yaw=0.0006 right_pitch=-0.0206 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -9.1829, 6.9812, 1.6532, -0.2564, 0.0464, -0.1929, -0.1846, -1.347, 7.2274, 1.7021, -0.0562, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac5241c32f02120fe068917fc24e9e629aac80a0e20353ca070f0d82ae6a68f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b3e4706618f39f77942b3bc6366d3120e30c8c93206973d409f54b7f03c38d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d758f46a0c077179de9828b242c3537c53e1339e1c60c8e08f3e970c7691f2c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XCGP9ckFeeqXNmc5k7E4Ts",
      "input": {
        "note": "Grey plush dropped into left basket. Next target: the small brown plush in front of the basket; moving left arm above it.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.2,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01XCGP9ckFeeqXNmc5k7E4Ts",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7567, 1.6032, 0.9661, -0.16, -0.6342, -0.4801, 0.9967, -0.0151, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3722 left_y=-0.2025 left_z=0.1266 left_yaw=0.0041 left_pitch=-0.0544 left_roll=0.0659 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0236 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -9.5385, 6.8308, 1.6239, -0.4908, -0.0171, 0.1148, -0.1162, -1.5521, 7.0632, 1.7558, -0.0513, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d6bd6c2e6e08f0f6a291cc207f8c90ccc7b0049fc55723e477a9cf809c18a7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9428fdc08a812384c70369d52550826cd5a9f7e3e5c49e45682d1c1ad03f594a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cceb6289a0a67e9a4c5ff0da70740fc5bdc4a4520693ba5cad25ac5973086dc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 5.563 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]: [-0.511, 1.7412, 1.3651, -0.2691, -0.4793, -0.3046, 0.0188, -0.0151, 0.8051, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4743 left_y=-0.1684 left_z=0.2017 left_yaw=0.0345 left_pitch=-0.0021 left_roll=0.0384 left_gripper=0.0188 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0006 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -9.4427, 9.4427, 1.7558, -0.3443, 0.0513, 0.5934, -0.3487, -1.4291, 7.0496, 1.7509, -0.0806, -0.0806, -0.0073]",
      "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]: [-0.511, 1.7412, 1.3647, -0.2729, -0.4789, -0.3149, 0.9954, -0.0151, 0.8051, 0.6079, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4737 left_y=-0.1682 left_z=0.2009 left_yaw=0.0397 left_pitch=-0.0055 left_roll=0.0317 left_gripper=0.9954 right_x=0.2953 right_y=0.0013 right_z=0.1776 right_yaw=0.0006 right_pitch=-0.0206 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -9.1829, 6.9812, 1.6532, -0.2564, 0.0464, -0.1929, -0.1846, -1.347, 7.2274, 1.7021, -0.0562, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7567, 1.6032, 0.9661, -0.16, -0.6342, -0.4801, 0.9967, -0.0151, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3722 left_y=-0.2025 left_z=0.1266 left_yaw=0.0041 left_pitch=-0.0544 left_roll=0.0659 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0236 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -9.5385, 6.8308, 1.6239, -0.4908, -0.0171, 0.1148, -0.1162, -1.5521, 7.0632, 1.7558, -0.0513, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d6bd6c2e6e08f0f6a291cc207f8c90ccc7b0049fc55723e477a9cf809c18a7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9428fdc08a812384c70369d52550826cd5a9f7e3e5c49e45682d1c1ad03f594a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cceb6289a0a67e9a4c5ff0da70740fc5bdc4a4520693ba5cad25ac5973086dc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AoKEAgSGAI4AUIIdGhpbmtpbmcSDAcawa7CTGlixweQXBoMymajLu+MESzMYpr+IjCOjcGxdCCr9GXnI0/D4PsHD4pKnyypXQ1qSZOP2rSZgkXjvqwKuIt7pEimPzldvUUq7Qkni5qX6tPZEQb1S1mTfr5bJp6CyzYVdU6MYTSwE/XjGTX0hN9fM4vbIehFvrYW5Yrva10VRS6Bh/3m80C9fLg4s/+q5uxcgwywNebmVzPsQ9AErm0ksBtDpwzkOJvpdESvURFfGh50HK1S426Zg7ARg4ZmB4hOE7o7LlDerZ37qBzf5a45AyrRjJmqorzkPPsl/nCb1C2WTlrV8GKTIvMsqSgL3gio9LHkp47y21JJudH+H7RN62c8mg1+cOb0eMi6NMTIc838JcVa7RhZK/0jFZHdd4r8vFlbsXGlTbIwLFH+MAEI7Q/xSEnysZKBFGaW8AInCRN7Erglis49HFVIhaDjb5jyioOEXLKxUcGUusS/ZBNNOHxxzGpiqPdsFsHMRbYmkpK5RRJm6JgaF5ln5jmWXOx01fENBmWw6BoXQJLxxNHAbUEOg9BAQP6z1zVWf1N9GQaXAzerlG11dmxmXVRdTvanmqXJTKpuyOcmVmk1Q80tUjwBBKfTaBmyssbK6dxzDvt9VeIiUuSOidn0l8DQ53MDmF/Tn9dlMZsmxFG51m8TXcMKsnpDMaMEMeqfkKakaf6ua856U3C7uMtVDa8Fxgc5XJ7px7tWIY+VJ/mxHY57QE+8eaQJnM9iqqDyRwL7TAmIcioCyYVlXN5iMuduk8b6ouTwHuicjeqCNemtuww/zuLA5/PWCtDLNJh7vt9gVvehOtzQylNRSzVs1YV3aBWMRgxPluUGD0qd9A+ukecVxQWabIED5PzQ4M8pvno2GYlZ95mwA8arhgvj3QE7+xEgaps/kLIfnpb6zia8sDh7CCngqbkWa+LZBsOhfN0hCbp1oRdXtndrvroHhLnkVqCowhPiR7N0OHhnZ06RXf6ICgWl4mxYMQd5H0y1dPAEuXHGMPs70ttgoCNYeUP6SGjix7hXO/QM5zK282jLrTFIdZejGOKYFopEoy8RUCPou+xK2msZpaAQlrLyXeK/7Ci0uEdnqVlDQLRt6eliMAkqbotoBRjKeCqJs52SPXXPefqq1P8UW6FKKnMytejgyDQLGKWfVU+aO1bo7YfF2LbjW7nvKoKhRWAVSSZ0upET4O0H4xtxDwK+5i4O7+EwSedIXLVfzu0F7v6XtJ+qs4wHL+18HEI8DbQAqV7jath0jEgE9/G7AYLtlEg9h+sPfAHJLspxNjx5amp77TJkhkFjPQJpGXnOm4CLMqc3yPBQDWLC3zaF4CqEEadDWfICY08vw7C70lD7AWYAQ4JGzXJXtlf/finVVP4axcEWXkKECZXxQG1dYhWmu54wPRqaQ9rxb3mnfw6ZKLQwxm0RW/6mLj5ihANOP4ta2072Pn5Ob/qx1COLT6YUGC4V5a7iyXQT8r1n4xc0k1H4nGvUc/zNe515DVf3JGygVJr+7/lR7WNfUou7WB/j+9+nGa6JygUrYOcmXdcVpihtMlyVofmOw3sI/vp09O07FTiugMSsJ1MyuwLsNOKVDf41qvPyR+UN0aZiPKdALUUexcH8QwdB0i/vZu1fjzOJ/cQsZVgs1b3ovW513wBAPNFzARXI35d1IQ4FK1rvtRWdvkPRJY4dzfnNTn29dsb6s6/fOFqMQXpiREvbxoqOcRtEmsv8y8PP+WOqjlooA4Cs5gxemUu24+2HyjNYWq0nDM1MoUrLbXCKmtqbjRXqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Cxjej7E4VdA3XbFYJNk1h",
      "input": {
        "note": "Small brown plush is just behind the gripper (toward the base) in the overhead view and not in the wrist view. Pulling back 5 cm and descending onto it.",
        "targets": {
          "left_x": 0.32,
          "left_y": -0.21,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015Cxjej7E4VdA3XbFYJNk1h",
      "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]: [-0.8959, 1.7218, 0.6941, 0.1242, -0.704, -0.5961, 0.9967, -0.0151, 0.8101, 0.6079, -0.3855, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3198 left_y=-0.2108 left_z=0.0336 left_yaw=-0.0194 left_pitch=-0.0835 left_roll=0.0859 left_gripper=0.9967 right_x=0.2956 right_y=0.0013 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -6.5026, 4.8068, 1.3602, -0.5543, -0.0806, -0.0122, -0.2393, -1.4564, 7.0496, 1.707, -0.0464, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dbc4e5d9c550021ad02425d5b3ac4269b36fbf6193ea2d5dda28b2fbb54e313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e775182e8af6b0134317d4972772d6b03f0c80a546222683054d1db8f922ecdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd930c9ee41e08258ac7cc8647ec29cdf2e5d57da2711aa360a2a123c4f4239f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.93 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]: [-0.511, 1.7412, 1.3647, -0.2729, -0.4789, -0.3149, 0.9954, -0.0151, 0.8051, 0.6079, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4737 left_y=-0.1682 left_z=0.2009 left_yaw=0.0397 left_pitch=-0.0055 left_roll=0.0317 left_gripper=0.9954 right_x=0.2953 right_y=0.0013 right_z=0.1776 right_yaw=0.0006 right_pitch=-0.0206 right_roll=-0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -9.1829, 6.9812, 1.6532, -0.2564, 0.0464, -0.1929, -0.1846, -1.347, 7.2274, 1.7021, -0.0562, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7567, 1.6032, 0.9661, -0.16, -0.6342, -0.4801, 0.9967, -0.0151, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3722 left_y=-0.2025 left_z=0.1266 left_yaw=0.0041 left_pitch=-0.0544 left_roll=0.0659 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0236 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -9.5385, 6.8308, 1.6239, -0.4908, -0.0171, 0.1148, -0.1162, -1.5521, 7.0632, 1.7558, -0.0513, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8959, 1.7218, 0.6941, 0.1242, -0.704, -0.5961, 0.9967, -0.0151, 0.8101, 0.6079, -0.3855, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3198 left_y=-0.2108 left_z=0.0336 left_yaw=-0.0194 left_pitch=-0.0835 left_roll=0.0859 left_gripper=0.9967 right_x=0.2956 right_y=0.0013 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -6.5026, 4.8068, 1.3602, -0.5543, -0.0806, -0.0122, -0.2393, -1.4564, 7.0496, 1.707, -0.0464, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dbc4e5d9c550021ad02425d5b3ac4269b36fbf6193ea2d5dda28b2fbb54e313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e775182e8af6b0134317d4972772d6b03f0c80a546222683054d1db8f922ecdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd930c9ee41e08258ac7cc8647ec29cdf2e5d57da2711aa360a2a123c4f4239f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQoKEAgSGAI4AUIIdGhpbmtpbmcSDGQiIqW4aJd97mlKcBoMFejn+RLfA1JkU8S6IjD5W0HQa50L1av3x+Grd3xU5G3zwiV9yBj2m/0Bkjd7cuqhmb6PV9joO+F2L3lQ3iMqsgkPGbHTANWmyDmyhjVpYbq1h27LuBrlZK1KAusHRv36pmS0tMPVyQUlUz6/V4S6Gngu1VLfUf7nbekG/MAejD1iwKYE0Kqcisl1kE9QdOFGsMj3W2orH+ZJcED8ia7/7ZYRQgP7XXx3qzXlNRFpjUhTT8SKo99MjbR0pvxuYjvhEq7EuDTRfvnUkaQ1MBOyrlPw4AYVjf6T4cOjhMjhWdnW5rCKvira9mMRdCZrd8M5f+UcrKhSt1sATFOpM4MLS1fy0dc2V4smGbB0B1Ce8G5R/450tblKXRsIX1k5wZ6KKsZ6+cNEoj594MafpNlxfIKs3OgwptZAUey2DFUerb1BMmmoADG8TAwCgnTF5V6Lk2u7XqHh/BovwEm/1+6lFA5uW9gA1PjwR2w+KYj0Sk11FQ87gwPR8I4gbEe+RrYF9Sh61KsjswVrKLGUINm7p7A9KqdWpqGJQZtmOdSCWph/TO6DJkAfJ6L9BPD9baAwpJIOHvBQstr1nM7BMsJYOJdyC7HwCKS9fH8qlBP1LLFCiLX//N3PQQtC/BLZ4GSdusyjxCagNl3Cw/heMMC+KVy0HCkyfgPgXQ1mdQqVWMG43jc78xNmVOFW8ZiREUGyY8jJsbQZyo/z22Yxsc2HOXHiDFfC9/BzsvVPlfacV3g8i5sPVCsupMR7BiqF4nnqMjmbu772QriIUQAtDLIPZ/OCbw1lpMwZ4rq4Tvd4CUOAtNPC1yKFkCxLMS9Lq419LGXHngl+uzBiskCFErxvlWPJIu9wF9cwe6Dc7xqE6EkE9AW0LGHjGmZSWG/lG3WpbNl7LPTHH05lyxcCH0qqTXztPvrymkBAndsS81irjE+/Aum9PR83ZJR9/j8RL7DAqruvI63wt550heGjzH71D/VSJkZTMn1W4hM9Z+O5z2TZWEAN8EwwxIB7LYcsR50QSWXruF6wgRAxuK0caGNcWbAT6dYYp3jdaMyWGtTJLLsv0BZzv4JK1k/Qto71mCgsk9cgnkfsqPylX2oEfsMa8noenrKSlpkksJHhwu0RHIiJ8bqETE0z9j6Rlf+sUk3/VEzNt5RrkWbQmm93ORIsh3AQ7CNBsqtIMxA820ZhY7F5H7FXDYDKA6wdcS1cXx+Y1crfLs9bqRvlrHpAa1ZnIVXT2WLfNLVydmemBt9a8VZmzdR6rj7Mr/XHxkUrGw0X2zkbTqBXzf68hrlfKZBzjgjYgYGR9xVPwXmM3aAxj7wqtCbysvwii9HaIR7Lq1OChmEyfk95j50rVZIAzmRZ0DxcCGMHi4kj2FvhWwt2TsjaChwkNPfxIHH0Gp565bpMXZNmRJTo/Mk7gsXqAgzNkQcX/d48EhjEvl8wVMtc8V5JCRipDuxcgTctzuNAI2xeHIrzlSX2CB+O3VLkkWfUTU9QXYol6aBziCq2IsJTzWv32S90G0ShhBEfFfhdSZ5ntzIGglgg/9p7VW7uhoZfxI7ZfVRbtKD9vHpjZkuPcb3Vz3fwIU2El9sESXQ100DAN/IoVYu+l8JAJTdC5xOeCzJVl4bECF24qfs7RZhbgR0VVrFwaZ4s222EKKKFWiuKSTxwqaAygW7X9Fa/qyioRrzZ7RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KbzuB6VCBTZVvGVdgH32fT",
      "input": {
        "note": "Wrist view shows a brown/white plush just ahead and slightly right of the jaws. Shifting 3 cm forward and 2 cm right to center it.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.23,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KbzuB6VCBTZVvGVdgH32fT",
      "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]: [-0.8635, 1.8568, 0.7799, 0.1692, -0.6941, -0.5892, 0.9967, -0.0154, 0.812, 0.6075, -0.387, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3422 left_y=-0.2208 left_z=0.0159 left_yaw=0.0031 left_pitch=-0.0925 left_roll=0.0895 left_gripper=0.9967 right_x=0.2954 right_y=0.0011 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0298 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -8.8137, 6.106, 1.2332, -0.2711, 0.1685, -0.0073, -0.3214, -1.3744, 7.0359, 1.7607, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53b9a9576a9cb665b0aa0df4bfa94bfb61b266934c9b4c1e5d338899ac5012d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65f9396ff3346ca97abe1785c1b310608717338c368680e897641cfeb04595b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1bbf7157dc8a46a10a24c559e48f886ca04c8680fd54adac373ea6489474957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 8.155 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]: [-0.7567, 1.6032, 0.9661, -0.16, -0.6342, -0.4801, 0.9967, -0.0151, 0.8082, 0.6079, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3722 left_y=-0.2025 left_z=0.1266 left_yaw=0.0041 left_pitch=-0.0544 left_roll=0.0659 left_gripper=0.9967 right_x=0.2955 right_y=0.0013 right_z=0.1768 right_yaw=0.0006 right_pitch=-0.0236 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.2256, -9.5385, 6.8308, 1.6239, -0.4908, -0.0171, 0.1148, -0.1162, -1.5521, 7.0632, 1.7558, -0.0513, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8959, 1.7218, 0.6941, 0.1242, -0.704, -0.5961, 0.9967, -0.0151, 0.8101, 0.6079, -0.3855, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3198 left_y=-0.2108 left_z=0.0336 left_yaw=-0.0194 left_pitch=-0.0835 left_roll=0.0859 left_gripper=0.9967 right_x=0.2956 right_y=0.0013 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -6.5026, 4.8068, 1.3602, -0.5543, -0.0806, -0.0122, -0.2393, -1.4564, 7.0496, 1.707, -0.0464, -0.0513, -0.0073]",
      "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]: [-0.8635, 1.8568, 0.7799, 0.1692, -0.6941, -0.5892, 0.9967, -0.0154, 0.812, 0.6075, -0.387, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3422 left_y=-0.2208 left_z=0.0159 left_yaw=0.0031 left_pitch=-0.0925 left_roll=0.0895 left_gripper=0.9967 right_x=0.2954 right_y=0.0011 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0298 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -8.8137, 6.106, 1.2332, -0.2711, 0.1685, -0.0073, -0.3214, -1.3744, 7.0359, 1.7607, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53b9a9576a9cb665b0aa0df4bfa94bfb61b266934c9b4c1e5d338899ac5012d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65f9396ff3346ca97abe1785c1b310608717338c368680e897641cfeb04595b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1bbf7157dc8a46a10a24c559e48f886ca04c8680fd54adac373ea6489474957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDLF/c3pPr8IV6mbG9hoMGyMoUsL6lilZOKPIIjAorqD3rGHjQ+e7/42LYW0MI+Z/NCQO5mSKfzsccxKRjtinOgUe1Oy0tY3RxYA1GCAq2wYQNZMmP+17nCai/BpSWNSiUA7iuc8cDRU7t+QkLTsWyaSSVXoM3PNNNtGTngXskmJySZuc/NMFXo/NIAWrNBGGXAGqLbLpSev3sp/lMz3JZIGGGCdyvEs4PWILcwb3BL8WOd0kb8eRSiRSOUgG4CIt+FdW0I5bNI0GJcwLUyKlbwXmt1Ikqc/iTXEXbubVAYjNAyy9D93KbKY38KADmGk1CJBBVded+7gn5ab9O4QBc74/MWBV3b1nmkFTRkebcDejzPFyro7cYKl+tc3OH1WkBLMermZD8fHsEoOI4Dqba96xEeHpqXsKhtXiM3yHBdo1A2KY+1HFpQJui6ddlk1tZwMtaz7gghzbm3n72h/SACLU+7tsD1Qc4bqXiKgwgbcCl2EUEBpcqYiQp2uOekWukrBCeDu8WjcMPT8/OxqwNK3L+iVsXbWVxxPL1CkzjEAXBPOIjAMI+DWl3mDQx7lgfb+U6UupkUY+y+sV3l9zXio0+9lNITLBJZ7t0NVRdoGMkB7lDWssSsvtSqGXiu6OdDPumAcCCmeQRGHxblXnY1u7bBErA25w3Te3myuGOdon/bNAWBzd/5rc64hT5WsLIm5S9JW232SQFTK9mRBnEF06AtwC+HiD29huTPbbyboKT5clXPCuFO3f3rv/82Aj/T/rtbKhZPyZ3jMjhDlds5RUEwaFNFEiHbDYHPrkcSSqYagw1hVrgIdsXtyk9lwxk3I9MkoKe5YYliAi3PvBe8bu1tXh/gBDiyIU9DihDH2KzvEm3ty2BidmA5YUZGI/WdMXqAFVlzZC2RY+lJDMNFJfZnK38nly9juH0JsWeBI2MI+TCEPj8GnKl56v9XIXbkxIAqJC+dgEtvQmCMr7HguNscUIiBo8th67d5aFX8BnXM1stsIlqRUKPZI5NsGVTP7eYb376GJRTuh+Y2ky1b12bvOSE5PqYuzrQe3c48a6ZauMSTQVWmuqw8DhtpB3y4BUY18jLbU2jpaWBoYuOmmPeDNehG7V8QmkDZh/ByQS9FWN79+BrPXpfNc57CEh7fDUgF+i2C4UdLMR05GZ7xm06b/UaerAy1oEXqiw8k94JvijzxjZ4imNb9eO/cVsCfdpiPu+QXNgzTOMUf0wgkjNRyp9TlNYOaRgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPbV43GzU2NGr6fYXav9p1",
      "input": {
        "note": "The brown plush now fills the space between the jaws at table level. Closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GPbV43GzU2NGr6fYXav9p1",
