adhoc

completed
2026-09-23T02:27:57.575689+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
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
241.6 s
total steps
181
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

overheat

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 noteI see two teal baskets at the far edge and a cluster in the middle: plush teddy bears plus a yellow marker (left) and a green marker/stick (right). Plan: pens into one basket, plush toys into the other. Moving the left arm above the yellow marker to inspect it in the wrist camera.
move_to
left_x0.2700left_y-0.1600left_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]: [-0.0189, 0.7986, 0.6155, -0.3805, -0.0223, -0.0299, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0124, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1839 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -1.6342, 9.4154, 1.7851, -0.0464, 0.1148, -0.0562, -0.7726, -1.306, 9.9897, 1.7363, -0.105, -0.0562, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.16, "left_z": 0.15, "left_gripper": 1}, "note": "I see two teal baskets at the far edge and a cluster in the middle: plush teddy bears plus a yellow marker (left) and a green marker/stick (right). Plan: pens into one basket, plush toys into the other. Moving the left arm above the yellow marker to inspect it in the wrist camera."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe left wrist view shows the yellow marker low and to the image-left of the jaw column, with two teddy bears to the right. Shifting the gripper ~6 cm toward the arm's left to line the marker up under the jaws.
move_to
left_x0.2700left_y-0.2200left_z0.1300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.947, 1.1358, 0.6449, -0.3763, -0.7315, -0.6456, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0116, -0.0124, 0.9998] state[eef_state]: left_x=0.2643 left_y=-0.1591 left_z=0.1353 left_yaw=-0.0281 left_pitch=-0.0405 left_roll=0.0304 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1812 right_yaw=0.0004 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0205, -3.3299, 9.1556, 1.3846, -0.5934, -0.1099, -0.0562, -0.4171, -1.4017, 7.241, 1.7558, -0.0073, -0.022, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.22, "left_z": 0.13}, "note": "The left wrist view shows the yellow marker low and to the image-left of the jaw column, with two teddy bears to the right. Shifting the gripper ~6 cm toward the arm's left to line the marker up under the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteI had the sign backwards: the yellow marker sits toward the arm's left (+y), and it drifted further to the image edge. Moving ~16 cm in +y to bring the marker onto the jaw column.
move_to
left_x0.2700left_y-0.0600left_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]: [-1.0657, 1.3907, 0.7883, -0.379, -0.7841, -0.7742, 0.9995, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.2657 left_y=-0.2154 left_z=0.1203 left_yaw=-0.0399 left_pitch=-0.0667 left_roll=0.0435 left_gripper=0.9995 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2667, -4.9709, 8.3624, 1.2088, -0.5885, -0.0073, -0.0171, -0.1026, -0.8547, 7.1726, 1.8486, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": -0.06, "left_z": 0.15}, "note": "I had the sign backwards: the yellow marker sits toward the arm's left (+y), and it drifted further to the image edge. Moving ~16 cm in +y to bring the marker onto the jaw column."})
tool
executing move_to over 14 steps (1.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe yellow marker is now centred on the jaw column near the bottom of the left wrist view. Descending to table level to grasp it.
move_to
left_x0.2750left_y-0.0580left_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]: [-0.461, 0.7925, 0.5476, -0.4332, -0.3912, -0.2745, 0.9996, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0124, 0.9998] state[eef_state]: left_x=0.2723 left_y=-0.056 left_z=0.1526 left_yaw=-0.0025 left_pitch=-0.0557 left_roll=0.0317 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0153 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.2256, -1.4427, 6.6256, 1.5263, -0.1294, 0.2271, -0.0122, -0.1299, -1.2923, 7.0496, 1.707, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.275, "left_y": -0.058, "left_z": 0.0}, "note": "The yellow marker is now centred on the jaw column near the bottom of the left wrist view. Descending to table level to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteGripper is at table level with the yellow marker filling the jaw column in the wrist view. Closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.4633, 1.4063, 0.0792, 0.6476, -0.3954, -0.2886, 0.9996, -0.0143, 0.8032, 0.6083, -0.3859, -0.0116, -0.0124, 0.9998] state[eef_state]: left_x=0.2785 left_y=-0.0591 left_z=0.0028 left_yaw=0.0062 left_pitch=-0.0556 left_roll=0.0232 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1782 right_yaw=0.0008 right_pitch=-0.0206 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4034, -2.1128, 2.9333, 1.5702, -0.1783, 0.0366, -0.0122, -0.1026, -1.5111, 7.0496, 1.746, -0.0464, -0.0073, -0.0122] 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": 0}, "note": "Gripper is at table level with the yellow marker filling the jaw column in the wrist view. Closing to grasp it."})
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 noteGripper closed to 0.155 (~1.5 cm), so the yellow marker is held. The teal basket sits straight ahead in the left wrist view, so I lift and move forward toward it.
move_to
left_z0.2200left_x0.3800
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]: [-0.4641, 1.4063, 0.0696, 0.6479, -0.3954, -0.2874, 0.1552, -0.0147, 0.8032, 0.6083, -0.3855, -0.012, -0.0128, 0.9998] state[eef_state]: left_x=0.2753 left_y=-0.0577 left_z=0.0 left_yaw=0.005 left_pitch=-0.0638 left_roll=0.0283 left_gripper=0.1552 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.0205, -2.988, 4.7248, 1.6337, -0.2173, -0.0464, 0.9939, -0.0752, -1.2786, 7.2684, 1.7363, -0.0708, -0.0806, -0.0171] 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_z": 0.22, "left_x": 0.38}, "note": "Gripper closed to 0.155 (~1.5 cm), so the yellow marker is held. The teal basket sits straight ahead in the left wrist view, so I lift and move forward toward it."})
tool
executing move_to over 15 steps (1.5s)
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 noteThe basket fills the left wrist view with the held marker just short of its near rim; advancing 5 cm so the marker is over the basket interior.
move_to
left_x0.4300left_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]: [-0.2733, 1.2549, 0.9936, -0.4305, -0.2569, -0.1909, 0.1615, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0124, 0.9998] state[eef_state]: left_x=0.3749 left_y=-0.0548 left_z=0.2041 left_yaw=0.0305 left_pitch=-0.1019 left_roll=0.0248 left_gripper=0.1615 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0008 right_pitch=-0.0217 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1846, -5.1214, 9.6889, 1.6728, 0.0024, 0.2076, 1.0281, -0.1846, -1.4564, 7.3915, 1.746, -0.0317, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.43, "left_z": 0.2}, "note": "The basket fills the left wrist view with the held marker just short of its near rim; advancing 5 cm so the marker is over the basket interior."})
tool
executing move_to over 5 steps (0.5s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe marker is now hanging over the interior of the left basket; opening the gripper 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]: [-0.223, 1.4712, 1.1, -0.4026, -0.2306, -0.1902, 0.1651, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0124, 0.9997] state[eef_state]: left_x=0.4164 left_y=-0.0493 left_z=0.1727 left_yaw=0.0619 left_pitch=-0.1855 left_roll=0.0324 left_gripper=0.1651 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9997 state[joint_eff]: [-0.2256, -7.1453, 10.1538, 1.9707, -0.0122, 0.2955, 1.0281, -0.1299, -1.5248, 7.0769, 1.7607, -0.0464, -0.0415, -0.0073] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The marker is now hanging over the interior of the left basket; opening the gripper to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteMarker released over the left basket. Pulling the left arm up and back to clear the overhead view, and simultaneously bringing the right arm over the teddy-bear cluster in the middle of the table.
move_to
left_x0.2200left_y-0.2000left_z0.3000right_x0.3000right_y0.3500right_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]: [-0.2249, 1.4723, 1.0851, -0.4065, -0.2314, -0.2016, 0.9954, -0.0143, 0.8082, 0.6079, -0.3851, -0.012, -0.0124, 0.9998] state[eef_state]: left_x=0.4128 left_y=-0.0492 left_z=0.1654 left_yaw=0.068 left_pitch=-0.2041 left_roll=0.0303 left_gripper=0.9954 right_x=0.2955 right_y=0.0015 right_z=0.1768 right_yaw=0.0011 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0752, -6.5983, 8.1846, 1.619, -0.105, 0.1099, 0.0952, -0.1436, -1.2923, 7.0632, 1.7411, -0.0513, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.22, "left_y": -0.2, "left_z": 0.3, "right_x": 0.3, "right_y": 0.35, "right_z": 0.2}, "note": "Marker released over the left basket. Pulling the left arm up and back to clear the overhead view, and simultaneously bringing the right arm over the teddy-bear cluster in the middle of the table."})
tool
executing move_to over 30 steps (3.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe right wrist view shows a teddy bear right under the gripper but a few cm to the image-left of the jaw column; shifting ~5 cm toward the arm's left and dropping slightly to line up on its head/body.
move_to
right_y0.3700right_x0.3000right_z0.1800
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-1.037, 1.3922, 1.6135, -1.673, -0.8764, -1.0966, 0.9966, 1.1221, 1.7302, 1.5284, -0.7696, 0.8299, 0.8505, 0.9998] state[eef_state]: left_x=0.2322 left_y=-0.119 left_z=0.3025 left_yaw=0.249 left_pitch=-0.1502 left_roll=0.259 left_gripper=0.9966 right_x=0.2967 right_y=0.3241 right_z=0.2262 right_yaw=0.0122 right_pitch=-0.0312 right_roll=0.0262 right_gripper=0.9998 state[joint_eff]: [-10.4, 0.6359, 9.9624, 2.0488, 0.7888, 0.2076, 0.1197, 2.0034, 1.1966, 8.6906, 1.9267, 0.5495, 0.1636, -0.0171] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.37, "right_x": 0.3, "right_z": 0.18}, "note": "The right wrist view shows a teddy bear right under the gripper but a few cm to the image-left of the jaw column; shifting ~5 cm toward the arm's left and dropping slightly to line up on its head/body."})
tool
executing move_to over 4 steps (0.4s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent notePrevious move was speed-clamped so the arm is still short of target; re-issuing the shift to the arm's left and descending to the teddy bear's head height for a grasp.
move_to
right_y0.3700right_x0.3200right_z0.0900
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]: [-0.9382, 1.3785, 1.536, -1.673, -0.9176, -1.0435, 0.9968, 1.1152, 1.8244, 1.5658, -0.7296, 0.8333, 0.8806, 0.9998] state[eef_state]: left_x=0.2412 left_y=-0.0857 left_z=0.2919 left_yaw=0.3348 left_pitch=-0.1382 left_roll=0.3735 left_gripper=0.9968 right_x=0.3088 right_y=0.3413 right_z=0.2053 right_yaw=-0.0131 right_pitch=-0.0364 right_roll=0.0349 right_gripper=0.9998 state[joint_eff]: [-4.4376, -4.506, 7.8154, 1.3748, -0.0024, -0.0024, 0.0073, 3.6034, -3.6444, 7.9658, 1.1453, 0.5397, 0.1832, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.37, "right_x": 0.32, "right_z": 0.09}, "note": "Previous move was speed-clamped so the arm is still short of target; re-issuing the shift to the arm's left and descending to the teddy bear's head height for a grasp."})
tool
executing move_to over 8 steps (0.8s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteStill descending toward the teddy bear's head (last command was speed-clamped); also parking the left arm back and out of the way.
move_to
right_y0.3700right_x0.3200right_z0.0700left_x0.2000left_y-0.2000left_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8753, 1.3746, 1.4891, -1.6722, -0.9463, -0.9718, 0.9968, 1.1336, 1.8874, 1.5673, -0.6983, 0.8341, 0.8845, 0.9998] state[eef_state]: left_x=0.2455 left_y=-0.0649 left_z=0.2854 left_yaw=0.3706 left_pitch=-0.1402 left_roll=0.4788 left_gripper=0.9968 right_x=0.307 right_y=0.3562 right_z=0.1822 right_yaw=0.0016 right_pitch=-0.0487 right_roll=0.0105 right_gripper=0.9998 state[joint_eff]: [-2.2222, -3.2205, 5.8872, 1.2527, -0.188, -0.0855, -0.0171, 2.359, -8.0752, 7.706, 1.2772, 0.5348, 0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.37, "right_x": 0.32, "right_z": 0.07, "left_x": 0.2, "left_y": -0.2, "left_z": 0.3}, "note": "Still descending toward the teddy bear's head (last command was speed-clamped); also parking the left arm back and out of the way."})
tool
executing move_to over 13 steps (1.3s)
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 noteThe teddy's head fills the lower right-wrist view but sits ~4 cm to the image-left of the jaws; shifting further to the arm's left and dropping to head height before closing.
move_to
right_y0.3900right_z0.0500right_x0.3300
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8753, 1.6348, 1.446, -1.6733, -1.0798, -1.0561, 0.9967, 1.0691, 1.9636, 1.3369, -0.3706, 0.8188, 0.8684, 0.9998] state[eef_state]: left_x=0.279 left_y=-0.0856 left_z=0.2418 left_yaw=0.4252 left_pitch=-0.0755 left_roll=0.7431 left_gripper=0.9967 right_x=0.3303 right_y=0.3414 right_z=0.1007 right_yaw=-0.045 right_pitch=-0.0511 right_roll=0.0218 right_gripper=0.9998 state[joint_eff]: [-11.2342, -5.5043, 11.5487, 0.8718, 0.9646, -1.0965, -0.0269, 3.7675, -1.9487, 8.4991, 1.5507, 0.3297, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": {"right_y": 0.39, "right_z": 0.05, "right_x": 0.33}, "note": "The teddy's head fills the lower right-wrist view but sits ~4 cm to the image-left of the jaws; shifting further to the arm's left and dropping to head height before closing."})
tool
executing move_to over 5 steps (0.5s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteJaws are straddling the teddy bear's head; closing to grip the plush.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8577, 1.7512, 1.4849, -1.5452, -1.0565, -1.0622, 0.9968, 1.1183, 2.1628, 1.4681, -0.3645, 0.8642, 0.8974, 0.9998] state[eef_state]: left_x=0.3034 left_y=-0.1102 left_z=0.2129 left_yaw=0.447 left_pitch=-0.0815 left_roll=0.6831 left_gripper=0.9968 right_x=0.3294 right_y=0.3785 right_z=0.0594 right_yaw=-0.0381 right_pitch=-0.0419 right_roll=-0.0268 right_gripper=0.9998 state[joint_eff]: [-0.9641, -8.7726, 5.1214, -0.315, -0.7741, 0.3004, 0.0024, 0.5128, -9.7436, 7.159, 1.16, 0.149, 0.3541, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Jaws are straddling the teddy bear's head; closing to grip the plush."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteGripper settled at 0.15 on the plush, suggesting a grip; lifting 19 cm to confirm the teddy comes with it.