      "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]: [-0.8547, 1.8759, 0.7952, 0.1741, -0.6807, -0.5652, 0.2861, -0.0147, 0.812, 0.6079, -0.3855, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3461 left_y=-0.223 left_z=0.0128 left_yaw=-0.0099 left_pitch=-0.1011 left_roll=0.1008 left_gripper=0.2861 right_x=0.2957 right_y=0.0013 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -8.6496, 6.2974, 1.3651, -0.3687, 0.0317, 0.6471, -0.1436, -1.3333, 6.9949, 1.7216, -0.0171, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d4c9b5a95aea4599941ab30cea1abaa15de39ea86d98dc3a5c257be7f13214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f33e9db39cc9ce1ba56907e285b2c90d89d85467192a82792c3af057b3fdda2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2063e9a6f13747dff0f75d22ad632e2ffc9828839fa5802151c8293d6363688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 4.002 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]: [-0.8959, 1.7218, 0.6941, 0.1242, -0.704, -0.5961, 0.9967, -0.0151, 0.8101, 0.6079, -0.3855, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3198 left_y=-0.2108 left_z=0.0336 left_yaw=-0.0194 left_pitch=-0.0835 left_roll=0.0859 left_gripper=0.9967 right_x=0.2956 right_y=0.0013 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -6.5026, 4.8068, 1.3602, -0.5543, -0.0806, -0.0122, -0.2393, -1.4564, 7.0496, 1.707, -0.0464, -0.0513, -0.0073]",
      "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]: [-0.8635, 1.8568, 0.7799, 0.1692, -0.6941, -0.5892, 0.9967, -0.0154, 0.812, 0.6075, -0.387, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3422 left_y=-0.2208 left_z=0.0159 left_yaw=0.0031 left_pitch=-0.0925 left_roll=0.0895 left_gripper=0.9967 right_x=0.2954 right_y=0.0011 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0298 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -8.8137, 6.106, 1.2332, -0.2711, 0.1685, -0.0073, -0.3214, -1.3744, 7.0359, 1.7607, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8547, 1.8759, 0.7952, 0.1741, -0.6807, -0.5652, 0.2861, -0.0147, 0.812, 0.6079, -0.3855, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3461 left_y=-0.223 left_z=0.0128 left_yaw=-0.0099 left_pitch=-0.1011 left_roll=0.1008 left_gripper=0.2861 right_x=0.2957 right_y=0.0013 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -8.6496, 6.2974, 1.3651, -0.3687, 0.0317, 0.6471, -0.1436, -1.3333, 6.9949, 1.7216, -0.0171, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d4c9b5a95aea4599941ab30cea1abaa15de39ea86d98dc3a5c257be7f13214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f33e9db39cc9ce1ba56907e285b2c90d89d85467192a82792c3af057b3fdda2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2063e9a6f13747dff0f75d22ad632e2ffc9828839fa5802151c8293d6363688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQShQoKEAgSGAI4AUIIdGhpbmtpbmcSDOml8DZOtSrEqP0ZZRoMAikELiim3SwSNO6BIjDXc8zxAea4MJ0f/Xo/oDjA+99mJVjUlYf7yh0c7SatOijFZK7Z1hIPTQG21Fr2dUQqoglWPbhnZwkvtxN2De52rojai7eroiFgA4dB+s9H7nDT0/Ql2yYzqWLWpYMM0nOdDm1e7ExIZv2mKqaLBB/dx+zYE7Kg7YuC3JLD3aMUj5Xk42i/affNiIVtuoAkL/SE2iPNWtqbykSmVw4vH9Oq5TKM2WI01CWBUr6aVnHlPJy7AMCCGmTCKSNs1M1xfyw/6AqPZEGvX5H+cMq5m805gROmrftYn9wlXZRhWsXZj48hNtEDWtdXPso/flVNU55C22nXdbToxZF5PkM3adEffDASETvB/oIzg64UEmD5buP+qUyX1ultzA/zmHADf+c8yGCGvZjQ+ErxWBcyoyHgZyJWI7z6luyPIFfnuZnz/3OtxPuqTqbmhh4KDZ6pYI2Jv7T01RewoKjxIpZAqI7poZnlEWmMU4ALToylF6S3kfD70MYDj2thbKfYOXQfpkVTQHC4+tiPRRQleAZ4iuOuST4GNhbeRrCK5embZBFkQjJAW3/9kSbG+pYPq8/ZNJqXrMOyXCAWp6/0V1H4RMtbd0uDY7jCC3fkKBRQ/FN0FB7iwP+fiEaA4/y+pjX/Ks3hSEIuFwsiL+i1BICv0ILOEinVfFjk52CsVAczwEolNzrcMh7V2hjK/h6PcnTPwAetjtXcHMJvO+IjIpohAk37uTOe4clupsTVqLn6KCPBiAWJXgHf+eGHHgNzDE87heavCbu4UbKjx/1KtBEgk+kDy+E8mFsgBdgm100PCT7x8Ndfjt8//ArBV3LnR172orF5pHOqxs5whD1i383w6NptvmMbV5qhcIOtu0fxY2dVru3tkW0ZkFgh07szkQ9uUsMPfvmPpsSySofDxPKQBbBl+mXWeZy77m9pqS/roUwb7aIiwEPugjtCsWixO4lIXlbobVJQviSscOzPK2yq8i/A8AXJhS3pA9PZr9ASgle+4LWe45reiaJce+ItXrn0ZTbed2Y6FzFiCnEjSLN2PTWV2572pXkFhRVzmI+ed/RJpBDCrQRYWaUlL0wMrLeBgQGXABp2RtZ/Av51AXjlm/bk8o5ZJ+ZWMPfPlzwke/ShmMz19cfNdurs+ugzVw32NnedcgZgnetX663UYjqBINVekNg1ypKJpJM4NsxwqDo8yOCZhxPnGMrGl8vaEfOCF9MZJjGI3vWzUbteSjJ1T/yRLfRr+5CInWsUoqY0O9cgetrHEhM9hhD5GCLtFVFHyn5F7az7EC63enVxJZlfelgpMgGzbJ0ALMkIAsTufQaAl4JOTM81IPKvZaXrEhMeZ5TLilDcQ2TN6BlyiSKrpOeBFpREi0bCufHc03iN1hcmEx6JJLSQUi37YchlwKWFEksc3XYCbxQnycppI8Ghk7yVhZjsO9xlHTaCq411opL8ADGU4utcL/pi9FEzJi8lrwmzo+A5zk7xIEw86HoKiRt2KamFJntemCm9RrHPFYPoANnYhw+0aXq5+WlCFh9CP1zQytg3J7//CRGwtqef2ul/HLrfJ3gU+vSUHCjK1bQ54Em6OVJoTP68BchI5DH0TPEF5ilnrJL6Q2OlR+06tksIXIY4Jz7ni2Y2iRPFPwczkuuUB8PAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012hjGLAAvvQGdxwpEi4HGcg",
      "input": {
        "note": "Gripper settled at 0.29, so something is held. Lifting straight up before carrying to the left basket.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_012hjGLAAvvQGdxwpEi4HGcg",
      "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]: [-0.8539, 1.589, 1.2903, -0.6292, -0.6735, -0.5766, 0.2874, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3495 left_y=-0.2279 left_z=0.1947 left_yaw=-0.0061 left_pitch=-0.1188 left_roll=0.1041 left_gripper=0.2874 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.001 right_pitch=-0.0278 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -10.1402, 8.8957, 1.2039, -0.4274, 0.0562, 0.105, -0.2256, -1.347, 7.0632, 1.7753, -0.0464, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cbef617e47c1046edd4920c64a5329fdf779bcc799f9375cfd8f6c5d074d045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d62254c93f0a509ef5e7c05b3cccbde3e7dc5a8cb59acd4d091f7f2e9927e8ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5893d9009124ce4f761802f9670fc16427b84f6f2eb40188b5de26f9d6b8753d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 3.221 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]: [-0.8635, 1.8568, 0.7799, 0.1692, -0.6941, -0.5892, 0.9967, -0.0154, 0.812, 0.6075, -0.387, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3422 left_y=-0.2208 left_z=0.0159 left_yaw=0.0031 left_pitch=-0.0925 left_roll=0.0895 left_gripper=0.9967 right_x=0.2954 right_y=0.0011 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0298 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -8.8137, 6.106, 1.2332, -0.2711, 0.1685, -0.0073, -0.3214, -1.3744, 7.0359, 1.7607, -0.0317, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8547, 1.8759, 0.7952, 0.1741, -0.6807, -0.5652, 0.2861, -0.0147, 0.812, 0.6079, -0.3855, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3461 left_y=-0.223 left_z=0.0128 left_yaw=-0.0099 left_pitch=-0.1011 left_roll=0.1008 left_gripper=0.2861 right_x=0.2957 right_y=0.0013 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -8.6496, 6.2974, 1.3651, -0.3687, 0.0317, 0.6471, -0.1436, -1.3333, 6.9949, 1.7216, -0.0171, -0.0659, -0.0073]",
      "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]: [-0.8539, 1.589, 1.2903, -0.6292, -0.6735, -0.5766, 0.2874, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3495 left_y=-0.2279 left_z=0.1947 left_yaw=-0.0061 left_pitch=-0.1188 left_roll=0.1041 left_gripper=0.2874 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.001 right_pitch=-0.0278 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -10.1402, 8.8957, 1.2039, -0.4274, 0.0562, 0.105, -0.2256, -1.347, 7.0632, 1.7753, -0.0464, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cbef617e47c1046edd4920c64a5329fdf779bcc799f9375cfd8f6c5d074d045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d62254c93f0a509ef5e7c05b3cccbde3e7dc5a8cb59acd4d091f7f2e9927e8ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5893d9009124ce4f761802f9670fc16427b84f6f2eb40188b5de26f9d6b8753d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSngcKEAgSGAI4AUIIdGhpbmtpbmcSDHF2pCj6dDL3BSKoiRoMeCvyyBfWoNN5e6x1IjACUP9IsdNfFhXMjzGDlQh4v5oQ4HniEEqRZJ50s+/ZB8yjXCeQ5NQvEjFnFGrYGnAquwYMJ2/qd8CsEY4ZjYS7qVRqzTViBf2OiYjwKR1tEQixr/1BWgYfSkjP4ebuu3elMqVe2SMiHuyhP6wZtq4WLOmq8u5mxfSeQ36FDdog4m5HiyJUtP9PMZkOeA0gLDr6TcdGqx6xGuNeGmbtCvGlCLy5s3KgwFuK7D3+BffU783nAf1eue9OxbuGtIYF4JejEvWYcXglNgAQ9mMIfB0vykjWgHWZsUGpzz4kXN9LalhCBMqRK7QT9QqPraOgue2rDg1M5xA76cHU9lxqGprFOfePRUbVvgL/EfliW6HlR3lk1Kt5lkKTwAAvsmBeT6UPSUJEvbi9TbuqGN/aMXQRn+9uEbfmwQNSjeSIe6TnM5mUNIG0mtLJuDUICDhGlMYlxV+n8H/Fphp5NbxgzwsYDS6KsavSGxSXOz3ClxCV3qne/DbbfEFBH8Fga7acAXzCm2AOtZc3mYsdIchGF1NTo0PSEx2WApwE9/fv9Je2/nghz1kj3zl99FoJa+tHASdeZC+eVMMxIdiBLYFlYeduNFOqMKVwsdqEmh1KrpGw3ZGvzJEH3lZr2FQhcqOvxjEKYMbmCHC4w0mLLHw1XZWdc773YWozQd2h5soogT4DbuCoJOLLEj9n0ewbNDFSL0XJVqEdJrJKBoX9omdrnbg8kmVjDFN+yD2beY+xkb3I9uJjL7kKxyZEycicAEBBqeFdWcQsI2AN9rQaID2NAk2O5Lgop27jGS2PcrEl8T1sSrBT3nwKQZHPeB4bDN5uitSprVRi5vX+8cNW81ebSp3UCUEYWxvwns5gJNSPc3KZiFCBgXsF9inA0e3fx+scQFkNes6tVpccebr3Xm0w0CfZvtkYx8uFh+Oy6LaDTyz3LMLAsklF33xiEE5c1uKW4cpIdNupHq6C7A7y+LTZJaPkqABSGW2zw8+wznbtnM3TTUy6m+RZKklVoTBzIoE8CK+29z/MuCIDmq04f8bhmFCgB1CGMr959xyCgOtF9mFJToI6SpfSiwaX+OpNtVy/2INyPYGsfBg0KTGdxfsIpzwIBSKxI6srfhRqCSrlWnBv14n5HLD8Ci6C+RA35wSyBvHJogRfE3mt+K0jwA+UVRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XshSj8YMVwqPH52eFewAPo",
      "input": {
        "note": "Brown plush is held and lifted. Moving over the left basket (plush basket).",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.16,
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XshSj8YMVwqPH52eFewAPo",
      "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]: [-0.4934, 1.7535, 1.5497, -0.5961, -0.4473, -0.2993, 0.2888, -0.0147, 0.8146, 0.6079, -0.3859, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4606 left_y=-0.1569 left_z=0.2165 left_yaw=0.0296 left_pitch=-0.1461 left_roll=0.1032 left_gripper=0.2888 right_x=0.2958 right_y=0.0014 right_z=0.1748 right_yaw=0.001 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -8.9915, 9.2786, 1.5263, -0.2662, 0.188, 0.1392, -0.2803, -1.5385, 7.1863, 1.6874, -0.0317, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a367df3f8ea207dedb175a34dde027a132c9218e7365d90a14db213f7b4a1dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc942f8743a98e83737e12d4dddf80c07a1fcf3bc7115c6a5dccf0d52a6fd754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33c53ec1ca815cef3246ee44a51e725409a56816c85b0d8edc53bc37cb299f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 10.99 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]: [-0.8547, 1.8759, 0.7952, 0.1741, -0.6807, -0.5652, 0.2861, -0.0147, 0.812, 0.6079, -0.3855, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3461 left_y=-0.223 left_z=0.0128 left_yaw=-0.0099 left_pitch=-0.1011 left_roll=0.1008 left_gripper=0.2861 right_x=0.2957 right_y=0.0013 right_z=0.1757 right_yaw=0.0006 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -8.6496, 6.2974, 1.3651, -0.3687, 0.0317, 0.6471, -0.1436, -1.3333, 6.9949, 1.7216, -0.0171, -0.0659, -0.0073]",
      "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]: [-0.8539, 1.589, 1.2903, -0.6292, -0.6735, -0.5766, 0.2874, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3495 left_y=-0.2279 left_z=0.1947 left_yaw=-0.0061 left_pitch=-0.1188 left_roll=0.1041 left_gripper=0.2874 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.001 right_pitch=-0.0278 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -10.1402, 8.8957, 1.2039, -0.4274, 0.0562, 0.105, -0.2256, -1.347, 7.0632, 1.7753, -0.0464, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4934, 1.7535, 1.5497, -0.5961, -0.4473, -0.2993, 0.2888, -0.0147, 0.8146, 0.6079, -0.3859, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4606 left_y=-0.1569 left_z=0.2165 left_yaw=0.0296 left_pitch=-0.1461 left_roll=0.1032 left_gripper=0.2888 right_x=0.2958 right_y=0.0014 right_z=0.1748 right_yaw=0.001 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -8.9915, 9.2786, 1.5263, -0.2662, 0.188, 0.1392, -0.2803, -1.5385, 7.1863, 1.6874, -0.0317, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a367df3f8ea207dedb175a34dde027a132c9218e7365d90a14db213f7b4a1dae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc942f8743a98e83737e12d4dddf80c07a1fcf3bc7115c6a5dccf0d52a6fd754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33c53ec1ca815cef3246ee44a51e725409a56816c85b0d8edc53bc37cb299f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019H7CctkSAmEwKkRtK4Y5t2",
      "input": {
        "note": "Brown plush is over the left basket. Releasing it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019H7CctkSAmEwKkRtK4Y5t2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4942, 1.7645, 1.5558, -0.6056, -0.437, -0.3069, 0.9954, -0.0147, 0.8146, 0.6075, -0.3855, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4606 left_y=-0.1592 left_z=0.2118 left_yaw=0.0259 left_pitch=-0.1619 left_roll=0.0982 left_gripper=0.9954 right_x=0.2958 right_y=0.0014 right_z=0.1747 right_yaw=0.001 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -10.0034, 6.5299, 1.5849, -0.3004, 0.0317, 0.0269, -0.212, -1.388, 7.0359, 1.7411, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95fb2c27da3a5defee8dd8431c87a40fda869c038592a17e00587fba7707c07d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b84cf40ef44a93e6a8d9426d5481e6e90f1eafb29aaa3780a96f188d874093c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:928674117ee806fb8bb9de20907b2e63044972e8d281e9ea4c9289258a4b044e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 7.4 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]: [-0.8539, 1.589, 1.2903, -0.6292, -0.6735, -0.5766, 0.2874, -0.0147, 0.812, 0.6075, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3495 left_y=-0.2279 left_z=0.1947 left_yaw=-0.0061 left_pitch=-0.1188 left_roll=0.1041 left_gripper=0.2874 right_x=0.2957 right_y=0.0014 right_z=0.1756 right_yaw=0.001 right_pitch=-0.0278 right_roll=0.0001 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -10.1402, 8.8957, 1.2039, -0.4274, 0.0562, 0.105, -0.2256, -1.347, 7.0632, 1.7753, -0.0464, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4934, 1.7535, 1.5497, -0.5961, -0.4473, -0.2993, 0.2888, -0.0147, 0.8146, 0.6079, -0.3859, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4606 left_y=-0.1569 left_z=0.2165 left_yaw=0.0296 left_pitch=-0.1461 left_roll=0.1032 left_gripper=0.2888 right_x=0.2958 right_y=0.0014 right_z=0.1748 right_yaw=0.001 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -8.9915, 9.2786, 1.5263, -0.2662, 0.188, 0.1392, -0.2803, -1.5385, 7.1863, 1.6874, -0.0317, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4942, 1.7645, 1.5558, -0.6056, -0.437, -0.3069, 0.9954, -0.0147, 0.8146, 0.6075, -0.3855, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4606 left_y=-0.1592 left_z=0.2118 left_yaw=0.0259 left_pitch=-0.1619 left_roll=0.0982 left_gripper=0.9954 right_x=0.2958 right_y=0.0014 right_z=0.1747 right_yaw=0.001 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -10.0034, 6.5299, 1.5849, -0.3004, 0.0317, 0.0269, -0.212, -1.388, 7.0359, 1.7411, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95fb2c27da3a5defee8dd8431c87a40fda869c038592a17e00587fba7707c07d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b84cf40ef44a93e6a8d9426d5481e6e90f1eafb29aaa3780a96f188d874093c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:928674117ee806fb8bb9de20907b2e63044972e8d281e9ea4c9289258a4b044e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WQSAj55NTRDzu7EfuxsVk7",
      "input": {
        "note": "Both plushes so far are in the left basket. Next I'm moving the left arm above the tan teddy bear near the table centre.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.35,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01WQSAj55NTRDzu7EfuxsVk7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 2.0388, 1.6737, -0.7559, -0.7212, -0.8165, 0.9966, -0.0143, 0.8177, 0.6075, -0.3855, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.35 left_y=-0.3463 left_z=0.1337 left_yaw=0.0026 left_pitch=-0.1857 left_roll=0.1025 left_gripper=0.9966 right_x=0.296 right_y=0.0014 right_z=0.1739 right_yaw=0.001 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -10.6051, 8.7179, 0.8767, -0.6032, 0.0171, 0.1148, -0.212, -1.5932, 7.4598, 1.6777, -0.0415, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62d6f63d52162e3259529e2f12cd7fc788c91335783508127c51a693465b2dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e94fe0e16657f05bff9673fcee29536ef8c729425e2189f6a3758febbe6fd841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bef2f9d3cd7362ad7ea16b5001fbc4731263812051ee792afda5688bf9bd5b61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.576 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4934, 1.7535, 1.5497, -0.5961, -0.4473, -0.2993, 0.2888, -0.0147, 0.8146, 0.6079, -0.3859, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4606 left_y=-0.1569 left_z=0.2165 left_yaw=0.0296 left_pitch=-0.1461 left_roll=0.1032 left_gripper=0.2888 right_x=0.2958 right_y=0.0014 right_z=0.1748 right_yaw=0.001 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.1162, -8.9915, 9.2786, 1.5263, -0.2662, 0.188, 0.1392, -0.2803, -1.5385, 7.1863, 1.6874, -0.0317, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4942, 1.7645, 1.5558, -0.6056, -0.437, -0.3069, 0.9954, -0.0147, 0.8146, 0.6075, -0.3855, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4606 left_y=-0.1592 left_z=0.2118 left_yaw=0.0259 left_pitch=-0.1619 left_roll=0.0982 left_gripper=0.9954 right_x=0.2958 right_y=0.0014 right_z=0.1747 right_yaw=0.001 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -10.0034, 6.5299, 1.5849, -0.3004, 0.0317, 0.0269, -0.212, -1.388, 7.0359, 1.7411, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 2.0388, 1.6737, -0.7559, -0.7212, -0.8165, 0.9966, -0.0143, 0.8177, 0.6075, -0.3855, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.35 left_y=-0.3463 left_z=0.1337 left_yaw=0.0026 left_pitch=-0.1857 left_roll=0.1025 left_gripper=0.9966 right_x=0.296 right_y=0.0014 right_z=0.1739 right_yaw=0.001 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -10.6051, 8.7179, 0.8767, -0.6032, 0.0171, 0.1148, -0.212, -1.5932, 7.4598, 1.6777, -0.0415, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62d6f63d52162e3259529e2f12cd7fc788c91335783508127c51a693465b2dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e94fe0e16657f05bff9673fcee29536ef8c729425e2189f6a3758febbe6fd841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bef2f9d3cd7362ad7ea16b5001fbc4731263812051ee792afda5688bf9bd5b61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAgKEAgSGAI4AUIIdGhpbmtpbmcSDNmX2vcucG5NJnD2vRoMDBgUVy/oDVv5kxvBIjBeHE8l/nqSjnzV5TYMpvyC23qiShMvMuxhcxuVbXWnKri8aUnhmxs3BpxwI+xpkMAqvQdM+xJOucJHiREl6nrB4sjvyR9/NdTtyS4hHSj0sNWqzCiQkOx9TWjM8yxW6K0S0B0fMt6WZfd5gyiTXXvsZ7rcZSGxFsLmhxsQ66naQ+dHYBwQuOiGMssSVf0L5iUSBOzs7qWpGSZYNntp3v0GI+AAVWqVrEZrs9bf6FM1LG4iJ7pQlHJZ7I5SLb/9fnYiiVEMoPCck2ss/ihbKP8aL1fW75d0jdCQ2W6G94tIKkBoUmd1aMq/n7dhTZDKD5wKidyEUDAuFjV0C6iKyIJg6JTesVQWIxiGJiXxlsSd/tfx2Ffw09a4/ksnEnaJJtTbbPFwfVDp9oncz+aI6kJTA98xx800vkISHlrXGVfy5aUaYS65TztBP9+Txlha1/IIDWTajRfvJ19RYFp6njgFWAL28a6xtomvHY4NwjSUvF6I+ts8V9oIG+jvaJuY94ScbUGDsynJ20y+5o22any2xo8WnWYK9uGTChlrF0i4Ka0Pfutu4mYcCvCWfKbnBnr8u7/epjcAHewPD+QZUiQfZKSE9mWL9a03w7BS78Z6nk9QXb9VhBW7klGM2dKOw6/9OoJ97iqEDsrsVE6PguN8ruiSugx89eSaLO+roYBOjz2BfUuEAHqPH2k9N7A3iinbNp85yrogn+PVo/NF4UNbh/H+zQwN/CisSxSIFLJdqdP0FP69zgIqlbnvpFdJjWFkcVuBXvUteZ7X7n4ihLfmzgpullflkUiCBa3F/SqRnIVMJBBkldrS/B82RRAJ3CaDwE85oMvWDOUwvlObYymI2fmbYAH50xQi2Q0niAIIoaL53OHxdN+PVSX6yYDiBcYO2u//t9EjLGl6UFFrIFWgOwEpb+s7eY+ev2uJM/ty6LzQ1PHVwOACTeMgxyi0r+3/dVt6kH7lHIrbnFBefWI3CdDnsuAtpNhrMn4ikFO6U0iUiybDP+kR30ZR+ISDl/EHb7l80Rr1IEv4ftE5DbLbSQfAodU/VauW4m2lRdK92Q9qEc3O+nsNBp6FMNCZiN7xqNDsz+U0ixavFld3WX0dweQelIAi+AruBm22onDPoaRm8yoiaWW2rwcpIwa9wm9ax+WsV4018fiE/iDoT0Y1TL6vjVpGZobGCEKS4DUfjPoIsNvN1cNyjT/pzUCt2rbGZro+Cg0jUpbJ4iukkjUeZIKByxgYvVybi9Qeb8Lw47wH0A4mWB81xnDSsfvubVoOURuFXJLaU4APGiuCgIjJEuIecaA96SjXTCzh5UsNhiDQ4nNrYm5ZUp03mRdAjGgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KrQNLXBCYpCsrLgfjVKUfu",
      "input": {
        "note": "Bear's head is just ahead of the jaws in the wrist view, slightly right. Advancing 2 cm and descending to grasp the head.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.355,
          "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_01KrQNLXBCYpCsrLgfjVKUfu",
      "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]: [-1.0046, 2.1612, 1.5654, -0.4561, -0.7181, -0.8124, 0.9967, -0.0143, 0.8185, 0.6075, -0.3855, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3715 left_y=-0.3612 left_z=0.0672 left_yaw=0.0107 left_pitch=-0.1522 left_roll=0.0445 left_gripper=0.9967 right_x=0.296 right_y=0.0015 right_z=0.1737 right_yaw=0.0014 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.253, -9.2923, 4.4923, 0.6129, -0.2808, 0.2857, 0.0073, -0.0342, -1.4291, 7.0359, 1.6972, -0.0171, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9535e362a189438d033a06ffcdea2ef56018860d9903a660574c6b57ece12fb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fd23670b05c8917287bca0d0e93d065e2d1205c9b0124143cd04e42874d9e4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1333cb2f512d2a42338f308f973e858a203a89048928001687b300ebd4b4b17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.679 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4942, 1.7645, 1.5558, -0.6056, -0.437, -0.3069, 0.9954, -0.0147, 0.8146, 0.6075, -0.3855, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4606 left_y=-0.1592 left_z=0.2118 left_yaw=0.0259 left_pitch=-0.1619 left_roll=0.0982 left_gripper=0.9954 right_x=0.2958 right_y=0.0014 right_z=0.1747 right_yaw=0.001 right_pitch=-0.0309 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -10.0034, 6.5299, 1.5849, -0.3004, 0.0317, 0.0269, -0.212, -1.388, 7.0359, 1.7411, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 2.0388, 1.6737, -0.7559, -0.7212, -0.8165, 0.9966, -0.0143, 0.8177, 0.6075, -0.3855, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.35 left_y=-0.3463 left_z=0.1337 left_yaw=0.0026 left_pitch=-0.1857 left_roll=0.1025 left_gripper=0.9966 right_x=0.296 right_y=0.0014 right_z=0.1739 right_yaw=0.001 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -10.6051, 8.7179, 0.8767, -0.6032, 0.0171, 0.1148, -0.212, -1.5932, 7.4598, 1.6777, -0.0415, -0.0171, -0.0073]",
      "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]: [-1.0046, 2.1612, 1.5654, -0.4561, -0.7181, -0.8124, 0.9967, -0.0143, 0.8185, 0.6075, -0.3855, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3715 left_y=-0.3612 left_z=0.0672 left_yaw=0.0107 left_pitch=-0.1522 left_roll=0.0445 left_gripper=0.9967 right_x=0.296 right_y=0.0015 right_z=0.1737 right_yaw=0.0014 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.253, -9.2923, 4.4923, 0.6129, -0.2808, 0.2857, 0.0073, -0.0342, -1.4291, 7.0359, 1.6972, -0.0171, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9535e362a189438d033a06ffcdea2ef56018860d9903a660574c6b57ece12fb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fd23670b05c8917287bca0d0e93d065e2d1205c9b0124143cd04e42874d9e4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1333cb2f512d2a42338f308f973e858a203a89048928001687b300ebd4b4b17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AYKEAgSGAI4AUIIdGhpbmtpbmcSDAsSOcsKHsLBTet5URoMftX75+t5Rl0YbrH3IjAv+dsVN4W/opjW9d1H+3sOU9pzDhnCAoxXD8G4etm4soLzpXxKGWBJsxBMewjdk58qiQaoDmVGfw5xQLBlOXa5DVy9oOCL9u4nvC3tl8SWR+vmm1nU61x1h9BZOC7N8aEyr2vMQxxOAiQxis5UrU91EUJ+oQb8XE2HXw40E+hHAMu9u2MpwnxKJaoRx0RXcvGxEchWZ7bW3cx0mEQwGkF/bdFlIxET0bop/T4WiwiyV7q5/+H95vj1j5zqs1gc49KOMwoL+jDeJaYIjCo6vR5vDoyfEn5RzPMRrDEArxnN5n1q6eJ8iSVsYPabDtw0tEvQZGpFT9RtHDP7m8jZrmWAFdYj/EjMFvyXo0iJwnDZXZR6NEFNSdyyPZHk8Of/Jm7lDnerx3YzIxvQaVd9XVDYLDlyXshTJS15Bf8GzbsV9GbtkbKV9ezCiryfb3BZx5XVnKHzdV8uG2NFx3fCp+jXmJBcK0ZIhEo9C0vmLB/YNhDiHXpOi4uS+yNEQbtHumHuCjByPMvVVmRR8s2UUoZA4911ErZSrYbNPL1H335XlTBThYaVNj/mTlvVbcCTLf3thoqXKZu/hqi/XmRkQVu+VPfIXP6LHvMMO5sIw14QunyiTr/9lXNq9V9OxvrAa3Tcp+ySiEN14b8nfJW/8DgqA7eHWeNV4lKvd0lnfqX5YUOpXlYiy/yF51M3tBonPHJtD/AyhnJrnQCk+0zYHBRBQTTKjJfs/vvmSvEpK98SLAl15kGXxjB7Tnq76v1rD0vCo89Rg9R8yZNdDAil9KGXgu0DSRFQHb18o7Zip8IHFfSv4egZFpSiW/l0Q7RObzbwCvYE9oSNJfnx/tO7FeYs/qkkDziGAjKAdhu6bK5liyV/+Q/CPcagKpPMzc8BnoFndoz8IynnhMQdqrSuzTbxNEBMZ6GOqWHOUm99/VOb758HTq+HgePIbWyJwcstLjHyR/BiB9wWR83n8a9z+ZwDxNfdv377SHdy5ih5TJzQnP3nevYgI06v1sZ7KaAAFKggGQ3hHJ25ss8L+5mo+GynjIbuCEnbRplsu5nY8wADgLDDPtwIYEkGOxrcnoYAM0V63GBv0ROHl/Hs+XQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HUys9iLm7YVjXHnnsWjhnb",
      "input": {
        "note": "Descent stopped on top of the bear's head, which fills the jaw gap. Closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HUys9iLm7YVjXHnnsWjhnb",
      "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]: [-1.0046, 2.1769, 1.5593, -0.4133, -0.7265, -0.8223, 0.3995, -0.0147, 0.8185, 0.6075, -0.3855, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.375 left_y=-0.3645 left_z=0.0628 left_yaw=0.0183 left_pitch=-0.1348 left_roll=0.0226 left_gripper=0.3995 right_x=0.296 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -13.3128, 6.6256, 0.696, -0.2515, 0.0659, 0.8913, -0.212, -1.388, 7.0496, 1.6874, -0.0317, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55c8eefaadbdfa63ba80141a02aba7fa0abb97bdd7fca1dac89d6fd29f26dac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67bc233c403dcb24fec4717d680459a874b5028a3e1b454d74f5bc53cbb18afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30ab1d2950f9b6e338c5131a83d7954c4d3771ae6f84ffbbd3ee5a12db0bd94d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.685 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0267, 2.0388, 1.6737, -0.7559, -0.7212, -0.8165, 0.9966, -0.0143, 0.8177, 0.6075, -0.3855, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.35 left_y=-0.3463 left_z=0.1337 left_yaw=0.0026 left_pitch=-0.1857 left_roll=0.1025 left_gripper=0.9966 right_x=0.296 right_y=0.0014 right_z=0.1739 right_yaw=0.001 right_pitch=-0.034 right_roll=-0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.3897, -10.6051, 8.7179, 0.8767, -0.6032, 0.0171, 0.1148, -0.212, -1.5932, 7.4598, 1.6777, -0.0415, -0.0171, -0.0073]",
      "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]: [-1.0046, 2.1612, 1.5654, -0.4561, -0.7181, -0.8124, 0.9967, -0.0143, 0.8185, 0.6075, -0.3855, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3715 left_y=-0.3612 left_z=0.0672 left_yaw=0.0107 left_pitch=-0.1522 left_roll=0.0445 left_gripper=0.9967 right_x=0.296 right_y=0.0015 right_z=0.1737 right_yaw=0.0014 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.253, -9.2923, 4.4923, 0.6129, -0.2808, 0.2857, 0.0073, -0.0342, -1.4291, 7.0359, 1.6972, -0.0171, -0.0415, -0.0073]",
      "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]: [-1.0046, 2.1769, 1.5593, -0.4133, -0.7265, -0.8223, 0.3995, -0.0147, 0.8185, 0.6075, -0.3855, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.375 left_y=-0.3645 left_z=0.0628 left_yaw=0.0183 left_pitch=-0.1348 left_roll=0.0226 left_gripper=0.3995 right_x=0.296 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -13.3128, 6.6256, 0.696, -0.2515, 0.0659, 0.8913, -0.212, -1.388, 7.0496, 1.6874, -0.0317, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55c8eefaadbdfa63ba80141a02aba7fa0abb97bdd7fca1dac89d6fd29f26dac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67bc233c403dcb24fec4717d680459a874b5028a3e1b454d74f5bc53cbb18afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30ab1d2950f9b6e338c5131a83d7954c4d3771ae6f84ffbbd3ee5a12db0bd94d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Np2bdtAi7ikKdEvsnstFny",
      "input": {
        "note": "Gripper settled at 0.40 on the bear's head, so it's grasped. Lifting straight up to clear the basket walls.",
        "targets": {
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Np2bdtAi7ikKdEvsnstFny",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0046, 2.1551, 2.1838, -1.0386, -0.7136, -0.8387, 0.4003, -0.0143, 0.8192, 0.6075, -0.3851, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.378 left_y=-0.3725 left_z=0.2269 left_yaw=0.0171 left_pitch=-0.1332 left_roll=-0.014 left_gripper=0.4003 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.001 right_pitch=-0.0351 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -11.3573, 8.2256, 0.9011, -0.4713, 0.1441, 0.0659, -0.0615, -1.306, 7.241, 1.7314, -0.0317, -0.0611, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc31794b28da1c55e55e99c2b4ef3026552548e3a5467354adf05845b590c6be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dabea2e83849c734707e4bc243b6aef905e799e2ab7d796aa56e4f3d261e3462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8b051dc3a571b9536eb3c87f855d759580d2e7e5930ddfc76bd14d8a591d002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 4.911 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]: [-1.0046, 2.1612, 1.5654, -0.4561, -0.7181, -0.8124, 0.9967, -0.0143, 0.8185, 0.6075, -0.3855, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3715 left_y=-0.3612 left_z=0.0672 left_yaw=0.0107 left_pitch=-0.1522 left_roll=0.0445 left_gripper=0.9967 right_x=0.296 right_y=0.0015 right_z=0.1737 right_yaw=0.0014 right_pitch=-0.0347 right_roll=0.0002 right_gripper=0.9992\nstate[joint_eff]: [0.253, -9.2923, 4.4923, 0.6129, -0.2808, 0.2857, 0.0073, -0.0342, -1.4291, 7.0359, 1.6972, -0.0171, -0.0415, -0.0073]",
      "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]: [-1.0046, 2.1769, 1.5593, -0.4133, -0.7265, -0.8223, 0.3995, -0.0147, 0.8185, 0.6075, -0.3855, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.375 left_y=-0.3645 left_z=0.0628 left_yaw=0.0183 left_pitch=-0.1348 left_roll=0.0226 left_gripper=0.3995 right_x=0.296 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -13.3128, 6.6256, 0.696, -0.2515, 0.0659, 0.8913, -0.212, -1.388, 7.0496, 1.6874, -0.0317, -0.0562, -0.0073]",
      "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]: [-1.0046, 2.1551, 2.1838, -1.0386, -0.7136, -0.8387, 0.4003, -0.0143, 0.8192, 0.6075, -0.3851, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.378 left_y=-0.3725 left_z=0.2269 left_yaw=0.0171 left_pitch=-0.1332 left_roll=-0.014 left_gripper=0.4003 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.001 right_pitch=-0.0351 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -11.3573, 8.2256, 0.9011, -0.4713, 0.1441, 0.0659, -0.0615, -1.306, 7.241, 1.7314, -0.0317, -0.0611, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc31794b28da1c55e55e99c2b4ef3026552548e3a5467354adf05845b590c6be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dabea2e83849c734707e4bc243b6aef905e799e2ab7d796aa56e4f3d261e3462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8b051dc3a571b9536eb3c87f855d759580d2e7e5930ddfc76bd14d8a591d002",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wgKEAgSGAI4AUIIdGhpbmtpbmcSDEYGsmKa9YZT4rgNvRoM7I2P3AE19H9dchrMIjB856SaJgsHHhzBK7+znPQJh4p/fldRK4Rb1gsF4WETpKPc4bhKbgiDW9UmhtLEuMsqhAi/U/TcGqK556nLVik9FWMhgLo4CL8hmmcoiCJTIzvJF8ZpITxTafq0tgl1K2yqncKd6tAQ9izvNXfe2QK8MDIQyhMajqPKEOuUvemH9659EQMplLt3urDXOd3qE1Gat1GvQvoeJfbohCRzgnBNozCvFYqxEXT9iwtYhIMZyNNfrTD/OI3JZCiW15K2sfK/bUBTsELd8N2IcGlu+PULPXP4fL3Sfz/7AhcW+btDFz5EZzu7G7x2dVyZqvdGdWEbUspy/+G3876uzOprJugXJZ2QSb7wj2Inh1Y1QQflyRw1CLN6pROSYsVWnwho9/mpMJt1bCrllgTgM0vXUQnUpoaS+JndmiNG0otX6azemTJONlrCTdJFeaN6ApldLtp/QGCkjZ0IUe5X6+M3Xi0+y/5HhlQ4EUVLtOAyYYYTLcJJSistCt3uqcGsKy39HXIEpJPgyCYXXbE8eVr5OBSW3ZWzsJPD/3CSiAwGIGo8Ycw+mxOG+qznDeLiJ52v1pvzyXzP1dONtt7AZCti3zrtXik36canYFbFwG37gj7R1+j56XB+ui7aIwpj3RYAs2YSvTO/5XLPLnRR97DiT7cvhz0kwTncIQoTZWw4hSgiqllWofGES7l22SsDs3L1f29dV9/lGlI6HgCm9ckLezFXBmeXyKAlikhAYMhH8h7X+wuVUJWbWUlADEQHloz2lDSX4j69GXpqFA8h8JK442l224ws1uckFhJPvKjCCckSO7ZggkcpdnAD7YkUpLW4oump2HE0u0EvWb19vc/cBOzCughcHL85FwKU2Aeht3R9guW9r/5Rtcffp151jvS/AAu2Gc5nnRXVp30C4H0ASckoOIO1tI/Q0ViUuT3hek+e9GcSh5bDauuNK/0DS4sNg+ELwzRRDYNmiegxV/e6w8kwApGB6FvP8s6v3hDt5JxPnBek7Z4hIhrHtlr60efHnay9d8kEiuYA8DLCP0sWX5iLav44tE4FbG1+eVktP++C0+bsAN6/WjvjD1R//9knkPfWwAoDq3PRYQV503YTFZq7Y2CSavcGNnWvEzY6gOBhBInTuU1vImOJSRMCyRc4ZZxgo2sLgCLT0u2iHNB1+6xuytYtS48sqPXLDPr6GuS1TZke9UepoChXsDHpuBTCS99QubbWuLKO8fQJiaTcT2T0LBJexqRioXs3XihljxETeRcP3v4OPMKFkpGJKb/ADsjoHm20e8WVtBLH0E2qIcu4fbynj6CGCBPFQS3MyRb8Cu02v0LYy8KWlHHqiEC15FYx5zeupnTE+9d8WivJVuDOOY4UDsc+6Fuk+UWSDmxBdCrEibcR43EvPjEvPo1Pgt6Qz9vVEjsZBGc0O9IGyOdyJQu0tVCDexgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PDSokBD9DGf4xWQFRxarnt",