move_to
right_z0.2500
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.8635, 1.7515, 1.4834, -1.5475, -1.0481, -1.0515, 0.9968, 1.1202, 2.1754, 1.4803, -0.3538, 0.8867, 0.9169, 0.1531] state[eef_state]: left_x=0.3016 left_y=-0.1118 left_z=0.2113 left_yaw=0.439 left_pitch=-0.0942 left_roll=0.6936 left_gripper=0.9968 right_x=0.3322 right_y=0.3805 right_z=0.061 right_yaw=-0.0576 right_pitch=-0.0196 right_roll=-0.0089 right_gripper=0.1531 state[joint_eff]: [0.5265, -7.6923, 5.6, -0.0513, -0.6422, -0.0708, -0.0122, 0.2256, -9.5795, 7.1726, 1.1502, -0.0611, 0.1294, 0.696] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "Gripper settled at 0.15 on the plush, suggesting a grip; lifting 19 cm to confirm the teddy comes with it."})
tool
executing move_to over 13 steps (1.3s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe teddy bear is clearly lifted in the gripper. Carrying it toward the right-hand basket, which appears to the arm's right in the wrist view.
move_to
right_y0.2400right_x0.4000right_z0.3000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7967, 1.6257, 1.5829, -1.5646, -1.0687, -1.0679, 0.9968, 1.1362, 2.2127, 1.9316, -0.9878, 0.8635, 0.9138, 0.1536] state[eef_state]: left_x=0.3062 left_y=-0.0866 left_z=0.2703 left_yaw=0.4996 left_pitch=-0.0134 left_roll=0.4847 left_gripper=0.9968 right_x=0.3227 right_y=0.3849 right_z=0.1368 right_yaw=-0.0446 right_pitch=-0.1239 right_roll=-0.2071 right_gripper=0.1536 state[joint_eff]: [-5.6274, 3.8906, -2.3316, 0.4713, -0.1734, 0.149, -0.0122, -1.1145, -21.6274, 20.3556, 0.2466, 0.5543, -0.0171, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.24, "right_x": 0.4, "right_z": 0.3}, "note": "The teddy bear is clearly lifted in the gripper. Carrying it toward the right-hand basket, which appears to the arm's right in the wrist view."})
tool
executing move_to over 13 steps (1.3s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe wrist got twisted (roll -0.5) during the carry and a bear is visible on the table, so I am levelling the tool and continuing toward the right basket to check whether the plush is still held.
move_to
right_x0.4000right_y0.2200right_z0.3000right_roll0.0000right_pitch0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Classify the two types of objects on the table and place them into the two baskets. state[joint_pos]: [-0.7734, 1.5917, 1.6722, -1.2163, -1.1263, -1.2068, 0.9974, 0.9447, 2.0678, 1.9213, -1.2201, 0.7063, 0.4976, 0.1537] state[eef_state]: left_x=0.3475 left_y=-0.1113 left_z=0.3231 left_yaw=0.6433 left_pitch=0.1613 left_roll=-0.0878 left_gripper=0.9974 right_x=0.3468 right_y=0.2901 right_z=0.1676 right_yaw=0.0139 right_pitch=-0.384 right_roll=-0.5177 right_gripper=0.1537 state[joint_eff]: [-1.9897, -3.8359, -1.1145, -3.1966, 0.105, 1.4921, 0.0464, -13.0256, -24.9778, 17.5521, 2.0049, 0.4664, -0.0024, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.22, "right_z": 0.3, "right_roll": 0, "right_pitch": 0, "right_yaw": 0}, "note": "The wrist got twisted (roll -0.5) during the carry and a bear is visible on the table, so I am levelling the tool and continuing toward the right basket to check whether the plush is still held."})
tool
executing move_to over 13 steps (1.3s)
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 · 18.48 s
model
claude-opus-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]: [-0.0189, 0.7986, 0.6155, -0.3805, -0.0223, -0.0299, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1839 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6342, 9.4154, 1.7851, -0.0464, 0.1148, -0.0562, -0.7726, -1.306, 9.9897, 1.7363, -0.105, -0.0562, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87f013a5fa023881da53ae205de42bb4f18c8e0bdcb562182380efcebdeadae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb992da32a7e8bcbe597ceeee6b575c24eff8a1a72bc208d0011a953afad8827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88fc043105ec75eb2809a7b4049c244ddfe35aa7c1cadbe16a7efdfe77fc8630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 87f013a5fa02
wire blob fb992da32a7e
wire blob 88fc043105ec
call 1 attempt 0 · /messages · status 200 · 12.11 s
model
claude-opus-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]: [-0.0189, 0.7986, 0.6155, -0.3805, -0.0223, -0.0299, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1839 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6342, 9.4154, 1.7851, -0.0464, 0.1148, -0.0562, -0.7726, -1.306, 9.9897, 1.7363, -0.105, -0.0562, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87f013a5fa023881da53ae205de42bb4f18c8e0bdcb562182380efcebdeadae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb992da32a7e8bcbe597ceeee6b575c24eff8a1a72bc208d0011a953afad8827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88fc043105ec75eb2809a7b4049c244ddfe35aa7c1cadbe16a7efdfe77fc8630",
        "media_type": "image/png",
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  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NCsH7o8vmQ9RHJ84vUcMGP",
      "input": {
        "note": "I see two teal baskets at the far edge and a cluster in the middle: plush teddy bears plus a yellow marker (left) and a green marker/stick (right). Plan: pens into one basket, plush toys into the other. Moving the left arm above the yellow marker to inspect it in the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.27,
          "left_y": -0.16,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01NCsH7o8vmQ9RHJ84vUcMGP",
      "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]: [-0.947, 1.1358, 0.6449, -0.3763, -0.7315, -0.6456, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0116, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2643 left_y=-0.1591 left_z=0.1353 left_yaw=-0.0281 left_pitch=-0.0405 left_roll=0.0304 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1812 right_yaw=0.0004 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -3.3299, 9.1556, 1.3846, -0.5934, -0.1099, -0.0562, -0.4171, -1.4017, 7.241, 1.7558, -0.0073, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b6b6f894b595de984379443e894e1eea2ae263cf81371846eafc439306f2b61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62c9a5399a0026733a6017dc082471f7c21d964d0ab4c8d8173d9c90287bebf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2ddeb67f9280648ac3bc718944bae38eeac2bd33aa829a3e7406039aa883eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2b6b6f894b59
wire blob a62c9a5399a0
wire blob b2ddeb67f928
call 2 attempt 0 · /messages · status 200 · 15.77 s
model
claude-opus-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]: [-0.0189, 0.7986, 0.6155, -0.3805, -0.0223, -0.0299, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1839 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6342, 9.4154, 1.7851, -0.0464, 0.1148, -0.0562, -0.7726, -1.306, 9.9897, 1.7363, -0.105, -0.0562, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.947, 1.1358, 0.6449, -0.3763, -0.7315, -0.6456, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0116, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2643 left_y=-0.1591 left_z=0.1353 left_yaw=-0.0281 left_pitch=-0.0405 left_roll=0.0304 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1812 right_yaw=0.0004 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -3.3299, 9.1556, 1.3846, -0.5934, -0.1099, -0.0562, -0.4171, -1.4017, 7.241, 1.7558, -0.0073, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b6b6f894b595de984379443e894e1eea2ae263cf81371846eafc439306f2b61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a62c9a5399a0026733a6017dc082471f7c21d964d0ab4c8d8173d9c90287bebf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2ddeb67f9280648ac3bc718944bae38eeac2bd33aa829a3e7406039aa883eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2b6b6f894b59]
[blob a62c9a5399a0]
[blob b2ddeb67f928]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YPL5zyro58bAZVyJKEumWm",
      "input": {
        "note": "The left wrist view shows the yellow marker low and to the image-left of the jaw column, with two teddy bears to the right. Shifting the gripper ~6 cm toward the arm's left to line the marker up under the jaws.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.22,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YPL5zyro58bAZVyJKEumWm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0657, 1.3907, 0.7883, -0.379, -0.7841, -0.7742, 0.9995, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.2657 left_y=-0.2154 left_z=0.1203 left_yaw=-0.0399 left_pitch=-0.0667 left_roll=0.0435 left_gripper=0.9995 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.9709, 8.3624, 1.2088, -0.5885, -0.0073, -0.0171, -0.1026, -0.8547, 7.1726, 1.8486, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d79e898bf60d6573615f4e45e5be3931e7dba5d985cdddf22f20651ea49cc3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fd4a26e14043b0a42c881ec90cef135b5c34850747a8d1456f93dbba4849842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd3d2eaf03af0770b4603c06947e341c0beba4aeb40d41e7d821cf1fe7661f7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7d79e898bf60
wire blob 2fd4a26e1404
wire blob bd3d2eaf03af
call 3 attempt 0 · /messages · status 200 · 7.022 s
model
claude-opus-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]: [-0.0189, 0.7986, 0.6155, -0.3805, -0.0223, -0.0299, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1839 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6342, 9.4154, 1.7851, -0.0464, 0.1148, -0.0562, -0.7726, -1.306, 9.9897, 1.7363, -0.105, -0.0562, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.947, 1.1358, 0.6449, -0.3763, -0.7315, -0.6456, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0116, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2643 left_y=-0.1591 left_z=0.1353 left_yaw=-0.0281 left_pitch=-0.0405 left_roll=0.0304 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1812 right_yaw=0.0004 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -3.3299, 9.1556, 1.3846, -0.5934, -0.1099, -0.0562, -0.4171, -1.4017, 7.241, 1.7558, -0.0073, -0.022, -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]: [-1.0657, 1.3907, 0.7883, -0.379, -0.7841, -0.7742, 0.9995, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.2657 left_y=-0.2154 left_z=0.1203 left_yaw=-0.0399 left_pitch=-0.0667 left_roll=0.0435 left_gripper=0.9995 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.9709, 8.3624, 1.2088, -0.5885, -0.0073, -0.0171, -0.1026, -0.8547, 7.1726, 1.8486, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d79e898bf60d6573615f4e45e5be3931e7dba5d985cdddf22f20651ea49cc3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fd4a26e14043b0a42c881ec90cef135b5c34850747a8d1456f93dbba4849842",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd3d2eaf03af0770b4603c06947e341c0beba4aeb40d41e7d821cf1fe7661f7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7d79e898bf60]