      "input": {
        "note": "Bear is held by the head (fur visible at the jaws). Carrying it over the left plush basket.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.17,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01PDSokBD9DGf4xWQFRxarnt",
      "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]: [-0.4969, 1.8313, 1.7157, -0.7174, -0.3992, -0.4164, 0.4009, -0.0147, 0.8211, 0.6075, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4695 left_y=-0.1724 left_z=0.2263 left_yaw=0.0541 left_pitch=-0.1886 left_roll=0.0013 left_gripper=0.4009 right_x=0.2963 right_y=0.0014 right_z=0.173 right_yaw=0.001 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -13.4769, 6.2701, 1.6728, -0.1685, 0.2466, 0.0562, -0.3487, -1.5248, 7.2274, 1.6874, -0.0366, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52dd9c8cf74bdc46d13ea4fb5257811f9b8ebe2effc2c7d1b719785d4b8c4c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b71bc9cfe3c1ceba5f69a802c36de8eb57d6b12b972f877c47e5c56585a3b468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72e498da26e3de8c7ec84bb544fe3ec9aee44bc229ecb5e0ca8bf35e478da693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 4.564 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]: [-1.0046, 2.1769, 1.5593, -0.4133, -0.7265, -0.8223, 0.3995, -0.0147, 0.8185, 0.6075, -0.3855, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.375 left_y=-0.3645 left_z=0.0628 left_yaw=0.0183 left_pitch=-0.1348 left_roll=0.0226 left_gripper=0.3995 right_x=0.296 right_y=0.0013 right_z=0.1737 right_yaw=0.0007 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.0342, -13.3128, 6.6256, 0.696, -0.2515, 0.0659, 0.8913, -0.212, -1.388, 7.0496, 1.6874, -0.0317, -0.0562, -0.0073]",
      "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]: [-1.0046, 2.1551, 2.1838, -1.0386, -0.7136, -0.8387, 0.4003, -0.0143, 0.8192, 0.6075, -0.3851, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.378 left_y=-0.3725 left_z=0.2269 left_yaw=0.0171 left_pitch=-0.1332 left_roll=-0.014 left_gripper=0.4003 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.001 right_pitch=-0.0351 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -11.3573, 8.2256, 0.9011, -0.4713, 0.1441, 0.0659, -0.0615, -1.306, 7.241, 1.7314, -0.0317, -0.0611, -0.0171]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4969, 1.8313, 1.7157, -0.7174, -0.3992, -0.4164, 0.4009, -0.0147, 0.8211, 0.6075, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4695 left_y=-0.1724 left_z=0.2263 left_yaw=0.0541 left_pitch=-0.1886 left_roll=0.0013 left_gripper=0.4009 right_x=0.2963 right_y=0.0014 right_z=0.173 right_yaw=0.001 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -13.4769, 6.2701, 1.6728, -0.1685, 0.2466, 0.0562, -0.3487, -1.5248, 7.2274, 1.6874, -0.0366, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52dd9c8cf74bdc46d13ea4fb5257811f9b8ebe2effc2c7d1b719785d4b8c4c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b71bc9cfe3c1ceba5f69a802c36de8eb57d6b12b972f877c47e5c56585a3b468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e498da26e3de8c7ec84bb544fe3ec9aee44bc229ecb5e0ca8bf35e478da693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQgKEAgSGAI4AUIIdGhpbmtpbmcSDAth/Y2LGmhkcIbagBoMPkRUKDyi64dYpS7SIjAURP/FFjkOpo47a7FPakBzzAX3ySvdAbE/LQ7wOBQh0nq0T4hEp3/D6aAdO57Vzd0qvgckraC3FBo2KwaL03IiBUtZlmqzpPPRc39uA7tx/X7n8xGN1q/8Gj4FsjCyS8MMpd0Yz2jp46nARlSam+g/MJzau2e8rQg9jdjYxmeXXaMWtrm5f18ou4elSUPJKQVksMVWx+jUuNZyuCffCl2TYbDwlgIrELPwythRhAJTQ99+2Lt5NKYyB6H/SzX5PfM2qRolO+Hf26gtEzSTUwRL2zWhlVpiRcMK2eyvie1IV2gPTZNgIUtG+efDC/vVxSNC7WwesU6ExeI6hCV1j7+gzf4nDCHcqlt7LOE90bV74cwbsE2NzPWofOjdKfAH+mLooDwRA/BrojwK/ra9U+ZRx4HQtQ+XvtLxnJON+orZ/1KKzwJ/e3r36U41ZQea9+PQVjTOMw5r0JnwvvsiU5VR+uMokGpNR+j2lzhoQFGMT/SjGwPtbSY2UpQkei0DrSjIPqaUHlvqJLvzBmjb2V5fAc7FbqhnyaubQGpqagQwb95KhF5SAvEWdozuA/hmAAwSw//hylR11GtlRq1eShiqC9Z9Dq/0w3nU8Sk/VYjWzfn9P+dQrBX7WzHFudaQqwWd5yrjBeTsekzRG7wfdlx6LJg+qfw/BtoGaFzpTg9UoYcwlH7Qt2F4CVPpVKiZW9RrrVbI43GCpO0KzzVMLTRLoAT6d3CHQdAgsZd+Yshvi+igFQ2OLqlycbrjKIY1VdjxrykbW4hYgcgxCuDgHzo9g7pzvImd8UZdNUnbBectsnVjulQmoFEzp41MiMMvpzjTsUSngI2TIdleEyY9vxl4hth+STv0mQi48b7Ff9xsC7E1o9gQcAKsNT8ekJHQQ96ys2xGfsWxfW721sQ/6x+viKq9lLFbsbqtBWUKUVpYf8IZRCJy/Gm+vF9hZ9+jo/DDs9W0mcq8X2UhpdUGCgDvo9gNh/0yagexsySbFxl5SYSyul0Mx7iPP+jJBIDnZ3GfQo9FPcN+N4kG5dxh4O2mySdUXMRDw/E+lyFv6CsgsYazb0bBUsvmT5PfXQsD+kjrP8QP6diMnbU7tVGqPLGoBfPmqMhHMYtduwRFvkl9F6yQrr9ZeebvqYJ6zDJZLNiGCYDUnQc9MdLYlI+1sKF+7lujJs8r4XXaJAuh5l+sfb178U7pqzbCBFrtMIzYsfvqn9OPoLpGW+AiPb6Gd0bCtcyTapn2W8AzbW/fxjKYca7DZJWxbkbV7NTVqMLJqaes9xdvznXsGHyN6wOJn06fye0al6E16LYuXJcL7y5cEQH2akN+ASg7ktyLgVraizsxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GZt8wNA3XK3sqwyvReazsV",
      "input": {
        "note": "The bear hangs near the basket's front rim. Moving 6 cm further forward so it drops in the middle of the basket.",
        "targets": {
          "left_x": 0.53,
          "left_y": -0.18,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GZt8wNA3XK3sqwyvReazsV",
      "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]: [-0.4511, 2.1075, 2.1464, -0.8776, -0.3721, -0.3992, 0.401, -0.0147, 0.8249, 0.6075, -0.3897, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5285 left_y=-0.1806 left_z=0.234 left_yaw=0.0695 left_pitch=-0.2039 left_roll=-0.0006 left_gripper=0.401 right_x=0.2958 right_y=0.0014 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0454 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.253, -12.7248, 8.4855, 1.0769, -0.1343, 0.1734, -0.0024, -0.2393, -1.6889, 7.0496, 1.7607, -0.0366, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af79053df7955f52e90a9cae02a1abf5f29fb75ef571ae5c4a47254227edcfb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18aa090f7dd70db46b8504b736be21bcb1399075782004f8f8ce3c373354a741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:094384a1ff67316b9356afdfc95102289cfac1e3ab0006abdad60f2e7d5cd108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 7.458 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]: [-1.0046, 2.1551, 2.1838, -1.0386, -0.7136, -0.8387, 0.4003, -0.0143, 0.8192, 0.6075, -0.3851, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.378 left_y=-0.3725 left_z=0.2269 left_yaw=0.0171 left_pitch=-0.1332 left_roll=-0.014 left_gripper=0.4003 right_x=0.2961 right_y=0.0014 right_z=0.1736 right_yaw=0.001 right_pitch=-0.0351 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -11.3573, 8.2256, 0.9011, -0.4713, 0.1441, 0.0659, -0.0615, -1.306, 7.241, 1.7314, -0.0317, -0.0611, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4969, 1.8313, 1.7157, -0.7174, -0.3992, -0.4164, 0.4009, -0.0147, 0.8211, 0.6075, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4695 left_y=-0.1724 left_z=0.2263 left_yaw=0.0541 left_pitch=-0.1886 left_roll=0.0013 left_gripper=0.4009 right_x=0.2963 right_y=0.0014 right_z=0.173 right_yaw=0.001 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -13.4769, 6.2701, 1.6728, -0.1685, 0.2466, 0.0562, -0.3487, -1.5248, 7.2274, 1.6874, -0.0366, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4511, 2.1075, 2.1464, -0.8776, -0.3721, -0.3992, 0.401, -0.0147, 0.8249, 0.6075, -0.3897, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5285 left_y=-0.1806 left_z=0.234 left_yaw=0.0695 left_pitch=-0.2039 left_roll=-0.0006 left_gripper=0.401 right_x=0.2958 right_y=0.0014 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0454 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.253, -12.7248, 8.4855, 1.0769, -0.1343, 0.1734, -0.0024, -0.2393, -1.6889, 7.0496, 1.7607, -0.0366, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af79053df7955f52e90a9cae02a1abf5f29fb75ef571ae5c4a47254227edcfb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18aa090f7dd70db46b8504b736be21bcb1399075782004f8f8ce3c373354a741",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094384a1ff67316b9356afdfc95102289cfac1e3ab0006abdad60f2e7d5cd108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2QgKEAgSGAI4AUIIdGhpbmtpbmcSDLNUracLMlZpItOPfBoMvOV8KknrHII/z7oYIjAaCXcXTsVVAHZuwT0TWwZHgFFFzuBPHWfaUauh4YA6d0EIbubBUfWs08fa6EweY6wq9gdAm5dMFTZHOn9RssdDE+hlBEMzObefVWxcRwXONkAB53LtI2MTo+3cu9OhMJGwW0fcVxpdp7Tt0qEAG+K6eseszJ7fyNPxZZMda/yAuYYDr+SVBgpNN/DBTO80FwzY3r8i+IjeHKIMLwbu7o+MXaJSYpKxUm0l7ldW7zjaf7EDuOUvGWpZypDsVo2xslAiUVkIZ3F06JSKup8Wbv8RJo7TJv+a22Tia0aYCsysVjqN858pUk3Gh4t3GKDrllvRTjSLEuzTTgxemT1FVI1ZbFCSgQmqPsS7m+qVzt7AqW0+wPP1ddn2aSfaH1tMV2wm8LSSUb5lwHg2iLQQAqqVDriuW6KmPBIUMYsYqaPnFuXeHuBSzaxlEx+HfUFCZWTh0sU27nE3rhai1OR1v7j1SbFwnG0aBEozgQ9jzEX1+7BwZGbrBi/efTupoilgiMM4FaKJ8eV9eoOIzWhlHaDhg6Irif8p4oIi2RZLBkyNS00CBqIusm5By0a/1olcLTlP9YxY27bXHuAEsLsavD5IS5ypqFOnViQoj2cHn43FJEKwv6SU3cQDYNKxhEUdhRjDiLkpdRD8SOiXlUILp8xpqN3sLebnLoSzuQvvVvuI4Yys0mVGMBxMe/eRkHLs/SSeEY3gQV21HFDNkV4Avvi9OZCshECZ8qLcq4OZu9jLXsjCq5E1GumnX4475iwZnflPq3LOQnbpSVzdCGWM3bGdGEBCW1LfQQlSyKeLeOoydQxZuiofyRTq95Qk1NZqBeYEP0gYx8h0e/dgXhHxqjJUk5JNhDMtwP1xD+8nOsyHX+M2vMv6fcgNeuOHzDTLxtobQ25ScrPlHVMhYhjf4Pxu9UyAlUCDT1d3UNsV5jmJUl/W3SBHDusbOWvTgFZLPu8kKwz2xyGPZ6L/SVTq+wPmXKN3VNMs4dZ5G/4mZsNgyfIBvmT7QM/g4CYWU1y/lTwc15o92cqD1BZgywJP6BOdNaffy2Xl3KUM4UKFBE7eUryckc2TobNwoYhsfGcdqHRyPjRmlk2LcBCsw/eGqY1S5N1up6WSFYB6AtyYyqopiDunTvDV1KZWbhoWy2yH4a5bn1fN6zxs090eXovkcK8eDDYxeBudikMb+NHMK+8sFXmRYL4kjG6mmLOC/DlklUdv/5wMeeCh9YmQiyqGlj++TxyR6GyYuuiBZoCbEvscOljZ3SH7Km2b5BxeFkR7HX506LrqyOJmRU/eok6vLwVTKlcNdc5E7BX87iST2ltDzow//wLkud0OAFmSaWDC9iSZx+kgBBh8d0aeNEwGA5jfAUp5Q24Hay3MFsd1Kaslvd1SA1yRgkEOJgp2y/wvM49HVIHwsgaXmkgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016KEQPxAQTxPnYs1r34XpfX",
      "input": {
        "note": "Bear is now over the middle of the left basket. Releasing it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016KEQPxAQTxPnYs1r34XpfX",
      "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]: [-0.4435, 2.1246, 2.1788, -0.9234, -0.3653, -0.3889, 0.9953, -0.0147, 0.8249, 0.6071, -0.392, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5272 left_y=-0.1766 left_z=0.2303 left_yaw=0.0694 left_pitch=-0.2331 left_roll=0.0177 left_gripper=0.9953 right_x=0.2955 right_y=0.0014 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0481 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -12.6838, 9.3607, 1.4921, -0.232, 0.0659, -0.0757, -0.1709, -1.4564, 7.0359, 1.7411, -0.0269, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:580bf813dd99672ae5124a37f9c4e88ab54f8d53c38eb63a62ea4eaec47552b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34c74707622b159ba9571eef0042038dc76253b04a8e2150a9f4e1c05a93bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ad65fad1023d09256247c55aa6f2ff42bb8b5daa24af20e29a56656f3340b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.876 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4969, 1.8313, 1.7157, -0.7174, -0.3992, -0.4164, 0.4009, -0.0147, 0.8211, 0.6075, -0.3851, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4695 left_y=-0.1724 left_z=0.2263 left_yaw=0.0541 left_pitch=-0.1886 left_roll=0.0013 left_gripper=0.4009 right_x=0.2963 right_y=0.0014 right_z=0.173 right_yaw=0.001 right_pitch=-0.037 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.1436, -13.4769, 6.2701, 1.6728, -0.1685, 0.2466, 0.0562, -0.3487, -1.5248, 7.2274, 1.6874, -0.0366, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4511, 2.1075, 2.1464, -0.8776, -0.3721, -0.3992, 0.401, -0.0147, 0.8249, 0.6075, -0.3897, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5285 left_y=-0.1806 left_z=0.234 left_yaw=0.0695 left_pitch=-0.2039 left_roll=-0.0006 left_gripper=0.401 right_x=0.2958 right_y=0.0014 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0454 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.253, -12.7248, 8.4855, 1.0769, -0.1343, 0.1734, -0.0024, -0.2393, -1.6889, 7.0496, 1.7607, -0.0366, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 2.1246, 2.1788, -0.9234, -0.3653, -0.3889, 0.9953, -0.0147, 0.8249, 0.6071, -0.392, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5272 left_y=-0.1766 left_z=0.2303 left_yaw=0.0694 left_pitch=-0.2331 left_roll=0.0177 left_gripper=0.9953 right_x=0.2955 right_y=0.0014 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0481 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -12.6838, 9.3607, 1.4921, -0.232, 0.0659, -0.0757, -0.1709, -1.4564, 7.0359, 1.7411, -0.0269, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:580bf813dd99672ae5124a37f9c4e88ab54f8d53c38eb63a62ea4eaec47552b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34c74707622b159ba9571eef0042038dc76253b04a8e2150a9f4e1c05a93bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad65fad1023d09256247c55aa6f2ff42bb8b5daa24af20e29a56656f3340b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013AHphyjmcsPjfSiFk3vBvb",
      "input": {
        "note": "Bear released near the left basket; a brown plush is still on the table next to the yellow marker. Moving the arm back over it, which also clears the overhead view of the basket.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.19,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_013AHphyjmcsPjfSiFk3vBvb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.5322, 1.1191, -0.6067, -0.5373, -0.6636, 0.9966, -0.0147, 0.8307, 0.6067, -0.4, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3333 left_y=-0.1947 left_z=0.1435 left_yaw=0.0421 left_pitch=-0.2603 left_roll=0.0312 left_gripper=0.9966 right_x=0.2946 right_y=0.0013 right_z=0.1671 right_yaw=0.0007 right_pitch=-0.0622 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -8.1573, 7.0222, 1.2967, -0.4274, -0.0269, 0.1294, -0.253, -1.4427, 7.2274, 1.79, -0.0366, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95f18814eac1acafc00a5fff8196718654134761d03472a774317906498c9770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d43106f13a5be5bb1ffe9639b19972caf17f66b1e51d72942b30badf5e51ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:639ee73ae030ab409980b03b005f4796f1988263f9e0b9eb98162c32dded01ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 4.28 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4511, 2.1075, 2.1464, -0.8776, -0.3721, -0.3992, 0.401, -0.0147, 0.8249, 0.6075, -0.3897, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.5285 left_y=-0.1806 left_z=0.234 left_yaw=0.0695 left_pitch=-0.2039 left_roll=-0.0006 left_gripper=0.401 right_x=0.2958 right_y=0.0014 right_z=0.1711 right_yaw=0.001 right_pitch=-0.0454 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [0.253, -12.7248, 8.4855, 1.0769, -0.1343, 0.1734, -0.0024, -0.2393, -1.6889, 7.0496, 1.7607, -0.0366, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 2.1246, 2.1788, -0.9234, -0.3653, -0.3889, 0.9953, -0.0147, 0.8249, 0.6071, -0.392, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5272 left_y=-0.1766 left_z=0.2303 left_yaw=0.0694 left_pitch=-0.2331 left_roll=0.0177 left_gripper=0.9953 right_x=0.2955 right_y=0.0014 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0481 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -12.6838, 9.3607, 1.4921, -0.232, 0.0659, -0.0757, -0.1709, -1.4564, 7.0359, 1.7411, -0.0269, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.5322, 1.1191, -0.6067, -0.5373, -0.6636, 0.9966, -0.0147, 0.8307, 0.6067, -0.4, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3333 left_y=-0.1947 left_z=0.1435 left_yaw=0.0421 left_pitch=-0.2603 left_roll=0.0312 left_gripper=0.9966 right_x=0.2946 right_y=0.0013 right_z=0.1671 right_yaw=0.0007 right_pitch=-0.0622 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -8.1573, 7.0222, 1.2967, -0.4274, -0.0269, 0.1294, -0.253, -1.4427, 7.2274, 1.79, -0.0366, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95f18814eac1acafc00a5fff8196718654134761d03472a774317906498c9770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d43106f13a5be5bb1ffe9639b19972caf17f66b1e51d72942b30badf5e51ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:639ee73ae030ab409980b03b005f4796f1988263f9e0b9eb98162c32dded01ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQoKEAgSGAI4AUIIdGhpbmtpbmcSDMHZAc3t83qBJeT30xoMZS0ljt22zjCOWsowIjAvn49lnwky7GBdPvLzwUBjswOi4/Rx1+eXtvvfMNKl3BRVRyl5yt+iMeT4dglziiAqqgmLb4PdVq0Wpgg+Pu21iWLYJaEwPWg1wdP12m27X8Abhvp+P12i1pAAlEf7dRD6d7p29IZy8Zdj3RRvqBbRqTUFXCvGPPsz3vz1RNzc9rlQbHDaWrV/w2A82cX/lzoVSVK9/1vobS0zpERP6Nm8h5lmJ8B2PyDJKuh24vaErh7yqgIQMPFDW2GQPOjiorATF+ppX3tRjKUI3eIi8rCcInHvOmitfryIXq5k2y1eZzsveK5HhAkXYMf5A1OxqnTUaZUTPnlV7uIq8ER6966c9CF7tKLS1SG01Ve6gQJHJ+fP6YdUdFMKdiNVhcPArrlI6nfxa2rhZ1uZjoGyAVk6OkwRsAbcX90BqjsiQs2XgmCOSJ8pHdCI3KwNMEZgdZNHnoP+IUX/gYfG2XhExJiXF++r1NmgZBrkZNYdypmIl21RNPlNVvMnlV8AaJh5NGisWW4+7X2wzJFfyHIWiEv6qw6XwBl21TwBdwML/LE9sLyjbHVm/H6VUfz+jJEug/eeOEItNRUGpYBBZwabkwPViIkFXzCzOYTwBe8WcJHGpJcwkyqEIPo4k57dr+mcV34biqBFwFckkIye9D6QWxgdG8LbuT2Ab26K8d5uOiNsJVeW16Ct/ikR5L2qufXXn58FeBfJhp9iiMczX3h0FWwmaSSIQ7IoaE771FB9XiJXCc7pZGuy7xgMTw2wzJJl6WAuo91ABiWjQ+U7NVfcahGJJBF1ud1GwECNQ/i65IYBvVw5tIiHPfm1ji07MY3eW2/z7rOsErSpFUMUbt32UpvcCtBUYanvPRJ/W/nCe8LDUu1u/CuxsKwrqQuhAlyU8CTnUurRmCfEdE7WWoiIRb2+xdhiBn84/WmjHqzTI2KSpEoZJNoWjxLEnWNBtlC74ecrSQ/KjjObuE+l996BgLK0otFDxt/kbmkmv0Rug4z4zmcPbXh9cBC3Pg4Y51K8W9X2vP7eZl/L5aSbiNi7+88GEpDpKJrkZsgX7qiPf+6UHQGoQwi3Wr/L6i4awi9oz9fxjpdM4sQe8Hjxkq41fS6S2IBgsLchs1KmXBbIljiA7GAaJ2ynmzE9B2NDpI8mJD9hLizmOwXi8F1PhZvQdg0Y89JcO0FqQIDHxh2SeW1iDX9SYWArkH1oH1e/jUvX+a0JNhCg/vNAfbEMDrabZeowgbUHtLb+kkBi9XC5VL4TIJr/2atEDlFBBBIxGpR6T+q+UzagK2p2uUU6EX89UfUf1fgB0h43mDpuEzN6Q4H+A133mZ9aLcqjKVUkxUCp1fVesW1eRbb9DElfhGF7m2VNzcmJiqC7uc5fygP9y6v+EDM8WaWQHo6C81agvN7qYTKf/aKxlGdR0+o7fn5y1NsBx4roBdqDBAuB7RG3NhJcz+XBpNn9KFn3/i482ghbjWvJws2iduupXsDZIqEnNNm7LK9Bh6cfVypEQqyyQp7I4+Y7TqJXS0LhccCEDwIF8MrgFhJKdyOqAzJSfYjWRRWxWyTtslWaXE0lBo07LAqubXgfK7xPfJYfftyScutq8PGZGx2hq6PTy1cNzTCC+dXyZ6BNRGesarT1aYaTNXx+95RRo3VTEJFsbMkrvZwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YUcPimLMwRk5i1RTtmYA9e",
      "input": {
        "note": "The bear fell outside the left basket and is leaning on its front wall, just ahead of the jaws in the wrist view. Descending to grab it again.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.2,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YUcPimLMwRk5i1RTtmYA9e",
      "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]: [-0.7223, 1.7103, 1.0317, -0.3592, -0.4938, -0.6235, 0.9967, -0.0147, 0.8352, 0.6067, -0.4007, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3576 left_y=-0.1988 left_z=0.0722 left_yaw=0.0459 left_pitch=-0.3005 left_roll=0.045 left_gripper=0.9967 right_x=0.2947 right_y=0.0014 right_z=0.1656 right_yaw=0.001 right_pitch=-0.0675 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.9641, -7.2957, 5.1761, 1.3504, -0.4029, 0.2027, 0.0024, -0.3761, -1.8393, 7.2274, 1.663, -0.0122, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48d9ecf288f49bb0474e74ac61f0a9f22ce5aa8f80d9024273af9c9ecbdbfcbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9548e433bacfee2b5c7b6da50caff9897b8fde7cf6646633ea3fe12b19f88438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b7c9fc13fed40d8b0ab80dd8f6f0d59c63c02bad35e6c4932d5f89803fd0468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.583 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4435, 2.1246, 2.1788, -0.9234, -0.3653, -0.3889, 0.9953, -0.0147, 0.8249, 0.6071, -0.392, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5272 left_y=-0.1766 left_z=0.2303 left_yaw=0.0694 left_pitch=-0.2331 left_roll=0.0177 left_gripper=0.9953 right_x=0.2955 right_y=0.0014 right_z=0.1704 right_yaw=0.001 right_pitch=-0.0481 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -12.6838, 9.3607, 1.4921, -0.232, 0.0659, -0.0757, -0.1709, -1.4564, 7.0359, 1.7411, -0.0269, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.5322, 1.1191, -0.6067, -0.5373, -0.6636, 0.9966, -0.0147, 0.8307, 0.6067, -0.4, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3333 left_y=-0.1947 left_z=0.1435 left_yaw=0.0421 left_pitch=-0.2603 left_roll=0.0312 left_gripper=0.9966 right_x=0.2946 right_y=0.0013 right_z=0.1671 right_yaw=0.0007 right_pitch=-0.0622 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -8.1573, 7.0222, 1.2967, -0.4274, -0.0269, 0.1294, -0.253, -1.4427, 7.2274, 1.79, -0.0366, -0.0415, -0.0171]",
      "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]: [-0.7223, 1.7103, 1.0317, -0.3592, -0.4938, -0.6235, 0.9967, -0.0147, 0.8352, 0.6067, -0.4007, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3576 left_y=-0.1988 left_z=0.0722 left_yaw=0.0459 left_pitch=-0.3005 left_roll=0.045 left_gripper=0.9967 right_x=0.2947 right_y=0.0014 right_z=0.1656 right_yaw=0.001 right_pitch=-0.0675 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.9641, -7.2957, 5.1761, 1.3504, -0.4029, 0.2027, 0.0024, -0.3761, -1.8393, 7.2274, 1.663, -0.0122, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48d9ecf288f49bb0474e74ac61f0a9f22ce5aa8f80d9024273af9c9ecbdbfcbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9548e433bacfee2b5c7b6da50caff9897b8fde7cf6646633ea3fe12b19f88438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b7c9fc13fed40d8b0ab80dd8f6f0d59c63c02bad35e6c4932d5f89803fd0468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+gYKEAgSGAI4AUIIdGhpbmtpbmcSDIGePeeJa/EcE5R3cRoMJur/YGa1DnNd1BcNIjC1G2DMm4f1IAUqQevcuRWv79Q9QgcUPh6NESTDsRT2D9PyBLdvYH7sm9wn3hPLjh8qlwaNrBCYlgJKDCk72HUf1Crmv/cRTjoyDr2Sw7qkgkijOpes90X8xaHJrNOM4CkUJLeA9xWQMg8FhU4pYuHBMhJ2KJPE3bd/nozNEPpjFpFp7yqsoH76UqpNqUF2HBr31S/L5Np9mjrRWtXFakbjT1AtL9S/87nXXTyJ+wq6hfYxxwN9+p5N/reg56q6onquxWPZIQHE2yUHAKo0t7Dbs+s3ML1t0haBPAOE04+D7YQ1VWjYFBmfap1mwWYBh+6nSWZ2yNefYNNBcHkIAb95WOhDUaDlksfv/KOYhxmT8gpwdJoY2ffzIOd2Xe4urJWo7oxcTiJPFNWCCREse7WLi3J/ips6I/maqqd4NgHMRYTu0vkupyW1DYhAAcfK7x+k1qjn8RTt1Wp2wojrTmZ/4Fwn4xkYS1h4wi2aXGXO0rGoEmUA0w3DNX/Zl8zHO0zffqmcVd3CE+5mL4LgchWayaK8X66Bg3UKIdVwtKQRihJlE7fkk4UUoJSHuVGho37B7TIyN2nbIav74bI4kssp2e4k8irtIJd15HqOgDptiobHOkoNRG0TprWelm+qFQofho7QzzOhL5FTan6r1/xYGDWUdTxU9p5K5r1N+Sy8SnZRbhnXRWGZ1gbS9/W7vlBX53WPfHNDRdDkmo3IyNfLOXUR1LlN0Mp4GyGH9tWxAukvcZwZfWcS32sWQcrN5UrSGlNAHleB5VfN3oNW+0Sk8wns+xlviPNAki0iOgstRVnxVvHUCE7rTz8BqWtngQQ4v6c6UXbbJyqZciiBbPJ2YICBNDQQgs2oruStJPGvcnrpZ08hSMbXADtLT9wZb1gv/bvGr1Jymxn6RQR7IDZ6+FbraGLLd2NZYjrvfJvG4aT7xo4dpjukK3adxOKIkH7CVyl0fDqqTS0YiBFPxhuZYoYhVuTqQ34LRWxN6OMTSh/4g/+IDHmRcbLtbMeJh9nz8tuypoWcJCSTO+7Nbm0EgV3WJlXtcnXEN/Rje65EQ4ml+c2DJ1MR4BxqOHkvILBNmdOF6rl2Fpo3o5ydI2Nfn/PdnPEMtKgSxBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G8XUd2CyrgeLs9injqisps",
      "input": {
        "note": "Jaws are pressed against the bear's body (motion stopped at contact). Closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01G8XUd2CyrgeLs9injqisps",
      "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]: [-0.7238, 1.7279, 1.0309, -0.347, -0.4938, -0.6254, 0.102, -0.0147, 0.836, 0.6067, -0.4004, -0.0116, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.3584 left_y=-0.2002 left_z=0.0666 left_yaw=0.0468 left_pitch=-0.3048 left_roll=0.0482 left_gripper=0.102 right_x=0.2948 right_y=0.0013 right_z=0.1655 right_yaw=0.0005 right_pitch=-0.0679 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -9.4291, 6.2564, 1.0574, -0.2418, 0.0122, 0.7204, -0.3077, -1.5248, 7.0359, 1.7118, -0.0464, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:653d0c93104ae28e710e0fa878b243a76a777e0a0eba7c28224fe5f5348a23f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51dfcc6317cc3d847ba7a5e150391045df2eb4ba0ae8de0908b4c708c7e58e51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:799148dfc47bd284370487d0c0e2c7a0c1acbbb16f8707491658e3b73563c4c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.382 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7746, 1.5322, 1.1191, -0.6067, -0.5373, -0.6636, 0.9966, -0.0147, 0.8307, 0.6067, -0.4, -0.0116, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3333 left_y=-0.1947 left_z=0.1435 left_yaw=0.0421 left_pitch=-0.2603 left_roll=0.0312 left_gripper=0.9966 right_x=0.2946 right_y=0.0013 right_z=0.1671 right_yaw=0.0007 right_pitch=-0.0622 right_roll=0.0004 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -8.1573, 7.0222, 1.2967, -0.4274, -0.0269, 0.1294, -0.253, -1.4427, 7.2274, 1.79, -0.0366, -0.0415, -0.0171]",
      "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]: [-0.7223, 1.7103, 1.0317, -0.3592, -0.4938, -0.6235, 0.9967, -0.0147, 0.8352, 0.6067, -0.4007, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3576 left_y=-0.1988 left_z=0.0722 left_yaw=0.0459 left_pitch=-0.3005 left_roll=0.045 left_gripper=0.9967 right_x=0.2947 right_y=0.0014 right_z=0.1656 right_yaw=0.001 right_pitch=-0.0675 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.9641, -7.2957, 5.1761, 1.3504, -0.4029, 0.2027, 0.0024, -0.3761, -1.8393, 7.2274, 1.663, -0.0122, -0.0513, -0.0073]",
      "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]: [-0.7238, 1.7279, 1.0309, -0.347, -0.4938, -0.6254, 0.102, -0.0147, 0.836, 0.6067, -0.4004, -0.0116, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.3584 left_y=-0.2002 left_z=0.0666 left_yaw=0.0468 left_pitch=-0.3048 left_roll=0.0482 left_gripper=0.102 right_x=0.2948 right_y=0.0013 right_z=0.1655 right_yaw=0.0005 right_pitch=-0.0679 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -9.4291, 6.2564, 1.0574, -0.2418, 0.0122, 0.7204, -0.3077, -1.5248, 7.0359, 1.7118, -0.0464, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:653d0c93104ae28e710e0fa878b243a76a777e0a0eba7c28224fe5f5348a23f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51dfcc6317cc3d847ba7a5e150391045df2eb4ba0ae8de0908b4c708c7e58e51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:799148dfc47bd284370487d0c0e2c7a0c1acbbb16f8707491658e3b73563c4c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AgKEAgSGAI4AUIIdGhpbmtpbmcSDNjy6F+VlmpGsaYCUxoMKzM/o0Z41JlQ1jDWIjDzowquLqWlFFTcnGuUOE9nv15BPCvg3VMtDoq/5NEUsgK3l07I7JZLgS8OL1DgFNUq9QdEYVoCnSpP45cVJQxYQ7LHN7nuhSPbtoS4IVKEhxqteGwvMMlO6zE8PPe9R0DISmcVY6urFDMYoJB8oCs+o8NpX93ty0qz0LYqnkeqln1f9zRiY6ypFxyHLkSgmWWdqcBnMu2LPRfUd0q3wIw7dz5yuBvTZKa5cBYkV98cFizI1JMuldH3WcsuM2rWi5Gi30CGR2yASVks8Yar5vS4qj3P1968urTEgKZi1wDJcLmCTUSPhj6JqwCRkIo57aVJcF87+GwTwsjNXthgEnftUJ9Lk3ZFfycnUye7H8YmTGohW2gxV4Yv/AKnaBfSAHlbdyu9Hg+Oc3ubn2LZc1l68LSOui9GTDZTHEPgUnW3VMnXO4BOYVH6k2zXoajy45HP8FYUEnKhymkDMhy6MRZZ+SGMiryceObvY5h5DyA3d4IgedaQnTi3VRu2vMQEHa6F8syjwi8nU0tOHbadZieaU71p8ccGfikSCDdEBSaW5w0tMK/iMAEIQCnVgop4EH4YhmrYfaXuhABhrUDJoYgHkVru4olz0Lh7Je8JdZC7BcVzPSczxU/kmD7OJkjMTdO4mxRgTk9KVfGY2Jjr0v69v3fW6/O7zxTsnn8ZjiloWpIEZyv6gpF7oNoIZa8cYjiVvftMRK6Ws9eU+uIoSqaHEQJITX+UL+vbBJDsfRseGTyhq5nUOi/+Tgp+f/sH7JCnflMTHiFrTAYHJ408/TMje0SMGqgWUXD+X0G9jVLrZ+yiryKdYbtpcG1FbIhexE++g1o9dgiQauvv+dcCGNNS3DDNx0xUSWJxv4nWR2lBpvYZGjheiMHe1vTeYhQSYbCQgb6EGBey+w85PuiDoR6V+x7cU9qTw2t/qc0MkIQHOZGD4RUM1PQGuhFt1I7/a0UYbP0zdbbP3r8ngB2/pHKbRfsvhR3ea3en2kARPmDeouJqw4BSbkyaRW9o+xbcsqKMdI0ltOfM4Wmq/XSF20X+G+SvUdb67RxsZSc4W5cjcrKQe+sgSlb7va5MfFNv9cJK1871ChdQbrvE5qAMZDH5sh5EHjs0Zy+09RtZ+bKLpPuaL3NyRgDp+/zRwgYYsCteFfVp40XNXk2WBRHawJC8mvrkFsi5LF8co7BCwGzGN/Nly9Di3gPfS8zDY0bypodw6TWAvdEUvwxvMKLt8aNymlAnUtFiqGRF37IMl0BB8bl9hKVTTCn9aJg/5DBx61JQumDFl4rc6AQnYfcUQOwedBtefzHMSRPcQLG9/PtqoIuYiYAyKFiFYDCv7wIJ5rjRaNq9oI0LX6uYhkxwf5VBYqJ9r8dU3N5K0H/TAmOG8Rm7zQYza7/yPrWE3TNl3GmDfEAakvueaBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01353uw1JDvGihpL2qarXJ9n",
      "input": {
        "note": "Bear grasped (gripper 0.10). Lifting high so it clears the basket rim.",
        "targets": {
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01353uw1JDvGihpL2qarXJ9n",
      "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]: [-0.7235, 1.8, 2.122, -1.3487, -0.4717, -0.63, 0.1045, -0.0143, 0.8371, 0.6067, -0.4011, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3636 left_y=-0.2093 left_z=0.3091 left_yaw=0.0304 left_pitch=-0.3054 left_roll=0.0182 left_gripper=0.1045 right_x=0.2948 right_y=0.0015 right_z=0.165 right_yaw=0.0014 right_pitch=-0.0698 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -8.6496, 7.0496, 0.9158, -0.4518, 0.0317, 0.2418, -0.1162, -1.5658, 7.3094, 1.663, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac4ffa50283117db9236e1dfde711a559974bacf10d36ef931d3a70a2c6eb99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eb0fea302240a394b1aa34c79b9d75ab874a84304cc137e5b779f6ed180ec94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b22a5f6f9616214ee72b00705e97ff494351ab2d55f438e8fca804af8269c1d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 3.964 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]: [-0.7223, 1.7103, 1.0317, -0.3592, -0.4938, -0.6235, 0.9967, -0.0147, 0.8352, 0.6067, -0.4007, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3576 left_y=-0.1988 left_z=0.0722 left_yaw=0.0459 left_pitch=-0.3005 left_roll=0.045 left_gripper=0.9967 right_x=0.2947 right_y=0.0014 right_z=0.1656 right_yaw=0.001 right_pitch=-0.0675 right_roll=0.0007 right_gripper=0.9992\nstate[joint_eff]: [0.9641, -7.2957, 5.1761, 1.3504, -0.4029, 0.2027, 0.0024, -0.3761, -1.8393, 7.2274, 1.663, -0.0122, -0.0513, -0.0073]",
      "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]: [-0.7238, 1.7279, 1.0309, -0.347, -0.4938, -0.6254, 0.102, -0.0147, 0.836, 0.6067, -0.4004, -0.0116, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.3584 left_y=-0.2002 left_z=0.0666 left_yaw=0.0468 left_pitch=-0.3048 left_roll=0.0482 left_gripper=0.102 right_x=0.2948 right_y=0.0013 right_z=0.1655 right_yaw=0.0005 right_pitch=-0.0679 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -9.4291, 6.2564, 1.0574, -0.2418, 0.0122, 0.7204, -0.3077, -1.5248, 7.0359, 1.7118, -0.0464, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7235, 1.8, 2.122, -1.3487, -0.4717, -0.63, 0.1045, -0.0143, 0.8371, 0.6067, -0.4011, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3636 left_y=-0.2093 left_z=0.3091 left_yaw=0.0304 left_pitch=-0.3054 left_roll=0.0182 left_gripper=0.1045 right_x=0.2948 right_y=0.0015 right_z=0.165 right_yaw=0.0014 right_pitch=-0.0698 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -8.6496, 7.0496, 0.9158, -0.4518, 0.0317, 0.2418, -0.1162, -1.5658, 7.3094, 1.663, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac4ffa50283117db9236e1dfde711a559974bacf10d36ef931d3a70a2c6eb99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eb0fea302240a394b1aa34c79b9d75ab874a84304cc137e5b779f6ed180ec94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b22a5f6f9616214ee72b00705e97ff494351ab2d55f438e8fca804af8269c1d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDII9W0Rn2kCJGuwjXhoMIVIdUuhmdILcDK/jIjDAOXe2Ass3F3prPRFoK3SRtuoWbSx/UVQMoXHRrkBXFJ0+qtU7FLW4lAI4rtoDPxUqggdYl8Lva+3trzNIqLGdFQfQPsys5Vplm1Z54nlRGPpYP+hL5QkA2jRl8V4zTDgf9wPL7RPkTuReMuh84+Nn7J5u/bz0JPW9FOOSLF8nyHyeZgfiXbvduWxb1lvkNCOyziFvGOEWcBUjUs7ktzR9+TOz5KyQyBfih7Uc7sE1TwJQr34hir/orWULsmT5MnPNImYqeB9dRG8lZywWi6ovY8BpmRebBNoP2tZktZ4h1pjqpWL6Ki+ybtxvmROj5VNXJ/RbjxSCC3SW9cE2/3kEn524IHQaKA+GHzENlXImOD7WpnIO721jTxTMc63EGdZs7XQxj2pOYPVi8Bb/vQdj4RxuwZg9vAY1Pw1AD8MJVkUaIaOQdsdO6EjKHMgl+VJwjvqaloWQyP+kfGaZQm0fK29e39fmtSkO360/waqPSHN+GR3QRSe3zi97YPybQh68PCTTTAfouZbwkcreyEaa57UOIbrQEI5NJvTx/MinTg49TiZvsyy8KVHRl7pGVx6oitqU5I0moVQ74m9hVcaxs1mGJkvvhbxBYLKrMdx75S1RiDEa69zMsJ1Xfb2GY25574Q5MgmLzPOuqV5yqGoD57RnI7GCoQ2hCg2J5hFfKe1dgllxBR6pFMfPaPe8ob+AhDzxFHIJrLs6QgLMaNbkojblCIRx8h02zCXiU0+PQK6lG58C3c6v5xbQqPVD1u7wYfvCyURle1MXGo3TddrjboEpUVouAcGmijKdcJ1WWVBzySksuQDKUAuPDJStxKBqGo8p0oUGF8cb7JlFLNhBBFlPXDe24gXOJNoimKEaCCIOUjkeSR9Co4hW5vuFFf8Wxj3Wll7UWQ7gvRSCSROA4TM9C2VbLNwFfXAcsOqlRez9fCchwrSUoJPg+kpGPsi+JvY/0izg9DTC0sgKMzmtcXrlfJKkF5fiO6ntRFWNdfGpARsGvt9wnUaI1IBPv5suAslOZeQih9qUvPP3yUHGdPQaEUDZHG1AfLPfJyGFvq5Iscf+WnAIJ0SM7LQm01vC7SurT63TYjadVgoWLRKoHh0ef3ZL260F7Hb7mqNr7VPg6h3/7I2wD/rV4onCWzKA6QVOEiEzsLT3TuQ7xoco76hVMB6x8PS/m5+LdmuS+h8kbZGTHntqsbKa+zHVGd+dT1W3i7ITf7mLxRPj63vnRPkwm6UnX+7dN/ZJw0KVOLc+4jmNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014r3ZpXknPfus15UFfmmmzv",