[blob 2fd4a26e1404]
[blob bd3d2eaf03af]
{
  "content": [
    {
      "signature": "CAIS1xIKjgEIEhgCKkAP5zKboYz3HGIXUL3neU99Ywp8Yvwi9xYmJcCdlA27FIVv5/7AJ4hAJoz2gREEljrVwISLqdF1bVC7/1wyDSlbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAezyzNUGEgyEOWMpCtz3SsRAsI0aDD06xa+nJu6LiW5XOCIw6JYFtNyaZ43V0NWSkUm7m0iHN3gy+TkFmojabYTBXzLeAMRmaOAEwXU+0W8PDEYuKvUQXlbAwoVY4aHJutD+8vzcUiJfa0y5gnbFcNava/q45kKGYAhGOP0cVCRrz6J0zx3Um84FqEe0X6wdsjIKqohGm2kBmDKCs3j6TYPIS0yKx/2MqWw5o3G6PUbOhrDTeS0U1LbOjPychzAnC8o/iKLutWQo3A5/g99GV1J7PlgR0tJZ9dI+hFbgsx69ySuTE+HWNHCdASxInK/O93pXhqGdqwEfzTa1VZUQNnT/Fio6vEQfOcIqsuRv2iod4odRRyXNyCz2/lIZl0H0iAm5aD1/kQH1AuIQjHiYaUUpGmcoU2nY5rq1VsvggBmK+zx9sCJKO8a0mEDjH3wwVz6SYZ7MPm/1dmawhyBq+97BAUUBgakkTdq7D7jlsFViT8mrtO//b9HOAAHTQyO0dusvVmD1up5J+AVWMplbGKA+28Gdsh9U68xmzItJHyxPqfPm67dN89gdQCFi0UH3OxB7l2dXciCc6NBqhfuQzKX9u6stBuIwHSTIEQJihojAoDtqegPN1610NYiQY157oFLFCbSP/Awz4y7Ev1N9rTd0VNWYRwOeScUB+ApaqogX1O53aCsKnBfKnV84H5v6qcLxbrzy5LyeOe5Yqy6qzhG84L+2zBDNB9eyEBsyXNizmW+OWwRTRzO0IpT2ZrcGc3s6EOdXkQnargZkNecqdj44csK3lhy6tf3FQp8J9xIELWhp2EUnXHbaQnKLu+VZyC3/iC36ACEyV0EMqIc1kJFV/o46YyqmOzNc4Zlfa9reUnivcWL8/jo3NGLv6FT5A/ejNTwpclbxbYhz01HrPgBP4QJuExn8FZhd9P/Xa4AZdBjPoWZYiK2/prYiFj6GnaxmsJ2bMtFQJb3P79MSXuKSjuvEj1paZpD3swCasP5anU5Z5Ot5bFxlRQ9CpX9ePm413tawmyEqeVI4Q3+vB+5/PNemcq33zpW4sDYsnHDoYA4VeY9pr8kV5jd4ETDG2BWeL8HNaUnTODnmC4WaBZ3oGGZKXcoqW1u2bcdS+I3ykxrFa/Gf+xeufoEKQy/TPeQPcMsaaFl1EF6RLA3ZE/5YxJ8Jat8QFUrYKb/7sF/t/FlQUjXpwbtlJ+O4DHqWOx9SnSz3zP47QAGCTLftUGFhyfDnz+ipu2PcGfRPovzsx7d7LXw/F9bO92NCpvP4bG1kQVFlyrRYK2q2IcsLXM7yyABH0x5JFpZ/3RLVj03i/SafBpb6jn3Rr4mw1rCvXrlT3uJaXTrRP0nWSbGwRhlAU69lrFumtvaw5LPrBrxzeAALVuQrRs5kNL3HBa5WgdW314KSaDNW7IARlrb2pVlb8jXkI/U7J8gTn/XE2IJMq4ohXh/pDmdJjps+qgPWvLcU3FaY5Qu4cohCteDsvNRRAO908IaPfwHhwkfCI9LrKZm7S2cbgpPHJWrrk7G/BhIXxvf4ttNOgDlAoVVth56lflDkzhzJrgKIEvbKOaxfIna2lUaKrv66e6sUkNFNkXEzY1+n+7oWSB4qms3I7kWd1Nhp6MvE6MWSxAuTSkWkG+MIGJPhS3oPJb7ED3/+yjHGLFsn7JHVWv19yIlbCU4QUCg4/llRYlX46ZD6C7pdkn6UlJB51ISXqFC8Cqltr6/D3ZhYW6hRzXoCSZ9CAfB++7YpkujAAfdzb2MtqHWKzjh741Hd+xPItatWjo4xe1YGGNJ9cx/35+Qr2IcguG+pUci+LcIt/+ksiGQ7TjA4+FSab7HWr6/YkekMNVEdJ8j2omapsdGElrT7smxxtQTifyCpcjOyKm3H27+/eer7NrUACVwsfNF1lLlF/mYbESzdZChVr7iwWNrwiS/1YuZ5D4thzYNu05cVhO+dMvXap4g2DfHU4sZlwizAhLpvEUsdzN6BcgJd1Lzel3Kjyk2eNhKQYe79SStGOH0IYeGOFn7upNy+Hm3XahqHM35/pK0SosNB+NVtpzdEICjCJu5Alm+sXnXgtquuZw93gGRjtxSBNxNjjAPnUzE5P7WY6prlLkMNgouucDgvWMhVE0pzVPGkvU/EWJqx46vDgYNafykMV6EdMbKiWMBziJA3YhA/pWMkAo+FssHv4MtoAIrHLB9c4AqENH9xIrN3xx4KgklQ5as4aTYRPLjq13y38z/mIbjuJlwkYYpAhg34FijcjLib+0zR0daIv5wNa7CfdshCl04fl+zIJfma4YlRgPxl7TG8ih8aXnXDQ3b+bYVN++AxBuOY9dd2NAB27GzwFIRtPTqaUnjqSlDvYt9LLrxVMlexTE1Xo7s7zlbhvoSUwMRXYHnojyhDH1QVNkVlWuJTofam5v8iwt3z7LRRMDRO6ZLSijRLKJxCwKlVYcAUeMh5tXC2E0gE/z9zmTNl62M4aMSSbkejvdewot6ZB9OMPETc46SZuQU890j7OW5oHHN4aubL3eOvPzkB91c3HLMPvYhIUTx+EH/sN8tk/DaA2JA4HXNUuugILD0o2bK+Tfjrj7ATF9rSSOnnG7Ko/dOodc7i1N51Zoo11eGWs2plNDkSMv5ywiThndObR1HruTT8Zq4AHsvYtAPETLUAtv/IPd9ojMoPoSjNwlRkNXdgiQVrOo+61eUbYZaW9B+OYtj5z6pUNAQs+Ocj1EK3Kg+8Gr7sXBwd9Y60HYmmMZ+ueZmLkDX+8P9BHOw+PNVZ6Snb9R6Nx3rjbmJ0VvXwv+c0OODS+BZy9gjisR0/O2vnlXpjz3xX6Jd/v6uiwC1210LD/K9kkonZwqO1dSmeQHNF4R6SnizEdvXwXV0Z0HaeRzecVqN9cNAsEOBRny6GEAydzwQOyjih4+/IOvWvFFGzygjiGeeTb2LUIwGRTNuW8htpEJs93+fGUQGFsOMKSff7nU3q+QfKIfVgaGSJ+jERcHZbIuRIAtgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AzSun6yPYueUtfYaRbM5iX",
      "input": {
        "note": "I had the sign backwards: the yellow marker sits toward the arm's left (+y), and it drifted further to the image edge. Moving ~16 cm in +y to bring the marker onto the jaw column.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.06,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01AzSun6yPYueUtfYaRbM5iX",
      "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]: [-0.461, 0.7925, 0.5476, -0.4332, -0.3912, -0.2745, 0.9996, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2723 left_y=-0.056 left_z=0.1526 left_yaw=-0.0025 left_pitch=-0.0557 left_roll=0.0317 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0153 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.4427, 6.6256, 1.5263, -0.1294, 0.2271, -0.0122, -0.1299, -1.2923, 7.0496, 1.707, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3224e4f04677d4c80677ac820c4c7379e4ea4496b6ba91df148d6b0ea8081612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c9ee8aac07e291f962e5e639c26e1a0282390fbe89a5e584019665f9665753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51379031c54dca708f31f23cd937f65386552faa1acea5c31655faf99dcbfa5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3224e4f04677
wire blob e4c9ee8aac07
wire blob 51379031c54d
call 4 attempt 0 · /messages · status 200 · 4.393 s
model
claude-opus-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]: [-0.947, 1.1358, 0.6449, -0.3763, -0.7315, -0.6456, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0116, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2643 left_y=-0.1591 left_z=0.1353 left_yaw=-0.0281 left_pitch=-0.0405 left_roll=0.0304 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1812 right_yaw=0.0004 right_pitch=-0.008 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -3.3299, 9.1556, 1.3846, -0.5934, -0.1099, -0.0562, -0.4171, -1.4017, 7.241, 1.7558, -0.0073, -0.022, -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]: [-1.0657, 1.3907, 0.7883, -0.379, -0.7841, -0.7742, 0.9995, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.2657 left_y=-0.2154 left_z=0.1203 left_yaw=-0.0399 left_pitch=-0.0667 left_roll=0.0435 left_gripper=0.9995 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.9709, 8.3624, 1.2088, -0.5885, -0.0073, -0.0171, -0.1026, -0.8547, 7.1726, 1.8486, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.461, 0.7925, 0.5476, -0.4332, -0.3912, -0.2745, 0.9996, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2723 left_y=-0.056 left_z=0.1526 left_yaw=-0.0025 left_pitch=-0.0557 left_roll=0.0317 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0153 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.4427, 6.6256, 1.5263, -0.1294, 0.2271, -0.0122, -0.1299, -1.2923, 7.0496, 1.707, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3224e4f04677d4c80677ac820c4c7379e4ea4496b6ba91df148d6b0ea8081612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c9ee8aac07e291f962e5e639c26e1a0282390fbe89a5e584019665f9665753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51379031c54dca708f31f23cd937f65386552faa1acea5c31655faf99dcbfa5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3224e4f04677]
[blob e4c9ee8aac07]
[blob 51379031c54d]
{
  "content": [
    {
      "signature": "CAIS9wcKjgEIEhgCKkAL29eQ7pnXzWkOe3oiPZKk0d+hrWh14BhmqwTXr5AMVBYEE0AZHzyD+EAbBHCSJW6nw+/f68pWDcgMk8fJFS4AMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfbyzNUGEgwOJ7Wo9FRHJ5BNEzgaDMNO+Ee984MfQbziNiIw0ETljecl9EXz7jW6GCw+bi7Z5dXz1/rKJZRgYX6NbH6347lgSmAkv+co93qw2aEGKpUGtjO9Lmrgm6Ude3zKRS1fP1PkElkXtf2dZhTifdM/dn4faPhwjjlC476+dAcr973wB55NOFJ0adtWIO/hHJ96AgXfQGbw/8BCFc4IfP5YEro8FgMPOukMJ8wISXbA1pDQ0busjVIdmok2/fA+H0CojueWJhUh6PzLvH/yYFocpq0chFpf8dYNdFiISwI4CvV4ONyBlP9j3KYSK8Lw4jYoNK2EVkBEnrIaCqFFD+Kl/iaIzWb5Jc97xrRMyrHz0pbegIz7VjJos4BT+bMDHTdDjH3f9oJSBoKNuU7a38sNiy0UkhPCrLxTHTIkPlEX9x6lcGkncRaCGQ/nRWZWtQBygMq4OHbswVyr7F1rTALpBembSrFE8knWHUdTitQiqEAMrO8mX2nY6Wqu62dmMorpXDk5ewcgj0WrKSr6uCCVOJgrt402jp6RORLldvYyK6XN3UIM4DnvAxU0u7BjVAtnyfgngwZhUD9EDusQEqStplXVOZDGKPju8ySoUAzXQB/FrjnFC1R4YBTHRW1cJlpiBFwPfYnzE5RkcpAl2Agf9u8M1XKzuPCf5684owtokgNODibwwLx6BUwEv1lWIy+1Kx2TNQ40VFjQlQYtequn0sVn4atGRtg4T8YIes4VpFcLTEhfM43LfkaKVF72n8vPXsjJpYOCF9y/InijyiA/rrh9YjU0tKImIqF/8GW9IBefiM1B2ZEXOoI5At73TK+Sg8wAU9/V5i95SmcEsfc7uh3WqVtyFDQneDNvnZ5ya/Xg7M8jSnTAl79gq30VVfnGedUuGsyc6NXGRTv1+DDq125xjUhgVgHQ3NeCY3a5xeVBtp/nO2VneWJfdPqWdEJ3HqO5yBSBkd71nfSz9OQAywDzhSLVikRwuoiXKAyt4AxgVQrFmREhrdG5YoUlkXMo7IKIuef3exTeCF0dPRRF2p3KMjot1vJuU1UmrRtFql3k2izZ3ATbmiYw4uT9Y+J2hnZK7WxyO2kehlRPYvYX6cSAIrj6U2W9Yf9kvLgmG65lIWCvcohZY/WFi4l0ZVqiYcCaQagQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012TnDipnmn293a9KtGRw6M8",
      "input": {
        "note": "The yellow marker is now centred on the jaw column near the bottom of the left wrist view. Descending to table level to grasp it.",
        "targets": {
          "left_x": 0.275,
          "left_y": -0.058,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012TnDipnmn293a9KtGRw6M8",
      "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]: [-0.4633, 1.4063, 0.0792, 0.6476, -0.3954, -0.2886, 0.9996, -0.0143, 0.8032, 0.6083, -0.3859, -0.0116, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2785 left_y=-0.0591 left_z=0.0028 left_yaw=0.0062 left_pitch=-0.0556 left_roll=0.0232 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1782 right_yaw=0.0008 right_pitch=-0.0206 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -2.1128, 2.9333, 1.5702, -0.1783, 0.0366, -0.0122, -0.1026, -1.5111, 7.0496, 1.746, -0.0464, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01d38bcbc372d0a583a0c24454d0e5247136b6ef5ecd62e15e2d1e4dd364d3e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd5a503d3e67c2bce8baa33bff2b5b96285de0fa4079d44336a7b7ae55580a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50cca5da9132f29251a5debd36818c1c0d41a28520be8bd445331a2fe76be897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 01d38bcbc372
wire blob dd5a503d3e67
wire blob 50cca5da9132
call 5 attempt 0 · /messages · status 200 · 22.19 s
model
claude-opus-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]: [-1.0657, 1.3907, 0.7883, -0.379, -0.7841, -0.7742, 0.9995, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.2657 left_y=-0.2154 left_z=0.1203 left_yaw=-0.0399 left_pitch=-0.0667 left_roll=0.0435 left_gripper=0.9995 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -4.9709, 8.3624, 1.2088, -0.5885, -0.0073, -0.0171, -0.1026, -0.8547, 7.1726, 1.8486, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.461, 0.7925, 0.5476, -0.4332, -0.3912, -0.2745, 0.9996, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2723 left_y=-0.056 left_z=0.1526 left_yaw=-0.0025 left_pitch=-0.0557 left_roll=0.0317 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0153 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.4427, 6.6256, 1.5263, -0.1294, 0.2271, -0.0122, -0.1299, -1.2923, 7.0496, 1.707, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4633, 1.4063, 0.0792, 0.6476, -0.3954, -0.2886, 0.9996, -0.0143, 0.8032, 0.6083, -0.3859, -0.0116, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2785 left_y=-0.0591 left_z=0.0028 left_yaw=0.0062 left_pitch=-0.0556 left_roll=0.0232 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1782 right_yaw=0.0008 right_pitch=-0.0206 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -2.1128, 2.9333, 1.5702, -0.1783, 0.0366, -0.0122, -0.1026, -1.5111, 7.0496, 1.746, -0.0464, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01d38bcbc372d0a583a0c24454d0e5247136b6ef5ecd62e15e2d1e4dd364d3e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd5a503d3e67c2bce8baa33bff2b5b96285de0fa4079d44336a7b7ae55580a3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50cca5da9132f29251a5debd36818c1c0d41a28520be8bd445331a2fe76be897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 01d38bcbc372]
[blob dd5a503d3e67]
[blob 50cca5da9132]
{
  "content": [
    {
      "signature": "CAIS2AQKjgEIEhgCKkD4YtyEHENmLgBUKSBLiQmSjnWrttCsdIZunLn9TgTEmhh5KJYKBKUJIgIFfQ0nUEb8WORZPZZnMKnedTiFNPw6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf3yzNUGEgwiI3l+NzI1P7APSDAaDAw9Pa6UWCS4+Jy+sCIwFBJMwJ0hRDixmFrHuow15vi73xsjiHVm9efts2bHyijbHFkBPCLnNn1eEvXWxEqJKvYC8buPFz5vxUkOqqpLdPioV/K3VavYU3Mk/n2hM9ZabWoPAVbot9O1IPWRoBRU5grveQO2+HGBLTN8GjrIy3j7yj/4tslKTfFwd8HVTSFoxujaCgTysvbJ4h213SbDr9GBGtdMIgURw710fwpYtIJfOKmo4/BNtS2GGqDBRGn0MkbaSgj0MTG+bQljOKoN0o/9ifA25xb1x28lJQr/rys9W899jKNvirUWdDG80SAuRLSy1kjzwXomB+aNnJGrb75KLB3Lb3VwrVXy6rxCAPNDeYDpCX7ruvl701doOiOY9B7CDbs/KYtEPVC7CaMnkqYRPFYaNbgN4maEjFhhU/Ueo+SloOOlcIXe7NqbPPH0EvRMNUDGxKeZZykGVbxVDhYBLMTZ1K3Pn9GScwMTnbjIrcBq2Sg8SEDlcpx7SgpjYvQTC29tjds0615iCqIe5aPFvNiYbbTcVrYfXW6XrTsHNm0Y6MPpkDgNQ96KUFB6XSosmwuBitgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NPVvuo51RT9ApaXz2Jkv7E",
      "input": {
        "note": "Gripper is at table level with the yellow marker filling the jaw column in the wrist view. Closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NPVvuo51RT9ApaXz2Jkv7E",
      "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]: [-0.4641, 1.4063, 0.0696, 0.6479, -0.3954, -0.2874, 0.1552, -0.0147, 0.8032, 0.6083, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.2753 left_y=-0.0577 left_z=0.0 left_yaw=0.005 left_pitch=-0.0638 left_roll=0.0283 left_gripper=0.1552 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -2.988, 4.7248, 1.6337, -0.2173, -0.0464, 0.9939, -0.0752, -1.2786, 7.2684, 1.7363, -0.0708, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d77adfbbc116813d05e9b7fb1ecb1f1c2dcf49b23ba6e1d26961cc1c0f5b8324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f22c75cb1ab028a3cf8f27e0c5b5314e3223ad1343b4b539aa22be8b12ac7d86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1969954df360f705cdd1cae5d50e0f5cab6476489d6f568ba3784e2431e85568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d77adfbbc116
wire blob f22c75cb1ab0
wire blob 1969954df360
call 6 attempt 0 · /messages · status 200 · 5.721 s
model
claude-opus-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]: [-0.461, 0.7925, 0.5476, -0.4332, -0.3912, -0.2745, 0.9996, -0.0147, 0.7986, 0.6086, -0.3855, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2723 left_y=-0.056 left_z=0.1526 left_yaw=-0.0025 left_pitch=-0.0557 left_roll=0.0317 left_gripper=0.9996 right_x=0.2949 right_y=0.0014 right_z=0.1797 right_yaw=0.0008 right_pitch=-0.0153 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -1.4427, 6.6256, 1.5263, -0.1294, 0.2271, -0.0122, -0.1299, -1.2923, 7.0496, 1.707, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4633, 1.4063, 0.0792, 0.6476, -0.3954, -0.2886, 0.9996, -0.0143, 0.8032, 0.6083, -0.3859, -0.0116, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2785 left_y=-0.0591 left_z=0.0028 left_yaw=0.0062 left_pitch=-0.0556 left_roll=0.0232 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1782 right_yaw=0.0008 right_pitch=-0.0206 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -2.1128, 2.9333, 1.5702, -0.1783, 0.0366, -0.0122, -0.1026, -1.5111, 7.0496, 1.746, -0.0464, -0.0073, -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]: [-0.4641, 1.4063, 0.0696, 0.6479, -0.3954, -0.2874, 0.1552, -0.0147, 0.8032, 0.6083, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.2753 left_y=-0.0577 left_z=0.0 left_yaw=0.005 left_pitch=-0.0638 left_roll=0.0283 left_gripper=0.1552 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -2.988, 4.7248, 1.6337, -0.2173, -0.0464, 0.9939, -0.0752, -1.2786, 7.2684, 1.7363, -0.0708, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d77adfbbc116813d05e9b7fb1ecb1f1c2dcf49b23ba6e1d26961cc1c0f5b8324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f22c75cb1ab028a3cf8f27e0c5b5314e3223ad1343b4b539aa22be8b12ac7d86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1969954df360f705cdd1cae5d50e0f5cab6476489d6f568ba3784e2431e85568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d77adfbbc116]
[blob f22c75cb1ab0]
[blob 1969954df360]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G6UCvKYTLk7AX6Wpkuhvr9",
      "input": {
        "note": "Gripper closed to 0.155 (~1.5 cm), so the yellow marker is held. The teal basket sits straight ahead in the left wrist view, so I lift and move forward toward it.",
        "targets": {
          "left_x": 0.38,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01G6UCvKYTLk7AX6Wpkuhvr9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2733, 1.2549, 0.9936, -0.4305, -0.2569, -0.1909, 0.1615, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=-0.0548 left_z=0.2041 left_yaw=0.0305 left_pitch=-0.1019 left_roll=0.0248 left_gripper=0.1615 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0008 right_pitch=-0.0217 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.1214, 9.6889, 1.6728, 0.0024, 0.2076, 1.0281, -0.1846, -1.4564, 7.3915, 1.746, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:643a6358ed0cf5675c2524dd2d2a92a3520641df70b052a31741cf4a098218d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36bae24302ecc736b994d8717390d547ce69c6d7cf0829666e7cadccc431bfa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb0d6bd9ceab370ae1f21ac79b344afc336f5f2540dfc221d68712d91bf341df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 643a6358ed0c
wire blob 36bae24302ec
wire blob fb0d6bd9ceab
call 7 attempt 0 · /messages · status 200 · 2.99 s
model
claude-opus-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]: [-0.4633, 1.4063, 0.0792, 0.6476, -0.3954, -0.2886, 0.9996, -0.0143, 0.8032, 0.6083, -0.3859, -0.0116, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.2785 left_y=-0.0591 left_z=0.0028 left_yaw=0.0062 left_pitch=-0.0556 left_roll=0.0232 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1782 right_yaw=0.0008 right_pitch=-0.0206 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -2.1128, 2.9333, 1.5702, -0.1783, 0.0366, -0.0122, -0.1026, -1.5111, 7.0496, 1.746, -0.0464, -0.0073, -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]: [-0.4641, 1.4063, 0.0696, 0.6479, -0.3954, -0.2874, 0.1552, -0.0147, 0.8032, 0.6083, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.2753 left_y=-0.0577 left_z=0.0 left_yaw=0.005 left_pitch=-0.0638 left_roll=0.0283 left_gripper=0.1552 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -2.988, 4.7248, 1.6337, -0.2173, -0.0464, 0.9939, -0.0752, -1.2786, 7.2684, 1.7363, -0.0708, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2733, 1.2549, 0.9936, -0.4305, -0.2569, -0.1909, 0.1615, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=-0.0548 left_z=0.2041 left_yaw=0.0305 left_pitch=-0.1019 left_roll=0.0248 left_gripper=0.1615 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0008 right_pitch=-0.0217 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.1214, 9.6889, 1.6728, 0.0024, 0.2076, 1.0281, -0.1846, -1.4564, 7.3915, 1.746, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:643a6358ed0cf5675c2524dd2d2a92a3520641df70b052a31741cf4a098218d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36bae24302ecc736b994d8717390d547ce69c6d7cf0829666e7cadccc431bfa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb0d6bd9ceab370ae1f21ac79b344afc336f5f2540dfc221d68712d91bf341df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 643a6358ed0c]
[blob 36bae24302ec]
[blob fb0d6bd9ceab]
{
  "content": [
    {
      "signature": "CAISnwUKjgEIEhgCKkC2h14/QNwmCtnXiUrGQGUygy4N7zF9lbh12el9V+yVZCjvSnW+lvpOezBycHFgaAc1CJfxNznMQ7oYls60ntnIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ7zzNUGEgxqrtto1uh12goQCd0aDAMacLgYn0dmpg2qBSIwSrojSR+YdZqzJg6oLZ4G+5hYX/gIzmhUi+QDucQm7f4yBBWhU3uZ1J1cYNNICjcHKr0DSWXIZXJNofzlAJQgqa5DHG+F6gGa5eJtkJIUxNNPeEqJO7XTkYDU60xSy17iK0JK1fH655zbvBrEteh1ZGDV7eyDhJllZqUOWOlFpWDT4T2Eb/hT7zlGniFTZT5UzCcULZRRBk4hzFwISwfDvmmGh+v7+QUiX58k/IBQGS7IF1pAFmFJfb/ldfdx6GNCHgjHCZ5iD1GyVAcxg0Sdj8SvD1ATM+1INjD4jSb8/in3PFxh9hDY7098nqTEzfoksqJdPfmljxF1/lJv7YKBDu8K79lB+azMKKoWspyjqry3ip1LNJ7hsnBvk5JwxYbFRfWXvw2b7ZbhCA15xwpX6ABev/ZsOz5507Vq0CP4nDbcyNfw84YSlbbiXL4os4ymtJpYsndONPMR+yG5YuvRkRAxBjO1jbNUx/B5wPMgVjTlet19LLFY6BGwgfHtj6gw24SKf4bZMAYW5QbJNBEZ7qZpvUBS2kWh20ceslbG+Bj7wwNyuGnB1Ln2dLkNQFC6228pMUV3Q7f3gIZ4WHpsw1BIT8sRjYrBXprIOFTzyk4GHlpfGNWn+c/dbt2SBbfdCm9uhmZkHrqKuBIZNmUxsBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017FJSXfN9DFoTVjvRxz6wsg",
      "input": {
        "note": "The basket fills the left wrist view with the held marker just short of its near rim; advancing 5 cm so the marker is over the basket interior.",
        "targets": {
          "left_x": 0.43,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017FJSXfN9DFoTVjvRxz6wsg",