      "input": {
        "note": "Bear held high. Moving forward over the centre of the left basket to drop it well inside.",
        "targets": {
          "left_x": 0.53,
          "left_y": -0.17,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_014r3ZpXknPfus15UFfmmmzv",
      "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]: [-0.4129, 2.3932, 2.9536, -1.5585, -0.297, -0.384, 0.1066, -0.0147, 0.8417, 0.6064, -0.4076, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4972 left_y=-0.1575 left_z=0.272 left_yaw=0.0604 left_pitch=-0.3727 left_roll=0.0343 left_gripper=0.1066 right_x=0.294 right_y=0.0014 right_z=0.1623 right_yaw=0.0012 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -14.8855, 4.6838, 1.6386, -0.2222, 0.1734, 0.1978, -0.3077, -1.8256, 7.1453, 1.6923, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a62de63a163349ac1717bdd8e6c388e82eb5aa9a4c43b56e0619dc1faa812e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c6043bf514bf76d5d8658242c5c50a264b48b84a01acce4c4ab3eca80dd8014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b25f1e5605d9f71eeb49c03ab9ab3982831042b8579db516f309b5e79a981f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 10.9 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]: [-0.7238, 1.7279, 1.0309, -0.347, -0.4938, -0.6254, 0.102, -0.0147, 0.836, 0.6067, -0.4004, -0.0116, -0.0158, 0.9992]\nstate[eef_state]: left_x=0.3584 left_y=-0.2002 left_z=0.0666 left_yaw=0.0468 left_pitch=-0.3048 left_roll=0.0482 left_gripper=0.102 right_x=0.2948 right_y=0.0013 right_z=0.1655 right_yaw=0.0005 right_pitch=-0.0679 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -9.4291, 6.2564, 1.0574, -0.2418, 0.0122, 0.7204, -0.3077, -1.5248, 7.0359, 1.7118, -0.0464, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7235, 1.8, 2.122, -1.3487, -0.4717, -0.63, 0.1045, -0.0143, 0.8371, 0.6067, -0.4011, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3636 left_y=-0.2093 left_z=0.3091 left_yaw=0.0304 left_pitch=-0.3054 left_roll=0.0182 left_gripper=0.1045 right_x=0.2948 right_y=0.0015 right_z=0.165 right_yaw=0.0014 right_pitch=-0.0698 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -8.6496, 7.0496, 0.9158, -0.4518, 0.0317, 0.2418, -0.1162, -1.5658, 7.3094, 1.663, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4129, 2.3932, 2.9536, -1.5585, -0.297, -0.384, 0.1066, -0.0147, 0.8417, 0.6064, -0.4076, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4972 left_y=-0.1575 left_z=0.272 left_yaw=0.0604 left_pitch=-0.3727 left_roll=0.0343 left_gripper=0.1066 right_x=0.294 right_y=0.0014 right_z=0.1623 right_yaw=0.0012 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -14.8855, 4.6838, 1.6386, -0.2222, 0.1734, 0.1978, -0.3077, -1.8256, 7.1453, 1.6923, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a62de63a163349ac1717bdd8e6c388e82eb5aa9a4c43b56e0619dc1faa812e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c6043bf514bf76d5d8658242c5c50a264b48b84a01acce4c4ab3eca80dd8014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b25f1e5605d9f71eeb49c03ab9ab3982831042b8579db516f309b5e79a981f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmQcKEAgSGAI4AUIIdGhpbmtpbmcSDE8kCSTbQG+4HQWVqhoMt1m2yOya6Pk9OHQZIjDfnZ45E1FXTzOPmCt6+Bk4erd718zawziKJA34/7OxuMolAUtQXd+YbXAvkMkS6EAqtga4sTA5luwHGkvm0z5h3r+uaM2ynB4DNvzL0p35/srLPTcTC63EPe4GsajVZrm1wtCy1m5O4ItNPgoPUHtcgI46FU/rLFXBKtE8yZ5vGiJThKhAnQ7r5nU7z+YXYigH25xSMvwYCPR5m0wiUcRvDpDYW2ZGozKYLyLJavNO5WYr8rkSnG38Am12Vw0XwlxNvw0yRyESX5Ezfi1ojBm/KsFtOi/FmoZOd+tlsNmj9u/mK5px4YZ8TCD9yCEs5qhXW1ui0+b9BnYcXK/28pTvZQ1xnkmSW1DefJAOWl0ZmNa0Gq+bSu6vxQEbKiED/LmI7PPKIweMPMynoG7bkxC1jCEFqLkC0G3VfQbIhMi+18Zak5tVewVbir+6j7nNznZFPMj1pMnJ6AW1nkvDiIZrwg6e44i4cf5RvShWWvXJ5i0r9FWNDA1Ph+gDIhC1fDPMIkgX7gsp7zwrL/iNbER4onFbTyGKJjRzG3OLxZkGjLLOLrpAG1p/jEJ7hcG/pkIVf50jT9JrguErAk5L7ts7UHcYPCDfPsJVDYVx8HxSdEp6VnsKOzNbvmXa69h6zo0NYNnHmpuZYD9Wzw6pgsqkcyuizqZOLgCPdxFfNmo1/mbXnVzPUob6CeHXG+VNMqiKjNAmGDqjNHDfWcNOxhpxL83jMBzNipgIBDQF+Ton0kCs770/KZ+oQsKQgA71NzSBKrk+AkCUxfn0b7nMK6UX3qr05GMTBk5HZIxDPTgvVaHFBCcR+VeuU0L2d6DK8vPaexWIGTeTTEI/JQm2bZe5Pb+R60gFbs8X1wPbtg31YqsVDUL0UkW3bVv9B+6VE78vZU5QwfNHF+Ed3e+fqTS3wkHZ3KhOTQuoJUpGjJtLWRJBAYj7l8ugdn+lV/xro4z16K06MAeYajP3B3a/YXpgGEww2N7hfvA+9Fs/owsboVskItn2Zlmu7gb+yK79pPnRRnL+BqwrW6reGJpT7qyqbuwMxQyHHQuTzj3hWz3FNl49G385SxI80kZ4GBqpXxEJ7D3kydSGBSWQoOl7V6fd7esDgvIx838grrPttoLW0uEARJOzRVsnG67XqiY4Lakyxy1cH9hmPSEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KzLUpp9FTiQ24Hk34CCKvU",
      "input": {
        "note": "Overhead view shows the bear above the inside of the left basket. Releasing it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KzLUpp9FTiQ24Hk34CCKvU",
      "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]: [-0.4099, 2.3726, 2.8334, -1.5131, -0.2874, -0.3931, 0.9953, -0.0147, 0.8429, 0.601, -0.4084, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4993 left_y=-0.1585 left_z=0.2504 left_yaw=0.0712 left_pitch=-0.4243 left_roll=0.0477 left_gripper=0.9953 right_x=0.2931 right_y=0.0014 right_z=0.1595 right_yaw=0.001 right_pitch=-0.0885 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -14.8991, 6.4068, 1.2918, -0.232, 0.022, -0.105, -0.212, -1.6068, 7.4325, 1.6923, -0.0513, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f78df3cb0958d9023b64bf6716dc56c748c0e8ef2850574c10e851e7707ad10d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56bffa68da84b3ab25c72e49888c5b84837dfe3ccb2d66511f99a3298d51115d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9653445df9371f9b8f5553d034d80ad882a8c2144175a400d43a12c1cf106a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 6.437 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]: [-0.7235, 1.8, 2.122, -1.3487, -0.4717, -0.63, 0.1045, -0.0143, 0.8371, 0.6067, -0.4011, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3636 left_y=-0.2093 left_z=0.3091 left_yaw=0.0304 left_pitch=-0.3054 left_roll=0.0182 left_gripper=0.1045 right_x=0.2948 right_y=0.0015 right_z=0.165 right_yaw=0.0014 right_pitch=-0.0698 right_roll=0.0008 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -8.6496, 7.0496, 0.9158, -0.4518, 0.0317, 0.2418, -0.1162, -1.5658, 7.3094, 1.663, -0.0171, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4129, 2.3932, 2.9536, -1.5585, -0.297, -0.384, 0.1066, -0.0147, 0.8417, 0.6064, -0.4076, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4972 left_y=-0.1575 left_z=0.272 left_yaw=0.0604 left_pitch=-0.3727 left_roll=0.0343 left_gripper=0.1066 right_x=0.294 right_y=0.0014 right_z=0.1623 right_yaw=0.0012 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -14.8855, 4.6838, 1.6386, -0.2222, 0.1734, 0.1978, -0.3077, -1.8256, 7.1453, 1.6923, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4099, 2.3726, 2.8334, -1.5131, -0.2874, -0.3931, 0.9953, -0.0147, 0.8429, 0.601, -0.4084, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4993 left_y=-0.1585 left_z=0.2504 left_yaw=0.0712 left_pitch=-0.4243 left_roll=0.0477 left_gripper=0.9953 right_x=0.2931 right_y=0.0014 right_z=0.1595 right_yaw=0.001 right_pitch=-0.0885 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -14.8991, 6.4068, 1.2918, -0.232, 0.022, -0.105, -0.212, -1.6068, 7.4325, 1.6923, -0.0513, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f78df3cb0958d9023b64bf6716dc56c748c0e8ef2850574c10e851e7707ad10d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56bffa68da84b3ab25c72e49888c5b84837dfe3ccb2d66511f99a3298d51115d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9653445df9371f9b8f5553d034d80ad882a8c2144175a400d43a12c1cf106a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RrBCJXmTH7ndcYqJ5w3Q5o",
      "input": {
        "note": "Bear and grey plush are now in the left basket. The brown plush is still on the table next to the yellow marker; descending straight onto it.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.18,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01RrBCJXmTH7ndcYqJ5w3Q5o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.693, 1.7432, 0.9497, -0.4179, -0.3973, -0.638, 0.9966, -0.0147, 0.8471, 0.5999, -0.4095, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3243 left_y=-0.1757 left_z=0.0216 left_yaw=0.0655 left_pitch=-0.4855 left_roll=0.0975 left_gripper=0.9966 right_x=0.293 right_y=0.0014 right_z=0.1576 right_yaw=0.001 right_pitch=-0.095 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -9.9077, 5.9829, 1.1551, -0.4078, -0.1245, 0.1294, -0.2256, -1.894, 7.0769, 1.6337, -0.0464, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9682ceff9b81ac9f7ccd86fd940b2dcf117a99dcbbc5059e9355969a286bd68c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1c1ada962281aaf19418753a0038d268f8aadafda4dc127b9d12dd2dfdc13ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab7a468db7dbe44cd762c29cc498ae1c1987cd5161f93c21fbdffb2935570a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.774 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]: [-0.4129, 2.3932, 2.9536, -1.5585, -0.297, -0.384, 0.1066, -0.0147, 0.8417, 0.6064, -0.4076, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4972 left_y=-0.1575 left_z=0.272 left_yaw=0.0604 left_pitch=-0.3727 left_roll=0.0343 left_gripper=0.1066 right_x=0.294 right_y=0.0014 right_z=0.1623 right_yaw=0.0012 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.3897, -14.8855, 4.6838, 1.6386, -0.2222, 0.1734, 0.1978, -0.3077, -1.8256, 7.1453, 1.6923, -0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4099, 2.3726, 2.8334, -1.5131, -0.2874, -0.3931, 0.9953, -0.0147, 0.8429, 0.601, -0.4084, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4993 left_y=-0.1585 left_z=0.2504 left_yaw=0.0712 left_pitch=-0.4243 left_roll=0.0477 left_gripper=0.9953 right_x=0.2931 right_y=0.0014 right_z=0.1595 right_yaw=0.001 right_pitch=-0.0885 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -14.8991, 6.4068, 1.2918, -0.232, 0.022, -0.105, -0.212, -1.6068, 7.4325, 1.6923, -0.0513, -0.022, -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 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]: [-0.693, 1.7432, 0.9497, -0.4179, -0.3973, -0.638, 0.9966, -0.0147, 0.8471, 0.5999, -0.4095, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3243 left_y=-0.1757 left_z=0.0216 left_yaw=0.0655 left_pitch=-0.4855 left_roll=0.0975 left_gripper=0.9966 right_x=0.293 right_y=0.0014 right_z=0.1576 right_yaw=0.001 right_pitch=-0.095 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -9.9077, 5.9829, 1.1551, -0.4078, -0.1245, 0.1294, -0.2256, -1.894, 7.0769, 1.6337, -0.0464, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9682ceff9b81ac9f7ccd86fd940b2dcf117a99dcbbc5059e9355969a286bd68c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1c1ada962281aaf19418753a0038d268f8aadafda4dc127b9d12dd2dfdc13ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab7a468db7dbe44cd762c29cc498ae1c1987cd5161f93c21fbdffb2935570a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigkKEAgSGAI4AUIIdGhpbmtpbmcSDJahAyoMBGBGhYbsLBoM5uyy/m4Nnidm9IJhIjDrVItmOLSwincr9STkG5WRSJbuFfJaR0ceSvit3JYaomkpboGyngGuZqTp3IpaPxIqpwi8n5jyTMlpV3cmYIL6MjoSAEBX23OhSna44obSqwd6XwSm9bxkHsUiIZ1jiRq0evAJ453I5mhiCyXfzIjjfw0iGdLirhF0VIMXtGr96BzDmFVQ39QI5SKx8QDmytk+EnvsgGZ/I+yr1peDxzAdEGgJDQzflt5GnrW3Tej++7Ow6bVQqwgDXXWnJ9C+BznRQEW8c3sflkYLI3YhWw5UC+zLvkbzO46BD2b4TNPgboHd0QawnSYlyeFpE5O6CC09UsCNwaAVsLJuOpm+LZOhFD7z6G5LFdM9/jI98y/m0oHNd0/DcOAxNM+e5kKtOKmz7dwG6l8YX3xDbghcUaj2Od9glQBy6QZmmhElk5r+ZykJhg3XyAZ5VGi2beOVHf/rHUozoZRksY+Mg5KOsQZ7aC/qpnARNqP6m+gcJ/u5lgVGPxCPUGaJ/RHFGtWDgmb0yyx/gPckRMFPXSR5lY10IUCk1qbAZ0tusatwJ0fde5IGcqnC0iztPLIEnkNqt9rDeCwBqbGn4z4Ruy/iOm1g263QIP67oxjtBE7sxDCl9sn9EnQhtkJUw+TEw2sPusC9hxvPc5BN3ChZ6dYXNqR0xRc1D+tGh89RgrWBGL47heNP5+HK4LOCsobyCgJ4aQun4jFrILyGRuUOmT6dV0ZWIqCxhx+kF6mFKIFdgGaRrGXFUCBMZoX7J90eWjMXS/0ztHBfX2XqifL+JAUNbsO8omfmkesnMsK1mYjMbvwqZeJ/bERUm8Jws6bkgiNxXqbFrd6Yn+8xAXAhM25wUw5hAXCCjKIVZ+4MxYWZyYxbaKdhrsqdS/SU+pGAEsglkxXTTbhnPH07NQTVpO+6MtxywDZ07ZJUABaVrfkNbJ/nrU46vob11mzuMPlxGJx57JBQqeReU71hY/9OgtIRPkwGJE8o0IFLneuQ/RPztwvlEqVorUZs+xEmaegVB8kuHtnZAJJAxMslyL3VR0anrmJJkE9yS/Lk3H2dvFyZdhe322DiNDKp2ImPIs/ux3IDXUqmpf9jBMDU2GMux+CG6mIyts6a87sxVcGuSNCNsvZ8bsCssmdYwz/7nNklPV5nl0TohsJPbIvwVQyqRVjxqf00XuwFbNGFnWUWB0zlhTxzHW/xhUdxxdWkARaWs6C7Cvw9dFi4HMumGerzf5AeiO6yJxYJ/LA7Q3F99qM4wM1NQITMGfKoLldfm7A4esOYqf/invk5HpKnYjacRpFqRfIgeUL5DBU7bke8A6UiW6/fjBvd+t88XkVf6IIrsye6hxKXKaebIRIXyFpXTnNI1O2QzQ+CQam7vjGUrGWPLB/CRfFOAYcRf7jEezrNpG685ve1lO/vgPinrKTiCNM0jtCMNElYkRtb91dpuHodTt87rIWezNi8/0NYn6M949Bs/Z9IlwAadvG3jAc8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ay4pmaGCbfaCss2YdMfpFm",
      "input": {
        "note": "The gripper sits over the brown plush at table level (wrist view filled by it). Closing to grasp. The bear seems to have tipped back out onto the table; I'll handle it after this.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ay4pmaGCbfaCss2YdMfpFm",