      "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]: [-0.223, 1.4712, 1.1, -0.4026, -0.2306, -0.1902, 0.1651, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4164 left_y=-0.0493 left_z=0.1727 left_yaw=0.0619 left_pitch=-0.1855 left_roll=0.0324 left_gripper=0.1651 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -7.1453, 10.1538, 1.9707, -0.0122, 0.2955, 1.0281, -0.1299, -1.5248, 7.0769, 1.7607, -0.0464, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af0a5d4436fe16779fae4459859423a957f2290e426e04ae7baf41122f07431b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c7acadacd1798c8e71ea905e3ea90eaf1d620ecff1a5930ce318847f851c7a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8a6028b7e2f65d0f1422b192ebaa2382182365cc1b6b56292bf560b777260c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob af0a5d4436fe
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 20.65 s
model
claude-opus-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]: [-0.4641, 1.4063, 0.0696, 0.6479, -0.3954, -0.2874, 0.1552, -0.0147, 0.8032, 0.6083, -0.3855, -0.012, -0.0128, 0.9998]\nstate[eef_state]: left_x=0.2753 left_y=-0.0577 left_z=0.0 left_yaw=0.005 left_pitch=-0.0638 left_roll=0.0283 left_gripper=0.1552 right_x=0.2952 right_y=0.0014 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0202 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -2.988, 4.7248, 1.6337, -0.2173, -0.0464, 0.9939, -0.0752, -1.2786, 7.2684, 1.7363, -0.0708, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2733, 1.2549, 0.9936, -0.4305, -0.2569, -0.1909, 0.1615, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=-0.0548 left_z=0.2041 left_yaw=0.0305 left_pitch=-0.1019 left_roll=0.0248 left_gripper=0.1615 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0008 right_pitch=-0.0217 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.1214, 9.6889, 1.6728, 0.0024, 0.2076, 1.0281, -0.1846, -1.4564, 7.3915, 1.746, -0.0317, -0.0415, -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 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]: [-0.223, 1.4712, 1.1, -0.4026, -0.2306, -0.1902, 0.1651, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4164 left_y=-0.0493 left_z=0.1727 left_yaw=0.0619 left_pitch=-0.1855 left_roll=0.0324 left_gripper=0.1651 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -7.1453, 10.1538, 1.9707, -0.0122, 0.2955, 1.0281, -0.1299, -1.5248, 7.0769, 1.7607, -0.0464, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af0a5d4436fe16779fae4459859423a957f2290e426e04ae7baf41122f07431b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c7acadacd1798c8e71ea905e3ea90eaf1d620ecff1a5930ce318847f851c7a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8a6028b7e2f65d0f1422b192ebaa2382182365cc1b6b56292bf560b777260c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob af0a5d4436fe]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6gIKjgEIEhgCKkC5uRJET8SIrhwS23Ay5zuV7ZgkeNNNZrWWVg5kqkJq/Rb30RXZf6TTr1kt1OCkHS4mjexmOFgC55poswkkEAfAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAabzzNUGEgywK7anNrdAeniGIzAaDJhNj1V4RC4uA7GSbCIwV/J4fIOBuCXpZ0xzrAKy8tLmVxRTIvzq/yR11suAxX7EaR+XGbyqjVrqCVHGSFJMKogBpeD+jb2mN9mqnRS2G93lHMYB57/rWxmwt/1eYJ2MnF3fVK2kaQfDqhcYEwN/zAt6qwIwqGlPgVMhYVCHfgZGnIYI1Xc5mtFtT+LyCDCJSB17GE/hrF+FyZYf4RQjoFVPtUzpIaht9oYllXOBnt4vQutEnJ6O6pBgrAlgfCBnCGGIumVs0vAO6xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BNQh2zDs3qXENPQwXAdGek",
      "input": {
        "note": "The marker is now hanging over the interior of the left basket; opening the gripper to drop it in.",
        "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_01BNQh2zDs3qXENPQwXAdGek",
      "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]: [-0.2249, 1.4723, 1.0851, -0.4065, -0.2314, -0.2016, 0.9954, -0.0143, 0.8082, 0.6079, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4128 left_y=-0.0492 left_z=0.1654 left_yaw=0.068 left_pitch=-0.2041 left_roll=0.0303 left_gripper=0.9954 right_x=0.2955 right_y=0.0015 right_z=0.1768 right_yaw=0.0011 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.5983, 8.1846, 1.619, -0.105, 0.1099, 0.0952, -0.1436, -1.2923, 7.0632, 1.7411, -0.0513, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c08802adabb3aa126bc21c8a482148256e3bb14fbc48ead0d94ea8241b4e36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efca758b3d00308fdbeeee6d9ffd479a05f21cb268120e9c5262e1b14fa5e8a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf1d2e27c76f4897181981dd02d9e7387be570e31d7e6d003057943235db6a7c",
        "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 · 16.2 s
model
claude-opus-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]: [-0.2733, 1.2549, 0.9936, -0.4305, -0.2569, -0.1909, 0.1615, -0.0147, 0.8051, 0.6083, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.3749 left_y=-0.0548 left_z=0.2041 left_yaw=0.0305 left_pitch=-0.1019 left_roll=0.0248 left_gripper=0.1615 right_x=0.2953 right_y=0.0014 right_z=0.1778 right_yaw=0.0008 right_pitch=-0.0217 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -5.1214, 9.6889, 1.6728, 0.0024, 0.2076, 1.0281, -0.1846, -1.4564, 7.3915, 1.746, -0.0317, -0.0415, -0.0122]\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]: [-0.223, 1.4712, 1.1, -0.4026, -0.2306, -0.1902, 0.1651, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4164 left_y=-0.0493 left_z=0.1727 left_yaw=0.0619 left_pitch=-0.1855 left_roll=0.0324 left_gripper=0.1651 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -7.1453, 10.1538, 1.9707, -0.0122, 0.2955, 1.0281, -0.1299, -1.5248, 7.0769, 1.7607, -0.0464, -0.0415, -0.0073]",
      "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]: [-0.2249, 1.4723, 1.0851, -0.4065, -0.2314, -0.2016, 0.9954, -0.0143, 0.8082, 0.6079, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4128 left_y=-0.0492 left_z=0.1654 left_yaw=0.068 left_pitch=-0.2041 left_roll=0.0303 left_gripper=0.9954 right_x=0.2955 right_y=0.0015 right_z=0.1768 right_yaw=0.0011 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.5983, 8.1846, 1.619, -0.105, 0.1099, 0.0952, -0.1436, -1.2923, 7.0632, 1.7411, -0.0513, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c08802adabb3aa126bc21c8a482148256e3bb14fbc48ead0d94ea8241b4e36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efca758b3d00308fdbeeee6d9ffd479a05f21cb268120e9c5262e1b14fa5e8a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf1d2e27c76f4897181981dd02d9e7387be570e31d7e6d003057943235db6a7c",
        "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_0121GiZKC6FwJxcdf5sGa3i3",
      "input": {
        "note": "Marker released over the left basket. Pulling the left arm up and back to clear the overhead view, and simultaneously bringing the right arm over the teddy-bear cluster in the middle of the table.",
        "targets": {
          "left_x": 0.22,
          "left_y": -0.2,
          "left_z": 0.3,
          "right_x": 0.3,
          "right_y": 0.35,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 30 steps (3.0s)",
      "tool_use_id": "toolu_0121GiZKC6FwJxcdf5sGa3i3",
      "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]: [-1.037, 1.3922, 1.6135, -1.673, -0.8764, -1.0966, 0.9966, 1.1221, 1.7302, 1.5284, -0.7696, 0.8299, 0.8505, 0.9998]\nstate[eef_state]: left_x=0.2322 left_y=-0.119 left_z=0.3025 left_yaw=0.249 left_pitch=-0.1502 left_roll=0.259 left_gripper=0.9966 right_x=0.2967 right_y=0.3241 right_z=0.2262 right_yaw=0.0122 right_pitch=-0.0312 right_roll=0.0262 right_gripper=0.9998\nstate[joint_eff]: [-10.4, 0.6359, 9.9624, 2.0488, 0.7888, 0.2076, 0.1197, 2.0034, 1.1966, 8.6906, 1.9267, 0.5495, 0.1636, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0494f1cb592ebb1f881cc842aa493feed71b4f7c89b9d9ce87a6c0b7f2666cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4806230dc5806901f0bc1cb6002c2f366a1df659475c4913ab607233d2ce014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2e7151aaf798d0279374accb52257d51d9bc5c0c9b59a8f701596ed4cbadd82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 11.58 s
model
claude-opus-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]: [-0.223, 1.4712, 1.1, -0.4026, -0.2306, -0.1902, 0.1651, -0.0147, 0.8082, 0.6083, -0.3851, -0.012, -0.0124, 0.9997]\nstate[eef_state]: left_x=0.4164 left_y=-0.0493 left_z=0.1727 left_yaw=0.0619 left_pitch=-0.1855 left_roll=0.0324 left_gripper=0.1651 right_x=0.2955 right_y=0.0014 right_z=0.177 right_yaw=0.0008 right_pitch=-0.0248 right_roll=0.0004 right_gripper=0.9997\nstate[joint_eff]: [-0.2256, -7.1453, 10.1538, 1.9707, -0.0122, 0.2955, 1.0281, -0.1299, -1.5248, 7.0769, 1.7607, -0.0464, -0.0415, -0.0073]",
      "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]: [-0.2249, 1.4723, 1.0851, -0.4065, -0.2314, -0.2016, 0.9954, -0.0143, 0.8082, 0.6079, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4128 left_y=-0.0492 left_z=0.1654 left_yaw=0.068 left_pitch=-0.2041 left_roll=0.0303 left_gripper=0.9954 right_x=0.2955 right_y=0.0015 right_z=0.1768 right_yaw=0.0011 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.5983, 8.1846, 1.619, -0.105, 0.1099, 0.0952, -0.1436, -1.2923, 7.0632, 1.7411, -0.0513, -0.0611, -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 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]: [-1.037, 1.3922, 1.6135, -1.673, -0.8764, -1.0966, 0.9966, 1.1221, 1.7302, 1.5284, -0.7696, 0.8299, 0.8505, 0.9998]\nstate[eef_state]: left_x=0.2322 left_y=-0.119 left_z=0.3025 left_yaw=0.249 left_pitch=-0.1502 left_roll=0.259 left_gripper=0.9966 right_x=0.2967 right_y=0.3241 right_z=0.2262 right_yaw=0.0122 right_pitch=-0.0312 right_roll=0.0262 right_gripper=0.9998\nstate[joint_eff]: [-10.4, 0.6359, 9.9624, 2.0488, 0.7888, 0.2076, 0.1197, 2.0034, 1.1966, 8.6906, 1.9267, 0.5495, 0.1636, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0494f1cb592ebb1f881cc842aa493feed71b4f7c89b9d9ce87a6c0b7f2666cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4806230dc5806901f0bc1cb6002c2f366a1df659475c4913ab607233d2ce014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2e7151aaf798d0279374accb52257d51d9bc5c0c9b59a8f701596ed4cbadd82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuxIKjgEIEhgCKkC0nAU7moRj6CPcI2+c4on2pFtqi+aqPtWQLdTwQIqHzCrgqh+6JvP+ZY6NKS6CdEXizJH/PEgdf9jGd03OFQuwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdvzzNUGEgwMVt8C0HMi/pMcCp8aDL+IOirorrbxb33p2SIwGHQKCxiPnfgQZf1+AZDG/ymJ1jL00xzh+KGROVCyCtOcv7X0/E1TXbuMm79ScioaKtkQ8CbLpJiol1PhB0dkpjZEtSSXniTD+9aCKARsfozJUjbl5FSQk1jkdwrM35l1UVdQmZJgelfHRMmSGwJPmXCN9isId5Tw6h4Zg62RnAKOKNnAefFSY7D7D+5ofm3yZqWtt1OscA3Y0Z9U4P8JFqkcb0xymBsydK3P23ROQvmk0wK5Eiq3ToOIHBguMlX54ydW0J5j4NsTQZZLyEW9irjwAw810KUZSaBcCO5nm1ipKS5xkSeJ4SnrgRR7OjsF5QebfSUT1ZisQCbIGTKXIIhOFCxqboII6FAVGZ0frI5gVn1iQGQItdM0vO95+NAUNg1X8nOoIxUReR1xxvsyr6Jxkb+kMuH7Sz3FWkqWT2rKJkLJ/IWnVECh8kZzkyi8WWrKzZyHxDNQaO1Edd/hJEEqFp8+xqFMntL5LzwfLy35YVGsayzOqkgKVTw9hPLdRxv3Gu3ybHLtya9UhxHgFUUKxwYBQLyGxoq3j+7kd58mAVhoE0cVO3fwH0pSsqvQetpf9C8ZIbkEONeemqQPs9tTOtWZSQ0vP2n59y1Xwc1urVycK/tAwhZ/HsW19ZmfxsXPxW6PXcWuFXBTqKw0fS9iMvBethyzlVYrVEH5OnrICSZuMspzhYuZIoa3rSZBcDcj11T36YjcCO31XDLr6N31NyRT1Ks9dv7J9dWPzmAxX/a5HMfHdN3sMm67Gm94Ap+0ALL/EMrYihiaH/eMbkur5hM9pjtr5bTBZS3EQ9fExfLizlr+QvITbFF7wkcQYXaLgLu3G6CAthGeVwtscH//5F/Xyv6eLaot8JneWjAArEy2SDQi9gsXxVNIqZUU2u2liLASreQS6v7vIwosSPMbQGbKiwG8QpdRwmNXGJjYG24522XgzbwWQXINQ9pW4W9IY5VkbWRp8y6LZfexXN89PMxk1CiGk4+zadr8gSC5ACE2qxZ3Te0BVV/LilNJv9ACOhdRa3ewuSjBbbTPmOo89QfxdLKi5iK5+FPc9XpWUOqLiyAZKlMlZ0WktqDfgvxtECqFS7bIBYVCHVrdGI8JXt1w7poh5nfg4Fw29h9FgZokskp8lD88dSDOoPRxq0N25GgMgco5azk/oajiNGK9ShWaKuDZX8bMIRznywbK+M8+38jlpXKIAtbS1oNwFFVWNsJmD19x5hS3i7k/UIkTkZ9MxfBmibMYKTLslln4Q5tsm3fo3j9NHA8uvLuqZuNOKa0B1FBhoH/RIgoV/kktxbbwIiT1u+kXKKge1UltZHSazTxnTDVw1Vbjhp9BqQDA592DmAk0IDOBFvVBNsoTG2bJH4OUoLqdr/lN6mPDmQKsGBsoane9OaP5yEIjzktd9xMFws/FFvpR37Q+GFjLh5kROwF9r9fjVnaxSYzDW0n7nBWKxxc4JQS1W0eX7Pms1CksBhpsgzmdwIWGq7i4nvIiqZMh4ENpCVINr79W1qP4Lh+w+bbmlqOZfNfSNRO+/7MauslR2rUOpGRezJAHcBr4TLWx5Mgw9QZJYWp1axjBDB1CF2peCI3kNKH6W18po0WjRVRX5ymAZZdPBZxZhtTeYMhY2WwPfyXXCvn2WGfwwO6ns+GFB4RpS8ftaW7gOI5ydA3lyGFxqbMPW5/NNOm7WWZNbbf9GFlnwj1f/tIxCMWQGf21pkmOO5JEJnYZBRiq76zfMhotDZO+gtaf6NwgLx6C6WzM7WF1uKtKDfV/548bITEEXZAoD26ftlvF7+Cqhjxk8U9hSXkDo3xVezpFLdtCQXNVL+Z8xTirp1quaJ7mpe2+vuZcZCnYUoaxBDmW6p9LF3AKutkBEPM+bT/Iez41Vphqb2HbcWsnHE0QDkQK70xQLxt5+0FnjR1EQme+A2h7oskD302y3MzO3yX3tPuSqFwZYCY9tU8w+0KiDeN9fSRO9gTeKjzr/HlFBR28GK3aXCth5V+k6HQ84DhFcCkT/8BrvWy861ZxdAWUWKaaCROjQtgio/+mByEz4+QVDsHTnvi5EHK+XUklDoXExnU4CbFXDhaHVsXE62iqDAloC2i/R1mJ1FbX9MrELE7BjARmrdzqTDsUlHSMCP4jf1tBhb5R19csDBBT51DNDbUJ+VvMA8oOcnG58syVA8WglecO2hr/YcXMwKaKQp21DfAEiAkF2g5tOcvnkhd56MhXB2OI6z1aDouG92J9APMsb/acyok50VlMcn+eXLUL8bM8Iy8vDZEw4zrTsJ1/BvuhFcALpkK93gKubC8dVfiCpFWNtVl86zyqnD4V9BYgOOB2l/FTH6KSY/rRbjGT+LGU2LtB9oaPEK4+Gy+/qPmEulM/StJkhhm23/cxUl7clHDeOyV9D4zu4LdUp/fMjQBInOINXYOxxLOWoHy7/UHA7k5PIOXrD02BpqEgvVcg43LNBWBtHJHmyAgxTTxtSzbQ60G1uzpTAf+ipVzc2dRKQXLuAl9kk8DA2EYjYhzaI7f858v4fIQsAa+AVO6hdLEwsPc7vJ6rYJtsSP8rYZWGIPAxWup705emUj7yEbas30UJ5RvaEgLwBobQMaubSyFZr0H2NBaidfWRA1or0ZyCkbBT04+KcETAhn5HvHFBCY6UGYLlFK6nCjnAS73h0+F9Wf1pARTDe0pbYlL64Wc2LdDDjkJXCmFyspKSUpE3NRycg2Jz8liP8XvYm/zcRUIk9C98T/pP+t8nQVrQ/qpw/vK0iYoO+wDVDmZppg36eoAoG6UIb9Q9eQCB9hwOZYrGTezTlGz3RA2LSY7t4lpUSIIdTEja4ZXnbAZGW3/z4JzRN5OKUAWsmKfZcU1WhYHnLR2jJXND7hxb6+4BRU7LxTBDbin6h067oDIxH0lyv3CLq6g3QRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VibcpxwhSK9ECNk9FcMAoL",
      "input": {
        "note": "The right wrist view shows a teddy bear right under the gripper but a few cm to the image-left of the jaw column; shifting ~5 cm toward the arm's left and dropping slightly to line up on its head/body.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.37,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VibcpxwhSK9ECNk9FcMAoL",
      "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]: [-0.9382, 1.3785, 1.536, -1.673, -0.9176, -1.0435, 0.9968, 1.1152, 1.8244, 1.5658, -0.7296, 0.8333, 0.8806, 0.9998]\nstate[eef_state]: left_x=0.2412 left_y=-0.0857 left_z=0.2919 left_yaw=0.3348 left_pitch=-0.1382 left_roll=0.3735 left_gripper=0.9968 right_x=0.3088 right_y=0.3413 right_z=0.2053 right_yaw=-0.0131 right_pitch=-0.0364 right_roll=0.0349 right_gripper=0.9998\nstate[joint_eff]: [-4.4376, -4.506, 7.8154, 1.3748, -0.0024, -0.0024, 0.0073, 3.6034, -3.6444, 7.9658, 1.1453, 0.5397, 0.1832, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bea3bcd288ddbe49e0a8a2e865bd9f8f71a681545e3937a42e44a951e8de69b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e64be8b60c44693fb5404cbb846f35a0edb8fada92897056ab75cb31d6b7f5bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eff77d02553219830be758ae208a76ac5470af6c574a7c21dfc7b145e36586d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.545 s
model
claude-opus-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]: [-0.2249, 1.4723, 1.0851, -0.4065, -0.2314, -0.2016, 0.9954, -0.0143, 0.8082, 0.6079, -0.3851, -0.012, -0.0124, 0.9998]\nstate[eef_state]: left_x=0.4128 left_y=-0.0492 left_z=0.1654 left_yaw=0.068 left_pitch=-0.2041 left_roll=0.0303 left_gripper=0.9954 right_x=0.2955 right_y=0.0015 right_z=0.1768 right_yaw=0.0011 right_pitch=-0.0252 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -6.5983, 8.1846, 1.619, -0.105, 0.1099, 0.0952, -0.1436, -1.2923, 7.0632, 1.7411, -0.0513, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.037, 1.3922, 1.6135, -1.673, -0.8764, -1.0966, 0.9966, 1.1221, 1.7302, 1.5284, -0.7696, 0.8299, 0.8505, 0.9998]\nstate[eef_state]: left_x=0.2322 left_y=-0.119 left_z=0.3025 left_yaw=0.249 left_pitch=-0.1502 left_roll=0.259 left_gripper=0.9966 right_x=0.2967 right_y=0.3241 right_z=0.2262 right_yaw=0.0122 right_pitch=-0.0312 right_roll=0.0262 right_gripper=0.9998\nstate[joint_eff]: [-10.4, 0.6359, 9.9624, 2.0488, 0.7888, 0.2076, 0.1197, 2.0034, 1.1966, 8.6906, 1.9267, 0.5495, 0.1636, -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]: [-0.9382, 1.3785, 1.536, -1.673, -0.9176, -1.0435, 0.9968, 1.1152, 1.8244, 1.5658, -0.7296, 0.8333, 0.8806, 0.9998]\nstate[eef_state]: left_x=0.2412 left_y=-0.0857 left_z=0.2919 left_yaw=0.3348 left_pitch=-0.1382 left_roll=0.3735 left_gripper=0.9968 right_x=0.3088 right_y=0.3413 right_z=0.2053 right_yaw=-0.0131 right_pitch=-0.0364 right_roll=0.0349 right_gripper=0.9998\nstate[joint_eff]: [-4.4376, -4.506, 7.8154, 1.3748, -0.0024, -0.0024, 0.0073, 3.6034, -3.6444, 7.9658, 1.1453, 0.5397, 0.1832, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bea3bcd288ddbe49e0a8a2e865bd9f8f71a681545e3937a42e44a951e8de69b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e64be8b60c44693fb5404cbb846f35a0edb8fada92897056ab75cb31d6b7f5bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff77d02553219830be758ae208a76ac5470af6c574a7c21dfc7b145e36586d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISrQoKjgEIEhgCKkDcndsWLPrJEfhGOUXPyNPgSUP8XOBOPjjO64NtIkycxrCeLjr3PwsFx/To7CPNS7umZ4XhNFicigLa2LFXV+hQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAejzzNUGEgxYwsPZpbUu5atxF4kaDDYsnz1svJ1CGg01zyIwyHaWCcOO0HtC6gL81Qx6vqkubZzjs9QPuzCA2m7ae9OJn5/3Jvx8ZBoHwoEYRSiYKssISBM6yXgpWU/MC7CA0SrZ1WRKLdCY9o0Mm8nQ+qt+ASau53DcePtkBQ63WN8Bj/s68/f0GBs/aQmOW+bcgY7aKxOFceE9MJjDpnVnoMsboSmJp6E0GJ4vq9GDvhWJN20h1Z3JMWODKN7BGE0NYWbP5JDGfdRqO5iTtidz43AUm8zkm0rQXB/sn9nRu+KEflWM4LU6EimP+A8R/s2VhncsikkXyfog4HVTBOH0ruOuRhaXnRRoU0al006KSi+4ia4El4IzQQKRe/hFRtBKMx4oPWR1DAoewAIWxu3zL+OHMH+KZew91GlS/WbqY5wNeEJIOHA88Suky5CiCa2qf6T1bhSsqPhDFDvq5lCoQNqrlDMu2d417afIrriYD0Cwwn9Dm/CMVSVXFAKXZ2F1LKIUiQdRnAzTaMwgNqnm2OYkaTBXa8jGA/LKe4qt8kX482gkfNhNNpv2V1nYggv/OJIRE5tJCTgb8FtYZWgL+i/WjsddnFPJahVqN1TThlCsMeUoyr4tJQ7PZYyvFJpW95gl3dYCRvqey43iDGe3enp9A+nhZeWtEQpLQfXyXV+TRNjWC2Gpt2IIqAxnR8Z9qBFBpzHHEMdNunqAD1hbC8kXjRUbo2qHv0u0awrJ7FlWDFyd5Fc8JwxMVsqnEm9RzwtQvQiUk4c6p/8oLuF6UFeahumo5Rt8/1OM48i/8tMZugI2K94kCcN4w6j4P8tSrYqj3W8kmjcQNOL5c+N+/+lQuTwYMxvEpNl9fhEFELXnUpTtMQyNo3wKMhtvl1x+qWZp8hO72ZiPemZ9Syk16Sj5mOxa3hMn4924agF8o9Uwxni2RPnOAcuGfqLhgpdTitnrPAYGHUN003bRZYOMP9DqTQiGA8a1WwVefAHy6iRqh4BBI8lD3RKzzRhrOsc/r/xYm+is8f3r/cW9Ro6y4PAnmQmVwgBMOhfbMDfS29/ybcEU10Q2ryiHHCugNSMqcdcuf1VrzwN3AZgZQwozPdGDpjq/gkMFSMCfR0hRekl47v/QsVOYiT1iPWPx8epQ5MR+gCawFAbeYX/3/xurjbs/ZCleFei0MQ7ohN39fY5gGtbxBypret+oKJPXl458+hYwOG/xBsxf+McYr567AQqmBi6seBP1MQTnn5kUccz9Q1DD5Jdsa4ALGNMqBWPHQLP/SnsxlX++OiofTqIUppnsrKTtWvkGq8gsHNt8WY9YSwdA35ywcNBI1jZGMrwRe+H7Mu2I9Er5ONs0V/vNoSM4wWLtEfC4qdt/f68wCCzWuOhDPZ1WV00H3IVU7L2qiJ4Fn5YERlz4XhqmkHOMYfuEGuBWHj2hWoVcCewwe3+YxOAHQysiJdPpgZM9oOXmGJ8AZHZ9lN3l5uNdyhUNRawAf2xqWQkGXmgre5/Fw7EltOWjYfgBz/zieJtmQ3nsXGTxH8IfZ5d0PKn6DCDh9fvUREoimaMV/70ZBdfswRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015cUx5Wd1ShWpyBb4DeDqLn",
      "input": {
        "note": "Previous move was speed-clamped so the arm is still short of target; re-issuing the shift to the arm's left and descending to the teddy bear's head height for a grasp.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.37,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015cUx5Wd1ShWpyBb4DeDqLn",
      "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]: [-0.8753, 1.3746, 1.4891, -1.6722, -0.9463, -0.9718, 0.9968, 1.1336, 1.8874, 1.5673, -0.6983, 0.8341, 0.8845, 0.9998]\nstate[eef_state]: left_x=0.2455 left_y=-0.0649 left_z=0.2854 left_yaw=0.3706 left_pitch=-0.1402 left_roll=0.4788 left_gripper=0.9968 right_x=0.307 right_y=0.3562 right_z=0.1822 right_yaw=0.0016 right_pitch=-0.0487 right_roll=0.0105 right_gripper=0.9998\nstate[joint_eff]: [-2.2222, -3.2205, 5.8872, 1.2527, -0.188, -0.0855, -0.0171, 2.359, -8.0752, 7.706, 1.2772, 0.5348, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:149681aba638be4d2e23d9993fb6a109e95a87c38be4de398fb935dfd8ed0b3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d74eddee165e27b7775673c438d9ad67915dabfcb37842eef3a18f3f737e03d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4727ab52c7342a6eacb8040317368cfb56f31a08c8b5d244e1334b0de3b8018e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 6.777 s
model