      "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]: [-0.6945, 1.7428, 0.9314, -0.4019, -0.3965, -0.6437, 0.1319, -0.0147, 0.8474, 0.5999, -0.4095, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3217 left_y=-0.1745 left_z=0.0176 left_yaw=0.0676 left_pitch=-0.487 left_roll=0.0951 left_gripper=0.1319 right_x=0.293 right_y=0.0014 right_z=0.1575 right_yaw=0.0012 right_pitch=-0.0954 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -7.788, 7.159, 0.7497, -0.2857, 0.0513, 0.9988, -0.212, -1.5658, 6.9949, 1.6825, -0.0513, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa813652e7a33bf44f1e13a4015ee2f46d948e03177b1a8679de1dc465826ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94886f21d5662d4f757cdf7b655bba41e41a07d5a6aff3d8ee8be5b083945ff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:192b0cd5cb7411743e8eb0ee22e64bdcd72f24b905780e3cd8fa72cecb8454d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 5.873 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]: [-0.4099, 2.3726, 2.8334, -1.5131, -0.2874, -0.3931, 0.9953, -0.0147, 0.8429, 0.601, -0.4084, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.4993 left_y=-0.1585 left_z=0.2504 left_yaw=0.0712 left_pitch=-0.4243 left_roll=0.0477 left_gripper=0.9953 right_x=0.2931 right_y=0.0014 right_z=0.1595 right_yaw=0.001 right_pitch=-0.0885 right_roll=0.0011 right_gripper=0.9992\nstate[joint_eff]: [-0.2803, -14.8991, 6.4068, 1.2918, -0.232, 0.022, -0.105, -0.212, -1.6068, 7.4325, 1.6923, -0.0513, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.693, 1.7432, 0.9497, -0.4179, -0.3973, -0.638, 0.9966, -0.0147, 0.8471, 0.5999, -0.4095, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3243 left_y=-0.1757 left_z=0.0216 left_yaw=0.0655 left_pitch=-0.4855 left_roll=0.0975 left_gripper=0.9966 right_x=0.293 right_y=0.0014 right_z=0.1576 right_yaw=0.001 right_pitch=-0.095 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -9.9077, 5.9829, 1.1551, -0.4078, -0.1245, 0.1294, -0.2256, -1.894, 7.0769, 1.6337, -0.0464, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6945, 1.7428, 0.9314, -0.4019, -0.3965, -0.6437, 0.1319, -0.0147, 0.8474, 0.5999, -0.4095, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3217 left_y=-0.1745 left_z=0.0176 left_yaw=0.0676 left_pitch=-0.487 left_roll=0.0951 left_gripper=0.1319 right_x=0.293 right_y=0.0014 right_z=0.1575 right_yaw=0.0012 right_pitch=-0.0954 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -7.788, 7.159, 0.7497, -0.2857, 0.0513, 0.9988, -0.212, -1.5658, 6.9949, 1.6825, -0.0513, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa813652e7a33bf44f1e13a4015ee2f46d948e03177b1a8679de1dc465826ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94886f21d5662d4f757cdf7b655bba41e41a07d5a6aff3d8ee8be5b083945ff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:192b0cd5cb7411743e8eb0ee22e64bdcd72f24b905780e3cd8fa72cecb8454d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAoKEAgSGAI4AUIIdGhpbmtpbmcSDCtXNCehE7lL9HmxVBoMoVU6Ixv5XhLXMzKYIjD9M93jkOmL91rkh3AY+kZHnA99Xg2OkAyc8ttKz8odbDJyZZ7XmJvxZ6QeyJ78v50qpQnuoA6fqN/VWr1XfJWqDiWUNmEWHtGn0u5AVkU8/aEFqSA5sb80RfYOwX3QPV85JfFcdfyrw69TdeSA9wgQqYUR+SNgMm6FhNq+uIs8NjL8M2MWrWC9WSiYXm5oXw1wbpuWgCZrm3iP35sMRLULemT0wZ51/c/EojkRS4FZUZiW3MGyIsYjHjknvdKpz+yPwOiZKX1wErr2dc1h1EtmUipvJXmNPXveWAFiYvw1BB3dBbIOHFmS9ZHUG5RUfk8gR0hnR16vwihOFTzcpiYaGsYntXg8s1ij/poIy5fpjm1i940oq3cKBVljRhg+GXxrY/6bZrZmYVKe5AueQtQ0C9b+8klApvUKT8AvuiQLHxHMWUv485zuQL7UbQspzoWCVUsrhKKhgL8KWvZVHgwtDO0VwPvid6Ud/98ISCFNwi4fvse8XN5InmuMaeo2P2UfQ7DhPO//hRjdb/8kqJyt9moSiAwOHW4OnDjRl3wy3f/+uArAHhQgO4u0/Qf9LCy4B/J7r9FI7OU2xAJ0lOfw/DqXF8R9ZT9Hvvq/fnk1wdeip6Qm+YdcfG5WXr96Kl4dzsCDcvj6kgcIxuY5lsbD1Rd6bY0Z7hPjcrlIL6IhaZV93EC8Uoy7zl+vplL78HIwOTOS5Qm3a1NZ4LjNlKNtZTURwsiJuAO495m0Bj7VVgqWRB5Fjal+AhXbarMAHumhxXQgBTbVWCGkG5TUGGkJ0Fmg+WMz4Q3FHz9ksSGgU/gsSlw7S2m1z54LiJzyU8KzlfQgTtO8+o6ZF5cQTOgrw5YXO68RCI0Zg9YOO3R94kaGEBnoeQvwtpZhbX4ZXZxaOypUvJVAK4N6Rlw1OP8TCH1BcGbXiZXz5zgrJEIF+hTgUanKkpYMu55dRwMpu5cgFEGUavknlQvXh4A1mr8wcQVoJearEIN85nkH/sKuJS7ZgaG5CYFrxLwCYiem9X70Qn/u4xoCOMjgSulfgaEbn6rdETwje/6p38GkvEhwuaJM/A6yboi+xUdfmMuASFvqMd/7MySbHDsaz5BPZ86F6IWLd/n6NDobO65LhvU+rcFBduqgYnwl0LwZzqengA/Kjci20CVB7oWv3oYjrOCS/dv1e1EVdrE0ZyrpCkij1ptwFOLD/nK+Bw2vu6fhJPiMKqcc7IAQU0EBRuEUkJ7Bv7zKYqSShSdNhjG2PxlyAqRF72R0Zkc84XoJAuKwz1+lVX2U/rH2m7asYJT7iSyn40JpIRMRZYQ/STh9yuaUO1cIITdoBUY+LS66FcatPNSVZmfU/KFRocFvmJlc4D+WX+oAJ6ibL9oCJESzQsWsXtPYVZiSindutufiAQUSwYigU+KgVpHi2mE4S844yiDhaX6mcKux5kC8wtL8aW7JTO5uiXAeejE+IMIxdpOnGJ3rxdlJNQOCtrdjbqucHoI3wA9L3DZiJ49K4uaaTkZ5lqOGB8mpzQxV9AxzrQrHTp/BrVqWtwGrMsa/8bYClqPW676OuvZvBvmf+/rOr8wsmY6eFPr9Tj4nPlR+36LJ+muvWnSNXC5Rkeak1VN8LeBCSeRRW7BVN4aG//xXJM2YiQn7tXQSKt/fGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NRaf2qAKbLyfWNj27Lzuyv",
      "input": {
        "note": "Brown plush grasped (gripper 0.13). Lifting and carrying it straight over the left basket in one move.",
        "targets": {
          "left_x": 0.48,
          "left_y": -0.13,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01NRaf2qAKbLyfWNj27Lzuyv",
      "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]: [-0.3744, 2.1738, 2.4145, -1.3815, -0.2531, -0.3504, 0.1342, -0.0143, 0.8532, 0.5972, -0.4103, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4771 left_y=-0.1361 left_z=0.2271 left_yaw=0.0717 left_pitch=-0.5189 left_roll=0.0861 left_gripper=0.1342 right_x=0.2927 right_y=0.0015 right_z=0.1546 right_yaw=0.0016 right_pitch=-0.1045 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.5402, -10.4821, 6.5436, 0.8034, -0.2515, 0.0464, 0.4908, -0.0205, -1.853, 7.5009, 1.6337, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8079b01d089964bf4904f85b0de629022b73ab567b4bcd318f6df15f0b56c835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70b0ffe58a8f9497dc45f3a078ebb11cef0f10dc2b54461b9e8563ff21a672f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d823dda3625ecb237d278d99ffeeafdf20203fccfefdd2aa479bb374aaad3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 10.95 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]: [-0.693, 1.7432, 0.9497, -0.4179, -0.3973, -0.638, 0.9966, -0.0147, 0.8471, 0.5999, -0.4095, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.3243 left_y=-0.1757 left_z=0.0216 left_yaw=0.0655 left_pitch=-0.4855 left_roll=0.0975 left_gripper=0.9966 right_x=0.293 right_y=0.0014 right_z=0.1576 right_yaw=0.001 right_pitch=-0.095 right_roll=0.0012 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -9.9077, 5.9829, 1.1551, -0.4078, -0.1245, 0.1294, -0.2256, -1.894, 7.0769, 1.6337, -0.0464, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.6945, 1.7428, 0.9314, -0.4019, -0.3965, -0.6437, 0.1319, -0.0147, 0.8474, 0.5999, -0.4095, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3217 left_y=-0.1745 left_z=0.0176 left_yaw=0.0676 left_pitch=-0.487 left_roll=0.0951 left_gripper=0.1319 right_x=0.293 right_y=0.0014 right_z=0.1575 right_yaw=0.0012 right_pitch=-0.0954 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -7.788, 7.159, 0.7497, -0.2857, 0.0513, 0.9988, -0.212, -1.5658, 6.9949, 1.6825, -0.0513, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3744, 2.1738, 2.4145, -1.3815, -0.2531, -0.3504, 0.1342, -0.0143, 0.8532, 0.5972, -0.4103, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4771 left_y=-0.1361 left_z=0.2271 left_yaw=0.0717 left_pitch=-0.5189 left_roll=0.0861 left_gripper=0.1342 right_x=0.2927 right_y=0.0015 right_z=0.1546 right_yaw=0.0016 right_pitch=-0.1045 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.5402, -10.4821, 6.5436, 0.8034, -0.2515, 0.0464, 0.4908, -0.0205, -1.853, 7.5009, 1.6337, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8079b01d089964bf4904f85b0de629022b73ab567b4bcd318f6df15f0b56c835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70b0ffe58a8f9497dc45f3a078ebb11cef0f10dc2b54461b9e8563ff21a672f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d823dda3625ecb237d278d99ffeeafdf20203fccfefdd2aa479bb374aaad3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wgKEAgSGAI4AUIIdGhpbmtpbmcSDCv9c67RPrZnqXzFVBoMJqBvFTo+KQrrDDVoIjAvtscbzEnt/K+lugULfcmUtLxqxk4u3ooGXEfu05tsTc0VYRD49SRcpkagOu2TiNkqhAgQliG3iRwQgNt1unSEo0hpzlbBE1Onb/gJRcX3VSA6CxlGVBrX1iVl/3mJADY0hWWrn20NAJnf1lDZB9mRV9HssSW//ZyPF/7tlKOR2dR+WcZh9qU/CQiUrQx9H8TgqXBoiPCio1gExOO2J8FKZY8x6RYDlee4AUNq/Yj1HmyR9UU5adTZPae6nyJo4MKWEc+6xpHnSXs6K+MMfQN/MO7fPl5EelKlkBm0VlAVgqSi+9sWEH9XkHk8xn1dtzuzjKmP8PSPJAC5a212CAcgjzrQoifIgLUqyWZ8NE6lg95qdsXoxl+V8mnjYNYns+QlhGyY8zPwFHmCmGPUyGQAjm7Uw3BL+K0OzHDiGmL9X9gGkz9w8UqKlU+MWrOeqK6VQR5LOfcwAWoPUDep+aV9no+LNheoVCH/UqR2RTLc5csgLCRJx0yhoif/V1IVuxvWSbfnAckXkmRESSHeQtwPimmroOlb2x5Z7lmxSHnUGqudZDSdob/W0NFvpFXig++5EmqGwiIpH0VIrW3ajrvFWLpdsSJHItL9S3BuPQzgth4ddqDw2ZM0Ttp4ZgaHiL1wuP7dYSvJwL/qORsFYX4B/7TX6wguqcQVkJUMhhUcd9NqhFVAh9ZIodNOOOAVP4eq1RP+XDZr4WXJmzChezEZn+zux0eo8PgNRXmJXV1maaBE+FmgOP/lX0LKdcMAh8bjlhcKC4tvvHDxsIG/fqX2Gn7eyorOJ41Dv2fO/dRfG1T+yXInhTS54Vl0TSIhW1UKlE6OIZupF8SmGxQTcJ2bPKSuibqTQAWoD9eUpMjh63fGovKf4Tg2yc6QZrawufTXquoE9798A7C0HZ/1YS/rQjD0denhLMAgs7w5cuaF7/teKbtLvcn2sq7Vg0HWtI20CzWaFX7w2gRhUwifXhUN73ucR0IqVkpy0wb4hVw2No2DGyaVnRCMiMFysDGYlBpLuy3I3sSkQldKPjp57Bj9DRoCEV1fZeQk3ZYIHdvxOr6y6UwO5yjD18vqWFlsUJK9wKSlJLJtXdhNQ0Q+h6kMsmZg+QxJAFWu7pbmH7vE4SDARqmU2uaUYLTaCpzYQEN0Iz8O3hPDkCzlraMrdcXDtlrFV99mwVLrg1LE0IRquXL2trCgeVA7SAflterGYYC2eq9UpYUkEgQDIqx8lLkHmmq4SOLQQpLgeP21Y6sytsPk28DTleFqwjqZoaqIgqtIyugD/tDuC0zA3jYuao21+ZSSRxIgV54qcP9GqwUY+ds7Cbd2nIiXz2gC9MHP0XUZmfmCB0NNHhfuKqOPSXsjsUUuJxqUVLFmg89UWVtuzV2Fqh/bIJASJk71K2BpxmRsP03lEh1XTijSShEkPZIzksL6e91U9xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FN5pnHQEGL9ZJU1WeJDSE7",
      "input": {
        "note": "It turns out I'm holding the tan bear (it was the only brown plush). The wrist view shows the basket interior right under it, so I'm releasing.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01FN5pnHQEGL9ZJU1WeJDSE7",
      "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]: [-0.3763, 2.2196, 2.4214, -1.4055, -0.2459, -0.3576, 0.9953, -0.0147, 0.8539, 0.5972, -0.4095, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4766 left_y=-0.1383 left_z=0.2051 left_yaw=0.0847 left_pitch=-0.578 left_roll=0.1076 left_gripper=0.9953 right_x=0.2929 right_y=0.0014 right_z=0.1545 right_yaw=0.0013 right_pitch=-0.1045 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -15.4598, 5.2991, 1.116, -0.2271, 0.0757, -0.1441, -0.2256, -1.6479, 7.0222, 1.6093, -0.0269, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f043f3519dde5b8f2fba0dc1dc8b5883a388987e4acd7524e18fba558e6132e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:803bbb42453beff46eb161ebdf7c1bca25d63fd9f2d2cb56100aaca8082e7848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:447f588a45047698eb24c3d83223be353222854a2bba3387fc24dca9175583a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.911 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]: [-0.6945, 1.7428, 0.9314, -0.4019, -0.3965, -0.6437, 0.1319, -0.0147, 0.8474, 0.5999, -0.4095, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.3217 left_y=-0.1745 left_z=0.0176 left_yaw=0.0676 left_pitch=-0.487 left_roll=0.0951 left_gripper=0.1319 right_x=0.293 right_y=0.0014 right_z=0.1575 right_yaw=0.0012 right_pitch=-0.0954 right_roll=0.0009 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -7.788, 7.159, 0.7497, -0.2857, 0.0513, 0.9988, -0.212, -1.5658, 6.9949, 1.6825, -0.0513, -0.0708, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3744, 2.1738, 2.4145, -1.3815, -0.2531, -0.3504, 0.1342, -0.0143, 0.8532, 0.5972, -0.4103, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4771 left_y=-0.1361 left_z=0.2271 left_yaw=0.0717 left_pitch=-0.5189 left_roll=0.0861 left_gripper=0.1342 right_x=0.2927 right_y=0.0015 right_z=0.1546 right_yaw=0.0016 right_pitch=-0.1045 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.5402, -10.4821, 6.5436, 0.8034, -0.2515, 0.0464, 0.4908, -0.0205, -1.853, 7.5009, 1.6337, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3763, 2.2196, 2.4214, -1.4055, -0.2459, -0.3576, 0.9953, -0.0147, 0.8539, 0.5972, -0.4095, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4766 left_y=-0.1383 left_z=0.2051 left_yaw=0.0847 left_pitch=-0.578 left_roll=0.1076 left_gripper=0.9953 right_x=0.2929 right_y=0.0014 right_z=0.1545 right_yaw=0.0013 right_pitch=-0.1045 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -15.4598, 5.2991, 1.116, -0.2271, 0.0757, -0.1441, -0.2256, -1.6479, 7.0222, 1.6093, -0.0269, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f043f3519dde5b8f2fba0dc1dc8b5883a388987e4acd7524e18fba558e6132e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:803bbb42453beff46eb161ebdf7c1bca25d63fd9f2d2cb56100aaca8082e7848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:447f588a45047698eb24c3d83223be353222854a2bba3387fc24dca9175583a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ZUE9UzcvyBvihHfb1zXT3",
      "input": {
        "note": "The bear is leaning against the front of the left basket. Now for the pens: the right wrist view shows the blue pen and black marker side by side, just left of the jaw column. Descending with the jaws open so both go between them.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.32,
          "right_y": 0.055,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016ZUE9UzcvyBvihHfb1zXT3",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4044, -0.2459, -0.3592, 0.9967, 0.2638, 1.4612, 0.2634, 0.5041, 0.1764, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.4767 left_y=-0.1383 left_z=0.2059 left_yaw=0.0849 left_pitch=-0.5755 left_roll=0.1054 left_gripper=0.9967 right_x=0.3199 right_y=0.058 right_z=0.0123 right_yaw=0.0292 right_pitch=-0.1192 right_roll=0.0119 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -11.8906, 5.6547, 1.0085, -0.188, -0.0122, 0.1294, 0.2393, -3.1248, 3.3026, 0.4029, 0.3687, -0.1148, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95f53c93becbf4b1bf23d600fd58a864382a6166c7c976f6f45a2cc2ffb097ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:567b1df7f6b1cd74960f5e841d3533b351b8df5781ad784164d20cba2903f295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fcefa84b2e7f6fe33c2138fc5f89a03968abb36a1c96f05d50336b611090b094",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.426 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]: [-0.3744, 2.1738, 2.4145, -1.3815, -0.2531, -0.3504, 0.1342, -0.0143, 0.8532, 0.5972, -0.4103, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4771 left_y=-0.1361 left_z=0.2271 left_yaw=0.0717 left_pitch=-0.5189 left_roll=0.0861 left_gripper=0.1342 right_x=0.2927 right_y=0.0015 right_z=0.1546 right_yaw=0.0016 right_pitch=-0.1045 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.5402, -10.4821, 6.5436, 0.8034, -0.2515, 0.0464, 0.4908, -0.0205, -1.853, 7.5009, 1.6337, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3763, 2.2196, 2.4214, -1.4055, -0.2459, -0.3576, 0.9953, -0.0147, 0.8539, 0.5972, -0.4095, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4766 left_y=-0.1383 left_z=0.2051 left_yaw=0.0847 left_pitch=-0.578 left_roll=0.1076 left_gripper=0.9953 right_x=0.2929 right_y=0.0014 right_z=0.1545 right_yaw=0.0013 right_pitch=-0.1045 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -15.4598, 5.2991, 1.116, -0.2271, 0.0757, -0.1441, -0.2256, -1.6479, 7.0222, 1.6093, -0.0269, -0.0611, -0.0073]",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4044, -0.2459, -0.3592, 0.9967, 0.2638, 1.4612, 0.2634, 0.5041, 0.1764, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.4767 left_y=-0.1383 left_z=0.2059 left_yaw=0.0849 left_pitch=-0.5755 left_roll=0.1054 left_gripper=0.9967 right_x=0.3199 right_y=0.058 right_z=0.0123 right_yaw=0.0292 right_pitch=-0.1192 right_roll=0.0119 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -11.8906, 5.6547, 1.0085, -0.188, -0.0122, 0.1294, 0.2393, -3.1248, 3.3026, 0.4029, 0.3687, -0.1148, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95f53c93becbf4b1bf23d600fd58a864382a6166c7c976f6f45a2cc2ffb097ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:567b1df7f6b1cd74960f5e841d3533b351b8df5781ad784164d20cba2903f295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcefa84b2e7f6fe33c2138fc5f89a03968abb36a1c96f05d50336b611090b094",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAgKEAgSGAI4AUIIdGhpbmtpbmcSDMycf95Uzbv1rb/gUhoMS6d0GDAXpvJ4YySjIjBbJYppTBwRI8KJVw8olCocwH9XcWlKd2+BMun/hy2bP3gZ+UIV3Ai4Gl3X6M0NKzUqvQfnHzkEMgy3/c0nnU8XctP9GqjyFfIBLzOoFaf13nq5BqGnjyBEto430nP4WNmFCDY90CH4QH4Xn9plu+Zyjs1xtEjYxOvfSsjXyIgEmSC2lUxjiCUZ/wGMmLZR8OGH2Wx8wlq7U+kJiHqZTEM/GQjeP1fotkyzvhfHr8/SeCdK5U2NGKfJD/HLGBXAHk8iw/+pA2w4usG1JCPO4snw7+CKISqD5ANtzcD4HuLsH5nVhuJFTaeNGC4VwcaHLCIOBO/RAakg8BICRijao+Z6iA+qk9DuEkD5AbdgfBf8Q4OvM21fnwKY6Rneiq7WIxew1LB80rP7uLXU8YwfPOr5LS2rsFW2QvTclLuEA0ifxHiKtswMjBegb0OYUtb7fCV/fSV0hnhUT1QHVJ0Ymiwinc8FLSruZXiyMxkX4rvZ4Tyz+YU/VMFQScZ8H8AlGp0kgsmr/VxBrub6Ep/4N4G2/X7hJBaiCYO5aa77FpPb/k+2i4oKH9hJk4Bhy+enOThs6PAZP12X6eOQwefEHCUBs4DE3XoLtswpETe0fqv5Xk/l+yKalxIFRS00ZZzQXfd1eayCIUr6R2IQf0aluQu7U2Vg3uybWjNu9oIPIUoTbY3HsfIs+2qHTbZd+jQiR/xP5Fdf8BWyqFTlk1ALoMDpRUX4h0TrOxyU/Q7NwWcEVk+8Uo/hA8yKMcRocp96hSgn5cF5HezDG8vAAKh7eAqK96nfT15n2xtKkgcv1NNUNrm3W5w26gEzRnK50OlpjzN7sI9aSfElRCwgDn+0bmSfcxv62pnIgC5Dwm3oV2wjDEaCDJKGfd1wpyObLah01gDS9OZ94qRDaWY52ROx82GDm1rt1gBtq9SDsmvP4/AF2NX4mwEMiMTqb33oQiqVvpxFqeNc+8JGMpAd8DbKSckfGCKn1eqQ+ND7Tc3bm7NFl+NaTtgEWdCvZHjLu7nxK/UP6dhmXFi6shDlKAPDZrITrYgkg7q/wkPdvuqysKfFycYK6jUZWlxbTYOIcjE1jUh1FQNU1iQKHkH+hGRKu/By3/fQ50E6QHN+eWcBX6OBIAu1H1nJWix17t6X1z7OYcna+dP4B10kHBczidwycmwppwunGH2/SuKO70HvJWsQjF6JqUrdZUMJ//xuLHdC2CLqKlnACmuOtysaYgm93LiuoMsfOUx5q2rr3FR07h3OaVq+KekfOGasWQNHIaxZLU7NZPd8bgv5HU95AnEZ7o4D6GsZeo7xUZCsGvi2G6cn7WkMCkQWL45CklapflK/x3QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KbFuGFiMpRjV3dvvLGh8Ke",
      "input": {
        "note": "Both pens are between the jaws but hugging the left jaw. Shifting 3 cm left to centre them before closing.",
        "targets": {