claude-opus-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]: [-1.037, 1.3922, 1.6135, -1.673, -0.8764, -1.0966, 0.9966, 1.1221, 1.7302, 1.5284, -0.7696, 0.8299, 0.8505, 0.9998]\nstate[eef_state]: left_x=0.2322 left_y=-0.119 left_z=0.3025 left_yaw=0.249 left_pitch=-0.1502 left_roll=0.259 left_gripper=0.9966 right_x=0.2967 right_y=0.3241 right_z=0.2262 right_yaw=0.0122 right_pitch=-0.0312 right_roll=0.0262 right_gripper=0.9998\nstate[joint_eff]: [-10.4, 0.6359, 9.9624, 2.0488, 0.7888, 0.2076, 0.1197, 2.0034, 1.1966, 8.6906, 1.9267, 0.5495, 0.1636, -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]: [-0.9382, 1.3785, 1.536, -1.673, -0.9176, -1.0435, 0.9968, 1.1152, 1.8244, 1.5658, -0.7296, 0.8333, 0.8806, 0.9998]\nstate[eef_state]: left_x=0.2412 left_y=-0.0857 left_z=0.2919 left_yaw=0.3348 left_pitch=-0.1382 left_roll=0.3735 left_gripper=0.9968 right_x=0.3088 right_y=0.3413 right_z=0.2053 right_yaw=-0.0131 right_pitch=-0.0364 right_roll=0.0349 right_gripper=0.9998\nstate[joint_eff]: [-4.4376, -4.506, 7.8154, 1.3748, -0.0024, -0.0024, 0.0073, 3.6034, -3.6444, 7.9658, 1.1453, 0.5397, 0.1832, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8753, 1.3746, 1.4891, -1.6722, -0.9463, -0.9718, 0.9968, 1.1336, 1.8874, 1.5673, -0.6983, 0.8341, 0.8845, 0.9998]\nstate[eef_state]: left_x=0.2455 left_y=-0.0649 left_z=0.2854 left_yaw=0.3706 left_pitch=-0.1402 left_roll=0.4788 left_gripper=0.9968 right_x=0.307 right_y=0.3562 right_z=0.1822 right_yaw=0.0016 right_pitch=-0.0487 right_roll=0.0105 right_gripper=0.9998\nstate[joint_eff]: [-2.2222, -3.2205, 5.8872, 1.2527, -0.188, -0.0855, -0.0171, 2.359, -8.0752, 7.706, 1.2772, 0.5348, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:149681aba638be4d2e23d9993fb6a109e95a87c38be4de398fb935dfd8ed0b3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d74eddee165e27b7775673c438d9ad67915dabfcb37842eef3a18f3f737e03d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4727ab52c7342a6eacb8040317368cfb56f31a08c8b5d244e1334b0de3b8018e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1gQKjgEIEhgCKkBU78Tj7//kxKtSYvHy4wduRFrq9vrAJyrVGlm8ZaIQgL+mJMzxjatf/DzbUWgCtViCEb7bLWccWq9S8AQq5hZdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe7zzNUGEgx6VA74XCW3yHfF1O0aDDVtK2mUfGDoZr8KsiIw0U9WgzMf0RNcSA/rJgh0lNdptbgpu39JCsDoPP+yNhcI5/m5gihxyQX2WFFEV5AdKvQCdT8BnIIZjw9obMBG10rQz6qAog0Xx7GX7V3FSvLkb3vhNPWVgaF0RbeW+lJgB3+URZmyZ2ru83GJCWOQTTGRbh7Th36GHhrHJ54yfs2dmLNkbKcjt5a5L5YmuOLKCESlpjDxcaVUhXC4UEzGNWx+Hw/hfefsbWYkxdXokVszk7UpTdFAuxVDSEMcWj5uSq3UQb4AJEYFLF5KrNGws4RrF09AZS6iqyingyCgN0mzyMtMbI++uVzwYFzGbFj7Iic2rPnQxw9rMMrTEKDwP0rhqvkoQjiKhhcUhBbdmysC0T1AfLFxY6h9gUtIHR+tX8zddcf/+Y2I9GJMsljGoXtD+It3yTZz+aF7DL7U/FBe+foyuyLX0UuUWZH4yiNYGaFcFubuwbOhD200kxsnHzVHauAsjOPks2g0qTv2GwkV/VcMOdRZimi6PHq7y4nSPRyjG89EGGHifSL0CQEH1cQi+svseRsBljjh+dvJeM3t1mpK8SC7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011CnKKCWwAe3FeRm5ZxJSjH",
      "input": {
        "note": "Still descending toward the teddy bear's head (last command was speed-clamped); also parking the left arm back and out of the way.",
        "targets": {
          "left_x": 0.2,
          "left_y": -0.2,
          "left_z": 0.3,
          "right_x": 0.32,
          "right_y": 0.37,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_011CnKKCWwAe3FeRm5ZxJSjH",
      "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]: [-0.8753, 1.6348, 1.446, -1.6733, -1.0798, -1.0561, 0.9967, 1.0691, 1.9636, 1.3369, -0.3706, 0.8188, 0.8684, 0.9998]\nstate[eef_state]: left_x=0.279 left_y=-0.0856 left_z=0.2418 left_yaw=0.4252 left_pitch=-0.0755 left_roll=0.7431 left_gripper=0.9967 right_x=0.3303 right_y=0.3414 right_z=0.1007 right_yaw=-0.045 right_pitch=-0.0511 right_roll=0.0218 right_gripper=0.9998\nstate[joint_eff]: [-11.2342, -5.5043, 11.5487, 0.8718, 0.9646, -1.0965, -0.0269, 3.7675, -1.9487, 8.4991, 1.5507, 0.3297, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d82afeb31efd9ced5c653223bafb2c7ab5a5ad4250e67aa7a7b61a2ab110ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:204244f0c1e6dc38dcc894149bd1a417f8c9150b49f5a8caaa5edeb4e03ead36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46c43e063cd89eb7271e63ca66c4a8a025c12ed1d9afc187a1f90a4dc399917b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 4.211 s
model
claude-opus-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]: [-0.9382, 1.3785, 1.536, -1.673, -0.9176, -1.0435, 0.9968, 1.1152, 1.8244, 1.5658, -0.7296, 0.8333, 0.8806, 0.9998]\nstate[eef_state]: left_x=0.2412 left_y=-0.0857 left_z=0.2919 left_yaw=0.3348 left_pitch=-0.1382 left_roll=0.3735 left_gripper=0.9968 right_x=0.3088 right_y=0.3413 right_z=0.2053 right_yaw=-0.0131 right_pitch=-0.0364 right_roll=0.0349 right_gripper=0.9998\nstate[joint_eff]: [-4.4376, -4.506, 7.8154, 1.3748, -0.0024, -0.0024, 0.0073, 3.6034, -3.6444, 7.9658, 1.1453, 0.5397, 0.1832, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8753, 1.3746, 1.4891, -1.6722, -0.9463, -0.9718, 0.9968, 1.1336, 1.8874, 1.5673, -0.6983, 0.8341, 0.8845, 0.9998]\nstate[eef_state]: left_x=0.2455 left_y=-0.0649 left_z=0.2854 left_yaw=0.3706 left_pitch=-0.1402 left_roll=0.4788 left_gripper=0.9968 right_x=0.307 right_y=0.3562 right_z=0.1822 right_yaw=0.0016 right_pitch=-0.0487 right_roll=0.0105 right_gripper=0.9998\nstate[joint_eff]: [-2.2222, -3.2205, 5.8872, 1.2527, -0.188, -0.0855, -0.0171, 2.359, -8.0752, 7.706, 1.2772, 0.5348, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8753, 1.6348, 1.446, -1.6733, -1.0798, -1.0561, 0.9967, 1.0691, 1.9636, 1.3369, -0.3706, 0.8188, 0.8684, 0.9998]\nstate[eef_state]: left_x=0.279 left_y=-0.0856 left_z=0.2418 left_yaw=0.4252 left_pitch=-0.0755 left_roll=0.7431 left_gripper=0.9967 right_x=0.3303 right_y=0.3414 right_z=0.1007 right_yaw=-0.045 right_pitch=-0.0511 right_roll=0.0218 right_gripper=0.9998\nstate[joint_eff]: [-11.2342, -5.5043, 11.5487, 0.8718, 0.9646, -1.0965, -0.0269, 3.7675, -1.9487, 8.4991, 1.5507, 0.3297, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d82afeb31efd9ced5c653223bafb2c7ab5a5ad4250e67aa7a7b61a2ab110ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:204244f0c1e6dc38dcc894149bd1a417f8c9150b49f5a8caaa5edeb4e03ead36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46c43e063cd89eb7271e63ca66c4a8a025c12ed1d9afc187a1f90a4dc399917b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AUKjgEIEhgCKkBrKGKTDEZRD/9br25Is7VzfAWkGulWVKGoMA8n55xyqkuuJhTIjX3ySU6KbQmgNiGoZL2GBoMVAgTLoEMMB/lVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfbzzNUGEgzUkj8KHFYBBPL15OEaDF2+lmBJZxUsadg3lSIwIvVxdm5tiMfv9kFsRVsZWx3o/awmEBVeNxNstUIYRTkQoT1zoEaT9nHtTtFqiLe7KoIE1tzWrjWPYXowIzy9LBETFGQ6XOakowiue7SpioqlDdLmRtfs6gTUuFq5zaWK+7pmxd35+RWbTW3GKcTSZ2WrxCR1MOTe+lk4+kdGZGnt7kK6/PS+46vDkyPW8HeZU/CiBhSAR2An3JlQ0tcjwqaN+1VsMqtD3aGPbc8ddTtgZ+hOYypP33HGuywerQTZNs7EPAxygA8kxySsiwVa9kA3NV3ao5YQ2EFtoCBD7eg00oBkHc1Sw0Lb8nBa5FI7sAFu6EbYzDn+WFz0ArWLnX3ppvqFUyzs/8ah0zbFtERFCL3IbaHeXUy3+2ISfy/KfIfdFKpGl65KkT8HTxJ2+KXuORF1ScMmSKbJHEgJ5iwoNOkmM+vKgw2JZDqUIqcFiEYjleH3tOl134DAUyZ3WC+ZwW86o1y4pRBIKQLvcosTU5bqmO3csfjBeKytPKgFvbzcsOTHz+SulxNl9PWwCvrsegNbWMS2uanTt6DvM0yWJFI/5OQ6Ci5z+K0PaMvgPmf+FZFKSZW17mcwgp1xT25T3D5nQjLKsF3CPbWUEx58r1Ww8oq9oubzapRrhYDY64suXPZFZJgEDjR9yXpyOSCr6yHaiup7aU8zN9HQ8VMqH0xQt1+CYJZ4VIb7uOL0PceYEVmI9Ld1WaR01VMeCVP18O8tDEbSnANE5TMR/AqN5veGqhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0163NFmHi7w8DVopGZUwMdNA",
      "input": {
        "note": "The teddy's head fills the lower right-wrist view but sits ~4 cm to the image-left of the jaws; shifting further to the arm's left and dropping to head height before closing.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.39,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0163NFmHi7w8DVopGZUwMdNA",
      "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]: [-0.8577, 1.7512, 1.4849, -1.5452, -1.0565, -1.0622, 0.9968, 1.1183, 2.1628, 1.4681, -0.3645, 0.8642, 0.8974, 0.9998]\nstate[eef_state]: left_x=0.3034 left_y=-0.1102 left_z=0.2129 left_yaw=0.447 left_pitch=-0.0815 left_roll=0.6831 left_gripper=0.9968 right_x=0.3294 right_y=0.3785 right_z=0.0594 right_yaw=-0.0381 right_pitch=-0.0419 right_roll=-0.0268 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -8.7726, 5.1214, -0.315, -0.7741, 0.3004, 0.0024, 0.5128, -9.7436, 7.159, 1.16, 0.149, 0.3541, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28a3631c2c01b248e24c5f0ea0fd95c382fdd7bd051ff9766265f4e0c743ebc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36201674a2e732fb2bf388c7b29e16cfbc58ba5e5e063ac962b3a42f0b1d6d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:821a9862c6d8eecf3203a2af6c1f56510dce59d6fcae5f4504be3d6c7062ef3b",
        "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 · 6.548 s
model
claude-opus-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]: [-0.8753, 1.3746, 1.4891, -1.6722, -0.9463, -0.9718, 0.9968, 1.1336, 1.8874, 1.5673, -0.6983, 0.8341, 0.8845, 0.9998]\nstate[eef_state]: left_x=0.2455 left_y=-0.0649 left_z=0.2854 left_yaw=0.3706 left_pitch=-0.1402 left_roll=0.4788 left_gripper=0.9968 right_x=0.307 right_y=0.3562 right_z=0.1822 right_yaw=0.0016 right_pitch=-0.0487 right_roll=0.0105 right_gripper=0.9998\nstate[joint_eff]: [-2.2222, -3.2205, 5.8872, 1.2527, -0.188, -0.0855, -0.0171, 2.359, -8.0752, 7.706, 1.2772, 0.5348, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8753, 1.6348, 1.446, -1.6733, -1.0798, -1.0561, 0.9967, 1.0691, 1.9636, 1.3369, -0.3706, 0.8188, 0.8684, 0.9998]\nstate[eef_state]: left_x=0.279 left_y=-0.0856 left_z=0.2418 left_yaw=0.4252 left_pitch=-0.0755 left_roll=0.7431 left_gripper=0.9967 right_x=0.3303 right_y=0.3414 right_z=0.1007 right_yaw=-0.045 right_pitch=-0.0511 right_roll=0.0218 right_gripper=0.9998\nstate[joint_eff]: [-11.2342, -5.5043, 11.5487, 0.8718, 0.9646, -1.0965, -0.0269, 3.7675, -1.9487, 8.4991, 1.5507, 0.3297, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8577, 1.7512, 1.4849, -1.5452, -1.0565, -1.0622, 0.9968, 1.1183, 2.1628, 1.4681, -0.3645, 0.8642, 0.8974, 0.9998]\nstate[eef_state]: left_x=0.3034 left_y=-0.1102 left_z=0.2129 left_yaw=0.447 left_pitch=-0.0815 left_roll=0.6831 left_gripper=0.9968 right_x=0.3294 right_y=0.3785 right_z=0.0594 right_yaw=-0.0381 right_pitch=-0.0419 right_roll=-0.0268 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -8.7726, 5.1214, -0.315, -0.7741, 0.3004, 0.0024, 0.5128, -9.7436, 7.159, 1.16, 0.149, 0.3541, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28a3631c2c01b248e24c5f0ea0fd95c382fdd7bd051ff9766265f4e0c743ebc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36201674a2e732fb2bf388c7b29e16cfbc58ba5e5e063ac962b3a42f0b1d6d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:821a9862c6d8eecf3203a2af6c1f56510dce59d6fcae5f4504be3d6c7062ef3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISngQKjgEIEhgCKkD58o8OzhJliB6eEb1U8ZbF/n2u4iT/aR0v7v/j25MWXN7tcC6SRNw47FHfM8ZihcqaKwT8mCyr/vuAKDxjdwISMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfvzzNUGEgyOuQYIjZFsmxbmMDoaDB5rdIzr9s5WFfhcdCIwgAB1gapddwlg/e5JfT8xqshpE/VWGvBASXlnqmh9smOQLPnF7mTM5dSeVDpmd7YMKrwCKzg5DfRFq3fqzSSDPjoukQ4NVPtT35zWJzjAiKJQBHmYu3XF6Lj0PpRfbnIwYFiI0mwBJd3zqYaXxbItPX/1u8PaoUrmOjhtrBuuRrYBhSQ273hFNoZN9qi8s23l0GylzzGv8csqBV2nl7MInxsgnsR5ktaZwRm3a0hiCzM6rodQIHqwGqTwCRfC3N8qBjQaGrPBR3vXsPn5Qe5htuTa4JfyzI1lI5CV3MBdp3TrrizmC7gDMD7DP83zPrww9PWod2HwG4QA14tFBEyowvlAtaGohLn17PRebFiiABvY0fq1+8vDHhl6sUANd9mz9mJbVqYA5je3ITw4dlmh6DIxkenOE84eoXCsW8ehE4Foum8h5a0hd5Mali3EX3cQtyFVqClFfeGDQ2WZhsUJSIvHz3CArXvM9xH5u4NufxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TXmuqzNbd473Lv5tgF36jV",
      "input": {
        "note": "Jaws are straddling the teddy bear's head; closing to grip the plush.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TXmuqzNbd473Lv5tgF36jV",
      "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, 1.7515, 1.4834, -1.5475, -1.0481, -1.0515, 0.9968, 1.1202, 2.1754, 1.4803, -0.3538, 0.8867, 0.9169, 0.1531]\nstate[eef_state]: left_x=0.3016 left_y=-0.1118 left_z=0.2113 left_yaw=0.439 left_pitch=-0.0942 left_roll=0.6936 left_gripper=0.9968 right_x=0.3322 right_y=0.3805 right_z=0.061 right_yaw=-0.0576 right_pitch=-0.0196 right_roll=-0.0089 right_gripper=0.1531\nstate[joint_eff]: [0.5265, -7.6923, 5.6, -0.0513, -0.6422, -0.0708, -0.0122, 0.2256, -9.5795, 7.1726, 1.1502, -0.0611, 0.1294, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e93ed24d467f8c4f44c30474e7cf1ee10dee92ef49bd5898d08ee859e5e7159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f593aaa31dc8ff993205029db937bd8a8fe9c962420e51d4722bf7533d223e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13cf23728b684a4551ce793d8fc378efa46447f3d8c83364ba2c2fa2aeeaf05a",
        "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 · 7.769 s
model
claude-opus-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]: [-0.8753, 1.6348, 1.446, -1.6733, -1.0798, -1.0561, 0.9967, 1.0691, 1.9636, 1.3369, -0.3706, 0.8188, 0.8684, 0.9998]\nstate[eef_state]: left_x=0.279 left_y=-0.0856 left_z=0.2418 left_yaw=0.4252 left_pitch=-0.0755 left_roll=0.7431 left_gripper=0.9967 right_x=0.3303 right_y=0.3414 right_z=0.1007 right_yaw=-0.045 right_pitch=-0.0511 right_roll=0.0218 right_gripper=0.9998\nstate[joint_eff]: [-11.2342, -5.5043, 11.5487, 0.8718, 0.9646, -1.0965, -0.0269, 3.7675, -1.9487, 8.4991, 1.5507, 0.3297, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8577, 1.7512, 1.4849, -1.5452, -1.0565, -1.0622, 0.9968, 1.1183, 2.1628, 1.4681, -0.3645, 0.8642, 0.8974, 0.9998]\nstate[eef_state]: left_x=0.3034 left_y=-0.1102 left_z=0.2129 left_yaw=0.447 left_pitch=-0.0815 left_roll=0.6831 left_gripper=0.9968 right_x=0.3294 right_y=0.3785 right_z=0.0594 right_yaw=-0.0381 right_pitch=-0.0419 right_roll=-0.0268 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -8.7726, 5.1214, -0.315, -0.7741, 0.3004, 0.0024, 0.5128, -9.7436, 7.159, 1.16, 0.149, 0.3541, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8635, 1.7515, 1.4834, -1.5475, -1.0481, -1.0515, 0.9968, 1.1202, 2.1754, 1.4803, -0.3538, 0.8867, 0.9169, 0.1531]\nstate[eef_state]: left_x=0.3016 left_y=-0.1118 left_z=0.2113 left_yaw=0.439 left_pitch=-0.0942 left_roll=0.6936 left_gripper=0.9968 right_x=0.3322 right_y=0.3805 right_z=0.061 right_yaw=-0.0576 right_pitch=-0.0196 right_roll=-0.0089 right_gripper=0.1531\nstate[joint_eff]: [0.5265, -7.6923, 5.6, -0.0513, -0.6422, -0.0708, -0.0122, 0.2256, -9.5795, 7.1726, 1.1502, -0.0611, 0.1294, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e93ed24d467f8c4f44c30474e7cf1ee10dee92ef49bd5898d08ee859e5e7159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f593aaa31dc8ff993205029db937bd8a8fe9c962420e51d4722bf7533d223e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13cf23728b684a4551ce793d8fc378efa46447f3d8c83364ba2c2fa2aeeaf05a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+QYKjgEIEhgCKkDMouA77VRp+J3qKwD3KtFtIL51DGLcVWTYFkBgi+FzYxRrnKd70bSQoW7hRS2sHbTq4M8HshxBZzjw6l/Jww67Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYL0zNUGEgxYeJP4c/BnPuwB6cwaDNj4NUg1BoPjSfdyRiIw1wv/MRp3IJehmI2j5V9HijOy5H0jjCsSp3HPlFETSiThZk8T8R8EsRrrWreOp6fnKpcFwKHXpyP9dV+xzRhlb8My7cZt7f6ZjWT5Ykr0xQ9rQXD8QBFT1kWzwJn1KA6xk5/V0LOIO+JIDens5q+bYdxZGXivzJ1Vt+hjPgDkVrqnPF/gLbaz1+Q53JcZRIk/S3F+h3e0bVGysfVe+v6w6fH1OTs0LtbH5YgYdJ1JfNFGoAXJL4RysPLyK/jIg5GfxeEykCgNfk5btblxQ/4FhtGNfnk2GTxfLJjKkAUxglq8BgPtnLFhZ/JDhvMZH9hDovWfrnzk9KK/y1+uYruskNE0qNJBXAWcanW10dGE4g9aEik2aQNL0lIU+a5g9cIsP600Khd2FqombAPMCvn7PevWxemBCUWfj2zD53rdhwE4D/MaC7d8PMhitbORZoaJf/ZQ9gF5lOE2YguhuxA5bmfCzRBF2HgwfCgZKO/SYJ2P3cepiU/jtuRkPCVJt+VcBHJQTLsE+Hxs+hpzYWtCo83BgulAuhgEPrvbWo7Gyonk+PD1sbW9WI9Ga9TJ8SkieB0bOxnJEA9LGWDoHP4ke8srfGahaZ+087lOqhzHA5vRhJf6+46GV3Z/BjoZORbol3+Bzb+9AZX1gq82CXw/6MVRna0QaZhWcyDZUrAmrwWb17wOIj3Z7WIMRADOIfgDHLZP96S0qRzv1dK9BzythJx2DFGgMv2qRb1gjcvh9qRCJBKenJi+jsXXAb/6lTuDTI306okJCq5+qtiogoXaQL3U308CnRzQ3qfY7hR2oOPaX+KcQVjTUfo/P/BSv0YbBeizSQvnySnh8dP32N5Sn13t/4iPs4rePAjf8/XXZqwp+1GlYumsFIFzlFNNSyPZOVFdtc3F7MdkeGs6aa1/Jgj7u5+lo4RVOef5KUANu1OXNiMHRLCJOD9qGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01136yMeRTByFXR44pUu2oAC",
      "input": {
        "note": "Gripper settled at 0.15 on the plush, suggesting a grip; lifting 19 cm to confirm the teddy comes with it.",
        "targets": {
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01136yMeRTByFXR44pUu2oAC",
      "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]: [-0.7967, 1.6257, 1.5829, -1.5646, -1.0687, -1.0679, 0.9968, 1.1362, 2.2127, 1.9316, -0.9878, 0.8635, 0.9138, 0.1536]\nstate[eef_state]: left_x=0.3062 left_y=-0.0866 left_z=0.2703 left_yaw=0.4996 left_pitch=-0.0134 left_roll=0.4847 left_gripper=0.9968 right_x=0.3227 right_y=0.3849 right_z=0.1368 right_yaw=-0.0446 right_pitch=-0.1239 right_roll=-0.2071 right_gripper=0.1536\nstate[joint_eff]: [-5.6274, 3.8906, -2.3316, 0.4713, -0.1734, 0.149, -0.0122, -1.1145, -21.6274, 20.3556, 0.2466, 0.5543, -0.0171, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721e313c2d2d2b9cbf42df544966dd4ad533726e4cdfb6dff957495124e7c8be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac134bd1db33b30cd9d22c322b88b4197a06ab4266469af530ed8fe04a3d381e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:397f85d130111a78d61741644f0ada06006c7dceb449ade57d59f063b48f184f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 19 s
model
claude-opus-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]: [-0.8577, 1.7512, 1.4849, -1.5452, -1.0565, -1.0622, 0.9968, 1.1183, 2.1628, 1.4681, -0.3645, 0.8642, 0.8974, 0.9998]\nstate[eef_state]: left_x=0.3034 left_y=-0.1102 left_z=0.2129 left_yaw=0.447 left_pitch=-0.0815 left_roll=0.6831 left_gripper=0.9968 right_x=0.3294 right_y=0.3785 right_z=0.0594 right_yaw=-0.0381 right_pitch=-0.0419 right_roll=-0.0268 right_gripper=0.9998\nstate[joint_eff]: [-0.9641, -8.7726, 5.1214, -0.315, -0.7741, 0.3004, 0.0024, 0.5128, -9.7436, 7.159, 1.16, 0.149, 0.3541, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8635, 1.7515, 1.4834, -1.5475, -1.0481, -1.0515, 0.9968, 1.1202, 2.1754, 1.4803, -0.3538, 0.8867, 0.9169, 0.1531]\nstate[eef_state]: left_x=0.3016 left_y=-0.1118 left_z=0.2113 left_yaw=0.439 left_pitch=-0.0942 left_roll=0.6936 left_gripper=0.9968 right_x=0.3322 right_y=0.3805 right_z=0.061 right_yaw=-0.0576 right_pitch=-0.0196 right_roll=-0.0089 right_gripper=0.1531\nstate[joint_eff]: [0.5265, -7.6923, 5.6, -0.0513, -0.6422, -0.0708, -0.0122, 0.2256, -9.5795, 7.1726, 1.1502, -0.0611, 0.1294, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7967, 1.6257, 1.5829, -1.5646, -1.0687, -1.0679, 0.9968, 1.1362, 2.2127, 1.9316, -0.9878, 0.8635, 0.9138, 0.1536]\nstate[eef_state]: left_x=0.3062 left_y=-0.0866 left_z=0.2703 left_yaw=0.4996 left_pitch=-0.0134 left_roll=0.4847 left_gripper=0.9968 right_x=0.3227 right_y=0.3849 right_z=0.1368 right_yaw=-0.0446 right_pitch=-0.1239 right_roll=-0.2071 right_gripper=0.1536\nstate[joint_eff]: [-5.6274, 3.8906, -2.3316, 0.4713, -0.1734, 0.149, -0.0122, -1.1145, -21.6274, 20.3556, 0.2466, 0.5543, -0.0171, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721e313c2d2d2b9cbf42df544966dd4ad533726e4cdfb6dff957495124e7c8be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac134bd1db33b30cd9d22c322b88b4197a06ab4266469af530ed8fe04a3d381e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:397f85d130111a78d61741644f0ada06006c7dceb449ade57d59f063b48f184f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS3AcKjgEIEhgCKkD6PYj75qSpY6Z3naBvp9+VnEv/jJQXlHVzJph5YA3xWhv5YQtpMge2f54GdivkTDT+Zr14h6zCBUtPbkhP/nk0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYv0zNUGEgzK3Hn9UtkP9rzwrzsaDP4Sgnd0rHpXkXLUaSIwIE9onamKUrtz+fQ6sOK+tb+Z/axPvicLfZ8z5XudyqVJCNcdX3z4YeH311TgoXu+KvoFyDHBxZAFr6v3RltN6UcQQ9fYqawnlmzoR4tQUyj3v2SH3RXfRIx2+M/kBT6JNvIs5BJ2BjHot+hWbWvZEhv/pZdEK51FXeSkHT+f+hKcipSvK0Tl9HojrsMirs9XAFdUdoJfxyl8v4YGid+uF6WGv7vRLuAxxW6JLzGUheyhdHBmB/+FutWpPxV6ftV6A7R/IE7ohqE4+TOIgFHPV+dR2GN/+BhVJLTok43OepjaWkecX1wGDrwd7dzPz1gzri1NWEErDPvRlWzT1WnFuigPfUKRcyGT4seHFtNqjkyj6GDG1wNsrrAxCJqVrsXb2R7viILOIBZKlR/v+P9VmBNOQiB2KrGb5pqehq76QUyCcreq/yleTYGklxQ59V/1iu7ImS2op10/OPk6iEsz7Hqx5i/f6P3NhA15Ic6Hx6/2ARaGGVgdpdo6qzwhSwUAcO3G3AB+wtCQLBxR8JJ9bJOHQxau//r+GcOp2SWGrd4NapGeWrdcGxmdGjpnAy/xfHKuX+kro3q0lAc7Zj9ANVV8YrXQcH/UBEIbIvT75mF4ZjBbfznoAFpivaH0jv9tWxXVUut+8c1jbLUHuVMu3ECo5dWSh0nlhQdH8Yf8EAXl+ZFvsz1z1zTI6xOk5S5Aot7pxBdmLoVvhKp9mFpFwWsEtaCY5pX+KZI+iTt8YEMp4APMq4IPfmov3sbgs7QE1G8XHZ7BFgd5zRwa90iW6U8hvq0fuSldVjEKguY/IaHQ+jTJmJoobVQku4cHav9jw0YXx3BDIDXhL+k0cNhbL/r1v/cOA8EjDA0D8EGiKmnd5Mx/TeEZV46dSuHPOdOKSEd7XwBTC9amVuHC4u8dlbSa+fOVWmYLZ/plLfVR8RayrdwEJPg6kt6KOfHMBImgFHZ7teBVF+ohAQr7Oio/9QSSbZ0R4gtszyp/4Mge00oE0qKccU0uVU/MpO6JnzL//ZiB3h4AId9H9XwkDSmWrhU2/Gyc1PE9txKyUJt2ZlLGPgKwZlj8eG5HqPsDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N2VyJ53pyMtUCn7AopogyD",
      "input": {
        "note": "The teddy bear is clearly lifted in the gripper. Carrying it toward the right-hand basket, which appears to the arm's right in the wrist view.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.24,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01N2VyJ53pyMtUCn7AopogyD",
      "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]: [-0.7734, 1.5917, 1.6722, -1.2163, -1.1263, -1.2068, 0.9974, 0.9447, 2.0678, 1.9213, -1.2201, 0.7063, 0.4976, 0.1537]\nstate[eef_state]: left_x=0.3475 left_y=-0.1113 left_z=0.3231 left_yaw=0.6433 left_pitch=0.1613 left_roll=-0.0878 left_gripper=0.9974 right_x=0.3468 right_y=0.2901 right_z=0.1676 right_yaw=0.0139 right_pitch=-0.384 right_roll=-0.5177 right_gripper=0.1537\nstate[joint_eff]: [-1.9897, -3.8359, -1.1145, -3.1966, 0.105, 1.4921, 0.0464, -13.0256, -24.9778, 17.5521, 2.0049, 0.4664, -0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0850d707b50f71f9346331bc7748582d3f152eab0d8f6f45276075fad31524d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc41dbf2a96db8fd096cb0c1fecfb5550bf00e36d8a887e44bb1a5829df1a518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a7ee19dc0d198b2ac60f58349d2eaabefed9d1270a6fa2e3d09520f151fca08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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