          "right_y": 0.085,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KbFuGFiMpRjV3dvvLGh8Ke",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4055, -0.2459, -0.3595, 0.9967, 0.3767, 1.549, 0.2779, 0.6201, 0.242, 0.2092, 0.9992]\nstate[eef_state]: left_x=0.4765 left_y=-0.1382 left_z=0.2058 left_yaw=0.0855 left_pitch=-0.5765 left_roll=0.1058 left_gripper=0.9967 right_x=0.3269 right_y=0.0876 right_z=0.0133 right_yaw=0.0573 right_pitch=-0.0675 right_roll=0.03 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -11.8769, 6.0103, 0.9304, -0.1685, -0.0611, -0.0122, 0.1299, -3.3026, 4.6838, 1.072, 0.2027, 0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b6ca7ce36c7cef2e03af0a6497cdfb642d19e6a9fa1fd1a3d34014a838b9591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0350172cda9fad65b0b6c1ca633156396e7ba140b9506b62a2a4d0244ee0dc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4d2bc60fd145784b35bd6266dbd2058c67cf1e85963bd744ae044ec3d25b9c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 7.803 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]: [-0.3763, 2.2196, 2.4214, -1.4055, -0.2459, -0.3576, 0.9953, -0.0147, 0.8539, 0.5972, -0.4095, -0.012, -0.0166, 0.9992]\nstate[eef_state]: left_x=0.4766 left_y=-0.1383 left_z=0.2051 left_yaw=0.0847 left_pitch=-0.578 left_roll=0.1076 left_gripper=0.9953 right_x=0.2929 right_y=0.0014 right_z=0.1545 right_yaw=0.0013 right_pitch=-0.1045 right_roll=0.001 right_gripper=0.9992\nstate[joint_eff]: [0.0889, -15.4598, 5.2991, 1.116, -0.2271, 0.0757, -0.1441, -0.2256, -1.6479, 7.0222, 1.6093, -0.0269, -0.0611, -0.0073]",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4044, -0.2459, -0.3592, 0.9967, 0.2638, 1.4612, 0.2634, 0.5041, 0.1764, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.4767 left_y=-0.1383 left_z=0.2059 left_yaw=0.0849 left_pitch=-0.5755 left_roll=0.1054 left_gripper=0.9967 right_x=0.3199 right_y=0.058 right_z=0.0123 right_yaw=0.0292 right_pitch=-0.1192 right_roll=0.0119 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -11.8906, 5.6547, 1.0085, -0.188, -0.0122, 0.1294, 0.2393, -3.1248, 3.3026, 0.4029, 0.3687, -0.1148, -0.0904]",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4055, -0.2459, -0.3595, 0.9967, 0.3767, 1.549, 0.2779, 0.6201, 0.242, 0.2092, 0.9992]\nstate[eef_state]: left_x=0.4765 left_y=-0.1382 left_z=0.2058 left_yaw=0.0855 left_pitch=-0.5765 left_roll=0.1058 left_gripper=0.9967 right_x=0.3269 right_y=0.0876 right_z=0.0133 right_yaw=0.0573 right_pitch=-0.0675 right_roll=0.03 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -11.8769, 6.0103, 0.9304, -0.1685, -0.0611, -0.0122, 0.1299, -3.3026, 4.6838, 1.072, 0.2027, 0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b6ca7ce36c7cef2e03af0a6497cdfb642d19e6a9fa1fd1a3d34014a838b9591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0350172cda9fad65b0b6c1ca633156396e7ba140b9506b62a2a4d0244ee0dc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4d2bc60fd145784b35bd6266dbd2058c67cf1e85963bd744ae044ec3d25b9c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwgKEAgSGAI4AUIIdGhpbmtpbmcSDCsUz/yi10Cg1GZd+hoMr2EOrNe2iywAEzY+IjCLh0YJp5FgVA7neLq5LJzFJLFLNutG6PCQ/cvrc7MgXxqMKW1Hnc4aLhWpJ+9YO8QqoAcyR0c2lvrBkSWfHxDafqYFn5POgX0f2Yxx3h+xPFGyvXg97YTjeYTvH0YVHK0gcqH+iqJWl4oH6vDWqtX1Lfd55igpypM09Qrgxz6DkmD7LlZp6sOZ8lnmzsYrWU9K2g8Z6bd/J+gDOvHhZ91Uot9LVRmZ2NoNxiiK3faGJMT1AncriRUsYys1oVVfDJPJOI2qr88B1LS/CldkfORQyic+5Y9qckBUOcB9v2x2A6ozGM2w6C5+f9L+rFyDp5H5hRn1CMouPoQ2V8+L0m7iqAx84ecapRvgZlMFSDN9FwUgDK9fOUrRueQVZ02jMhXRLAMjGWVDutnKVULRKopE8HgsNMhwCZLSuGvvoUdd5yK+7yO/zVx9cOpr4KHZEwOzh1hPWaaCPMrpsb03/mWHoiEoAwDyY+fy5uQamgMPJ4uQzo3QmAqdR7hxNvNHgrftEM6HV2qFzqZFH9OrdYw6Mkf48/LH5b6e9DBycbe4cs9fFh1UrH/oe35ZEmUw/mSBFPChAu4IygucsnongD9kRKOZlAlyXDHd+d+MXxVKxQyq1O1KUQ8KiYZlx6e/1rDfrMvvFLq3uTWxJC4NpA1FctdczjEw5++moOLGPHZ3GhjpTDJLi85jhcvkF736FW5JqGHDRaU4C23p11nx5ib0tY72n2wibwQAUwxr2GjoZhzJmoWJ5W0D/9YIYwfD++tPtbhT4+3R7P8h0rZW1PQEDXqmZtbRd+19+Fet7Ckj4vVnA749tno1yC2WyncS5g7km973VBfRgIagnWSXxzSOdC02UJ7dISEQ20J8RElxNNK960YgXL/SpTvrktwQWTDH2WpnfDqGnp4y45q1ejgVethvHDtTAbsfgqHr2Hc89yk3I1ZgmynmDRrIvCi4odSSeGbSPakttBzEpnDC1rVu+JSK6wQYjqmye5s9SATG9vDRXhTjBj1cbAxzS/ozQbcw9SI2NoPNLk06YN7gd4VRxzXoeF5XWaCk0gJ6tDoOfwiakiJ2gtLGhPhY3x1W1AwDT0TIQB6Ypmb0G0MAX7kMkk5dqLTEPy8KyJ3kI9j91KgIbDLOOkrDSYIFyAM4b3F98fYHpF6YFEYBdbgq5ZNtVZUe0G5pFqUkc14SfDsOKYsGBj9nrxpk8nwlZ7fS69JP52FdedfofupprWfaAErSa2e8qCe7458D21nB/zUp0A9OeRiP8kRJUymPbFTrYNC+PrA4pNVFfPWi9YIEmwvECmKlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PYUtyMPAxun7t1zGUNpNSH",
      "input": {
        "note": "Both pens are now inside the jaw span (blue pen near the left jaw, black marker at the centre). Closing to grab both at once.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PYUtyMPAxun7t1zGUNpNSH",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4055, -0.2459, -0.3592, 0.9967, 0.3927, 1.5608, 0.2832, 0.6235, 0.2611, 0.2359, 0.1347]\nstate[eef_state]: left_x=0.4765 left_y=-0.1382 left_z=0.2058 left_yaw=0.0852 left_pitch=-0.5765 left_roll=0.106 left_gripper=0.9967 right_x=0.3272 right_y=0.0901 right_z=0.0125 right_yaw=0.0431 right_pitch=-0.0671 right_roll=0.0397 right_gripper=0.1347\nstate[joint_eff]: [-0.0752, -12.0, 5.6821, 0.8913, -0.1783, -0.0415, -0.0073, -0.0205, -3.3573, 4.3556, 1.1795, 0.2564, -0.0171, 0.9744]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be6f4deeee2fba9ad4f32adb1c9be198557099be1ad1b0c9ff5ec033b1fe026",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d15a165665e1fe4af474b092f96c5850b9c4aaf7da817aa2f3dcf46bf27dd4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d30ada9028771c9943c1af5344ef62f5ec488e96ee5ca65958a990575d4b4f41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 4.846 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]: [-0.3763, 2.2181, 2.4214, -1.4044, -0.2459, -0.3592, 0.9967, 0.2638, 1.4612, 0.2634, 0.5041, 0.1764, 0.1516, 0.9993]\nstate[eef_state]: left_x=0.4767 left_y=-0.1383 left_z=0.2059 left_yaw=0.0849 left_pitch=-0.5755 left_roll=0.1054 left_gripper=0.9967 right_x=0.3199 right_y=0.058 right_z=0.0123 right_yaw=0.0292 right_pitch=-0.1192 right_roll=0.0119 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -11.8906, 5.6547, 1.0085, -0.188, -0.0122, 0.1294, 0.2393, -3.1248, 3.3026, 0.4029, 0.3687, -0.1148, -0.0904]",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4055, -0.2459, -0.3595, 0.9967, 0.3767, 1.549, 0.2779, 0.6201, 0.242, 0.2092, 0.9992]\nstate[eef_state]: left_x=0.4765 left_y=-0.1382 left_z=0.2058 left_yaw=0.0855 left_pitch=-0.5765 left_roll=0.1058 left_gripper=0.9967 right_x=0.3269 right_y=0.0876 right_z=0.0133 right_yaw=0.0573 right_pitch=-0.0675 right_roll=0.03 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -11.8769, 6.0103, 0.9304, -0.1685, -0.0611, -0.0122, 0.1299, -3.3026, 4.6838, 1.072, 0.2027, 0.0317, -0.0171]",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4055, -0.2459, -0.3592, 0.9967, 0.3927, 1.5608, 0.2832, 0.6235, 0.2611, 0.2359, 0.1347]\nstate[eef_state]: left_x=0.4765 left_y=-0.1382 left_z=0.2058 left_yaw=0.0852 left_pitch=-0.5765 left_roll=0.106 left_gripper=0.9967 right_x=0.3272 right_y=0.0901 right_z=0.0125 right_yaw=0.0431 right_pitch=-0.0671 right_roll=0.0397 right_gripper=0.1347\nstate[joint_eff]: [-0.0752, -12.0, 5.6821, 0.8913, -0.1783, -0.0415, -0.0073, -0.0205, -3.3573, 4.3556, 1.1795, 0.2564, -0.0171, 0.9744]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be6f4deeee2fba9ad4f32adb1c9be198557099be1ad1b0c9ff5ec033b1fe026",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d15a165665e1fe4af474b092f96c5850b9c4aaf7da817aa2f3dcf46bf27dd4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d30ada9028771c9943c1af5344ef62f5ec488e96ee5ca65958a990575d4b4f41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0woKEAgSGAI4AUIIdGhpbmtpbmcSDEo73KmGxBsJHY/MSBoMFQWgVtYoTyOhBhUQIjBNsawA1aFERObafZk7X+AzZND1ccic/V+Xski5f4qLwCV0YJoZfEdednU2rY4JJeoq8Amm1rd5om6eL9sLRyVI0MRi/vcz84Hntk2WPh4wnopEtAx/JePhawvzlIJhviBmMLxhPb3e/nW6ungS2RuL6v0oHokcG7wKSo/r/IvqDwvGm2NNJ1F27IA0gZaau/L2IojQRrewB9g5k2dKrO8U/iObasTCdpGg7PhWu31fEkxcjrbE/rnT32nlktAJLA94x9MkASN2RTVRzGDHaUwIrY2RyVXERTqcHE0+RLEStg7whAcvsKa0yNPSRWtbZ7mUzmgNzntsnARvX9L7Ar/XHoYdQNTJoLcOqMB/tC++syQLzvDuAMZyknzoA9frmR/xe2eShP7s7S6+mCJPfxRTPI7une0BK/2U0abSIBdPB2u122uO22gG4EnmNOYPza3IMyfwuwr/8I+zljJkMlPCRC+05I7JtfuvYPiuzq49P0t+3J+jQaBOnNel/k9m3O8s4kk2wRGFJd1pLts8L1/8xWuQYwJlux4ZnrjYdiV/a42H50kPgFYPMqBN5y7kWmfMKtffgaWHoxoQLNIHTLpZJ5JcPVRsatOgH0gOlFnUV7LfAwJm1RTiDTyktSuf/CM/dZvy4g8Dm/jkGpuwl5CsA1vf2w5TddklUMxmwVwPaNoR6RGuXzMa0QXYLTVlWO6mfda1E71nUC+Ay9yOkHbKz8G3B5VxAXITDV/AxrLTMgJD9rw/K3T/qqWzZbWF8elO0B3IOsdTV6+hzbiCbxCEtcAaeG8heipkOBwcwhQB32LzwiGbw7+D2tpopZHP9BT1yVaGjBPs1OjTWi+YF79c78ml66ZBYHqChrJRDXlsAx30Dj1bbxEdjIGbAL+w0WS8FiHYO8SnJv7thtD77SDEQIvUcdVP95ZAvCBcoKx/LAMgkzpaaHgMQqeACwnSUdQZTD01RQCuGN5zqBKNtyfpdJZyqQoprsJ7i2j+S48b5VCiSe5uNPvRGNwYggc49+6yDcBkSdL0yZivCiECOffYK17RZiLzy8ZrosVazLsNtOWi6g3XiO62dlBRoBsHXuWzDpmyEB7HRJVdRV8VaoU6lN8L9Lrun4wdlbTImcHPhKDBrL1EXk+68d/LMRtVA2PO/6VYRR9U1MRjbjVgKl3/39Y2LRDs9K4ha7N2gG5oBVdwisaUcnaUAta8VSNV2uekIQB6sY1NKYfQcugEleGFSardymxhPSwI24gsFI/xBCuljcOZ0Zg1TjjIlxjluMhD5lLbLcXuyVHBhNWnuOEw5O6e8Icb+Z2b/AVI7JGQP5myFK43XqAN9p6niwEThr1UpKfzCbRxko6QlwUuWx8yOSe2ijDfXNSIOodIQI6knxgpNj/uw2ICTEKs8yA/fRBtxGU4760vRWCx95UtCyeXQxFmRyE59sqJVmdltAnn8+ap41n39gslJ23JCZYOWAoNsvtM24IwngkbM+JlmMj45NW+lOGq4gHIjqBDOQ88lLcuRTFUgAzdSRybuhQrYaHayAowYUb18A7RdCAS0SGfT0XS5XhEQt3JgyAodfC6/W6Elu7V/3sUVbOYyKiC7gWOHkNU8NCRdpN7W2kjHB+6CnRi84466irufWYb0hIXEPuHNQUuceY1dOkgr4dHujRpyoAFZZkVx8kVpelZX1v3LNVsndS6SbjIKZzBTELPpsf+xeMUQZ7Dm7tzE36/aAwqcO00ySvFdlAX1qvEDdN5Lr9QGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0116HsXwSgSKws6ngbkQUNmK",
      "input": {
        "note": "Right gripper settled at 0.13, so it's holding the black marker (the blue pen stayed on the table). Carrying the marker up and over the right basket.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.14,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_0116HsXwSgSKws6ngbkQUNmK",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4059, -0.2459, -0.3595, 0.9967, 0.3508, 1.7599, 1.4357, -0.3347, 0.2161, 0.1986, 0.1396]\nstate[eef_state]: left_x=0.4764 left_y=-0.1382 left_z=0.2057 left_yaw=0.0856 left_pitch=-0.5769 left_roll=0.106 left_gripper=0.9967 right_x=0.4935 right_y=0.144 right_z=0.2017 right_yaw=0.0586 right_pitch=-0.0798 right_roll=0.0341 right_gripper=0.1396\nstate[joint_eff]: [-0.2667, -11.9726, 5.7641, 0.9206, -0.1685, -0.0415, -0.0073, -1.0462, -9.7709, 9.265, 1.4628, 0.0659, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2766569e67ae96cbcfc92c6ca1668449d2ed30789e864d6ce233515297bcd7e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd58ec95d9f125f5fcdd08ebed9342c80c6ec10fdb414b1a67d42b0483ab240e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e87d946b54ca7edf3b316886b863fed5a4f33656e21ec2e3b80a277a1ad2284",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 13.29 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]: [-0.3763, 2.2181, 2.4214, -1.4055, -0.2459, -0.3595, 0.9967, 0.3767, 1.549, 0.2779, 0.6201, 0.242, 0.2092, 0.9992]\nstate[eef_state]: left_x=0.4765 left_y=-0.1382 left_z=0.2058 left_yaw=0.0855 left_pitch=-0.5765 left_roll=0.1058 left_gripper=0.9967 right_x=0.3269 right_y=0.0876 right_z=0.0133 right_yaw=0.0573 right_pitch=-0.0675 right_roll=0.03 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -11.8769, 6.0103, 0.9304, -0.1685, -0.0611, -0.0122, 0.1299, -3.3026, 4.6838, 1.072, 0.2027, 0.0317, -0.0171]",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4055, -0.2459, -0.3592, 0.9967, 0.3927, 1.5608, 0.2832, 0.6235, 0.2611, 0.2359, 0.1347]\nstate[eef_state]: left_x=0.4765 left_y=-0.1382 left_z=0.2058 left_yaw=0.0852 left_pitch=-0.5765 left_roll=0.106 left_gripper=0.9967 right_x=0.3272 right_y=0.0901 right_z=0.0125 right_yaw=0.0431 right_pitch=-0.0671 right_roll=0.0397 right_gripper=0.1347\nstate[joint_eff]: [-0.0752, -12.0, 5.6821, 0.8913, -0.1783, -0.0415, -0.0073, -0.0205, -3.3573, 4.3556, 1.1795, 0.2564, -0.0171, 0.9744]",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4059, -0.2459, -0.3595, 0.9967, 0.3508, 1.7599, 1.4357, -0.3347, 0.2161, 0.1986, 0.1396]\nstate[eef_state]: left_x=0.4764 left_y=-0.1382 left_z=0.2057 left_yaw=0.0856 left_pitch=-0.5769 left_roll=0.106 left_gripper=0.9967 right_x=0.4935 right_y=0.144 right_z=0.2017 right_yaw=0.0586 right_pitch=-0.0798 right_roll=0.0341 right_gripper=0.1396\nstate[joint_eff]: [-0.2667, -11.9726, 5.7641, 0.9206, -0.1685, -0.0415, -0.0073, -1.0462, -9.7709, 9.265, 1.4628, 0.0659, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2766569e67ae96cbcfc92c6ca1668449d2ed30789e864d6ce233515297bcd7e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd58ec95d9f125f5fcdd08ebed9342c80c6ec10fdb414b1a67d42b0483ab240e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e87d946b54ca7edf3b316886b863fed5a4f33656e21ec2e3b80a277a1ad2284",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwkKEAgSGAI4AUIIdGhpbmtpbmcSDOKeiEnubF0RtrojSxoMdFWwLUj0RIZ+qGDRIjAatJ01KWmplH8E0frby63mTEGziOSxaPt2ShV/d/jot064d7QJvdsoAtcYY48Dth0qpAiDnnwvoGBEObdTMu9cnLdZZKIfFwhCLsSMd9wgkE8luNKB/qJYd7XR83B4YUCjAwUMicf8uOeJcRAdWlCarljcJF1aTMhUqZWat76GsOOLHS9fhey1nVGqT33mgp5pugOARd1FeKyD94Vplt3iDNFu2gxCKLaKN8fEHCHHfivZzbvid1Rk8aXJUhbD0R35VgwhkwaDXxu0x1GL4S7MxFR0YWmjl5HYtE9PqVP20Ntw0JJ1e13mH1k23e3O4vtx1rZLz7qOuz1mJqj6vBnJpAG3m2t7CLlwMuX5MP3sbIlY6X/GE/+XV6dyaDBFhTqt+Hzqt3L4o/3zSBMbBLhg/AySXVzmsj2ytqCZqo4/stAzUWYSxA4p+YefeDsqmYWjI3wre0ViTb/CfJknXxhU/OykX0Zszp5eiBoXQK+3IUwZeIb5TOrqDzp2VyilkHoFFSMDYGL/ZZ89E0vG7ZQeuEc4Q5cDK39nfdyWzBwXiKhuCBri0PgKGVqyGvX+jpLKPO5mgK2uYFZRurdJRgI+qLc5DYLG9Q94RI1qwgT16Rit2MQTZQln1p3NsnmZsg/X0MiKdha0DOi8lC2tx6TFk5Q6Sbx7yls7L7yOOWVY5fLtUZpvwkt6aZ8N3rVdDeLSi3ek9nGkJvSb6aBG8RHkdvNJl7ldunoW7URoRB6EMZfFTd91tk2OeAAniu+53hjuXx1bLZquf1sKee1Fgd1zn26udxlolcJFXSVD31HpBtRHZAzl8aOJkFHt3NHvGOhNZzX04Q44jGlY4Dv52xO0S9+mt8gL55/cL3KcbmKjp+4aZcBE/giO6aLcsZBaGsyJbgt3fht6pq8Tp50KbXAZTVovVFCmR69Z01zdpIybe+PGlp2XVfW7vnoOR+fOYPcwE9AJs38AMoFf/rBDeBh4GpaoARtICRfpTALNoKidKQa6oKlSee5iFJYyxUQrts/haV4jRAo6SB0DG9+x5oR44m3QAJDtWS3dOPDiWdaHoAtLkJoOwaeE/tyRe0Ink8BGOAAg5pvxV0NCOM4g5wbDOcd+LfOIMKbCbKngJ1gyMjLkRNkDWM22XCq00Ps96VTTD+/HI302kpBCvJMH/S2MWum0zxt686S6SGS0NLDXWC2DbzNZYa4H2x6Cp1jeujmgsIlIgTIyO2Plo3qlJ0OcBjFerwoCvH0ECRaSpvDwjRIDRiPixg44uERRfd4GdvLNcXE6faoiD+h40CtR8dMgVt3HqWyAoCvB99XKREkfGyNc2v8H+8ZRDTScMQw8tm9Him9ixkZx0iT2nJrvogRGqRY/MuN3xxqjcNgIRd7424HK6g1uhCvjlAOy+eiKGa26UZeVhctD/k3tD51p6dSQSG1f8/wgQ1LA105AQD8dNDwepwF0FpKZ2vkxUrTc3+pB5Xy1G1bnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013FDtq58F8Xf3w7HjZtY9YH",
      "input": {
        "note": "The right wrist view shows the empty right basket directly below the marker. Releasing it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013FDtq58F8Xf3w7HjZtY9YH",
      "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]: [-0.3763, 2.2181, 2.4214, -1.4052, -0.2459, -0.3595, 0.9967, 0.3492, 1.7721, 1.4311, -0.3542, 0.2089, 0.1871, 0.9948]\nstate[eef_state]: left_x=0.4766 left_y=-0.1382 left_z=0.2058 left_yaw=0.0853 left_pitch=-0.5762 left_roll=0.1056 left_gripper=0.9967 right_x=0.4909 right_y=0.1436 right_z=0.1898 right_yaw=0.0683 right_pitch=-0.1157 right_roll=0.0191 right_gripper=0.9948\nstate[joint_eff]: [-0.0342, -12.0, 5.6684, 0.9402, -0.1392, -0.0611, -0.0073, 0.0342, -10.3043, 7.3231, 1.8046, 0.0659, 0.0952, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b34fb53ce892f8c9d7220d025b40ceb68b4d9f7d6ac7ac62282e4ceed481b12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c3fcbb491b9aa52c022f883d4c338341f448708a60b1a5f0d6659bef8691bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f09c0c91fc889602efe82bd2bb1329c979a7fe4924a5db25a2ffe300dd2fe30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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